NPM PCL6113 Bedienungsanleitung

User's Manual

For

PCL6113/6123/6143

Pulse Control LSI

Nippon Pulse Motor Co., Ltd.

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•Explanation of the descriptions in this manual

1. The "x" "y" "z" and "u" of terminal names and bit names refer to the X axis, Y axis, Z axis and U axis,

respectively.

2. Terminals with a bar over the name (ex. ) are negative logic. Their logic cannot be changed. Terminals

without a bar over the name are positive logic. Their output logic can be changed.

3. When describing the bits in registers, "n" refers to the bit position. A "0" means that the bit is in position 0,

and that it is prohibited to write to any bit other than the "0" bit. Finally, this bit will always return a "0" when

read.

4. Unless otherwise indicated, figures related to timing (intervals) in this manual are based on a reference clock

of 19.6608 MHz.

Thank you for considering our pulse control LSI, the "PCL6100 series."

Before using the product, read this manual to become familiar with the product.

Please note that the section "Precautions for handling," which include details about installing this IC,

can be found at the end of this manual.

[Preface]

(1) Copying all or any part of this manual without written approval is prohibited.

(2) The specifications of this LSI may be changed to improve performance or quality without prior

notice.

(3) Although this manual was produced with the utmost care, if you find any points that are unclear,

wrong, or have inadequate descriptions, please let us know.

(4) We are not responsible for any results that occur from using this LSI, regardless of item (3)

above.

[Cautions]

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INDEX

1. Outline and Features................................................................................................................................. 1

1-1. Outline............................................................................................................................................... 1

1-2. Features ............................................................................................................................................ 1

2. Specifications ............................................................................................................................................ 4

3. Terminal Assignment Diagram .................................................................................................................. 5

3-1. PCL6113............................................................................................................................................ 5

3-2. PCL6123 ........................................................................................................................................... 5

3-3. PCL6143 ........................................................................................................................................... 6

4. Function of Terminals ................................................................................................................................ 7

5. Block Diagram ......................................................................................................................................... 14

6. CPU Interface.......................................................................................................................................... 15

6-1. Setting the CPU interface type........................................................................................................ 15

6-2. Hardware design precautions ......................................................................................................... 15

6-3. Examples of CPU interfaces ........................................................................................................... 16

6-4. Address map ................................................................................................................................... 18

6-4-1. Axis arrangement map ............................................................................................................. 18

6-4-2. Internal map of each axis ......................................................................................................... 18

6-5. Description of the map details......................................................................................................... 20

6-5-1. Write the command code and axis selection (COMB0, COMB1)............................................. 20

6-5-2. Write to an output port (OTPW, OTPB) .................................................................................... 21

6-5-3. Write/read the input/output buffer (BUFW, BUFB).................................................................... 21

6-5-4. Reading the main status (MSTSW, MSTSB)............................................................................ 22

6-5-5. Reading the sub status and input/output port (SSTSW, SSTSB, IOPB) .................................. 23

7. Commands (Operation and Control Commands) ................................................................................... 24

7-1. Operation commands...................................................................................................................... 24

7-1-1. Procedure for writing an operation command .......................................................................... 24

7-1-2. Start command ......................................................................................................................... 24

7-1-3. Speed change command.......................................................................................................... 25

7-1-4. Stop command.......................................................................................................................... 25

7-1-5. NOP (do nothing) command..................................................................................................... 25

7-2. General-purpose output bit control commands............................................................................... 26

7-3. Control command............................................................................................................................ 27

7-3-1. Software reset command.......................................................................................................... 27

7-3-2. Counter reset command ........................................................................................................... 27

7-3-3. ERC output control command .................................................................................................. 27

7-3-4. Pre-register control command .................................................................................................. 27

7-3-5. PCS input command................................................................................................................. 27

7-3-6. LTCH input (counter latch) command.......................................................................................27

7-4. Register control command .............................................................................................................. 28

7-4-1. Procedure for writing data to a register .................................................................................... 28

7-4-2. Procedure for reading data from a register .............................................................................. 28

7-4-3. Table of register control commands.......................................................................................... 29

7-5. General-purpose output port control command .............................................................................. 30

7-5-1. Command writing procedures................................................................................................... 30

7-5-2. Command bit allocation ............................................................................................................ 30

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8. Registers ................................................................................................................................................. 31

8-1. Table of registers............................................................................................................................. 31

8-2. Pre-registers ................................................................................................................................... 32

8-3. Description of the registers ............................................................................................................. 34

8-3-1. PRMV (RMV) registers............................................................................................................. 34

8-3-2. PRFL (RFL) registers ............................................................................................................... 34

8-3-3. PRFH (RFH) registers .............................................................................................................. 34

8-3-4. PRUR (RUR) registers ............................................................................................................ 34

8-3-5. PRDR (RDR) registers ............................................................................................................. 35

8-3-6. PRMG (RMG) registers ............................................................................................................ 35

8-3-7. PRDP (RDP) registers.............................................................................................................. 35

8-3-8. PRMD (RMD) registers ............................................................................................................ 36

8-3-9. PRIP (RIP) registers ................................................................................................................ 37

8-3-10. PRUS (RUS) registers ........................................................................................................... 37

8-3-11. PRDS (RDS) registers ........................................................................................................... 38

8-3-12. RENV1 register ..................................................................................................................... 38

8-3-13. RENV2 register .................................................................................................................... 40

8-3-14. RENV3 register ..................................................................................................................... 42

8-3-15. RCUN1 register ..................................................................................................................... 43

8-3-16. RCUN2 register ..................................................................................................................... 43

8-3-17. RCMP1 register...................................................................................................................... 43

8-3-18. RCMP2 register...................................................................................................................... 43

8-3-19. RIRQ register ......................................................................................................................... 44

8-3-20. RLTC1 register ...................................................................................................................... 44

8-3-21. RLTC2 register ...................................................................................................................... 44

8-3-22. RSTS register......................................................................................................................... 45

8-3-23. REST register ......................................................................................................................... 46

8-3-24. RIST register ......................................................................................................................... 46

8-3-25. RPLS register ......................................................................................................................... 47

8-3-26. RSPD register ........................................................................................................................ 47

8-3-27. RSDC register ........................................................................................................................ 47

9. Operation Mode ...................................................................................................................................... 48

9-1. Continuous operation mode using command control ..................................................................... 48

9-2. Positioning operation mode ............................................................................................................ 48

9-2-1. Positioning operation ............................................................................................................... 48

9-2-2. Timer operation ........................................................................................................................ 48

9-3. Pulsar (PA/PB) input mode ............................................................................................................. 49

9-3-1. Continuous operation using a pulsar input............................................................................... 51

9-3-2. Positioning operations using a pulsar input..............................................................................51

9-4. External switch operation mode...................................................................................................... 52

9-4-1. Continuous operation using an external switch........................................................................ 52

9-4-2. Positioning operation using an external switch ........................................................................ 53

9-5. Zero return operation mode ............................................................................................................ 54

9-5-1. Zero return operation 0............................................................................................................. 56

9-5-2. Zero return operation 1............................................................................................................. 57

9-6. Linear interpolation operation ......................................................................................................... 58

9-6-1. Outline of interpolation operation ............................................................................................. 58

9-6-2. Interpolation procedures........................................................................................................... 58

9-6-3. Operation during interpolation.................................................................................................. 59

10. Speed Patterns ..................................................................................................................................... 61

10-1. Speed patterns ............................................................................................................................ 61

10-2. Speed pattern settings ................................................................................................................ 62

10-3. Manual FH correction.................................................................................................................. 66

10-4. Example of setting up an acceleration/deceleration speed pattern ............................................ 70

10-5. Changing speed patterns while in operation............................................................................... 71

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11. Description of the Functions.................................................................................................................. 72

11-1. Reset............................................................................................................................................ 72

11-2. Position override .......................................................................................................................... 73

11-2-1. Target position override 1 .................................................................................................... 73

11-2-2. Target position override 2 (PCS signal) ............................................................................... 74

11-3. Output pulse control..................................................................................................................... 75

11-3-1. Output pulse mode .............................................................................................................. 75

11-3-2. Control the output pulse length and operation complete timing .......................................... 76

11-4. Mechanical external input control ................................................................................................ 77

11-4-1. +EL, -EL signal .................................................................................................................... 77

11-4-2. SD signal ............................................................................................................................. 77

11-4-3. ORG, EZ signals.................................................................................................................. 80

11-5. Servomotor I/F............................................................................................................................ 81

11-5-1. INP signal ............................................................................................................................ 81

11-5-2. ERC signal........................................................................................................................... 82

11-5-3. ALM signals ......................................................................................................................... 83

11-6. External start, simultaneous start ................................................................................................ 84

11-6-1. signal .........................................................................................................................84

11-6-2. PCS signal ........................................................................................................................... 85

11-7. External stop / simultaneous stop................................................................................................ 86

11-8. Emergency stop........................................................................................................................... 87

11-9. Counter ........................................................................................................................................ 89

11-9-1. Counter type and input method ...........................................................................................88

11-9-2. Counter reset ....................................................................................................................... 90

11-9-3. Stop the counter .................................................................................................................. 91

11-10. Comparator ................................................................................................................................ 92

11-10-1. Comparator types and functions........................................................................................ 93

11-10-2. Ring count function............................................................................................................ 93

11-11. Synchronous starting ................................................................................................................. 94

11-11-1. Start triggered by another axis stopping............................................................................ 94

11-11-2. Start on internal synchronous signal ................................................................................. 96

11-12. Output an interrupt signal .......................................................................................................... 98

12. Electrical Characteristics..................................................................................................................... 100

12-1. Absolute maximum ratings ........................................................................................................ 100

12-2. Recommended operating conditions......................................................................................... 100

12-3. DC characteristics ..................................................................................................................... 101

12-4. AC characteristics 1) (reference clock) ..................................................................................... 101

12-5. AC characteristics 2) (CPU I/F) ................................................................................................. 102

12-5-1. 16-bits I/F 1) (IF1 = L, IF0 =L) 68000..............................................................................102

12-5-2. 16-bits I/F 2) (IF1 = L,IF0 = H)H8....................................................................................103

12-5-3. 16-bits I/F 3) (IF1 = H, IF0 =L) 8086.................................................................................104

12-5-4. 8-bits I/F 4) (IF1 = H, IF0 = H) Z80.....................................................................................105

12-6. Operation timing (common for all axes) .................................................................................... 106

13. External Dimensions ........................................................................................................................... 110

13-1. PCL6113...................................................................................................................................... 110

13-2. PCL6123 ......................................................................................................................................111

13-3. PCL6143 ..................................................................................................................................... 112

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Appendix: List of various items ................................................................................................................. 113

Appendix 1: List of commands............................................................................................................. 113

Appendix 2: Label list ........................................................................................................................... 115

Handling Precautions................................................................................................................................ 123

1. Design precautions .......................................................................................................................... 123

2. Precautions for transporting and storing LSIs.................................................................................. 123

3. Precautions for installation............................................................................................................... 123

4. Other precautions............................................................................................................................. 124

-1-

1.OutlineandFeatures

1-1.Outline

ThePCL6113,PCL6123,PCL6143areCMOSLSIsdesignedtoprovidetheoscillating,high-speedpulses

neededtodrivesteppermotorsandservomotors(pulsestringinputtypes).

Itcanoffervarioustypesofcontroloverthepulsestringsandthereforethemotorperformance.These

includecontinuousoperation,positioning,zeroreturnataconstantspeed,linearacceleration/deceleration,

andS-curveacceleration/deceleration.

Thenumberofcontrolaxesisasfollows:oneforthePCL6113,twoforthePCL6123,and4forthe

PCL6143.Theyofferlinearinterpolationofmultipleaxes(usingsingleormultiplePCLs),confirmationofa

PCL'soperationstatus,andinterruptoutputbyavarietyofconditions.Inaddition,theyareequippedwith

servomotordrivercontrolfeatures.

Thesefunctionscanbeusedwithsimplecommands.Theintelligentdesignphilosophyreducestheburden

ontheCPUunitstocontrolmotors.

1-2.Features

♦Singlevoltagepowersupply3.3V

ThesePCLscanbeoperatedfroma3.3V(±10%)singlevoltagepowersupply.

Theoutputsignallevelrangeis0to3.3V.Theinputsignallevelrangeis0to3.3V,or0to5V.

♦Superhigh-speedpulsetrainoutput

9.8Mppscanbeoutputwhenusinga19.6608MHz(standard)referenceclock,or15Mppswhenusinga

30MHz(maximum)referenceclock.

♦CPU-I/F

ThesePCLsallcontainintegralinterfacecircuitsforfourdifferentCPUtypes,andtheycanbeconnected

toawidevarietyofCPUs.

ExamplesofCPUtypes:Z80,8086,H8,or68000etc.

♦Acceleration/decelerationspeedcontrol

Linearacceleration/decelerationandS-curveacceleration/decelerationareavailable.

Linearacceleration/decelerationcanbeinsertedinthemiddleofanS-curveacceleration/deceleration

curve.(SpecifytheS-curverange.)

TheS-curverangecanspecifyeachaccelerationanddecelerationindependently.Therefore,youcan

createanacceleration/decelerationprofilethatconsistsoflinearaccelerationandS-curvedeceleration,or

viceversa.

♦Interpolation

ThesePCLscanperformlinearinterpolation(offeringsynchronizedoperation)ofanynumberofaxes.

♦Speedoverride

Insingleaxisoperation,thespeedcanbechangedduringoperationinanyoftheoperationmodes.

However,thespeedcannotbechangedduringlinearinterpolation.

♦Overridingtargetposition1)and2)

1)Thetargetposition(feedamount)canbechangedwhilefeedinginthepositioningmode.

Ifthecurrentpositionexceedsthenewlyenteredposition,themotorwilldecelerate,stop(immediate

stopwhenalreadyfeedingatalowspeed),andthenfeedinthereversedirection.

2)Startsoperationthesameasinthecontinuousmodeand,whenitreceivesanexternalsignal,itwill

stopafterthespecifiednumberofpulses.

♦Triangledriveelimination(FHcorrectionfunction)

Inthepositioningmode,whenthereareasmallnumberofoutputpulses,thisfunctionautomatically

lowersthemaximumspeedandeliminatestriangledriving.

♦Lookaheadfunction

Thenextsetofdata(feedamount,initialspeed,feedspeed,accelerationrate,decelerationrate,speed

magnificationrate,ramping-downpoint,operationmode,S-curverangeonanacceleration,S-curverange

-2-

onadeceleration)canbewrittenwhileexecutingthecurrentdata.

Whenthecurrentoperationiscomplete,thesystemwillimmediatelyexecutethenextoperation.

♦Avarietyofcountercircuits

Thefollowingfourcountersareavailableseparatelyforeachaxis.

Counter Useorpurpose CounterInput/Output

COUNTER1 28-bitcounterforcontrolofthecommandposition Outputspulses,EA/EB

input

COUNTER2 28-bitcounterformechanicalpositioncontrol Outputspulses,EA/EB

input

Bothofthemcanalsobelatchedbywritingacommand,orbyprovidinganLTC,orORGsignal.

ThePCLscanalsobesettoresetautomaticallysoonafterlatchingthesesignals.

♦Comparator

Thereare2comparatorcircuitsforeachaxis.Theycanbeusedtocomparetargetvaluesandinternal

countervalues.

Comparator1canbecomparedwithCOUNTER1andComparator2canbecomparedwithCOUNTER2.

♦Simultaneousstartfunction

MultipleaxescontrolledbythesameLSI,orcontrolledbymultiplesetsofthisLSI,canbestartedatthe

sametime.

♦Simultaneousstopfunction

MultipleaxescontrolledbythesameLSI,orcontrolledbymultiplesetsofthisLSI,canbestoppedatthe

sametimebyacommand,byanexternalsignal,orbyanerrorstoponanyaxis.

♦Manualpulsarinputfunction

Byapplyingmanualpulsesignals,youcanrotateamotordirectly.

Theinputsignalscanbe90˚ phase difference signals (1x, 2x, or 4x) or up and down signals.

WhenanELsignalofthefeeddirectionisinput,thePCLstopstheoutputofpulses.But,itcanfeedinthe

oppositedirectionwithoutanycommand.

♦Directinputofoperationswitch

Aninputterminalforoperationswitchisprovidedtodirectlydriveamotorwithanexternaloperation

switch.

Theseswitchesturnthemotorforward(+)andbackward(-).

Theresultsofaswitchpresscanbesettokeepfeedingpulseswhilepresseddown,ortofeedasingle,

specifiednumberofpulsesforeachpressoftheswitch.

♦Operationmode

ThebasicoperationsofthisLSIare:continuousoperation,positioning,zeroreturn,andlinear

interpolation.Bysettingtheoptionaloperationmodebits,youcanuseavarietyofoperations.

<Examplesoftheoperationmodes>

1)Start/stopbycommand.

2)Continuousoperationandpositioningoperationusingamanualpulsar.

3)Single-shotorcontinuousoperationusingthedriveswitch.

4)Zeroreturnoperation.

5)Positioningoperationusingcommands.

6)Hardwarestartofthepositioningoperationusinginput.

7)FeedforaspecifiedamountafterturningONthePCS.(Positionoverride(2))

♦Zeroreturnsequences

1)FeedsatlowspeedandstopswhentheORGsignalisturnedON

2)FeedsatlowspeedandstopswhenanEZsignalisreceived(aftertheORGsignalisturnedON).

3)Feedsathighspeed,decelerateswhentheSDsignalisturnedON,andstopswhentheORGsignal

isturnedON.

4)Feedsathighspeed,decelerates,andstopswhentheORGsignalisturnedON.

5)Feedsathighspeed,startsdecelerationwhentheORGsignalisturnedON.Then,itstopswhenan

-3-

EZsignalisreceived.

♦Mechanicalinputsignals

Thefollowingfour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.(Themotorcanberotatedinthenegative(-)direction.)

2)-EL:Functionsthesameasthe+ELsignalexceptthatitworksinthenegative(-)direction.

3)SD:Thissignalcanbeusedasadecelerationsignaloradecelerationstopsignal,accordingtothe

softwaresetting.Whenthisisusedasadecelerationsignal,andwhenthissignalisturnedON

duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeed.Ifthis

signalisONandmovementontheaxisisstarted,themotoronthisaxiswillrunattheFLlow

speed.Whenthissignalisusedasadecelerationstopsignal,andwhenthissignalisturnedON

duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeedand

thenstop.

4)ORG:Inputsignalforazeroreturnoperation.

Forsafety,makesurethe+ELand-ELsignalsstayonfromtheELpositionuntiltheendofeachstroke.

TheinputlogicforthesesignalscanbechangedusingtheELLterminal.

TheinputlogicoftheSDandORGsignalscanbechangedusingsoftware.

♦ServomotorI/F

Thefollowingthreesignalscanbeusedasaninterfaceforeachaxis.

1)INP:Inputpositioningcompletesignalthatisoutputbyaservomotordriver.

2)ERC:Outputdeflectioncounterclearsignaltoaservomotordriver.

3)ALM:Regardlessofthedirectionofoperation,whenthissignalisON,movementonthisaxisstops

immediately(decelerationstop).WhenthissignalisON,nomovementcanoccuronthisaxis.

WhilethePCLisoperatinginthetimermode,itcannotbestoppedusingtheALMinput.

EventhoughthePCLisstopped,itwilloutputanINT(interruptrequest)whenanALMsignalis

received.

TheinputlogicoftheINP,ERC,andALMsignalscanbechangedusingsoftware.

TheERCsignalisapulsedoutput.Thepulselengthcanbeset.(12µsecto104msec.Aleveloutputis

alsoavailable.)

♦Outputpulsespecifications

Outputpulsescanbesettoacommonpulse,2-pulsemodeor90ophasedifferencemode.Theoutputlogic

canalsobeselected.

♦Emergencystopsignal()input

WhenthissignalisturnedON,movementonallaxesstopsimmediately.WhilethissignalisON,no

movementisallowedoneitheraxes.

Thisinputcannotbedisabled.ThePCLwillstopwhenthissignalispresent,evenitisinthetimermode.

♦Interruptsignaloutput

Ansignal(interruptrequest)canbeoutputformanyreasons.

TheterminaloutputsignalcanuseORedlogicforlotsofconditionsoneachaxis.

(WhenmorethanoneLSIisused,wiredORconnectionsarenotpossible.)

--4

2.Specifications

Item Description

Numberofcontrolaxes PCL6113:One

PCL6123:Two(XandYaxes)

PCL6143:Four(X,Y, Z,andUaxes)

Referenceclock Standard:19.6608MHz(Max.30MHz)

Positioningcontrolrange -134,217,728to+134,217,727(28-bit)

Ramping-downpoint

settingrange 0to16,777,215(24-bit)

Numberofregistersused

forsettingspeeds Twoforeachaxis(FLandFH)

Speedsettingsteprange 1to16,383(14-bits)

Speedmultiplication

range

0.3xto600x(Belowareexampleswitha19.6608MHzreferenceclock.)

When0.3xisselected:0.3to4,914.9pps

When1xisselected:1to16,383pps

When600xisselected:600to9,829,800.pps

Theavailablepulsespeedrangevarieswiththereferenceclockspeed.

Whenthereferenceclockis30MHzandifmultiplicationrateis600x,the

maximumspeedwillbe15Mpps.

Acceleration/deceleration

characteristics

Selectableacceleration/decelerationpatternforbothincreasinganddecreasing

speedseparately,usingLinearandS-curveacceleration/deceleration.

Accelerationratesetting

range 1to16,383(14-bits)

Decelerationratesetting

range 1to16,383(14-bits)

Ramping-downpoint

automaticsetting

Theautomaticsettingisonlyavailablewhentheaccelerationanddeceleration

curvesaresymmetrical.

Feedspeedautomatic

correctionfunction

Automaticallylowersthefeedspeedforshortdistancepositioningmoves.

Manualoperationinput Manualpulsarinput,pushbuttonswitchinput

Counter COUNTER1:Positioncontrolcounter(28bits)

COUNTER2:Positioncontrolcounter(28bits)

Comparators 28-bitsx2circuits/axis

Interpolationfunctions Linearinterpolation:Any2to4axes

Operatingtemperature

range -40to+80oC

Powersupply Singlevoltagepowersupply:3.3V±10%

Package PCL6113:80-pinQFP

PCL6123:128-pinQFP

PCL6143:176-pinQFP

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