Page 1 User's Manual PCL6046 Pulse Control LSI Nippon Pulse Motor Co., Ltd.
Page 2 Thank you for considering our pulse control LSI, the "PCL6046." To learn how to use the PCL6046, read this manual to become familiar with the product. The handling precautions for installing this LSI are described at the end of this manual. Make sure to read them before installing the LSI.
Page 3: Table Of Contents
INDEX 1. Outline and Features ......................1 1-1. Outline ................................ 1 1-2. Features ..............................1 2. Specifications ........................5 3. Terminal Assignment Diagram ................... 6 4. Functions of Terminals ....................... 7 5. Block Diagram ......................... 12 6. CPU Interface ........................12 6-1.
Page 4 8-3.Description of the registers ........................41 8-3-1. PRMV (RMV) register ........................41 8-3-2. PRFL (RFL) register ......................... 41 8-3-3. PRFH (RFH) register ........................41 8-3-4. PRUR (RUR) register ........................41 8-3-5. PRDR (RDR) register ........................42 8-3-6. PRMG (RMG) register ........................42 8-3-7.
Page 5 9-3. Pulsar (PA/PB) input mode ........................70 9-3-1. Continuous operation using a pulsar input (PRMD.MOD: 01h) ............73 9-3-2. Positioning operations using a pulsar input (specify incremental position) (PRMD.MOD: 51h) ..73 9-3-3. Positioning operation using pulsar input (specify absolute position to COUNTER1) (PRMD.MOD: 52h) ................................
Page 6 11-6. Servomotor I/F............................120 11-6-1. INP signal ............................. 120 11-6-2. ERC signal ............................ 121 11-6-3. ALM signals ..........................122 11-7. External start, simultaneous start ......................123 11-7-1. #CSTA signal ..........................123 11-7-2. PCS signal ............................ 124 11-8. External stop / simultaneous stop ......................125 11-9.
Page 7: Outline And Features
S-curve acceleration/deceleration. The PCL6046 controls four axes. It can control the linear interpolation of two to four axes, circular interpolations between any two axes, confirm PCL operation status, and output an interrupt with various conditions. It also integrates an interface for servo motor drivers.
Page 8 The input signals can be 90˚ phase difference signals (1x, 2x, or 4x) or up and down signals. In addition to the magnification rates above, the PCL6046 contains an integral pulse number magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit of (1 to 2048)/2048. Software limit settings can be used, and the PCL stops outputting pulses.
Page 9 - Direct input of operation switch Positive and negative direction terminals (±DR) are provided to drive a motor with an external operation switch. These switches turn the motor forward (+) and backward (-). - Out-of-step detection function This LSI has a deflection counter which can be used to compare command pulses and encoder signals (EA/EB).
Page 10 - Mechanical input signals The following five signals can be input for each axis. 1) +EL: When this signal is turned ON, while feeding in the positive (+) direction, movement on this axis stops immediately (with deceleration). When this signal is ON, no further movement occurs on the axis in the positive (+) direction.
Page 11: Specifications
2. Specifications Item Description Number of axes 4 axes (X, Y, Z, and U axis) Reference clock Standard: 19.6608 MHz (Max. 30 MHz) Positioning control range -2,147,483,648 to +2,147,483,647 (32-bit) Ramping-down point setting 0 to 16,777,215 (24-bit) range Number of registers used for Three for each axis (FL, FH, and FA (speed correction)) setting speeds Speed setting step range...
Page 12: Terminal Assignment Diagram
3. Terminal Assignment Diagram TOP VIEW (NC) ELLz #PEz #LTCu #+DRu EZu #LTCz #+DRz #PCSy (NC) ELLu ELLy #PEy #CLRu VSS #CLRz VSS #-DRy #CEMG RSTn ELLx #CSTP VSS #PEx #PCSu PBu EAu #PCSz #LTCy #+DRy #CSTA VSS #PEu #-DRu #-DRz #CLRy VSS #CLRx #LTCx VDD #+DRx #-DRx #PCSx #ALMu #INPu...
Page 13: Functions Of Terminals
4. Functions of Terminals Signal Terminal Input/ Logic Description name output Power Supply a negative power. A2, A5, source Make sure to connect all of these terminals. A6, B5, B9, B12 B17, C5, D2, D5, D7, D13, D16, E2, G16, H2, J16, K1, M4, N16, P2, R6,...
Page 14 Signal Terminal Input/ Logic Description name output #WRQ Output Negative Outputs a wait request signal to cause a CPU to wait. Please make sure to connect it with CPU when direct access to internal register can be used. The LSI needs 4 reference clock cycles to process each command. If the #WRQ signal is not used, make sure that an external CPU does not access this LSI during this interval.
Page 15 Signal Terminal Input/ Logic Description name output - SDx Input U Negative# Input - direction deceleration (deceleration stop) signal. - SDy Selects the input method: LEVEL or LATCHED inputs. - SDz The input logic can be selected using software. The terminal status - SDu can be checked using an SSTSW command signal (sub status).
Page 16 Signal Terminal Input/ Logic Description name output +DRx,-DRx Input U Negative You can start operation of the PCL with these signals manually using E15, E16, +DRy,-DRy external switches. C13, B13, +DRz,-DRz Specifying the feed length, constant speed continuous feed, and A12, D11 +DRu,-DRu high-speed continuous feed are possible.
Page 17 Signal Terminal Input/ Logic Description name output P3x/CP1x Input/ Positive Common terminal for general purpose I/O and CP1 (+SL). (See (+SLx) Output Note 5.) P3y/CP1y When used as a CP1 (+SL) terminal, it outputs a signal while (+SLy) satisfying the conditions (within +SL) of comparator 1. P3z/CP1z The output logic of CP1 (+SL) as well as the selection of input or (+SLz)
Page 18: Block Diagram
5. Block Diagram #CEMG #CSTA, #CSTP #CS, #RD, #WR, #RST #INT, #IFB, #WRQ ＣＬＫＶＤＤ３ＶＤＤ５ IF0,1 Ci rcul ar Interpolation ci rcuit Al l a xes control ＧＮＤ CPU-I/F A0～4 D0～15 RFL, RFH, RUR, RDR Mul ti pller/Divider Li near Inter- Accel eration/ Sel ec- Pul s e width control...
Page 19: Cpu Interface
6. CPU Interface 6-1. Setting up connections to a CPU This LSI can be connected to four types of CPUs by changing the hardware settings. Use the IF0 and IF1 terminals to change the settings and connect the CPU signal lines as follows. Setting status CPU signal to connect to the 6045BL terminals CPU type...
Page 20: Cpu Interface Circuit Block Diagram
6-3. CPU interface circuit block diagram 1) Z80 interface (memory map, full-address) Z80 CPU PCL6046 3.3V #MREQ Decode Decode circuit circuit A10-A15 A0-A9 A0-A9 Pull-up #RD D8-D15 #WAIT #WRQ #INT #INT D0-D7 D0-D7 #RESET #RST #System reset 2) Z80 interface (I/O map, reduced address)
Page 21 3) 8086 interface (Memory map, full address) 8086 CPU PCL6046 Decode 3.3V M/#IO circuit A19-A10 A9-A1 A9-A1 Latch A19-A16 circuit AD15-AD0 D15-D0 Decode INTR #INT circuit #INTA READY #WRQ RESET #RST MN/#MX System reset #System reset 4) 8086 interface (I/O map, reduced address)
Page 22 5) H8 interface (full address) H8/330 CPU PCL6046 3.3V Decode Decode circuit circuit A10-A15 A1-A9 A1-A9 #HWR #WAIT #WRQ #IRQ #INT D0-D15 D0-D15 #RESET #RST #System reset 6) H8 interface (reduced address) PCL6046 H8 CPU 3.3V Decode circuit A5-A15 A1-A2...
Page 23 7) 68000 interface (full address) 68000 CPU PCL6046 Decode Decode circuit circuit A10-A23 A1-A9 A1-A9 #LDS R/#W #DTACK #WRQ Interrupt #IPL0-2 #INT control circuit D0-15 D0-D15 #RESET #RST RESET #System reset 8) 68000 interface (reduced address) 68000 CPU PCL6046 #IORQ...
Page 24: Address Map
6-4. Address map 6-4-1. Axis arrangement map In this LSI, the control address range for each axis is independent. It is selected by using address input terminal A8 and A9, as shown below. Detail X axis control address range Y axis control address range Z axis control address range U axis control address range 6-4-2.
Page 25 A0 to A7 Address Read / Write Pr oc es s i n g de t ai l signal ( Hex ) 30 to 33 Read from /write into PRDS register (bit 0 to 31) Read / Write PRDS 34 to 37 Read from /write into PRCP5 register (bit 0 to 31) Read / Write PRCP5...
Page 26 <When used with the Z80 I/F (Indirect access)> Address Read / Write Processing detail A0 to A2 signal Read MSTSB0 Read out main status (bit 0 to 7) Write COMB0 Write control command Read MSTSB1 Read out main status (bit 8 to 15) Write COMB1 Specify axes (Specify axes to execute control command)
Page 27 <When used with the 8086 I/F (Direct access)> A0 to A7 Address Read / Write Pr oc es s i n g de t ai l signal (Hex) Read MSTSW Read out main status (bit 0 to 15) メインステータス（ビット７～０）の読み出し Write COMW Write axis command and control command Read...
Page 28 A0 to A7 Address Read / Write Pr oc es s i n g de t ai l signal (Hex) 9C,9E Read from /write into RCMP1 register (bit 0 to 31) Read / Write RCMP1 A0,A2 Read from /write into RCMP2 register (bit 0 to 31) Read / Write RCMP2 A4,A6...
Page 29 <When used with the H8 and 68000 I/F (Direct access)> A0 to A7 Address Read / Write Pr oc es s i n g de t ai l signal (Hex) MSTSW Read Read out main status (bit 0 to 15) メインステータス（ビット７～０）の読み出し...
Page 30 A0 to A7 Address Read / Write Pr oc es s i n g de t ai l signal (Hex) Read / Write RCMP1 Read from /write into RCMP1 register (bit 0 to 31) 60,62 Read / Write RCMP2 Read from /write into RCMP2 register (bit 0 to 31) 5C,5E Read / Write RCMP3...
Page 31: Description Of The Map Details
6-5. Description of the map details 6-5-1. Write a command code and axis selection (COMW, COMB) Write commands for reading and writing to registers and the start and stop control commands for each axis. COMB0: Set a command code. For details, see "7. Commands (Operation and Control commands)." SELx to u: Select an axis for executing the command.
Page 32: Reading The Main Status (Mstsw, Mstsb)
6-5-4. Reading the main status (MSTSW, MSTSB) MSTSW MSTSB1 MSTSB0 SPDF SPRF SEOR SCP5 SCP4 SCP3 SCP2 SCP1 SSC1 SSC0 SINT SERR SEND SENI SRUN SSCM Bit name Details SSCM Set to 1 by writing a start command. Set to 0 when the operation is stopped. SRUN Set to 1 by the start pulse output.
Page 33: Reading The Sub Status And Input/Output Port. (Sstsw, Sstsb, Iopb)
3) When the DR continuous mode (MOD=02h) is selected. Start command Stop command #W R Read MSTSW SSCM SRUN SENI SEND #BSY 4) When the auto stop mode is selected such as positioning operation mode (MOD=41h). Start command #W R Read MSTSW SSCM SRUN...
Page 34: Commands (Operation And Control Commands)
7. Commands (Operation and Control Commands) 7-1. Operation commands By writing the command to COMB0 (address 0 when a Z80 I/F is used) after writing the axis assignment data to COMB1 (address 1 when a Z80 I/F is used), the LSI will start and stop, as well as change the speed of the output pulses.
Page 35: Start Command
7-1-2. Start command 1) Start command If this command is written while the motor is stopped, the motor will start rotating. If this command is written while the motor is operating, it is taken as the next start command. COMB0 Symbol Description STAFL...
Page 36: Stop Command
7-1-4. Stop command 1) Stop command Write this command to stop feeding while operating. COMB0 Symbol Description STOP Write this command while in operation to stop immediately. SDSTP Write this command while feeding at FH constant speed or high speed, the motor on that axis will decelerate to the FL constant speed and stop.
Page 37: General-Purpose Output Bit Control Commands
7-2. General-purpose output bit control commands These commands control the individual bits of output terminals P0 to P7. When the terminals are designated as outputs, the LSI will output signals from terminals P0 to P7. Commands that have not been designated as outputs are ignored. The write procedures are the same as for the Operation commands.
Page 38: Control Command
7-3. Control command Set various controls, such as the reset counter. The procedures for writing are the same as the operation commands. 7-3-1. Software reset command Used to reset this LSI. COMB0 Symbol Description SRST Software reset. (Same function as making the #RST terminal LOW.) 7-3-2.
Page 39: Register Control Command
7-4. Register control command There are two access methods: Direct access method and indirect access method. However, in the case that CPU is connected by reduced address scheme, direct access method cannot be used. [Direct access method] It accesses the address corresponding to register directly. In order to sample or change all bits of register simultaneously, 32 bit latch for direct access is integrated.
Page 40: Procedure For Writing Data To A Register By Indirect Access (The Axis Assignment Is Omitted)
7-4-1. Procedure for writing data to a register by indirect access (the axis assignment is omitted) 1) Write the data that will be written to a register into the I/O buffer (addresses 4 to 7 when a Z80 I/F is used). The order in which the data is written does not matter.
Page 41: Table Of Register Control Commands
7-4-3. Table of register control commands Register 2nd pre-register Detail Read command Write command Read command Write command Name Name COMB0 Symbol COMB0 Symbol COMB0 Symbol COMB0 Symbol Feed amount, PRMV RPRMV WPRMV RRMV WRMV target position 2 Initial speed RRFL WRFL PRFL...
Page 42 Register 2nd pre-register Detail Read command Write command Read command Write command Name Name Symbol Symbol Symbol Symbol COMB0 COMB0 COMB0 COMB0 COUNTER1 RLTC1 RRLTC1 latched data COUNTER2 RLTC2 RRLTC2 latched data COUNTER3 RLTC3 RRLTC3 latched data COUNTER4 RLTC4 RRLTC4 latched data 34 Extension status RSTS...
Page 43: General-Purpose Output Port Control Command
7-5. General-purpose output port control command By writing an output control command to the output port (OTPB: Address 2 when using a Z80 interface), the PCL will control the output of the P0 to P7 terminals. When the I/O setting for P0 to P7 is set to output, the PCL will output signals from terminals P0 to P7 to issue the command.
Page 44: Registers
8. Registers 8-1. Table of registers The following registers are available for each axis. Register Details pre-register name length name R/W Feed amount, target position PRMV R/W Initial speed PRFL R/W Operation speed PRFH R/W Acceleration rate PRUR R/W Deceleration rate PRDR R/W Speed magnification rate PRMG...
Page 45: Pre-Registers
8-2. Pre-registers The following registers and start commands have pre-registers: RMV, RFL, RFH, RUR, RDR, RMG, RDP, RMD, RIP, RUS, RDS, RCI, and RCMP5. The term pre-register refers to a register which contains the next set of operation data while the current step is executing.
Page 46: Cancel The Operation Pre-Register
8-2-2. Cancel the operation pre-register Use a pre-register Cancel command (26h) and a Stop command (49h, 4Ah) to cancel all the data in the pre-registers, and their status then becomes undetermined. The pre-register data are also cancelled if the PCL stops with an error.
Page 47: 8-3.Description Of The Registers
8-3.Description of the registers The initial value of all the registers and pre-registers is "0." Please note that with some registers, a value of "0" is outside the allowable setting range. 8-3-1. PRMV (RMV) register This register is used to specify the target position for positioning operations. The set details may vary with each operation mode.
Page 48: Prdr (Rdr) Register
8-3-5. PRDR (RDR) register This pre-register is used to specify the deceleration rate. RDR is the register for PRDR. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The normal setting range is 1 to 65,535.
Page 49: Prmd (Rmd) Register
8-3-8. PRMD (RMD) register This pre-register is used to set the operation mode. RMD is the register for PRMD. MIPF MPCS MSDP METM MCCE MSMD MINP MSDE MENI MSDC MPIE MADJ MSPO MSPE MAX3 MAX2 MAX1 MAX0 MSY1 MSY0 MSN1 MSN0 Bits Bit name Description...
Page 50 Bits Bit name Description 110 0110 (66h): Clockwise circular interpolation, synchronized with the U axis (circular linear interpolation) 110 0111 (67h): Counter-clockwise circular interpolation, synchronized with the U axis (circular linear interpolation) 110 1000 (68h): Continuous linear interpolation 1, synchronized with PA/PB 110 1001 (69h): Linear interpolation 1, synchronized with PA/PB 110 1010 (6Ah): Continuous linear interpolation 2, synchronized with PA/PB.
Page 51: Prip (Rip) Register
Bits Bit name Description MPIE 1: After the circular interpolation operation is complete, the PCL will draw to the end point automatically. MIPM 0: Make conditions for circular interpolation completion same as PCL6045B's. 1: Define a new condition for circular interpolation completion. MSDC 0: Uses count method only when interpolation operation is performed with constant synthesized speed control like PCL6045B.
Page 52: Rfa Register
8-3-12. RFA register This register is used to specify the constant speed for backlash correction or slip correction. This is also used as a reverse constant speed for an origin return operation. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Although the setting range is 1 to 65,535, the actual speed [pps] varies with the speed magnification rate setting in the RMG register.
Page 53: Renv1 Register
8-3-13. RENV1 register This register is used for Environment setting 1. This is mainly used to set the specifications for input/output terminals. ERCL EPW2 EPW1 EPW0 EROR EROE ALML ALMM ORGL SDL SDLT SDM ELM PMD2 PMD1 PMD0 PDTC PCSM INTM DTMF DRF FLTR DRL PCSL LTCL INPL CLR1 CLR0 STPM STAM ETW1 ETW0 Bits Bit name Description...
Page 54 Bits Bit name Description 16 to ETW0 to 1 Specify the ERC signal OFF timer time. 00: 0 µsec 10: 1.6 msec 01: 12 µsec 11: 104 msec STAM Specify the #CSTA signal input type. (0: Level trigger. 1: Edge trigger.) STPM Specify a stop method using #CSTP input.
Page 55: Renv2 Register
8-3-14. RENV2 register This is a register for the Environment 2 settings. Specify the function of the general-purpose port, EA/EB input, and PA/PB input. P7M1 P7M0 P6M1 P6M0 P5M1 P5M0 P4M1 P4M0 P3M1 P3M0 P2M1 P2M0 P1M1 P1M0 P0M1 P0M0 POFF EOFF SMAX PMSK IEND PDIR PIM1 PIM0 EDIR EIM1 EIM0 PINF EINF Bits...
Page 56 Bits Bit name Description EINF 1: Apply a noise filter to EA/EB/EZ input. Ignores pulse inputs less than 3 CLK signal cycles long. PINF 1: Apply a noise filter to PA/PB input. Ignore pulse inputs less than 3 CLK signal cycles long. 20 to 21 EIM0 to 1 Specify the EA/EB input operation.
Page 57: Renv3 Register
8-3-15. RENV3 register This is a register for the Environment 3 settings. Origin return methods and counter operation specifications are the main function of this register. BSYC CI41 CI40 CI31 CI30 CI21 CI20 EZD3 EZD2 EZD1 EZD0 ORM3 ORM2 ORM1 ORM0 CU4H CU3H CU2H CU4B CU3B CU2B CU1B CU4R CU3R CU2R CU1R CU4C CU3C CU2C CU1C Bit name...
Page 58 Bit name Description 0110: Origin return operation 6 After the EL input turns ON when feeding at constant speed, the axis will stop immediately (or make a deceleration when ELM is 1). Then, the axis will start feeding in the opposite direction at RFA constant speed. When the EL signal turns OFF, the axis will stop instantly when the LSI finishes counting the EZ pulses.
Page 59 Bit name Description CU1B 1: Operate COUNTER1 (command position) while in backlash/slip correction mode. CU2B 1: Operate COUNTER2 (mechanical position) while in backlash/slip correction mode. CU3B 1: Operate COUNTER3 (deflection counter) while in backlash/slip correction mode. CU4B 1: Operate COUNTER4 (general-purpose) while in backlash/slip correction mode. Not defined (Always set to 0.) CU2H 1: Stop the counting operation on COUNTER2 (mechanical position).
Page 60: Renv4 Register
8-3-16. RENV4 register This register is used for Environment 4 settings. Set up comparators 1 to 4. C2RM C2D1 C2D0 C2S2 C2S1 C2S0 C2C1 C2C0 C1RM C1D1 C1D0 C1S2 C1S1 C1S0 C1C1 C1C0 C4D1 C4D0 C4S3 C4S2 C4S1 C4S0 C4C1 C4C0 IDXM C3D1 C3D0 C3S2 C3S1 C3S0 C3C1 C3C0 Bit name Description 0 to 1 C1C0 to 1...
Page 61 Bit name Description 18 to C3S0 to 2 Select a comparison method for comparator 3. Note 2 001: RCMP3 data = Comparison counter (regardless of counting direction) 010: RCMP3 data = Comparison counter (while counting up (count forward) 011: RCMP3 data = Comparison counter (while counting down) 100: RCMP3 data >...
Page 62: Renv5 Register
8-3-17. RENV5 register This is a register for the Environment 5 settings. Settings for Comparator 5 are its main use. LTOF LTFD LTM1 LTM0 IDL2 IDL1 IDL0 C5D1 C5D0 C5S2 C5S1 C5S0 C5C2 C5C1 C5C0 CU4L CU3L CU2L CU1L ISMR MSMR SYI1 SYI0 SYO3 SYO2 SYO1 SYO0 Bit name Description 0 to 2...
Page 63 Bit name Description ISMR 1: Stop auto function to be reset when RIST register and REST register are read out. (To reset this bit, write to RIST and REST registers.) CU1L 1: Resets COUNTER1 at the same time COUNTER1 is latched. CU2L 1: Resets COUNTER2 at the same time COUNTER2 is latched.
Page 64: Renv6 Register
8-3-18. RENV6 register This is a register for the Environment 6 settings. It is primarily used to set feed amount correction data. PSTP ADJ1 ADJ0 BR11 BR10 BR9 PMG4 PMG3 PMG2 PMG1 PMG0 PD10 PD9 Bit name Description 0 to 11 BR0 to 11 Enter a backlash correction amount or a slip correction amount.
Page 65: Rcun1 Register
8-3-20. RCUN1 register This is a register used for COUNTER1 (command position counter). This is a counter used exclusively for command pulses. Setting rage: -2,147,483,648 to +2,147,483,647. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 8-3-21.
Page 66: Rcmp3 Register
8-3-26. RCMP3 register Specify the comparison data for Comparator 3. Setting range: -2,147,483,648 to +2,147,483,647. 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 8-3-27.
Page 67: Rirq Register
8-3-29. RIRQ register Enables event interruption cause. Bits set to 1 that will enable an event interrupt for that event. IROL IRLT IRCL IRC5 IRC4 IRC3 IRC2 IRC1 IRDE IRDS IRUE IRUS IRND IRNM IRN IREN IRSA IRDR IRSD Bit name Description IREN When stopping normally.
Page 68: Rltc3 Register
8-3-32. RLTC3 register Latched data for COUNTER3 (deflection counter) or current speed. (Read only.) The contents of COUNTER3 or the current speed are copied when triggered by the LTC, an ORG input, or an LTCH command. When the RENV5.LTFD is 0, the register latches the COUNTER3 data. When the LTFD is 1, the register latches the current speed.
Page 69: Rsts Register
8-3-34. RSTS register The extension status can be checked. (Read only.) PSDI SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CND0 MSDL PSDL PFM1 PFM0 PFC1 PFC0 MSDI SINP Bit name Description 0 to 3 CND0 to 3 Reports the operation status.
Page 70: Rest Register
8-3-35. REST register Used to check the error interrupt cause. (Read only.) The corresponding bit will be "1" when an error interrupt occurs. This register is reset by the following procedure. However, When RENV5.ISMR (bit 24) =1, this register is not reset. It is reset by writing data to REST. ESAO ESPO ESIP ESDT ESSD ESEM ESSP ESAL ESML ESPL ESC5 ESC4 ESC3 ESC2 ESC1 ...
Page 71: Rist Register
8-3-36. RIST register This register is used to check event interrupt cause. (Read only.) When an event interrupt occurs, the bit corresponding to the cause will be set to 1. This register is reset by the following procedure. However, When RENV5.ISMR (bit 24) =1, this register is not reset. It is reset by writing data to REST. ISOL ISLT ISCL ISC5 ISC4 ISC3 ISC2 ISC1 ISDE ISDS ISUE ISUS ISND ISNM ISEN...
Page 72: Rspd Register
8-3-38. RSPD register This register is used to check an EZ count value, current speed and an idling count value. (Read only.) AS15 AS14 AS13 AS12 AS11 AS10 AS9 IDC2 IDC1 IDC0 ECZ3 ECZ2 ECZ1 ECZ0 Bit name Description 0 to 15 AS0 to 15 Read current speed as a step value (same units as for RFL and RFH).
Page 73: Rips Register
8-3-42. RIPS register This register is used to check the interpolation setting status and the operation status. (Read only.) This register is shared by all axes, and the value is same when read from any axis. IPFu IPFz IPFy IPFx IPSu IPUz IPSy IPSx...
Page 74: Operation Mode
9. Operation Mode Specify the basic operation mode using the MOD area (bits 0 to 6) in the PRMD (operation mode) register. 9-1. Continuous operation mode using command control This is a mode of continuous operation. A start command is written and operation continues until a stop command is written.
Page 75: Positioning Operation (Specify The Absolute Position In Counter2) (Prmd.mod: 43H)
9-2-3. Positioning operation (specify the absolute position in COUNTER2) (PRMD.MOD: 43h) This mode only uses the difference between the PRMV (target position) register setting and the value in COUNTER2. Since the COUNTER2 value is stored when starting a positioning operation, the target position cannot be overridden by changing the value in COUNTER2, although it can override the target position by changing the value in RMV.
Page 76: Pulsar (Pa/Pb) Input Mode
9-3. Pulsar (PA/PB) input mode This mode is used to allow operations from a pulsar input. In order to enable pulsar input, bring the #PE terminal LOW. Set POFF in the RENV2 register to zero. It is also possible to apply a filter on the #PE input. After writing a start command, when a pulsar signal is input, the LSI will output pulses to the OUT terminal.
Page 77 When the 1x to 32x multiplication circuit is set to 3x (RENV6.PMG = 2), operation timing will be as follows. DOWN1 DOWN2 When the n/2048 division circuit is set to 512/2048 (RENV6.PD =512), operation timing will be as follows. DOWN2 DOWN3 The pulsar input mode is triggered by an FL constant speed start command (50h) or by an FH constant speed start command (51h).
Page 78 <Setting relationship of PA/PB input> Specify the PA/PB input <Set to RENV2.PIM0 to 1 (bit 24 to 25)> [RENV2] (WRITE) 00: 90˚ phase difference, 1x 10: 90˚ phase difference, 4x 01: 90˚ phase difference, 2x 11: 2 sets of up or down input pulses - - - - - - n n Specify the PA/PB input count direction <Set to RENV2.PDIR (bit 26)>...
Page 79: Continuous Operation Using A Pulsar Input (Prmd.mod: 01H)
9-3-1. Continuous operation using a pulsar input (PRMD.MOD: 01h) This mode allows continuous operation using a pulsar input. When PA/PB signals are input after writing a start command, the LSI will output pulses to the OUT terminal. The feed direction depends on PA/PB signal input method and the value set in PDIR. PA/PB input method PDIR Feed direction...
Page 80: Command Position Zero Return Operation Using A Pulsar Input (Prmd.mod: 54H)
9-3-5. Command position zero return operation using a pulsar input (PRMD.MOD: 54h) This mode is used to feed the axis using a pulsar input until the value in COUNTER1 (command position) becomes zero. The number of pulses output and the feed direction are set automatically by internal calculation, using the COUNTER1 value at the start.
Page 81: External Switch (±Dr) Operation Mode
9-4. External switch (±DR) operation mode This mode allows operations with inputs from an external switch. To enable inputs from an external switch, bring the #PE terminal LOW. After writing a start command, when a +DR/-DR signal is input, the LSI will output pulses to the OUT terminal. Set the RENV1.DRL to specify the output logic of the ±DR input signal.
Page 82: Positioning Operation Using An External Switch (Prmd.mod: 56H)
9-4-2. Positioning operation using an external switch (PRMD.MOD: 56h) This mode is used for positioning based on the timing when the DR input turns ON. At the start, the data in the RMV register is loaded into the positioning counter. When the DR input is ON, the LSI will output pulses and the positioning counter will start counting down pulses.
Page 83: Origin Position Operation Mode
9-5. Origin position operation mode The following six origin position operation modes are available. Operation mode Direction of movement Origin return operation Positive direction Origin return operation Negative direction Leaving the origin position operation Positive direction Leaving the origin position operation Negative direction Origin position search operation Positive direction...
Page 84: Origin Return Operation
9-5-1. Origin return operation After writing a start command, the axis will continue feeding until the conditions for an origin return complete are satisfied. PRMD.MOD: 10h Positive direction origin return operation 18h Negative direction origin return operation When a zero return is complete, the LSI will reset the counter and output an ERC (deflection counter clear) signal.
Page 85 [RENV3] (WRITE) 0110: Origin return operation 6 After the EL input turns ON when feeding at constant speed, the axis will stop immediately (or make a deceleration when ELM is 1). Then, the axis will start feeding in the opposite direction at RFA constant speed. When - - - - n n n n the EL signal turns OFF, the axis will stop instantly when the LSI finishes counting the EZ pulses.
Page 86 9-5-1-1. Origin return operation 0 (ORM = 0000) Constant speed operation <Sensor: EL (ELM = 0), ORG> indicates constant speed operation, and ■ indicates high speed operation.] [Starting from here, Operation 1 Emergency stop Operation 2 Emergency stop Operation 3 ■...
Page 87 9-5-1-2. Origin return operation 1 (RENV3.ORM=0001) Constant speed operation <Sensor: EL (RENV1.ELM = 0), ORG> Operation 1 FA speed Operation 2 Emergency stop Emergency stop Operation 3 ■ High speed operation <Sensor: EL, ORG> Operation 1 FA speed Emergency stop Operation 2 Emergency stop Operation 3...
Page 88 9-5-1-4. Origin return operation 3 (RENV3.ORM = 0011) Constant speed operation <Sensor: EL, ORG, EZ (RENV3.EZD = 0001)> Operation 1 ■ High speed operation <Sensor: EL,ORG, EZ (EZD = 0001)> Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop 9-5-1-5.
Page 89 9-5-1-6. Origin return operation 5 (ORM = 0101) Constant speed operation <Sensor: EL, ORG, EZ (RENV3.EZD = 0001)> Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop ■ High speed operation <Sensor: EL, ORG, EZ (RENV3.EZD = 0001)> Operation 1 Operation 2 Emergency stop Operation 3...
Page 90 9-5-1-8. Origin return operation 7 (RENV3.ORM = 0111) Constant speed operation <Sensor: EL, EZ (RENV3.EZD = 0001)> Operation 1 ■ High speed operation <Sensor: EL, EZ (RENV3.EZD = 0001)> speed Operation 1 FA speed 9-5-1-9. Origin return operation 8 (RENV3.ORM=1000) Constant speed operation <Sensor: EL, EZ (RENV3.EZD = 0001)>...
Page 91 9-5-1-11. Origin return operation 10 (RENV3.ORM = 1010) ■ High speed operation <Sensor: EL, ORG, EZ (RENV3.EZD = 0001)> Operation 1 Operation 2 Emergency stop Operation 3 Emergency stop 9-5-1-12. Origin return operation 11 (RENV3.ORM = 1011) ■ High speed operation <Sensor: EL, ORG, EZ (RENV3.EZD = 0001)> Operation 1 Operation 2 Emergency stop...
Page 92: Leaving The Origin Position Operations
9-5-2. Leaving the origin position operations After writing a start command, the axis will leave the origin position (when the ORG input turns ON). Make sure to use the "Constant speed start command (50h, 51h)" when leaving the origin position. When you write a start command while the ORG input is OFF, the LSI will stop the movement on the axis as a normal stop, without outputting pulses.
Page 93 9-5-3-1. Origin return operation 0 (RENV3.ORM=0000) Constant speed operation <Sensor: EL, ORG> Operation 1 Operation 2 Operation 3 RMV setting value ■ High speed operation <Sensor: EL, ORG> Even if the axis stops normally, it may not be at the origin position. However, COUNTER2 (mechanical position) provides a reliable value.
Page 94: El Or Sl Operation Mode
9-6. EL or SL operation mode The following four modes of EL or SL (software limit) operation are available. PRMD.MOD Operation mode Direction of movement 20(h) Operate until reaching the +EL or +SL position. Positive direction 28(h) Operate until reaching the -EL or -SL position. Negative direction 22(h) Leave from the -EL or -SL positions.
Page 95: Ez Count Operation Mode
9-7. EZ count operation mode This mode is to operate until EZ signal counts reaches the number (EZD setting value +1) written into the RENV3 register. PRMD.MOD: 24(h) Feed until the EZ count is completed in positive direction. 2C(h) Feed until the EZ count is completed in negative direction. After a start command is written, the axis stops immediately (or decelerates and stops when feeding at high speed) after the EZ count equals the number stored in the register.
Page 96: Interpolation Operations
9-8. Interpolation operations 9-8-1.Interpolation operations In addition to each independent operation, this LSI can execute the following interpolation operations. PRMD.MOD Operation mode PRMD.MOD Operation mode Continuous linear interpolation 1 for CCW circular interpolation 2 to 4 axes synchronized with the U axis. Linear interpolation 1 for 2 to 4 axes Continuous linear interpolation 1 synchronized with PA/PB input...
Page 97: Synthesized Speed Constant Control
9-8-3. Synthesized speed constant control This function is used to create a constant synthesized speed for linear interpolation 1 and circular interpolation operations. When linear interpolation 2 is selected, this function cannot be used. To enable this function, set the PRMD.MIPF (bit 15) to "1" for the axes that you want to have a constant synthesized speed.
Page 98: Continuous Linear Interpolation 1 (Prmd.mod: 60H)
9-8-4. Continuous linear interpolation 1 (PRMD.MOD: 60h) This is the same as linear interpolation 1, and each axis operates at a speed corresponding to the PRMV setting. However, the PCL will continue to output pulses until a stop command is received. This mode only uses the rate from the PRMV setting for all of the interpolated axes.
Page 99: Continuous Linear Interpolation 2 (Prmd.mod: 62H)
9-8-6. Continuous linear interpolation 2 (PRMD.MOD: 62h) Same as Linear Interpolation 2: the PCL controls each axis using speeds that correspond to the ratios of the values set in PRIP and PRMV. However, in continuous mode the PCL will continue to output pulses until it receives a stop command.
Page 100: Circular Interpolation
9-8-8. Circular interpolation This function provides CW circular interpolation (PRMD.MOD: 64h) and CCW circular interpolation (PRMD.MOD: 65h) between any two axes. If only one axis or 3 to 4 axis is specified for circular interpolation and a start command is written, a data setting error will occur.
Page 101 [Circular interpolation with acceleration/deceleration] To use circular interpolation with acceleration/deceleration, you have to enter the number of pulses required for circular interpolation (circular interpolation step numbers) in the PRCI register for the control axis. To calculate the number of pulses required for circular interpolation, break the area covered by the X and Y axes into 8 (0 to 7) sections, using the center coordinate of the circular interpolation as the center point.
Page 102: Circular Interpolation Synchronized With The U Axis
To continue the end point draw function while setting PRMD.MPIE to "1", enter the value in the PRCI register after adding number of pulses required for the end point draw function. Note 1: The PRCI register value is used to trigger the start of the deceleration timing. When a smaller value is entered, the PCL will start deceleration sooner and will apply the FL constant time.
Page 103: Operation During Interpolation
9-8-11. Operation during interpolation - Acceleration/deceleration operations Acceleration and deceleration (linear and S-curve) can be used with Linear interpolation 1 and circular interpolation operations .Automatic setting of ramp down point is available. However, set the MSDP and MADJ in the PRMD register the same for all of the interpolated axes. To control the ramp down point while using linear interpolation1, the PCL executes a comparison of RPLS and RSDC for the longest axis.
Page 104: Speed Patterns
10. Speed patterns 10-1. Speed patterns Speed pattern Continuous mode Positioning operation mode 1) Write an FL constant speed start 1) Write an FL constant speed start FL constant speed command (50h). command (50h). operation 2) Stop feeding by writing an 2) Stop feeding when the positioning counter immediate stop (49h) or deceleration reaches zero, or by writing an immediate...
Page 105: Speed Pattern Settings
10-2. Speed pattern settings Specify the speed pattern using the registers (pre-registers) shown in the table below. If the next register setting is the same as the current value, there is no need to write to the register again. Bit length Pre-register Description Setting range...
Page 106  PRUR: Acceleration rate setting register (16-bit) Specify the acceleration characteristic for high speed operations (acceleration/deceleration operations), in the range of 1 to 65,535 (0FFFFh) Relationship between the value entered and the acceleration time will be as follows: 1) Linear acceleration (PRMD.MSMD = 0) ...
Page 107 Relationship between the value entered and the deceleration time will be as follows: 1) Linear deceleration (PRMD.MSMD = 0)    (PRFH PRFL) (PRDR Deceleration time [s] = Reference clock frequency [Hz] 2) S-curve deceleration without a linear range (PRMD.MSMD=1 and PRDS register = 0) ...
Page 108 2) S-curve deceleration without a linear range (PRMD.MSMD=1 and the PRDS register =0)     PRFH PRFL PRDR Optimum value [Number of pulses] =   PRMG 32768 3) S-curve deceleration with a linear range (PRMD.MSMD=1 and the PRDS register >0) ...
Page 109: Manual Fh Correction
10-3. Manual FH correction When the FH correction function is turned ON (PRMD.MADJ = 0), and when the feed amount is too small for a normal acceleration and deceleration operation, the LSI will automatically lower the FH speed to eliminate triangle driving.
Page 110 < To execute FH correction manually> 1) Linear acceleration/deceleration speed (PRMD.MSMD=0) When     PRFH PRFL PRUR PRDR PRMV ≤   PRMG 32768    PRMG 32768 PRMV  PRFH ≤ PRFL   PRUR PRDR 2) S-curve acceleration without linear acceleration (PRMD.MSMD=1, the PRUS register = 0 and the PRDS register =0) When...
Page 111 (3)-2. When PRUS < PRDS (i) Make a linear acceleration/deceleration range smaller When                PRFH PRFL PRFH PRFL PRUR PRDR PRUS PRUR PRDR PRMV ≤  ...
Page 112 (3)-3. When PRUS>PRDS (i) Make a linear acceleration/deceleration range smaller When PRMV≤                 PRFH PRFL PRFH PRFL PRUR PRDR PRUS PRUR PRDS PRDR   PRMG 32768 ...
Page 113: Example Of Setting Up An Acceleration/Deceleration Speed Pattern
10-4. Example of setting up an acceleration/deceleration speed pattern Ex. Reference clock = 19.6608 MHz When the start speed =10 pps, the operation speed =100 kpps, and the accel/decel time = 300 msec, 1) Select the 2x mode for multiplier rate in order to get 100 kpps output PRMG = 149 (95h) 2) Since the 2x mode is selected to get an operation speed 100 kpps, PRFH = 50000 (C350h)
Page 114: Changing Speed Patterns While In Operation
10-5. Changing speed patterns while in operation By changing the RFH, RUR, RDR, RUS, or RDS registers during operation, the speed and acceleration can be changed on the fly. However, if the ramping-down point is set to automatic (MSDP = 0 in the PRDM register) for the positioning mode, do not change the values for RFL, RUR, RDR, RUS, or RDS.
Page 115: Description Of The Functions
11. Description of the Functions 11-1. Reset After turning ON the power, make sure to reset the LSI before beginning to use it. To reset the LSI, hold the #RST terminal LOW while supplying at least 8 cycles of a reference clock signal. After a reset, the various portions of the LSI will be configured as follows.
Page 116: Position Override
11-2. Position override This LSI can override (change) the target position freely during operation. There are two methods for overriding the target position. 11-2-1. Target position override 1 By rewriting the target position data (RMV register value), the target position can be changed. The starting position is used as a reference to change target position.
Page 117: Target Position Override 2 (Pcs Signal)
Note 2: If the LSI starts decelerating by changing the target to a close position, the LSI will not re-accelerate even if you perform a "position override" to a position further away again during this deceleration. It will feed to the more distant target after decelerating to FL speed. Also, if you override the target position to lower than the initial RMV setting value during decelerating using the automatic ramp down point setting, the LSI will not accelerate using the target position override again.
Page 118: Output Pulse Control
11-3. Output pulse control 11-3-1. Output pulse mode There are four types of common pulse output modes, two types of Two-pulse modes and two types of 90˚ phase difference modes as the modes to output command pulses. Common pulse mode: Outputs operation pulses from the OUT terminal and outputs the direction signal from the DIR terminal.
Page 119: Control The Output Pulse Width And Operation Complete Timing
11-3-2. Control the output pulse width and operation complete timing In order to put forward the timing of stopping, this LSI controls the output pulse width. When the output pulse speed is slower than 1/8192 of reference clock (approx. 2.4 Kpps when CLK = 19.6608 MHz), the pulse width is constant and is 4096 cycles of the reference clock (approx.
Page 120: Idling Control
11-4. Idling control When starting acceleration or deceleration operation, it can be started after the output of a few pulses at FL speed (idling output). Set the number of pulses for idling in RENV5.IDL. If you will not be using this function, enter a value "n" of 0 or 1. The LSI will start acceleration at the same time it begins outputting pulses.
Page 121: Mechanical External Input Control
11-5. Mechanical external input control 11-5-1. +EL, -EL signal When an end limit signal (a +EL signal when feeding in the + direction) in the feed direction turns ON while operating, motion of a machine will stop immediately or decelerate and stop. After it stops, even if the EL signal is turned OFF, a machine will remain stopped.
Page 122: Sd Signal, -Sd Signal
11-5-2. +SD signal, -SD signal If the SD signal input is disabled by setting MSDE in the PRMD register (operation mode) to 0, the SD signal will be ignored. If the SD signal is enabled and the SD signal is turned ON while in operation, the axis will: 1) decelerate, 2) latch and decelerate, 3) decelerate and stop, or 4) latch and perform a deceleration stop, according to the setting of SDM and SDLT in the RENV1 register (environment setting 1).
Page 123 3) Deceleration stop <RENV1.SDM (bit 4) = 1, RENV1.SDLT (bit 5) = 0> - If the SD signal is turned ON while in constant speed operation, the axis will stop. While in high speed operation, the axis will decelerate to FL speed when the SD signal is turned ON, and then stop. If the SD signal is turned OFF during deceleration, the axis will accelerate to FH speed.
Page 124 The input logic of the SD signal can be changed. If the latched input is set to accept input from the SD signal, and if the SD signal is OFF at the next start, the latch will be reset. The latch is also reset when the latch input (RENV1.SDLT) is set to zero.
Page 125: Org, Ez Signals
11-5-3. ORG, EZ signals These signals are enabled in the origin return modes (origin return, leave origin position, and origin position search) and in the EZ count operation modes. Specify the operation mode and the operation direction using the PRMD register (operation mode). Since the ORG signal input is latched internally, there is no need to keep the external signal ON.
Page 126: Servomotor I/F
11-6. Servomotor I/F 11-6-1. INP signal The pulse strings input accepting servo driver systems have a deflection counter to count the difference between command pulse inputs and feedback pulse inputs. The driver controls to adjust the difference to zero. In other words, a servomotor moves behind a command pulse and, even after the command pulses stop, the servomotor systems keep feeding until the count in the deflection counter reaches zero.
Page 127: Erc Signal
11-6-2. ERC signal A servomotor delays the stop until the deflection counter in the driver reaches zero, even after command pulses have stopped being delivered. In order to stop the servomotor immediately, the deflection counter in the servo driver must be cleared. This LSI can output a signal to clear the deflection counter in the servo driver.
Page 128: Alm Signals
Emergency stop command <CMEMG: Operation command> [Operation command] Output an ERC signal ERC signal output command <ERCOUT: Control command> [Control command] Turn ON an ERC signal ERC signal output reset command <ERCRST: Control command> [Control command] Turn OFF an ERC signal 11-6-3.
Page 129: External Start, Simultaneous Start
After connecting the #CSTA terminals on each LSI, each axis can still be started independently using start commands. To release the "waiting for #CSTA input" condition, write an immediate stop command (49h). 1) To start axes controlled by different LSIs simultaneously, connect the LSIs as follows. PCL6046 PCL6046 PCL6046 PCL6046 +3.3V...
Page 130: Pcs Signal
#CSTA input <PRMD.MSY0 to 1 (bits 18 to 19)> [PRMD] (WRITE) 01: Start by inputting a #CSTA signal - - - - n n - - Specify the input specification for the #CSTA signal <Set RENV1.STAM (bit 18)> [RENV1] (WRITE) 0: Level trigger input for the #CSTA signal 1: Edge trigger input for the #CSTA signal - - - - - n - -...
Page 131: External Stop / Simultaneous Stop
CLK = 19.6608 MHz) when a stop caused by an error occurs on an axis that has PRMD.MSPO = 1. Even when the #CSTP terminals on LSIs are connected together, each axis can still be stopped independently by using the stop command. 1) Connect the terminals as follows for a simultaneous stop among different LSIs. PCL6046 PCL6046 PCL6046 PCL6046 +3.3V...
Page 132: Emergency Stop
Setting to enable #CSTP input <Set PRMD.MSPE (bit 24)> [PRMD] (WRITE) 1. Enable a stop from the #CSTP input. (Immediate stop, deceleration stop) 0 0 0 0 - - - n Auto output setting for the #CSTP signal <Set to PRMD.MSPO (bit 25)> [PRMD] (WRITE) 1: When an axis stops because of an error, the PCL will output the #CSTP...
Page 133: Counter
11-10. Counter 11-10-1. Counter type and input method In addition to the positioning counter, this LSI contains four other counters. These counters offer the following functions. - Control command position and mechanical position - Detect a stepper motor that is "out of step" using COUNTER 3 (deflection counter) and a comparator. - Output a synchronous signal using COUNTER 4 (general-purpose) and a comparator.
Page 134 The EA/EB and PA/PB input terminal, that are used as inputs for the counter, can be set for one of two signal input types by setting the RENV2 (environment setting 2) register. 1) Signal input method: Input 90˚ phase difference signals (1x, 2x, 4x) Counter direction: Count up (count forward) when the EA input phase is leading.
Page 135 When EDIR is "0," the EA/EB input and count timing will be as follows. For details about the PA/PB input, see section "9-3. Pulsar input mode." 1) When using 90˚ phase difference signals and 1x input Counter 2) When using 90˚ phase difference signals and 2x input Counter 3) When using 90˚...
Page 136: Counter Reset
11-10-2. Counter reset All the counters can be reset using any of the following three methods. 1) When the CLR input signal turns ON (set in RENV3). 2) When an origin return is executed (set in RENV3). 3) When a command is written. The PCL can also be specified to reset automatically, soon after latching the counter value.
Page 137: Latch The Counter And Count Condition
11-10-3. Latch the counter and count condition All the counters can latch their counts using any of the following methods. The setting is made in RENV5 (environment setting 5) register. The latched values can be output from the RLTC1 to 4 registers. 1) Turn ON the LTC signal.
Page 138: Stop The Counter
11-10-4. Stop the counter COUNTER1 (command position) stops when the PRMD.MCCE is set to stop the counter and while in timer mode operation. COUNTER2 (mechanical position), COUNTER3 (deflection), and COUNTER4 (general-purpose) stop when the RENV3.CU2H to 4H is set to stop. By setting the RENV3 register, you can stop counting pulses while performing a backlash or slip correction.
Page 139: Comparator
11-11. Comparator 11-11-1. Comparator types and functions This LSI has 5 circuits of 28-bit comparators per axis. It compares the values set in the RCMP1 to 5 registers with the counter values. Comparators 1 to 4 can be used as comparison counters and can be assigned as COUNTERS 1 to 4. Comparator 5 can be assigned as COUNTER 1 to 4, a positioning counter, or to track the current speed.
Page 140 [Comparison method] Each comparator can be assigned a comparison method from the table below. Comparator 1 Comparator 2 Compa Compa Compa -rator3 -rator4 -rator5 Comparison method C1S0 C1RM C2S0 C1RM C3S0 C4S0 C5S0 to 2 to 2 to 2 to 3 to 2 Comparator = Comparison counter O "001"...
Page 141 [How to set the INT output, external output of comparison results, and internal synchronous starting] Set an event interrupt cause <Set RIRQ.IRC1 to 5 (bit 8 to 12)> [RIRQ] (WRITE) IRC1 (bit 8) = 1 : Output #INT signal when the Comparator 1 conditions are satisfied. - - - n n n n n IRC2 (bit 9) = 1 : Output #INT signal when the Comparator 2 conditions are satisfied.
Page 142 Specify the output timing for an internal synchronous signal [RENV5] (WRITE) <Set RENV5.SYO1 to 3 (bits 16 to 19)> 0001: When the Comparator 1 conditions are satisfied. - - - - n n n n 0010: When the Comparator 2 conditions are satisfied. 0011: When the Comparator 3 conditions are satisfied.
Page 143: Software Limit Function
11-11-2. Software limit function A software limit function can be set up using Comparators 1 and 2. Select COUNTER1 (command position) as a comparison counter for Comparators 1 and 2. Use Comparator 1 for a positive direction limit and Comparator 2 for a negative direction limit to stop an axis based on the results of the comparator and the operation direction.
Page 144: Out Of Step Stepper Motor Detection Function
11-11-3. Out of step stepper motor detection function If the deflection counter value controlled by the motor command pulses and the feedback pulses from an encoder on a stepper motor exceed the maximum deflection value, the LSI will declare that the stepper motor is out of step.
Page 145: Idx (Synchronous) Signal Output Function
11-11-4. IDX (synchronous) signal output function Using Comparator 4 and COUNTER4, the PCL can output signals to the P6n/CP4n terminals at specified intervals. Setting RENV4.C4C0 and C4C1 to "11" (in the general-purpose counter) and setting RENV4.C4S0 thru C4S3 to "1000", "1001 or "1010" (the IDX output), the PCL can be used for IDX (index) operation. The counter range of COUNTER4 will be 0 to (the value set in RCMP4).
Page 146: Ring Count Function
11-11-5. Ring count function COUNTER1 and 2 have a ring count function for use in controlling a rotating table. Set RENV4.C1PM = 1, RENV4.C1S0 to 2 = 000, and RENV4.C1C0 to 1 = 00 and COUNTER1 will be in the ring count mode.
Page 147: Backlash Correction And Slip Correction
11-12. Backlash correction and slip correction This LSI has backlash and slip correction functions. These functions output the number of command pulses specified for the correction value in the speed setting in the RFA (correction speed) register before command operation. The backlash correction is performed each time the direction of operation changes.
Page 148: Vibration Restriction Function
11-13. Vibration restriction function This LSI has a function to restrict vibration when stopping by adding one pulse of reverse operation and one pulse of forward operation shortly after completing a command pulse operation. Specify the output timing for additional pulses in the RENV7 (environment setting 7) register. When both the reverse timing (RT) and the forward timing (FT) are non zero, the vibration restriction function is enabled.
Page 149: Synchronous Starting
11-14. Synchronous starting This LSI can perform the following operation by setting the PRMD (operation mode) register in advance. - Start triggered by another axis stopping. - Start triggered by an internal synchronous signal. The internal synchronous signal output is available with 9 types of timing. They can be selected by setting the RENV5 (environment setting 5) register.
Page 150: Start Triggered By Another Axis Stopping
Read the event interrupt (#INT output) cause <Bit 4 to 12 of RIST> [RIST] (READ) ISUS (bit 4) = 1: When the acceleration is started. ISUE (bit 5) = 1: When the acceleration is complete. n n n n - - - - ISDS (bit 6) = 1: When the deceleration is started.
Page 151 1) When the PCL6045 compatible mode (SMAX = 0) is selected Stopping X axis Next operation Initial operation Operating Stopping Y axis Initial operation Next operation Operating 2) When the PCL6045B mode (RENV1.SMAX = 1) is selected Stopping X axis Initial operation Next operation Operating...
Page 152 [Example 3 (PCL6045 compatible mode)] How to perform continuous interpolation while changing the interpolated axes (moving from circular interpolation on the X and Y axes) to (Linear interpolation on the X and Y axes) to (Linear interpolation on the X and Z axes) STEP Register...
Page 153 [Example 4 (PCL6045B mode)] How to perform continuous interpolation while changing the interpolated axes (moving from circular interpolation on the X and Y axes) to (Linear interpolation on the X and Y axes) to (Linear interpolation on the X and Z axes) STEP Register X axis...
Page 154: Starting From An Internal Synchronous Signal
11-14-2. Starting from an internal synchronous signal There are 9 types of internal synchronous signal output timing. They can be selected by setting the RENV5 register. The monitor signal for the internal synchronous signal can be output externally. Example 1 below shows how to use the end of acceleration for the internal synchronous signal. Ｙ...
Page 155 Specify the use of the P0/FUP terminal <Set RENV2.P0M0 to 1 (bits 0 to 1)> [RENV2] (WRITE) 10: Output an FUP (accelerating) signal - - - - - - n n Specify the use of the P1/FDW terminal <Set RENV2.P1M0 to 1 (bits 2 to 3)> [RENV2] (WRITE) 10: Output an FDW (decelerating) signal...
Page 156: Output An Interrupt Signal
11-15. Output an interrupt signal This LSI can output an interrupt signal (#INT signal): There are 17 types of errors, 19 types of events, and change from operating to stopping that can cause an #INT signal to be output. All of the error interrupt causes will always output an #INT signal.
Page 157 Read the interrupt status <MSTSW.SENI(bit2), SERR (bit 4), SINT (bit 5)> [MSTSW] (READ) SENI = 1: Becomes 1 when IEND = 1 and a stop interrupt occurs. Becomes 0 by reading MSTSW. - - n n - n - - SERR = 1: Becomes 1 when an error interrupt occurs.
Page 158 [Error interrupt causes] <Detail of REST: The cause of an interrupt makes the corresponding bit "1"> Cause (REST) Error interrupt cause Bit name Stopped by Comparator 1 conditions being satisfied (+SL) ESC1 Stopped by Comparator 2 conditions being satisfied (-SL) ESC2 Stopped by Comparator 3 conditions being satisfied ESC3...
Page 159: Electrical Characteristics
12. Electrical Characteristics 12-1. Absolute maximum ratings Item Symbol Rating Unit Power supply voltage -0.3 to +4.0 Input voltage -0.3 to +7.0 Output current -30 to +30 ˚C Storage temperature -65 to +150 12-2. Recommended operating conditions Item Symbol Rating Unit Power supply voltage 3.0 to 3.6...
Page 160: Ac Characteristics 1) (Reference Clock)
12-4. AC characteristics 1) (reference clock) Item Symbol Condition Min. Max. Unit Reference clock frequency 31.25 Reference clock cycle Reference clock HIGH width Reference clock LOW width - 154 -...
Page 161: Ac Characteristics 2) (Cpu- I/F)
12-5. AC characteristics 2) (CPU- I/F) 12-5-1. CPU-I/F 1) (IF1 = H, IF0 = H) Z80 Item Symbol Condition Min. Max. Unit Address setup time for #RD ↓ Address setup time for #WR ↓ Address hold time for #RD, #WR ↑ #CS setup time for #RD ↓...
Page 162: Cpu-I/F 2) (If1 = H, If0 = L) 8086
12-5-2. CPU-I/F 2) (IF1 = H, IF0 = L) 8086 Item Symbol Condition Min. Max. Unit Address setup time for #RD ↓ Address setup time for #WR ↓ Address hold time for #RD, #WR ↑ #CS setup time for #RD ↓ #CS setup time for #WR ↓...
Page 163: Cpu-I/F 3) (If1 = L, If0 = L) H8
12-5-3. CPU-I/F 3) (IF1 = L, IF0 = L) H8 Item Symbol Condition Min. Max. Unit Address setup time for #RD ↓ Address setup time for #WR ↓ Address hold time for #RD, #WR ↑ #CS setup time for #RD↓ #CS setup time for #WR ↓...
Page 164: Cpu-I/F 4) (If1 = L, If0 = L) 68000
12-5-4. CPU-I/F 4) (IF1 = L, IF0 = L) 68000 Item Symbol Condition Min. Max. Unit Address setup time for #LS ↓ Address hold time for #LS ↑ #CS setup time for #LS ↓ #CS hold time for #LS ↑ R/#W setup time for #LS ↓...
Page 165: Operation Timing (Common To All Axes)
12-6. Operation timing (Common to all axes) Item Symbol Condition Min. Max. Unit #RST input signal width Note 1 CLR input signal width EA, EB input signal width Note 2 EZ input signal width Note 2 PA, PB input signal width Note 3 ALM input signal width Note 4...
Page 166 1) When the EA, EB inputs are in the Two-pulse mode 2) When the EA, EB inputs are in the 90 phase-difference mode 3) When the PA, PB inputs are in the Two-pulse mode 4) When the PA, PB inputs are in the 90 phase-difference mode 5) Timing for the command start (when I/M = H, and B/#W = H) A start command is written...
Page 167: External Dimensions
13. External Dimensions - 161 -...
Page 168: Appendix 1: List Of Commands
Appendix 1: List of commands <Operation commands> COMB0 Symbol Description COMB0 Symbol Description CMEMG Emergency stop STAFL FL constant speed start #CSTA output CMSTA STAFH FH constant speed start (simultaneous start) #CSTP output High speed start 1 (FH constant speed -> CMSTP STAD (simultaneous stop)
Page 169 <Register control commands> Register 2nd pre-register Detail Read command Write command Read command Write command Name Name Symbol Symbol Symbol Symbol COMB0 COMB0 COMB0 COMB0 Feed amount, PRMV RPRMV WPRMV RRMV WRMV target position 2 Initial speed RRFL WRFL PRFL RPRFL WPRFL 3 Operation speed...
Page 170 Register 2nd pre-register Detail Read command Write command Read command Write command Name Name Symbol Symbol Symbol Symbol COMB0 COMB0 COMB0 COMB0 COUNTER1 RLTC1 RRLTC1 latched data COUNTER2 RLTC2 RRLTC2 latched data COUNTER3 RLTC3 RRLTC3 latched data COUNTER4 RLTC4 RRLTC4 latched data 34 Extension status RSTS...
Page 171: Appendix 2: Setting Speed Pattern
Appendix 2: Setting speed pattern Bit length Pre-register Description Setting range register setting range -2,147,483,648 to +2,147,483,647 PRMV Positioning amount (80000000h) (7FFFFFFFh) PRFL Initial speed 1 to 65,535 (0FFFFh) PRFH Operation speed 1 to 65,535 (0FFFFh) PRUR Acceleration rate 1 to 65,535 (0FFFFh) PRDR Deceleration rate Note 1...
Page 172  PRUR: Acceleration rate setting register (16-bit) Specify the acceleration characteristic for high speed operations (acceleration/deceleration operations), in the range of 1 to 65,535 (0FFFFh) Relationship between the value entered and the acceleration time will be as follows: 1) Linear acceleration (PRMD.MSMD = 0) ...
Page 173  PRMG: Magnification rate register (12-bit) Specify the relationship between the PRFL and PRFH settings and the speed, in the range of 2 to 4,095 (0FFFh). As the magnification rate is increased, the speed setting units will tend to be approximations. Normally set the magnification rate as low as possible.
Page 174 2) S-curve deceleration without a linear range (PRMD.MSMD=1 and the PRDS register =0)     PRFH PRFL PRDR Optimum value [Number of pulses] =   PRMG 32768 3) S-curve deceleration with a linear range (PRMD.MSMD=1 and the PRDS register >0) ...
Page 175: [Handling Precautions]
[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 176: Other Precautions
7) The maximum temperature of plastic surface is 260 degrees. A peak temperature of the surface of a package body should not exceed 260 degrees and do not keep the temperature at 250 degrees or higher for more than 10 seconds. Temperature °C The maximum temperature is 260 degrees.

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