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NPM Motionnet G9001A User Manual

Center device / i/o device
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DA70131-1/3E
Remote I/O & Remote Motion
G9001A/G9002A
User's Manual
(Center device / I/O device)

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Summary of Contents for NPM Motionnet G9001A

  • Page 1 DA70131-1/3E Remote I/O & Remote Motion G9001A/G9002A User's Manual (Center device / I/O device)
  • Page 2 T-NET system (conventional LSI product to construct serial communication system by NPM). Further, it has data communication function which the T-NET does not have, so that it can control data control devices such as PCL series (pulse train generation LSI made by NPM).

  • Page 3: Table Of Contents

    DA70131-1/3E INDEX I. Center device (G9001A) ........................I-1 1. Outline ..............................I-3 2. Features .............................. I-3 3. General specifications ........................I-4 3-1. Communication system specifications ..................I-4 3-2. Center device specifications (G9001A)..................I-5 4. Hardware description ........................I-6 4-1. A list of terminals (QFP-64) ......................I-6 4-2.
  • Page 4 DA70131-1/3E 7-1. Absolute maximum ratings ...................... I-37 7-2. Recommended operating conditions ..................I-37 7-3. DC characteristics ........................I-37 7-4. AC characteristics ........................I-38 7-4-1. Reference clock ........................I-38 7-4-2. Reset timing ........................I-38 7-4-3. I/F mode 4 (IF1=H, IF0=H) (8-bit Z80 etc.)I- ..............I-39 7-4-4.
  • Page 5 DA70131-1/3E 2-2. Terminating resistor ........................ III-18 2-3. Pulse transformer ........................III-18 2-4. I/F chip ............................III-18 2-5. Parts used in our experiments ....................III-19 2-6. Other precautions ........................III-19 IV. Software Examples (flow chart) ..................... IV-1 1. Assumption ............................IV-3 1-1.
  • Page 6 DA70131-1/3E 1. G9002A's improvement of G9002A ....................VIII-1 1-1. Serial communication control terminal ................VIII-1 1-2. Function of I/O port terminal ....................VIII-1 2. Difference of electrical Characteristics ..................VIII-2 2-1. Absolute maximum ratings ....................VIII-2 2.2 Recommended operating conditions ..................VIII-2 2-3.

  • Page 7: Center Device (G9001A

    DA70131-1/3E I. Center device (G9001A) User's Manual...
  • Page 8 DA70131-1/3E...

  • Page 9: Outline

    DA70131-1/3E 1. Outline This LSI is a center device of the Motionnet system. It contains 256-byte RAM for controlling I/O and 512-byte RAM for data communication, and can control up to 64 local devices. The local devices can be classified into I/O devices (G9002A) that control input/output signals such as G8014C on the T-NET system, and data device (G9003, G9103A, G9004A) that control by data such as G8015.

  • Page 10: General Specifications

    Note 3: NPM recommends using a system with a pulse transformer. Note 4: The number of I/O ports in the parenthesis is true when the all the connected local devices are connected as I/O device (G9002A).

  • Page 11: Center Device Specifications (G9001A

    DA70131-1/3E 3-2. Center device specifications (G9001A) Item Description Address area Normally it uses 512 bytes area (A0 to A8). However, 8 bytes area (A0 to A2) can be used when using the I/O buffer (Note). Address map Address (h) Writing Reading 000 to 001 Command...

  • Page 12: Hardware Description

    DA70131-1/3E 4. Hardware description 4-1. A list of terminals (QFP-64) Name Logic Description Option － CPU-I/F mode setting bit 0 － CPU-I/F mode setting bit 1 ____ Negative Select chip ____ Negative Write WR (R/W) ____ Negative Read A0(LS) Positive Address bus bit 0 (LSB) Positive Address bus bit 1...
  • Page 13 DA70131-1/3E Name Logic Description Option SOEH Positive Enable serial output Positive Serial output (Tristate output) － SPD0 Specify communication speed bit 0 － SPD1 Specify communication speed bit 1 Positive Serial input A Positive Serial input B － CKSL Select clock rate (Low:40MHz High:80MHz) －...

  • Page 14: Terminal Allocation Diagram

    DA70131-1/3E 4-2. Terminal allocation diagram SPD0 SPD1 CKSL G9001A XXXXXXXXX JAPAN ____ Note: For each pin number, see the marks on the actual LSI. As shown above, to the lower left of the NPM logo mark is the 1st pin.

  • Page 15: Entire Block Diagram

    DA70131-1/3E 4-3. Entire block diagram G9001A Internal reset Reset control circuit Internal clock (20 MHz) Clock control circuit Internal clock (40 MHz) Memory area Device information area Cyclic communication error flag Memory area Input change interrupt setting area control circuit Input change interrupt flag area IF(1:0) Port 0 data area...

  • Page 16: Functions Of Terminals

    DA70131-1/3E 4-4. Functions of terminals 4-4-1. CLK This is an input terminal of the reference clock. By setting of the CKSL terminal, either of the following clock rate signals can be connected. CKSL = L: 40 MHz CKSL = H: 80 MHz By selecting either of these clock rates, the serial communication transfer rate does not change.
  • Page 17 DA70131-1/3E 4-4-5. Input L level signal to this terminal when accessing this LSI. _______ RD , 4-4-6. , A0, Connect I/F signals with a CPU. Input signals vary with setting of the IF0 to 1. For the details, see items "IF0 and IF1." ____ 4-4-7.
  • Page 18 DA70131-1/3E 4-4-13. SO Serial output signal for communication. (Positive logic, tristate output) Connect this line to a data input of a RS485 device. _____ SOEL 4-4-14. SOEH, Output enable signal for communication. _____ Difference between SOEH and SOEL is that only logic is different. _____ When sending signals, SOEH will become H and SOEL will become L.
  • Page 19 DA70131-1/3E _______ 4-4-18. MERR This is a monitor terminal to confirm communication control status. When the center device receives an error response frame, this terminal outputs L level signal only for 0.2 seconds. The error response frame is as follows: A local device normally receives signals from the center device if there is no CRC error on the local device.

  • Page 20: Address Map

    DA70131-1/3E 4-5. Address map Address map (1) I/F mode 4 (Please be aware of Notes 1 and 2 while accessing) A0 to A8 Writing Reading 0 0000 0000 000h Command bits 0 to 7 Note 1 Status bits 0 to 7 0 0000 0001 001h Command bits 8 to 15...
  • Page 21 DA70131-1/3E A0 to A8 Writing Reading 1 0000 0001 101h Port data No. 1 (Device No.0 - Port 1) Port data No. 1 (Device No.0 - Port 1) 1 0000 0010 102h Port data No. 2 (Device No.0 - Port 2) Port data No.
  • Page 22 DA70131-1/3E Address map (2) I/F mode 3 (16 bit 8086 etc.) A1 to A8 Writing Reading 0 0000 000 000h Command bits 0 to 15 Status bits 0 to 15 0 0000 001 002h Invalid Interrupt status bits 0 to 15 0 0000 010 004h Input/output buffer bits 0 to 15...
  • Page 23 DA70131-1/3E Address map (3) I/F mode 1, 2 (16 bit H8, 68000 etc.) A1 to A8 Writing Reading 1 1111 111 1FEh Command bits 0 to 15 Status bits 0 to 15 1 1111 110 1FCh Invalid Interrupt status bits 0 to 15 1 1111 101 1FAh Input/output buffer bits 0 to 15...

  • Page 24: Device Information" Area

    DA70131-1/3E Note: The discussion of address maps below largely concerns I/F mode 3. 4-5-1. "Device information" area With system communication, the center device polls all local devices, from device 0 to 63. According to the response from local devices, the center device can confirm the connection status, device type, settings for the I/O port on each local device, and refresh its own "device information"...

  • Page 25: Cyclic Communication Error Flags" Area

    DA70131-1/3E 4-5-2. "Cyclic communication error flags" area The center device communicates with all the I/O ports using cyclic communication. In this type of cyclic communication, if a communication error occurs for a specific I/O device (G9002A) on three consecutive communication cycles, the center device will treat this as cyclic communication error. When this error occurs, the bit in this area corresponding to the device number will become 1.

  • Page 26: Change To Input Change Interrupt Setting" Area

    DA70131-1/3E 4-5-3. "Change to Input Change Interrupt Setting" area Port information for the I/O devices (G9002A) that are connected can be obtained automatically using the cyclic communication system. The center device also uses cyclic communication to periodically obtain status information for the data devices (G9x03, G9004A) that are connected.

  • Page 27: Input Change Interrupt Flag" Area

    DA70131-1/3E 4-5-4. "Input Change Interrupt Flag" area If a port has been specified in the area for setting Input Change Interrupts, when its port status changes, the center device will issue an interrupt to a CPU and change the bit to "1." The interrupt allows the CPU to determine the device number and port number (or status) which changed by reading this area.

  • Page 28: Status

    DA70131-1/3E 4-6. Status STSW STSB0 STSB1 BBSY DBSY RBSY SBSY RDBB TDBB CAER ERAE EDTE EIOE IOPC BRKF CEND Symbol Description Becomes 1 when ready for data to be written to the transmitting FIFO buffer. When the system communication or data communication is complete and the next chunk of CEND data can be sent to the transmitting FIFO buffer, this bit becomes 1 and the center device ____...
  • Page 29 DA70131-1/3E Symbol Description When data has been received in the receiving FIFO, this bit becomes 1. RDBB When receiving data from a data device, this bit becomes 1. After a CPU reads all of the data received, this bit returns to 0. (Not defined) Always 0.

  • Page 30: Interrupt Status

    DA70131-1/3E 4-7. Interrupt status ISTE ISTB0 ISTB1 CAE3 CAE2 CAE1 CAE0 ERA3 ERA2 ERA1 ERA0 LNRV EDN5 EDN4 EDN3 EDN2 EDN1 EDN0 Symbol Description These bits show the number of the device which has an error, when EDTE = 1 or 0 to 5 EDN0 to 5 ERAE = 1.

  • Page 31: Command

    DA70131-1/3E 4-8. Command COMW COMB0 COMB1 Note: Write to the 8-bit CPU I/F (IF0=H, IF11) in the following order: COMB0 then COMB1. 4-8-1. Operation command Command Description 0000 0000 0000 0000 Invalid command (0000h) 0000 0001 0000 0000 Resets the software. (0100h) ____ Resets the center device.
  • Page 32 DA70131-1/3E Command Description 0001 0000 0000 0000 System communication to all devices. (1000h) Polls all of the devices (device Nos. 0 to 63) one by one, and refreshes the device information areas that correspond to each device number. The device information contains the following: - Device in use: 0 when no response, and 1 when it responds.

  • Page 33: Memory Access Command

    DA70131-1/3E 4-8-2. Memory access command Command Description 0101 0000 0### ##xx Writes data to the "device information" area. (5000h to 507Fh) The data in the input/output buffer are written into one word of the device information area. Relationship between the contents of the input/output buffer and the area is shown in the table below.

  • Page 34: Register Access Command

    DA70131-1/3E 4-8-3. Register access command Command Description 0101 0101 0000 0000 RENV0 write command (5500h) When data is stored in the input/output buffer and this command is issued, the value in the input/output buffer is copied to the RENV0 register. 0110 0101 0000 0000 RENV0 read command (6500h)

  • Page 35: Register

    DA70131-1/3E 4-9. Register 4-9-1. RENV0 register This is a 16-bit register used to establish the environment. - Bits 0 to 6 ____ Mask an interrupt (a change on the INT terminal) for the same bit position in the status register. Unwanted interrupts can be ignored using this function.

  • Page 36: Rercnt

    DA70131-1/3E 4-9-2. RERCNT This is 16-bit register for counting errors. This is a read only register. It counts the total number of communication errors including no response and CRC errors. When the number of errors exceeds 65535, the counter stops counting. To clear the counter, issue a counter clear command (0600h).

  • Page 37: Description Of The Software

    DA70131-1/3E 5. Description of the software 5-1. Outline of control 5-1-1. Communication control - The center device controls all the communications. - One communication cycle consists of a communication from the center device to the local devices, and the communication from the local devices back to the center device. - The response from the local devices may include I/O information and data.
  • Page 38 DA70131-1/3E 2) Cyclic communication In cyclic communication, the center device communicates continuously to perform I/O control of the I/O devices (G9002A). This communication takes place in cycles. (Communication starts with the local device that has the lowest device number and proceeds through all the devices that are present. When the communication with the device that has the highest number is complete, the center device again starts to communicate with the local device that has the lowest device number.) If the communication target is a data device (G9103A, G9004A), it exchanges information such as device status.

  • Page 39: Input Change Interrupt

    DA70131-1/3E 5-1-3. Input change interrupt When the status of an input port changes, the center device can output an interrupt request to a CPU. A bit corresponding to any input port number whose status changed can be set to 1 in the interrupt setting register.
  • Page 40 DA70131-1/3E 2) Data communication errors When data communications from the center device fail, it automatically retries the communication three times. If it fails all three times, a data communication error occurs and the center device sets the status register data communication error bit (EDTE) to 1. It stores the device number which has the error (EDN0 to 5) in the interrupt status register.

  • Page 41: Operating Procedure

    DA70131-1/3E 5-2. Operating procedure 5-2-1. Reset After turning ON the power, make sure to reset at least once before starting any operation. ____ 1) To perform a reset, place a LOW on the RST terminal for at least 10 reference clock cycles. 2) Wait until the status bit 13 (RBSY) becomes 0.

  • Page 42: How To Calculate The Communication Cycle Time

    DA70131-1/3E 6. How to calculate the communication cycle time The calculations of the communication cycle time can be classified as follows: K: Communication speed coefficient Communication speed (Mbps) N: Number of local devices connected B: Number of bytes of data to send (when sending 2 bytes of data: B = 2) 6-1.
  • Page 43 DA70131-1/3E 7. Electrical Characteristics 7-1. Absolute maximum ratings Item Symbol Rating Unit Power supply voltage -0.3 to +4.0 Input voltage -0.3 to V +0.5 Input voltage (5V-I/F) -0.3 to +7.0 Output current / Terminal ±30 Storage temperature -65 to +150 7-2.
  • Page 44 DA70131-1/3E 7-4. AC characteristics 7-4-1. Reference clock 1) When setting CKSL = L Item Symbol Min. Standard Max. Unit Frequency Cycle HIGH duration 12.5 CLKH LOW duration 12.5 CLKL Note: In order to secure good communication quality, use a clock offering the nearest figures to the standards above.
  • Page 45 DA70131-1/3E 7-4-3. I/F mode 4 (IF1=H, IF0=H) (8-bit Z80 etc.) - Read cycle A(8:0) CSRW RWCS _____ CSWT WAIT RDHD RDWT D(7:0) RDLD WTHD - Write cycle A(8:0) CSRW RWCS _____ WAIT CSWT D(7:0) Item Symbol Condition Min. Max. Unit ____ ↓...
  • Page 46 DA70131-1/3E 7-4-4. I/F mode 3 (IF1=H, IF0=L) (16-bit 8086 etc.) - Read cycle A(8:1) RWCS CSRW _____ CSWT WAIT RDHD RDWT D(15:0) RDLD WTHD - Write cycle A(8:1) CSRW RWCS _____ CSWT WAIT D(15:0) Item Symbol Condition Min. Max. Unit ____ ↓...
  • Page 47 DA70131-1/3E 7-4-5. I/F mode 2 (IF1=L, IF0=H) (16-bit H8 etc.) - Read cycle A(8:1) CSRW RWCS _____ CSWT WAIT RDHD RDWT D(15:0) RDLD WTHD - Write cycle A(8:1) CSRW _____ RWCS WAIT CSWT D(15:0) Item Symbol Condition Min. Max. Unit ____ ↓...
  • Page 48 DA70131-1/3E 7-4-6. I/F mode 1 (IF1=L, IF0=L) (16-bit 68000 etc.) - Read cycle A(8:1) LS(A0) SLAKR SHAKR _______ _____ DTACK( WRQ) DAKLR D(15:0) - Write cycle A(8:1) LS(A0) SLAKW SHAKW _______ _____ DTACK( WRQ) D(15:0) AKDH Item Symbol Condition Min. Max.
  • Page 49 DA70131-1/3E 8. External dimensions Plastic QFP13-64pin Unit: mm ±0.4 ±0.1 G9001A XXXXXXXXX JAPAN 0.18 +0.1 -0.025 0.125 +0.05 -0.025 0～10° ± I-43...
  • Page 50 DA70131-1/3E I-44...
  • Page 51 DA70131-1/3E II. I/O device (G9002A) User's Manual II-1...
  • Page 52 DA70131-1/3E II-2...
  • Page 53 DA70131-1/3E 1. Outline This LSI is an I/O device for the Motionnet system. The center device can control input and output signals for four ports (each of which can be specified as an input or output port using terminal settings). (One port = 8 bits) 2.
  • Page 54 DA70131-1/3E 4. Hardware Description 4-1. List of terminals (QFP-80) Signal Logic Description Option name ______ Negative Goes LOW for a specified time when an abnormal communication MRER is received ______ Negative Goes LOW for a specified time when this I/O device is receiving MSEL data.
  • Page 55 DA70131-1/3E Signal Logic Description Option name SOEI Positive Enables serial output D 5V S Positive Requests a break frame to be sent. _____ Negative Reset DNSM Mode to set the device number ______ Negative Serial output of next chip device number DNSO CKSL Select clock rate (L: 40 MHz, H: 80 MHz)
  • Page 56 Note: Locate each pin number from the markings on the chip. As shown in the figure above, pin number 1 is at the lower left of the NPM logo mark. Note: “OPDSL” of pin No.64 is the specific terminal that only G9002A has.
  • Page 57 DA70131-1/3E 4-3. Complete block diagram G9002A SOEH _____ SOEL Communication control Device number DN (5:0) ______ DNSM DNSO Manage device number ______ MSEL ______ Manage level MRER output Watchdog timer ______ TOUT Port data P0 (7:0) P1 7:0) I/O control PMD(2:0) ______ P2 7:0)
  • Page 58 DA70131-1/3E 4-4. Functions of terminals 4-4-1. CLK This is an input terminal of the reference clock. By setting of the CKSL terminal, either of the following clock rate signals can be connected. CKSL = L: 40 MHz CKSL = H: 80 MHz By selecting either of these clock rates, the serial communication transfer rate does not change.
  • Page 59 DA70131-1/3E ______ 4-4-6. DNSO ____ ____ The numeric equivalent of the address on DN0 to DN5 + 1 will be output after being converted into a serial bit stream. ____ Connect this output to another local device's DN0 terminal (make all the other DNSM terminals of that local device LOW), so that other devices can get the address and pass it along to the next data-sending device.
  • Page 60 DA70131-1/3E ______ 4-4-12. SOEH, SOEL Output enable signal for communication. _____ The difference between the SOEH and SOEL is that the logic is inverted. _____ When sending, SOEH = HIGH and SOEL = LOW. 4-4-13. SOEI When using more than one I/O device, connect the SOEH signal of the other I/O device to this terminal. By being wire OR'ed with the output enable signal from this I/O device, the device outputs an enable signal to _____ SOEH or...
  • Page 61 DA70131-1/3E 4-4-20. P00 to 07, P10 to 17, P20 to 27, P30 to 37 Input/output port terminals. When used in output mode, these terminal outputs are open drains or ordinary output. You can select either by setting of OPDLS terminal. If you select open drains output, they should be pulled up externally (a few k-ohm is all that is needed).

  • Page 62: Electrical Characteristicsi

    DA70131-1/3E 5. Electrical Characteristics 5-1. Absolute maximum ratings = 0V) Item Symbol Rating Unit Power supply voltage -0.3 to +4.0 Input voltage -0.3 to +7.0 Output resisting voltage -0.3 to +7.0 (open drain) Input current ±30 Storage temperature -65 to +150 °C 5-2.
  • Page 63 DA70131-1/3E 5-4. AC characteristics 5-4-1. Reference clock 1) When setting CKSL = L Item Symbol Min. Max. Unit Frequency Cycle HIGH duration CLKH LOW duration CLKL Note: In order to secure good communication quality, use a clock offering the nearest figures to the standards above.
  • Page 64 DA70131-1/3E 5-4-3. Fixed output data timing _____ MSEL Refreshed output data Px (7:0) _____ The I/O device refreshes the received data while the output signal, " MSEL ", is LOW (indicates that the data was successfully received). The refresh timing will be slightly advanced or delayed, depending on the data _____ receive timing of the center device (G9001A).
  • Page 65 DA70131-1/3E 6. External dimensions 80-pin, LQFP, Unit: mm ±0.4 ±0.1 G 9 0 0 2 A J A P A N XXXXXXXXX 0.13 min 0.27 max ±0.1 0.08 0.09 min 0.2 max 0～10° 0.3 min 0.75 max II-15...
  • Page 66 DA70131-1/3E II-16...
  • Page 67 DA70131-1/3E III. Connection Examples and Recommended Environments G9000 Series III-1...
  • Page 68 DA70131-1/3E III-2...
  • Page 69 DA70131-1/3E 1. Connection examples 1-1. An example of a circuit to interface a CPU to a center device Four modes are available for connecting a CPU to the center device. Shown below is an example for connecting a CPU to the IF0 and IF1 terminals. Please note that the CPU shown in the connection example below is only a representative example.
  • Page 70 DA70131-1/3E 1-1-2. I/F mode3 (IF1=H, IF0=L) 8086 type CPU G9001A Decoding A1 to A19 circuit A1 to A8 Latch A8 to A1 A19 to A16 AD15 to AD0 D0 to D15 D15～D0 ____ Interrupt INTR _____ control circuit INTA ____ READY ____ RESET...
  • Page 71 DA70131-1/3E 1-1-3. I/F mode 3 (IF1 = L, IF0 = H) H8 type CPU G9001A Decoding A15 to A9 circuit A8 to A1 A8 to A1 ____ ____ ____ _____ ____ WAIT D15 to D0 D15 to D0 ______ ____ RESET System reset Note 1: When you need to control by only 8 bytes, without using the complete address map, the address...
  • Page 72 DA70131-1/3E 1-1-4. I/F mode 1 (IF1 = L, IF0 = L) 68000 type CPU G9001A Decoding circuit A23 to A9 A8 to A1 A8 to A1 ____ D15 to D0 ____ D15 to D0 ______ DTACK ____ _____ _____ Interrupt IPL2 to IPL0 control circuit...
  • Page 73 DA70131-1/3E 1-1-5. Connecting to a CPU without a wait function The center device can be connected to a CPU that does not have a wait function. Let’s look at an example with the CPU interface using I/F mode 4 while it is connected to an Intel 8031 8-bit CPU. Since this CPU does not have a terminal for executing a wait function, care is needed when programming.
  • Page 74 DA70131-1/3E 1-2. Access timing 1-2-1. Normal access The center device has 9 address terminals used to access 512 bytes of memory. The access timing for each of these addresses is shown below. _____ CPUs that have a wait function can be connected to the terminal on the center device so that they can be used without special concern for signal timing.
  • Page 75 DA70131-1/3E 1-2-1-2. Writing to a memory address The timing for writing to the memory area (078h to 1FFh with I/F mode 4) is shown below. A wait time is necessary to perform continuous writing. The wait must be 6 clock cycles or longer at 40 MHz. _____ 1) Does not use the output (CPU does not have a wait function)
  • Page 76 DA70131-1/3E _____ 2) Uses the output (CPU has a wait function) Address Address Next address ____ DATA Data Data The CPU automatically waits for the required period of time. Note: The memory area (078h to 1FFh when the I/F mode = 4) is shared with the internal serial reception circuit.
  • Page 77 DA70131-1/3E 1-2-2-1. Write operation command The operation commands shown below (commands that don't need data, such as Start and Stop) use the write timing to write continuously to the command area (address 1 when the I/F mode = 4). They must wait 8 clock cycles or longer to perform continuous writing at 40 MHz. ____ 1) Does not use the output (CPU does not have a wait function)
  • Page 78 DA70131-1/3E 1-2-2-2. Write data to memory using write commands The write commands can be used to write data to certain memory areas. Shown below is the write timing when I/F mode 4 is selected. - Intervals of 4 clock cycles or longer at 40 MHz are needed to write data into the I/O buffer or to write write-commands into the command area.
  • Page 79 DA70131-1/3E 1-2-2-3. Read data from memory using read commands Use read commands to read data from certain memory areas. The read timing when I/F mode 4 is selected is shown below. - After writing a read command, the center device reads data from the I/O buffer. After a read command is sent, the center device needs an interval of 8 reference CLK cycles (at 40 MHz) before the data can be read by the CPU.
  • Page 80 DA70131-1/3E 1-3. Line transceiver and pulse transformer for the center device To make connections for serial communication, use RS-485 line transceivers (driver/receiver) and pulse transformers (1000 μH or equivalent). Connect the line transceivers as shown below: On a transmission line, connect terminating resistors suitable for the cable impedance (100 ohms or similar). The position of the terminating resistor can be either before or after the pulse transformer.
  • Page 81 DA70131-1/3E 1-4. Line transceivers and pulse transformers for local devices Use RS-485 line transceivers and pulse transformers (1000 μH or equivalent) to make serial communication connections. Connect the line transceivers as shown below. When 5V line transceiver is used in G9002, a level shifter should be inserted. Connect terminating resistors (which match the cable impedance) at both ends of the transmission line.
  • Page 82 DA70131-1/3E (2) Circuit example for multiple local devices Using the connections shown below, the address of the local device above will be the address of the local device underneath it, plus 1. Line transceiver (5 V) Local device SOEH Terminating _____ Pulse transformer resistor...
  • Page 83 DA70131-1/3E 1-5. Complete configuration We recommend a configuration with the center device at one end of the line and the local devices at other end, as shown below. If you want to place the center device in the middle of the line, use two communication lines so that the center device is effectively at the end of each line.
  • Page 84 DA70131-1/3E 2. Recommended environment Shown below are the results of our experimental communication results and the environment used for the experiment. These results can be used to design your own system. However, other system configurations are possible. The example below is only for your reference. Conditions Results Number of...
  • Page 85 DA70131-1/3E 2-5. Parts used in our experiments Show below is a list of the parts used in the interface circuits of our experiments. Use of other parts may change the system's response. This list is only for your reference. Parts Manufacturer Model name CAT5...
  • Page 86 DA70131-1/3E - Using different cables in one system Do not mix cables from different manufacturers, even when they are in the same category. (Different cable models from the same manufacturer should not be used either.) Using different cables together may deteriorate the communication quality. III-20...
  • Page 87 DA70131-1/3E IV. Software Examples (flow chart) G9001A IV-1...
  • Page 88 DA70131-1/3E IV-2...
  • Page 89 DA70131-1/3E 1. Assumption This Chapter outlines software for the center device using flow charts. In the flow charts, required variables are used for convenience. 1-1. Environment and precautions used for the descriptions The descriptions below assume that I/F mode 3 is selected. Therefore, a 16-bit data bus is used. Address map details are found in item "(2) I/F mode 3", of the "Address Map"...
  • Page 90 DA70131-1/3E 2. Software Examples 2-1. Start of the simplest cyclic communication The simplest example is to issue a system communication command, let the center device automatically collect data from the local devices, and then start cyclic communication. Start Send a system communication command Outpw (0x0000h, 0x1000h) to all local devices.
  • Page 91 DA70131-1/3E 2-2.Specifiy the data for the local devices that are connected This method assumes that the data for the local devices is already known and this data is manually specified in the address map of the center device. Then cyclic communication is started. By doing this, mis-settings in local devices can be found rather easily (an error occurs when there is a mis-setting).
  • Page 92 DA70131-1/3E 2) When using only the lower 8 bytes in the address map The details in the center device that can be seen by an external CPU are from the command area to the data transmission (reception) FIFOs. Use commands to access other areas. Start Specify the device data for device numbers 10 and 11.
  • Page 93 DA70131-1/3E 2-3. Set up an input-change interrupt Assume that the center device wants to detect changes on the ports for the following two local devices. Device No. Port numbers to monitor for change Port 0 Port 1, Port 2 1) When the whole address map can be used Start Specify the ports to monitor for device numbers 4 and 7.
  • Page 94 DA70131-1/3E * An example of how to use a mask to prevent corruption of the settings for device numbers 5 and 6 Start Read the current settings WORK = Inpw (0x00C2h) WORK = WORK and 0x9FFEh - Specify the mask and port data to WORK = WORK or 0x6001h monitor - In this case, a logical AND process...
  • Page 95 DA70131-1/3E 2-4. Check and clear any existing input-change interrupts When the port status set in the previous section changes, an input-change interrupt will occur. This section describes how to check and clear this interrupt. 1) When the whole address map is used Assume that the routine is started by an interrupt being _____ Start...
  • Page 96 DA70131-1/3E 2) When using only the upper 8 bytes in the address map Assume that the routine is started by an interrupt being Start issued; INT = LOW. Read the status data in the center device. Sts = Inpw (0x0000h) IOPC = 1 ? LOOP = 0 WORK = LOOP <<...
  • Page 97 DA70131-1/3E 2-5. Check and clear cyclic communication errors If the same device number reports the same fault 3 times in a row in cyclic communication, an error occurs. This section describes how to check and clear this cyclic communication error. 1) When the whole address map can be used Assume that the routine is started by an interrupt being Start...
  • Page 98 DA70131-1/3E 2) When using only the upper 8 bytes in the address map Assume that the routine is started by an interrupt being Start issued; INT = LOW. Read the status data in the center device. Sts = Inpw (0x0000h) EIOE = 1 ? LOOP =0 Note 1...
  • Page 99 DA70131-1/3E 2-6. Communication with port data (port data and data device status) This section describes data exchange using the I/O port on an I/O device (G9002A), and how to obtain the status of a data device (G9103A, G9004A). Assume that the local devices to be used are as follows: Only an example of how to read the status is given for the PCL device (G9103A).
  • Page 100 DA70131-1/3E 2) When using only the lower 8 bytes in the address map Start - Put the data in the I/O buffer and issue a write command. Outpw (0x0004h, 0x1200h) Outpw (0x0000h, 0x5404h) Outpw (0x0004h, 0x5634h) Outpw (0x0000h, 0x5405h) - In order to read port 0 on device number 2, and then Outpw (0x0000h, 0x6404h) read the I/O buffer.
  • Page 101 DA70131-1/3E 2-7. Data communication 1: Put the value in the register of the PCL device The data communication example below shows data being placed in a register that is integrated in the PCL device. Assume that the local devices to be used are as follows. Assume that "00123456h"...
  • Page 102 DA70131-1/3E 2-8. Data communication 2: Read a register in a PCL device The example of data communication below shows how to read a register that is integrated in the PCL device. Assume that the local devices to be used are as follows. Assume you want to read the register value in the PCL device.
  • Page 103 DA70131-1/3E 2-9. Data communication 3: Start the PCL device The data communication example below shows how to start pulse output by setting the registers in the PCL device. The local devices are the same as in the previous section. Assume that the data to place in the PCL device are as follows (only the data needed to trigger the pulse output).
  • Page 104 DA70131-1/3E Outpw (0x0006h, 0x00B5h) PRMG setting Outpw (0x0006h, 0x00C7h) Outpw (0x0006h, 0x0000h) Outpw (0x0000h, 0x4028h) Dev_Sts = Inpw (0x0000h) CEND = 1 ? EDTE = 1 Error processing Outpw (0x0006h, 0x0051h) Outpw (0x0000h, 0x4028h) - Finally, place a start command for the PCL Dev_Sts = Inpw(0x0000h) device in the FIFO and send it to the PCL using data communication.
  • Page 105 The CPU emulation device (G9004A) can substitute for a CPU, and it can be connected to normal CPU peripheral devices. This section gives an example of how to start the PCL6045B (LSI made by NPM that is used to generate pulse trains for 4 axes) by the CPU emulation device (G9004A).
  • Page 106 DA70131-1/3E - G9004A status bit 1 (in this case, equivalent to port 0) Sts 28h = Inpw (0x01A0h) indicates whether reception by the local devices is complete. When the G9004A completes all the processes specified, Bit1 = 1 ? this bit becomes 1. In other words, this will mean that the PCL6045B has definitely started operation (if there is no problem with the command data).
  • Page 107 DA70131-1/3E For a detailed description of the G9004A CPU emulation device, see the user's manual. In this paragraph, a simple explanation will be provided following the example above. Assume that the G9004A is substituting for a 16-bit CPU. * Let the CPU emulation device substitute for a CPU The description of how to set the external terminals on the CPU emulation device is omitted.
  • Page 108 DA70131-1/3E In all, the following operations were commanded by the CPU emulation device. 1st process: Write 0100h to the specified address (004h). 2nd process: Write 0000h to the specified address (006h). Actually, these operations are equivalent to the procedures used to place data in the I/O buffer of the PCL6045B. After that, instructions are needed about which data should be written to which register.
  • Page 109 DA70131-1/3E 2-11. An example of measuring when a break occurs If RENV0(8) = 1, the center device sends a break frame request periodically (every 16,384 cycles of cyclic communication, or every 250ms at 20 Mbps). At this time, if there is a device that has just been added to the communication line (it places an H on the BRK terminal for a certain interval), the local device will return a break frame.
  • Page 110 DA70131-1/3E V. Troubleshooting During the initial design stage, your system may not function normally due to simple misunderstandings, or you may need to think about the problem differently. If your system does not function normally after it is completely designed, check the following: 1.
  • Page 111 DA70131-1/3E 3. Checking the system 1) Is cable polarity correct? Twisted pair cables must be used. The polarity of these two lines must be correct. The output from "Y" on the RS485 chip must be connected to input "A" on another RS485 chip, and output "Z" must be connected to input "B".
  • Page 112 DA70131-1/3E VI. Handling Precautions 1. Design precautions 1) Never exceed the absolute maximum ratings, even for a very short time. 2) Take precautions against the influence of heat in the environment, and keep the temperature around the LSI as cool as possible. 3) Please note that ignoring the following may result in latching up and may cause overheating and smoke.
  • Page 113 DA70131-1/3E 3. Precautions for mounting 3-1. Precautions about G9001A and G9002A (1) Plastic packages absorb moisture easily. Even if they are stored indoors, they will absorb moisture as time passes. Putting the packages in to a solder reflow furnace while they contain moisture may cause cracks in plastic case or deteriorate the bonding between the plastic case and the frame.
  • Page 114 DA70131-1/3E 3-2. Precautions about G9002 1) In order to prevent damage caused by static electricity, pay attention to the following. - Make sure to ground all equipment, tools, and jigs that are present at the work site. - Ground the work desk surface using a conductive mat or similar apparatus (with an appropriate resistance factor).
  • Page 115 DA70131-1/3E 4. Other precautions 1) When the LSI will be used in poor environments (high humidity, corrosive gases, or excessive amounts of dust), we recommend applying a moisture prevention coating. 2) The package resin is made of fire-retardant material; however, it can burn. When baked or burned, it may generate gases or fire.
  • Page 116 DA70131-1/3E VII. Differences between G9001 and G9001A The G9001A is a G9001 with upgrades to its functions. This section describes the new functions added to the G9001A. 1. How to distinguish between G9001 and G9001A using a program Since a version information register is built in, you can check the model number using this register. Write 0000h in the input/output buffer.
  • Page 117 DA70131-1/3E 2-3. Register access command Some registers have been added that were not in the G9001. These are not seen in the memory map so they can only be accessed using commands. Register name Write Read Detail command command RENV0 5500h 6500h Environment setting register...
  • Page 118 DA70131-1/3E 2-4-2. RERCNT This is 16-bit register for counting errors. This is a read only register. It counts the total number of communication errors including no response and CRC errors. When the number of errors exceeds 65535, the counter stops counting. To clear the counter, issue a counter clear command (0600h).
  • Page 119 DA70131-1/3E VIII. The difference between G9002 and G9002A G9002A is an upgrade product of G9002. There is no functional difference in the use with G9001A. The improved points and the difference of characteristics and dimension are as follows. 1. G9002A's improvement of G9002A 1-1.
  • Page 120 DA70131-1/3E 2. Difference of electrical Characteristics 2-1. Absolute maximum ratings There is difference as follows. = 0V) Items Symbol Rating Unit G9002 -0.3 to +5.0 Power supply voltage G9002A -0.3 to +4.0 G9002 -0.3 to V + 0.3 Input voltage G9002A -0.3 to +7.0 Input voltage (5V･I/F)
  • Page 121 DA70131-1/3E 2-3. DC characteristics There is difference as follows. = 0V) Item Symbol Conditions Unit G9002 CLK=80MHz Current consumption G9002A CLK=80MHz 33.5 Output leakage G9002 μA current G9002A G9002 Input capacitance G9002A G9002 μA LOW input current G9002A G9002 μA High input current G9002A With...
  • Page 122 DA70131-1/3E 3. External dimension There is difference as follows. G 9 0 0 2 A J A P A N XXXXXXXXX θ VIII-4...
  • Page 123 DA70131-1/3E G9002 G9002A Symbol 11.9 12.1 11.9 12.1 11.9 12.1 11.9 12.1 Amax 0.05 0.15 1.35 1.45 0.18 0.22 0.27 0.13 0.27 0.145 0.09 0.08 0.08 0.45 0.75 0.75 13.8 14.2 13.6 14.4 13.8 14.2 13.6 14.4 θ 0° 10° 0°...
  • Page 124 DA70131-1/3E Revision Revision Date Contents First Jul 20, 2014 New document Second Feb 18, ,2015 G9001A 「Ⅰ-43」page：Fixed a number of package Dimensions Package thickness「14±0.1」→「1.4±0.1」 G9002A 「Ⅱ-15」page：Fixed a number of package Dimensions Package thickness「1.4」→「1.4±0.1」 Package width (not including pins) 「12±1」→「12±0.1」 Package width (including pins) 「14±4」→「14±0.4」...
  • Page 125 DA70131-1/3E www.pulsemotor.com/group/ Information www.pulsemotor.com/group/support Issued in December 2018 Copyright 2018 Nippon Pulse Motor Co., Ltd.

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