ETC PCL6045B

 Nippon Pulse Motor Co., Ltd.
[Preface]
Thank you for considering our pulse control LSI, the "PCL6045B."
To learn how to use the PCL6045B, 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.
In addition to this manual, the PLC6045B User's Manual, Application Version, will be available. It includes
programming examples. Please contact us if you need a copy.
[Cautions]
(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.
• 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.
) are negative logic. Their logic cannot be changed.
2. Terminals with a bar over the name (ex.
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.
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INDEX
1. Outline and Features ........................................................................................................................... 1
1-1. Outline......................................................................................................................................... 1
1-2. Features...................................................................................................................................... 1
2. Specifications ...................................................................................................................................... 5
3. Terminal Assignment Diagram ............................................................................................................. 6
4. Function of Terminals .......................................................................................................................... 7
5. Block Diagram................................................................................................................................... 12
6. CPU Interface.................................................................................................................................... 13
6-1. Setting up connections to a CPU ............................................................................................... 13
6-2. Precautions for designing hardware ........................................................................................... 13
6-3. CPU interface circuit block diagram ........................................................................................... 14
6-4. Address map ............................................................................................................................. 16
6-4-1. Axis arrangement map ........................................................................................................ 16
6-4-2. Internal map of each axis..................................................................................................... 16
6-5. Description of the map details.................................................................................................... 18
6-5-1. Write the command code and axis selection (COMW, COMB) ............................................. 18
6-5-2. Write to an output port (OTPW, OTPB) ................................................................................ 18
6-5-3. Write/read the input/output buffer (BUFW, BUFB) ................................................................ 18
6-5-4. Reading the main status (MSTSW, MSTSB) ........................................................................ 19
6-5-5. Reading the sub status and input/output port. (SSTSW, SSTSB, IOPB) ............................... 20
7. Commands (Operation and Control Commands)................................................................................ 21
7-1. Operation commands................................................................................................................. 21
7-1-1. Procedure for writing an operation command....................................................................... 21
7-1-2. Start command.................................................................................................................... 21
7-1-3. Speed change command..................................................................................................... 22
7-1-4. Stop command .................................................................................................................... 22
7-1-5. NOP (do nothing) command ................................................................................................ 22
7-2. General-purpose output bit control commands ........................................................................... 23
7-3. Control command ...................................................................................................................... 24
7-3-1. Software reset command..................................................................................................... 24
7-3-2. Counter reset command ...................................................................................................... 24
7-3-3. ERC output control command.............................................................................................. 24
7-3-4. Pre-register control command.............................................................................................. 24
7-3-5. PCS input command............................................................................................................ 24
7-3-6. LTCH input (counter latch) command................................................................................... 24
7-4. Register control command ......................................................................................................... 25
7-4-1. Procedure for writing data to a register ................................................................................ 25
7-4-2. Procedure for reading data from a register........................................................................... 25
7-4-3. Table of register control commands ..................................................................................... 26
7-5. General-purpose output port control command .......................................................................... 27
7-5-1. Command writing procedures .............................................................................................. 27
7-5-2. Command bit allocation ....................................................................................................... 27
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8. Registers........................................................................................................................................... 28
8-1. Table of registers ....................................................................................................................... 28
8-2. Pre-registers.............................................................................................................................. 29
8-2-1. Writing to the operation pre-registers ................................................................................... 29
8-2-2. Cancel the pre-register operations ....................................................................................... 30
8-2-3. Writing to the comparator pre-registers ................................................................................ 30
8-2-4. Cancel the comparator pre-register data .............................................................................. 30
8-3. Description of the registers......................................................................................................... 31
8-3-1. PRMV (RMV) registers
(Feed amount, target position) ................................................... 31
8-3-2. PRFL (RFL) registers
(Initial speed) ............................................................................. 31
8-3-3. PRFH (RFH) registers
(Operation speed) ...................................................................... 31
8-3-4. PRUR (RUR) registers
(Acceleration rate)...................................................................... 31
8-3-5. PRDR (RDR) registers
(Deceleration rate) ..................................................................... 32
8-3-6. PRMG (RMG) registers
(Speed magnification rate) ......................................................... 32
8-3-7. PRDP (RDP) registers
(Ramping-down point)................................................................ 32
8-3-8. PRMD (RMD) registers
(Operation mode)....................................................................... 33
8-3-9. PRIP (RIP) registers
(Circular interpolation center position,
master axis feed amount)........................................................... 35
8-3-10. PRUS (RUS) registers (S-curve acceleration range) ...................................................... 35
8-3-11. PRDS (RDS) registers (S-curve deceleration range) ...................................................... 35
8-3-12. RFA register
(Speed at amount correction) ..................................................... 35
8-3-13. RENV1 register
(Environment setting 1) .............................................................. 36
8-3-14. RENV2 register
(Environment setting 2) .............................................................. 38
8-3-15. RENV3 register
(Environment setting 3) .............................................................. 40
8-3-16. RENV4 register
(Environment setting 4) .............................................................. 42
8-3-17. RENV5 register
(Environment setting 5) .............................................................. 44
8-3-18. RENV6 register
(Environment setting 6) .............................................................. 45
8-3-19. RENV7 register
(Environment setting 7) .............................................................. 45
8-3-20. RCUN1 register
(COUNTER1 <command position>) ........................................... 46
8-3-21. RCUN2 register
(COUNTER2 <mechanical position>)......................................... 46
8-3-22. RCUN3 register
(COUNTER3 <deflection counter>)............................................ 46
8-3-23. RCUN4 register
(COUNTER4 <general-purpose counter>) ................................. 46
8-3-24. RCMP1 register
(Comparison data for Comparator 1) ......................................... 47
8-3-25. RCMP2 register
(Comparison data for Comparator 2) ......................................... 47
8-3-26. RCMP3 register
(Comparison data for Comparator 3) ......................................... 47
8-3-27. RCMP4 register
(Comparison data for Comparator 4) ......................................... 47
8-3-28. RCMP5 register
(Comparison data for Comparator 5) ......................................... 47
8-3-29. RIRQ register
(Specify event interruption cause) ............................................. 48
8-3-30. RLTC1 register
(COUNTER1 latch data)............................................................ 48
8-3-31. RLTC2 register
(COUNTER2 latch data)............................................................ 48
8-3-32. RLTC3 register
(COUNTER3 latch data)............................................................ 49
8-3-33. RLTC4 register
(COUNTER4 latch data)............................................................ 49
8-3-34. RSTS register
(Extension status)..................................................................... 50
8-3-35. REST register
(Error INT status)...................................................................... 51
8-3-36. RIST register
(Event INT status) ..................................................................... 52
8-3-37. RPLS register
(Number of pulses left for feeding) ............................................ 52
8-3-38. RSPD register
(EZ counter, current speed monitor) .......................................... 53
8-3-39. RSDC register
(Automatically calculated ramping-down point) .......................... 53
8-3-40. PRCI (RCI) registers
(Number of steps for interpolation) ............................................ 53
8-3-41. RCIC register
(Circular interpolation step number counter) ............................. 53
8-3-42. RIPS register
(Interpolation status) ................................................................. 54
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9. Operation Mode .............................................................................................................................. 55
9-1. Continuous operation mode using command control .................................................................. 55
9-2. Positioning operation mode........................................................................................................ 55
9-2-1. Positioning operation (specify a target position using an incremental value) ......................... 55
9-2-2. Positioning operation (specify the absolute position COUNTER1) ........................................ 56
9-2-3. Positioning operation (specify the absolute position COUNTER2) ........................................ 56
9-2-4. Command position 0 return operation .................................................................................. 56
9-2-5. Machine position 0 return operation ..................................................................................... 56
9-2-6. One pulse operation ............................................................................................................ 56
9-2-7. Timer operation ................................................................................................................... 57
9-3. Pulsar (PA/PB) input mode ........................................................................................................ 58
9-3-1. Continuous operation using a pulsar input ........................................................................... 61
9-3-2. Positioning operations using a pulsar input (specify incremental position) ............................ 61
9-3-3. Positioning operations using a pulsar input
(specify absolute position to COUNTER1)..................................... 61
9-3-4. Positioning operations using a pulsar input
(specify absolute position to COUNTER2)..................................... 61
9-3-5. Command position zero return operation using a pulsar input .............................................. 62
9-3-6. Mechanical position zero return operation using a pulsar input............................................. 62
9-3-7. Continuous linear interpolation 1 using a pulsar input .......................................................... 62
9-3-8. Linear interpolation 1 using pulsar input............................................................................... 62
9-3-9. Continuous linear interpolation 2 using pulsar input ............................................................. 62
9-3-10. Linear interpolation 2 using pulsar input............................................................................. 62
9-3-11. CW circular interpolation using pulsar input........................................................................ 62
9-3-12. CCW circular interpolation using pulsar input ..................................................................... 62
9-4. External switch (±DR) operation mode ....................................................................................... 63
9-4-1. Continuous operation using an external switch .................................................................... 63
9-4-2. Positioning operation using an external switch ..................................................................... 64
9-5. Zero position operation mode .................................................................................................... 65
9-5-1. Zero return operation........................................................................................................... 66
9-5-2. Leaving the zero position operations.................................................................................... 74
9-5-3. Zero search operation ......................................................................................................... 74
9-6. EL or SL operation mode ........................................................................................................... 75
9-6-1. Feed until reaching an EL or SL position.............................................................................. 76
9-6-2. Leaving an EL or SL position ............................................................................................... 76
9-7. EZ count operation mode........................................................................................................... 76
9-8. Interpolation operations ............................................................................................................. 77
9-8-1.Interpolation operations ........................................................................................................ 77
9-8-2. Interpolation control axis...................................................................................................... 77
9-8-3. Constant synthesized speed control .................................................................................... 78
9-8-4. Continuous linear interpolation 1 (MOD: 60h) ...................................................................... 79
9-8-5. Linear interpolation 1 (MOD: 61h)........................................................................................ 79
9-8-6. Continuous linear interpolation 2 (MOD: 62h) ...................................................................... 80
9-8-7. Linear interpolation 2 (MOD: 63h)........................................................................................ 80
9-8-8. Circular interpolation............................................................................................................ 81
9-8-9. Circular interpolation synchronized with the U axis............................................................... 83
9-8-10. Interpolation operation synchronized with PA/ PB .............................................................. 83
9-8-11. Operation during interpolation ............................................................................................ 83
10. Speed Patterns................................................................................................................................ 85
10-1. Speed patterns....................................................................................................................... 85
10-2. Speed pattern settings ........................................................................................................... 86
10-3. Manual FH correction ............................................................................................................. 90
10-4. Example of setting up an acceleration/deceleration speed pattern .......................................... 94
10-5. Changing speed patterns while in operation ........................................................................... 95
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11. Description of the Functions............................................................................................................. 96
11-1. Reset...................................................................................................................................... 96
11-2. Position override..................................................................................................................... 97
11-2-1. Target position override 1................................................................................................ 97
11-2-2. Target position override 2 (PCS signal) ........................................................................... 98
11-3. Output pulse control ............................................................................................................... 99
11-3-1. Output pulse mode ......................................................................................................... 99
11-3-2. Control the output pulse width and operation complete timing ....................................... 100
11-4. Idling control......................................................................................................................... 101
11-5. Mechanical external input control.......................................................................................... 102
11-5-1. +EL, -EL signal ............................................................................................................. 102
11-5-2. SD signal ...................................................................................................................... 102
11-5-3. ORG, EZ signals........................................................................................................... 105
11-6. Servomotor I/F .................................................................................................................... 106
11-6-1. INP signal ..................................................................................................................... 106
11-6-2. ERC signal ................................................................................................................... 107
11-6-3. ALM signals.................................................................................................................. 108
11-7. External start, simultaneous start .......................................................................................... 109
signal ........................................................................................................... 109
11-7-1.
11-7-2. PCS signal.................................................................................................................... 110
11-8. External stop / simultaneous stop...........................................................................................111
11-9. Emergency stop ................................................................................................................... 112
11-10. Counter .............................................................................................................................. 113
11-10-1. Counter type and input method ................................................................................... 113
11-10-2. Counter reset .............................................................................................................. 115
11-10-3. Latch the counter and count condition ......................................................................... 116
11-10-4. Stop the counter ..........................................................................................................117
11-11. Comparator..........................................................................................................................118
11-11-1. Comparator types and functions...................................................................................118
11-11-2. Software limit function ................................................................................................. 122
11-11-3. Out of step stepper motor detection function................................................................ 123
11-11-4. IDX (synchronous) signal output function..................................................................... 124
11-11-5. Ring count function ..................................................................................................... 125
11-12. Backlash correction and slip correction ............................................................................... 126
11-13. Vibration restriction function................................................................................................ 127
11-14. Synchronous starting .......................................................................................................... 128
11-14-1. Start triggered by another axis stopping ...................................................................... 129
11-14-2. Starting from an internal synchronous signal ............................................................... 132
11-15. Output an interrupt signal.................................................................................................... 135
12. Electrical Characteristics................................................................................................................ 138
12-1. Absolute maximum ratings ................................................................................................... 138
12-2. Recommended operating conditions..................................................................................... 138
12-3. DC characteristics ................................................................................................................ 139
12-4. AC characteristics 1) (reference clock) ................................................................................. 139
12-5. AC characteristics 2) (CPU I/F)............................................................................................. 140
12-5-1. CPU-I/F 1) (IF1 = H, IF0 = H) Z80................................................................................. 140
12-5-2. CPU-I/F 2) (IF1 = H, IF0 = L) 8086................................................................................ 141
12-5-3. CPU-I/F 3) (IF1 = L, IF0 = L) H8.................................................................................... 142
12-5-4. CPU-I/F 4) (IF1 = L, IF0 = L) 68000 .............................................................................. 143
12-6. Operation timing................................................................................................................... 144
13. External Dimensions...................................................................................................................... 146
Appendix: List of various items ............................................................................................................ 147
Appendix 1: List of commands ........................................................................................................ 147
Appendix 2: Setting speed pattern .................................................................................................. 149
Appendix 3: Label list...................................................................................................................... 153
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Appendix 4: Differences between the PCL6045 and PCL6045B .......................................................162
Handling Precautions ...........................................................................................................................166
1. Design precautions ......................................................................................................................166
2. Precautions for transporting and storing LSIs ...............................................................................166
3. Precautions for installation ...........................................................................................................166
4. Other precautions ........................................................................................................................168
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1. Outline and Features
1-1. Outline
The PCL6045B is a CMOS LSI 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 feeding, positioning, zero return at a constant speed, linear acceleration/deceleration,
and S-curve acceleration/deceleration.
The PLC6045B 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 interrupt output with various
conditions. It also integrates an interface for servo control drivers.
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
♦ CPU-I/F
The PCL6045B contains the following CPU interface circuits.
1) 8-bit interface for Z80 CPU.
2) 16-bit interface for 8086 CPU.
3) 16-bit interface for H8 CPU.
4) 16-bit interface for 68000 CPU.
♦ 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 operation
Feeding with linear interpolation of any two to four axes and circular interpolation of any two axes are both
possible.
♦ Speed override
The feed speed can be changed in the middle of any feed operation.
However, the feed speed cannot be changed during operation when the synthesized speed constant
control for linear interpolation is ON while using S-curve deceleration.
♦ 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 two sets of data (feed amount, initial speed, feed speed, acceleration rate, deceleration rate,
speed magnification rate, ramping-down point, operation mode, center of circular interpolation, S-curve
range on an acceleration, S-curve range on a deceleration, number of steps for circular interpolation) can
be written while executing the current data. The next set of data, and other sets of data, can be written in
advance of their execution for checking by the comparator.
When the current operation is complete, the system will immediately execute the next operation.
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♦ A variety of counter circuits
The following four counters are available separately for each axis.
Counter
Use or purpose
COUNTER1
28-bit counter for control of the command position
COUNTER2
28-bit counter for mechanical position control
(Can be used as general-purpose counter)
Counter Input/Output
Outputs pulses
EA/EB input
Outputs pulses
PA/PB input
COUNTER3
16-bit counter for controlling the deviation between Outputs pulses and EA/EB
the command position and the machine's current input
position
Outputs pulses and PA/PB
input
EA/EB input and PA/PB
input
COUNTER4
28-bit counter used to output synchronous signals Outputs pulses
(Can be used as general-purpose counter)
EA/EB input
PA/PB input
1/2 of reference clock
All counters can be reset by writing a command or by providing a CLR signal.
They can also be latched by writing a command, or by providing an LTC or ORG signal.
The PCL6045B can also be set to reset automatically soon after latching these signals.
The COUNTER1, COUNTER2, and COUNTER4 counters have a ring count function that repeats counting
through a specified counting range.
♦ Comparator
There are five comparator circuits for each axis. They can be used to compare target values and internal
counter values.
The counter to compare can be selected from COUNTER1 (command position counter), COUNTER2
(mechanical position counter), COUNTER3 (deflection counter), and COUNTER4 (a general-purpose
counter).
Comparators 1 and 2 can also be used as software limits (+SL, -SL).
♦ Software limit function
You can set software limits using two of the comparator's circuits.
When the mechanical position approaches the software limit range, the LSI will instruct the motors to stop
immediately or to stop by deceleration. After that these axes can only be moved in the direction opposite
their previous travel.
♦ Backlash correction function / Slip correction function
The LSI has a backlash correction function. Each time the feed direction is changed, the LSI applies a
backlash correction. However, the backlash correction cannot be applied while performing a circular
interpolation.
♦ Synchronous signal output function / Slip correction function
Both the backlash and slip corrections are available.
Backlash correction corrects the feed amount each time the feed direction is changed. Slip correction
corrects the feed amount regardless of the feed direction.
♦ 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.
♦ Vibration restriction function
Specify a control constant in advance and add one pulse each for reverse and forward feed just before
-2-
stopping.
Using this function, vibration can be decreased while stopping.
♦ Manual pulsar input function
By applying manual pulse signals (PA/PB), you can rotate a motor directly.
The input signals can be 90Û SKDVH GLIIHUHQFH VLJQDOV [ [ RU [ RU XS DQG GRZQ VLJQDOV
In addition to the magnification rates above, the PCL6045B contains an integral pulse number
magnification circuit which multiplies by 1x to 32x and a pulse quantity division circuit which is divided by 1
to 2048. Software limit settings can be used, and the PCL stops the output of pulses. It can also feed in
the opposite direction.
♦ 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).
It can be used to detect out-of-step operation and to confirm a position by using a comparator.
♦ Idling pulse output function
This function outputs a preset number of pulses at the self start frequency (FL) before a high-speed start
acceleration operation.
When the initial speed is set higher during the acceleration, this function is effective in preventing out-ofstep operation.
♦ Operation mode
The basic operations of this LSI are: continuous operation, positioning, zero return, linear interpolation,
and circular 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 PA/PB inputs (manual pulsar).
3) Operate for specified distances or in continuous operation using +DR/-DR signals (drive switch).
4) Zero return operation.
5) Positioning operation using commands.
input.
6) Hardware start of the positioning operation using
7) Change the target position after turning ON the PCS. (Delay control)
♦ Variety of zero return sequences (Homing)
The following patterns can be used.
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 low speed, reverses when the ORG signal is turned ON, and stops when an EZ signal is
received.
4) Feeds at low speed and stops when the EL signal is turned ON. (Normal stop)
5) Feeds at low speed, reverses when the EL signal is turned ON, and stops when an EZ signal is
received.
6) Feeds at high speed, decelerates when the SD signal is turned ON, and stops when the ORG signal
is turned ON.
7) Feeds at high speed, decelerates when the ORG signal is turned ON, and stops when an EZ signal is
received.
8) Feeds at high speed, decelerates and stops after the ORG signal is turned ON. Then, it reverse feeds
and stops when an EZ signal is received.
9) Feeds at high speed, decelerates and stops by memorizing the position when the ORG signal is
turned ON, and stops at the memorized position.
10) Feeds at high speed, decelerates to the position stored in memory when an EZ signal is received
after the ORG signal is turned ON. Then, returns to the memorized position if an overrun occurs.
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11) Feeds at high speed, reverses after a deceleration stop triggered by the EL signal, and stops when
an 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 +EL and -EL signals can be changed with the ELL terminal.
The input logic of the SD and ORG signals can be changed using software.
♦ Digital 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.
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 or 2-pulse mode. The output logic can also be selected.
♦ Emergency stop signal (
) input
When this signal is turned ON, movement on both axes stops immediately. While this signal is ON, no
movement is allowed on either axes.
♦ Interrupt signal output
signal (interrupt request) can be output for many reasons.
An The terminal output signal can use ORed logic for lots of conditions on each axis.
(When more than one 6045B LSI is used, wired OR connections are not possible.)
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2. Specifications
Item
Number of axes
Reference clock
Positioning control range
Ramping-down point
setting range
Number of registers used
for setting speeds
Speed setting step range
Speed magnification
range
Description
4 axes (X, Y, Z, and U axis)
Standard: 19.6608 MHz (Max. 20 MHz)
-134,217,728 to +134,217,727 (28-bit)
0 to 16,777,215 (24-bit)
Three for each axis (FL, FH, and FA (speed correction))
1 to 65,535 (16-bits)
Multiply by 0.1 to 100
Multiply by 0.1 = 0.1 to 6,553.5 pps
Multiply by 1 = 1 to 65,535 pps
Multiply by 100 = 100 to 6,553,500 pps
(When the reference clock is 19.6608 MHz)
Acceleration/deceleration Selectable acceleration/deceleration pattern for both increasing and decreasing
characteristics
speed separately, using Linear and S-curve acceleration/deceleration.
Acceleration rate setting
1 to 65,535 (16-bit)
range
Deceleration rate setting
1 to 65,535 (16-bit)
range
Ramping-down point
Automatic setting within the range of (deceleration time) < (acceleration time x
automatic setting
2)
Feed speed automatic
Automatically lowers the feed speed for short distance positioning moves.
correction function
Manual operation input Manual pulsar input, pushbutton switch input
Counter
COUNTER1: Command position counter (28-bit)
COUNTER2: Mechanical position counter (28-bit)
COUNTER3: Deflection counter (16-bit)
COUNTER4: General-purpose counter (28-bit)
Comparators
28-bits x 5 circuits / axis
Interpolation functions
Linear interpolation: Any 2 to 4 axes, Circular interpolation: Any 2 axes
Operating temperature
o
-40 to +70 C
range
Power supply
Two power supplies of +5V±10% and 3.3 V±10%
Package
176-pin QFP
-5-
3. Terminal Assignment Diagram
132 130 128 126 124 122 120 118 116 114 112 110 108 106 104 102 100
98
96
94
92
90
88
134
86
136
84
138
82
140
80
142
78
144
76
146
74
148
72
150
70
152
PLC6045B
154
(
(
)
)
68
66
156
64
158
62
(
)
(
)
160
60
162
58
164
56
166
54
168
52
170
50
172
48
174
46
176
10
12
14
16
18 2 0
22 2 4
26
28
-6-
30
32
34
36 3 8
40 4 2
44
4. Functions of Terminals
Signal name
Terminal
No.
17, 25,
39, 56,
77, 105,
127,
163, 176
33, 61,
100,121,
149,
161,
162,165,
166,167
12, 88,
144
Input/
output
Power
source
175
Input
CLK
164
Input
IF0
IF1
1
2
Input
GND
VDD5
VDD3
Power
source
Power
source
Logic
Description
Supply a negative power.
Make sure to connect all of these terminals.
Supply +5 VDC power.
The allowable power supply range is +5 VDC ±10%.
Make sure to connect all of these terminals.
Supply +3.3 VDC power.
The allowable power supply range is +3.3 VDC ±10%.
Make sure to connect all of these terminals.
Negative Input reset signal.
Make sure to set this signal LOW after turning ON the power and
before starting operation. Input and holding
low for at least
8 cycles of the reference clock.
For details about the chip's status after a reset, see section 11-1,
"Reset", in this manual.
Input a CMOS level reference clock signal.
(Signals other than the CLK are TTL level inputs.)
The reference clock frequency is 19.6608 MHz. The LSI creates
output pulses based on the clock input on this terminal.
Enter the CPU-I/F mode
IF1 IF0
L
L
H
H
A0 to A3
L
H
L
H
CPU
CPU signal connected to the
example
terminal
A0
68000 +5 V R/
H8
(GND)
8086
(GND) READY
Z80
A0
3
Input
4
5
6 to 10
Input
11
Input
13
Output Negative Outputs a wait request signal to cause a CPU to wait.
The LSI needs 4 reference clock cycles to process each
signal is not used, make sure that an
command. If the
external CPU does not access this LSI during this interval.
Input
Negative When the signal level on this terminal is LOW, the
terminals will be valid.
Negative Connect the I/F signals to the CPU. The
and
terminal is LOW.
are valid when
Positive Address control signals
and
terminals
Negative Outputs an interrupt request signal (IRQ) to an external CPU.
After this terminal is turned ON, the signal will return to OFF
when a RESET (error interrupt cause) or RIST (event interrupt
cause) signal is received. The output status can be checked with
an MSTSW (main status) command signal.
signal can be masked.
The
When more than one 6045B LSI is used, a wired OR connection
between
terminals is not allowed.
-7-
Signal name
D0 to D7
D8 to D15
ELLx
ELLy
ELLz
ELLu
+ ELLx
+ ELLy
+ ELLz
+ ELLu
- ELLx
- ELLy
- ELLz
- ELLu
SDx
SDy
SDz
SDu
Terminal Input/
Logic
Description
No.
output
14
Output Negative Signal used to indicate that the LSI is processing commands.
Use this signal to make connections with a CPU that does not
have a wait control input terminal.
When the LSI receives a write command from a CPU, this signal
will go LOW. When the LSI finishes processing, this signal will
go HIGH.
The LSI makes sure that this terminal is HIGH and then
proceeds to the next step.
15 to 16, Input/ Positive Bi-directional data bus.
18 to 23 Output
When connecting a 16-bit data bus, connect the lower 8 signal
lines here.
24,
Input/ Positive Bi-directional data bus.
26 to 32 Output
When connecting a 16-bit data bus, connect the upper 8 signal
lines here.
A Z80-I/F (IF1 = H, IF0 = H) is used. Provide a pull up resistor
(5k to 10 K-ohms) on VDD5.
(One resistor can be used for all 8 lines.)
168
Input/ Negative Input/Output terminal for simultaneous start.
Output
When more than one LSI is used and you want to start them
*
simultaneously, connect this terminal on each LSI.
The terminal status can be checked using an RSTS command
signal (extension status).
169
Input/ Negative Input/Output terminal for a simultaneous stop. (See Note 6.)
Output
When more than one LSI is used and you want to stop them
*
simultaneously, connect this terminal on each LSI.
The terminal status can be checked using an RSTS command
signal (extension status).
170
Input U Negative Input for an emergency stop.
While this signal is LOW, the PCL cannot start. If this signal
changes to LOW while in operation, all the motors will stop
operation immediately.
Input U
Specify the input logic for the ±EL signal.
171
LOW: The input logic on ±EL is positive.
172
HIGH: The input logic on ±EL is negative.
173
174
34
Input U Negative Input end limit signal in the positive (+) direction. (See Note 6.)
When this signal is ON while feeding in the positive (+) direction,
66
%
the motor on that axis will stop immediately or will decelerate
97
and stop.
130
Specify the input logic using the ELL terminal.
The terminal status can be checked using an SSTSW command
signal (sub status).
35
Input U Negative Input end limit signal in the negative (-) direction. (See Note 6.)
When this signal is ON while feeding in negative (-) direction, the
67
%
motor on that axis will stop immediately, or will decelerate and
98
stop.
131
Specify the input logic using the ELL terminal.
The terminal status can be checked using an SSTSW command
signal (sub status).
Input U Negative Input deceleration signal.
36
#
Selects the input method: LEVEL or LATCHED inputs.
68
The input logic can be selected using software. The terminal
99
status can be checked using an SSTSW command signal (sub
132
status).
- 8 -
Signal name
ORGx
ORGy
ORGz
ORGu
ALMx
ALMy
ALMz
ALMu
OUTx
OUTy
OUTz
OUTu
DIRx
DIRy
DIRz
DIRu
EAx, EBx
EAy, EBy
EAz, EBz
EAu, EBu
EZx
EZy
EZz
EZu
PAx, PBx
PAy, PBy
PAz, PBz
PAu, PBu
+DRx,-DRx
+DRy,-DRy
+DRz,-DRz
+DRu,-DRu
Terminal Input/
Logic
Description
No.
output
Input U Negative Input zero position signal.
37
#
Used for zero return and other operations. (Edge detection.)
69
The input logic can be selected using software. The terminal
101
status can be checked using an SSTSW command signal (sub
133
status).
38
Input U Negative Input alarm signal. (See Note 6.)
70
#
When this signal is ON, the motor on that axis stops immediately,
102
or will decelerate and stop.
134
The input logic can be selected using software.
The terminal status can be checked using an SSTSW command
signal (sub status).
57
Output Negative Outputs command pulses for controlling a motor, or outputs
78
#
direction signals.
122
When Common Pulse mode is selected: Outputs a direction
145
signal.
When 2-pulse output mode is selected: Outputs pulses in the
negative (-) direction.
The output logic can be changed using software.
58
Output Negative Output command pulses for controlling a motor, or outputs
79
#
direction signal.
123
When Common Pulse mode is selected: Outputs a direction
146
signal.
When 2-pulse output mode is selected: Output pulses in the
negative (-) direction.
The output logic can be changed using software
40, 41 Input U
Input this signal when you want to control the mechanical
71, 72
position using the encoder signal. Input a 90˚ phase difference
103, 104
signal (1x, 2x, 4x) or input positive (+) pulses on EA and
135, 136
negative (-) pulses on EB.
When inputting 90˚ phase difference signals, if the EA signal
phase is ahead of the EB signal, the LSI will count pulses.
The counting direction can be changed using software.
42
Input U Negative Input a marker signal (this signal is output once for each turn of
73
#
the encoder) when using the marker signal in zero return mode.
106
Use of the EZ signal improves zero return precision.
137
The input logic can be changed using software. The terminal
status can be checked using an RSTS command signal
(extension status).
43,44
Input U
Input for receiving external drive pulses, such as manual pulsar.
74,75
You can input 90˚ phase difference signals (1x, 2x, 4x) or
107,108
positive (+) pulses (on PA) and negative (-) pulses (on PB).
138,139
When 90˚ phase difference signals are used, if the signal phase
of PA is ahead of the PB signal, the LSI will count up.
The counting direction can be changed using software.
Input U Negative Setting these terminals LOW enables PA/PB and +DR/-DR input.
45
By inputting an axis change switch signal, one manual pulsar
76
can be used alternately for four axes.
109
140
46,47
Input U Negative You can start operation of the PCL with these signals, using
82,83
#
external switches.
110,111
Specifying the feed length, low-speed continuous feed, and high141,142
speed continuous feed are possible.
The input logic can be changed using software. The terminal
status can be checked using an RSTS command signal
(extension status).
- 9 -
Signal name
PCSx
PCSy
PCSz
PCSu
INPx
INPy
INPz
INPu
CLRx
CLRy
CLRz
CLRu
LTCx
LTCy
LTCz
LTCu
ERCx
ERCy
ERCz
ERCu
P0x/FUPx
P0y/FUPy
P0z/FUPz
P0u/FUPu
P1x/FDWx
P1y/FDWy
P1z/FDWz
P1u/FDWu
P2x/MVCx
P2y/MVCy
P2z/MVCz
P2u/MVCu
P3x/CP1x (+SLx)
P3y/CP1y (+SLy)
P3z/CP1z (+SLz)
P3u/CP1u (+SLu)
Terminal Input/
Logic
Description
No.
output
Input U Negative The PCL starts its positioning operation according to this input
48
#
signal. (Override 2 of the target position.)
84
The input logic can be changed using software. The terminal
112
status can be checked using an RSTS command signal
143
(extension status).
49
Input U Negative Input the position complete signal from servo driver (in-position
85
#
signal).
113
Input logic can be changed using software. The terminal status
150
can be checked using an RSTS command signal (extension
status).
Input U Negative Reset a specified counter from COUNTER1 to 4.
50
#
The input logic can be changed using software. The terminal
86
status can be checked using an RSTS command signal
114
(extension status).
151
51
Input U Negative Latch counter value of specified counters (available on more
87
#
than one) from COUNTER1 to 4.
115
The input logic can be changed using software. The terminal
152
status can be checked using an RSTS command signal.
Output Negative Outputs a deflection counter clear signal to a servo driver as a
59
#
pulse.
80
The output logic and pulse width can be changed using software.
124
A LEVEL signal output is also available. The terminal status can
147
be checked using an RSTS command signal.
Output Negative Outputs a LOW signal while feeding.
60
81
125
148
52
Input/ Positive Common terminal for general purpose I/O and FUP. (See Note
89
Output*
5.)
116
As an FUP terminal, it outputs a LOW signal while decelerating
153
As a general purpose I/O terminal, three possibilities can be
specified: input terminal, output terminal, and one shot pulse
output terminal.
The usage, output logic of the FUP and one shot pulse
parameters can be changed using software.
53
Input/ Positive Common terminal for general purpose I/O and FDW. (See Note
90
Output
5.)
117
*
As an FDW terminal, it outputs a LOW signal while decelerating.
154
As a general purpose I/O terminal, three possibilities can be
specified: input terminal, output terminal, and one shot pulse
output terminal.
The usage, output logic of the FDW and one shot pulse
parameters can be changed using software.
Input/ Positive Common terminal for general purpose I/O and MVC. (See Note
54
5.)
Output
91
When used as an MVC terminal, it outputs a signal while
*
118
performing a low speed feed.
156
The usage, and output logic of the MVC can be changed using
software.
Input/ Positive Common terminal for general purpose I/O and CP1 (+SL). (See
55
Note 5.)
Output
92
When used as a CP1 (+SL) terminal, it outputs a signal while
*
119
establishing the conditions (within +SL) of comparator 1.
156
The output logic of CP1 (+SL) as well the selection of input or
output functions can be changed using software.
- 10 -
Signal name
Terminal
No.
P4x/CP2x (-SLx) 62
P4y/CP2y (-SLy) 93
P4z/CP2z (-SLz) 120
P4u/CP2u (-SLu) 157
P5x/CP3x
P5y/CP3y
P5z/CP3z
P5u/CP3u
63
94
126
158
P6x/CP4x
P6y/CP4y
P6z/CP4z
P6u/CP4u
64
95
128
159
P7x/CP5x
P7y/CP5y
P7z/CP5z
P7u/CP5u
65
96
129
160
Input/
Logic
Description
output
Input/ Positive Common terminal for general purpose I/O and CP2 (-SL).
Output
When used as a CP2 (-SL) terminal, it outputs a signal while
*
establishing the conditions (within -SL) of comparator 2.
The output logic of CP2 (-SL) as well as the selection of input or
output functions can be changed using software. (See Note 5.)
Input/ Positive Common terminal for general purpose I/O and CP3. (See Note
Output
5.)
*
When used as a CP3 terminal, it outputs a signal while
establishing the conditions of comparator 3.
The output logic of CP3 as well as the selection of input or
output functions can be changed using software.
Input/ Positive Common terminal for general purpose I/O and CP4. (See Note
5.)
Output
When used as a CP4 terminal, it outputs a signal while
*
establishing the conditions of comparator 4.
The output logic of CP4 as well as the selection of input or
output functions can be changed using software.
Input/ Positive Common terminal for general purpose I/O and CP5. (See Note
Output
5.)
*
When used as a CP5 terminal, it outputs a signal while
establishing the conditions of comparator 5.
The output logic of CP5 as well as the selection of input or
output functions can be changed using software.
Note 1: "Input U" refers to an input with a pull up resistor. The internal pull up resistance (50 K to 100 K-ohms) is
only used to keep a terminal from floating. If you want to use the LSI with an open collector system, an
external pull up resistor (5k to 10 K-ohms) is required.
As a noise prevention measure, pull up unused terminals to VDD5 using an external resistor (5 k to 10
K-ohms), or connect them directly to VDD5.
Note 2: "Input/Output *" refers to a terminal with a pull up resistor. The internal pull up resistor (50 K to 100 Kohms) is only used to keep a terminal from floating. If it is connected in a wired OR circuit, an external
pull up resistor (5 k to 10 K-ohms) is required.
As a noise prevention measure, pull up unused terminals to VDD5 using an external resistor (5 k to 10 Kohms).
Note 3: If an output terminal is not being used, leave it open.
Note 4: "Positive" refers to positive logic. "Negative" refers to negative logic. "#" means that the logic can be
changed using software. "%" means that the logic can be changed by the setting on another terminal.
The logic shown refers only to the initial status of the terminal. The DIR terminal is initially in a 2-pulse
mode.
Note 5: Use the RENV2 register to select an output signal.
When P0 to P7 are set up as output terminals, they can be controlled simultaneously as 8 bits or one bit
at a time using output bit control commands, depending on what is written to the output port (OTPB).
When P0 and P1 are set up as one shot pulse output terminals, they will output a one shot signal (T =
Approx. 26 msec) using the output bit control command.
Note 6: When a deceleration stop is selected, latch the input signal ON until the PCL stops operation.
- 11 -
5. Block Diagram
- 12 -
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
CPU signal to connect to the 6045B terminals
status
CPU type
IF1 IF0
terminal
terminal A0 terminal
terminal
L
L
68000
+5V
R/
L
H
H8
(GND)
H
L
8086
(GND)
READY
H
H
Z80
A0
6-2. Precautions for designing hardware
•
•
•
•
Apply a CMOS level clock to the CLK terminal.
To reset the LSI, hold the
signal LOW, and input the CLK signal for at least 8-clock cycles.
Connect unused P0 to P7 terminals to VDD5 through a pull up resistor (5 k to 10 K-ohms).
When connecting a CPU with an 8-bit bus, pull up terminals D8 to D15 to VDD5 using an external resistor
(5 k to 10). (Shared use of one resister for the 8 lines is available.)
• Use the ELL terminal to change the ±EL signal input logic.
• To supply and shut down the power, turn both the 5 V and 3.3 V power supplies ON and OFF
simultaneously, if possible.
• Turning ON only one power supply may feed current to the other side, which can shorten the life of the LSI
if this condition continues over time.
- 13 -
6-3. CPU interface circuit block diagram
1) Z80 interface
PCL6045B
Z80 CLK
M1
A5-A7
Decode circuit
A0-A3
CLK
+5V
CS
IF1
IF0
A0-A3
INT
IORQ
RD
WR
INT
WAIT
D0-D7
RESET
WRQ
RD
WR
D0-D7
RST
System reset 2) 8086 interface
8086
PCL6045B
CLK
CS
CLK
Decode circuit
M/IO
A5-A19
ALE
A16-A19
AD0-AD15
Latch
A1-A4
A1-A19
IF1
IF0
A1-A4
A0
GND
GND
D0-D15
Interrupt
control circuit
INTR
INTA
INT
RD WR
READY
RESET
MN/MX
RD
WR
WRQ
RST
+5V
System reset
System reset
- 14 -
+5V
3) H8 interface
PCL6045B
H8 CLK
CS
CLK
A4-A15
Decode circuit
+5V
IF0
IF1
A1-A4
A0
INT
RD
WR
WRQ
A1-A3
IRQ
RD
HWR
WAIT
D0-D15
RESET
GND
D0-D15
RST
System reset GND
4) 68000 interface
PCL6045B
68000 AS
A5-A23
CLK
Decode circuit
A1-A3
D0-D15
CLK
CS
IF0
IF1
A1-A3
D0-D15
GND
LDS
DTACK
IPLO-IPL2
A0
WRQ
Interrupt
control circuit
INT
+5V
RD
WR
RST
R/W
RESET
System reset Note: For the 8086, H8, and 68000 interfaces, only word (16-bit) access is available. Byte (8-bit) access is
not available.
- 15 -
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 A3 and A4, as shown below.
A4 A3
Detail
0
0
X axis control address range
0
1
Y axis control address range
1
0
Z axis control address range
1
1
U axis control address range
6-4-2. Internal map of each axis
The internal map of each axis is defined by A0, A1 and A2 address line inputs.
<When used with the Z80 I/F>
1) Write cycle
A0 to A2 Address signal
Processing detail
000
COMB0
Write a control command
001
COMB1
Assign the axis (specify a control command for execution)
Change the status of the general-purpose output port (only bits
010
OTPB
assigned as outputs are effective)
011
(Invalid)
100
BUFB0
Write to the input/output buffer (bits 0 to 7)
101
BUFB1
Write to the input/output buffer (bits 8 to 15)
110
BUFB2
Write to the input/output buffer (bits 16 to 23)
111
BUFB3
Write to the input/output buffer (bits 24 to 31)
2) Read cycle
A0 to A2 Address signal
000
MSTSB0
001
MSTSB1
010
IOPB
011
SSTSB
100
BUFB0
101
BUFB1
110
BUFB2
111
BUFB3
Processing detail
Read the main status (bits 0 to 7)
Read the main status (bits 8 to 15)
Read the general-purpose input/output port
Read the sub status
Read from the input/output buffer (bits 0 to 7)
Read from the input/output buffer (bits 8 to 15)
Read from the input/output buffer (bits 16 to 23)
Read from the input/output buffer (bits 24 to 31)
- 16 -
<When used with the 8086 I/F>
1) Write cycle
A1 to A2 Address signal
Processing detail
00
COMW
Write the axis assignment and control command
Change the status of the general-purpose output port (only bits
01
OTPW
assigned as outputs are effective)
10
BUFW0
Write to the input/output buffer (bits 0 to 15)
11
BUFW1
Write to the input/output buffer (bits 16 to 31)
2) Readout cycle
A1 to A2 Address signal
00
MSTSW
01
SSTSW
10
BUFW0
11
BUFW1
Processing detail
Read the main status (bits 0 to 15)
Read the sub status or general-purpose input/output port
Read from the input/output buffer (bits 0 to 15)
Read from the input/output buffer (bits 16 to 31)
<When used with the H8 or 68000 I/F>
1) Write cycle
A1 to A2 Address signal
Processing detail
11
COMW
Write the axis assignment and control command
Change the status of the general-purpose output port (only bits
10
OTPW
assigned as outputs are effective)
01
BUFW0
Write to the input/output buffer (bits 0 to 15)
00
BUFW1
Write to the input/output buffer (bits 16 to 31)
2) Readout cycle
A1 to A2 Address signal
11
MSTSW
10
SSTSW
01
BUFW0
00
BUFW1
Processing detail
Read the main status (bits 0 to 15)
Read the sub status or general-purpose input/output port
Read from the input/output buffer (bits 0 to 15)
Read from the input/output buffer (bits 16 to 31)
- 17 -
6-5. Description of the map details
6-5-1. Write the command code and axis selection (COMW, COMB)
Write the commands for reading and writing to registers and the start and stop control commands for each
axis.
COMB0: Set the command code. For details, see 7. "Command (Operation and Control commands)."
SELu to x: Select an axis for executing the command. If all of the bits are 0, only this axis (selected by
A4, A3) is selected. To write the same command to more than one axis, set the bits of the
selected axes to 1. When you write to a register, the details of the input/output buffer are
written into the register for each axis. When you read from a register, the details in the
register are written into the input/output buffer for each axis.
6-5-2. Write to an output port (OTPW, OTPB)
Specify output terminal status from the general purpose I/O terminals P0 to P7.
Bits corresponding to terminals not set as outputs are ignored.
When writing a word, the upper 8 bits are ignored. However, they should be set to 0 for future
compatibility.
OTP0 to 7: Specify the status of output terminals P7n to P0n (n = x, y, z, u).
A HIGH is output when the bit is set to 1.
OTPW
OTPB
15
14
13
12
11
10
9
8
0
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTP0
6-5-3. Write/read the input/output buffer (BUFW, BUFB)
When you want to write data into a register, after placing the data in the input/output buffer, write a
"register write command" into COMB0. The data in the input/output buffer will be copied into the register.
When you want to write data into the input/output buffer, write a "register read command" into COMB0.
The data in the register will be copied to the input/output buffer. Then you can read the data from the
input/output buffer.
The order for writing and reading buffers BUFW0 to 1 (BUFB0 to 3) is not specified. The data written in
the input/output buffer can be read at any time.
- 18 -
6-5-4. Reading the main status (MSTSW, MSTSB)
Bit
0
1
2
Bit name
SSCM
SRUN
SENI
3
4
5
6 to 7
8
9
10
11
12
13
SEND
SERR
SINT
SSC0 to 1
SCP1
SCP2
SCP3
SCP4
SCP5
SEOR
14
15
SPRF
SPDF
Details
Set to 1 by writing a start command. Set to 0 when the operation is stopped.
Set to 1 by the start pulse output. Set to 0 when the operation is stopped.
Stop interrupt flag
When IEND in RENV2 is 1, the PCL turns ON the INT output when the status
changes from operating to stop, and the SENI bit becomes 1. (After the main
status is read, it returns to 0.) When IEND is set to 0, this flag will always be 0.
Set to 0 by writing start command. Set to 1 when the operation is stopped.
Set to 1 when an error interrupt occurs. Set to 0 by reading the RESET.
Set to 1 when an error interrupt occurs. Set to 0 by reading the RIST.
Sequence number for execution or stopping.
Set to 1 when the COMPARATOR 1 comparison conditions are met.
Set to 1 when the COMPARATOR 2 comparison conditions are met.
Set to 1 when the COMPARATOR 3 comparison conditions are met.
Set to 1 when the COMPARATOR 4 comparison conditions are met.
Set to 1 when the COMPARATOR 5 comparison conditions are met.
When a positioning override cannot be executed (reading the RMV register while
stopped), this signal changes to 1. After the main status is read, it changes to 0.
Set to 1 when the pre-register for the subsequent operation data is full.
Set to 1 when the pre-register for comparator 5 is full.
Status change timing chart
1) When the continuous mode (MOD=00h, 08h) is selected.
2) When the PA/ PB continuous mode (MOD=01h) is selected.
- 19 -
3) When the DR continuous mode (MOD=02h) is selected.
4) When the auto stop mode is selected such as positioning operation mode (MOD=41h).
6-5-5. Reading the sub status and input/output port. (SSTSW, SSTSB, IOPB)
SSTSW
SSTSB
IOPB
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
SSD SORG SMEL SPEL SALM SFC SFD SFU IOP7 IOP6 IOP5 IOP4 IOP3 IOP2 IOP1 IOP0 Bit
Bit name
Description
0 to 7 IOP0 to 7
Read the status of P0 to 7 (0: L level, 1: H level)
8 SFU
Set to 1 while accelerating.
9 SFD
Set to 1 while decelerating.
10 SFC
Set to 1 while feeding at low speed.
11 SALM
Set to 1 when the ALM input is ON.
12 SPEL
Set to 1 when the +EL input is ON.
13 SMEL
Set to 1 when the -EL input is ON.
14 SORG
Set to 1 when the ORG input is ON.
15 SSD
Set to 1 when the SD input is ON. (Latches the SD signal.)
Note: When the backlash or slip correction function is used, SFU, SFD, and SFC will all be 0. The main
status SRUM will be 1, even if this correction is used.
- 20 -
7. Commands (Operation and Control Commands)
7-1. Operation commands
After writing the axis assignment data to COMB1 (address 1 when a Z80 I/F is used), write the command to
COMB0 (address 0 when a Z80 I/F is used), the LSI will start and stop, as well as change the speed of the
output pulses.
When an 8086, H8, or 68000 I/F is used, write 16-bit data, which combines the axis assignment and
operation command data.
7-1-1. Procedure for writing an operation command (the axis assignment is omitted)
Write a command to COMB0 (address 0 when a Z80 I/F is used). A waiting time of 4 register reference
clock cycles (approximately 0.2 µsec when CLK = 19.6608 MHz) is required for the interval between
"writing a command" and "writing the next command," "writing a register" and "writing the I/O buffer," and
between "reading a register" and "reading the I/O buffer." When the WRQ output signal is used by
connecting it to the CPU, the CPU automatically ensures this waiting time.
If you want to use a CPU that does not have this waiting function, arrange the program sequence so that
access is only allowed after confirming that the IFB output signal is HIGH.
1) When not using A0 to A2
0h
Next command address
CS
WR
D0 to D7
Command
Command
Secure 4 reference clock cycles by the software
2) When not using A0 to A2
0h
Next command address
CS
WR
WRQ
D0 to D7
Command
Command
Automaticall secure 4 reference clock cycles
7-1-2. Start command
1) Start command
If this command is written while 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
50h
STAFL
FL low speed start
51h
STAFH
FH low speed start
52h
STAD
High speed start 1 (FH low speed -> deceleration stop) Note. 1
53h
STAUD
High speed start 2 (Acceleration -> FH low speed -> Deceleration stop) Note. 1
Note 1: For details, see section 10-1, "Speed patterns."
- 21 -
2) Residual pulses start command
Write this command after the motor is stopped on the way to a positioning, it will continue movement for
the number of pulses left in the deflection counter.
COMB0
Symbol
Description
54h
CNTFL
Residual pulses FL low speed start
55h
CNTFH
Residual pulses FH low speed start
56h
CNTD
Residual pulses high speed start (FH constant speed start without
acceleration, with deceleration)
57h
CNTUD
Residual pulse high speed start (With acceleration and deceleration.)
3) Simultaneous start command
By setting the RMD register, the LSI will start an axis which is waiting for signal.
COMB0
Symbol
Description
06h
CMSTA
Output one shot of the start pulse from the terminal.
2Ah
SPSTA
Only this axis will process the command, the same as when the input.
signal is
7-1-3. Speed change command
Write this command while the motor is operating, the motor on that axis will change its feed speed. If this
command is written while stopped it will be ignored.
COMB0
Symbol
Description
40h
FCHGL
Change to the FL speed immediately.
41h
FCHGH
Change to the FH speed immediately.
42h
FSCHL
Decelerate and change to the FL speed.
43h
FSCHH
Accelerate and change to the FH speed.
7-1-4. Stop command
1) Stop command
Write this command to stop feeding while operating.
COMB0
Symbol
Description
49h
STOP
Write this command while in operation to stop immediately.
4Ah
SDSTP
Write this command while feeding at FH low speed or high speed, the motor
on that axis will decelerate to the FL low speed and stop. If this command is
written while the axis is being fed at FL low speed, the motor on that axis will
stop immediately.
2) Simultaneous stop command
Stop the motor on any axis whose input stop function has been enabled by setting the RMD
register.
COMB0
Symbol
Description
07h
CMSTP
Outputs one shot of pulses from the terminal to stop movement on that
axis.
3) Emergency stop command
Stops an axis in an emergency
COMB0
Symbol
05h
CMEMG
Emergency stop (same as a Description
signal input)
7-1-5. NOP (do nothing) command
COMB0
Symbol
00h
NOP
Description
This command does not affect the operation.
- 22 -
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.
In addition to this command, by writing to a general-purpose output port (OTPB: Address 2 when a Z80 I/F
is used), you can set 8 bits as a group. See section 7-5, "General-purpose output port control."
COMB0
10h
11h
12h
13h
14h
15h
16h
17h
Symbol
P0RST
P1RST
P2RST
P3RST
P4RST
P5RST
P6RST
P7RST
Description
Make P0 LOW.
Make P1 LOW.
Make P2 LOW.
Make P3 LOW.
Make P4 LOW.
Make P5 LOW.
Make P6 LOW.
Make P7 LOW.
COMB0
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh
Symbol
P0SET
P1SET
P2SET
P3SET
P4SET
P5SET
P6SET
P7SET
Description
Make P0 HIGH.
Make P1 HIGH.
Make P2 HIGH.
Make P3 HIGH.
Make P4 HIGH.
Make P5 HIGH.
Make P6 HIGH.
Make P7 HIGH.
The P0 and P1 terminals can be set for one shot output (T = approx. 26 msec.) using the RENV2
(Environment setting 2) register, and the output logic can be selected.
To use them as one shot outputs, set the P0 terminal to P0M (bits 0 and 1) = 11, or, set the P1 terminal to
P1M (bits 2 and 3) = 11. To change the output logic, set P0L (bit 16) on the P0 terminal and P1L (bit 17) on
the P1 terminal.
In order to perform a one-shot output from the P0 and P1 terminals, a bit control command should be
written. However, the command you need to write will vary, depending on the output logic selected. See
the table below for the details.
Bit control
Bit control
Terminal
Logic setting
Terminal
Logic setting
command
command
Negative logic (P0L = 0) P0RST (10h)
Negative logic (P1L = 0)
P1RST (11h)
P0
P1
Positive logic (P0L = 1) P0SET (18h)
Negative logic (P1L = 1)
P1SET (19h)
When writing control commands to output ports (OTPB: address 2 for the Z80 interface), the P0 and P1
terminals will not change.
- 23 -
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
04h
SRST Software reset. (Same function as making the terminal LOW.)
7-3-2. Counter reset command
Reset counters to zero.
COMB0
Symbol
Description
20h
CUN1R Reset COUNTER1 (command position).
21h
CUN2R Reset COUNTER2 (mechanical position).
22h
CUN3R Reset COUNTER3 (deflection counter).
23h
CUN4R Reset COUNTER4 (general-purpose counter).
7-3-3. ERC output control command
Control the ERC signal using commands.
COMB0
24h
25h
Symbol
Description
ERCOUT Outputs the ERC signal.
ERCRST Resets the output when the ERC signal output is specified to a level type output.
7-3-4. Pre-register control command
Cancel the pre-register settings and transfer the pre-register data to a register.
See section "8-2. Pre-register" in this manual for details about the pre-register.
COMB0
Symbol
Description
26h
PRECAN Cancel the operation pre-register. Note 1, 2.
27h
PCPCAN Cancel the RCMP5 operation pre-register (PRCP5).
2Bh
PRESHF Shift the operation pre-register data. Note 3.
2Ch
PCPSHF Shift the RCMP5 operation pre-register data.
4Fh
PRSET Use the pre-register operation for speed pattern change data using a comparator.
7-3-5. PCS input command
Entering this command has the same results as inputting a signal on the PCS terminal.
COMB0
28h
Symbol
Description
STAON Alternative to a PCS terminal input.
7-3-6. LTCH input (counter latch) command
Entering this command has the same result as inputting a signal on the LTC terminal.
COMB0
29h
Symbol
Description
LTCH Alternative to an LTC (latch counter) terminal input.
- 24 -
7-4. Register control command
By writing a Register Control command to COMB0 (Address 0 when a Z80 I/F is used), the LSI can copy
data between a register and the I/O buffer.
When using the I/O buffer while responding to an interrupt, a precaution is required, reading the I/O buffer
contents before using it and returning it to its original value after use.
7-4-1. Procedure for writing data to a register (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. However, secure two reference clock
cycles between these writings.
2) Then, write a "register write command" to COMB0 (address 0 when a Z80 I/F is used).
After writing one set of data, wait at least two cycles (approx. 0.1 µsec when CLK = 19.6608 MHz)
before writing the next set of data. In both case1) and case 2), when the WRQ output is connected
to the CPU, the CPU wait control function will provide the waiting time between write operations
automatically.
A0 to A2
4h
5h
6h
7h
0h
Next address
CS
WR
D0 to D7
Command
Data
Data
Data
Two reference clock cycles or more
Command
Command
Four reference clock cycles or more
7-4-2. Procedure for reading data from a register (the axis assignment is omitted)
1) First, write a "register read out command" to COMB0 (address 0 when a Z80 I/F is used).
2) Wait at least four reference clock cycles (approx. 0.2 µsec when CLK = 19.6608 MHz) for the data to be
copied to the I/O buffer.
3) Read the data from the I/O buffer (addresses 4 to 7 when a Z80 I/F is used). The order for reading data
from the I/O buffer does not matter. There is no minimum time between read operations.
When the output is connected to the CPU, the CPU wait control function will provide the waiting time
between write operations automatically.
- 25 -
7-4-3. Table of register control commands
No.
Detail
Name
Register
Read command
Write command
COMB0 Symbol COMB0 Symbol
Feed amount, target
1 position
RMV
D0h
2
3
4
5
RFL
RFH
RUR
RDR
Initial speed
Operation speed
Acceleration rate
Deceleration rate
Speed magnification
6
rate
Ramping-down point
7
8 Operation mode
Circular interpolation
9
center
Acceleration S-curve
10
range
Deceleration S-curve
11
range
Feed amount
12
correction speed
13 Environment setting 1
14 Environment setting 2
15 Environment setting 3
16 Environment setting 4
17 Environment setting 5
18 Environment setting 6
19 Environment setting 7
COUNTER1
20
(command position)
COUNTER2
21
(mechanical position)
COUNTER3
22
(deflection counter)
COUNTER4 (general
23
purpose)
24 Data for comparator 1
25 Data for comparator 2
26 Data for comparator 3
27 Data for comparator 4
28 Data for comparator 5
29 Event INT setting
COUNTER1 latched
30
data
COUNTER2 latched
31
data
COUNTER3 latched
32
data
COUNTER4 latched
33
data
34 Extension status
35 Error INT status
36 Event INT status
37 Positioning counter
EZ counter, speed
38
monitor
39 Ramping-down point
Circular interpolation
40
stepping number
Circular interpolation
41
stepping counter
42 Interpolation status
Name
2nd pre-register
Read command
Write command
COMB0 Symbol COMB0 Symbol
WRMV
PRMV
C0h
RPRMV
80h
WPRMV
91h
WRFL
PRFL
C1h
RPRFL
81h
WPRFL
92h
93h
94h
WRFH
WRUR
WRDR
PRFH
PRUR
PRDR
C2h
C3h
C4h
RPRFH
RPRUR
RPRDR
82h
83h
84h
WPRFH
WPRUR
WPRDR
RRMG
95h
WRMG
PRMG
C5h
RPRMG
85h
WPRMG
D6h
RRDP
96h
WRDP
PRDP
C6h
RPRDP
86h
WPRDP
RMD
D7h
RRMD
97h
WRMD
PRMD
C7h
RPRMD
87h
WPRMD
RIP
D8h
RRIP
98h
WRIP
PRIP
C8h
RPRIP
88h
WPRIP
RUS
D9h
RRUS
99h
WRUS
PRUS
C9h
RPRUS
89h
WPRUS
RDS
DAh
RRDS
9Ah
WRDS
PRDS
CAh
RPRDS
8Ah
WPRDS
RFA
DBh
RRFA
9Bh
WRFA
RENV1
RENV2
RENV3
RENV4
RENV5
RENV6
RENV7
DCh
DDh
DEh
DFh
E0h
E1h
E2h
RRENV1
RRENV2
RRENV3
RRENV4
RRENV5
RRENV6
RRENV7
9Ch
9Dh
9Eh
9Fh
A0h
A1h
A2h
WRENV1
WRENV2
WRENV3
WRENV4
WRENV5
WRENV6
WRENV7
RCUN1
E3h
RRCUN1
A3h
WRCUN1
RCUN2
E4h
RRCUN2
A4h
WRCUN2
RCUN3
E5h
RRCUN3
A5h
WRCUN3
RCUN4
E6h
RRCUN4
A6h
WRCUN4
RCMP1
RCMP2
RCMP3
RCMP4
RCMP5
RIRQ
E7h
E8h
E9h
EAh
EBh
ECh
RRCMP1
RRCMP2
RRCMP3
RRCMP4
RRCMP5
RRIRQ
A7h
A8h
A9h
AAh
ABh
ACh
WRCMP1
WRCMP2
WRCMP3
WRCMP4
WRCMP5 PRCP5
WRIRQ
CBh
RPRCP5
8Bh
WPRCP5
RLTC1
EDh
RRLTC1
RLTC2
EEh
RRLTC2
RLTC3
EFh
RRLTC3
RLTC4
F0h
RRLTC4
RSTS
REST
RIST
RPLS
F1h
F2h
F3h
F4h
RRSTS
RREST
RRIST
RRPLS
CCh
RPRCI
8Ch
WPRCI
RRMV
90h
D1h
RRFL
D2h
D3h
D4h
RRFH
RRUR
RRDR
RMG
D5h
RDP
RSPD
F5h
RRSPD
PSDC
F6h
RPSDC
RCI
FCh
RRCI
RCIC
FDh
RRCI
RIPS
FFh
RRIPS
BCh
- 26 -
WRCI
PRCI
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.
When writing words to the port, the upper 8 bits are discarded. However, they should be set to zero to
maintain future compatibility.
The output status of terminals P0 to P7 are latched, even after the I/O setting is changed to input.
The output status for each terminal can be set individually using the bit control command.
7-5-1. Command writing procedures
Write control data to output port (OTPB: Address 2h when a Z80 I/F is used).
To continue with the next command, the LSI must wait for four reference clock cycles (approx. 0.2 µsec
terminal outputs a wait request signal.
when CLK = 19.6608 MHz). The
2h
A0 to A2
Next command address
CS
WR
D0 to D7
Command
Command
4 cycle of reference clock
7-5-2. Command bit allocation
7
6
5
4
3
2
1
0
OTP7 OTP6 OTP5 OTP4 OTP3 OTP2 OTP1 OTP0
Output P0
Output P1
Output P2
Output P3
Output P4
Output P5
Output P6
Output P7
- 27 -
0: Low level 1: High level
8. Registers
8-1. Table of registers
The following registers are available for each axis.
Register
Bit
No.
R/W
Details
name length
1
RMV
28
R/W Feed amount, target position
2
RFL
16
R/W Initial speed
3
RFH
16
R/W Operation speed
4
RUR
16
R/W Acceleration rate
5
RDR
16
R/W Deceleration rate
6
RMG
12
R/W Speed magnification rate
7
RDP
24
R/W Ramping-down point
8
RMD
28
R/W Operation mode
9
RIP
28
R/W Circular interpolation center position, master axis feed
amount with linear interpolation and with multiple chips
10
RUS
15
R/W S-curve acceleration range
11
RDS
15
R/W S-curve deceleration range
12
RFA
16
R/W Speed at amount correction
13 RENV1
32
R/W Environment setting 1 (specify I/O terminal details)
14 RENV2
32
R/W Environment setting 2 (specify general-purpose port
details)
15 RENV3
32
R/W Environment setting 3 (specify zero return and counter
details)
16 RENV4
32
R/W Environment setting 4 (specify details for comparators 1 to
4)
17 RENV5
22
R/W Environment setting 5 (specify details for comparator 5)
18 RENV6
32
R/W Environment setting 6 (specify details for feed amount
correction)
19 RENV7
32
R/W Environment setting 7 (specify vibration reduction control
details)
20 RCUN1
28
R/W COUNTER1 (command position)
21 RCUN2
28
R/W COUNTER2 (mechanical position)
22 RCUN3
16
R/W COUNTER3 (deflection counter)
23 RCUN4
28
R/W COUNTER4 (general-purpose counter)
24 RCMP1
28
R/W Comparison data for comparator 1
25 RCMP2
28
R/W Comparison data for comparator 2
26 RCMP3
28
R/W Comparison data for comparator 3
27 RCMP4
28
R/W Comparison data for comparator 4
28 RCMP5
28
R/W Comparison data for comparator 5
29
RIRQ
19
R/W Specify event interruption cause
30 RLTC1
28
R
COUNTER1 (command position) latch data
31 RLTC2
28
R
COUNTER2 (mechanical position) latch data
32 RLTC3
16
R
COUNTER3 (deflection counter) latch data
33 RLTC4
28
R
COUNTER4 (general-purpose) latch data
34
RSTS
22
R
Extension status
35
REST
18
R
Error INT status
36
RIST
20
R
Event INT status
37
RPLS
28
R
Positioning counter (number of residual pulses to feed)
38 RSPD
23
R
EZ counter, current speed monitor
39 RSDC
24
R
Automatically calculated ramping-down point
40
RCI
31
R/W Number of steps for interpolation
41
RCIC
31
R
Circular interpolation step counter
42
RIPS
24
R
Interpolation status
- 28 -
2nd preregister name
PRMV
PRFL
PRFH
PRUR
PRDR
PRMG
PRDP
PRMD
PRIP
PRUS
PRDS
PRCP5
PRCI
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. This LSI has the following 2-layer structure and executes FIFO operation.
The pre-registers consist of two groups: the operation pre-registers (PRMV, PRFL, PRFH, PRUR, PRDR,
PRMG, PRDP, PRMD, PRIP, PRUS, PRDS, PRCI) and the comparator pre-register (PRCP5).
8-2-1. Writing to the operation pre-registers
The pre-registers have a two layer structure and each register can contain up to two pieces of operation
data. Write the data to a pre-register (P register name). Registers that don't need to be changed do not
need to be rewritten.
When the PCL stops its current operation, the data you wrote to the pre-registers is shifted into the working
registers and used as the current data. When the PCL is operating, the data remains stored as pre-register
data. The data will be transferred into the pre-registers when a start command is issued.
When the current operation completes, the data will be shifted into the working registers and the PCL
starts the new operation automatically. The status of the pre-registers can be checked by reading PFM in
the RSET register. When the PFM is value is "11," SPRF in the main status register (MSTSW) changes to
"1". Writing data while the pre-register is full is not allowed.
To change the current operating status before the operation is complete, such as when you want to change
the speed, write the new data directly to the working register.
The relationship between the write status of the pre-registers and the possible PFM values are as follows.
Procedure
2nd pre-register
1st pre-register
Working register PFM SPRF
0
0
0
Initial status
00
0
Undetermined
Undetermined
Undetermined
Data 1 is
Data 1 is
Data 1 is
Write Operation Data 1
00
0
undetermined
undetermined
undetermined
Data 1 is
Data 1 is
Write a Start command
Data 1 is set
01
0
undetermined
undetermined
Write Operation Data 2 and a
Data 2 is
Data 2 is set
Data 1 is set
10
0
Start command while in operation
undetermined
Write Operation Data 3 and Start
Data 3 is set
Data 3 is set
Data 1 is set
11
1
command while in operation
The operation using Operation
Data 3 is
Data 3 is set
Data 2 is set
10
0
Data 1 is complete
undetermined
Also, by setting an event interrupt cause in the RIRQ register (IRNM), the PCL can be set to output an signal as the 2nd pre-register changes from "set" to "undetermined" status when the operation is complete.
Note: When you want the next operation to start automatically using the pre-registers, set the operation
completion timing to "cycle completion (METM = 0 on RMD)." When pulse completion (METM = 1 on
RMD)" is set, the time between the last pulse and next operation start pulse will be as little as 15x
TCLK (TCKL: Reference clock cycle).
For details, see 11-3-2. "Control the output pulse width and operation completion timing."
- 29 -
8-2-2. Cancel the pre-register operations
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.
8-2-3. Writing to the comparator pre-registers
Comparator 5 has a pre-register. To overwrite the current data, write directly to RCMP5. To write to the
pre-register, write to PRCP5.
The comparator data will only be set by writing to PRCP5. The status of the comparator pre-register can
be checked by reading PFC in the RSTS register. When the PFC value is 11, SPDF in the main status
register (MSTSW) will be 1. Writing data to the pre-register when it is full is not allowed.
After the conditions have been established, the comparator data in the pre-register will be shifted when
the condition changes from false to true.
Comparator data can be written regardless of the PCL mode (stopped/operating).
The relationship between the pre-register writing status and the PFC values are as follows.
Procedure
2nd pre-register
1st pre-register
Working register PFC
0
0
0
Initial status
00
Undetermined
Undetermined
Undetermined
Data 1 is
Data 1 is
Write Data 1 to PRCP5
Data 1 is set
01
undetermined
undetermined
Data 2 is
Write Data 2 to PRCP5
Data 2 is set
Data 1 is set
10
undetermined
Write Data 3 to PRCP5
Data 3 is set
Data 2 is set
Data 1 is set
11
Comparison result for Data
Data 3 is
Data 3 is set
Data 2 is set
10
1 changes from true to false
undetermined
SPDF
0
0
0
1
0
Also, by setting an event interrupt cause in the RIRQ register (IRND), the PCL can be set to output an INT
signal as the 2nd pre-register changes from "set" to "undetermined" status when the operation is complete.
8-2-4. Cancel the comparator pre-register data
The pre-register cancel command (27h) will cancel the pre-register data and its status becomes
undetermined. However, please note that the register will not change to the undetermined status.
- 30 -
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) registers
These registers are used to specify the target position for positioning operations. The set details
change with each operation mode.
PMV is the register for PRMV.
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
& & & &
Setting range: -134,217,728 to +134,217,727.
By changing the RMV register while in operation, the feed length can be overridden.
8-3-2. PRFL (RFL) registers
These pre-registers are used to set the initial speed (stop seed) for high speed (with acceleration
/deceleration) operations.
RFL is the register for PRFL.
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 setting range is 1 to 65,535. However, the actual speed [pps] may vary with the speed magnification
rate setting in the PRMG register.
8-3-3. PRFH (RFH) registers
These pre-registers are used to specify the operation speed.
RFH is the working register for PRFH. Write to this register to override the current speed.
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 setting range is 1 to 65,535. However, the actual speed [pps] may vary with the speed magnification
rate set in the PRMG register.
8-3-4. PRUR (RUR) registers
These pre-registers are used to specify the acceleration rate.
RUR is the register for PRUR.
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
* * * * * * * * * * * * * * * *
Setting range is 1 to 65,535.
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among the non-marked bits. (Sign extension)
- 31 -
8-3-5. PRDR (RDR) registers
These pre-registers are 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.
When RDR = 0, the deceleration rate will be the value set by PRUR.
8-3-6. PRMG (RMG) registers
These pre-registers are used to set the speed magnification rate.
RMG is the register for PRMG.
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 setting range is 2 to 4,095.
Sets the relationship between the speed register PRFL (RFL), PRFH (RFH), RFA values and the
operation speeds.
The actual operation speed [pps] is a product of the speed magnification rate and the speed register
setting.
[Setting example when the reference clock is 19.6608 MHz]
Speed
Operation speed
Speed
Operation speed setting
Setting
Setting
magnification rate setting range [pps]
magnification rate
range [pps]
2999
0.1x
0.1 to 6,553.5
59
5x
5 to 327,675
1499
0.2x
0.2 to 13,107.0
29
10x
10 to 655,350
599
0.5x
0.5 to 32,767.5
14
20x
20 to 1,310,700
299
1x
1 to 65,535
5
50x
50 to 3,276,750
149
2x
2 to 131,070
2
100x
100 to 6,553,500
8-3-7. PRDP (RDP) registers
These pre-registers are used to set a ramping-down point (deceleration start point) for positioning
operations.
RDP is the 2nd register for PRDP.
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
# # # # # # # # Bits marked with a "#" symbol are ignored when written and change their setting when read according to
the setting of MSDP (bit 13) in the PRMD register.
MSDP
Setting details
bit #
Offset for automatically set values.
When a positive value is entered, the PCL will start deceleration earlier and the
Same as bit
0
FL speed range will be used longer.
23.
When a negative value is entered, the PCL will start deceleration later and will
not reach the FL speed.
When number of pulses left drops to less than a set value, the motor on that axis
1
0
starts to decelerate.
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among the non-marked bits. (Sign extension.)
- 32 -
8-3-8. PRMD (RMD) registers
These pre-registers are used to set the operation mode.
RMD is the register for PRMD.
Bits
Bit name
Description
Setting basic operation mode
0 to 6
MOD Set operation mode.
000 0000 (00h): Continuous positive rotation controlled by command control.
000 1000 (08h): Continuous negative rotation controlled by command control.
000 0001 (01h): Continuous operation controlled by pulsar (PA/PB) input.
000 0010 (02h): Continuous operation controlled by external signal (+DR/-DR) input.
001 0000 (10h): Positive rotation zero return operation.
001 1000 (18h): Negative rotation zero return operation.
001 0010 (12h): Positive feed leaving from the zero position.
001 1010 (1Ah): Negative feed leaving from the zero position.
001 0101 (15h): Zero search in the positive direction
001 1101 (1Dh): Zero search in the negative direction
010 0000 (20h): Feed to +EL or +SL position.
010 1000 (28h): Feed to -EL or -SL position.
010 0010 (22h): Move away from the -EL or -SL position.
010 1010 (2Ah): Move away from the +EL or +SL position.
010 0100 (24h): Feed in the positive direction for a specified number of EZ counts.
010 1100 (2Ch): Feed in the negative direction for a specified number of EZ counts.
100 0001 (41h): Positioning operation (specify the incremental target position)
100 0010 (42h): Positioning operation (specify the absolute position in COUNTER1)
100 0010 (43h): Positioning operation (specify the absolute position in COUNTER2)
100 0100 (44h): Zero return of command position (COUNTER1).
100 0101 (45h): Zero return of mechanical position (COUNTER2).
100 0110 (46h): Single pulse operation in the positive direction.
100 1110 (4Eh): Single pulse operation in the negative direction.
100 0111 (47h): Timer operation
101 0001 (51h): Positioning operation controlled by pulsar (PA/PB) input.
101 0010 (52h): Positioning operation is synchronized with PA/PB
(specify the absolute position of COUNTER1)
101 0011 (53h): Positioning operation is synchronized with PA/PB
(specify the absolute position of COUNTER2
101 0100 (54h): Zero return to the specified position controlled by pulsar (PA/PB)
input.
101 0101 (55h): Zero return to a mechanical position controlled by pulsar (PA/PB)
input.
101 0110 (56h): Positioning operation controlled by external signal (+DR/-DR) input.
110 0000 (60h): Continuous linear interpolation 1 (continuous operation with linear
interpolation 1)
110 0001 (61h): Linear interpolation 1
110 0010 (62h): Continuous linear interpolation 2 (continuous operation with linear
interpolation 2)
110 0011 (63h): Linear interpolation 2
110 0100 (64h): CW circular interpolation operation
110 0101 (65h): CCW circular interpolation operation.
110 0110 (66h): Clockwise circular interpolation, synchronized with the U axis (arc
linear interpolation)
110 0111 (67h): Counter-clockwise circular interpolation, synchronized with the U
axis (arc linear interpolation)
- 33 -
Bits
Bit name
0 to 6 MOD
7
MENI
Description
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.
110 1011 (6Bh): Linear interpolation 2, synchronized with PA/PB.
110 1100 (6Ch): Clockwise circular interpolation, synchronized with PA/PB
110 1101 (6Dh): Counter-clockwise circular interpolation, synchronized with PA/PB
1: When the pre-register is set, the PCL will not output an INT signal, even if IEND
becomes 1.
Optical setting items
8
MSDE
0: SD input will be ignored. (Checking can be done with RSTS in sub status)
1: Decelerates (deceleration stop) by turning ON the input.
9
MINP
0: Delay using an INP input will be possible. (Checking can be done with RSTS in
sub status)
1: Completes operation by turning ON the INP input.
10
MSMD
Specify an acceleration/deceleration type for high speed feed. (0: Linear
accel/decel. 1: S-curve accel/decel.)
11
MCCE
1: Stop COUNTER1 (command position)
This is used to move a mechanical part without changing the PLC control position
12
METM
Specify the operation complete timing. (0: End of cycle. 1: End of pulse.)
When using the vibration reduction function, select "End of pulse."
13
MSDP
Specify the ramping-down point for high speed feed. (0: Automatic setting. 1:
Manual setting.)
Effective for positioning operations and linear interpolation feeding.
14
MPCS
1: While in automatic operation, control the number of pulses after the PCS input is
turned ON. (Override 2 for the target position.)
15
MIPF
1: Make a constant, synthetic speed while performing interpolation feeding.
16 to 17 MSN0 to When you want to control an operation block, specify a sequence number using 2
1
bits. By reading the main status (MSTSW), a sequence number currently being
executed (SSC0 to 1) can be checked. Setting the sequence number does not affect
the operation.
18 to 19 MSY0 to 1 After writing a start command, the LSI will start an axis synchronization operation
based on other timing.
00: Start immediately.
input (or command 06h, 2Ah).
01: The PCL starts on a
10: Start with an internal synchronous start signal.
11: Start when a specified axis stops moving.
20 to 23 MAX 0 to Specify an axis to check for an operation stop when the value of MSY 0 to 1 is 11.
3
Setting examples
0001: Starts when the X axis stops.
0010: Starts when the Y axis stops.
0100: Starts when the Z axis stops.
1000: Starts when the U axis stops.
0101: Starts when both the X and Z axes stop.
1111: Starts when all axes stop.
24
MSPE
1:Deceleration stop or immediate stop by
input.
This is used for a simultaneous stop with another axis when this other axis stops
with an error.
25
MSPO
1: Outputs a
(simultaneous stop) signal when stopping due to an error.
26
MADJ
Specify an FH correction function. (0: ON. 1: OFF.)
When S-shaped deceleration is selected (MSMD = 1) and the operation is set to use
linear interpolation 1 (MOD = 61h) with a constant synthesized speed control (MIPF
= 1), make sure to turn this bit ON.
27
MPIE
1: After the circular interpolation operation is complete, the PCL will draw to the end
point automatically.
28 to 31 Not
(Always set to 0.)
defined
- 34 -
8-3-9. PRIP (RIP) registers
These pre-registers are used to set the center position for circular interpolation or a master axis feed
amount for linear interpolation 2.
RIP is the register for PRIP.
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
& & & &
- When MOD (bits 0 to 6) of the PRMD register are set as shown below, the register is enabled.
110 0010 (62h): Continuous linear interpolation 2 (continuous operation with the linear interpolation 2).
110 0011 (63h): Linear interpolation 2.
110 0100 (64h): Circular interpolation in a CW direction.
110 0101 (65h): Circular interpolation in a CCW direction.
- With Continuous linear interpolation 2 and Linear interpolation 2, specify the feed amount on the master
axis using an incremental value.
- With circular interpolation, enter a circular center position using an absolute value.
- Setting range: -134,217,727 to +134,217,727
8-3-10. PRUS (RUS) registers
These pre-registers are used to specify the S-curve range of the S-curve acceleration.
RUS is the register for PRUS.
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 32,767.
When 0 is entered, the value of (PRFH - PRFL)/2 will be calculated internally and applied.
8-3-11. PRDS (RDS) registers
These pre-registers are used to specify the S-curve range of the S-curve deceleration.
RDS is the register for PRDS.
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 32,767.
When 0 is entered, the value of (PRFH - PRFL)/2 will be calculated internally and applied.
8-3-12. RFA register
This register is used to specify the low speed for backlash correction or slip correction.
This is also used as a reverse low speed for a zero 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.
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among the non-marked bits. (Sign extension)
- 35 -
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.
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
ERCL EPW2 EPW1 EPW0 EROR EROE ALML ALMM ORGL SDL
31
30
29
28
27
PDTC PCSM INTM DTMF DRF
Bits
0 to 2
26
25
FLTR
DRL
24
INPL
21
20
ELM
19
PMD2 PMD1 PMD0
18
Positive direction
OUT output
DIR output
Negative direction
OUT output
DIR output
Low
001
High
Low
010
Low
High
011
Low
High
100
High
High
OUT
OUT
DIR
DIR
OUT
OUT
DIR
DIR
111
Low
ELM
16
Description
High
110
17
CLR1 CLR0 STPM STAM ETW1 ETW0
000
101
3
22
PCSL LTCL
Bit name
PMD0 to 2 Specify OUT output pulse details
PMD0 to 2
23
SDLT SDM
Low
Specify the process to occur when the EL input is turned ON. (0: Immediate stop. 1:
Deceleration stop.) Note 1, 2
4
SDM
Specify the process to occur when the SD input is turned ON. (0: Deceleration only. 1:
Deceleration and stop.)
5
SDLT
Specify the latch function of the SD input. (0: OFF. 1: ON.)
Turns ON when the SD signal width is short.
When the SD input is OFF while starting, the latch signal is reset.
The latch signal is also reset when SDLT is 0.
6
SDL
Specify the SD signal input logic. (0: Negative logic. 1: Positive logic.)
7
ORGL
Specify the ORG signal input logic. (0: Negative logic. 1: Positive logic.)
8
ALMM
Specify the process to occur when the ALM input is turned ON. (0: Immediate stop. 1:
Deceleration stop.)
9
ALML
Specify the ALM signal input logic. (0: Negative logic. 1: Positive logic.)
10
EROE
1: Automatically outputs an ERC signal when the axis is stopped immediately by a
+EL, -EL, ALM, or
input signal. However, the ERC signal is not output when
a deceleration stop occurs on the axis. When the EL signal is specified for a normal
stop, by setting MOD = "010X000" (feed to the EL position) in the RMD register, the
ERC signal is output if an immediate stop occurs.
11
EROR
1: Automatically output the ERC signal when the axis completes a zero return.
12 to 14 EPW0 to 2 Specify the pulse width of the ERC output signal.
000: 12 µsec 001: 102 µsec
010: 409 µsec 011:1.6 msec
100: 13 msec 101: 52 msec
110: 104 msec 111: Level output
15
ERCL Specify the ERC signal output logic. (0: Negative logic. 1: Positive logic.)
16 to 17 ETW0 to 1 Specify the ERC signal OFF timer time.
00: 0 µsec 10: 1.6 msec
01: 12 µsec 11: 104 msec
- 36 -
Bits
18
19
Bit name
STAM Specify the
STPM
Description
signal input type. (0: Level trigger. 1: Edge trigger.)
Specify a stop method using
Note 2
input. (0: Immediate stop. 1: Deceleration stop.)
20 to 21 CLR0 to 1 Specify a CLR input.
00: Clear on the falling edge 10: Clear on a LOW.
01: Clear on the rising edge 11: Clear on a HIGH.
22
INPL
Specify the INP signal input logic. (0: Negative logic. 1: Positive logic.)
23
LTCL Specify the operation edge for the LTC signal. (0: Falling. 1: Rising)
24
PCSL Specify the PCS signal input logic. (0: Negative logic. 1: Positive logic.)
25
DRL
Specify the +DR, -DR signal input logic. (0: Negative logic. 1: Positive logic.)
26
FLTR 1: Apply a filter to the +EL, -EL, SD, ORG, ALM, or INP inputs.
When a filter is applied, signal pulses shorter than 4 µsec are ignored.
27
DRF
1: Apply a filter on the +DR, -DR, or PE inputs.
When a filter is applied, signals pulses shorter than 32 msec are ignored.
28
DTMF 1: Turn OFF the direction change timer (0.2 msec) function.
29
INTM 1: Mask an INT output. (Changes the interrupt circuit.)
30
PCSM 1: Only allow the PCS input on the local axis
signal.
31
PDTC 1: Keep the pulse width at a 50% duty cycle.
Note1: When a deceleration stop (ELM = 1) has been specified to occur when the EL input turns ON, the
axis will start the deceleration when the EL input is turned ON. Therefore, the axis will stop by
passing over the EL position. In this case, be careful to avoid collisions of mechanical systems.
Note 2: When deceleration stop is selected, this bit remains ON until the PCL decelerates and stops. The
PCL determines whether it has stopped normally or not according to the stop timing. Therefore, if an
error stop signal is input while decelerating with high speed positioning, the PCL may determine
whether the stop was normal. In this case, the PCL will continue to the next operation without
canceling the data stored in the pre-registers. If a constant error stop signal is input, the PCL will not
continue to the next operation and it will stop with an error.
- 37 -
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.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
P7M1 P7M0 P6M1 P6M0 P5M1 P5M0 P4M1 P4M0 P3M1 P3M0 P2M1 P2M0 P1M1 P1M0 P0M1 P0M0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
POFF EOFF SMAX PMSK IEND PDIR PIM1 PIM0 EZL
Bits
0 to 1
EDIR EIM1 EIM0 PINF EINF
P1L
P0L
Bit name
Description
P0M0 to 1 Specify the operation of the P0/FUP terminals
00: General-purpose input
01: General-purpose output
10: Output the FUP (acceleration) signal.
11: General-purpose one shot signal output (T = 26 msec) Note: 1
2 to 3 P1M0 to 1 Specify the operation of the P1/FDW terminals
00: General-purpose input
01: General-purpose output
10: Output the DFW (deceleration) signal.
11: General-purpose one shot signal output (T = 26 msec) Note: 1
4 to 5 P2M0 to 1 Specify the operation of the P2/MVC terminal.
00: General-purpose input
01: General-purpose output
10: Output the MVC (low speed feeding) signal with negative logic.
11: Output the MVC (low speed feeding) signal with positive logic.
6 to 7 P3M0 to 1 Specify the operation of the P3/CP1 (+SL) terminals.
00: General-purpose input
01: General-purpose output
10: Output the CP1 (satisfied the Comparator 1 conditions) signal with negative logic.
11: Output the CP1 (satisfied the Comparator 1 conditions) signal with positive logic.
8 to 9 P4M0 to 1 Specify the operation of the P4/CP2 (-SL) terminals.
00: General-purpose input
01: General-purpose output
10: Output the CP2 (satisfied the Comparator 2 conditions) signal with negative logic.
11: Output the CP2 (satisfied the Comparator 2 conditions) signal with positive logic.
10 to 11 P5M0 to 1 Specify the operation of the P5/CP3 terminals.
00: General-purpose input
01: General-purpose output
10: Output the CP3 (satisfied the Comparator 3 conditions) signal with negative logic.
11: Output the CP3 (satisfied the Comparator 3 conditions) signal with positive logic.
12 to 13 P6M0 to 1 Specify the operation of the P6/CP4/ID terminals.
00: General-purpose input
01: General-purpose output
10: Output the CP4 (satisfied the Comparator 4 conditions) signal with negative logic.
11: Output the CP4 (satisfied the Comparator 4 conditions) signal with positive logic.
14 to 15 P7M0 to 1 Specify the operation of the P7/CP5 terminals.
00: General-purpose input
01: General-purpose output
10: Output the CP5 (satisfied the Comparator 5 conditions) signal with negative logic.
11: Output the CP5 (satisfied the Comparator 5 conditions) signal with positive logic.
16
P0L
Specify the output logic when the P0 terminal is used for FUP or as a one shot.
(0: Negative logic. 1: Positive logic.)
17
P1L
Specify the output logic when the P1 terminal is used for FDW or as a one shot.
(0: Negative logic. 1: Positive logic.)
18
EINF
1: Apply a noise filter to EA/EB input. Note 3.
Ignores pulse inputs less than 3 CLK signal cycles long.
- 38 -
Bits
19
Bit name
Description
PINF
1: Apply a noise filter to PA/PB input. Note 3.
Ignore pulse inputs less than 3 CLK signal cycles long.
20 to 21 EIM0 to 1 Specify the EA/EB input operation.
00: Multiply a 90˚ phase difference by 1 (Count up when the EA input phase is
ahead.)
01: Multiply a 90˚ phase difference by 2 (Count up when the EA input phase is
ahead.)
10: Multiply a 90˚ phase difference by 4 (Count up when EA input phase is ahead.)
11: Count up when the EA signal rises, count down when the EB signal falls.
22
EDIR
1: Reverse the counting direction of the EA/EB inputs.
23
EZL
Specify EZ signal input logic. (0: Falling edge. 1: Rising edge.)
24 to 25 PIM0 to 1 Specify the PA/PB input operation.
00: Multiply a 90˚ phase difference by 1 (Count up when the PA input phase is
ahead.)
01: Multiply a 90˚ phase difference by 2 (Count up when the PA input phase is
ahead.)
10: Multiply a 90˚ phase difference by 4 (Count up when PA input phase is ahead.)
11: Count up when the EA signal rises, count down when the PB signal falls.
26
PDIR
1: Reverse the counting direction of the PA/PB inputs.
27
IEND
1: Outputs an INT signal when stopping, regardless of whether the stop was normal
or due to an error.
28
PMSK 1: Masks output pulses.
29
SMAX 1: Enable a start operation that is triggered by stop on the same axis.
30
EOFF 1: Disable EA/EB input.
31
POFF 1: Disable PA/PB input.
Note 1: For details about outputting a general-purpose one shot signal, see 7-2 "General-purpose output
bit control commands."
- 39 -
8-3-15. RENV3 register
This is a register for the Environment 3 settings. Zero return methods and counter operation
specifications are the main function of this register.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 BSYC CI41 CI40 CI31 CI30 CI21 CI20 EZD3 EZD2 EZD1 EZD0 ORM3 ORM2 ORM1 ORM0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
CU4H CU3H CU2H 0 CU4B CU3B CU2B CU1B CU4R CU3R CU2R CU1R CU4C CU3C CU2C CU1C
Bit
0 to 3
Bit name
ORM0 to 3
Description
Specify a zero return method.
0000: Zero return operation 0
- Stops immediately (deceleration stop when feeding at high speed) by changing
the ORG input from OFF to ON.
- Counter reset timing: When the ORG input is turned ON.
0001: Zero return operation 1
- Stops immediately (deceleration stop when feeding at high speed) by changing
the ORG input from OFF to ON, and feeds in the opposite direction at RFA low
speed until ORG input is turned OFF. Then, feeds in the original direction at RFA
speed. While doing so, it will stop immediately when the ORG input is turned ON
again.
- COUNTER reset timing: When ORG input is turned ON from OFF.
0010: Zero return operation 2
- When feeding at low speed, movement on the axis stops immediately by counting
the EZ signal after the ORG input is turned ON. When feeding at high speed,
movement on the axis decelerates when the ORG input is turned ON and stops
immediately by counting the EZ counts.
- COUNTER reset timing: When counting the EZ signal.
0011: Zero return operation 3
- When feeding at low speed, movement on the axis stops immediately by counting
the EZ signal after the ORG input is turned ON. When feeding at high speed, the
axis will decelerate and stop by counting the EZ signal after the ORG input is
turned ON.
- COUNTER reset timing: When counting the EZ signal.
0100: Zero return operation 4
- Stops immediately (deceleration stop when feeding at high speed) by turning the
ORG input ON, and feeds in the reverse direction at RFA low speed. Stops
immediately by counting the EZ signal.
- COUNTER reset timing: When counting the EZ signal.
0101: Zero return operation 5
- Stop immediately (deceleration stop when feeding at high speed) and reverse
direction when the ORG input is turned ON. Then, stop immediately when
counting the EZ signal.
- COUNTER reset timing: When counting the EZ signal.
0110: Zero return operation 6
- Stop immediately (deceleration stop when ELM = 1) by turning ON the EL input,
and reverse at RFA low speed. Then stop immediately by turning OFF the EL
input.
- COUNTER reset timing: When EL input is OFF.
0111: Zero return operation 7
- Stop immediately (deceleration stop when ELM = 1) by turning ON the EL input,
and reverse direction at RFA low speed. Then stop immediately by counting the
EL signal.
- COUNTER reset timing: When stopped by counting the EL input.
1000: Zero return operation 8
- Stop immediately (deceleration stop when ELM = 1) and reverse direction by
turning ON the EL signal. Then stop immediately (deceleration stop when feeding
at high speed) when counting the EZ signal.
- COUNTER reset timing: When counting the EZ signal.
1001: Zero return operation 9
- After executing a Zero return operation 0, move back to the zero position
(operate until COUNTER2 = 0).
- 40 -
Bit
0 to 3
Bit name
ORM0 to 3
Description
1010: Zero return operation 10
- After executing a Zero return operation 3, move back to the zero position
(operate until COUNTER2 = 0).
1011: Zero return operation 11
- After executing a Zero return operation 5, move back to the zero position
(operate until COUNTER2 = 0).
1100: Zero return operation 12
- After executing a Zero return operation 8, move back to the zero position
(operate until COUNTER2 = 0).
EZD0 to 3 Specify the EZ count up value that is used for zero return operations.
0000 (1st count) to 1111 (16th count)
8 to 9 CI20 to 21 Select the input count source for COUNTER2 (mechanical position).
00: EA/EB input
01: Output pulse
10: PA/PB input
10 to 11 CI30 to 31 Select the input count source for COUNTER3 (deflection counter)
00: Output pulse and EA/EB input (deflection counter)
01: Output pulse and PA/PB input (deflection counter)
10: EA/EB input and PA/PB input (deflection counter)
12 to 13 CI40 to 41 Select the input count source for COUNTER4 (general-purpose)
00: Output pulse
01: EA/EB input
10: PA/PB input
11: Divide the CLK count by 2
14
BSYC
1: Operate COUNTER4 only while LSI is operating (
is low).
15
Not defined (Always set to 0.)
16
CU1C
1: Reset COUNTER1 (command position) when the CLR input turns ON.
17
CU2C
1: Reset COUNTER2 (mechanical position) when the CLR input turns ON.
18
CU3C
1: Reset COUNTER3 (deflection counter) when the CLR input turns ON.
19
CU4C
1: Reset COUNTER4 (general-purpose) when the CLR input turns ON.
20
CU1R
1: Reset COUNTER1 (command position) when the zero return is complete.
21
CU2R
1: Reset COUNTER2 (mechanical position) when the zero return is complete.
22
CU3R
1: Reset COUNTER3 (deflection counter) when the zero return is complete.
23
CU4R
1: Reset COUNTER4 (general-purpose) when the zero return is complete.
24
CU1B
1: Operate COUNTER1 (command position) while in backlash/slip correction
mode.
25
CU2B
1: Operate COUNTER2 (mechanical position) while in backlash/slip correction
mode.
26
CU3B
1: Operate COUNTER3 (deflection counter) while in backlash/slip correction
mode.
27
CU4B
1: Operate COUNTER4 (general-purpose) while in backlash/slip correction
mode.
28
Not defined (Always set to 0.)
29
CU2H
1: Stop the counting operation on COUNTER2 (mechanical position). Note 1.
30
CU3H
1: Stop the counting operation on COUNTER3 (deflection counter).
31
CU4H
1: Stop the counting operation on COUNTER4 (general-purpose).
Note 1: To stop the counting on COUNTER1 (command position), change MCCE (bit 11) in the RMD
register.
4 to 7
- 41 -
8-3-16. RENV4 register
This register is used for Environment 4 settings. Set up comparators 1 to 4.
Bit
0 to 1
Bit name
Description
C1C0 to 1 Select a comparison counter for comparator 1. Note 1
00: COUNTER1 (command position)
01: COUNTER2 (mechanical position)
10: COUNTER3 (deflection counter)
11: COUNTER4 (general-purpose)
2 to 4 C1S0 to 2 Select a comparison method for comparator 1. Note 2
001: RCMP1 data = Comparison counter (regardless of counting direction)
010: RCMP1 data = Comparison counter (while counting up)
011: RCMP1 data = Comparison counter (while counting down)
100: RCMP1 data > Comparison counter data
101: RCMP1 data < Comparison counter data
110: Use as positive end software limit (RCMP1< COUNTER1)
Others: Treats that the comparison conditions are not satisfied. Note 4
5 to 6 C1D0 to 1 Select a process to execute when the Comparator 1 conditions are met.
00: None (use as an , terminal output, or internal synchronous start)
01: Immediate stop.
10: Deceleration stop.
11: Change operation data to pre-register data (change speed).
7
C1RM 1: Use COUNTER1 for ring counter operation by using Comparator 1.
See "11-11-5. Ring counter function."
8 to 9 C2C0 to 1 Select a comparison counter for Comparator 2. Note 1.
00: COUNTER1 (command position)
01: COUNTER2 (mechanical position)
10: COUNTER3 (deflection counter)
11: COUNTER4 (general purpose)
10 to 12 C2S0 to 2 Select a comparison method for Comparator 2. Note 2.
001: RCMP2 data = Comparison counter (regardless of counting direction)
010: RCMP2 data = Comparison counter (while counting up)
011: RCMP2 data = Comparison counter (while counting down)
100: RCMP2 data > Comparison counter data
101: RCMP2 data < Comparison counter data
110: Use as negative end software limit (RCMP2>COUNTER1)
Others: Treats that the comparison conditions do not meet. Note 4.
13 to 14 C2D0 to 1 Select a process to execute when the Comparator 2 conditions are met.
00: None (use as an , terminal output, or internal synchronous start)
01: Immediate stop.
10: Deceleration stop.
11: Change operation data to pre-register data (change speed).
15
C2RM 1: Use COUNTER2 for ring counter operation by using Comparator 2.
See "11-11-5. Ring counter function."
16 to 17 C3C0 to 1 Select a comparison counter for Comparator 3. Note 1
00: COUNTER1 (command position)
01: COUNTER2 (mechanical position)
10: COUNTER3 (deflection counter)
11: COUNTER4 (general-purpose)
- 42 -
18 to 20 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)
011: RCMP3 data = Comparison counter (while counting down)
100: RCMP3 data > Comparison counter data
101: RCMP3 data < Comparison counter data
110: Prohibited setting
Others: Treats that the comparison conditions do not meet.
21 to 22 C3D0 to 1 Select a process to execute when the Comparator 3 conditions are met.
00: None (use as an , terminal output, or internal synchronous start)
01: Immediate stop.
10: Deceleration stop.
11: Change operation data to pre-register data (change speed).
23
IDXM 0: Outputs an IDX signal while COUNTER4 = RCMP2.
1: When COUNTER4 reaches 0 by counting, the PCL outputs an IDX signal for two
CLK cycles.
(This is only possible when the values in C4S0 to C4S3 are 1000 to 1010.)
24 to 25 C4C0 to 1 Select a comparison counter for Comparator 4. Note 1.
00: COUNTER1 (command position)
01: COUNTER2 (mechanical position)
10: COUNTER3 (deflection counter)
11: COUNTER4 (general purpose)
26 to 29 C4S0 to 3 Select a comparison method for Comparator 4. Note 3.
0001: RCMP4 data = Comparison counter (regardless of counting direction)
0010: RCMP4 data = Comparison counter (while counting up)
0011: RCMP4 data = Comparison counter (while counting down)
0100: RCMP4 data > Comparison counter data
0101: RCMP4 data < Comparison counter data
0111: Treats that the comparison conditions do not meet.
1000: Use as IDX (synchronous) signal output (regardless of counting direction)
1001: Use as IDX (synchronous) signal output (while counting up)
1010: Use as IDX (synchronous) signal output (while counting down)
Others: Treats that the comparison conditions do not meet.
30 to 31 C4D0 to 1 Select a process to execute when the Comparator 4 conditions are met.
00: None (use as an , terminal output, or internal synchronous start)
01: Immediate stop.
10: Deceleration stop.
11: Change operation data to pre-register data (change speed).
Note 1: When COUNTER3 (deflection counter) is selected as the comparison counter, the LSI compares
the counted absolute value and the comparator data. (Absolute value range: 0 to 32,767.)
Note 2: When you specify C1S0 to 2 = 110 (positive software limit) or C2S0 to 2 = 110 (negative software
limit), select COUNTER1 (specified position) as the comparison counter.
Note 3: When C4S0 to 3 is set to 1000 to 1010 (synchronous signal output), select COUNTER4 (generalpurpose) for the comparison counter. The other counters cannot be selected.
To set the comparator, select a positive value.
Note 4: When this bit is used as software limit, the PCL stops operation regardless of the settings for
selecting a process when the conditions are satisfied. However, when the PCL is operating and
"10: Deceleration stop" is selected, it only uses a deceleration stop when operating at high speed.
In all other cases, it stops immediately.
- 43 -
8-3-17. RENV5 register
This is a register for the Environment 5 settings. Settings for Comparator 5 are its main use.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
LT0F LTFD LTM1 LTM0 0 IDL2 IDL1 IDL0 C5D1 C5D0 C5S2 C5S1 C5S0 C5C2 C5C1 C5C0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0 0 0 0 0 0 0 0 0 0 SYI1 SYI0 SYO3 SYO2 SYO1 SYO0
Bit
0 to 2
3 to 5
6 to 7
8 to 10
11
12 to 13
14
15
16 to 19
20 to 21
22 to 23
24
25
26
27
28 to 31
Bit name
Description
C5C0 to 2 Select a comparison counter for comparator 5.
000: COUNTER1 (command position) 011: COUNTER4 (general-purpose)
001: COUNTER2 (mechanical position) 100: Positioning counter
010: COUNTER3 (deflection counter) 101: Current speed data
C5S0 to 2 Select a comparison method for comparator 5.
001: RCMP5 data = Comparison counter (regardless of counting direction)
010: RCMP5 data = Comparison counter (while counting up)
011: RCMP5 data = Comparison counter (while counting down)
100: RCMP5 data > Comparison counter
101: RCMP5 data < Comparison counter
Others: Treats that the comparison conditions are not met.
C5D0 to 1 Select a process to execute when the Comparator 5 conditions are met.
00: None (use as an INT, terminal output, or internal synchronous start)
01: Immediate stop.
10: Deceleration stop.
11: Change operation data to pre-register data (change speed).
IDL0 to 2 Enter the number of idling pulses. (0 to 7 pulses)
Not defined (Always set to 0.)
LTM0 to 1 Specify the latch timing for a counter (COUNTER1 to 4).
00: When the LTC input turns ON.
01: On an ORG input
10: When the Comparator 4 conditions are met.
11: When the Comparator 5 conditions are met.
LTFD
1: Latch the current speed in place of COUNTER3.
LTOF
1: Stop the latch by timing of a hardware operation. (Only used by software.)
SYO0 to 3 Select the output timing of the internal synchronous signal.
0001: When the Comparator 1 conditions are met.
0010: When the Comparator 2 conditions are met.
0011: When the Comparator 3 conditions are met.
0100: When the Comparator 4 conditions are met.
0101: When the Comparator 5 conditions are met.
1000: When starting acceleration.
1001: When ending acceleration.
1010: When starting deceleration.
1011: When ending deceleration.
Others: Internal synchronous signal output is OFF.
SYI0 to 1 Select an input source when starting with an internal synchronous signal.
00: Internal synchronous signal output from the X axis.
01: Internal synchronous signal output from the Y axis.
10: Internal synchronous signal output from the Zaxis.
11: Internal synchronous signal output from the U axis.
Not defined (Always set to 0.)
CU1L
1: Resets COUNTER1 at the same time COUNTER1 is latched.
CU2L
1: Resets COUNTER2 at the same time COUNTER2 is latched.
CU3L
1: Resets COUNTER3 at the same time COUNTER3 is latched.
CU4L
1: Resets COUNTER4 at the same time COUNTER4 is latched.
Not defined (Always set to 0.)
- 44 -
8-3-18. RENV6 register
This is a register for the Environment 6 settings. It is primarily used to set feed amount correction data.
Bit
Bit name
Description
0 to 11 BR0 to 11 Enter a backlash correction amount or a slip correction amount. (0 to 4095)
12 to 13 ADJ0 to 1 Select a feed amount correction method.
00: Turn OFF the correction function.
01: Backlash correction
10: Slip correction
14
Not defined (Always set to 0.)
15
PSTP
1: Even if a stop command is written, the PCL will operate for the number of
pulses that are already input on PA/PB. Note 1.
16 to 26 PD0 to 10 Specifies the division ratio for pulses on the PA/PB input. The number of pulses
are divided using the set value/2048. When 0 is entered, the division circuit will
be OFF. (= 2048/2048)
27 to 31 PMG0 to 4 Specifies the magnification rate for pulses on the PA/PB input. The number of
pulses are multiplied by the set value + 1.
Note 1: When PSTP is 1, the Stop command will be ignored when
= H (OFF), regardless of the
operation mode. Before writing a Stop command, check the main status register. When SRUN =
0, change PSTP to 0 and then write a Stop command.
8-3-19. RENV7 register
This is a register for the Environment 7 settings. It is primarily used to enter the time for the vibration
reduction function. If both RT and FT data are other than zero, the vibration reduction function is turned
ON.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
RT15 RT14 RT13 RT12 RT11 RT10 RT9 RT8 RT7 RT6 RT5 RT4 RT3 RT2 RT1 RT0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
FT15 FT14 FT13 FT12 FT11 FT10 FT9 FT8 FT7 FT6 FT5 FT4 FT3 FT2 FT1 FT0
Bit name
Description
Bit
0 to 15 RT0 to 15 Enter the RT time shown in the figure below.
The units are 32 ticks of the reference clock (approx. 1.6 µsec).
16 to 31 FT0 to 15 Enter the FT time shown in the figure below.
The units are 32 ticks of the reference clock (approx. 1.6 µsec).
The dotted lines in the figure below are pulses added by the vibration reduction function.
- 45 -
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: -134,217,728 to +134,217,727.
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. RCUN2 register
This is a register used for COUNTER2 (mechanical position counter).
It can count three types of pulses: Command pulses, encoder signals (EA/EB input), pulsar inputs
(PA/PB input).
Setting range: -134,217,728 to +134,217,727.
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
& & & &
8-3-22. RCUN3 register
This is a register used for COUNTER3 (deflection counter).
It can count three types of deflections: Between command pulses and encoder signals, between
command pulses and pulsar signals, and between encoder signals and pulsar signals.
Setting range: -32,768 to +32,767.
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
& & & & & & & & & & & & & & & &
8-3-23. RCUN4 register
This is a register used for COUNTER4 (general-purpose counter).
It can count four types of signals: Command pulses, encoder signals (EA/EB input), pulsar signals
(PA/PB input), and 1/2 ticks of the reference clock.
Setting range: -134,217,728 to +134,217,727.
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
& & & &
For details about the counters, see section 11-10, "Counters."
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among bits having no marks when read. (Sign extension)
- 46 -
8-3-24. RCMP1 register
Specify the comparison data for Comparator 1.
Setting range: -134,217,728 to +134,217,727.
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
& & & &
8-3-25. RCMP2 register
Specify the comparison data for Comparator 2.
Setting range: -134,217,728 to +134,217,727.
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
& & & &
8-3-26. RCMP3 register
Specify the comparison data for Comparator 3.
Setting range: -134,217,728 to +134,217,727.
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. RCMP4 register
Specify the comparison data for Comparator 4.
Setting range: -134,217,728 to +134,217,727.
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
& & & &
8-3-28. RCMP5 (PRCP5) register
Specify the comparison data for Comparator 5.
PRCP5 is the 2nd pre-register for RCMP5.
Normally, use RCMP5. To use the comparator pre-register function, use PRCP5.
Setting range: -134,217,728 to +134,217,727.
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
& & & &
For details about the comparators, see section 11-11, "Comparator."
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among bits having no marks when read. (Sign extension)
- 47 -
8-3-29. RIRQ register
Enables event interruption cause.
Bits set to 1 that will enable an event interrupt for that event.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
IROL IRLT IRCL IRC5 IRC4 IRC3 IRC2 IRC1 IRDE IRDS IRUE IRUS IRND IRNM IRN IREN
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0 0 0 0 0 0 0 0 0 0 0 0 0 IRSA IRDR IRSD
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19 to 31
Bit name
IREN
IRN
IRNM
IRND
IRUS
IRUE
IRDS
IRDE
IRC1
IRC2
IRC3
IRC4
IRC5
IRCL
IRLT
IROL
IRSD
IRDR
IRSA
Not defined
Description
Stopping normally.
Starting the next operation continuously.
Writing to the 2nd pre-register.
Writing to the 2nd pre-register for Comparator 5.
Starting acceleration.
When ending acceleration.
When starting deceleration.
When ending deceleration.
When Comparator 1 conditions are met.
When Comparator 2 conditions are met.
When Comparator 3 conditions are met.
When Comparator 4 conditions are met.
When Comparator 5 conditions are met.
When resetting the count value with a CLR signal input.
When latching the count value with an LTC signal input.
When latching the count value with an ORG signal input.
When the SD input is ON.
When the ±DR input is changed.
When the
input is ON.
(Always set to 0.)
8-3-30. RLTC1 register
Latched data for COUNTER1 (command position). (Read only.)
The contents of COUNTER1 are copied when triggered by the LTC, an ORG input, or an LTCH
command.
Data range: -134,217,728 to +134,217,727.
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
& & & &
8-3-31. RLTC2 register
Latched data for COUNTER2 (mechanical position). (Read only.)
The contents of COUNTER2 are copied when triggered by the LTC, an ORG input, or an LTCH
command.
Data range: -134,217,728 to +134,217,727.
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
& & & &
- 48 -
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 LTFD in the RENV5 register is 0, the register latches the COUNTER3
data. When the LTFD is 1, the register latches the current speed. When the LTFD is 1 and movement on
the axis is stopped, the latched data will be 0.
Data range when LTFD is 0: -32,768 to +32,767.
Data range when LTDF is 1: 0 to 65535.
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
$ $ $ $ $ $ $ $ $ $ $ $ $ $ $ $
Bits marked with a "$" will be the same as bit 15 when LTFD (bit 14) in the RENV5 register is 0 (sign
extension), and they will be 0 when the LTFD is 1.
8-3-33. RLTC4 register
Latched data for COUNTER4 (general-purpose). (Read only.)
The contents of COUNTER4 are copied when triggered by the LTC, an ORG input, or an LTCH
command.
Data range: -134,217,728 to +134,217,727.
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
& & & &
For details about the counter data latch, see section 11-10, " Counter."
Note 1: Bits marked with an "*" (asterisk) will be ignored when written and are 0 when read.
Note 2: Bits marked with an "&" symbol will be ignored when written and will be the same value as the
upper most bit among bits having no marks when read. (Sign extension)
- 49 -
8-3-34. RSTS register
The extension status can be checked. (Read only.)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CND0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0
0
0
0
0
0
0
0
Bit
0 to 3
0
0
PFM1 PFM0 PFC1 PFC0
0
SINP
Bit name
Description
CND0 to 3 Reports the operation status.
1000: Waiting for PA/PB input
0000: Under stopped condition
1001: Feeding at FA low
0001: Waiting for DR input
speed.
0010: Waiting for input
1010: Feeding at FL low
0011: Waiting for an internal synchronous
speed.
signal
1011: Accelerating
0100: Waiting for another axis to stop.
0101: Waiting for a completion of ERC timer 1100: Feeding at FH low
speed.
0110: Waiting for a completion of direction
1101: Decelerating
change timer
1110: Waiting for INP input.
0111: Correcting backlash
1111: Others (controlling start)
4
SDIR
Operation direction (0: Positive direction. 1: Negative direction.)
5
SSTA
Becomes 1 when the input signal is turned ON.
6
SSTP
Becomes 1 when the input signal is turned ON.
7
SEMG
Becomes 1 when the input signal is turned ON.
8
SPCS
Becomes 1 when the PCS input signal is turned ON.
9
SERC
Becomes 1 when the ERC input signal is turned ON.
10
SEZ
Becomes 1 when the EZ input signal is turned ON.
11
SDRP
Becomes 1 when the +DR input signal is turned ON.
12
SDRM
Becomes 1 when the -DR input signal is turned ON.
13
SCLR
Becomes 1 when the CLR input signal is turned ON.
14
SLTC
Becomes 1 when the LTC input signal is turned ON.
15
SDIN
Becomes 1 when the SD input signal is turned ON. (Status of SD input terminal.)
16
SINP
Becomes 1 when the INP input signal is turned ON.
17
Not defined (Always set to 0.)
18 to 19 PFC0 to 1 Used to monitor the condition of the RCMP5 pre-register.
20 to 21 PFM0 to 1 Used to monitor the condition of the operation pre-registers (other than RCMP5).
22 to 31 Not defined (Always set to 0.)
- 50 -
8-3-35. REST register
Used to check the error interrupt cause. (Read only.)
The corresponding bit will be "1" when that item has caused an error interrupt.
This register is reset when read.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ESAO ESPO ESIP ESDT 0 ESSD ESEM ESSP ESAL ESML ESPL ESC5 ESC4 ESC3 ESC2 ESC1
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0 0 0 0 0 0 0 0 0 0 0 0 0 0 ESPE ESEE Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
Bit name
ESC1
ESC2
ESC3
ESC4
ESC5
ESPL
ESML
ESAL
ESSP
ESEM
ESSD
Not defined
ESDT
Description
Stopped when Comparator 1 conditions were met. (+SL)
Stopped when Comparator 2 conditions were met. (-SL)
Stopped when Comparator 3 conditions were met.
Stopped when Comparator 4 conditions were met.
Stopped when Comparator 5 conditions were met.
Stopped by the +EL input being turned ON.
Stopped by the -EL input being turned ON.
Stopped by the ALM input being turned ON.
Stopped by the input being turned ON.
Stopped by the input being turned ON.
Decelerated and stopped by the SD input being turned ON.
(Always set to 0.)
Stopped by an operation data error. (Note 1)
Simultaneous stop with another axis due to an error stop on the other axis during
ESIP
interpolation.
14
ESPO
An overflow occurred in the PA/PB input buffer counter.
15
ESAO
An out of range count occurred in the positioning counter during interpolation.
16
ESEE
An EA/EB input error occurred. (Does not stop)
17
ESPE
A PA/PB input error occurred. (Does not stop)
18 to 31 Not defined (Always set to 0.)
Note 1: In any of the following cases, ESDT will be 1.
1) Write a Start command using linear interpolation 1 mode (MOD = 60h, 61h, 68h, and 69h) on
only one axis.
2) Write a Start command using circular interpolation mode (MOD = 64h, 65h, 66h, 67h, 6Ch, and
6Dh) on only one axis.
3) Write a Start command using the circular interpolation mode after setting PRIP (arc center
coordinates) to (0, 0).
4) Write a Start command using circular interpolation mode on 3 or 4 axes.
5) Write a Start command using linear interpolation 2 mode (MOD = 62h, 63h, 6Ah, and 6Bh) while
RIP is 0.
6) Tried to write a Start command using circular interpolation mode (MOD = 66h, 67h) while
synchronized with the U axis. But the U axis did not respond. Or, the U axis completed operation
while in arc interpolation mode.
- 51 -
8-3-36. RIST register
This register is used to check the cause of event interruption. (Read only.)
When an event interrupt occurs, the bit corresponding to the cause will be set to 1.
This register is reset when read.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ISOL ISLT ISCL ISC5 ISC4 ISC3 ISC2 ISC1 ISDE ISDS ISUE ISUS ISND ISNM ISN ISEN
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0 0 0 0 0 0 0 0 0 0 0 0 ISSA ISMD ISPD ISSD Bit
Bit name
0
ISEN
1
ISN
2
ISNM
3
ISND
4
ISUS
5
ISUE
6
ISDS
7
ISDE
8
ISC1
9
ISC2
10
ISC3
11
ISC4
12
ISC5
13
ISCL
14
ISLT
15
ISOL
16
ISSD
17
ISPD
18
ISMD
19
ISSA
20 to 31 Not defined
Description
Stopped automatically.
The next operation starts continuously.
Available to write operation to the 2nd pre-register.
Available to write operation to the 2nd pre-register for Comparator 5.
Starting acceleration.
Ending acceleration.
Starting deceleration.
Ending deceleration.
The comparator 1 conditions were met.
The comparator 2 conditions were met.
The comparator 3 conditions were met.
The comparator 4 conditions were met.
The comparator 5 conditions were met..
The count value was reset by a CLR signal input.
The count value was latched by an LTC input.
The count value was latched by an ORG input.
The SD input turned ON.
The +DR input changed.
The -DR input changed.
The input turned ON.
(Always set to 0.)
8-3-37. RPLS register
This register is used to check the value of the positioning counter (number of pulses left for feeding).
(Read only.)
At the start, this value will be the absolute value in the RMV register. Each pulse that is output will
decrease this value by one.
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
0 0 0 0
- 52 -
8-3-38. RSPD register
This register is used to check the EZ count value and the current speed. (Read only.)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
AS15 AS14 AS13 AS12 AS11 AS10 AS9 AS8 AS7 AS6 AS5 AS4 AS3 AS2 AS1 AS0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0 0 0 0 0 0 0 0 0 IDC2 IDC1 IDC0 ECZ3 ECZ2 ECZ1 ECZ0 Bit
0 to 15
Bit name
AS0 to 15
Description
Read the current speed as a step value (same units as for RFL and RFH).
When stopped the value is 0.
16 to 19 ECZ0 to 3 Read the count value of EZ input that is used for a zero return.
20 to 22 IDC0 to 2 Read the idling count value.
23 to 31 Not defined (Always set to 0.)
8-3-39. RSDC register
This register is used to check the automatically calculated ramping-down point value for the positioning
operation. (Read only.)
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
0 0 0 0 0 0 0 0
8-3-40. PRCI (RCI) registers
These registers are used to set circular interpolation stepping number.
RCI is the pre-register for the PRCI.
These registers only exist for the X, Y, and Z axes. They do not exist for the U axis because the U axis is
not available for circular interpolation control.
To decelerate during a circular interpolation, enter the number of steps (number of operations) required
for the circular interpolation. Entering a number other than 0 can decelerate the speed by using an
automatic ramping-down point.
Setting range: 0 to 2,147,483,648.
8-3-41. RCIC register
This register is used to read the count of the number of circular interpolation steps that have been
completed. (Read only.)
The RCI register value is loaded when a circular interpolation is started. This value is decreased by one
for each circular interpolation step. However, if the counter value is 0, the PCL will not decrease it
further.
The counter value at the completion of a circular interpolation is held in the PCL memory until the start of
the next circular interpolation operation. The range for this value is 0 to 2,147,483,647.
This register is shared by all axes, and the value is same when read from any axis.
- 53 -
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.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20 to 21
22 to 23
24 to 31
Bit name
IPLx
IPLy
IPLz
IPLu
IPEx
IPEy
IPEz
IPEu
IPSx
IPSy
IPSz
IPSu
IPFx
IPFy
IPFz
IPFu
IPL
IPE
IPCW
IPCC
SDM0 to 1
Description
1: X axis is in linear interpolation 1 mode.
1: Y axis is in linear interpolation 1 mode.
1: Z axis is operating in linear interpolation 1 mode.
1: U axis is operating in linear interpolation 1 mode.
1: X axis is in linear interpolation 2 mode.
1: Y axis is in linear interpolation 2 mode.
1: Z axis is operating in linear interpolation 2 mode.
1: U axis is operating in linear interpolation 2 mode.
1: X axis is in circular interpolation mode.
1: Y axis is in circular interpolation mode.
1: Z axis is operating in circular interpolation mode.
1: U axis is operating in circular interpolation mode.
1: X axis is specified for constant synthetic speed.
1: Y axis is specified for constant synthetic speed.
1: Z axis is operating at a specified constant synthesized speed.
1: U axis is operating at a specified constant synthesized speed.
1: Executing linear interpolation 1.
1: Executing linear interpolation 2.
1: Executing a CW directional circular interpolation.
1: Executing a CCW directional circular interpolation.
Current phase of a circular interpolation
(00: 1st phase, 01: 2nd phase, 10: 3rd phase, 11: 4th phase)
SED0 to 1 Final phase in a circular interpolation
(00: 1st phase, 01: 2nd phase, 10: 3rd phase, 11: 4th phase)
Not defined (Always set to 0.)
- 54 -
9. Operation Mode
Specify the basic operation mode using the MOD area (bits 0 to 6) in the RMD (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.
MOD
Operation method
Direction of movement
00h
Continuous operation from a command
Positive direction
08h
Continuous operation from a command
Negative direction
Stop by turning ON the EL signal corresponding to the direction of operation.
When operation direction is positive, +EL can be used. When operation direction is negative, -EL is used.
In order to start operation in the reverse direction after stopping the motion by turning ON the EL signal, a
new start command must be written.
9-2. Positioning operation mode
The following seven operation types are available for positioning operations.
MOD
Operation method
Direction of movement
41h
Positioning operation (specify target increment Positive direction when PRMV 0
42h
43h
44h
position)
Negative direction when PRMV < 0
Positioning operation (specify the absolute
Positive direction when PRMV COUNTER1
position in COUNTER1)
Negative direction when PRMV < COUNTER1
Positioning operation (specify the absolute
Positive direction when PRMV COUNTER2
position in COUNTER2)
Negative direction when PRMV < COUNTER2
Return to command position 0 (COUNTER1)
Positive direction when COUNTER1 0
Negative direction when COUNTER1 > 0
45h
Return to machine position 0 (COUNTER2)
Positive direction when COUNTER2 0
Negative direction when COUNTER2 > 0
46h
One pulse operation
Positive direction
4Eh
One pulse operation
Negative direction
47h
Timer operation
9-2-1. Positioning operation (specify a target position using an incremental value) (MOD: 41h)
This is a positioning mode used by placing a value in the PRMV (target position) register.
The feed direction is determined by the sign set in the PRMV register.
When starting, the RMV register setting is loaded into the positioning counter (RPLS). The PCL instructs
to feed respective axes to zero direction. When the value of the positioning counter drops to 0, movement
on the axes stops. When you set the PRMV register value to zero to start a positioning operation, the LSI
will stop outputting pulses immediately.
- 55 -
9-2-2. Positioning operation (specify the absolute position in COUNTER1) (MOD: 42h)
This mode only uses the difference between the PRMV (target position) register value and COUNTER1.
Since the COUNTER1 value is stored when starting to move, the PCL cannot be overridden by changing
the COUNTER1 value. But, the target position can be overridden by changing the RMV value.
The direction of movement can be set automatically by evaluating the relative relationship between the
PRMV register setting and the value in COUNTER1.
At start up, the difference between the RMV setting and the value stored in COUNTER1 is loaded into the
positioning counter (RPLS). The PCL moves toward the zero position. When the positioning counter value
reaches zero, it stops operation.
If the PRMV register value is made equal to the COUNTER1 value and the positioning operation is
started, the PCL will immediately stop operation without outputting any command pulses.
9-2-3. Positioning operation (specify the absolute position in COUNTER2) (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 PCL cannot be
overridden by changing the value in COUNTER2; however, it can override the target position by changing
the value in RMV.
The direction of movement can be set automatically by evaluating the relationship between the PRMV
register setting and the value in COUNTER2.
At start up, the difference between the RMV setting and the value stored in COUNTER2 is loaded into the
positioning counter (RPLS). The PCL moves in the direction to the zero position. When the positioning
counter value reaches zero, it stops operation.
If the PRMV register value is made equal to the COUNTER2 value and the positioning operation is
started, the PCL will immediately stop operation without outputting any command pulses.
9-2-4. Command position 0 return operation (MOD: 44h)
This mode continues operation until the COUNTER1 (command position) value becomes zero.
The direction of movement is set automatically by the sign for the value in COUNTER1 when starting.
This operation is the same as when positioning (specify the absolute position in COUNTER1) by entering
zero in the PRMV register; however, there is no need to specify the PRMV register.
9-2-5. Machine position 0 return operation (MOD: 45h)
This mode is used to continue operations until the value in COUNTER2 (mechanical position) becomes
zero.
The number of output pulses and feed direction are set automatically by internal calculations based on the
COUNTER2 value when starting.
This operation is the same as when positioning (specify the absolute position in COUNTER2) by entering
zero in the PRMV register. However, there is no need to specify the PRMV register.
9-2-6. One pulse operation (MOD: 46h, 4Eh)
This mode outputs a single pulse.
This operation is identical to a positioning operation (incremental target positioning) that writes a "1" (or "1") to the RMV register. However, with this operation, you do need not to write a "1" or "-1" to the RMV
register.
- 56 -
9-2-7. Timer operation (MOD: 47h)
This mode allows the internal operation time to be used as a timer.
The internal effect of this operation is identical to the positioning operation. However, the LSI does not
output any pulses (they are masked).
Therefore, the internal operation time using the low speed start command will be a product of the
frequency of the output pulses and the RMV register setting. (Ex.: When the frequency is 1000 pps and
the RMS register is set to 120 pulses, the internal operation time will be 120 msec.)
Write a positive number (1 to 134,217,727) into the RMV register.
The ±EL input signal, SD input signal, and software limits are ignored. (These are always treated as OFF.)
The ALM input signal input signal, and input signals are effective.
The backlash/slip correction, vibration restriction function, and when changing direction, this timer function
is disabled.
The LSI stops counting from COUNTER1 (command position).
Regardless of the MINP setting (bit 9) in the RMD (operation mode) register, an operation complete delay
controlled by the INP signal will not occur.
In order to eliminate deviations in the internal operation time, set the METM (bit 12) in the PRMD register
to zero and use the cycle completion timing of the output pulse as the operation complete timing.
- 57 -
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 terminal LOW. Set POFF in the RENV2 register to zero.
It is also possible to apply a filter on the input.
After writing a start command, when a pulsar signal is input, the LSI will output pulses to the OUT terminal.
Use an FL low speed start (STAFL: 50h) or an FH low speed start (STAFH: 51h).
Four methods are available for inputting pulsar signals through the PA/PB input terminal by setting the
RENV2 (environmental setting 2) register.
♦ Supply a 90˚ phase difference signal (1x, 2x, or 4x).
♦ Supply either positive or negative pulses.
Note: The backlash correction function is available with the pulsar input mode. However, reversing pulsar
input while in the backlash correction is unavailable.
Besides the above 1x to 4x multiplication, the PCL has a multiplication circuit of 1x to 32x and division
circuit of (1 to 2048)/2048. For setting the multiplication from 1x to 32x, specify the PMG0 to 4 in the RENV6
and for setting the division of n/2048, specify the PD0 to 10 in the RENV6.
The timing of the UP1 and DOWN1 signals will be as follows by setting of the PIM0 to PIM1 in the RENV2.
1) When using 90˚ phase difference signals and 1x input (PIM = 00)
2) When using 90˚ phase difference signals and 2x input (PIM = 01)
3) When using 90˚ phase difference signals and 4x input (PIM = 10)
4) When using two pulse input.
- 58 -
When the 1x to 32x multiplication circuit is set to 3x (PMG = 2 on the RENV6), operation timing will be as
follows.
When the n/2048 division circuit is set to 512/2048 (PD =512 on the RENV6), operation timing will be as
follows.
The pulsar input mode is triggered by an FL constant speed start command (50h) or by an FH constant
speed start command (51h).
Pulsar input causes the PCL to output pulses with some pulses from the FL speed or FH speed pulse
outputs being omitted. Therefore, there may be a difference in the timing between the pulsar input and
output pulses, up to the maximum internal pulse frequency.
The maximum input frequency for pulsar signals is restricted by the FL speed when an FL low speed start
is used, and by the FH speed when an FH low speed start is used. The LSI outputs signals as errors
when both the PA and PB inputs change simultaneously, or when the input frequency is exceeded, or if the
input/output buffer counter (deflection adjustment 16-bit counter for pulsar input and output pulse)
overflows. This can be monitored by the REST (error interrupt factor) register.
F P < (speed) / (input I/F phas e value) / ( P M G setting value + 1) / (PD s e tting value /2048), PD s etting value ≠ 0
FP < (speed) / (input I/F phase value), PD setting value = 0
<Examples of the relationship between the FH (FL) speed [pps] and the pulsar input frequency FP [pps]>
PA/PB input method
PMG setting value
PD setting value
Usable range
0 (1x)
0
FP < FH (FL)
2 pulse input
0 (1x)
1024
FP < FH (FL) x 2
2 (3x)
0
FP < FH (FL) / 3
0 (1x)
0
FP < FH (FL)
90˚ phase difference 1x
0 (1x)
1024
FP < FH (FL) x 2
2 (3x)
0
FP < FH (FL) / 3
0 (1x)
0
FP < FH (FL) / 2
90˚ phase difference 2x
0 (1x)
1024
FP < FH (FL)
2 (3x)
0
FP < FH (FL) / 6
0 (1x)
0
FP < FH (FL) / 4
90˚ phase difference 4x
0 (1x)
1024
FP < FH (FL) / 2
2 (3x)
0
FP < FH (FL) / 6
Note: When the PA/ PB input frequency fluctuates, take the shortest frequency, not average frequency, as
"Frequency of FP" above.
- 59 -
<Setting relationship of PA/PB input>
Specify the PA/PB input <Set to PIM0 to 1 (bit 24 & 25) in RENV2>
00: 90˚ phase difference, 1x 10: 90˚ phase difference, 4x
01: 90˚ phase difference, 2x 11: 2 sets of up or down input pulses
[RENV2] (WRITE)
31 24
- - - - - - n n
Specify the PA/PB input count direction <Set to PDIR (bit 26) in RENV2>
0: Count up when the PA phase is leading. Or, count up on the rising edge of
PA.
1: Count up when the PB phase is leading. Or, count up on the rising edge of
PB.
Enable/disable PA/PB input <Set POFF (bit 31) in RENV2>
0: Enable PA/PB input
1: Disable PA/PB input.
Set the +/- DR, input filter <Set DRF (bit 27) in RENV1>
1: Insert a filter on +/- DR input and input
By setting the filter, the PCL ignores signals shorter than 32 msec.
Reading operation status <CND (bit 0 to 3) in RSTS>
1000 : wait for PA/ PB input.
[RENV2] (WRITE)
31 24
- - - - - n - Reading PA/PB input error <ESPE (bit 17) in REST>
ESPE (bit 17) = 1: Occurs a PA/PB input error
[REST] (READ)
23 16
0 0 0 0 0 0 n - Reading PA/PB input buffer counter status <ESP0 (bit 14) in REST>
ESPO (bit 14) = 1: Occurs an overflow.
[REST] (READ)
15 8
- n - - - - - -
[RENV2] (WRITE)
31 24
n - - - - - - [RENV1] (WRITE)
31 24
- - - - n - - [RSTS] (READ)
7 0
- - - - n n n n
* In the descriptions in the right hand column, "n" refers to the bit position. "0" refers to bit positions where
it is prohibited to write any value except zero and the bit will always be zero when read.
The pulsar input mode has the following 12 operation types.
The direction of movement for continuous operation can be changed by setting the RENV2 register,
without changing the wiring connections for the PA/PB inputs.
MOD
Operation mode
Direction of movement
01h
Continuous operation using pulsar input
Determined by the PA/PB input.
Positioning operation using pulsar input
Determined by the sign of the PRMV value.
51h
(absolute position)
Positioning operation using pulsar input
Determined by the relationship of the RMV and
52h
(COUNTER1 absolute position)
COUNTER1 values.
Positioning operation using pulsar input
Determined by the relationship of the RMV and
53h
(COUNTER2 absolute position)
COUNTER2 values.
Specified position (COUNTER1) zero
Determined by the sign of the value in
54h
point return operation using pulsar input
COUNTER1.
Specified position (COUNTER2) zero
Determined by the sign of the value in
55h
point return operation using pulsar input
COUNTER2.
Continuous linear interpolation 1 using
Determined by the sign of the value in PRMV.
68h
pulsar input
69h
Linear interpolation 1 using pulsar input
Determined by the sign of the value in PRMV.
Continuous linear interpolation 2 using
Determined by the sign of the value in PRMV.
6Ah
pulsar input
6Bh
Linear interpolation 2 using pulsar input
Determined by the sign of the value in PRMV.
CW circular interpolation using pulsar
Determined by the circular interpolation
6Ch
input
operation
CCW circular interpolation using pulsar
Determined by the circular interpolation
6Dh
input
operation
- 60 -
9-3-1. Continuous operation using a pulsar input (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
PA/PB input
Positive direction
When the PA phase leads the PB phase.
0
90˚ phase difference
Negative direction
When the PB phase leads the PA phase.
signal
Positive direction
When the PB phase leads the PA phase.
(1x, 2x, and 4x)
1
Negative direction
When the PA phase leads the PB phase.
Positive direction
PA input rising edge.
0
2 pulse input of
Negative direction
PB input rising edge.
positive and
Positive direction
PB input rising edge.
negative pulses
1
Negative direction
PA input rising edge.
The PCL stops operation when the EL signal in the current feed direction is turned ON. But the PCL can
be operated in the opposite direction without writing a restart command.
output) will occur.
When stopped by the EL input, no error interrupt (
To release the operation mode, write an immediate stop command (49h).
Note: When the "immediate stop command (49h)" is written while the PCL is performing a multiplication
operation (caused by setting PIM 0 to 1 and PMG 0 to 4), the PCL will stop operation immediately
and the total number of pulses that are output will not be an even multiple of the magnification.
When PSTP in RENV6 is set to 1, the PCL delays the stop timing until an even multiple of pulses
has been output. However, after a stop command is sent by setting PSTP to 1, check the MSTS. If
SRUN is 0, set PSTP to 0. (When SRUN is 0 while PSTP is 1, the PCL will latch the stop
command.)
9-3-2. Positioning operations using a pulsar input (MOD: 51h)
The PCL positioning is synchronized with the pulsar input by using the PRMV setting as incremental
position data.
This mode allows positioning using a pulsar input.
The feed direction is determined by the sign in the PMV register.
When PA/PB signals are input, the LSI outputs pulses and the positioning counter counts down. When the
value in the positioning counter reaches zero, movement on the axis will stop and another PA/ PB input
will be ignored. Set the RMV register value to zero and start the positioning operation. The LSI will stop
movement on the axis immediately, without outputting any command pulses.
9-3-3. Positioning operation using a pulsar input (specify absolute position to COUNTER1) (MOD: 52h)
The PCL positioning is synchronized with the pulsar input by using the PRMV setting as the absolute
value for COUNTER1.
The direction of movement is determined by the relationship between the value in PRMV and the value in
COUNTER1.
When starting, the difference between the values in RMV and COUNTER1 is loaded into the positioning
counter. When a PA/PB signal is input, the PCL outputs pulses and decrements the positioning counter.
When the value in the positioning counter reaches "0," the PCL any further ignores PA/PB input. If you try
to start with PRMV = COUNTER1, the PCL will not output any pulses and it will stop immediately.
9-3-4. Positioning operation using a pulsar input (specify the absolute position in COUNTER2) (MOD: 53h)
The operation procedures are the same as MOD= 52h, except that this function uses COUNTER2 instead
of COUNTER1.
- 61 -
9-3-5. Command position zero return operation using a pulsar input (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 when starting.
Set the COUNTER1 value to zero and start the positioning operation, the LSI will stop movement on the
axis immediately, without outputting any command pulses.
9-3-6. Mechanical position zero return operation using a pulsar input (MOD: 55h)
Except for using COUNTER2 instead of COUNTER1, the operation details are the same as for MOD =
54h.
9-3-7. Continuous linear interpolation 1 using pulsar input (MOD: 68h)
Performs continuous linear interpolation 1, synchronized with the pulsar input.
For continuous linear interpolation 1 operation details, see section "9-8. Interpolation operations."
9-3-8. Linear interpolation 1 using pulsar input (MOD: 69h)
Performs linear interpolation 1, synchronized with the pulsar input.
Any pulsar inputs after operation is complete will be ignored.
For linear interpolation 1 operation details, see section "9-8. Interpolation operations."
9-3-9. Continuous linear interpolation 2 using pulsar input (MOD: 6Ah)
Performs continuous linear interpolation 2, synchronized with the pulsar input.
For continuous linear interpolation 2 operation details, see section "9-8. Interpolation operations."
9-3-10. Linear interpolation 2 using pulsar input (MOD: 6Bh)
Performs linear interpolation 2, synchronized with the pulsar input.
Any pulsar inputs after operation is complete will be ignored.
For linear interpolation 2 operation details, see section "9-8. Interpolation operations."
9-3-11. CW circular interpolation using pulsar input (MOD: 6Ch)
Performs CW circular interpolation, synchronized with the pulsar input.
Any pulsar inputs after operation is complete will be ignored.
For CW circular interpolation operation details, see section "9-8. Interpolation operations."
9-3-12. CCW circular interpolation using pulsar input (MOD: 6Dh)
Performs CCW circular interpolation, synchronized with the pulsar input.
Any pulsar inputs after operation is complete will be ignored.
For CCW circular interpolation operation details, see section "9-8. Interpolation operations."
- 62 -
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 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 RENVI (environment 1) register to specify the output logic of the ±DR input signal. The signal
can be set to send an output when ±DR input is changed.
The RSTS (extension status) register can be used to check the operating status and monitor the ±DR
input.
It is also possible to apply a filter to the ±DR or inputs.
Set the input logic of the +DR/-DR signals <Set DRL (bit 25) in RENV1 >
0: Negative logic
1: Positive logic
Applying a ±DR or input filter <Set DRF (bit 27) in RENV1>
1: Apply a filter to ±DR input or inputs
When a filter is applied, pulses shorter than 32 msec will be ignored.
Setting an event interrupt cause <Set IRDR (bit 17) in RIRQ>
signal when ±DR signal changed input.
1: Output the Reading the event interrupt cause <ISPD (bit 17) and ISMD (bit 18) in RIST>
ISPD(bit 17) = 1: When the +DR signal input changes.
ISMD(bit 18) = 1: When the -DR signal input changes.
Read operation status < CND (bits 0 to 3) in RSTS>
0001: Waiting for a DR input
Reading the ±DR signal <SDRP (bit 11) and SDRM (bit 12) in RSTS>
SDRP = 0: +DR signal is OFF SDRP = 1: +DR signal is ON
SDRM = 0: -DR signal is OFF SDRM = 1: -DR signal is ON
[RENV1] (WRITE)
31 24
- - - - - - n [RENV1] (WRITE)
31 24
- - - - n - - [RIRQ] (WRITE)
23 16
0 0 0 0 0 - n - [RIST] (READ)
23 16
0 0 0 0 - n n - [RSTS] (READ)
7 0
- - - - n n n n
[RSTS] (READ)
15 8
- - - n n - - - The external switch operation mode has the following two forms
MOD
Operation mode
Direction of movement
02h Continuous operation using an external switch.
Determined by +DB, - DR input.
56h Positioning operation using an external switch.
Determined by +DB, - DR input.
9-4-1. Continuous operation using an external switch (MOD: 02h)
This mode is used to operate an axis only when the DR switch is ON.
After writing a start command, turn the +DR signal ON to feed the axis in the positive direction, turn the DR signal ON to feed the axis in the negative direction, using a specified speed pattern.
By turning ON an EL signal for the feed direction, movement on the axis will stop. However, the axis can
be fed in the reverse direction.
An error interrupt (
output) will not occur.
To end this operation mode, write an immediate stop command (49h).
If the axis is being fed with high speed commands (52h, 53h), movement on the axis will decelerate and
stop when the DR input turns OFF. If the DR input for reverse direction turns ON while decelerating,
movement on the axis will decelerate and stop. Then it will resume in the opposite direction.
[Setting example]
1) Bring the input LOW.
2) Specify RFL, RFH, RUR, RDR, and RMG (speed setting).
3) Enter "0000010" for MOD (bits 0 to 6) in the RMD (operation mode) register
4) Write a start command (50h to 53h).
CND (bits 0 to 3) of the RSTS (extension status) register will wait for "0001: DR input."
- 63 -
In this condition, turn ON the +DR or -DR input terminal. The axis will move in the specified direction using
the specified speed pattern as long as the terminal is kept ON.
9-4-2. Positioning operation using an external switch (MOD: 56h)
This mode is used for positioning based on the DR input rising timing.
When started, 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. When the
positioning counter value reaches zero, the PCL stops operation.
Even if the DR input is turned OFF or ON again during the operation, it will have no effect on the
operation. If you make the REMV register value 0 and start a positioning operation, the PCL will stop
operation immediately without outputting any command pulses.
Turn ON the +DR signal to feed in the positive direction. Turn ON the -DR signal to feed in the negative
direction.
By turning ON the EL signal corresponding to the feed direction, the axis will stop operation and issue an
error interrupt (
output).
- 64 -
9-5. Zero position operation mode
The following six zero position operation modes are available.
MOD Operation mode
Direction of movement
10h
Zero return operation
Positive direction
18h
Zero return operation
Negative direction
12h
Leaving the zero position operation
Positive direction
1Ah
Leaving the zero position operation
Negative direction
15h
Zero position search operation
Positive direction
1Dh
Zero position search operation
Negative direction
Depending on the operation method, the zero position operation uses the ORG, EZ, or ±EL inputs.
Specify the input logic of the ORG input signal in the RENV1 (environment 1) register. This register's
terminal status can be monitored with an SSTSW (sub status) command.
Specify the input logic of the EZ input signal in the RENV2 (environment 2) register. Specify the number for
EZ to count up to for a zero return complete condition in the RENV3 (environment 3) register. This
register's terminal status can be monitored by reading the RSTS (extension status) register.
Specify the logic for the ±EL input signal using the ELL input terminals. Specify the operation to execute
when the signal turns ON (immediate stop/deceleration stop) in the RENV1 register. This register's terminal
status can be monitored with an SSTSW (sub status) command.
An input filter can be applied to the ORG input signal and ±EL input signal by setting the RENV1 register.
Set the ORG signal input logic <Set ORGL (bit 7) in RENV1 >
0: Negative logic
1: Positive logic
[RENV1] (WRITE)
7 0
n - - - - - - -
Read the ORG signal <SORG (bit14) in SSTSW>
0: Turn OFF the ORG signal
1: Turn ON the ORG signal
[SSTSW] (READ)
15 8
- n - - - - - [RENV2] (WRITE)
23 16
n - - - - - Set the EZ signal input logic <Set EZL (bit 23) in RENV2>
0: Falling edge
1: Rising edge
Set the EZ count <Set EZD0 to 3 (bits 4 to 7) in RENV3>
[RENV3] (WRITE)
Specify the number for EZ to count up to that will indicate a zero return completion. 7 0
Enter the value (the count minus 1) in EZD0 to 3. Setting range: 0 to 15.
n n n n - - - Read the EZ signal < SEZ (bit 10) in RSTS>
[RSTS] (READ)
0: Turn OFF the EZ signal
15 8
1: Turn ON the EZ signal
- - - - - n - Set the ±EL signal input logic <ELL input terminal>
L: Positive logic input
H: Negative logic input
Specify a method for stopping when the ±EL signal turns ON <Set ELM (bit 3) in
[RENV1] (WRITE)
RENV1 >
7 0
0: Immediate stop when the ±EL signal turns ON.
- - - - n - - 1: Deceleration stop when the ±EL signal turns ON.
Read the ±EL signal <SPEL (bit 12), SMEL (bit 13) in SSTSW>
[SSTSW] (READ)
SPEL = 0: Turn OFF + EL signal SPEL = 1: Turn ON + EL signal
15 8
SMEL = 0: Turn OFF - EL signal SMEL = 1: Turn ON - EL signal
- - n n - - - Applying an input filter to the ±EL and ORG inputs <Set FLTR (bit 26) in RENV1>
[RENV1] (WRITE)
1: Apply a filter to the ±EL and ORG inputs.
31
24
By applying a filter, pulses shorter than 4 µsec will be ignored.
- - - - - n - -
- 65 -
9-5-1. Zero return operation
After writing a start command, the axis will continue feeding until the conditions for a zero return complete
are satisfied.
MOD: 10h Positive direction zero return operation
18h Negative direction zero return operation
When a zero return is complete, the LSI will reset the counter and output an ERC (deflection counter
clear) signal.
The RENV3 register is used to set the basic zero return method. That is, whether or not to reset the
counter when the zero return is complete. Specify whether or not to output the ERC signal in the RENV1
register.
For details about the ERC signal, see 11-6-2, "ERC signal."
Set the zero return method <Set ORM0 to 3 (bits 0 to 3) in RENV3>
0000: Zero return operation 0
- Stop immediately (deceleration stop when feeding at high speed) when
the ORG signal turns ON
- COUNTER reset timing: When the ORG input signal turns ON.
0001: Zero return operation 1
- Stop immediately (deceleration stop when feeding at high speed) when
the ORG signal turns ON. Next, feed in the reverse direction at RFA low
speed until the ORG signal turns OFF. Then, the axis moves back in the
original direction at RFA speed and stops immediately when ORG turns
ON again.
- COUNTER reset timing: When the ORG input signal turns ON.
0010: Zero return operation 2
- When feeding at low speed, after the ORG signal turns ON, movement on
the axis stops immediately when the EZ counter finishes counting up.
When feeding at high speed, after the ORG signal turns ON, the axis
decelerates and stops immediately when the EZ counter finishes
counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
0011: Zero return operation 3
- When feeding at low speed, after the ORG signal turns ON, movement on
the axis stops immediately when the EZ counter finishes counting up.
When feeding at high speed, after the ORG signal turns ON, the axis
decelerates and stops immediately when the EZ counter finishes
counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
0100: Zero return operation 4
- Movement on the axis stops immediately (decelerate and stop when
feeding at high speed) when the ORG input is turned ON. Next, the
direction of movement is reversed at RFA low speed. Then, it stops
immediately when the EZ counter finishes counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
- 66 -
[RENV3] (WRITE)
7 0
- - - - n n n n
0101: Zero return operation 5
- Movement on the axis stops immediately and is reversed (decelerates
and stops when feeding at high speed) when the ORG input is turned
ON. Then, all movement stops immediately (decelerates and stops when
feeding at high speed) when the EZ counter finishes counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
0110: Zero return operation 6
- Movement on the axis stops immediately (decelerates and stops when
ELM is 1) when the EL signal turns ON, and it reverses at RFA low
speed. Then, all movement stops immediately when the EL signal is
turned OFF.
- COUNTER reset timing: When the EL signal is turned OFF.
0111: Zero return operation 7
- Movement on the axis stops immediately (decelerates and stops when
ELM is 1) when the EL signal turns ON, and reverses at RFA low speed.
Then, all movement stops immediately when the EZ counter finishes
counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
1000: Zero return operation 8
Movement on the axis stops immediately (decelerates and stops when
ELM is 1) when the EL signal turns ON, and reverses. Then it stops
immediately (decelerates and stops when feed at high speed) when the EZ
counter finishes counting up.
- COUNTER reset timing: When the EZ counter finishes counting up.
1001: Zero return operation 9
- After the process in zero return operation 0 has executed, it returns to
zero (operates until COUNTER2 = 0).
1010: Zero return operation 10
- After the process in zero return operation 3 has executed, it returns to
zero (operates until COUNTER2 = 0).
1011: Zero return operation 11
- After the process in zero return operation 5 has executed, it returns to
zero (operates until COUNTER2 = 0).
1100: Zero return operation 12
- After the process in zero return operation 8 has executed, it returns to
zero (operates until COUNTER2 = 0).
Settings after a zero return complete <Set CU1R to 4R (bits 20 to 23) in RENV3>
CU1R (bit 20) =1: Reset COUNTER1 (command position)
CU2R (bit 21) =1: Reset COUNTER2 (mechanical position)
CU3R (bit 22) =1: Reset COUNTER3 (deflection counter)
CU4R (bit 23) =1: Reset COUNTER4 (general-purpose)
Setting the ERC signal for automatic output <Set EROR (bit 11) in RENV1>
0: Does not output an ERC signal when a zero return is complete.
1: Automatically outputs an ERC signal when a zero return is complete.
- 67 -
[RENV3] (WRITE)
7 0
- - - - n n n n
[RENV3] (WRITE)
23 16
n n n n - - - -
[RENV1] (WRITE)
15 8
- - - - n - - -
9-5-1-1. Zero return operation 0 (ORM = 0000)
Low speed operation <Sensor: EL (ELM = 0), ORG>
OFF
ON
ORG
OFF
EL
@
Operation 1
ON
Emergency stop Operation 2
Emergency stop Operation 3
High speed operation <Sensor: EL (ELM = 0), ORG>
Even if the axis stops normally, it may not be at the zero position. However, COUNTER2 (mechanical
position) provides a reliable value.
ORG
EL
@
Operation 1
Emergency stop Operation 2
Emergency stop Operation 3
High speed operation <Sensor: EL (ELM = 1), ORG>
Even if the axis stops normally, it may not be at the zero position. However, COUNTER2 (mechanical
position) provides a reliable value.
ORG
EL
@
Operation 1
Emergency stop Operation 2
Emergency stop Operation 3
High speed operation <Sensor: EL (ELM = 1), SD (SDM = 0, SDLT = 0), ORG>
ORG
SD
OFF
ON
EL
Operation 1
@
Operation 2
@
Operation 3
Emergency stop Operation 4
Emergency stop Note: Positions marked with "@" reflect the ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
- 68 -
9-5-1-2. Zero return operation 1 (ORM=0001)
Low speed operation <Sensor: EL (ELM = 0), ORG>
ORG
EL
Operation 1
FA speed
@
Emergency stop
Operation 2
Emergency stop
Operation 3
High speed operation <Sensor: EL, ORG>
ORG
EL
Operation 1
FA speed
@
Emergency stop
Operation 2
Emergency stop
Operation 3
9-5-1-3. Zero return operation 2 (ORM = 0010)
Low speed operation <Sensor: EL (ELM = 0), ORG, EZ (EZD = 0001)>
ORG
EZ
ON
EL
@
Operation 1
Emergency stop
Operation 2
Emergency stop
Operation 3
High speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
Note: Positions marked with "@" reflect ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
- 69 -
9-5-1-4. Zero return operation 3 (ORM = 0011)
Low speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
@
Operation 1
High speed operation <Sensor: EL,ORG, EZ (EZD = 0001)>
ORG
EZ
EL
@
Operation 1
Emergency stop
Operation 2
Emergency stop
Operation 3
9-5-1-5. Zero return operation 4 (ORM = 0100)
Low speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
FA speed
High speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
FA speed
Operation 2
Emergency stop
Emergency stop
Operation 3
Note: Positions marked with "@" reflect the ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
- 70 -
9-5-1-6. Zero return operation 5 (ORM = 0101)
Low speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
Emergency stop
Operation 2
Emergency stop
Operation 3
High speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
Emergency stop
Operation 2
Emergency stop
Operation 3
9-5-1-7. Zero return operation 6 (ORM = 0110)
Low speed operation <Sensor: EL>
EL
*
Operation 1
@
FA speed
(Stop when EL is OFF)
High speed operation <Sensor: EL>
EL
*
Operation 1
@
FA speed
(Stop when EL is OFF)
Note: Positions marked with "@" reflect the ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
Also, when EROE (bit 10) is 1 in the RENV1 register and ELM (bit 3) is 0, the LSI will output an
ERC signal at positions marked with an asterisk (*).
- 71 -
9-5-1-8. Zero return operation 7 (ORM = 0111)
Low speed operation <Sensor: EL, EZ (EZD = 0001)>
EZ
EL
*
Operation 1
@
FA speed
High speed operation <Sensor: EL, EZ (EZD = 0001)>
EZ
EL
*
Operation 1
@
FA speed
9-5-1-9. Zero return operation 8 (ORM=1000)
Low speed operation <Sensor: EL, EZ (EZD = 0001)>
EZ
EL
*
Operation 1
@
High speed operation <Sensor: EL, EZ (EZD = 0001)>
EZ
EL
*
Operation 1
@
9-5-1-10. Zero return operation 9 (ORM = 1001)
High speed operation <Sensor: EL, ORG)>
ORG
EL
Operation 1
@
Emergency stop
Operation 2
Emergency stop
Operation 3
Note: Positions marked with "@" reflect the ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
Also, when EROE (bit 10) is 1 in the RENV1 register and ELM (bit 3) is 0, the LSI will output
an ERC signal at positions marked with an asterisk (*).
- 72 -
9-5-1-11. Zero return operation 10 (ORM = 1010)
High speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
Emergency stop
Operation 2
Emergency stop
Operation 3
9-5-1-12. Zero return operation 11 (ORM = 1011)
High speed operation <Sensor: EL, ORG, EZ (EZD = 0001)>
ORG
EZ
EL
Operation 1
@
Emergency stop
Operation 2
Emergency stop
Operation 3
9-5-1-13. Zero return operation 12 (ORM = 1100)
High speed operation <Sensor: EL, EZ (EZD = 0001)>
EZ
EL
@
Operation 1
*
Note: Positions marked with "@" reflect the ERC signal output timing when "Automatically output an
ERC signal" is selected for the zero stopping position.
Also, when EROE (bit 10) is 1 in the RENV1 register and ELM (bit 3) is 0, the LSI will output
an ERC signal at positions marked with an asterisk (*).
- 73 -
9-5-2. Leaving the zero position operations
After writing a start command, the axis will leave the zero position (when the ORG input turns ON).
Make sure to use the "Low speed start command (50h, 51h)" when leaving the zero 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.
Since the ORG input status is sampled when outputting pulses, if the PCL starts at constant speed while
the ORG signal is ON, it will stop operation after outputting one pulse, since the ORG input is turned OFF.
(Normal stop)
MOD: 12h Leave the zero position in the positive direction
1Ah Leave the zero position in the negative direction
9-5-3. Zero search operation
This mode is used to add functions to a zero return operation. It consists of the following possibilities.
1) A "Zero return operation" is made in the opposite direction to the one specified.
2) A "Leaving the zero position using positioning operations" is executed in the opposite direction to the
one specified.
3) A "Zero return operation" is executed in the specified direction.
Operation 1: If the ORG input is turned ON after starting, movement on the axis will stop normally.
Operation 2: If the ORG input is already turned ON when starting, the axis will leave the zero position
using positioning operations, and then begin a "zero return operation."
Operation 3: If movement on the axis is stopped by an EL signal while operating in the specified direction,
the axis will execute a "zero return operation (ORM = 0000)" and a "leaving the zero position
by positioning" in the opposite direction. Then it will execute a "zero return operation" in the
specified direction.
When "leaving the zero position by positioning," the axis will repeat the positioning operation for the
number of pulses specified in the RMV (target position) register, until the zero position has been left. Enter
a positive number (1 to 134,217,727) in the RMV register.
MOD: 15h Zero search operation in the positive direction
1Dh Zero search operation in the negative direction
9-5-3-1. Zero return operation 0 (ORM=0000)
Low speed operation <Sensor: EL, ORG>
ORG
EL
Operation 1
Operation 2
Operation 3
RMV setting value
- 74 -
High speed operation <Sensor: EL, ORG>
Even if the axis stops normally, it may not be at the zero position. However, COUNTER2 (mechanical
position) provides a reliable value.
ORG
EL
Operation 1
Operation 2
Operation 3
RMV setting value
9-6. EL or SL operation mode
The following four modes of EL or SL (soft limit) operation are available.
MOD
Operation mode
Direction of movement
20h
Operate until reaching the +EL or +SL position.
Positive direction
28h
Operate until reaching the -EL or -SL position.
Negative direction
22h
Leave from the -EL or -SL positions.
Positive direction
2Ah
Leave from the +EL or +SL positions.
Negative direction
To specify the ±EL input signal, set the input logic using the ELL input terminal. Select the operation type
(immediate stop / deceleration stop) when the input from that terminal is ON in the RENV1 (Environment
setting 1) register. The status of the terminal can be monitored using the SSTSW (sub status) register.
For details about setting the SL (software limit), see section 11-11-2, "Software limit function."
Select the ±EL signal input logic <ELL input terminal>
L: Positive logic input
H: Negative logic input
Select the stop method to use when the ±EL signal is turned ON <Set
ELM (bit 3) in RENV1>
0: Stop immediately when the ±EL signal turns ON.
1: Decelerates and stops when the ±EL signal turns ON.
Reading the ±EL signal <SPEL (bit 12), SMEL (bit 13) in SSTSW>
SPEL=0: Turn OFF +EL signal SPEL=1: Turn ON +EL signal
SMEL=0: Turn OFF -EL signal SMEL=1: Turn ON -EL signal
Setting the ±EL input filter <Set the FLTR (bit 26) in RENV1 >
1: Apply a filter to the ±EL input.
After applying a filter, signals shorter than 4 µsec will be ignored.
- 75 -
[RENV1] (WRITE)
7 0
- - - - n - - [SSTSW] (READ)
15 8
- - n n - - - [RENV1] (WRITE)
31 24
- - - - - n - -
9-6-1. Feed until reaching an EL or SL position
This mode is used to continue feeding until the EL or SL (soft limit) signal is turned ON and then the
operation stops normally.
When a start command is written on the position where the EL or SL signal is turned ON, the LSI will not
output pulses and it will stop the axis normally. When a start command is written to the axis while the EL
and SL signals are OFF, the axis will stop when the EL or SL signal is turned ON. (Normal stop.)
MOD: 20h Feed until reaching the +EL or +SL position.
28h Feed until reaching the -EL or -SL position.
9-6-2. Leaving an EL or SL position
This mode is used to continue feeding until the EL or SL (software limit) signal is turned OFF.
When a start command is written on the position where the EL and SL signals are turned OFF, the LSI will
not output pulses and it will stop the axis normally.
When starting an operation while the EL input or SL signal is ON, the PCL will stop operation normally
when both the EL input and SL signal are OFF.
MOD: 22h Leave from a -EL or -SL position
2Ah Leave from a + EL or +SL position
9-7. EZ count operation mode
This mode is used to count EZ signal of the number (EZD set value +1) written into the RENV3 register.
MOD: 24h Feed until the EZ count is complete in positive direction.
2Ch Feed until the EZ count is complete 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.
The EZ count can be set from 1 to 16.
Use the low speed start command (50h, 51h) for this operation. When the high speed start command is
used, the axis will start decelerating and stop when the EZ signal turns ON, so that the motion on the axis
overruns the EZ position.
Specify logical input for the EZ signal in the RENV2 (environment setting 2) register, and the EZ number to
count to in the RENV3 (environment setting 3) register. The terminal status can be monitored by reading
the RSTS (extension status) register.
Setting the input logic of the EZ signal <Set EZL (bit 23) in RENV2>
0: Falling edge
1: Rising edge
Setting the EZ count number <Set EZD0 to 3 (bits 4 to 7) in
RENV3>
Specify the EZ count number after a zero return complete condition.
Enter a value (the number to count to minus 1) in EZD 0 to 3. Setting range: 0
to 15.
Reading the EZ signal < SEZ (bit 10) in RSTS>
0: Turn OFF the EZ signal
1: Turn ON the EZ signal
- 76 -
[RENV2] (WRITE)
23 16
n - - - - - - [RENV3] (WRITE)
7 0
n n n n - - - -
[RSTS] (READ)
15 8
- - - - - n - -
9-8. Interpolation operations
9-8-1.Interpolation operations
In addition to each independent operation, this LSI can execute the following interpolation operations.
MOD
Operation mode
MOD
Operation mode
60h
Continuous linear interpolation 1 for
67h
CCW circular interpolation
2 to 4 axes
synchronized with the U axis.
61h
Linear interpolation 1 for 2 to 4 axes
68h
Continuous linear interpolation 1
synchronized with PA/PB input
62h
Continuous linear interpolation 2 for
69h
Linear interpolation 1 synchronized
1 to 4 axes
with PA/PB input
63h
Linear interpolation 2 for 1 to 4 axes
6Ah
Continuous linear interpolation 2
synchronized with PA/PB input.
64h
Circular interpolation (CW)
6Bh
Linear interpolation 2 synchronized
with PA/PB input
65h
Circular interpolation (CCW)
6Ch
CW circular interpolation synchronized
with PA/PB input
66h
CW circular interpolation
6Dh
CCW circular interpolation
synchronized with the U axis
synchronized with PA/PB input
Continuous linear interpolation is the same as the linear interpolation used to feed multiple axes at
specified rates, and to start and stop feeding using commands such as the continuous mode commands.
Interpolation 1 executes an interpolation operation between any two to four axes in the LSI.
Interpolation 2 is used to control five axes or more using more than one LSI, and to control feeding using
linear interpolation.
Independent operation of the un-interpolated axes is also possible.
The interpolation settings and operation status can be monitored by reading the RIPS (interpolation
status) register.
The RIPS register is shared by the X and Y axes. Reading from any axis will return the identical
information.
Write start and stop commands to both axes by setting SELx and SELy in COMB1.
[Interpolation operations that can be combined with this LSI]
1) Linear interpolation 1 of two axes.
2) Linear interpolation 1 of three axes.
3) Linear interpolation 1 of four axes.
4) Circular interpolation of two axes
5) Linear interpolation 1 of two axes and circular interpolation of two axes
Axes that are not involved in one of the interpolation operations 1) to 5) above, can be operated
independently or can be used to execute a linear interpolation 2.
9-8-2. Interpolation control axis
In Circular interpolation and Linear interpolation 1, specify the speed for one axis only. This axis is
referred to as the interpolation control axis. Interpolation control axes can only be in the order X, Y, Z, and
U for the axes that are interpolated.
When you want to execute both an circular interpolation and a linear interpolation simultaneously, there
will be two interpolation control axes.
When linear interpolation 2 is selected, each axis will be used to control the interpolation.
[Relationship between an interpolation operation and the axes used for interpolation control]
No
Interpolation operation
Interpolation control axis
1)
Linear interpolation 1 of the X, Y, Z, and U axes.
X axis
2)
Linear interpolation 1 of the X, Y, and Z axes.
X axis
3)
Linear interpolation 1 of the Y, Z, and U axes.
Y axis
4)
Linear interpolation 1 of the Y and U axis
Y axis
5)
Circular interpolation of the X and U axis
X axis
6)
Circular interpolation of the X and Z axes, and linear
Circular interpolation: X axis
interpolation 1 of the Y and U axes
Linear interpolation 1: Y axis
- 77 -
9-8-3. Constant synthesized speed 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 MIPF (bit 15) in the PRMD (operation mode) register to "1" for the axes
that you want to have a constant synthesized speed. When the same interpolation mode is selected, the
axes whose MIPF bit is set to "1" will have a longer pulse output interval: multiplied by the square root of
) for three axis
) for two axis simultaneous output, and by the square root of three (
two (
simultaneous output.
For example, when applying linear interpolation 1 to the X, Y, and Z axes, and only the Y and Z axes have
the MIPF bit = 1, the interval before a pulse output on another axis after simultaneous pulse output on the
. When X and Y, or X and Z output pulses at the same time, the
Y and Z axes will be multiplied by the interval until the next pulse output will not change.
The synthesized constant speed control can only be used for 2 or 3 axes. When applying linear
interpolation 1 to four axes, if MIPE = 1 for all four axes, and if all four axes output pulses at the same
.
time, the interval will also be multiplied by the When the synthesized constant speed control bit is turned ON (MIPF = 1), the synthesized speed (while
performing interpolation) will be the operation speed (PRFH) or the initial speed (PRFL) of the
interpolated axes.
SRUN, SEND, and SERR in MSTSW (main status byte) for the interpolated axis will change using the
same pattern.
The RSPD (speed monitor) feature is only available for the interpolation control axes. However, when
linear interpolation 2 is used, the value read out will be the main axis speed.
<Precautions for using the composite constant speed control bit (MIPF = 1)>
1) Positioning is only possible at the unit's resolution position for machine operation.
Therefore, even if an interpolation operation is selected, the machine will use the following points to
approximate an arc, and the actual feed pattern will be point to point (zigzag feeding). With this feed
pattern, the actual feed amount will be longer than the ideal linear line or an ideal arc. The function of
the synthesized constant speed control in this LSI is to make constant synthesized speeds for multiple
axes in simultaneous operation, which means that the speed through the ideal locus (trajectory) will not
be constant.
For example, with linear interpolation in the figure on the right (using the synthesized constant speed
o
feature), the PCL will make a constant synthesized speed in order to feed at a 45 angle by decreasing the
Y (Slave axis) .
speed to 1/
Therefore, the feeding interval when the feed
=11.66
speed is 1 pps will be 6 + 4
seconds.
End coordinates
(10, 4)
4
3
2
The length of the ideal line (dotted line) is
1
= 10.77. If the machine can be fed by
0
just following the ideal line, the feed interval
0
5
will be 10.77 seconds.
Please take note of the above when using synthesized constant speed control.
X (Master axis)
10
2) Acceleration/deceleration operations when the synthesized constant speed control bit is ON (MIPF = 1)
Basically, the operation will have a constant speed when MIPF = 1. (The synthesized speed will vary
with the acceleration/deceleration.)
When MIPF = 1 and you select linear interpolation 1 or circular interpolation with
acceleration/deceleration, the following limitations apply.
- Make the acceleration rate (PRUP) and deceleration rate (PRDR) for the control axes equal.
- Do not change the speed during S-curve acceleration/deceleration.
Failure to follow these guidelines may cause the PCL to decelerate abnormally.
- 78 -
9-8-4. Continuous linear interpolation 1 (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. Therefore, if the
PRMV setting for the all of the interpolated axes is zero, the PCL will output pulses to all the interpolated
axes at the same speed.
9-8-5. Linear interpolation 1 (MOD: 61h)
Linear interpolation 1 is used to allow a single LSI to provide interpolation operations between any 2 to 4
axes.
If only one axis is specified and operation is started, an error (ESDT: Stop due to operation data error) will
occur.
After setting the operation speed for the interpolation control axes, specify whether to use or not the
synthesized constant speed control in the PRMD registers, or specify an end point position in the PRMV
register for all of the interpolated axes.
The direction of operation is determined by the sign of the value in the PRMV register.
Automatically, the axis with the maximum feed amount (maximum absolute value in the PRMV register)
will be considered the master axis. The other axis will be the slave axis.
When a start command is written, the LSI will output pulses to the master axis and the slave axis will be
supplied a smaller number of pulses than the master axis. Write a start command by setting either the
SELx or SELy bits corresponding to the interpolation axes in COMB1 to 1. Writing any of these axes bring
the same result.
[Setting example] Use the settings below and write a start command (0751h). The PCL will output pulses
with the timing shown in the figure below. Entering values in the blank items will not
affect operation.
Setting
X axis
Y axis
Z axis
MOD
61h
61h
61h
MIPF
0 (OFF)
0 (OFF)
0 (OFF)
RMV value
5
10
2
Operation speed
1000 pps
Interpolation control axis
O
Master axis / slave axis
Slave axis Master axis Slave axis
[Precision of linear interpolation]
As shown in the figure on the right,
linear interpolation executes an interpolation from
the current coordinates to the end coordinates.
The positional precision of a specified line during
linear interpolation will be ±0.5 LSB throughout
the interpolation range.
"LSB" refers to the minimum feed unit for the
PRMV register setting. It corresponds to the
resolution of the mechanical system. (distance
between tick marks in the figure on the right.)
- 79 -
Y (Slave axis)
End coordinates
(10, 4)
4
3
2
1
±0.5 LSB max
0
X (Master axis)
0
5
10
9-8-6. Continuous linear interpolation 2 (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.
9-8-7. Linear interpolation 2 (MOD: 63h)
Linear interpolation 2 is used for linear interpolations between 5 or more axes and uses more than one
LSI for control.
In this mode, the PCL cannot synchronize the acceleration/deceleration timing between interpolated axes,
so this mode cannot be used with acceleration/deceleration.
In order to execute a linear interpolation using multiple LSIs, you must use a simultaneous start signal
(
signal).
For details about the signal, see section 11-7, "External start, simultaneous start."
The axis with the maximum amount to be fed is referred to as the master axis during the interpolation and
the other axes are slave axes.
Enter the PRMV register setting for the master axis in the RIP registers of each axis (including the master
axis).
In the PRMV registers of the slave axes, enter end point of each axis.
Specify the speed data (PRFL, PRFH, PRUR, PRDR, PRMG, PRDP, PRUS, and PRDS) for the slave
axes to be the same as for the master axis.
The feed direction is determined by the sign of the value in the PRMV register.
After writing "01" into MSY (bits 18 and 19) in the PRMD (operation mode) register of the axes, write a
start command and set the axes to wait for the signal input. By entering a signal, all of the
axes on all of the LSIs will start at the same time.
The master axis provides pulses constantly. The slave axes provide some of the pulses fed to the master
axis, but some are omitted.
[Setting example]
1) Connect the signals between LSI-A and LSI-B.
input.)
2) Set up the LSIs as shown below. (Set the PRMD to start with an 3) Write start commands (LSI-A: 0951h, LSI-B: 0651h).
4) Write a signal input command (06h) to the X axis on LSI-A.
After completing steps 1) to 4) above, the LSIs will output pulses using the timing shown in the figure
below.
Setting
RMD
RMV value
RIP value
Operation
speed
Master axis
/ slave axis
LSI-A
X axis
Y axis
0004
0004
0063h
0063h
8
5
10
10
1000
1000
pps
pps
Slave
Slave
axis
axis
LSI-B
Y axis
0004
0063h
2
10
1000
pps
Slave
axis
Z axis
0004
0063h
10
10
1000
pps
Master
axis
+5 V
CSTA
CSTA
LSI-A
LSI-B
5 k to 10 k-ohm
Note: If you start linear interpolation 2 while PRIP = 0, an operation data error (ESDT of RESET is "1") will
occur.
- 80 -
9-8-8. Circular interpolation
This function provides CW circular interpolation (MOD: 64h) and CCW circular interpolation (MOD: 65h)
between the X and Y 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.
Circular interpolation takes the current position as the starting point (coordinate 0, 0) regardless of the
values in the counters (COUNTER1 to 4).
After specifying the speed for each axis being interpolated, specify whether or not to apply constant
synthetic speed control (MIPF in the PRMD register) for each axis, the end points (the PRMV register
value), and the center point (the PRIP register value). If the end point is 0 (the starting point), both axes
will draw a simple circle.
The synthetic speed used in the circular interpolation will be the speed set for the axes being interpolated
(FH/FL) if the constant synthetic speed control is ON (MIPF = 1) for both axes.
Write a start command after setting SELx and SELy in COMB1 to 1. Either axis can be used to write a
start command.
[Setting example]
As shown in the table below, specify the MOD, MIPF, PRMV, PRIP and operation speed for each axis and
write a start command (ex. 0351h) that will be used by both axes. The axes will move as shown on the
right.
Step No.
A
B
C
D
Set
X
Y
X
Y
X
Y
X
Y
axis axis axis axis axis axis axis axis
value
MOD
64h (CW circular interpolation)
MIPF
1 (turn ON constant synthetic speed
control)
PRMV value 0
0 100 100 200 0 100 -100
PRIP value 100 0 100
0 100 0 100 0
Operation
Simple
o o
o
90 arc 180 arc 270 arc
result
circle
B (100, 100)
2nd phase
1st phase
A (0, 0)
C (200, 0)
Start point
(0,0)
Center
(100, 0)
3rd phase
4th phase
D (100, -100)
This LSI terminates a circular interpolation operation when
either of the axes reaches the end point in the last quadrant, and the end point can be specified as the
whole number coordinates nearest to the end position. For this reason, even though the circular
interpolation operation is complete, the PCL will not be at the end coordinate specified. To move to the
coordinates of the specified end point when the circular interpolation operation is complete, set the MPIE
bit in the PRMD register to "1" and turn ON the end point draw function.
If the end point of the circular interpolation is set within the shaded areas, the axes will not stop moving
(perpetual circular motion).
Y
[Circular interpolation precision]
The circular interpolation function draws a circular from the
current position to the end coordinate moving CW or CCW.
The positional deviation from the specified curve is ±0.5 LSB.
The figure on the right is an example of how to draw a simple
circle with a radius of 11 units.
X
The LSB refers the minimum feeding unit of the PRMV
register setting value. It corresponds to the resolution of
mechanical system (size of the cells in the figure right.)
: Interpolation track
Solid line : A circle of radius 11
Dotted line : A circle of radius 11±0.5
- 81 -
[Circular interpolation with acceleration/deceleration]
To use circular interpolation with acceleration/deceleration, you have to enter the number of circular
interpolation pulses required (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.
See the figure below.
The output pulse status of each axis in each area is as follows
Area
X axis output pulse
0 Output according to the
interpolation calculation
result
1 Always output
2
Always output
3
5
Output according to the
interpolation calculation
result
Output according to the
interpolation calculation
result
Always output
6
Always output
7
Output according to the
interpolation calculation
result
4
Y axis output pulse
Always output
Output according to the
interpolation calculation
result
Output according to the
interpolation calculation
result
Always output
Always output
Output according to the
interpolation calculation
result
Output according to the
interpolation calculation
result
Always output
The table above shows the PCL output pulses for either of the axes in each area.
Therefore, the number of pulses required for circular interpolation (the number of circular interpolation
steps) is equal to the number of pulses to move around this side of a square that is surrounded by the
circle used for the circular interpolation.
o
For example, to draw a 90 arc with radius "a," the number of pulses required for circular interpolation will
) x 2. Enter this value in the PRCI register.
be (a
To obtain the number of steps for any start and end points, follow
the procedure below.
1) First, determine the area that the start point belongs to (area
0 to 7). Then, draw a horizontal (vertical) line to find the
contact point with the square inside the circle.
2) Next, determine the area that the end point belongs to (area
0 to 7). Then, draw a vertical (horizontal) line to find the
contact point with the square inside the circle.
3) Find the distance between the two contact points on the
square (from 1) and 2) above) and enter this value in the
PRIC register.
- 82 -
To continue the end point draw function, set MPIE in the PRMD register to "1." Then 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 the FL constant time will apply.
When a larger value is entered, the PCL will delay the beginning of deceleration and then will
have to stop suddenly.
However, the interpolation trajectory is equal to the constant speed circular interpolation.
Note 2: To specify a ramp down point manually, think of the PRCI setting as a number of output pulses,
so that the PRDP calculation formula for the positioning operation can be used. However, this
formula cannot be used when the synthesized constant speed operation is ON. In this case,
there is no other way to obtain a ramp down point except by changing the RICI value and
conducting a test.
9-8-9. Circular interpolation synchronized with the U axis
By synchronizing with the U axis, any two axes can be used for CW circular interpolation (MOD: 66h) or
CCW circular interpolation (MOD: 67h).
If you specify circular interpolation for one axis or for 3 to 4 axes, and try to start the operation, the PCL
will declare a data setting error.
When the U axis positioning counter (RPLS) reaches 0 while starting or during an circular interpolation,
the PCL will also declare a data setting error.
By simultaneously using linear interpolation, the PCL can synchronize one axis while performing a
circular interpolation on two other axes. This function can be used for things like a circular interpolation
between the X and Y axes and to adjust the angle of a jig toward an arc tangent point with the Z axis.
Also, in this operation the U axis operation will be a dummy motion and it cannot be used for any other
purpose.
Using the operation above, set the operation mode (RMD) for the X and Y axes to 66H (67h), and set the
Z and U axes to 61h.
Enter the number of circular interpolation steps in the PRMV register for the U axis.
For details about how to obtain the number of circular interpolation steps, see the discussion of "circular
interpolation with acceleration/deceleration" in the previous section.
To write a start or stop command, make all the bits in SELx to SELu of the COMB1 register equal to "1."
Any axis can be used to write "1."
9-8-10. Interpolation operation synchronized with PA/PB
This function uses the PA/PB input signal (after magnification or division) instead of the internal clock.
Any PA/PB input after the interpolation operation is complete will be ignored.
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.
Please note the following limitations.
1) Set the MSDP and MADJ in the PRMD register the same for all of the interpolated axes.
2) When MIPF = 1 and MSDP = 0 in the PRMD register, if the PRDP register is set to "-1" it will make
a small deviation in the ramp down point.
3) During circular interpolation, the FH correction function will be disabled.
- 83 -
4) When circular interpolation is selected with S-curve acceleration/deceleration, the PRUS and
PRDS register values cannot be set to zero (auto).
To control the ramp down point while using linear interpolation1, the PCL executes a comparison of
RPLS and RSDC for the longest axis. The RSDC setting for any shorter axes will be invalid.
However, if more than one axis has the same length and they are the longest axes, to specify a ramp
down point manually you must enter the same value for all of the interpolated axes.
To control the ramp down point while using circular interpolation, the PCL executes a comparison of
CIC and RSDC on the control axis. Therefore, to specify a ramp down point manually, write to RSD
on the control axis.
♦ Error stop
If any of the axes stops with an error, all of the axes being interpolated will stop (SERR = 1). By
reading the REST (error stop cause) register, you can determine which axis actually stopped with an
error.
♦ SD input
When SD input is enabled (MSDE (bit 8) in the RMD register is set to 1), and if the SD input turns
ON either of the axes, both axes will decelerate or decelerate and stop.
♦ Idling control
If any axis is in idling range, none of the axes being interpolated will accelerate.
♦ Correction function
When phases are changed during circular interpolation, backlash correction and slip correction
control cannot be used.
♦ Continuous interpolation
The PCL can use the pre-register to make a continuous linear interpolation or circular interpolation.
However, when the axes being interpolated change during a continuous interpolation, requires
special care.
An example of the settings for continuous interpolation using the pre-register is shown in section 1114-1, "Start triggered by a stop on another axis."
- 84 -
10. Speed patterns
10-1. Speed patterns
Speed pattern
FL low speed operation
f
Continuous mode
1) Write an FL low speed start
command (50h).
Positioning operation mode
1) Write an FL low speed start command
(50h).
2) Stop feeding by writing an immediate 2) Stop feeding when the positioning counter
stop (49h) or deceleration stop
reaches zero, or by writing an immediate
(4Ah) command.
stop (49h) or deceleration stop (4Ah)
command.
FL
1)
2)
FH low speed operation
f
t
1) Write an FH low speed start
command (51h).
1) Write an FH low speed start command
(51h).
2) Stop feeding by writing an immediate 2) Stop feeding when the positioning counter
reaches zero, or by writing an immediate
stop command (49h).
stop (49h) command.
FH
1)
2)
t * When the deceleration stop command (4Ah) is written to the register, the PCL starts
deceleration.
High speed operation 1)
f
1) Write high speed start command 1
(52h).
1) Write high speed start command 1 (52h).
FH
2) Start deceleration by writing a
deceleration stop command (4Ah).
2) Start deceleration when a ramping-down
point is reached or by writing a
deceleration stop command (4Ah).
FL
1)
2)
High speed operation 2)
f
* When the deceleration stop
command (49h) is written to the
* When positioning with a high speed start
register, the PCL immediately stops
t
command 1 (52h), the ramping-down
point is fixed to the manual setting,
* When idling pulses are added by
regardless of the setting for MSDP (bit 13)
setting IDL in RENV5 to a non-zero
in the PRMD. If the ramping-down point
value, after outputting idling pulses
setting (PRDP) is zero, the axis will stop
at FL speed, the PCL will accelerate
immediately.
to FH speed.
1) Write high speed command 2 (53h). 1) Write high speed start command 2 (53h).
2) Start deceleration by writing a
deceleration stop command (4Ah).
FH
FL
1)
2)
* When the deceleration stop
command (49h) is written to the
t
register, the PCL starts deceleration.
-85-
2) Start deceleration when a ramping-down
point is reached or by writing a
deceleration stop command (4Ah).
* If the ramping-down point is set to manual
(MSDP = 1 in the PRMD), and the rampingdown value (PRDP) is zero, the axis will
stop immediately.
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.
Pre-register
Description
Bit length
setting range
PRMV
Positioning amount
28
PRFL
PRFH
PRUR
PRDR
PRMG
PRDP
PRUS
PRDS
Initial speed
Operation speed
Acceleration rate
Deceleration rate Note 1
Speed magnification rate
Ramping-down point
S-curve acceleration range
S-curve deceleration range
16
16
16
16
12
24
15
15
Setting range
register
-134,217,728 to 134,217,727
(8000000h) (7FFFFFFh)
1 to 65,535 (0FFFFh)
1 to 65,535 (0FFFFh)
1 to 65,535 (0FFFFh)
0 to 65,535 (0FFFFh)
2 to 4,095 (0FFFh)
0 to 16,777,215 (0FFFFFFh)
0 to 32,767 (7FFFh)
0 to 32,767 (7FFFh)
RMV
RFL
RFH
RUR
RDR
RMG
RDP
RUS
RDS
Note 1: If PRDR is set to zero, the deceleration rate will be the value set in the RUR.
[Relative position of each register setting for acceleration and deceleration factors]
♦ PRFL: FL speed setting register (16-bit)
Specify the speed for FL low speed operations and the start speed for high speed operations
(acceleration/deceleration operations) in the range of 1 to 65,535 (0FFFFh).
The speed will be calculated from the value in PRMG.
Reference clock frequency [Hz]
FL speed [pps] = PRFL x
(RMG + 1) x 65536
♦ PRFH: FH speed setting register (16-bit)
Specify the speed for FH low speed operations and the start speed for high speed operations
(acceleration/deceleration operations) in the range of 1 to 65,535 (0FFFFh).
When used for high speed operations (acceleration/deceleration operations), specify a value larger
than PRFL.
The speed will be calculated from the value placed in RMG.
Reference clock frequency [Hz]
FH speed [pps] = PRFH x
(RMG + 1) x 65536
-86-
♦ 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 (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
2) S-curve without a linear range (MSMD=1 in the PRMD register and PRUS register =0)
(PRFH - PRFL) x (PRUR + 1) x 8
Acceleration time [s] =
Reference clock frequency [Hz]
3) S-curve with a linear range (MSMD=1 in the PRMD register and PRUS register >0)
(PRFH - PRFL + 2 x PRUS) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
♦ PRDR: Deceleration rate setting register (16-bit)
Normally, specify the deceleration characteristics for high speed operations (acceleration/deceleration
operations) in the range of 1 to 65,535 (0FFFFh).
Even if the ramping-down point is set to automatic (MSDP = 0 in the PRMD register), the value placed
in the RDR register will be used as the deceleration rate.
However, when PRDR = 0, the deceleration rate will be the value placed in the PRUR.
When the ramping-down point is set to automatic, there are the following restrictions.
While in linear interpolation 1 or circular interpolation operation, and when synthesized constant speed
operation (MIPF = 1 in PRMD) is selected, make the deceleration time = the acceleration time.
For other operations, arrange (deceleration time) ≤ acceleration time x 2.
If setting otherwise, the axis may not decrease the speed to the specified FL speed when stopping. In
this case, use a manual ramping-down point (MSDP = 1 in the RMD register).
< When (deceleration time) (acceleration time x 2) using an automatic ramping-down point >
<When (deceleration time) > (acceleration time x 2) using an automatic ramping-down point>
The relationship between the value entered and the deceleration time is as follows.
1) Linear deceleration (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
-87-
2) S-curve deceleration without a linear range (MSMD=1 in the PRMD register and PRDS register = 0)
(PRFH - PRFL) x (PRDR + 1) x 8
Deceleration time [s] =
Reference clock frequency [Hz]
3) S-curve deceleration with a linear range (MSMD=1 in the PRMD register and PRDS register >0)
(PRFH - PRFL + 2 x PRDS) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
♦ 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.
The relationship between the value entered and the magnification rate is as follows.
Reference clock frequency [Hz]
Magnification rate =
(PRMG + 1) x 65536
[Magnification rate setting example, when the reference clock =19.6608 MHz] (Output speed unit: pps)
Setting
2999 (0BB7h)
1499 (5DBh)
599 (257h)
299 (12Bh)
149 (95h)
Magnification
rate
0.1
0.2
0.5
1
2
Output speed
range
0.1 to 6,553.5
0.2 to 13,107.0
0.5 to 32,767.5
1 to 65,535
2 to 131,070
Setting
59 (3Bh)
29 (1Dh)
14 (0Eh)
5 (5h)
2 (2h)
Magnification
rate
5
10
20
50
100
Output speed range
5 to 327,675
10 to 655,350
20 to 1,310,700
50 to 3,276,750
100 to 6,553,500
♦ PRDP: Ramping-down point register (24-bits)
Specify the value used to determine the deceleration start point for positioning operations that include
acceleration and deceleration.
The meaning of the value specified in the PRDP changes with the "ramping-down point setting
method", (MSDP) in the PRMD register.
<When set to manual (MSDP=1 in the PRMD register)>
Set the number of pulses at which to start deceleration, in the range of 0 to16,777,215 (0FFFFFFh).
The optimum value for the ramping-down point can be calculated as shown in the equation below.
1) Linear deceleration (MSMD=0 of the PRMD register)
2 2
(PRFH - PRFL ) x (PRDR + 1)
Optimum value [Number of pulses]=
(PRMG + 1) x 32768
However, the optimum value for a triangle start, without changing the value in the PRFH register while
turning OFF the FH correction function (MADJ = 1 in the PRMD register) will be calculated as shown
the equation below.
(When using idling control, modify the value for RMV in the equation below by deducting the number of
idling pulses from the value placed in the RMV register. The number of idling pulses will be "1 to 6"
when IDL = 2 to 7 in RENV5.)
PRMV x (PRDR + 1)
Optimum value [Number of pulses] =
PRUR + PRDR + 2
2) S-curve deceleration without a linear range (MSMD=1 in the PRMD register and the PRDS register
=0)
2 2
(PRFH - PRFL ) x (PRDR + 1) x 2
Optimum value [Number of pulses] =
(PRMG + 1) x 32768
-88-
3) S-curve deceleration with a linear range (MSMD=1 in the PRMD register and the PRDS register >0)
(PRFH + PRFL) x (PRFH - PRFL + 2 x PRDS) x (PRDR + 1)
Optimum value [Number of pulses] =
(PRMG + 1) x 32768
Start deceleration at the point when the (positioning counter value) (RDP set value).
<When set to automatic (MSDP = 0 in the PRMD register)>
This is an offset value for the automatically set ramping-down point. Set in the range of -8,388,608
(800000h) to 8,388,607 (7FFFFFFh).
When the offset value is a positive number, the axis will start deceleration at an earlier stage and will
feed at the FL speed after decelerating. When a negative number is entered, the deceleration start
timing will be delayed. If the offset is not required, set to zero.
When the value for the ramping-down point is smaller than the optimum value, the speed when
stopping will be faster than the FL speed. On the other hand, if it is larger than the optimum value,
the axis will feed at FL low speed after decelerating.
♦ PRUS: S-curve acceleration range register (15-bit)
Specify the S-curve acceleration range for S-curve acceleration/deceleration operations in the range of
1 to 32,767 (7FFFh).
The S-curve acceleration range SSU will be calculated from the value placed in PRMG.
Reference clock frequency [Hz]
SSU [pps] = PRUS x
(PRMG + 1) x 65536
In other words, speeds between the FL speed and (FL speed + SSU), and between (FH speed - SSU)
and the FH speed, will be S-curve acceleration operations. Intermediate speeds will use linear
acceleration.
However, if zero is specified, "(PRFH - PRFL)/2" will be used for internal calculations, and the operation
will be an S-curve acceleration without a linear component.
♦ PRDS: S-curve deceleration range setting register (15-bit)
Specify the S-curve deceleration range for S-curve acceleration/deceleration operations in the range of
1 to 32,767 (7FFFh).
The S-curve acceleration range SSD will be calculated from the value placed in PRMG.
Reference clock frequency [Hz]
SSD [pps] = PRDS x
(PRMG + 1) x 65536
In other words, speeds between the FL speed and (FL speed + SSD), and between (FH speed - SSD)
and the FH speed, will be S-curve deceleration operations. Intermediate speeds will use linear
deceleration.
However, if zero is specified, "(PRFH - PRFL)/2" will be used for internal calculations, and the operation
will be an S-curve deceleration without a linear component.
-89-
10-3. Manual FH correction
When the FH correction function is turned ON (MADJ = 0 in the PRMD register), 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.
However, if values in the PRUR and PRDR registers are set so that the (deceleration time) >
(acceleration time x 2), do not use the FH correction function.
In order to eliminate triangle driving without using the FH correction function (MADJ = 1 in the PRMD
register), lower the FH speed before starting the acceleration/deceleration operation.
When using idling control, enter a value for PRMV in the equation below after deducting the number of
idling pulses. The number of idling pulses will be 1 to 6 when IDL = 2 to 7 in RENV5.
pps
[FH correction function]
sec
Automatic correction of the maximum speed for changing the feed amount.
-90-
< To execute FH correction manually>
1) Linear acceleration/deceleration speed (MSMD=0 in the PRMD register)
2 2
(PRFH - PRFL ) x (PRUR + PRDR + 2)
PRMV (PRMG + 1) x 32768
(PRMG + 1) x 32768 x PRMV
2
+ PRFL
PRUR + PRDR + 2
PRFH 2) S-curve acceleration without linear acceleration (MSMD=1 in the PRMD and PRDS registers = 0)
2 2
(PRFH - PRFL ) x (PRUR + PRDR + 2) x 2
When PRMV (PRMG + 1) x 32768
PRFH (PRMG + 1) x 32768 x PRMV
2
+ PRFL
(PRUR + PRDR + 2) x 2
3) S-curve acceleration/deceleration with linear acceleration/deceleration (MSMD = 1 in the PRMD register and
the PRUS register > 0, PRDS register > 0)
(3)-1. When PRUS = PRDS
(i) Set up a small linear acceleration range
(PRFH + PRFL) x (PRFH - PRFL + 2 x PRUS) x (PRUR + PRDR + 2)
PRMV (PRMG + 1) x 32768
PRMV >
and
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
(PRMG + 1) x 32768
2 PRFH - PRSU + (PRUS - PRFL) +
(PRMG + 1) x 32768 x PRMV
(PRUR + PRDR + 2)
(ii) Eliminate the linear acceleration/deceleration range
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
PRMV (PRMG + 1) x 32768
Change to S-curve acceleration/deceleration without a linear acceleration/deceleration range (PRUS = 0,
PRDS = 0),
PRFH (PRMG + 1) x 32768 x PRMV
2
+ PRFL
(PRUR + PRDR + 2) x 2
PRMV: Positioning amount PRFL: Initial speed PRFH: Operation speed
PRUR: Operation speed acceleration rate PRDR: Deceleration rate PRMG: Speed magnification rate
PRUS: S-curve acceleration range PRDS: S-curve deceleration range
-91-
(3)-2. When PRUS < PRDS
(i) Set up a small linear acceleration/deceleration range
When
(PRFH+PRFL) x {(PRFH-PRFL) x (PRUR + PRDR + 2) + 2 x PRUS x (PRUR+1) + 2 x PRDS x (PRDR + 1)}
PRMV
(PRMG + 1) x 32768
and
PRMV >
(PRDS+PRFL) x {PRDS x (PRUR + 2 x PRDR + 3) + PRUS x (PRUR + 1)} x 4
(PRMG + 1) x 32768
PRFH
-A + A + B
PRUR + PRDR + 2
,
2
However, A = PRUS x (PRUR + 1) + PRDS x (PRDR + 1)
2
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + PRDR + 2) x PRFL } x (PRUR + PRDR + 2)
(ii) Eliminate the linear acceleration/deceleration range and set up a small linear acceleration section.
When
(PRDS + PRFL) x {PRDS x (PRUR + 2 x PRDR + 3)} + PRUS x (PRUR +1 )} x 4
PRMV
and
(PRMG + 1) x 32768
PRMV >
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
,
(PRMG + 1) x 32768
Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS>0,
PRDS=0)
PRFH
-A + A2 + B
PRUR + 2 x PRDR + 3
However, A = PRUS x (PRUR + 1),
2
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + 2 x PRDR + 3) x PRFL } x (PRUR + 2 x PRDR + 3)
(iii) Eliminate the linear acceleration/deceleration range
When PRMV
(PRUS + PRFL) x PRUS x (PRUR + PRDR + 2) x 8
(PRMG + 1) x 32768
Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS=0, PRDS=0),
PRFH
(PRMG + 1) x 32768 x PRMV
2
+ PRFL
(PRUR + PRDR + 2) x 2
PRMV: Positioning amount
PRUR: Operation speed acceleration rate
PRUS: S-curve acceleration range
PRFL: Initial speed
PRFH: Operation speed
PRDR: Deceleration rate
PRMG: Speed magnification rate
PRDS: S-curve deceleration range
-92-
(3)-3. When PRUS>PRDS
(i) Set up a small linear acceleration/deceleration range
When
(PRFH + RFL) x {(PRFH - PRFL) x (PRUR + PRDR + 2) + 2 x PRUS x (PRUR + 1) + 2 x PRDS x (PRDR + 1)}
PRMV (PRMG +1) x 32768
and
(PRUS + PRFL) x {PRUS x (2 x PRUR + PRDR + 3) + PRDS x (PRDR + 1) x 4
,
(PRMG + 1) x 32768
PRMV >
2
PRFH -A + A + B
PRUR + PRDR + 2
However, A = PRUS x (PRUR + 1) + PRDS x (PRDR + 1),
2
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (PRUR + PRDR + 2) x PRFL } x (PRUR + PRDR + 2)
(ii) Eliminate the linear acceleration section and set up a small linear deceleration range.
When
(PRUS + PRFL) x {PRUS x (2 x PRUR + PRDR + 3) + PRDS x (PRDR + 1)} x 4
PRMV (PRMG + 1) x 32768
PRMV >
and
(PRDS + PRFL) x PRDS x (PRUR + PRDR + 2) x 8
,
(PRMG + 1) x 32768
Change to S-curve acceleration/deceleration without any linear acceleration (PRUS = 0, PRDS > 0)
PRFH -A + A2 + B
2 x PRUR+ PRDR +
3
However, A = PRDS x (PRDR + 1),
2
B= {(PRMG + 1) x 32768 x PRMV - 2 x A x PRFL + (2 x PRUR + PRDR + 3) x PRFL } x (2 x PRUR + PRDR + 3)
(iii) Eliminate the linear acceleration/deceleration range
When PRMV (PRDS + PRFL) x PRDS x (PRUR + PRDR + 2) x 8
(PRMG + 1) x 32768
Change to S-curve acceleration/deceleration without any linear acceleration/deceleration (PRUS = 0, PRDS
= 0),
PRFH (PRMG + 1) x 32768 x PRMV
2
+ PRFL
(PRUR + PRDR + 2) x2
PRMV: Positioning amount PRFL: Initial speed PRFH: Operation speed
PRUR: Operation speed acceleration rate PRDR: Deceleration rate PRMG: Speed magnification rate
PRUS: S-curve acceleration range PRDS: S-curve deceleration range
-93-
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)
3) In order to set a start speed of 10 pps, the rate magnification is set to the 2x mode.
PRFL = 5 (0005h)
4) In order to make the acceleration/deceleration time 300 msec, set PRUR = 28,494, from the equation
for the acceleration time and the RUR value.
(PRFH - PRFL) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
0.3 =
(50000 - 5) x (PRUR + 1) x 4
19.6608 x 106
PRUR = 28.494
However, since only integers can be entered for PRUR, use 28 or 29. The actual
acceleration/deceleration time will be 295 msec if PRUR = 28, or 305 msec if PRUR = 29.
An example of the speed pattern when PRUR = 29
-94-
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 was set to automatic (MSDP = 0 in the
RDM register) for the positioning mode, do not change the values for RFL, RUR, RDR, RUS, or RDS. The
automatic ramping-down point function will not work correctly.
An example of changing the speed pattern by changing the speed, during a linear
acceleration/deceleration operation
Speed
2)
3)
1)
Time
1)
Use a small RFH while accelerating or decelerating the axis until it reaches the correct speed.
2), 3) Change RFH after the acceleration/deceleration is complete. The axis will continue accelerating or
decelerating until it reaches the new speed.
An example of changing the speed pattern by changing the speed during S-curve
acceleration/deceleration operation
Speed
4)
5)
1)
2)
3)
Time
1)
Use a small RFH and if ((change speed) < (speed before change)) and the axis will
accelerate/decelerate using an S-curve until it reaches the correct speed.
5)
Use a small RFH and if ((change speed) (speed before change)) and the axis will
accelerate/decelerate without changing the S-curve's characteristic until it reaches the correct
speed.
4)
Use a large RFH while accelerating and the axis will accelerate to the original speed entered
without changing the S-curve's characteristic. Then it will accelerate again until it reaches the newly
set speed.
2), 3) If RFH is changed after the acceleration/deceleration is complete, the axis will
accelerate/decelerate using an S-curve until it reaches the correct speed.
-95-
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 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.
Item
Internal registers, pre-register
Control command buffer
Axis assignment buffer
Input/output buffer
terminal
terminal
terminal
D0 to D7 terminals
D8 to D15 terminals
P0n to P7n terminals
terminal
terminal
OUTn terminal
DIRn terminal
ERCn terminal
terminal
Reset status (initial status) n = x, y, z, u
0
0
0
0
HIGH
HIGH
HIGH
High Z (impedance)
High Z (impedance)
Input terminal
HIGH
HIGH
HIGH
HIGH
HIGH
HIGH
- 96 -
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.
f
1) If the new target position is further away from the original
target position during acceleration or low speed operation, the
axis will maintain the operation using the same speed pattern
and it will complete the positioning operation at the position
specified in the new data (new RMV value).
Further away
2) If the new target position is further away from the original
target position during deceleration, the axis will accelerate
from the current position to FH speed and complete the
positioning operation at the position specified in the new data
(new RMV value).
Assume that the current speed is Fu, and when RFL = Fu, a curve
of next acceleration will be equal to a normal acceleration curve.
3) If the axis has already passed over the new target position, or
the target position is changed to a position that is closer than
the original position during deceleration, movement on the
axis will decelerate and stop. Then, the movement will reverse
and complete the positioning operation at the position
specified in the new data (new RMV value).
f
f
Further away
Already passed
position
The axis accelerates/decelerates only when starting in high speed. The target position data (RMV
register value) can be rewritten any number of times until the positioning operation is complete.
Note1: If the ramping-down point is set to automatic and the (deceleration time) > (acceleration time x
2), it may be the case that the axis cannot reduce the speed to the FL level, as shown below. In
this case, if the target position is set closer than original position and the axis is decelerating, the
axis will decelerate along the deceleration curve to the new override position, and then slow to
the FL speed and finally stop. Then it will start moving to the new position.
Therefore, the axis will overrun the original target position during deceleration (shaded area).
Speed
Target position change
FH
Normally, the PCL stops feeding without decelerating to FL speed.
When an overrride is specified, the PCL will decelerate to FL speed.
FL
Time
Acceleration
Deceleration
To avoid creating an overrun condition, make sure that the deceleration time is less than two times the
acceleration time, or if the deceleration time is more than double the acceleration time, make the
ramping-down point a manual setting.
Note 2: The position override is only valid while feeding.
When the PCL receives an override command just a little before stopping a feed, it may not
respond to the override command. For this reason, check SEOR in the main status after sending
an override command. If the override is ignored, the SEOR will become "1."
- 97 -
The PCL will set SEOR to "1" when it receives a command in the RMV register (90h)
while feeding is stopped, to allow the override command to be evaluated. Therefore, if the
command is written to the RMV register while stopped, before feeding starts, the SEOR
will also become "1."
When the override command is ignored, after writing the RMV write command (90h), the
PCL will set SEOR to "1" within five CLK cycles. After reading the MSTS, the PCL will set
SEOR to "0" within three CLK cycles.
Note 3: A Position Override 1 cannot be executed while performing an interpolation operation.
11-2-2. Target position override 2 (PCS signal)
By making MPCS in the PRMD (operation mode) register "1," the PCL will perform positioning
operations for the amount specified in the PRMV register, based on the timing of this command after the
operation start (after it starts outputting instruction pulses) or on the "ON" timing of the PCS input signal.
A PCS input signal can change the input logic. The PCS terminal status can be monitored using the
RSTS register (extension status).
Setting pulse control using the PCS input <Set MPCS (bit 14) in PRMD>
1: Positioning for the number of pulses stored in the PRMV, starting from the
time at which the PCS input signal is turned ON.
[PRMD] (WRITE)
15 8
- n - - - - - -
Setting the PCS input logic <Set PCSL (bit 24) in RENV1>
0: Negative logic
1: Positive logic
[RENV1] (WRITE)
31 24
- - - - - - - n
Reading the PCS signal < SPCS (bit 8) in MRSTS>
0: Turn OFF PCS
1: Turn ON PCS
[RSTS] (READ)
15 8
- - - - - - - n
PCS substitution input <STAON: Operation command>
Perform processes that are identical to those performed by supplying a PCS
signal.
[Operation command]
28h
Note: A Position Override 2 cannot be executed while performing an interpolation operation.
- 98 -
11-3. Output pulse control
11-3-1. Output pulse mode
There are four types of common command pulse output modes and two types of 2-pulse modes.
Common pulse mode: Outputs operation pulses from the OUT terminal and outputs the direction signal
from the DIR terminal.
2-pulse mode:
Outputs positive direction operation pulses from the OUT terminal, and outputs
negative direction operation pulses from the DIR terminal.
The output mode for command pulses is set in PMD (bits 0 to 2) in RENV1 (environment setting 1).
If motor drivers using the common pulse mode need a lag time (since the direction signal changes, until
receiving a command pulse), use a direction change timer.
When DTMP (bit 28) in the RENV1 (environment setting 1) is set to 0, the operation can be delayed for
one direction change timer unit (0.2 msec), after changing the direction identification signal.
Setting the pulse output mode <Set PMD0 to 2 (bits 0 to 2) in RENV1>
When feeding in the
When feeding in the
PMD0
positive direction
negative direction
to 2
OUT output
DIR output
OUT output
DIR output
000
High
Low
001
High
Low
010
Low
High
011
Low
High
100
High
High
111
Low
Low
Setting the direction change timer (0.2 msec) function <Set DTMF (bit 28) in
RENV1>
0: ON
1: OFF
- 99 -
[RENV1] (WRITE)
7 0
- - - - - n n n
[RENV1] (WRITE)
31 24
- - - n - - - - 11-3-2. Control the output pulse width and operation complete timing
In order to increase the stopping speed, 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. 200 µsec
when CLK = 19.6608 MHz). For faster pulse speeds than this, the duty cycle is kept constant (approx.
50%). By setting PDTC (bit 13) in the RENV1 register (environment setting 1), the output pulse width can
be set to make a constant duty cycle (50%).
Also, when setting METM (operation completion timing setting) in the PRMD register (operation mode),
the operation complete timing can be changed.
1) When METM = 0 (the point at which the output frequency cycle is complete) in the PRMD register
Output pulse frequency
10xT CLK
OUT
1st pulse of the next operation
Last pulse
BSY
2) When METM = 1 (when the output pulse is OFF) in the PRMD register
When set to "complete when the output pulse is OFF," the time interval "Min" from the last pulse until the
next starting pulse output will be TMIN = 15 x TCLK. (TCLK: Reference clock frequency)
Setting the operation complete timing <Set METM (bit 12) in PRMD>
0: At the end of a cycle of a particular output frequency
1: Complete when the output pulse turns OFF.
[RMD] (WRITE)
15
8
- - - n - - - -
Setting the output pulse width <Set PDTC (bit 31) in RENV1>
0: Automatically change between a constant output pulse and a constant duty
cycle (approx. 50%) in accord with variations in speed.
1: Keep the output pulse width at a constant duty cycle (approx. 50%).
[RENV1] (WRITE)
31 24
n - - - - - - -
- 100 -
11-4. Idling control
When starting an acceleration or a 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 IDL of the RENV5 register
(environment setting 5).
If you will not be using this function, enter a value "n" of 0 or 1. The LSI will start the acceleration at the
same time it begins outputting pulses. Therefore, the start speed obtained from an initial 2-pulse
frequency will be faster than the FL speed.
To use this function, enter a value "n" of 2 to 7. The LSI will start the acceleration by beginning its output
on the "n" th pulse. Therefore, the start speed will be the FL speed and the FL speed can be set to start
automatically at upper speed limit.
If this function is used with the positioning mode, the total feed amount will not change.
[Setting idling pulses and the acceleration start timing]
BSY
When n = 0
OUT
1
2
3
FUP
Start the acceleration from the 1st pulse
When n = 1
OUT
1
2
3
FUP
Start the acceleration from the 1st pulse
FL speed cycle
When n = 3
OUT
1
2
3
FUP
Start the acceleration from the 3rd pulse
Set the number of idling pulses <Set IDL0 to 2 (bits 8 to 10) in RENV5>
Specify the number of idling pulses, from 0 to 7.
Start accelerating at FL speed after outputting the specified number of pulses.
[RENV5] (WRITE)
15 8
- - - - - n n n
Read the idling control counter value < IDC0 to 2 (bits 20 to 22) in RSPD>
Read the idling control counter.
[RSPD] (READ)
23 16
0 n n n - - - Note: While setting the number of idling pulses, when you write a High-Speed Start 1 command (52h or
56h), the PCL will accelerate to FH speed after outputting the specified number of idling pulses at
FL speed. Then the operation will be the same as the High-Speed Start 2 command.
- 101 -
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, the axis will stop immediately or decelerate and stop. After stopping, even if the EL
signal is turned OFF, the axis will remain stopped. For safety, keep the EL signal ON until the axis
reaches the end of the stroke.
If the EL signal is ON when writing a start command, the axis cannot start moving in the direction of the
particular EL signal that is ON.
By setting ELM in the RENV1 (environment setting 1) register, the stopping pattern for use when the EL
signal is turned ON can be set to immediate stop or deceleration stop (high speed start only).
The minimum pulse width of the EL signal is 80 reference clock cycles (4 µsec) when the input filter is
ON. When the input filter is turned OFF, the minimum pulse width is two reference clock cycles (0.1
µsec).
The EL signal can be monitored by reading SSTSW (sub status).
By reading the REST register, you can check for an error interrupt caused by the EL signal turning ON.
When in the timer mode, this signal is ignored. Even in this case, the EL signal can be monitored by
reading SSTSW (sub status).
The input logic of the EL signal can be set for each axis using the ELL input terminal.
Set the input logic of the ±EL signal <ELL input terminal>
L: Positive logic input
H: Negative logic input
Stop method to when the ±EL signal turns ON <Set ELM (bit 3) in RENV1>
0: Immediate stop by turning ON the ±EL signal
1: Deceleration stop by turning ON the ±EL signal
[RENV1] (WRITE)
7 0
- - - - n - - -
Reading the ±EL signal <SPEL (bit 12), SMEL (bit 13) in SSTSW>
SPEL = 0:Turn OFF the +EL signal SPEL = 1: Turn ON the +EL signal
SMEL = 0:Turn OFF the -EL signal SMEL = 1: Turn ON the -EL signal
[SSTSW]
(READ)
15 8
- - n n - - - Reading the stop cause when the ±EL signal turns on <ESPL (bit 5), ESML (bit 6) in [REST] (READ)
7 0
REST>
- n n - - - - ESPL = 1: Stop by turning ON the +EL signal
ESML = 1: Stop by turning ON the -EL signal
Setting the ±EL input filter <Set FLTR (bit 26) in RENV1>
[RENV1]
1: Apply a filter to the ±EL input
(WRITE)
Apply a filter and any signals shorter than 4 µsec pulse width are ignored.
27
20
- - - - - n - Note 1: Operation after turning ON the EL signal may be different for the zero return operation (9-5-1), the
zero search operation (9-5-3), and the EL or SL operation mode (9-6). See the description of
each operation mode.
11-5-2. SD signal
If the SD signal input is disabled by setting MSDE in the PRMD register (operation mode), 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).
1) Deceleration < SDM (bit 4) = 0, SDLT (bit 5) = 0 in RENV1 register>
- While feeding at low speed, the SD signal is ignored. While in high speed operation the axis
decelerates to the FL speed when the SD signal is turned ON. After decelerating, or while
decelerating, if the SD signal turns OFF, the axis will accelerate to the FH speed.
- If the SD signal is turned ON when the high speed command is written, the axis will operate at FL
speed. When the SD signal is turned OFF, the axis will accelerate to FH speed.
- 102 -
[FL low speed operation] [FH low speed operation] [High speed operation]
2) Latch and decelerate <SDM (bit 4) = 0, SDLT (bit 5) = 1 in RENV1 register>
- While feeding at low speed, the SD signal is ignored. While in high speed operation, decelerate to FL
speed by turning the SD signal ON. Even if the SD signal is turned OFF after decelerating or while
decelerating, the axis will continue moving at FL speed and will not accelerate to FH speed.
- If the SD signal is turned ON while writing a high speed command, the axis will feed at FL speed.
Even if the SD signal is turned OFF, the axis will not accelerate to FH speed.
[FL low speed operation] [FH low speed operation] [High speed operation]
3) Deceleration stop <SDM (bit 4) = 1, SDLT (bit 5) = 0 in RENV1 register>
- If the SD signal is turned ON while in low 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.
- If the SD signal is turned ON after writing a start command, the axis will complete its operation
without another start.
- When stopped, the axis will output an signal.
[FL low speed operation] [FH low speed operation] [High speed operation]
- 103 -
4) Latched, deceleration stop <SDM (bit 4) = 1, SDLT (bit 5)=1 in RENV1>
- If the SD signal is turned ON while in low speed operation, the axis will stop. If the SD signal is turned
ON while in high speed operation, the axis will decelerate to FL speed and then stop. Even if the SD
signal is turned OFF during deceleration, the axis will not accelerate.
- If the SD signal is turned ON while writing a start command, the axis will not start moving and the
operation will not be completed.
- While stopped, the LSI outputs an signal.
[FL low speed operation] [FH low speed operation] [High speed operation]
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 is set to zero.
The minimum pulse width of the SD signal is 80 reference clock cycles (4.0 µsec) when the input filter
is ON. When the input filter is turned OFF, the minimum pulse width is two reference clock cycles (0.1
µsec). (When CLK = 19.6608 MHz.)
The latch signal of the SD signal can be monitored by reading SSTSW (sub status). The SD signal
terminal status can be monitored by reading RSTS (extension status). By reading the REST register,
you can check for an error interrupt caused by the SD signal turning ON.
[RMD] (WRITE)
Enable/disable SD signal input <Set MSDE (bit 8) in PRMD>
15 8
0: Enable SD signal input
- - - - - - - n
1: Disable SD signal input
[RENV1] (WRITE)
Input logic of the SD signal <Set SDL(bit 6) in RENV1>
7 0
0: Negative logic
- n - - - - - 1: Positive logic
Set the operation pattern when the SD signal is turned ON <Set SDM (bit 4) in
[RENV1] (WRITE)
7 0
RENV1>
- - - n - - - - 0: Decelerates on receiving the SD signal and feeds at FL low speed
1: Decelerates and stops on receiving the SD signal
[RENV1] (WRITE)
Select the SD signal input type <Set SDLT (bit 5) in RENV1>
7 0
0: Level input
1: Latch input
- - n - - - - To release the latch, turn OFF the SD input when next start command is written
or select Level input.
Reading the latch status of the SD signal <SSD (bit 15) in SSTSW>
[SSTSW] (READ)
15 8
0: The SD latch signal is OFF
n - - - - - 1: The SD latch signal is ON
Reading the SD signal < SDIN (bit 15) in the RSTS register>
[RSTS] (READ)
15 8
0: The SD signal is OFF
n - - - - - 1: The SD signal is ON
[REST] (READ)
Reading the cause of an when stopped by the SD signal <ESSD (bit 10) in
15 8
RESET>
1: Deceleration stop caused by the SD signal turning ON
- - - - 0 n - Apply an input filter to SD <Set FLTR (bit 26) in RENV1>
[RENV1] (WRITE)
31 24
1: Apply a filter to the SD input
By applying a filter, signals with a pulse width of 4 µsec or less will be
- - - - - n - ignored.
- 104 -
11-5-3. ORG, EZ signals
These signals are enabled in the zero return modes (zero return, leave zero position, and zero 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.
The ORG latch signal is reset when stopped.
The minimum pulse width of the ORG signal is 80 reference clock cycles (4 µsec) when the input filter is
ON. When the input filter is turned OFF, the minimum pulse width is two reference clock cycle (0.1 µsec).
(When CLK = 19.6608 MHz.)
The input logic of the ORG signal and EZ signal can be changed using the RENV1 register (environment
setting 1).
The ORG terminal status can be monitored by reading SSTSW (sub status). The EZ terminal status can
be monitored by reading the RSTS register (extension status).
For details about the zero return operation modes, see 9-5, "Zero position operation mode."
ORG signal and EZ signal timing
(i) When t 2 x TCLK, counts.
(ii) When TCLK < t < 2 x TCLK, counting is
undetermined.
(iii) When t TCLK, do not count.
TCLK: Reference clock frequency
ORG
EZ
t
Enabling the ORG and EZ signals <Set MOD (bits 0 to 6) in RMD>
001 0000: Zero return in the positive direction
001 0010: Leave zero position in the positive direction
001 0101: Zero position search in the positive direction
010 0100: EZ counting in the positive direction
001 1000: Zero return in the negative direction
001 1010: Leave zero position in the negative direction
001 1101: Zero position search in the negative direction
010 1100: EZ count operation in the negative direction
Set the zero return method <Set ORM0 to 3 (bits 0 to 3) in RENV3>
See the RENV3 register description
[RMD] (WRITE)
7 0
0 n n n n n n n
[RENV3] (WRITE)
7 0
- - - - n n n n
Set the input logic for the ORG signal <Set ORGL (bit 7) in RENV1>
0: Negative logic
1: Positive logic
[RENV1] (WRITE)
7 0
n - - - - - - -
Read the ORG signal <SORG (bit 14) in SSTSW>
0: The ORG signal is OFF
1: The ORG signal is ON
[SSTSW] (READ)
15 8
- n - - - - - -
Set the EZ count number <Set EZD0 to 3 (bits 4 to 7) in RENV3>
Set the zero return completion condition and the EZ count number for counting.
Specify the value (the number to count to ñ 1) in EZD0 to 3. The setting range is 0
to 15.
Specify the input logic of the EZ signal <Set EZL (bit 23) in RENV2>
0: Falling edge
1: Rising edge
[RENV3] (WRITE)
7 0
n n n n - - - -
Read the EZ signal <SEZ (bit 10) in RSTS>
0: The EZ signal is OFF
1: The EZ signal is ON
[RENV2] (WRITE)
23 16
n - - - - - - [RSTS] (READ)
15 8
- - - - - n - Apply an input filter to ORG <Set FLTR (bit 26) in RENV1>
1: Apply a filter to the ORG input
By applying a filter, signals with a pulse width of 4 µsec or less will be ignored.
[RENV1] (WRITE)
31 24
- - - - - n - -
- 105 -
11-6. Servomotor I/F (Case in digital servo)
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, the effective function of servomotors is to delete command pulses and, even after
the command pulses stop, the servomotor systems keep feeding until the count in the deflection counter
reaches zero.
This LSI can receive a positioning complete signal (INP signal) from a servo driver in place of the pulse
output complete timing, to determine when an operation is complete.
When the INP signal input is used to indicate the completion status of an operation, the signal when
an operation is complete, the main status (bits 0 to 5 of the MSECTSW, stop condition), and the
extension status (CND0 to 3, operation status) will also change when the INP signal is input.
The input logic of the INP signal can be changed.
The minimum pulse width of the INP signal is 80 reference clock cycles (4 µsec) when the input filter is
ON. If the input filter is OFF, the minimum pulse width will be 2 reference clock cycles (0.1 µsec). (When
CLK = 19.6608 MHz)
If the INP signal is already ON when the PCL is finished outputting pulses, it treats the operation as
complete, without any delay.
The INP signal can be monitored by reading the RSTS register (extension status).
Set the operation complete delay using the INP signal <Set MINP (bit 9) in
PRMD>
0: No operation complete delay waiting for the INP signal.
1: Operation complete (status, ) delay until the INP signal turns ON.
Input logic of the INP signal <Set INPL (bit 22) in RENV1>
0: Negative logic
1: Positive logic
Reading the INP signal <SINP (bit 16) in RSTS>
0: The INP signal is OFF
1: The INP signal is ON
[RENV1] (WRITE)
23 16
- n - - - - - -
Set the INP input filter <FLTR (bit 26) in RENV1>
1: Apply a filter to the INP input.
By applying a filter, pulses less than 4 µsec in width are ignored.
[RENV1] (WRITE)
31 24
- - - - - n - -
- 106 -
[RMD] (WRITE)
15 8
- - - - - - n -
[RSTS] (READ)
23 16
0 0 0 0 0 0 0 n 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. This signal is referred to
as an "ERC signal." The ERC signal is output as one shot signal or a logic level signal. The output type
can be selected by setting the RENV1 register (environment setting 1). If an interval is required for the
servo driver to recover after turning OFF the ERC signal (HIGH) before it can receive new command
pulses, the ERC signal OFF timer can be selected by setting the RENV1 register.
In order to output an ERC signal at the completion of a zero return operation, set EROR (bit 11) = 1 in
the RENV1 register (environment setting 1) to make the ERC signal an automatic output. For details
about ERC signal output timing, see the timing waveform in section 9-5-1, "Zero return operation."
In order to output an ERC signal for an immediate stop based on the EL signal, ALM signal, or
signal input, or on the emergency stop command (05h), set EROE (bit 10) = 1 in the RENV1 register,
and set automatic output for the ERC signal. (In the case of a deceleration stop, the ERC signal cannot
be output, even when set for automatic output.)
The ERC signal can be output by writing an ERC output command (24h).
The output logic of the ERC signal can be changed by setting the RENV1 register. Read the RSTS
(extension status) register to monitor the ERC signal.
Emergency stop command <CMEMG: Operation command>
Output an ERC signal
[Operationcommand]
ERC signal output command <ERCOUT: Control command>
Turn ON the ERC signal
[Control command]
ERC signal output reset command <ERCRST: Control command>
Turn OFF the ERC signal
[Control command]
Set automatic output for the ERC signal <Set EROE (bit 10) in RENV1>
input.
1: Does not output an ERC signal when stopped by EL, ALM, or
1: Automatically outputs an ERC signal when stopped by EL, ALM, or
input.
Set automatic output for the ERC signal <Set EROR (bit 11) in RENV1>
0: Does not output an ERC signal at the completion of a zero return
operation.
1: Automatically outputs an ERC signal at the completion of a zero return
operation.
[RENV1] (WRITE)
15 8
- - - - - n - -
- 107 -
05h
24h
25h
[RENV1] (WRITE)
15 8
- - - - n - - -
Set the ERC signal output width <Set EPW0 to 2 (bits 12 to 14) in RENV1>
000: 12 µsec 100: 13 msec
001: 102 µsec 101: 52 msec
010: 408 µsec 110: 104 msec
011: 1.6 msec 111: Logic level output
Select output logic for the ERC signal <Set ERCL (bit 15) in RENV1>
0: Negative logic
1: Positive logic
Specify the ERC signal OFF timer time <Set ETW0 to 1 (bits 16 to 17) in
RENV1>
00: 0 µsec 10: 1.6 msec
01: 12 µsec 11: 104 msec
Specify the ERC signal OFF timer time <Set ETW0 to 1 (bits 16 to 17) in
RENV1>
00: 0 µsec 10: 1.6 msec
01: 12 µsec 11: 104 msec
Read the ERC signal <SERCR (bit 9) in STS>
0: The ERC signal is OFF
1: The ERC signal is ON
[RENV1] (WRITE)
15 8
- n n n - - - [RENV1] (WRITE)
15 8
n - - - - - - [RENV1] (WRITE)
23 16
- - - - - - n n
[RENV1] (WRITE)
23 16
- - - - - - n n
[RSTS] (READ)
15 8
0 - - - - - n -
11-6-3. ALM signals
Input alarm (ALM) signal.
When the ALM signal turns ON while in operation, the axis will stop immediately or decelerate and stop.
To stop using deceleration, keep the ALM input ON until the axis stops operation.
However, the axis only decelerates and stops on an ALM signal if it was started with a high speed start.
If the ALM signal is ON when a start command is written, the LSI will not output any pulses.
The minimum pulse width of the ALM signal is 80 reference clock cycles (4 µsec) if the input filter is ON.
If the input filter is OFF, the minimum pulse width is 2 reference clock cycles (0.1 µsec). (When CLK =
19.6608 HMz.)
The input logic of the ALM signal can be changed. The signal status of the ALM signal can be monitored
by reading SSTSW (sub status).
[RENV1] (WRITE)
Stop method when the ALM signal is ON <Set ALMM (bit 8) in RENV1>
15 8
0: Stop immediately when the ALM signal is turned ON
- - - - - - - n
1: Deceleration stop (high speed start only) when the ALM signal is turned ON
[RENV1] (WRITE)
Input logic setting of the ALM signal <Set ALML (bit 9) in RENV1>
15 8
0: Negative logic
- - - - - - n 1: Positive logic
Read the ALM signal <SALM (bit 11) in SSTSW>
0: The ALM signal is OFF
1: The ALM signal is ON
[SSTSW] (READ)
15 8
- - - - n - - -
Reading the cause of a stop when the ALM signal is turned ON <ESAL (bit 7) in
RESET>
1: Stop due to the ALM signal being turned ON
[REST] (READ)
7 0
n - - - - - - -
Set the ALM input filter <Set FLTR (bit 26) in RENV1>
1: Apply a filter to the ALM input
When a filter is applied, pulses less than 4 µsec pulse in width will be ignored.
[RENV1] (WRITE)
31 24
- - - - - n - -
- 108 -
11-7. External start, simultaneous start
11-7-1.
signal
This LSI can start when triggered by an external signal on the terminals. Set MSY (bits 18 and 19)
goes LOW.
= 01 in the PRDM register (operation mode) and the LSI will start feeding when the When you want to control multiple axes using more than one LSI, connect the terminal on each
LSI and set the axes to "waiting for input", to start them all at the same time. In this example a
start signal can be output through the terminal.
The input logic on the terminals cannot be changed.
By setting the RIRQ register (event interrupt cause), the signal can be output together with a
input is ON). By reading the RIST register, the cause of an event
simultaneous start (when the interrupt can be checked.
The operation status (waiting for input), and status of the terminal (OR of the signals)
can be monitored by reading the RIST register, or RSTS register (extension status), respectively.
<How to make a simultaneous start>
Set MSY0 to 1 (bits 18 and 19) in the RMD register for the axes you want to start. Write a start command
input" status. Then, start the axes simultaneously by either of
and put the LSI in the "waiting for the methods described below.
1) By writing a simultaneous start command, the LSI will output a one shot signal of 8 reference clock
cycles (approx. 0.4 µsec when CLK = 19.6608 MHz) from the terminal.
2) Input hardware signal from outside.
Supply a hardware signal by driving the terminal with open collector output (74LS06 or equivalent).
signals can be supplied as level trigger or edge trigger inputs. However, when level trigger input is
selected, if = L or a start command is written, the axis will start immediately.
After connecting the terminals on each LSI, each axis can still be started independently using start
commands.
To release the "waiting for input" condition, write an immediate stop command (49h).
1) To start axes controlled by different LSIs simultaneously, connect the LSIs as follows.
+5 V
CSTA
CSTA
CSTA
CSTA
5 k to 10 k-ohm
2) To start simultaneously from an external circuit, or use a single axis as an external start, connect the
LSIs as follows.
For start signal, supply a one shot input signal with a pulse width of at least 4 reference clock cycles
(approx. 0.2 µsec when CLK = 19.6608 MHz).
- 109 -
input <MSY0 to 1 (bits 18 and 19) in PRMD>
01: Start by inputting a signal
Specify the input specification for the signal <Set STAM (bit 18) in
RENV1>
0: Level trigger input for the signal
signal
1: Edge trigger input for the Read the signal <SSTA (bit 5) in RSTS>
0: The signal is OFF
1: The signal is ON
Read the operation status <CND (bits 0 to 3) in RSTS>
0010: Waiting for input
[RMD] (WRITE)
23 16
- - - - n n - - [RENV1] (WRITE)
23 16
- - - - - n - - [RSTS] (READ)
7 0
- - n - - - - [RSTS] (READ)
7 0
- - - - n n n n
Set an event interrupt cause <Set IRSA (bit 18) in RIRQ>
1: Output an signal when the input is ON.
[RIRQ] (WRITE)
23
16
0 0 0 0 0 n - Reading the event interrupt cause <ISSA (bit 19) in RIST>
1: When the signal is ON.
[RIST] (READ)
23 16
0 0 0 0 n - - - [Operation command]
Simultaneous start command <CMSTA: Operation command>
Output a one shot pulse 8 reference clock cycles long from the terminal.
06h
(The terminal is bi-directional. It can receive signals output from other
PCLs.)
Local axis only, simultaneous start command <SPSTA: Operation command>
[Operation command]]
Used the same way as when a signal is supplied, for a local axis only.
2Ah
11-7-2. PCS signal
The PCS input is a terminal originally used for the target position override 2 function. By setting the MSY
(bits 18 & 19) to "01" in the PRMD (operation mode) register, the PCS input signal can enable the signal for only its own axis.
The input logic of the PCS input signal can be changed. The terminal status can be monitored by
reading the RSTS register (extension status).
Specify the function of the PCS signal <Set PCSM (bit 30) in RENV1>
1: Make PCS input effective on only the local axis.
Set the input logic of the PCS signal <Set PCSL (bit 24) in RENV1>
0: Negative logic
1: Positive logic
[RENV1] (WRITE)
31 24
- n - - - - - [RMD] (WRITE)
23 16
- - - - n n - - [RENV1] (WRITE)
31 24
- - - - - - - n
Read the PCS signal <SPCS (bit 8) in RSTS>
0: The PCS signal is OFF
1: The PCS signal is ON
[RSTS] (READ)
15 8
- - - - - - - n
Set the Waiting for 01: Start on a input <Set MSY0 to 1 (bits 18 and 19) in RMD>
input.
- 110 -
11-8. External stop / simultaneous stop
This LSI can execute an immediate stop or a deceleration stop triggered by an external signal using the
terminal. Set MSPE (bit 24) = 1 in the PRMD register (operation mode) to enable a stop from a
input. The axis will stop immediately or decelerate and stop when the terminal is LOW.
However, a deceleration stop is only used for a high speed start. When the axis is started at low speed, the
signal on the terminal will cause an immediate stop.
The input logic of the terminal cannot be changed.
When multiple LSIs are used to control multiple axes, connect all of the terminals from each LSI and
input the same signal so that the axes which are set to stop on a input can be stopped
terminal.
simultaneously. In this case, a stop signal can also be output from the When an axis stops because the signal is turned ON, an signal can be output. By reading the
REST register, you can determine the cause of an error interrupt. You can monitor terminal status by
reading the RSTS register (extension status).
<How to make a simultaneous stop>
Set MSPE (bit 24) = 1 in the PRMD register for each of the axes that you want to stop simultaneously.
Then start these axes.
Stop these axes using either of the following two methods.
terminal will output a one shot signal 8 reference
1) By writing a simultaneous stop command, the clock cycles in length (approx. 0.4 µsec when CLK = 19.6608 MHz).
2) Supply an external hardware signal
Supply a hardware signal using an open collector output (74LS06 or equivalent).
3) The CSTP terminal will output a one shot signal for 8 reference clock cycles (approximately 0.4 µsec
when CLK = 19.6608 MHz) when a stop caused by an error occurs on an axis that has MSPO = 1 in the
PRMD register.
Even when the 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.
+5 V
5 k to 10 k-ohm
CSTP
CSTP
CSTP
CSTP
2) To stop simultaneously using an external circuit, connect as follows.
As a stop signal, supply a one shot signal 4 reference clock cycles or more in length (approx. 0.2 µsec
when CLK = 19.6608 MHz).
Setting to enable input <Set MSPB (bit 24) in PRMD>
[PRMD] (WRITE)
1. Enable a stop from the input. (Immediate stop, deceleration stop)
[PRMD] (WRITE)
signal <Set to MSPO (bit 25) in the PRMD>
Auto output setting for the 24
1: When an axis stops because of an error, the PCL will output the signal. 31
(Output signal width: 8 reference clock cycles)
0 0 0 0 - - n -
- 111 -
signal is turned ON. <Set STPM
Specify the stop method to use when the (bit 19) in RENV1>
0: Immediate stop when the signal is turned ON.
signal is turned ON.
1: Deceleration stop when the Read the signal <SSTP (bit 6) in RSTS>
0: The signal is OFF
1: The signal is ON
Read the cause of an error input < ESSP (bit 8) in REST>
1. When stopped because the signal turned ON.
Simultaneous stop command <CMSTP: Operation command>
Outputs a one shot pulse of 8 reference clock cycles in length from the terminal.
(The CSTP terminal is bi-directional. It can receive signals output from other
PCLs.)
[RENV1] (WRITE)
23 16
- - - - n - - [RSTS] (READ)
7 0
- n - - - - - [REST] (READ)
15 8
- - - - - - - n
[Operation command]
07h
11-9. Emergency stop
This LSI has a input terminal for use as an emergency stop signal.
While in operation, if the input goes LOW or if you write an emergency stop command, all the axes
will stop immediately. While the input remains LOW, no axis can be operated.
The logical input of the terminal cannot be changed.
input was turned ON, the LSI will output an signal. By
When the axes are stopped because the reading the REST register, the cause of the error interruption can be determined.
The status of the terminal can be monitored by reading the REST register (extension status).
Read the signal <SEMG (bit 7) in RSTS>
0: The signal is OFF
signal is ON
1: The Read the cause of an error interrupt <ESEM (bit 9) in REST>
1. Stopped when the signal was turned ON.
Emergency stop command <CMEMG: Operation command>
The operation is the same as when a signal is input.
[RSTS] (READ)
7 0
n - - - - - [REST] (READ)
16 8
- - - - - - n [Operation command]
05h
Note: In a normal stop operation, the final pulse width is normal. However, in an emergency stop
operation, the final pulse width may not be normal. It can be triangular. Motor drivers do not
recognize triangle shaped pulses, and therefore only the PCL counter may count this pulse.
(Deviation from the instructed position control). Therefore, after an emergency stop, you must
perform a zero return to match the instructed position with the mechanical position.
- 112 -
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 COUNTER3 (deflection counter) and a
comparator.
♦ Output a synchronous signal using COUNTER4 (general-purpose) and a comparator.
The positioning counter is loaded with an absolute value for the RMV register (target position) with each
start command, regardless of the operation mode selected. It decreases the value with each pulse that is
output. However, if MPCS (bit 14) of the RMD register (operation mode) is set to 1 and a position
override 2 is executed, the counter does will not decrease until the PCS input turned ON.
Input to COUNTER1 is exclusively for output pulses. However COUNTERS2 to 4 can be selected as
follows by setting the RENV3 register (environment setting 3).
COUNTER2
COUNTER3
COUNTER4
Mechanical
Deflection
General-purpose
position
Counter type
Up/down counter Up/down counter Deflection counter Up/down counter
Number of bits
28
28
16
28
Output pulse
Possible
Possible
Possible
Possible
Encoder (EA/EB) input
Not possible
Possible
Possible
Possible
Pulsar (PA/PB) input
Not possible
Possible
Possible
Possible
1/2 of reference clock
Not possible
Not possible
Not possible
Not possible
Note: When using pulsar input, use the internal signal result after multiplying or dividing.
Counter name
COUNTER1
Command position
Specify COUNTER2 (mechanical position) input <CI20 to 21 (bit 8 & 9) in RENV3>
00: EA/EB input
01: Output pulses
10: PA/PB input
Set COUNTER3 (deflection) input <CI30 to 31 (bit 10 & 11) in RENV3>
00: Measure the deflection between output pulses and EA/EB input
01: Measure the deflection between output pulses and PA/PB input
10: Measure the deflection between EA/EB input and PA/PB input
Set COUNTER4 (general-purpose) input <CI40 to 41 (bit 12 & 13) in RENV3>
00: Output pulses
01: EA/EB input
10: PA/PB input
11: Reference clock (CLK) / 2.
[RENV3] (WRITE)
15 8
- - - - - - n n
[RENV3] (WRITE)
15 8
- - - - n n - [RENV3] (WRITE)
15 8
- - n n - - - -
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 90Û SKDVH GLIIHUHQFH VLJQDOV [ [ 4x)
Counter direction: Count up when the EA input phase is leading. Count down when the EB input
phase is leading.
2) Signal input method: Input 2 sets of positive and negative pulses.
Counter direction: Count up on the rising edge of the EA input. Count down on the falling edge of
the EB input.
The counter direction or EA/EB and PA/PB input signals can be reversed.
The LSI can be set to sense an error when both the EA and EB input, or both the PA and PB inputs
change simultaneously, and this error can be detected using the REST (error interrupt cause) register.
- 113 -
Set the input signal filter for EA/EB/EZ <Set EINF (bit 18) in RENV2>
0: Turn OFF the filter function
1: Turn ON the filter function (Input signals shorter than 3 reference clock
cycles are ignored.)
Setting the EA/EB input <Set EIM0 to 1 (bit 20 & 21) in RENV2>
00: 90˚ phase difference, 1x 10: 90˚ phase difference, 4x
01: 90˚ phase difference, 2x 11: 2 sets of up or down input pulses
[RENV2] (WRITE)
23
16
- - - - - n - -
Specify the EA/EB input count direction <Set to EDIR (bit 22) in RENV2>
0: Count up when the EA phase is leading. Or, count up on the rising edge of
EA.
1: Count up when the EB phase is leading. Or, count up on the rising edge of
EB.
Enable/disable EA/EB input <Set EOFF (bit 30) in RENV2>
0: Enable EA/EB input
1: Disable EA/EB input. (EZ input is valid.)
[RENV2] (WRITE)
23
16
- n - - - - - -
Set the input signal filter for PA/PB <Set PINF (bit 19) in RENV2>
0: Turn OFF the filter function.
1: Turn ON the filter function (Input signals shorter than 3 reference clock
cycles are ignored.)
Specify the PA/PB input <Set to PIM0 to 1 (bit 24 & 25) in RENV2>
00: 90˚ phase difference, 1x 10: 90˚ phase difference, 4x
01: 90˚ phase difference, 2x 11: 2 sets of up or down input pulses
[RENV2] (WRITE)
23
16
- - - - n - - -
Specify the PA/PB input count direction <Set to PDIR (bit 26) in RENV2>
0: Count up when the PA phase is leading. Or, count up on the rising edge of
PA.
1: Count up when the PB phase is leading. Or, count up on the rising edge of
PB.
Enable/disable PA/PB input <Set POFF (bit 31) in RENV2>
0: Enable PA/PB input
1: Disable PA/PB input.
Reading EA/EB, PA/PB input error <ESEE (bit 16), ESPE (bit 17) in the REST>
ESEE (bit 16) = 1: An EA/EB input error occurred.
ESPE (bit 17) = 1: An PA/PB input error occurred.
[RENV2] (WRITE)
31 24
- - - - - n - [RENV2] (WRITE)
23
16
- - n n - - - -
[RENV2] (WRITE)
31 24
- n - - - - - -
[RENV2] (WRITE)
31 24
- - - - - - n n
[RENV2] (WRITE)
31 24
n - - - - - - [REST] (READ)
23 16
0 0 0 0 0 0 n n 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
EA
EB
COUNTER n
n
n + 1
2) When using 90˚ phase difference signals and 2x input
EA
EB
COUNTER n
n + 1
n + 2
- 114 -
n + 1
n
3) When using 90Û SKDVH GLIIHUHQFH VLJQDOV DQG [ LQSXW
EA
EB
COUNTER n
n + 1
n + 2
n + 4
n + 3
n + 3
n + 2
n
n + 1
4) When two pulses are input (counted on the rising edge)
EA
EB
COUNTER n
n + 1
n + 2
n + 1
n
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 a zero 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.
signal
The CLR input timing can be set in RENV1 (environment setting 1). An
CLR input is the cause of an event interrupt.
Action when the CLR signal turns ON <Set CU1C to 4C (bit 16 to 19) in the
RENV3>
CU1C (bit 16) =1: Reset COUNTER1 (command position).
CU2C (bit 17) =1: Reset COUNTER2 (mechanical position).
CU3C (bit 18) =1: Reset COUNTER3 (deflection).
CU4C (bit 19) =1: Reset COUNTER4 (general-purpose).
Action when a zero return is complete <Set CU1R to 4R (bit 20 to 23) in
RENV3>
CU1R (bit 20) =1: Reset COUNTER1 (command position).
CU2R (bit 21) =1: Reset COUNTER2 (mechanical position)
CU3R (bit 22) =1: Reset COUNTER3 (deflection)
CU4R (bit 23) =1: Reset COUNTER4 (general-purpose)
Setting when latched <Set CU1L to 4L (bits 24 to 27) in RENV5>
CU1L (bit 24) = 1: Reset COUNTER1 (instructed position).
CU2L (bit 25) = 1: Reset COUNTER2 (machine position).
CU3L (bit 26) = 1: Reset COUNTER3 (deviation).
CU4L (bit 27) = 1: Reset COUNTER4 (general-purpose).
Action for the CLR signal <Set CLR0 and 1 (bit 20 & 21) in RENV1>
00: Clear on the falling edge
10: Clear on a LOW level
01: Clear on the rising edge
11: Clears on a HIGH level
Reading the CLR signal <SCLR (bit 13) in RSTS>
0: The CLR signal is OFF
1: The CLR signal is ON
Set event interrupt cause <Set IRCL (bit 13) in RIRQ>
signal when resetting the counter value by turning the CLR
1: Output an
signal ON.
can be output when a
Read the event interrupt cause <ISCL (bit 13) in RIST>
1: When you want to reset the counter value by turning ON the CLR signal.
[RIST]
(READ)
15 8
- - n - - - - -
Counter reset command <CUN1R to CUN4R: Control command>
20h: Set COUNTER1 (command position) to zero
21h: Set COUNTER2 (mechanical position) to zero.
22h: Set COUNTER3 (deflection) to zero.
23h: Set COUNTER4 (general-purpose) to zero
[Control command]
20h 21h 22h 23h
- 115 -
[RENV3] (WRITE)
23 16
- - - - n n n n
[RENV3] (WRITE)
23 16
n n n n - - - -
[RENV5] (WRITE)
31
24
0 0 0 0 n n n n
[RENV1] (WRITE)
23 16
- - n n - - - - [RSTS]
(READ)
15 8
- - n - - - - [RIRQ] (WRITE)
15 8
- - n - - - - -
Note: In order to prevent incorrect counts, when the count timing and reset timing match, the counter
will be +1 or -1, never 0. Please note this operation detail when detecting 0 with the comparator
function.
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.
2) Turn ON the ORG signal.
3) When the conditions for Comparator 4 are satisfied.
4) When the conditions for Comparator 5 are satisfied.
5) When a command is written.
The current speed can also be latched instead of COUNTER3 (deflection). Items 1) to 4) above can also
be latched by hardware timing.
signal can be output when
The LTC input timing can be set by in RENV1 (environment setting 1). An
a counter value is latched by turning ON the LTC signal or the ORG signal. This allows you to identify
the cause of an event interrupt.
Specify the latch method for a counter (1 to 4) <Set LTM0 to 1 (bit 12 to 13) in
RENV5>
00: Turn ON the LTC signal.
01: Turn ON the ORG signal.
10: When the conditions for Comparator 4 are satisfied.
11: When the conditions for Comparator 5 are satisfied
Specify the latch method for the current speed <Set LTFD (bit 14) in RENV5>
1: Latch the current speed instead of COUNTER 3 (deflection).
[RENV5] (WRITE)
15 8
- - n n - - - -
[RENV5] (WRITE)
15 8
- n - - - - - -
Specify latching using hardware <Set LTOF (bit 15) in RENV5>
1: Do not latch 1) to 4) above with hardware timing.
[RENV5] (WRITE)
15 8
n - - - - - - -
Specify the LTC signal mode <Set LTCL (bit 23) in RENV1>
0: Latch on the falling edge.
1: Latch on the rising edge.
[RENV1] (WRITE)
23 16
n - - - - - - -
Set an event interrupt cause <Set IRLT (bit 14) and IROT (bit 15) in RIRQ>
signal when the counter value is latched by the LTC
IRLT = 1: Output an
signal being turned ON.
signal when the counter value is latched by the ORG
IROT = 1: Output an
signal being turned ON.
Read the event interrupt cause <ISLT (bit 14), ISOL (bit 15) in RIST>
ISLT = 1: Latch the counter value when the LTC signal turns ON.
ISOL = 1: Latch the counter value when the ORG signal turns ON.
Read the LTC signal <SLTC (bit 14) in RSTS>
0: The LTC signal is OFF
1: The LTC signal is ON
Counter latch command <LTCH: Control command>
Latch the contents of the counters (COUNTER1 to 4).
[RIRQ] (WRITE)
15 8
n n - - - - - -
- 116 -
[RIST]
(READ)
15 8
n n - - - - - [RSTS]
(READ)
15 8
- n - - - - - [Control command]
29h
11-10-4. Stop the counter
COUNTER1 (command position) stops when the PRMD (operation mode) register is set to stop the
counter while in timer mode operation.
COUNTER2 (mechanical position), COUNTER3 (deflection), and COUNTER4 (general-purpose) stop
when the RENV3 (environment setting 3) register is set to stop.
By setting the RENV3 register, you can stop counting pulses while performing a backlash or slip
correction.
COUNTER4 (general-purpose) can be set to count only during operation (BSY = low) using the RENV3
register. By specifying 1/2 of the CLK (reference clock) signal, the time after the start can be controlled.
Stopping COUNTER1 (command) <Set MCCE (bit 11) in RMD>
1. Stop COUNTER1 (command position).
Specify the counting operation for COUNTERS 2 to 4 <Set CU2H to 4H
(bits 29 to 31) in RENV3>
CU2H (bit 29) = 1: Stop COUNTER2 (mechanical position)
CU3H (bit 30) = 1: Stop COUNTER3 (deflection)
CU4H (bit 31) = 1: Stop COUNTER4 (general-purpose)
Setting the counters for backlash or slip correction <Set CU1B to 4B (bits
24 to 27) in RENV3>
CU1B (bit 16) = 1: Enable COUNTER1 (command position)
CU2B (bit 17) = 1: Enable COUNTER2 (mechanical position)
CU3B (bit 18) = 1: Enable COUNTER3 (deflection)
CU4B (bit 19) = 1: Enable COUNTER4 (general-purpose)
Specify the counting conditions for COUNTER4 <Set BSYC (bit 14) in
RENV3>
1. Enable COUNTER4 (general-purpose) only while operating (BSY = L).
- 117 -
[RMD] (WRITE)
15 8
- - - - n - - [RENV3] (WRITE)
31 24
n n n 0 - - - [RENV3] (WRITE)
31
24
0
n
n
n
n
[RENV3] (WRITE)
15 8
- n - - - - - 11-11. Comparator
11-11-1. Comparator types and functions
This LSI has 5 circuits/axes using 28-bit comparators. 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.
There are many comparison methods and four processing methods that can be used when the
conditions are met.
Specify the comparator conditions in the RENV4 (environment 4) and RENV5 (environment 5) registers.
By using these comparators, you can perform the following.
♦ Use comparators for INT outputs, external output of comparison data, and for internal
synchronous starts
♦ Immediate stop and deceleration stop operations.
♦ Change operation data to pre-register data (used to change speed while operating).
♦ Software limit function using Comparators 1 and 2.
♦ Ring count function using COUNTER1 (command position) and Comparator 1.
♦ Ring count function using COUNTER2 (mechanical position) and Comparator 2.
♦ Set up a software limit function.
♦ Detect out of step stepper motors using COUNTER3 (deflection) and a comparator.
♦ Output a synchronous signal (IDX) using COUNTER4 (general-purpose) and a comparator.
Comparator 5 is equipped with a pre-register. It too can output an signal when the comparator's
conditions are satisfied.
[Comparison data] Each comparator can select the data for comparison from the items in the following
table.
Comparator 1 Comparator 2
Comparator 3 Comparator 4 Comparator 5
Comparison data
C1C0 to 1
C2C0 to 1
C3C0 to 1
C4C0 to 1
C5C0 to 2
COUNTER1
O
"00"
O
"00"
O
"00"
O
"00"
O
"000"
(command position)
COUNTER2
(mechanical
O
"01"
O
"01"
O
"01"
O
"01"
O
"001"
position)
COUNTER3
O
"10"
O
"10"
O
"10"
O
"10"
O
"010"
(deflection)
COUNTER4
O
"11"
O
"11"
O
"11"
O
"11"
O
"011"
(general-purpose)
Positioning counter
O
"100"
Current speed
O
"101"
Pre-register
None
None
None
None
Yes
+SL
-SL
Use
Use
IDX output
Major application
COUNTER1
COUNTER1
as a ring
as a ring
counter
counter
- O: Comparison possible. Blank: Comparison not possible.
- +SL, -SL are used for software limits.
- If COUNTER3 (deflection) is selected as the comparison counter, the LSI will compare the absolute
value of the counter with the comparator data. (Absolute value range: 0 to 32,767)
- The bit assignments of the comparison data settings are as follows:
C1C0 to 1 (RENV4 bits 0 & 1), C2C0 to 1 (RENV4 bits 8 & 9), C3C0 to 1 (RENV4 bits 16 & 17),
C4C0 to 1 (RENV4 bits 24 & 25), C5C0 to 2 (RENV5 bits 0 to 2)
- 118 -
[Comparison method] Each comparator can be assigned a comparison method from the table below.
Comparison method
Comparator = Comparison
counter (regardless of count
direction)
Comparator = Comparison
counter (Count up only)
Comparator = Comparison
counter (count down only)
Comparator > Comparison
counter
Comparator < Comparison
counter
Use for software limits
IDX (synchronous signal) output
(regardless of counting direction)
IDX (synchronous signal) output
(count up only)
IDX (synchronous signal) output
(count down only)
Use COUNTER1 as a ring
counter
Use COUNTER1 as a ring
counter
Comparator 1
C1S0 C1RM
to 2
Comparator 2 Comparator 3 Comparator 4 Comparator 5
C2S0 C1RM
C3S0
C4S0
C5S0
to 2
to 2
to 3
to 2
O "001"
'0'
O "001"
'0'
O
"001"
O
"0001"
O
"001"
O "010"
'0'
O "010"
'0'
O
"010"
O
"0010"
O
"010"
O "011"
'0'
O "011"
'0'
O
"011"
O
"0011"
O
"011"
O "100"
'0'
O "100"
'0'
O
"100"
O
"0100"
O
"100"
O "101"
'0'
O "101"
'0'
O
"101"
O
"0101"
O
"101"
O "110"
'0'
O "110"
'0'
O
"1000"
O
"1001"
O
"1010"
O
"1010"
O
"1010"
O "001"
'1'
O "001"
'1'
- O: Comparison possible. Blank: Comparison not possible.
- When used for software limits, Comparator 1 is a positive direction limit and the comparison method is
comparator < comparison counter. Comparator 2 is the negative limit value and the comparison
method is comparator > comparison counter. Select COUNTER1 (command position) for the
comparison counter.
- Comparator 3 must not have C3S0 to 2 set to a value of 110. Setting any of the values may result in
failing to satisfy the comparison conditions.
- When C4S0 to 3 = 1000 to 1010 for Comparator 4 <IDX (synchronous signal) output>, select
COUNTER4 (general-purpose) for use as the comparison counter. Other counters cannot be used for
this function. Enter a positive value for the comparator setting.
- The bit assignments for various comparison methods are as follows:
C1S0 to 2 (RENV4 bits 2 to 4), C2S0 to 2 (RENV4 bits 10 to 12), C3S0 to 1 (RENV4 bits 18 to 20),
C4S0 to 3 (RENV4 bits 26 to 29), C5S0 to 2(RENV5 bits 3 to 5)
[Processing method when comparator conditions are satisfied] The processing method that is used
when the conditions are satisfied can be selected from the table below.
Processing method when the
conditions are met
Do nothing
Immediate stop operation
Deceleration stop operation
Change operation data to preregister data
Comparator 1 Comparator 2 Comparator 3 Comparator 4 Comparator 5
C1D0 to 1
C2D0 to 1
C3D0 to 1
C4D0 to 1
C5D0 to 1
"00"
"00"
"00"
"00"
"00"
"01"
"01"
"01"
"01"
"01"
"10"
"10"
"10"
"10"
"10"
"11"
"11"
"11"
"11"
"11"
- "Do nothing " is mainly used for INT output, external output of comparison result, or internal
synchronous starts.
- To change the speed pattern while in operation, change the operation data to the values stored as
pre-register data. The PRMV setting will also be transferred to the RMV. However, this does not affect
operation.
- The bit assignments to select a processing method are as follows.
C1D0 to 1 (RENV4 bits 5 & 6), C2D0 to 1 (RENV4 bits 13 & 14), C3D0 to 1 (RENV4 bits 21 & 22),
C4D0 to 1 (RENV4 bits 30 & 31), C5D0 to 1 (RENV5 bits 6 & 7)
- 119 -
[How to set the INT output, external output of comparison results, and internal synchronous starting]
Set an event interrupt cause <Set IRC1 to 5 (bit 8 to 12) in RIRQ>
[RIRQ] (WRITE)
signal when the Comparator 1 conditions are satisfied.
IRC1 (bit 8) = 1: Output 15 8
signal when the Comparator 2 conditions are satisfied.
IRC2 (bit 9) = 1: Output - - - n n n n n
signal when the Comparator 3 conditions are
IRC3 (bit 10) = 1: Output satisfied.
signal when the Comparator 4 conditions are
IRC4 (bit 11)= 1: Output satisfied.
signal when the Comparator 5 conditions are
IRC5 (bit 12)= 1: Output satisfied.
Read the event interrupt cause <ISC1 to 5 (bit 8 to 12) in RIST>
[RIST] (READ)
IRC1 (bit 8) = 1: When the Comparator 1 conditions are satisfied.
15 8
IRC2 (bit 9) = 1: When the Comparator 2 conditions are satisfied.
- - - n n n n n
IRC3 (bit 10) = 1: When the Comparator 3 conditions are satisfied.
IRC4 (bit 11) = 1: When the Comparator 4 conditions are satisfied.
IRC5 (bit 12) = 1: When the Comparator 5 conditions are satisfied.
Read the comparator condition status <SCP1 to 5 (bits 8 to 12) in MSTSW>
[MSTSW]
SCP1 (bit 8) = 1: When the Comparator 1 conditions are satisfied.
(READ)
SCP2 (bit 9) = 1: When the Comparator 2 conditions are satisfied.
15 8
SCP3 (bit 10) = 1: When the Comparator 3 conditions are satisfied.
- - - n n n n n
SCP4 (bit 11) = 1: When the Comparator 4 conditions are satisfied.
SCP5 (bit 12) = 1: When the Comparator 5 conditions are satisfied.
Specify the P3/CP1 (+SL) terminal specifications <P3M0 to 1 (bits 6 & 7) in RENV2> [RENV2]
00: General-purpose input
(WRITE)
01: General-purpose output
7 0
10: Output a CP1 (Comparator 1 conditions satisfied) signal using negative logic.
n n - - - - - 11: Output a CP1 (Comparator 1 conditions satisfied) signal using positive logic.
Specify the P4/CP2 (-SL) terminal specifications <P4M0 to 1 (bits 8 & 9) in RENV2>
[RENV2]
00: General-purpose input
(WRITE)
01: General-purpose output
15 8
10: Output CP2 (Comparator 2 conditions satisfied) signal using negative logic.
- - - - - - n n
11: Output CP2 (Comparator 2 conditions satisfied) signal using positive logic.
Specify the P5/CP3 terminal specifications <Set P5M0 to 1 (bits 10 & 11) in RENV2> [RENV2]
00: General-purpose input
(WRITE)
01: General-purpose output
15 8
10: Output CP3 (Comparator 3 conditions satisfied) signal using negative logic.
- - - - n n - 11: Output CP3 (Comparator 3 conditions satisfied) signal using positive logic.
Specify the P6/CP4 terminal specifications <Set P6M0 to 1 (bits 12 & 13) in RENV2> [RENV2]
00: General-purpose input
(WRITE)
01: General-purpose output
15 8
10: Output CP4 (Comparator 4 conditions satisfied) signal using negative logic.
- - n n - - - 11: Output CP4 (Comparator 4 conditions satisfied) signal using positive logic.
Specify the P7/CP5 terminal specifications <Set P7M0 to 1 (bits 14 & 15) in RENV2> [RENV2]
00: General-purpose input
(WRITE)
01: General-purpose output
15 8
10: Output CP5 (Comparator 5 conditions satisfied) signal using negative logic.
n n - - - - - 11: Output CP5 (Comparator 5 conditions satisfied) signal using positive logic.
Specify the output timing for an internal synchronous signal <Set SYO1 to 3 (bits 16 to [RENV5]
19) in RENV5>
(WRITE)
0001: When the Comparator 1 conditions are satisfied.
23 16
0010: When the Comparator 2 conditions are satisfied.
- - - - n n n n
0011: When the Comparator 3 conditions are satisfied.
0100: When the Comparator 4 conditions are satisfied.
0101: When the Comparator 5 conditions are satisfied.
1000: When the acceleration starts.
1001: When the acceleration is complete.
1010: When the deceleration starts
1011: When the deceleration is complete.
Others: Turn OFF internal synchronous output signal
- 120 -
[Speed change using the comparator]
When the comparator conditions are met, you can use the function which changes the operation data to
the values stored as pre-register data. This function is used to change the speed when a specified
position is reached.
Also, comparator 5 has a pre-register function, and can be specified for use in changing the speed at
specified positions. In this case, use the "Pre-register set command (4Fh)," to specify several sets of
speed data.
If the speed change data (data used with set commands) are left in Pre-registers 1 and 2 when the
current operation completes (Example 1), or if the speed change data is left in Pre-register 1 and some
next operation data exists in Pre-register 2 (Example 2), the PCL will ignore the speed change data and
shift the data in the pre-registers.
Then, in Example 2, the PCL will start the next operation after shifting the data in the pre-registers.
Example 1
Pre-register 2
Pre-register 1
Register
(PFM=11)
Speed change
data 2 (set)
Speed change
data 1 (set)
Current
operation data
(set)
(PFM=00)
Pre-register 2 Speed change data
2 undetermined
Complete
Pre-register 1 Speed change data
current operation
2 undetermined
Register
Speed change data
1 undetermined
Æ
Example 2
Pre-register 2
Pre-register 1
Register
(PFM=11)
Speed change
data 2 (set)
Speed change
data 1 (set)
Current
operation data
(set)
Complete current
operation
Æ
Set a pre-register <PRSET: Operation command>
Identify the pre-register details as speed change data.
- 121 -
(PFM=01)
Pre-register 2 Speed change data
2 undetermined
Pre-register 1 Speed change data
2 undetermined
Register
Speed change data
1 undetermined (set)
[Operation command]
4Fh
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 the
axis based on the results of the comparator and the operation direction.
When the software limit function is used the following process can be executed.
1) Stop pulse output immediately
2) Decelerate and then stop pulse output
While using the software limit function, if a deceleration stop is selected as the process to use when the
comparator conditions are met (C1D, C2D), when an axis reaches the software limit while in a high
speed start (52h, 53h), that axis will stop using deceleration. When some other process is specified for
use when the conditions are met, or while in a low speed start, that axis will stop immediately.
If a software limit is ON while writing a start command, the axis will not start to move in the direction in
which the software limit is enabled. However, it can start in the opposite direction.
[Setting example]
RENV4=00003838h: Use Comparator 1 as positive direction software limit. Use Comparator 2 as
negative direction software limit.
Set to stop immediately when the software limit is reached.
RCMP1= 100,000: Positive direction limit value
RCMP2= -100,000: Negative direction limit value
Positive direction limit position
RCMP1 (100,000)
Negative direction limit position
RCMP2 (-100,000)
Normal operation zone
Unable to feed in the
negative direction
Able to feed in the
positive direction
Able to feed in the
negative direction
Operation from the negative direction limit position
Operation from the positive direction limit position
Setting the comparison method for Comparator 1 <Set C1S0 to C1S2 (bits 2
to 4) in RENV4>
110: Use as a positive direction software limit
Specify the process to use when the Comparator 1 conditions are met <Set
C1D0 to C1D1 (bits 5 & 6) in RENV4>
01: Immediate stop
10: Deceleration stop
Specify the comparison method for Comparator 2 <Set C2S0 to C2S2 (bits
10 to 12) in RENV4>
110: Use as a negative direction software limit.
Specify the process to use when the Comparator 2 conditions are met <Set
C2D0 to C2D1 (bits 13 & 14) in RENV4>
01: Immediate stop
10: Deceleration stop
- 122 -
Unable to feed in the
positive direction
[RENV4] (WRITE)
7
0
- - - n n n - [RENV4] (WRITE)
7
0
- n n - - - - [RENV4] (WRITE)
15
8
- - - n n n - [RENV4] (WRITE)
15
8
- n n - - - - -
11-11-3. Out of step stepper motor detection function
If the deflection counter value controlled by the motor command pulses and the feed back 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. The LSI monitors stepper motor operation using COUNTER3 (the deflection
counter) and a comparator.
The process which takes place after an out of step condition is detected can be selected from the table.
[Processing method to use when the comparator conditions are satisfied].
For this function, use an encoder with the same resolution as the stepper motor.
COUNTER3 (deflection) can be cleared by writing a set command to the deflection counter.
There are two methods for inputting a feedback signal: Input 90˚ phase difference signals (1x, 2x, 4x) on
the EA/EB terminals, input two sets of positive and negative pulses.
If both EA and EB signals change at the same time, the LSI will treat this as an error and output an signal.
[Setting example]
RENV4 = 00360000h: Satisfy the conditions of Comparator 3 < COUNTER3 (deflection)
Stop immediately when the conditions are satisfied.
RCMP3 = 32:
The maximum deflection value is "32" pulses.
RIRQ = 00000400h: Output an signal when the conditions for Comparator 3 are satisfied.
Specify the EA/EB input <Set EIM0 to 1 (bits 20 & 21) in RENV2>
00: 90˚ phase difference, 1x
01: 90˚ phase difference, 2x
10: 90˚ phase difference, 4x
11: 2-pulse mode
Specify the EA/EB input count direction <Set EDIR (bit 22) in RENV2>
0: When the EA phase is leading, or count up on the EA rising edge.
1: When the EB phase is leading, or count up on the EB rising edge
Read the EA/EB input error <ESEE (bit 16) in REST>
1: An EA/EB input error has occurred.
Counter reset command <CUN3R: Control command>
Clear COUNTER3 (deflection) to zero.
- 123 -
[RENV2] (WRITE)
23 16
- - n n 0 0 - - [RENV2] (WRITE)
23 8
- n - - 0 0 - [REST] (READ)
23 16
0 0 0 0 0 0 - n [Control command]
22h
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 C4C0 and C4C1 to "11" (in the general-purpose counter) and setting 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. If counting down from 0 the lower
limit will be the value set in RCMP4, and if counting up from the value set in RCMP4 the limit will be 0.
The input for COUNTER4 can be set to C140 or C141 in RENV3.
By setting IDXM in RENV4, you can select either level output or count output.
Select the specification for the P6/CP4 terminals <Set P6M0 to 1 in RENV2 (bits [RENV2] (WRITE)
12 and 13)>
15
8
10: Output an IDX signal using negative logic
- - n n - - - 11: Output an IDX signal using positive logic
[RENV3] (WRITE)
Select the count input for COUNTER4 (general-purpose) <set to CI40 and C41
(bits 12 & 13) in RENV3>
15
8
00: Output pulses 10: PA/PB input
- - n n - - - 01: EA/EB input 11: Divide the CLK input by 2.
Select the comparison counter for Comparator 4 <set C4C0 and 41 (bits 25 &
[RENV4] (WRITE)
31 24
26) in RENV4>
- - - - - - n n
11: COUNTER4 (general-purpose).
[RENV4] (WRITE)
Select the comparison method for COUNTER4 <set C4S0 to CSS3 (bits 26 to
31 24
29) in RENV4>
- - n n n n - 1000: IDX output (regardless of count direction)
1001: IDX output (only while counting up)
1010: IDX output (only while counting down)
Select the IDX output mode <set IDXM (bit 23) in RENV4>
[RENV4] (WRITE)
23 16
0: Outputs an IDX signal while COUNTER4 = RCMP4.
1: Outputs an IDX signal for two CLK cycles when COUNTER4 reaches 0 by
n - - - - - - counting.
Note: While IDXM = 1, writing a "0" to COUNTER4 or resetting COUNTER4 will not output an IDX
signal. The setting in IDXM is only effective when C4S0 to C4S3 are set to 1000, 1001, or 1010
(synchronous signal output).
Output example 1: IDXM = 0: Level output
Regardless of the feed direction, the PCL will output the IDX signal using negative logic for the output
pulses. (Counting range: 0 to 4.)
Settings: RENV2 = D00002000h, RENV3 = 00000000h, RENV4 = 23000000h, RCMP4 = 4
Output example 2 (IDXM = 1: Count output)
Regardless of the feed direction, the PCL will output the IDX signal using negative logic for the output
pulses. Counting range 0 to 4.
Settings: RENV2 = 00002000h, RENV3 = 00000000h, RENV4 = 23800000h, RCMP4 = 4
- 124 -
11-11-5. Ring count function
COUNTER1 and 2 have a ring count function for use in controlling a rotating table.
Set C1PM = 1, C1S0 to 2 = 000, and C1C0 to 1 = 00 in RENV4 and COUNTER1 will be in the ring count
mode. Then the PCL can perform the following operations.
- Count value = Count up from the value in PCMP1 until reaching 0.
- Count value = Count down from 0 until the count equals the value in PCMP1.
Set C2PM = 1, C2S0 to 2 = 000, and C2C0 to 1 = 01 in RENV4 and COUNTER2 will be in the ring count
mode. Then the PCL can perform the following operations.
- Count value = Count up from the value in PCMP2 until reaching 0.
- Count value = Count down from 0 until the count equals the value in RCMP2.
Set COUNTER1 to ring counter operation <set C1RM, C1D0 to 1, C1S0 to 2, and
C1C0 to 1 in RENV4>
10000000: Operate COUNTER1 as a ring counter.
[RENV2]
(WRITE)
Set COUNTER2 to ring count operation <set C2RM, C2D0 to 1, C2C0 to 1 in
RENV4>
10000001: Operate COUNTER2 as a ring counter.
[RENV2]
(WRITE)
15
8
n n n n n n n n
Even if the value for PRMV outside the range of 0 to the value in RCMPn, the PCL will continue to
perform positioning operations.
When driving a rotating table with 3600 pulses per revolution, and when RCMP1 = 3599, MOD = 41h,
and RMV = 7200, the table will rotate twice and the value in COUNTER1, when stopped, will be the
same as the value before starting.
Note: To use the ring counter function, set the count value between 0 and the value in RCMPn. If the
value is outside the range above, the PCL will not operate normally. Set the comparator conditions
(C1S0 to 2, C2S0 to 2) when using a counter as a ring counter to "000."
Setting example
RENV4 = XXXXXX80h --- COUNTER1 is in ring counter mode (C1RM = 1, C1S0 to 2 = 000,
C1C0 to 1 = 00)
RCMP1 = 4 --- Count range: 0 to 4
- 125 -
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.
The backlash correction is performed each time the direction of operation changes. The slip correction
function is performed before a command, regardless of the feed direction. The correction amount and
method is specified in the RENV6 (environment setting 6) register.
The operation of the counter (COUNTER 1 to 4) can be set using the RENV3 (environment setting 3)
register.
Enter the correction value <BR0 to 11 (bits 0 to 11) in RENV6>
Backlash or slip correction amount value (0 to 4095)
Set the correction method <ADJ0 to 1 (bits 12 &13) in RENV6>
00: Turn the correction function OFF
01: Backlash correction
10: Slip correction
Action for backlash/slip correction <CU1B to 4B (bit 24 to 27) in RENV3>
CU1B (bit 16) = 1: Enable COUNTER1 (command position)
CU2B (bit 17) = 1: Enable COUNTER2 (mechanical position)
CU3B (bit 18) = 1: Enable COUNTER3 (deflection)
CU4B (bit 19) = 1: Enable COUNTER4 (general-purpose)
- 126 -
[RENV6] (WRITE)
15 8
- - - - n n n n
7 0
n n n n n n n n
[RENV6] (WRITE)
15 8
- - n n - - - [RENV3] (WRITE)
31
24
- - - 0 n n n n
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.
The dotted lines below are pulses added by the vibration restriction function. (An example in the positive
direction)
Positive pulses
Final pulse
Negative pulses
RT/2
RT
FT/2
FT
Specify the reverse operation timing <Set RT0 to 15 (bits 0 to 15) in RENV7>
RT range: 0 to 65,535
The units are 32x the reference clock frequency (approx. 1.6 µsec when CLK =
19,6608 MHz)
Settable range: 0 to approx. 0.1 sec.
[RENV7] (WRITE)
15
8
n n n n n n n n
7 0
n n n n n n n n
[RENV7] (WRITE)
31 24
n n n n n n n n
23 16
n n n n n n n n
Note: The optimum values for RT and FT will vary with each piece of machinery and load. Therefore, it is
best to obtain these values by experiment.
Specify the forward operation timing <Set FT0 to 15 (bits 16 to 31) in RENV7>
FT range: 0 to 65,535
The units are 32x the reference clock frequency (approx. 1.6 µsec when CLK =
19,6608 MHz)
Settable range: 0 to approx. 0.1 sec.
- 127 -
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 from another axis.
The internal synchronous signal output is available with 9 types of timing. They can be selected by
setting the RENV5 (environment setting 5) register. By setting the RIRQ (event interrupt cause) register,
an signal can be output at the same time the internal synchronous signal is output. You can
determine the cause of event interrupt by reading the RIST register. The operation status can be
checked by reading the RSTS (extension status) register.
Specify the synchronous starting method <Set MSY0 to 1 (bits 18 & 19) in PRMD> [RMD] (WRITE)
23 16
10: Start with an internal synchronous signal.
- - - - n n - - 11: Start triggered by another axis stopping.
Select an axis for confirming a stop (setting example) <Specify the axis using MAX0
to MAX3 (bits 20 to 23) in PRMD>
0001: Start when the X axis stops
0010: Start when the Y axis stops
0100: Start when the Z axis stops
1000: Start when the U axis stops
0011: Start when both the X and Y axes have stopped
0101: Start when both the X and Z axes have stopped
1011: Start when the X, Y, and U axes have all stopped
1111: Start when all of the axes have stopped
Select the synchronous starting mode <Set SMAX (bit 29) in RENV2>
0: PCL6045 compatible mode
1: PCL6045B mode
[RMD] (WRITE)
23
16
n n n n - - - Specify the internal synchronous signal output timing <Set SYO1 to 3 (bits 16 to 19)
in RENV5>
0001: When the Comparator 1 conditions are satisfied.
0010: When the Comparator 2 conditions are satisfied.
0011: When the Comparator 3 conditions are satisfied.
0100: When the Comparator 4 conditions are satisfied.
0101: When the Comparator 5 conditions are satisfied.
1000: When the acceleration is started.
1001: When the acceleration is complete.
1010: When the deceleration is started.
1011: When the acceleration is complete
Others: Internal synchronous output signal is OFF.
Specify the input for the internal synchronous signal <Set SYI0 to 1 (bits 20 & 21) in
RENV5>
00: Use an internal synchronous signal output by the X axis.
01: Use an internal synchronous signal output by the Y axis.
10: Use an internal synchronous signal output on the Z axis.
11: Use an internal synchronous signal output on the U axis.
Read the operation status <CND (bits 0 to 3) in RSTS>
0011: Wait for an internal synchronous signal.
0100: Wait for another axis to stop.
Select the event interrupt (
output) cause <Set bit 4 to 12 of RIRQ>
IRUS (bit 4) = 1: When the acceleration is started.
IRUE (bit 5) = 1: When the acceleration is complete.
IRUS (bit 6) = 1: When the acceleration is started.
IRUS (bit 7) = 1: When the deceleration is complete.
IRC1 (bit 8) = 1: When the Comparator 1 conditions are satisfied.
IRC2 (bit 9) = 1: When the Comparator 2 conditions are satisfied.
IRC3 (bit 10) = 1: When the Comparator 3 conditions are satisfied.
IRC4 (bit 11) = 1: When the Comparator 4 conditions are satisfied.
IRC5 (bit 12) = 1: When the Comparator 5 conditions are satisfied.
[RENV5] (WRITE)
23 16
- - - - n n n n
- 128 -
[RENV2] (WRITE)
31
24
- - n - - - - - [RENV5] (WRITE)
23 16
- - n n - - - - [RSTS] (READ)
7 0
- - - - n n n n
[RIRQ] (WRITE)
7 0
n n n n - - - 15 8
- - - n n n n n
output) cause <Bit 4 to 12 of RIST>
Read the event interrupt (
IRUS (bit 4) = 1: When the acceleration is started.
IRUS (bit 5) = 1: When the acceleration is complete.
IRUS (bit 6) = 1: When the deceleration is started.
IRUS (bit 7) = 1: When the deceleration is complete.
IRC1 (bit 8) = 1: When the Comparator 1 conditions are satisfied.
IRC2 (bit 9) = 1: When the Comparator 2 conditions are satisfied.
IRC3 (bit 10) = 1: When the Comparator 3 conditions are satisfied.
IRC4 (bit 11) = 1: When the Comparator 4 conditions are satisfied.
IRC5 (bit 12) = 1: When the Comparator 5 conditions are satisfied.
[RIST] (READ)
7 0
n n n n - - - 15 8
- - - n n n n n
11-14-1. Start triggered by another axis stopping
If the start condition is specified as a "Stop on two or more axes", when any of the specified axes stops
after operating, and the other axes never start (remain stopped), the axis which is supposed to start
when the conditions are met will start operation.
Example 1 below shows how to specify a "stop on two or more axes". In the example, while the X axis
(or Y axis) is working, the Y (or X) axis remains stopped. Then, the U axis starts operation when
triggered by the X (or Y) axis stopping.
[Example 1]
After setting steps 1) to 3), start and stop the Y axis and then the X axis will start.
1) Set MSY0 to 1 (bits 18 to 19) in PRMD for the U axis to "11." (Start triggered by another axis
stopping)
2) Set MAX0 to 1 (bits 20 to 23) in PRMD for the U axis to "0011." (When the Y axis and then the X
axis stops)
3) Write a start command for the U axis.
The "start when another axis stops" function has two operation modes: one is PCL6045 compatible and
the other is the PCL 6045B mode. Select the operation mode using SMAX in the RENV2 register. (When
SMAX = 0, the PCL6045 compatible mode is selected.)
[PCL6045 compatible mode]
In order to use "Another axis stops" as a start condition, the axis specifying this condition (X axis) must
be ready to start its process and then it can wait for the other axis to stop. At this point the other axis (the
Y axis) can be started and stopped.
For example, if the X and Y axes are performing circular interpolation, and if "All Y axes stop" is set as a
start condition in the pre-register for the next operation, when X an Y are "waiting for all axes to stop" (so
that they can start the linear interpolation at the end of the circular interpolation), since they are already
stopped the change "from operation to stop" will not occur while they are waiting. Therefore the X and Y
axes will never start the linear interpolation.
In other words, the working axis cannot be specified for the MAX setting to start itself.
[PCL6045B mode]
When "start when another axis stops" is specified as the start condition for the next operation in a
specific pre-register, the working axis can be called out in the MAX setting so that it starts itself on the
next operation at the end of a previous operation.
Example 1
Settings
Operation mode for the X axis in initial operation: MSY0 to 1 = 00, MAX0 to 3 = 0000
Operation mode calling for the X axis in the next operation: MSY0 to 1 = 11, MAX0 to 3 = 0011
Operation mode for the Y axis in initial operation: MSY0 to 1 = 00, MAX0 to 3 = 0000
Operation mode calling for the Y axis in the next operation: MSY0 to 1 = 11, MAX0 to 3 = 0011
(X axis positioning operation time) > (Y axis positioning operation time)
- 129 -
1) When the PCL6045 compatible mode (SMAX = 0) is selected
2) When the PCL6045B mode (SMAX = 1) is selected
When using continuous interpolation without changing the interpolation axes, you may set the next
operation in the pre-register (you don't need to specify any stop conditions) rather using the "start when
another axis stops" function. The settings are shown in Example 2 below.
The example below describes only the items related to the operations. The settings for speed and
acceleration are omitted.
[Setting example 2]
How to set up a continuous interpolation (X-Y axis circular interpolation followed by an X-Y axis linear
interpolation)
Step
Register
X axis
Y axis
Description
PRMV
10000
10000
X and Y axes perform an circular
o
PRIP
10000
0
interpolation operation of a 90 curve with a
1
radius of 10000
PRMD
0000_0064h
0000_0064h
2
Start command: Write 0351h (FH low speed start) X and Y axes start command
PRMV
10000
5000
X and Y axes perform a linear interpolation
with an end point (1000, 5000)
PRMD
0000_0061h
0000_0061h
Start command: Write 0351h (FH low speed start) X and Y axes start command
After the settings above are complete, the LSI will execute a continuous operation in the order shown
below.
o
1. The X and Y axes perform a CW circular interpolation operation of a 90 curve with a radius of
10000.
2. The X and Y axes perform a linear interpolation (10000, 5000)
Precautions are needed for continuous interpolation operations that change the axes subject to
interpolation using the pre-register function.
Basically, to change the axes subject to interpolation, enter dummy operation data for all the axes
(positioning operations with the feed amount set to 0), and then write the interpolation data for the new
axes subject to interpolation.
Note
When changing the interpolation axis, failure to enter dummy operation data for all the axes may cause a
continuous operation to stop or the interpolation operation may not stop when desired.
- 130 -
[Example 3 (PCL6045 compatible mode)]
How to perform continuous interpolation while changing the interpolation axes (moving from circular
interpsolation 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
Y axis
Z axis
Details
o
The X and Y axes make a 90 circular
PRMV
10000
10000
0
interpolation with a radius of 100000.
The Z axis is given a positioning operation with
PRIP
10000
0
0
feed amount of 0.
The X and Y axes start immediately. The Z axis
1
0000
0000
003C
PRMD
_0064h
_0064h
_0041h has nothing to do and waits for the X and Y
axes to stop.
Start command: Write 0751h (FH constant The X, Y, and Z axes Start command
speed start)
The X and Y axes perform linear interpolation 1,
PRMV
10000
5000
0
and the Z axis is given a positioning operation
with a feed amount of 0.
The X and Y axes wait for the Z axis to stop,
004C
004C
003C
2
PRMD
_0061h
_0061h
_0041h and the Z axis waits for the X and Y axes to
stop.
Start command: Write 0751h (FH constant The X, Y, and Z axes Start command
start)
X and Z axes perform linear interpolation 1.
(Previous
PRMV
10000
-5000
The X and Y axes wait for the Z axis to stop and
value)
the Z axis starts again, just like in continuous
004C
(Previous
0000
3
PRMD
operation.
_0061h
value)
_0061h
Start command: Write 0551h (FH constant The X and Z axes Start command (X, Z axes
start)
SPRF = 1).
Using the settings above, the PCL will perform steps 1 to 5 continuously.
o
1. Start a CW circular interpolation using a 90 angle and a radius 10000 on the X and Y axes.
2. After the X and Y axes stop, the Z axis positioning operation is complete (because the feed amount is
0).
3. Linear interpolation is performed on the X and Y axes (10000, 5000)
4. After the X and Y axes stop, the Z axis positioning operation is complete (because the feed amount is
0).
5. Linear interpolation is performed on the X and Z axes (10000, -5000).
Note: In STEP3 above, the value for the Y axis is left the same as in the previous step (STEP2), in order
not to start the Y axis.
- 131 -
[Example 4 (PCL6045B mode)]
How to perform continuous interpolation while changing the interpolation 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
Y axis
Z axis
Details
o
The X and Y axes perform a 90
circular
PRMV
10000
10000
0
interpolation with a radius of 10000.
The Z axis is given a positioning operation with a
PRIP
10000
0
0
feed amount of 0.
1
0000
0000
0000
The X, Y, and Z axes start.
PRMD
_0064h
_0064h
_0041h
Start command: Write 0751h (FH constant The X, Y, and Z axes Start command
speed start)
The X and Y axes perform linear interpolation.
PRMV
10000
5000
0
The Z axis is given a positioning operation with a
feed amount of 0.
007C
007C
007C
The X, Y, and Z axes wait for the X, Y, and Z
2
PRMD
_0061h
_0061h
_0041h
axes to stop.
Start command: Write 0751h (FH constant The X, Y, and Z axes Start command
start)
Since the axes subject to interpolation are
PRMV
0
0
0
changed, all of the axes are given a dummy
operation.
007C
007C
007C
The X, Y, and Z axes wait for the X, Y, and Z
3
PRMD
_0041h
_0041h
_0041h axes to stop
Start command: Write 0751h (FH constant The X, Y, and Z axes Start command
start)
The X and Z axes perform linear interpolation.
PRMV
10000
0
-5000
The Y axis is given a positioning operation with a
feed amount of 0.
007C
007C
007C
The X, Y, and Z axes wait for the X, Y, and Z
4
PRMD
_0061h
_0041h
_0061h axes to stop
Start command: Write 0751h (FH constant X, Y, and Z axis start command.
start)
Using the settings above, the PCL will perform steps 1 to 3 continuously. (Specify STEP4 after STEP1 is
complete)
o
1. Start a CW circular interpolation of 90 with a radius of 10000 on the X and Y axes. The Z axis
performs a positioning operation with a feed amount of 0.
2. The X and Y axes perform a linear interpolation operation (10000, 5000). The Z axis performs a
positioning operation with a feed amount of 0.
3. The X and Z axes perform a linear interpolation operation (10000, -5000). The Y axis performs a
positioning operation with a feed amount of 0.
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
f
externally.
Y axis
Example 1 below shows how to use the end of an acceleration for the
FH
internal synchronous signal.
Acceleration
FL
Complete
[Setting example 1]
After completing steps 1) to 3) below, write a start command to the X
and Y axes, the X axis will start when the Y axis completes its
f
X axis
acceleration.
FH
1) Set MSY0 to 1 (bits 18 &19) in the X axis RMD to 10. (Start
with an internal synchronous signal)
FL
2) Set SYI0 to 1 (bits 20 & 21) in the X axis to 01. (Use an
- 132 -
internal synchronous signal from the Y axis.)
3) Set SYO0 to 3 (bits 16 to 19) in the Y axis RENV5 to 1001.
(Output an internal synchronous signal when the acceleration
is complete)
Example 2 shows how to start another axis using the satisfaction of the comparator conditions to
generate an internal synchronous signal.
Be careful, since comparator conditions satisfied by timing and the timing of the start of another axis may
be different according to the comparison method used by the comparators.
[Example 2]
Use COUNTER1 (command position) and Comparator 1 to start the X axis when the Y axis = 1000.
1) Set MSY0 to 1 (bits 18 & 19) in the Y axis RMD to 10. (Start from an internal synchronous signal)
2) Set SYI0 to 1 (bits 20 & 21) in the X axis RENV5 to 01. (Use an internal synchronous signal from
the Y axis)
3) Set SYO0 to 3 (bits 16 to 19) in the Y axis RENV5 to 0001. (Output an internal synchronous signal
when the Comparator 1 conditions are satisfied)
4) Set C1C0 to 1 (bits 0 & 1) in the Y axis RENV4 to 00. (Comparator 1 comparison counter is
COUNTER1)
5) Set C1S0 to 2 (bits 2 to 4) in the Y axis RENV4 to 001. (Comparison method: Comparator 1 =
Comparison counter)
6) Set C1D0 to 1 (bits 5 & 6) in the Y axis RENV4 to 00. (Do nothing when the Comparator 1
condition are satisfied)
7) Set the RCMP1 value of the Y axis to 1000. (Comparison counter value of Comparator 1 is 1000.)
8) Write start commands for the X and Y axes.
The timing chart below shows the period after the Comparator 1 conditions are established and the X
axis starts.
Note: In the example above, even if the Y feed amount is set to 2000 and the X feed amount is set to
1000, the X axis will be 1 when the Y axis position equals 1000. Therefore, the operation complete
position will be one pulse off for both the X and Y axes. In order to make the operation complete
timing the same, set the RCMP1 value to 1001 or set the comparison conditions to "Comparator 1
< comparison counter."
Specify the use of the P0/FUP terminal <Set P0M0 to 1 (bits 0 & 1) in RENV2>
10: Output an FUP (accelerating) signal
[RENV2] (WRITE)
7 0
- - - - - - n n
Specify the use of the P1/FDW terminal <Set P1M0 to 1 (bits 2 & 3) in RENV2>
10: Output an FDW (decelerating) signal
[RENV2] (WRITE)
7 0
- - - - n n - Select the output logic for P0 (one shot) / FUP <Set P0L (bit 16) in RENV2>
0: Negative logic
1: Positive logic
[RENV2] (WRITE)
23 16
- - - - 0 0 - n - 133 -
Select the output logic for P1 (one shot) / FDW <Set P1L (bit 17) in RENV2>
0: Negative logic
1: Positive logic
[RENV2] (WRITE)
23 16
- - - - 0 0 n - Specify the use of the P3/CP1 (+SL) terminal <Set P3M0 to 1 (bits 6 & 7) in
RENV2>
10: Output CP1 (Comparator 1 conditions are satisfied) using negative logic.
11: Output CP1 (Comparator 1 conditions are satisfied) using positive logic.
Specify the use of the P4/CP2 (-SL) terminal <Set P4M0 to 1 (bits 8 & 9) in
RENV2>
10: Output CP2 (Comparator 2 conditions are satisfied) using negative logic.
11: Output CP2 (Comparator 2 conditions are satisfied) using positive logic.
Specify the use of the P5/CP3 terminal <Set P5M0 to 1 (bits 10 & 11) in RENV2>
10: Output CP3 (Comparator 3 conditions are satisfied) using negative logic.
11: Output CP3 (Comparator 3 conditions are satisfied) using positive logic.
Specify the use of the P6/CP4 terminal <Set P6M0 to 1 (bits 12 & 13) in RENV2>
10: Output CP4 (Comparator 4 conditions are satisfied) using negative logic.
11: Output CP4 (Comparator 4 conditions are satisfied) using positive logic.
[RENV2] (WRITE)
7 0
n n - - - - - [RENV2] (WRITE)
15 8
- - - - - - n n
[RENV2] (WRITE)
15 8
- - - - n n - [RENV2] (WRITE)
15 8
- - n n - - - Specify the use of the P7/CP5 terminal <Set P7M0 to 1 (bits 14 & 15) in RENV2> [RENV2] (WRITE)
15 8
10: Output CP5 (Comparator 5 conditions are satisfied) using negative logic.
n n - - - - 11: Output CP5 (Comparator 5 conditions are satisfied) using positive logic.
- 134 -
11-15. Output an interrupt signal
This LSI can output an interrupt signal (
signal) : There are 17 types of errors, 19 types of events, and
change from operating to stop that can cause an signal to be output . All of the error causes will
always output an signal. Each of the event causes can be set in the RIRQ register to output an signal or not.
A stop interrupt is a simple interrupt function which produces an interrupt separate from a normal stop or
error stop.
For a normal stop interrupt to be issued, the confirmation process reads the RIST register as described
in the Cause of an Event section. If your system needs to provide a stop interrupt whenever a stop
occurs, it is easy to use the stop interrupt function.
To approximate a free curve interpolation using multiple linear interpolation operations, event interrupts
will be generated at the end of each linear interpolation. When using the stop interrupt, set MENI = 1 in
the RMD register. You can set it to not output an signal if there is data for the next operation.
The signal is output continuously until all the causes on all the axes that produced interrupts have
been cleared. An interrupt caused by an error is cleared by writing a "REST (error cause) register read
command." An interrupt caused by an event is cleared by writing a "RIST (event cause) register read
command." A Stop interrupt is cleared by writing to the main status.
To determine which type of interrupt occurred, on which axis and the cause of the interrupt, follow the
procedures below.
1) Read the main status of the X axis and check whether bits 2, 4, or 5 is "1."
2) If bit 2 (SENI) is "1," a Stop interrupt occurs.
3) If bit 4 (SERR) is "1," read the RESET register to identify the cause of the interrupt.
4) If bit 5 (SINT) is "1," read the RIST register to identify the cause of the interrupt.
5) Repeat steps 1) to 4) above for the Y, Z, and U axes.
The steps above will allow you to evaluate the cause of the interrupt and turn the output OFF.
Note 1: When reading a register from the interrupt routine, the details of the input/output buffer will
signal is output while the main routine is reading or writing registers, and the
change. If the interrupt routine starts, the main routine may produce an error. Therefore, the interrupt routine
should execute a PUSH/POP on input/output buffer.
Note 2: While processing all axes in steps 1) to 4) above, it is possible that another interrupt may
occur on an axis whose process has completed. In this case, if the CPU interrupts reception
mode, and is set for edge triggering, the PCL will latch the output ON and it will not allow a
new interrupt to interfere. Therefore, make sure that after you have reset the interrupt reception
status the CPU reads main status of all the axes again. Also, make sure there is no signal
output from the PCL. Then, end the interrupt routine.
terminal, leave it open.
Note 3: When not using the When using more than one PCL, the terminals cannot be wired ORed.
The signal output can be masked by setting the RENV1 (environment setting 1) register.
If the output is masked (INTM = 1 in RENV1), and when the interrupt conditions are satisfied, the
status will change. However, the signal will not go LOW, but will remain HIGH.
While the interrupt conditions are satisfied and if the output mask is turned OFF (INTM = 0 in RENV1),
the signal will go LOW.
- 135 -
Read the interrupt status <SENI(bit2), SERR (bit 4), SINT (bit 5) in MSTSW>
SENI = 1: When IEND = 1 and a stop interrupt occurs, make this bit 1.
After reading MSTS, it will become 0.
SERR = 1: Becomes 1 when an error interrupt occurs. Becomes 0 by reading
REST.
SINT = 1: Becomes 1 when an event interrupt occurs. Becomes 0 by reading
RIST.
Set the interrupt mask <INTM (bit 29) in RENV1>
1: Mask INT output.
Setting a stop interrupt <IEDN (bit 27) in RENV2>
1: Enable a stop interrupt.
[MSTSW] (READ)
7
0
- - n n - n - -
[RENV1] (WRITE)
31 24
- - n - - - - [RENV2] (WRITE)
31 24
- - - - n - - -
Select the stop interrupt mode <MENI (bit 7) of PRMD>
[PRMD] (WRITE)
1: When there is data for the next operation in the pre-register, the PCL will not 7
0
output a stop interrupt.
n - - - - - - Read the cause of the error interrupt <RREST: Read out command>
[Read command]
Copy the data in the RESET register (error interrupt cause) to BUF.
F2h
Read the event interrupt cause <RRIST: Read out command>
[Read command]
Copy the data in the RIST register (event interrupt cause) to BUF.
F3h
Set the event interrupt cause <WRIRQ: Write command>
[Write command]
Write the BUF data to the RIRQ register (event interrupt cause).
ACh
Operation example in which MENI is set
This is operation is used to write data for the next operation and the operation after that when starting.
1) When IEND = 1 and MENI = 0
2) When IEND = 1 and MENI = 1
Note: Even if IEND = 1 and MENI = 1, if no pre-register has been specified (a Start command has not
been written yet), the PCL will output an interrupt signal.
- 136 -
[Error interrupt causes] <Detail of REST: The cause of an interrupt makes the corresponding bit "1">
Cause (REST)
Error interrupt cause
Bit
Bit name
Stopped by Comparator 1 conditions being satisfied (+SL)
0
ESC1
Stopped by Comparator 2 conditions being satisfied (-SL)
1
ESC2
Stopped by Comparator 3 conditions being satisfied
2
ESC3
Stopped by Comparator 4 conditions being satisfied
3
ESC4
Stopped by Comparator 5 conditions being satisfied
4
ESC5
Stopped by turning ON the +EL input
5
ESPL
Stopped by turning ON the -EL input
6
ESML
Stopped by turning ON the ALM input
7
ESAL
Stopped by turning ON the input
8
ESSP
Stopped by turning ON the input
9
ESEM
Deceleration stopped by turning ON the SD input
10
ESSD
(Always 0)
11
Not defined
Stopped by an operation data error.
12
ESDT
Simultaneously stopped with another axis due to an error stop on the
13
ESIP
other axis during an interpolation operation
Stopped by an overflow of PA/PB input buffer counter occurrence
14
ESPO
Stopped by an over range count occurrence while positioning in an
15
ESAO
interpolation operation
An EA/EB input error occurred (does not stop).
16
ESEE
An PA/PB input error occurred (does not stop).
17
ESPE
[Event interrupt causes] < The corresponding interrupt bit is set to 1 and then an interrupt occurred>
Set cause (RIRQ) Cause (RIST)
Event interrupt cause
Bit
Bit name Bit Bit name
Automatic stop
0
IREN
0
ISEN
The next operation starts continuously
1
IRNX
1
ISNX
When it is possible to write an operation to the 2nd pre-register
2
IRNM
2
ISNM
When it is possible to write to the 2nd pre-register for Comparator
3
IRND
3
ISND
5
When acceleration starts
4
IRUS
4
ISUS
When acceleration ends
5
IRUE
5
ISUE
When deceleration starts
6
IRDS
6
ISDS
When deceleration ends
7
IRDE
7
ISDE
When the Comparator 1 conditions are satisfied
8
IRC1
8
ISC1
When the Comparator 2 conditions are satisfied
9
IRC2
9
ISC2
When the Comparator 3 conditions are satisfied
10
IRC3
10
ISC3
When the Comparator 4 conditions are satisfied
11
IRC4
11
ISC4
When the Comparator 5 conditions are satisfied
12
IRC5
12
ISC5
When the counter value is reset by a CLR signal input
13
IRCL
13
ISCL
When the counter value is latched by an LTC input
14
IRLT
14
ISLT
When the counter value is latched by an ORG input
15
IROL
15
ISOL
When the SD input is turned ON
16
IRSD
16
ISSD
When the +DR input changes
17
ISPD
17
IRDR
When the -DR input changes
18
ISMD
When the input is turned ON
18
IRSA
19
ISSA
- 137 -
12. Electrical Characteristics
12-1. Absolute maximum ratings
Item
Power supply voltage
Input voltage
Input current
Storage temperature
Symbol
Vdd5
Vdd3
VIN
IIN
Tstg
Rating
-0.3 to +6.0
-0.3 to +4.5
-0.3 to Vdd5 +0.3
±10
-40 to +125
Unit
V
V
mA
˚C
12-2. Recommended operating conditions
Item
Power supply voltage
Ambient temperature
Symbol
Vdd5
Vdd3
T J
Rating
4.5 to 5.5
3.0 to 3.6
-40 to +70
- 138 -
Unit
V
˚C
12-3. DC characteristics
Item
Current consumption
Symbol
Idd5
Idd3
Output leakage current
Input capacitance
LOW input current
IOZ
HIGH input current
IIH
LOW input current
VIL
VOL
HIGH output voltage
VOH
LOW output current
HIGH output current
Internal pull up resistance
IOL
IOH
RUP
120
Inputs and input/output terminals, except
CLK.
CLK terminal
Inputs and input/output terminals, except
CLK.
CLK terminal
IOL = 1 uA
IOL = 8 mA
IOH = -1 uA
IOH = -8 mA
VOL = 0.4 V
VOH = 2.4 V
TCKH
Symbol
fCLK
TCLK
TCKH
TCKL
-200
-10
-10
10
10
µA
µA
0.8
V
1.0
V
2.0
V
4.0
Vdd5-0.05
2.4
8
-8
25
Min.
50
20
20
TCKL
CLK
TCLK
- 139 -
Max.
20
mA
µA
pF
µA
0.05
0.4
Condition
Unit
10
5.6
10
12-4. AC characteristics 1) (reference clock)
Item
Reference clock frequency
Reference clock cycle
Reference clock HIGH width
Reference clock LOW width
Max.
7
Input and input/output terminals, other
than CLK.
CLK terminal
VIH
LOW output voltage
Min.
-10
IIL
HIGH input current
Condition
CLK = 20 MHz,
Output frequency = 6.666667 MHz, No
load
Unit
MHz
ns
ns
ns
500
V
V
V
V
V
mA
mA
K-ohm
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 ↓
TAR
29
ns
Address setup time for ↓
TAW
17
ns
Address hold time for , ↑
TRWA
0
ns
TCSR
setup time for ↓
20
ns
setup time for ↓
TCSW
8
ns
hold time for , ↑
TRWCS
0
ns
ON delay time for ↓
TCSWT
CL = 40pF
25
ns
signal LOW time
TWAIT
4TCLK
ns
Data output delay time for ↓
TRDLD
CL = 40pF
25
ns
Data output delay time for ↑
TWTHD
CL = 40pF
15
ns
Data float delay time for ↑
TRDHD
CL = 40pF
12
ns
signal width
TWR
Note 1
10
ns
Data setup time for ↑
TDWR
14
ns
Data hold time for ↑
TWRD
0
ns
Note 1: When a signal is output, the duration will be the interval between = H and <Read cycle>
<Write cycle>
- 140 -
= H.
12-5-2. CPU-I/F 2) (IF1 = H, IF0 = L) 8086
Item
Symbol
Condition
Min.
Max.
Unit
Address setup time for ↓
TAR
28
ns
Address setup time for ↓
TAW
17
ns
Address hold time for , ↑
TRWA
0
ns
TCSR
setup time for ↓
19
ns
setup time for ↓
TCSW
8
ns
hold time for , ↑
TRWCS
0
ns
ON delay time for ↓
TCSWT
CL = 40pF
25
ns
signal LOW time
TWAIT
4TCLK
ns
Data output delay time for ↓
TRDLD
CL = 40pF
30
ns
Data output delay time for ↑
TWTHD
CL = 40pF
13
ns
Data float delay time for ↑
TRDHD
CL = 40pF
16
ns
signal width
TWR
Note 1
10
ns
Data setup time for ↓
TDWR
14
ns
Data hold time for ↑
TWRD
0
ns
Note 1: When a signal is output, the duration will be the interval between = H and <Read cycle>
<Write cycle>
- 141 -
= H.
12-5-3. CPU-I/F 3) (IF1 = L, IF0 = L) H8
Item
Symbol
Condition
Min.
Max.
Unit
Address setup time for ↓
TAR
29
ns
Address setup time for ↓
TAW
13
ns
Address hold time for , ↑
TRWA
0
ns
TCSR
setup time for ↓
20
ns
setup time for ↓
TCSW
9
ns
hold time for , ↑
TRWCS
0
ns
ON delay time for ↓
TCSWT
CL = 40pF
25
ns
signal LOW time
TWAIT
4TCLK
ns
Data output delay time for ↓
TRDLD
CL = 40pF
30
ns
Data output delay time for ↑
TWTHD
CL = 40pF
13
ns
Data float delay time for ↑
TRDHD
CL = 40pF
16
ns
signal width
TWR
Note 1
10
ns
Data setup time for ↓
TDWR
12
ns
Data hold time for ↑
TWRD
0
ns
Note 1: When a signal is output, the duration will be the interval between = H and <Read cycle>
<Write cycle>
- 142 -
= H.
12-5-4. CPU-I/F 4) (IF1 = L, IF0 = L) 68000
Item
Address setup time for ↓
Address hold time for ↑
CS setup time for ↓
CS hold time for ↑
R/ setup time for ↓
R/ hold time for ↑
ON delay time for OFF delay time for ↓
↑
Data output advance time for Data float delay time for ↑
Data setup time for ↑
Data hold time for ↓
↓
Symbol
TAS
TSA
TCSS
TSCS
TRWS
TSRW
TSLAKR
TSLAKW
TSHAKR
TSHAKW
TDAKLR
TSHD
TDSL
TAKDH
Condition
CL = 40pF
CL = 40pF
CL = 40pF
CL = 40pF
CL = 40pF
CL = 40pF
Min.
19
0
11
0
3
3
1TCLK
1TCLK
Max.
4TCLK+29
4TCLK+29
18
18
1TCLK
16
13
0
<Read cycle>
A1 to A3
TAS
TSA
CS
TCSS
TSCS
TRWS
TSRW
LS(A0)
R/W(WR)
TSLAKR
TSHAKR
ACK(WRQ)
TDAKLR
TSHD
D0 to D15
<Write cycle>
A1 to A3
TAS
TSA
CS
TCSS
TSCS
TRWS
TSRW
LS(A0)
R/W(WR)
TSLAKW
TSHAKW
ACK(WRQ)
TDSL
D0 to D15
- 143 -
TAKDH
Unit
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
12-6. Operation timing
Item
input signal width
CLR input signal width
EA, EB input signal width
EZ input signal width
PA, PB input signal width
ALM input signal width
INP input signal width
ERC output signal width
Symbol
Note 1
TEAB
TPAB
+EL, -EL input signal width
SD input signal width
ORG input signal width
+DR, -DR input signal width
input signal width
PCS input signal width
LTC input signal width
Output
signal width
Input signal
width
Output
signal width
Input signal
width
signal ON delay time
Start delay time
Condition
Note 2
Note 2
Note 3
Note 4
Note 4
RENV1 bit 12 to 14 = 000
RENV1 bit 12 to 14 = 001
RENV1 bit 12 to 14 = 010
RENV1 bit 12 to 14 = 011
RENV1 bit 12 to 14 = 100
RENV1 bit 12 to 14 = 101
RENV1 bit 12 to 14 = 110
RENV1 bit 12 to 14 = 111
Note 4
Note 4
Note 4
Note 5
Note 5
TCMDBSY
TSTABSY
TCMDPLS
TSTAPLS
Min.
10TCLK
2TCLK
1TCLK (3TCLK)
1TCLK (3TCLK)
1TCLK (3TCLK)
2TCLK
2TCLK
254TCLK
254 x 8TCLK
254 x 32TCLK
254 x 128TCLK
254 x 1024TCLK
254 x 4096TCLK
254 x 8192TCLK
LEVEL output
2TCLK
2TCLK
2TCLK
2TCLK
2TCLK
2TCLK
2TCLK
Max.
255TCLK
255 x 8TCLK
255 x 32TCLK
255 x 128TCLK
255 x 1024TCLK
255 x 4096TCLK
255 x 8192TCLK
Unit
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
8TCLK
ns
5TCLK
ns
8TCLK
ns
5TCLK
ns
5TCLK
7TCLK
15TCLK
17TCLK
ns
ns
ns
ns
Note 1: The actual CLK input signal is 10 cycles longer while the terminal is LOW.
Note 2: If the input filter is ON < FLTR (bit 18) = 1 in RENV2 >, the minimum time will be 3TCLK.
Note 3: If the input filter is ON < DRF (bit 19) = 1 in RENV2 >, the minimum time will be 3TCLK.
Note 2: If the input filter is ON < FLTR (bit 26) = 1 in RENV1 >, the minimum time will be 80TCLK.
Note 3: If the input filter is ON < DRF (bit 27) = 1 in RENV1 >, the minimum time will be 655,360TCLK.
- 144 -
1) When the EA, EB inputs are in the 2-pulse mode
TEAB
TEAB
TEAB
EA
TEAB
TEAB
TEAB
TEAB
TPAB
TPAB
EB
o
2) When the EA, EB inputs are in the 90 phase-difference mode
EA
TEAB
TEAB
TEAB
TEAB
EB
3) When the PA, PB inputs are in the 2-pulse mode
TPAB
TPAB
TPAB
PA
TPAB
TPAB
PB
o
4) When the PA, PB inputs are in the 90 phase-difference mode
PA
TPAB
TPAB
TPAB
TPAB
PB
5) Timing for the command mode (when I/M = H, and B/ = H)
A start command is written
WR
TCMDBSY
BSY
TCMDPLS
OUT
Initial output pulse
6) Simultaneous start timing
CSTA
TSTABSY
BSY
TSTAPLS
OUT
Initial output pulse
- 145 -
13. External Dimensions
- 146 -
Appendix: List of various items
Appendix 1: List of commands
<Operation commands>
COMB0 Symbol
Description
05h
CMEMG Emergency stop
output (simultaneous
06h
CMSTA
start)
output (simultaneous
07h
CMSTP
stop)
Immediate change to FL low
40h
FCHGL
speed
Immediate change to FH low
41h
FCHGH
speed
COMB0 Symbol
Description
50h
STAFL FL low speed start
51h
STAFH FH low speed start
52h
STAD
53h
STAUD
54h
CNTFL
42h
FSCHL Decelerate to FL speed
55h
CNTFH
43h
FSCHH Accelerate to FH speed
56h
CNTD
57h
CNTUD
49h
STOP Immediate stop
4Ah
SDSTP Deceleration stop
High speed start 1 (FH low speed ->
Deceleration stop)
High speed start 2 (acceleration -> FH
low speed -> deceleration)
FL low speed start for remaining
number of pulses
FH low speed start for remaining
number of pulses
High speed start 1 for remaining
number of pulses
High speed start 2 for remaining
number of pulses
< General-purpose port control commands>
COMB0 Symbol
Description
10h
P0RST Set the P0 terminal LOW
11h
P1RST Set the P1 terminal LOW
12h
P2RST Set the P2 terminal LOW
13h
P3RST Set the P3 terminal LOW
14h
P4RST Set the P4 terminal LOW
15h
P5RST Set the P5 terminal LOW
16h
P6RST Set the P6 terminal LOW
17h
P7RST Set the P7 terminal LOW
COMB0
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh
Symbol
P0SET
P1SET
P2SET
P3SET
P4SET
P5SET
P6SET
P7SET
Description
Set the P0 terminal HIGH
Set the P1 terminal HIGH
Set the P2 terminal HIGH
Set the P3 terminal HIGH
Set the P4 terminal HIGH
Set the P5 terminal HIGH
Set the P6 terminal HIGH
Set the P7 terminal HIGH
<Control commands>
COMB0
00h
04h
20h
21h
22h
23h
24h
25h
Symbol
Description
COMB0
NOP
26h
(Invalid command)
SRST Software reset
27h
Reset COUNTER1 (command
CUN1R
28h
position)
Reset COUNTER2
CUN2R
29h
(mechanical position)
Reset COUNTER3 (deflection
CUN3R
2Ah
counter)
Reset COUNTER4 (generalCUN4R
2Bh
purpose)
ERCOUT Output an ERC signal
2Ch
ERCRS
Reset the ERC signal
4Fh
- 147 -
Symbol
Description
PRECAN Clear the operation pre-register
PCPCAN Clear the RCMP5 pre-register
STAON Substitute PCS input
LTCH
SPSTA
Substitute LTC input
Uses the same process as the input, but for this axis
PRESHF Shift the operation pre-register data
PCPSHF Shift the RCMP5 pre-register
PRSET
Set the speed change data in the
working pre-register.
<Register control commands>
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
Description
Number of feed pulses /
target position
Initial speed
Operation speed
Acceleration rate
Deceleration rate
Speed magnification rate
Ramping-down point
Operation mode
Circular interpolation center
S-curve range while
accelerating
S-curve range while
decelerating
Feed speed to correct feed
distance
Environment setting 1
Environment setting 2
Environment setting 3
Environment setting 4
Environment setting 5
Environment setting 6
Environment setting 7
COUNTER1 (command
position)
COUNTER2 (mechanical
position)
COUNTER3 (deflection
counter)
COUNTER4 (generalpurpose)
Comparator 1 data
Comparator 2 data
Comparator 3 data
Comparator 4 data
Comparator 5 data
Enable various event
interrupts (INTs)
COUNTER1 latch data
COUNTER2 latch data
COUNTER3 latch data
COUNTER4 latch data
Extension status
Error INT status
Event INT status
Positioning counter
EZ counter, speed monitor
Ramping-down point
Number of steps for circular
interpolation
Counter of steps for circular
interpolation
Interpolation status
Register
Read command
Name
COMB0
Symbol
Write command
COMB0
Symbol
Name
2nd pre-register
Read command
Write command
COM
COMB0
Symbol
Symbol
B0
RMV
D0h
RRMV
90h
WRMV
PRMV
C0h
RPRMV
80h
WPRMV
RFL
RFH
RUR
RDR
RMG
RDP
RMD
RIP
D1h
D2h
D3h
D4h
D5h
D6h
D7h
D8h
RRFL
RRFH
RRUR
RRDR
RRMG
RRDP
RRMD
RRIP
91h
92h
93h
94h
95h
96h
97h
98h
WRFL
WRFH
WRUR
WRDR
WRMG
WRDP
WRMD
WRIP
PRFL
PRFH
PRUR
PRDR
PRMG
PRDP
PRMD
PRIP
C1h
C2h
C3h
C4h
C5h
C6h
C7h
C8h
RPRFL
RPRFH
RPRUR
RPRDR
RPRMG
RPRDP
RPRMD
RPRIP
81h
82h
83h
84h
85h
86h
87h
88h
WPRFL
WPRFH
WPRUR
WPRDR
WPRMG
WPRDP
WPRMD
WPRIP
RUS
D9h
RRUS
99h
WRUS
PRUS
C9h
RPRUS
89h
WPRUS
RDS
DAh
RRDS
9Ah
WRDS
PRDS
CAh
RPRDS
8Ah
WPRDS
RFA
DBh
RRFA
9Bh
WRFA
RENV1
RENV2
RENV3
RENV4
RENV5
RENV6
RENV7
DCh
DDh
DEh
DFh
E0h
E1h
E2h
RRENV1
RRENV2
RRENV3
RRENV4
RRENV5
RRENV6
RRENV7
9Ch
9Dh
9Eh
9Fh
A0h
A1h
A2h
WRENV1
WRENV2
WRENV3
WRENV4
WRENV5
WRENV6
WRENV7
RCUN1 E3h
RRCUN1
A3h
WRCUN1
RCUN2 E4h
RRCUN2
A4h
WRCUN2
RCUN3 E5h
RRCUN3
A5h
WRCUN3
RCUN4 E6h
RRCUN4
A6h
WRCUN4
RCMP1
RCMP2
RCMP3
RCMP4
RCMP5
E7h
E8h
E9h
EAh
EBh
RRCMP1
RRCMP2
RRCMP3
RRCMP4
RRCMP5
A7h
A8h
A9h
AAh
ABh
WRCMP1
WRCMP2
WRCMP3
WRCMP4
WRCMP5 PRCP5
CBh
RPRCP5
8Bh
WPRCP5
RIRQ
ECh
RRIRQ
ACh
WRIRQ
RLTC1
RLTC2
RLTC3
RLTC4
RSTS
REST
RIST
RPLS
RSPD
RSDC
EDh
EEh
EFh
F0h
F1h
F2h
F3h
F4h
F5h
F6h
RRLTC1
RRLTC2
RRLTC3
RRLTC4
RRSTS
RREST
RRIST
RRPLS
RRSPD
RRSDC
RCI
FCh
RRCI
BCh
WRCI
CCh
RPRCI
8Ch
WPRCI
RCIC
FDh
RRCIC
RIPS
FFh
RRIPS
- 148 -
PRCI
Appendix 2: Setting speed pattern
Preregister
Description
Bit length
setting range
PRMV
Positioning amount
28
PRFL
PRFH
PRUR
PRDR
PRMG
PRDP
PRUS
PRDS
Initial speed (FL speed)
Operation speed (FH speed)
Acceleration rate
Deceleration rate Note 1
Speed magnification rate
Ramping-down point
S-curve acceleration range
S-curve deceleration range
16
16
16
16
12
24
15
15
Setting range
Register
-134,217,728 to 134,217,727
(8000000h) (7FFFFFFh)
1 to 65,535 (0FFFFh)
1 to 65,535 (0FFFFh)
1 to 65,535 (0FFFFh)
0 to 65,535 (0FFFFh)
2 to 4,095 (0FFFh)
0 to 16,777,215 (0FFFFFFh)
0 to 32,767 (7FFFh)
0 to 32,767 (7FFFh)
RMV
RFL
RFH
RUR
RDR
RMG
RDP
RUS
RDS
Note 1: If RDR is set to zero, the deceleration rate will be the value set in the RUR.
[Relative position of each register setting for acceleration and deceleration factors]
♦ PRFL: FL speed setting register (16-bit)
Specify the speed for FL low speed operations and the start speed for high speed operations
(acceleration/deceleration operations) in the range of 1 to 65,535 (0FFFFh).
The speed will be calculated from the value in PRMG.
Reference clock frequency [Hz]
FL speed [pps] = PRFL x
(PRMG + 1) x 65536
♦ PRFH: FH speed setting register (16-bit)
Specify the speed for FH low speed operations and the start speed for high speed operations
(acceleration/deceleration operations) in the range of 1 to 65,535 (0FFFFh).
When used for high speed operations (acceleration/deceleration operations), specify a value larger
than RFL.
The speed will be calculated from the value placed in PRMG.
Reference clock frequency [Hz]
FH speed [pps] = PRFH x
(PRMG + 1) x 65536
- 149 -
♦ 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 (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
2) S-curve without a linear range (MSMD=1 in the PRMD register and PRUS register =0)
(PRFH - PRFL) x (PRUR + 1) x 8
Acceleration time [s] =
Reference clock frequency [Hz]
3) S-curve with a linear range (MSMD = 1 in the PRMD register and PRUS register >0)
(PRFH - PRFL + 2 x PRUS) x (PRUR + 1) x 4
Acceleration time [s] =
Reference clock frequency [Hz]
♦ PRDR: Deceleration rate setting register (16-bit)
Normally, specify the deceleration characteristics for high speed operations (acceleration
/deceleration operations) in the range of 1 to 65,535 (0FFFFh).
Even if the ramping-down point is set to automatic (MSDP = 0 in the PRMD register), the value
placed in the PRDR register will be used as the deceleration rate.
However, when PRDR = 0, the deceleration rate will be the value placed in the PRUR.
When the ramping-down point is set automatically, the following limitations are applied.
- While in the Linear interpolation 1 or circular interpolation, and when the synthetic speed constant
control function is applied (MIPF = 1 in the PRMD), arrange that (deceleration time) =
(acceleration).
- For other cases, arrange that (deceleration time) > (acceleration time x 2)
Setting exceeding the above limitations may not decrease the speed to the specified FL speed when
stopping. In this case, use a manual ramping-down point (MSDP = 1 in the PRMD register).
The relationship between the value entered and the deceleration time is as follows.
1) Linear deceleration (MSMD = 0 in the PRMD register)
(PRFH - PRFL) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
2) S-curve deceleration without a linear range (MSMD=1 in the PRMD register and PRDS register = 0)
(PRFH - PRFL) x (PRDR + 1) x 8
Deceleration time [s] =
Reference clock frequency [Hz]
3) S-curve deceleration with a linear range (MSMD=1 in the PRMD register and PRDS register > 0)
(PRFH - PRFL + 2 x PRDS) x (PRDR + 1) x 4
Deceleration time [s] =
Reference clock frequency [Hz]
♦ 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.
The relationship between the value entered and the magnification rate is as follows.
Reference clock frequency [Hz]
Magnification rate =
(PRMG + 1) x 65536
- 150 -
[Magnification rate setting example, when the reference clock =19.6608 MHz] (Output speed unit: pps)
Magnification
Magnification
Setting
Output speed range
Setting
Output speed range
rate
rate
2999 (0BB7h)
0.1
0.1 to 6,553.5
59 (3Bh)
5
5 to 327,675
1499 (5DBh)
0.2
0.2 to 13,107.0
29 (1Dh)
10
10 to 655,350
599 (257h)
0.5
0.5 to 32,767.5
14 (0Eh)
20
20 to 1,310,700
299 (12Bh)
1
1 to 65,535
5 (5h)
50
50 to 3,276,750
149 (95h)
2
2 to 131,070
2 (2h)
100
100 to 6,553,500
♦ PRDP: Ramping-down point register (24-bits)
Specify the value used to determine the deceleration start point for positioning operations that include
acceleration and deceleration
The meaning of the value specified in the PRDP changes with the "ramping-down point setting method
", (MSD0) in the PRMD register.
<When set to manual> (MSDP = 1 in the PRMD register)
The number of pulses at which to start deceleration, set in the range of 0 to16,777,215 (0FFFFFFh).
The optimum value for the ramping-down point can be calculated as shown in the equation below.
1) Linear deceleration (MSMD=0 of the PRMD register)
2 2
(PRFH - PRFL ) x (PRDR + 1)
Optimum value [Number of pulses] =
(PRMG + 1) x 32768
However, the optimum value for a triangle start, without changing the value in the PRFH register while
turning OFF the FH correction function (MADJ = 1 in the PRMD register) will be calculated as shown in
the next equation below.
(When using idling control, modify the value for PRMV in the equation below by deducting the number
of idling pulses from the value placed in the PRMV register. The number of idling pulses will be "1 to 62
when IDL = 2 to 7 in RNVI5.)
PRMV x (PRDR + 1)
Optimum value [Number of pulses] =
PRUR + PRDR + 2
2) S-curve deceleration without a linear range
(MSMD=1 in the PRMD register and the PRDS register =0)
2 2
(PRFH - RFL ) x (PRDR + 1) x 2
Optimum value [Number of pulses] =
(PRMG + 1) x 32768
3) S-curve deceleration with a linear range (MSMD=1 in the PRMD register and the PRDS register >0)
(PRFH + PRFL) x (PRFH - PRFL + 2 x PRDS) x (RDR + 1)
Optimum value [Number of pulses] =
(PRMG + 1) x 32768
Start deceleration at the point when the (positioning counter value) ≤ (PRDP set value).
<When set to automatic (MSDP = 0 in the PRMD register)>
This is an offset value for the automatically set ramping-down point. Set in the range of -8,388,608
(800000h) to 8,388,607(7FFFFFFh).
When the offset value is a positive number, the axis will start deceleration at an earlier stage and will
feed at the FL speed after decelerating. When a negative number is entered, the deceleration start
timing will be delayed. If the offset is not required, set to zero.
When the value for the ramping-down point is smaller than the optimum value, the speed when
stopping will be faster than the FL speed. On the other hand, if it is larger than the optimum value,
the axis will feed at FL low speed after decelerating.
♦ PRUS: S-curve acceleration range register (15-bit)
Specify the S-curve acceleration range for S-curve acceleration/deceleration operations in the range of
1 to 32,767 (7FFFh).
The S-curve acceleration range SSU will be calculated from the value placed in PRMG.
Reference clock frequency [Hz]
SSU [pps] = PRUS x
(PRMG + 1) x 65536
- 151 -
In other words, speeds between the FL speed and (FL speed + SSU), and between (FH speed - Ssu)
and the FH speed, will be S-curve acceleration operations. Intermediate speeds will use linear
acceleration.
However, if zero is specified, "(PRFH - PRFL) / 2" will be used for internal calculations, and the
operation will be an S-curve acceleration without a linear component.
♦ PRDS: S-curve deceleration range setting register (15-bit)
Specify the S-curve deceleration range for S-curve acceleration/deceleration operations in the range of
1 to 32,767 (7FFFh).
The S-curve acceleration range SSU will be calculated from the value placed in PRMG.
Reference clock frequency [Hz]
SSD [pps] = PRDS x
(PRMG + 1) x 65536
In other words, speeds between the FL speed (FL speed + SSD), and between (FH speed - SSD) and the
FH speed, will be S-curve deceleration operations. Intermediate speeds will use linear deceleration.
However, if zero is specified, "(PRFH - PRFL) / 2" will be used for internal calculations, and the
operation will be an S-curve deceleration without a linear component.
- 152 -
Appendix 3: Label list
Label
A0
A1
A2
A3
A4
ADJ0 to 1
ALML
ALMM
Register bit
RENV1 8
ALMu
ALMx
ALMy
ALMz
AS0 to 15
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
134
38
70
102
RSPD 0-15
Description
Address bus 0 (LSB)
Address bus 1
Address bus 2
Address bus 3
Address bus 4 (MSB)
Select the feed amount correction method
Set the input logic for the ALM signal (0: Negative, 1: Positive)
Select the process to use when the ALM input is ON (0: Immediate stop, 1:
Deceleration stop)
U axis driver alarm signal (to stop the axis)
X axis driver alarm signal (to stop the axis)
Y axis driver alarm signal (to stop the axis)
Z axis driver alarm signal (to stop the axis)
Monitor current speed
BR0 to 11
BSYC
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Byte map name
Byte map name
Byte map name
Byte map name
Word map name
Word map name
RENV6 0-11
RENV3 14
148
60
81
125
4 for Z80
5 for Z80
6 for Z80
7 for Z80
4 for 80886
6 for 8086
Specify a backlash correction or slip correction amount.
Increment/decrement COUNTER4 only while in operation (
Operation monitor output for the U axis
Operation monitor output for the X axis
Operation monitor output for the Y axis
Operation monitor output for the Z axis
Write/read the input/output buffer (bits 0 to 7).
Write/read the input/output buffer (bits 8 to 15)
Write/read the input/output buffer (bits 16 to 23)
Write/read the input/output buffer (bits 24 to 31)
Write/read the input/output buffer (bits 0 to 15)
Write/read the input/output buffer (bits 16 to 31)
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Terminal name
Register bit
Register bit
Register bit
Terminal name
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Command
Command
Command 70h
Register bit
Command
Command
Command
Command
Byte map name
Byte map name
Word map name
Circuit name
Circuit name
Circuit name
Circuit name
Terminal name
Terminal name
Terminal name
RENV4 0-1
RENV4 5-6
RENV4 2-4
RENV4 7
RENV4 8-9
RENV4 13-14
RENV4 10-12
RENV4 15
RENV4 16-17
RENV4 21-22
RENV4 18-20
RENV4 24-25
RENV4 30-31
RENV4 26-29
RENV5 0-2
RENV5 6-7
RENV5 3-5
170
RENV3 8-9
RENV3 10-11
RENV3 12-13
164
RENV1 20-21
151
50
86
114
05h
06h
07h
RSTS 0-3
56h
55h
54h
57h
0 when Z80
1 when Z80
0 when 8086
Select a comparison counter for comparator1
Select a process to execute when the comparator1 conditions are met
Select a comparison method for comparator1
Set COUNTER1 for ring count operation using Comparator 1.
Select a comparison counter for comparator2
Select a process to execute when the comparator2 conditions are met
Select a comparison method for comparator2
Set COUNTER2 for ring count operation using Comparator 2
Select a comparison counter for comparator3
Select a process to execute when the comparator3 conditions are met
Select a comparison method for comparator3
Select a comparison counter for comparator4
Select a process to execute when the comparator4 conditions are met
Select a comparison method for comparator4
Select a comparison counter for comparator5
Select a process to execute when the comparator5 conditions are met
Select a comparison method for comparator5
Emergency stop signal
Specify the input count COUNTER2 (mechanical position)
Specify the input count COUNTER3 (deflection counter)
Specify the input count COUNTER4 (general-purpose)
Reference clock (19.6608 MHz as standard)
Select the CLR input mode
Clear the counter input for the U axis
Clear the counter input for the X axis
Clear the counter input for the Y axis
Clear the counter input for the Z axis
Emergency stop
Output (simultaneous start) signal
Output (simultaneous stop) signal
Operation status monitor
Remaining high speed start pulses (FH low speed -> Deceleration stop)
Remaining pulses FH low speed start pulses
Remaining pulses FL low speed start pulses
Remaining high speed start pulses (accelerate -> FH low speed -> deceleration stop)
Write control command
Axis selection
Assign an axis, or write a control command
28-bit counter for command position control
28-bit counter for mechanical position control
16-bit counter for the deflection counter
28-bit counter for the general-purpose counter
Chip select signal
Simultaneous start signal
Simultaneous stop signal
BUFB0
BUFB1
BUFB2
BUFB3
BUFW0
BUFW1
C1C0 to 1
C1D0 to 1
C1S0 to 2
C1RM
C2C0 to 1
C2D0 to 1
C2S0 to 2
C2RM
C3C0 to 1
C3D0 to 1
C3S0 to 2
C4C0 to 1
C4D0 to 1
C4S0 to 3
C5C0 to 2
C5D0 to 1
C5S0 to 2
CI20 to 21
CI30 to 31
CI40 to 41
CLK
CLR0 to 1
CLRu
CLRx
CLRy
CLRz
CMEMG
CMSTA
CMSTP
CND0 to 3
CNTD
CNTFH
CNTFL
CNTUD
COMB0
COMB1
COMW
COUNTER1
COUNTER2
COUNTER3
COUNTER4
Type
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Position
6
7
8
9
10
RENV6 12-13
RENV1 9
3
168
169
- 153 -
= L)
Reference
P7, 16, 17
P7, 16, 17
P7, 16, 17
P7, 16, 17
P7, 16, 17
P45
P36, 108
P45, 126
P41, 117
P10
P10
P10
P10
P16, 18
P16, 18
P16, 18
P16, 18
P17, 18
P17, 18
P36, 108
P9, 108
P9, 108
P9, 108
P9, 108
P53
P42, 118
P42, 119
P42, 119
P42, 125
P42, 118
P42, 119
P42, 119
P42, 125
P42, 118
P43, 119
P43, 119
P43, 118
P43, 119
P43, 119
P44, 118
P44, 118
P44, 119
P8, 112
P41, 113
P41, 113
P41, 113
P7
P37, 115
P10, 115
P10, 115
P10, 115
P10, 115
P22, 112
P22, 110
P22, 112
P50
P22
P22
P22
P22
P16, 18, 22
P16, 18, 21
P17, 18
P2, 113
P2, 113
P2, 113
P2, 113
P7
P8, 109
P8, 111
Label
CU1B
CU1C
CU1L
CU1R
CU2B
CU2C
CU2H
CU2L
CU2R
CU3B
CU3C
CU3H
CU3L
CU3R
CU4B
CU4C
CU4H
CU4L
CU4R
CUN1R
CUN2R
CUN3R
CUN4R
Type
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Command
Command
Command
Command
Position
RENV3 24
RENV3 16
RENV5 24
RENV3 20
RENV3 25
RENV3 17
RENV3 29
RENV5 25
RENV3 21
RENV3 25
RENV3 18
RENV3 30
RENV5 26
RENV3 22
RENV3 27
RENV3 19
RENV3 31
RENV5 27
RENV3 23
20h
21h
22h
23h
Description
Operate COUNTER2 (mechanical position) with backlash/slip correction
Reset COUNTER1 (command position) by turning ON the CLR input.
Reset COUNTER1 (command position) right after latching the count value.
Reset COUNTER1 (command position) when the zero return is complete
Operate COUNTER2 (mechanical position) with backlash/slip correction
Reset COUNTER2 (mechanical position) by turning ON the CLR input
Stop the count on COUNTER2 (mechanical position)
Reset COUNTER2 (mechanical position) right after latching the count value.
Reset COUNTER2 (mechanical position) when the zero return is complete
Operate COUNTER3 (deflection) with backlash/slip correction
Reset the COUNTER3 (deflection) by turning ON the CLR input.
Stop the count on COUNTER3 (deflection)
Reset COUNTER3 (deflection) right after latching the count value.
Reset COUNTER3 (deflection) when the zero return is complete
Operate COUNTER4 (general-purpose) backlash/slip correction
Reset COUNTER4 (general-purpose) by turning ON the CLR input
Stop the count on COUNTER4 (general-purpose)
Reset COUNTER4 (general-purpose) right after latching the count value.
Reset COUNTER4 (general-purpose) when the zero position operation is complete
Reset COUNTER1 (command position)
Reset COUNTER2 (mechanical position)
Reset COUNTER3 (deflection counter)
Reset COUNTER4 (general purpose)
Reference
P41, 126
P41, 115
P44, 115
P41, 115
P41, 126
P41, 115
P41, 117
P44, 115
P41, 115
P41, 126
P41, 115
P41, 117
P44, 115
P41, 115
P41, 126
P41, 115
P41, 117
P44, 115
P41, 115
P24, 115
P24, 115
P24, 115
P24, 115
D0
D1
D10
D11
D12
D13
D14
D15
D2
D3
D4
D5
D6
D7
D8
D9
DIRu
DIRx
DIRy
DIRz
DRF
DRL
+DRu
-DRu
+DRx
-DRx
+DRy
-DRy
+DRz
-DRz
DTMF
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
15
15
27
28
29
30
31
32
18
19
20
21
22
23
24
26
146
58
79
123
RENV1 27
RENV1 25
141
142
46
47
82
83
110
111
RENV1 28
Data bus 0 (LSB)
Data bus 1
Data bus 10
Data bus 11
Data bus 12
Data bus 13
Data bus 14
Data bus 15 (MSB)
Data bus 2
Data bus 3
Data bus 4
Data bus 5
Data bus 6
Data bus 7
Data bus 8
Data bus 9
Motor drive direction signal for the U axis
Motor drive direction signal for the X axis
Motor drive direction signal for the Y axis
Motor drive direction signal for the Z axis
Apply a filter to +DR, -DR signal input
Select +DR, -DR signal input logic (0: Negative logic, 1: Positive logic)
Manual (+) input for the U axis
Manual (-) input for the U axis
Manual (+) input for the X axis
Manual (-) input for the X axis
Manual (+) input for the Y axis
Manual (-) input for the Y axis
Manual (+) input for the Z axis
Manual (-) input for the Z axis
Turn OFF the direction change timer (0.2 msec)
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P8
P9, 99
P9, 99
P9, 99
P9, 99
P37, 63
P37, 63
P9, 63
P9, 63
P9, 63
P9, 63
P9, 63
P9, 63
P9, 63
P9, 63
P37
EAu
EAx
EAy
EAz
EBu
EBx
EBy
EBz
ECZ0 to 3
EDIR
EIM0 to 1
EINF
ELLu
ELLx
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Register bit
Register bit
Terminal name
Terminal name
135
40
71
103
136
41
72
104
RSPD 16-19
RENV2 22
RENV2 20-21
RENV2 18
174
171
Encoder A phase signal for the U axis
Encoder A phase signal for the X axis
Encoder A phase signal for the Y axis
Encoder A phase signal for the Z axis
Encoder B phase signal for the U axis
Encoder B phase signal for the X axis.
Encoder B phase signal for the Y axis
Encoder B phase signal for the Z axis
Read the count value of the EZ input to monitor the zero return
Reverse the EA, EB input count direction
Specify the EA, EB input parameters
Apply a noise filter to the EA/EB input
Set the input logic of the end limit signal for the U axis
Set the input logic of the end limit signal for the X axis
P9
P9
P9
P9
P9
P9
P9
P9
P53
P39, 114
P39, 114
P38, 114
P8, 102
P8, 102
ELLy
ELLz
ELM
Terminal name
Terminal name
Register bit
172
173
RENV1 3
Select the input logic of the end limit signal for the Y axis
Set the input logic of the end limit signal for the Z axis
Select the process to execute when the EL input is ON (0: Immediate stop, 1:
P8, 102
P8, 102
P36, 102
- 154 -
Label
ESIP
Register bit
ESML
ESPE
ESPL
ESPO
ESSD
ESSP
EZL
EZu
EZx
EZy
EZz
ETW0 to 1
EZD0 to 3
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Register bits
Register bits
Description
Deceleration stop)
130
(+) end limit signal for the U axis
131
(-) end limit signal for the U axis
34
(+) end limit signal for the X axis
35
(-) end limit signal for the X axis
66
(+) end limit signal for the Y axis
67
(-) end limit signal for the Y axis.
97
(+) end limit signal for the Z axis
98
(-) end limit signal for the Z axis
RENV2 30
Invalid EA, EB input
RENV1 12-14 Specify the ERC output signal pulse width
RENV1 15
Set the output logic of the ERC signal (0: Negative logic, 1: Positive logic)
24h
Output an ERC signal
25h
Reset the output when the ERC signal is set to level output
147
Driver deflection clear output for the U axis
59
Driver deflection clear output for the X axis
80
Driver deflection clear output for the Y axis
124
Driver deflection clear output for the Z axis
RENV1 10
Automatic output of the ERC signal
RENV1 11
Auto output an ERC signal when the zero return is complete
REST 7
Equals 1 when stopped by the ALM input turning ON
REST 15
Equals 1 when the positioning counter exceeds the count range
REST 0
Stopped when the comparator1 conditions (+SL) are met
REST 1
Stopped when the comparator2 conditions (-SL) are met
REST 2
Stopped when the comaprator3 conditions (detect out-of-step) are met
REST 3
Stopped when the comparator4 conditions are met.
REST 4
Stopped when the comparator5 conditions are met
REST 12
Stopped by an operation data error
REST 16
An EA/EB input error occurred
REST 9
Stops by inputting ON input
When any other axis in an interpolation operation stops in an emergency, this axis
REST 13
stops simultaneously
REST 6
Stopped because the ñEL input turned ON
REST 17
A PA/PB input error occurred
REST 5
Stopped because the + EL input turned ON
REST 14
The PA/PB input buffer counter overflowed
REST 10
Deceleration stop caused by the SD input turning ON
REST 8
Stops by inputting ON input
RENV2 23
Set the input logic for the EZ signal (0: Falling, 1: Rising)
137
U axis encoder Z phase signal
42
X axis encoder Z phase signal
73
Y axis encoder Z phase signal
106
Z axis encoder Z phase signal
RENV1 16-17 Specify the ERC signal OFF timer
RENV3 4-7
Enter an EZ count value for a zero return
FCHGH
FCHGL
FLTR
FSCHH
FSCHL
FT0 to 15
Command
Command
Register bit
Command
Command
Register bits
41h
40h
RENV1 26
43h
42h
RENV7 16-31
Change immediately to FH speed
Change immediately to FL speed
Apply input filter
Accelerate to FH speed
Accelerate to FL speed
Enter an FT time for the vibration reduction function
P22
P22
P37
P22
P22
P45, 127
IDC0 to 2
IDL0 to 2
IDXM
IEND
IF0
IF1
IFB
INPL
INPu
INPx
INPy
INPz
Register bits
Register bits
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Sub-status bits
RSPD 20-22
RENV5 8-10
RENV4 23
RENV2 27
1
2
14
RENV1 22
150
49
85
113
11
RENV1 29
SSTSW 0-7
"2 " when
using a Z80
RIPS 19
RIPS 18
RIPS 17
RIPS 7
Monitor the idling count (0 to 7 pulses)
Enter the number of idling pulse (0 to 7 pulses)
Select IDX output specification (0: Level output, 1: Pulse output)
Specify that the stop interrupt will be output.
CPU-I/F mode selection 0
CPU-I/F mode selection 1
Busy CPU-I/F
P53, 101
P44, 101
P43, 124
P39, 136
P7, 13
P7, 13
P8
P37, 106
P10, 106
P10, 106
P10, 106
P10, 106
P7, 135
P37, 136
P20
+ELLu
-ELLu
+ELLx
-ELLx
+ELLy
-ELLy
+ELLz
-ELLz
EOFF
EPW0 to 2
ERCL
ERCOUT
ERCRST
ERCu
ERCx
ERCy
ERCz
EROE
EROR
ESAL
ESAO
ESC1
ESC2
ESC3
ESC4
ESC5
ESDT
ESEE
ESEM
INTM
IOP0 to 7
Type
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Register bit
Command
Command
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
IOPB
Byte map name
IPCC
IPCW
IPE
IPEu
Register bit
Register bit
Register bit
Register bit
Position
In position input for the U axis
In position input for the X axis
In position input for the Y axis
In position input for the Z axis
Interrupt request signal
Mask the INT output terminal
Read the P0 to P7 terminal status.
Reference
P8, 102
P8, 102
P8, 102
P8, 102
P8, 102
P8, 102
P8, 102
P8, 102
P39, 114
P36, 107
P36, 107
P24, 108
P24, 108
P10, 107
P10, 107
P10, 107
P10, 107
P36, 107
P36, 107
P51, 108
P51
P51
P51
P51
P51
P51
P51
P51
P51, 112
P51
P51, 102
P51, 60
P51, 103
P51, 60
P51, 104
P51
P39, 65
P9, 65
P9, 65
P9, 65
P9, 65
P36, 108
P41, 65
Read the general I/O port
P16, 20
Executing a CCW circular interpolation
Executing a CW circular interpolation
Executing a linear interpolation by entering master axis feed amount
U axis linear interpolation mode from a specified master axis feed amount
P54
P54
P54
P54
- 155 -
IPEx
IPEy
IPEz
IPFu
IPFx
IPFy
IPFz
IPL
IPLu
IPLx
IPLy
IPLz
IPSu
IPSx
IPSy
IPSz
IRC1
IRC2
IRC3
IRC4
IRC5
IRCL
IRDE
IRDR
IRDS
IREN
IRLT
IRN
IRND
IRNM
IROL
IRSA
IRSD
IRUE
IRUS
ISC1
ISC2
ISC3
ISC4
ISC5
ISCL
ISDE
ISDS
ISEN
ISLT
ISMD
ISN
ISND
ISNM
ISOL
ISPD
ISSA
ISSD
ISUE
ISUS
Label
Type
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Register bit
Position
RIPS 4
RIPS 5
RIPS 6
RIPS 15
RIPS 12
RIPS 13
RIPS 14
RIPS 16
RIPS 3
RIPS 0
RIPS 1
RIPS 2
RIPS 11
RIPS 8
RIPS 9
RIPS 10
RIRQ 8
RIRQ 9
RIRQ 10
RIRQ 11
RIRQ 12
RIRQ 13
RIRQ 7
RIRQ 17
RIRQ 6
RIRQ 0
RIRQ 14
RIRQ 1
RIRQ 3
RIRQ 2
RIRQ 15
RIRQ 18
RIRQ 16
RIRQ 5
RIRQ 4
RIST 8
RIST 9
RIST 10
RIST 11
RIST 12
RIST 13
RIST 7
RIST 6
RIST 0
RIST 14
RIST 18
RIST 1
RIST 3
RIST 2
RIST 15
RIST 17
RIST 19
RIST 16
RIST 5
RIST 4
Description
X axis linear interpolation mode from a specified master axis feed amount
Y axis linear interpolation mode from a specified master axis feed amount
Z axis linear interpolation mode from a specified master axis feed amount
Specify a synthetic constant speed for the U axis
Specify a synthetic constant speed for the X axis
Specify synthetic constant speed for the Y axis
Specify a synthetic constant speed for the Z axis
Executing a normal linear interpolation
U axis is in normal linear interpolation mode
X axis is in normal linear interpolation mode
Y axis is in normal linear interpolation mode
Z axis is in normal linear interpolation mode
U axis is in circular interpolation mode
X axis is in circular interpolation mode
Y axis is in circular interpolation mode
Z axis is in circular interpolation mode
Enable an INT when the comparator1 conditions are met
Enable an INT when the comparator2 conditions are met
Enable an INT when the comparator3 conditions are met
Enable an INT when the comparator4 conditions are met
Enable an INT when the comparator5 conditions are met
Enable an INT when the count value is reset by a CLR input
Enable an INT when the deceleration is finished
Enable an INT when the ±DR input changes
Enable an INT when the deceleration starts
Enable an INT when there is a normal stop
Enable an INT when the count value is latched by an LTC input
Enable INT by continuing with the next operation.
Enable an INT when writing to the 2nd pre-register for comparator5 is enabled
Enable an INT when writing to 2nd pre-register for operation is enabled
Enable an INT when the count value is latched by an ORG input
Enable an INT by turning ON the input
Enable an INT by turning ON the SD input
Enable an INT when the acceleration is finished
Enable an INT when acceleration starts
Comparator 1 conditioned status
Comparator 2 conditioned status
Comparator 3 conditioned status
Comparator 4 conditioned status
Comparator 5 conditioned status
Reset the count value when a CLR signal is input
Equals 1 when deceleration is finished
Equals 1 when deceleration starts
Equals 1 when stopped automatically
Equals 1 when the count value is latched by an LTC input
Equals 1 when a ñDR input signal is input.
To start the next operation continuously.
Enable writing to the 2nd pre-register for comparator5
Enable writing to the 2nd pre-register for operations
Latched count value from the ORG input
Equals 1 when the +DR input is ON
Equals 1 when the CSTA input is ON
Equals 1 when the SD input is ON
Equals 1 when the acceleration is finished
Equals 1 when to start acceleration
Reference
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P54
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P48,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
P52,137
LTCH
LTCL
LTCu
LTCx
LTCy
LTCz
LTFD
LTM0 to 1
LTOF
Command
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bits
Register bit
29h
RENV1 23
152
51
87
115
RENV5 14
RENV5 12-13
RENV5 15
Substitute the LTC input (for counting or latching)
Select the trigger edge for the LTC signal (0: Falling edge, 1: Rising edge)
Latch the input for the U axis
Latch the input for the X axis
Latch the input for the Y axis
Latch the input for the Z axis
Latch the current speed data in place of COUNTER3
Specify the latch timing of COUNTERS 1 to 4
Stop the latch using hardware timing
P24, 116
P37, 116
P10, 116
P10, 116
P10, 116
P10, 116
P44, 116
P44, 116
P44, 116
MADJ
MAX0 to 3
MCCE
Register bit
Register bits
Register bit
RMD 26
RMD 20-21
RMD 11
P34
P34, 128
P34, 117
MENI
Register bit
RMD 7
METM
Register bit
RMD 12
MINP
Register bit
RMD 9
Disable the FH correction function
Specify the axis used to control stopping for a simultaneous start
Stop the operation of COUNTER1 (command position)
Does not output a stop INT between blocks while in continuous operation using the preregister.
Select the operation completion timing (0: Stop at the end of a cycle, 1: Stop on a
pulse)
The operation is complete when the INP input turns ON
- 156 -
P34, 136
P34, 100
P34, 106
Label
Type
Register bit
Register bits
Register bit
Position
RMD 15
RMD 0-6
RMD 14
MPIE
Register bit
RMD 27
MSDE
MSDP
MSMD
MSN0 to 1
MSPE
MSPO
Register bit
Register bit
Register bit
Register bits
Register bit
Register bit
MSTSB0
Byte map name
MSTSB1
Byte map name
MSTSW
Word map name
MSY0 to 1
Register bit
RMD 8
RMD 13
RMD 10
RMD 16-17
RMD 24
RMD 25
0 when using
a Z80
1 when using
a Z80
0 when using
an 8086
18, 19
NOP
Command
ORGL
ORGu
ORGx
ORGy
ORGz
ORM0 to 3
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Register bits
General-purpose
port name
MIPF
MOD
MPCS
OTP0 to 7
Read the main status (bits 0 to 7)
P16, 19
Read the main status (bits 8 to 15)
P16, 19
Read the main status bits (bits 0 to 7)
P34, 81
P34
P34
P34
P34
P34, 111
P34, 111
P17, 19
P34, 128
00h
Monitor the output while feeding the X-axis at low speed
P22
RENV1 7
133
37
69
101
RENV3 0-3
Zero point signal for U axis
Zero point signal for X axis
Zero point signal for Y axis
Zero point signal for Z axis
Select the input logic for the ORG signal (0: Negative logic, 1: Positive logic)
P36, 65
P9, 65
P9, 65
P9, 65
P9, 65
P40, 66
OTPW 0-7
Zero position signal for the X axis
P18
Zero position signal for the Y axis (valid only for the output specified bits)
P16, 18
OTPW
Word map name
OUTu
OUTx
OUTy
OUTz
Terminal name
Terminal name
Terminal name
Terminal name
P0L
P0u/FUPu
P0x/FUPx
P0y/FUPy
P0z/FUPz
P1u/FDWu
P1x/FDWx
P1y/FDWy
P1z/FDWz
P2u/MVCu
P2x/MVCx
P2y/MVCy
P2z/MVCz
P3u/CP1u(+SLu)
P3x/CP1x(+SLx)
P3y/CP1y(+SLy)
P3z/CP1z(+SLz)
P4u/CP2u(-SLu)
P4x/CP2x(-SLx)
P4y/CP2y(-SLy)
P4z/CP2z(-SLz)
P5u/CP3u
P5x/CP3x
P5y/CP3y
P5z/CP3z
P6u/CP4z
P6x/CP4x
P6y/CP4y
P6z/CP4z
P7u/CP5u
P7x/CP5x
P7y/CP5y
P7z/CP5z
P0M0 to 1
P0RST
P0SET
P1L
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Register bits
Command
Command
Register bit
RENV2 16
153
52
89
116
154
53
90
117
155
54
91
118
156
55
92
119
157
62
93
120
158
63
94
126
159
64
95
128
160
65
96
129
RENV2 0-1
10h
18h
RENV2 17
Byte map name
Reference
P34, 78
P34
P34, 98
Synchronization start timing
2 when using
a Z80
2 when using
an 8086
145
57
78
122
OTPB
Description
Enable a synthetic constant speed during an interpolation operation
Operation mode selection
Start control positioning using a PCI input
Automatically enter an end point pull in operation at the end of arc interpolation
operation.
Decelerate (decelerate and stop) when the SD input turns ON
Specify the ramping-down point manually
S-curve acceleration/deceleration (linear accel/decel when 0)
Sequence number used to control the operation block
Enable input
Output a (simultaneous stop) signal when stopped by an error
Select the zero return method (valid only for the output specified bits)
P17, 18
Motor driving pulse signals for U axis
Motor driving pulse signals for X axis
Motor driving pulse signals for Y axis
Motor driving pulse signals for Z axis
P9, 99
P9, 99
P9, 99
P9, 99
Set output logic of P0 terminal.
General-purpose port 0 for the U axis / Monitor output during acceleration
General-purpose port 0 for the X axis / Monitor output during acceleration
General-purpose port 0 for the Y axis / Monitor output during acceleration
General-purpose port 0 for the Z axis / Monitor output during acceleration
General-purpose port 1 for the U axis / Monitor output during acceleration
General-purpose port 1 for the X axis / Monitor output during acceleration
General-purpose port 1 for the Y axis / Monitor output during acceleration
General-purpose port 1 for the Z axis / Monitor output during acceleration
General-purpose port 2 for the U axis / Feeding at low speed
General-purpose port 2 for the Y axis / Feeding at low speed
General-purpose port 2 for the X axis / Feeding at low speed
General-purpose port 2 for the Z axis / Feeding at rated speed
General-purpose port 3 for the U axis / Comparator 1 (+ software limit) output
General-purpose port 3 for the X axis / Comparator 1 (+ software limit) output
General-purpose port 3 for the Y axis / Comparator 1 (+ software limit) output
General-purpose port 3 for the Z axis / Comparator 1 (+ software limit) output
General-purpose port 4 for the U axis / Comparator 2 (+ software limit) output
General-purpose port 4 for the X axis / Comparator 2 (+ software limit) output
General-purpose port 4 for the Y axis / Comparator 2 (+ software limit) output
General-purpose port 4 for the Z axis / Comparator 2 (+ software limit) output
General-purpose port 5 for the U axis / Comparator 3 output
General-purpose port 5 for the X axis / Comparator 3 output
General-purpose port 5 for the Y axis / Comparator 3 output
General-purpose port 5 for the Z axis / Comparator 3 output
General-purpose port 6 for the U axis / Comparator 4 output
General-purpose port 6 for the X axis / Comparator 4 output
General-purpose port 6 for the Y axis / Comparator 4 output
General-purpose port 6 for the Z axis / Comparator 4 output
General-purpose port 7 for the U axis / Comparator 5 output
General-purpose port 7 for the U axis / Comparator 5 output
General-purpose port 7 for the U axis / Comparator 5 output
General-purpose port 7 for the U axis / Comparator 5 output
Specify the P0/FUP terminal details
Set the general-purpose output port terminal P0 LOW
Set the general-purpose output port terminal P0 HIGH
Set the P1 terminal output logic (0: Negative logic, 1: Positive logic)
P23, 38
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P10
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P11
P38
P23
P23
P38
- 157 -
Label
P1M0 to 1
P1RST
P1SET
P2M0 to 1z
P2RST
P2SET
P3M0 to 1
P3RST
P3SET
P4M0 to 1
P4RST
P4SET
P5M0 to 1
P5RST
P5SET
P6M0 to 1
P6RST
P6SET
P7M0 to 1
P7RST
P7SET
PAu
PAx
PAy
PAz
PBu
PBx
PBy
PBz
PCPCAN
PCSM
PCSL
PCSu
PCSx
PCSy
PCSz
PD0 to 10
PDIR
PDTC
PFC0 to 1
PFM0 to 1
PIM0 to 1
PINF
PMD0 to 2
PMG0 to 4
PMSK
POFF
PRCI
PRCP5
PRDP
PRDR
PRDS
PRECAN
PRESHF
PRFH
PRFL
PRIP
PRMD
PRMG
PRMV
PRSET
PRUR
PRUS
PSTP
Type
Register bits
Command
Command
Register bits
Command
Command
Register bits
Command
Command
Register bits
Command
Command
Register bits
Command
Command
Register bits
Command
Command
Register bits
Command
Command
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Terminal name
Command
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Register bit
Register bit
Register bit
Terminal name
Terminal name
Terminal name
Terminal name
Register bits
Register bits
Register bits
Register bit
Register bits
Register bits
Register bit
Register bit
Pre-register name
Pre-register name
Pre-register name
Pre-register name
Pre-register name
Command
Command
Pre-register name
Pre-register name
Pre-register name
Pre-register name
Pre-register name
Pre-register name
Command
Pre-register name
Pre-register name
Register bit
RCI
RCIC
RCMP1
RCMP2
RCMP3
Register name
Register name
Register name
Register name
Register name
Position
RENV2 2-3
11h
19h
RENV2 4-5
12h
1Ah
RENV2 6-7
13h
1Bh
RENV2 8-9
14h
1Ch
RENV2 10-11
15h
1Dh
RENV2 12-13
16h
1Eh
RENV2 14-15
17h
1Fh
138
43
74
107
139
44
75
108
27h
30
RENV1 24
143
48
84
112
RENV6 16-26
RENV2 26
31
140
45
76
109
RSTS 18-19
RSTS 20-21
RENV2 24-25
RENV2 19
RENV1 0-2
RENV6 27-31
RENV2 28
RENV2 31
26h
27h
4Fh
RENV6 15
Description
Specify the P1/FDW terminal details
Set the general-purpose output port terminal P1 LOW
Set the general-purpose output port terminal P1 HIGH
Specify the P2/MVC terminal details
Set the general-purpose output port terminal P2 LOW
Set the general-purpose output port terminal P2 HIGH
Specify the P3/CP1 (+SL) terminal details
Set the general-purpose output port terminal P3 LOW
Set the general-purpose output port terminal P3 HIGH
Specify the P4/CP2 (-SL) terminal details
Set the general-purpose output port terminal P4 LOW
Set the general-purpose output port terminal P4 HIGH
Specify the P5/CP3 terminal details
Set the general-purpose output port terminal P5 LOW
Set the general-purpose output port terminal P5 HIGH
Specify the P6/CP4/IDX terminal details
Set the general-purpose output port terminal P6 LOW
Set the general-purpose output port terminal P6 HIGH
Specify the P7/CP5 terminal details
Set the general-purpose output port terminal P7 LOW
Set the general-purpose output port terminal P7 HIGH
Manual pulsar phase A input for the U axis
Manual pulsar phase A input for the X axis
Manual pulsar phase A input for the Y axis
Manual pulsar phase A input for the Z axis
Manual pulsar phase B input for the Uaxis
Manual pulsar phase B input for the X axis
Manual pulsar phase B input for the Y axis
Manual pulsar phase B input for the Z axis
Clear the pre-register (PRCP5) for PCMP5
Allow the PCS input on the local axis signal
Set the input logic for the PCSn signal (0: Negative logic, 1: Positive logic)
Start positioning control for the U axis
Start positioning control for the X axis
Start positioning control for the Y axis
Start positioning control for the Z axis
Set a division rate for PA, PB inputs.
Reverse the counting direction of the PA and PB inputs
Keep the pulse width at a 50% duty cycle
Enable the PA, PB, +DR, -DR inputs for U axis
Enable the PA, PB, +DR, -DR inputs for X axis
Enable the PA, PB, +DR, -DR inputs for Y axis
Enable the PA, PB, +DR, -DR inputs for Z axis
Used as a status monitor for the PCMP5 pre-register.
Used as a status monitor of the working pre-register.
Specify the PA and PB input details
Apply a noise filter to the PA/PB inputs
Specify the output pulse details
Specify the multiplication rate for the PA/PB inputs.
Specify the output pulse mask.
Disable PA, PB inputs.
2nd pre-register for RCI
2nd pre-register for RCMP5
2nd pre-register for RDP
2nd pre-register for RDR
2nd pre-register for RDS
Cancel the operation pre-register.
Shift the data in the operation pre-register.
2nd pre-register for RFH
2nd pre-register for RFL
2nd pre-register for RIP
2nd pre-register for RMD
2nd pre-register for RMG
2nd pre-register for RMV
Put speed change data into the operation pre-register.
2nd pre-register for RUR
2nd pre-register for RUS
Specify the stop method used for stopping when a PA/PB stop command is received
Reference
P38
P23
P23
P38
P23
P23
P38
P23
P23
P38
P23
P23
P38
P23
P23
P38
P23
P23
P38
P23
P23
P9, 58
P9, 58
P9, 58
P9, 58
P9, 58
P9, 58
P9, 58
P9, 58
P24, 30
P37
P37, 110
P10, 110
P10, 110
P10, 110
P10, 110
P45, 58
P39, 60
P37
P9, 58
P9, 58
P9, 58
P9, 58
P30, 50
P29, 50
P39, 114
P39, 114
P36, 99
P45, 58
P39
P39, 60
P28, 53
P28, 47
P28, 32
P28, 32
P28, 35
P24
P24
P28, 31
P28, 31
P28, 35
P28, 33
P28, 32
P28, 31
P24, 121
P28, 31
P28, 35
P45, 61
Circular interpolation step number data
Circular interpolation step number counter
Comparison data for comparator1
Comparison data for comparator2
Comparison data for comparator3
P53, 81
P53
P46, 119
P46, 119
P47, 119
- 158 -
Label
RCMP4
RCMP5
RCUN1
RCUN2
RCUN3
RCUN4
RDP
RDR
RDS
RENV1
RENV2
RENV3
Type
Register name
Register name
Register name
Register name
Register name
Register name
Terminal name
Register name
Register name
Register name
Register name
Register name
Register name
Position
RENV4
RENV5
RENV6
RENV7
REST
RFA
RFH
RFL
Register name
Register name
Register name
Register name
Register name
Register name
Register name
Register name
RIP
Register name
RIPS
Command
RIRQ
Register name
Enable various event interrupts
RIST
RLTC1
RLTC2
RLTC3
RLTC4
RMD
RMG
RMV
RPLS
RPRCI
RPRCP5
RPRDP
RPRDR
RPRDS
RPRFH
RPRFL
RPRIP
RPRMD
RPRMG
RPRMV
RPRUR
RPRUS
RRCI
RRCIC
RRCMP1
RRCMP2
RRCMP3
RRCMP4
RRCMP5
RRCUN1
RRCUN2
RRCUN3
RRCUN4
RRDP
RRDR
RRDS
RRENV1
RRENV2
RRENV3
RRENV4
RRENV5
RRENV6
RRENV7
RREST
RRFA
RRFH
RRFL
Register name
Register name
Register name
Register name
Register name
Register name
Register name
Register name
Register name
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Event INT status
COUNTER1 (command position) latch data
COUNTER2 (mechanical position) latch data
COUNTER3 (deflection counter) latch data
COUNTER4 (general-purpose) latch data
Operation mode
Speed magnification rate
Feed amount or target position
Number of pulses remaining to be fed
Copy PRCI data to BUF
Copy PRCP5 data to BUF
Copy PRDP data to BUF
Copy PRDR data to BUF
Copy PRDS data to BUF
Copy PRFH data to BUF
Copy PRFL data to BUF
Copy PRIP data to BUF
Copy PRMD data to BUF
Copy PRMG data to BUF
Copy PRMV data to BUF
Copy PRUR data to BUF
Copy PRUS data to BUF
Copy RCI data to BUF
Copy RCIC data to BUF
Copy RCMP1 data to BUF
Copy RCMP2 data to BUF
Copy RCMP3 data to BUF
Copy RCMP4 data to BUF
Copy RCMP5 data to BUF
Copy RCUN1 data to BUF
Copy RCUN2 data to BUF
Copy RCUN3 data to BUF
Copy RCUN4 data to BUF
Copy RDP data to BUF
Copy RDR data to BUF
Copy RDS data to BUF
Copy RENV1 data to BUF
Copy RENV2 data to BUF
Copy RENV3 data to BUF
Copy RENV4 data to BUF
Copy RENV5 data to BUF
Copy RENV6 data to BUF
Copy RENV7 data to BUF
Copy REST data to BUF
Copy RFA data to BUF
Copy RFH data to BUF
Copy RFL data to BUF
4
FFh
CCh
CBh
C6h
C4h
CAh
C2h
C1h
C8h
C7h
C5h
C0h
C3h
C9h
FCh
FDh
E7h
E8h
E9h
EAh
EBh
E3h
E4h
E5h
E6h
D6h
D4h
DAh
DCh
DDh
DEh
DFh
E0h
E1h
E2h
F2h
DBh
D2h
D1h
Description
Comparison data for comparator4
Comparison data for comparator5
COUNTER1 (command position)
COUNTER2 (mechanical position)
COUNTER3 (deflection counter)
COUNTER4 (general-purpose counter)
Lead signal
Ramping-down point
Deceleration rate
S-curve range of deceleration
Environment setting register 1 (Specify the input/output terminals)
Environment setting register 2 (Specify the details for the general-purpose port)
Environment setting register 3 (Specify the details for a zero return or counter)
Reference
P47, 119
P47, 119
P46, 114
P46, 114
P46, 114
P46, 114
P7
P28, 32, 86
P26, 32, 86
P28, 35, 86
P28, 36
P28, 38
P28, 40
Environment setting register 4 (Specify the details for comparators 1 to 4))
Environment setting register 5 (Specify the detail for comparator 5)
Environment setting register 6 (Specify the feed amount correction)
Environment setting register 7 (Specify the vibration reduction function details)
Error INT status
Speed for feeding the feed correction amount
Operation speed
Initial speed
Center position of a circular interpolation / Master axis feed amount when executing a
linear interpolation using multiple LSI chips
Copy the RIPS register data to BUF
P28, 42
P28, 44
P28, 45
P28, 45
P51, 135
P28, 35
P25, 28, 86
P28, 31, 86
P35, 80
- 159 -
P26, 54
P28, 48,
135
P52, 135
P48, 116
P48, 116
P49, 116
P49, 116
P28, 33
P26, 32, 86
P28, 31, 86
P28, 52
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
Label
RRIP
RRIRQ
RRIST
RPIPS
RRLTC1
RRLTC2
RRLTC3
RRLTC4
RRMD
RRMG
RRMV
RRPLS
RRSDC
RRSPD
RRSTS
RRUR
RRUS
RSDC
RSPD
Position
D8h
ECh
F3h
FFh
EDh
EEh
EFh
F0h
D7h
D5h
D0h
F4h
F6h
F5h
F1h
D3h
D9h
RSTS
RT0 to 15
RUR
RUS
Type
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Register name
Register name
Terminal name
Register name
Register bits
Register name
Register name
SALM
SCLR
SCP1
SCP2
SCP3
SCP4
SCP5
SDIN
SDIR
SDL
SDLT
Sub-status bit
Register bit
Main status bit
Main status bit
Main status bit
Main status bit
Main status bit
Register bit
Register bit
Register bit
Register bit
SSTSW 11
RSTS 13
MSTSW 8
MSTSW 9
MSTSW 10
MSTSW 11
MSTSW 12
RSTS 15
RSTS 4
RENV1 6
RENV1 5
SDM
Register bit
RENV1 4
SDM0 to 1
SDRM
SDRP
SDSTP
SDu
SDx
SDy
SDz
SED0 to 1
Register bits
Register bit
Register bit
Command
Terminal name
Terminal name
Terminal name
Terminal name
Register bits
Command bit
name
Command bit
name
Command bit
name
Command bit
name
Register bit
Main status bit
Main status bit
Main status bit
Register bit
Main status bit
Register bit
Sub-status bit
Sub-status bit
Sub-status bit
Register bit
Main status bit
Register bit
Register bit
Sub-status bit
Sub-status bit
Register bit
Main status bit
Sub-status bit
Main status bit
SELu
SELx
SELy
SELz
SEMG
SEND
SENI
SEOR
SERC
SERR
SEZ
SFC
SFD
SFU
SINP
SINT
SLTC
SMAX
SMEL
SORG
SPCS
SPDF
SPEL
SPRF
Copy RIP data to BUF
Copy RIRQ data to BUF
Copy RIST data to BUF
Reference
P26
P26
P26
Copy RLTC1 data to BUF
Copy RLTC2 data to BUF
Copy RLTC3 data to BUF
Copy RLTC4 data to BUF
Cop RMD data to BUF
Copy RMG data to BUF
Copy RMV data to BUF
Copy RPLS data to BUF
Copy RSDC data to BUF
Copy RSPD data to BUF
Copy RSTS data to BUF
Copy RUR data to BUF
Copy RUS data to BUF
Automatically calculated value for the ramping-down point
EZ count / Monitor current speed
Reset signal
Extension status
Enter the RT time for the vibration reduction function
Acceleration rate
S-curve range during acceleration
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P28, 53
P28, 53
P7, 97
P28, 50
P45, 127
P28, 31, 86
P28, 35, 86
P20, 109
P50, 115
P19, 120
P19, 120
P19, 120
P19, 120
P19, 120
P50, 104
P50
P36, 104
P36, 104
P36, 104
RIPS 20-21
RSTS 12
RSTS 11
4Ah
132
36
68
99
RIPS 22-23
Equals 1 when the ALM input is ON
Equals 1 when the CLR input signal is ON
Equals 1 when the CMP1 comparison conditions are met
Equals 1 when the CMP2 comparison conditions are met
Equals 1 when the CMP3 comparison conditions are met
Equals 1 when the CMP4 comparison conditions are met
Equals 1 when the CMP5 comparison conditions are met
Equals 1 when the SD input signal is ON
Set the operation direction (0: Plus direction, 1: Minus direction)
Set the input logic of the SD signal (0: Negative logic, 1: Positive logic)
Specify the latch function for the SD input (0: ON, 1: OFF)
Select the process to execute when the SD input is ON (0: Deceleration only, 1:
Decelerate and stop)
Current phase of a circular interpolation
Equals 1 when the -DR input signal is ON
Equals 1 when the +DR input signal is ON
Deceleration stop
Ramping-down signal for the U axis
Ramping-down signal for the X axis
Ramping-down signal for the Y axis
Ramping-down signal for the Z axis
Final phase of a circular interpolation
COMW 11
Select the U axis
COMW 8
Select the X axis
COMW 9
Select the Y axis
COMW 10
Select the Z axis
RSTS 7
MSTSW 3
MSTSW 2
MSTSW 13
RSTS 9
MSTSW 3
RSTS 10
SSTSW 10
SSTSW 9
SSTSW 8
RSTS 16
MSTSW 4
RSTS 14
RENV2 29
SSTSW 13
SSTSW 14
RSTS 8
MSTSW 15
SSTSW 12
MSTSW 14
Input signal is ON
Equals 0 when started automatically, becomes 1 when stopped
Equals 1 when an interrupt is caused by stopping.
Equals 1 when unable to execute a position override.
Equals 1 when the ERC output signal is ON
Equals 1 when an error interrupt occurs
Equals 1 when the EZ input signal is ON
Equals 1 when feeding at low speed
Equals 1 when decelerating
Equals 1 when accelerating
Equals 1 when the INP input signal is ON
Equals 1 when an event interrupt occurs
Equals 1 when the LTC input signal is ON
Select the PCL6045B mode for the "start when the specified axis stops" function.
Equals 1 when the ñEL input is ON
Equals 1 when the ORG input is ON
Equals 1 when the PCS input signal is ON
Equals 1 when the pre-register for comparator 5 is full
Equals 1 when the +EL input is ON
Equals 1 when the next-operation pre-register is full
175
RENV7 0-15
Description
P54
P50, 63
P50, 63
P22
P8, 102
P8, 102
P8, 102
P8, 102
P54
P18, 75
P18, 75
P18, 75
P18, 75
- 160 -
P50, 112
P19
P19, 135
P19, 98
P50, 108
P19, 135
P50, 76
P20
P20
P20
P50, 106
P19, 135
P50, 116
P39, 128
P20, 102
P20, 105
P50, 110
P19, 30
P20, 102
P19, 29
Label
SPSTA
SRST
SRUN
SSC0 to 1
SSCM
SSD
SSTA
SSTP
Type
Command
Command
Main status bit
Main status bits
Main status bit
Sub-status bit
Register bit
Register bit
SSTSB
Byte map name
SSTSW
Word map name
STAD
STAFH
STAFL
STAM
STAON
STAUD
STOP
STPM
SYI0 to 1
SYO0 to 3
WPRCI
WPRCP5
WPRDP
WPRDR
WPRDS
WPRFH
WPRFL
WPRIP
WPRMD
WPRMG
WPRMV
WPRUR
WPRUS
Command
Command
Command
Register bit
Command
Command
Command
Register bit
Register bits
Register bits
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Terminal name
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Command
Terminal name
Command
Command
WRCI
WRCMP1
WRCMP2
WRCMP3
WRCMP4
WRCMP5
WRCUN1
WRCUN2
WRCUN3
WRCUN4
WRDP
WRDR
WRDS
WRENV1
WRENV2
WRENV3
WRENV4
WRENV5
WRENV6
WRENV7
WRFA
WRFH
WRFL
WRIP
WRIRQ
WRMD
WRMG
WRMV
WRUR
WRUS
Position
2Ah
04h
MSTSW 0
MSTSW 7-6
MSTSW 0
SSTSW 15
RSTS 5
RSTS 6
3 when using
a Z80
2 when using
an 8086
52h
51h
50h
RENV1 18
28h
53h
49h
RENV1 19
RENV5 20-21
RENV5 16-19
8Ch
8Bh
86h
84h
8Ah
82h
81h
88h
87h
85h
80h
83h
89h
5
BCh
A7h
A8h
A9h
AAh
ABh
A3h
A4h
A5h
A6h
96h
94h
9Ah
9Ch
9Dh
9Eh
9Fh
A0h
A1h
A2h
9Bh
92h
91h
98h
ACh
97h
95h
90h
13
93h
99h
Description
The same process as the input
Software reset
Equals 1 while starting
Sequence code
Equals 1 when a start command has already been written
Equals 1 when the SD input is ON (latched signal)
Equals 1 when the input signal is ON
Equals 1 when the input signal is ON
Reference
P22
P24
P19
P19
P19
P20, 104
P50, 110
P50, 112
Used to read the sub status
P16, 20
Used to read the sub status, general input/output port
High speed start 1 (FH low speed -> deceleration stop)
Start using FH low speed
Start using FL low speed
Select signal input specification (0: Level trigger, 1: Edge trigger)
Substitute for a PCs input
High speed start 2 (acceleration -> FH low speed -> deceleration stop)
Immediate stop
Select stop method (0: Immediate stop, 1: Deceleration stop)
Select the axis used to input an internal synchronous signal
Set the output timing of the internal synchronous signal
Write BUF data into PRCI
Write BUF data into PRCP5
Write BUF data into PRDP
Write BUF data into PRDR
Write BUF data into PRDS
Write BUF data into PRFH
Write BUF data into PRFL
Write BUF data into PRIP
Write BUF data into PRMD
Write BUF data into PRMG
Write BUF data into PRMV
Write BUF data into PRUR
Write BUF data into PRUS
Write signal
Write BUF data into the RCI register
Write BUF data into the RCMP1 register
Write BUF data into the RCMP2 register
Write BUF data into the RCMP3 register
Write BUF data into the RCMP4 register
Write BUF data into the RCMP5 register
Write BUF data into the RCUN1 register
Write BUF data into the RCUN2 register
Write BUF data into the RCUN3 register
Write BUF data into the RCUN4 register
Write BUF data into the RDP register
Write BUF data into the RDR register
Write BUF data into the RDS register
Write BUF data into the RENV1 register
Write BUF data into the RENV2 register
Write BUF data into the RENV3 register
Write BUF data into the RENV4 register
Write BUF data into the RENV5 register
Write BUF data into the RENV6 register
Write BUF data into the RENV7 register
Write BUF data into the RFA register
Write BUF data into the RFH register
Write BUF data into the RFL register
Write BUF data into the RIP register
Write BUF data into the RIRQ register
Write BUF data into the RMD register
Write BUF data into the RMG register
Write BUF data into the RMV register
Wait request signal
Write BUF data into the RUR register
Write BUF data into the RUS register
- 161 -
P17, 20
P21
P21
P21
P36, 110
P24, 98
P21
P22
P36, 112
P44, 128
P44, 128
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P7
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P26
P8
P26
P26
Appendix-4. Differences between the PCL6045 and PCL6045B
The PCL6045B is a functionally upgraded version of the PCL6045.
This section describes items that have been added to the PCL6045B.
1. How to identify the PCL6045 and PCL6045B
Some registers have been added and they can be checked to identify the PCL6045 version.
1) Enter any number (1 to 2,147,483,647) into the input/output buffer.
2) Write a WRCI command (BCh). (Input/output buffer -> RCI register)
3) Write a "0" in order to clear the input/output buffer.
4) Write an RRCI command (FCh). (Input/output buffer <- RCI register)
5) Read the input/output buffer. If the data read is 0, this is a PCL6045. If the data read is the value entered
in step 1) above, this is a PCL6045B.
Note: Since the U axis does not have an RCI register, do not use the U axis for the check described above.
2. Additional items on the PCL6045B
2-1. Main status
Added bit 2 (SENI) and bit 13 (SEOR)
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SPDF SPRF SEOR SCP5 SCP4 SCP3 SCP2 SCP1 SSC1 SSC0 SINT SERR SEND SENI SRUN SSCM
Bit Bit name
Detail
2 SENI
Stop interrupt flag
When IEND = 1 in the RENV2 register, a change from operating to stopped will make this
bit be "1."
(By reading main status, it returns to "0.")
13 SEOR
This bit becomes "1" when the PCL cannot execute a position override.
(When the main status is read, it returns to "0.")
2-2. Operation command
The following command has been added.
COMB0 Symbol
Detail
4Fh
PRSET
Pre-register set command.
2-3. Register control command
The following five commands have been added.
2nd
Read command Write command
Read command Write command
preNo. Regi Details
COMB0 Symbol COMB0 Symbol
COMB0 Symbol COMB0 Symbol
register
-ster
Circular
RCI interpolation
FCh
RRCI
BCh
WRCI
PRCI
CCh RPRCI
8Ch
WPRCI
step number
Circular
RICI interpolation
FDh
RRCIC
step counter
- 162 -
2-4. PRMD (RMD) register
Bit 7 (MENI) and operation mode (MOD) details have been added.
Bit
Bit name
Detail
0 to 6 MOD The following operation modes have been added.
100 0010 (42h): Positioning operation (specify an absolute position in COUNTER1)
100 0011 (43h): Positioning operation (specify an absolute position in COUNTER2)
100 0010 (52h): Positioning operation synchronized with PA/PB (specify an absolute
position in COUNTER1)
100 0011 (53h): Positioning operation synchronized with PA/PB (specify an absolute
position in COUNTER2)
110 0110 (66h): CW circular interpolation synchronized with the U axis (arc linear
interpolation)
110 0111 (67h): CW circular interpolation synchronized with the U axis (arc 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
110 0011 (6Bh): Linear interpolation 2 synchronized with PA/PB
110 1100 (6Ch): CW circular interpolation synchronized with PA/PB
110 1101 (6Dh): CCW circular interpolation operation synchronized with PA/PB
7
MENI 1: When a pre-register is already set, the PCL will not output an INT signal, even if IEND
is changed to "1."
2-5. RENV2 register
Bits 18 & 19 and 27 to 31 have been added.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
P7M1 P7M0 P6M1 P6M0 P5M1 P5M0 P4M1 P4M0 P3M1 P3M0 P2M1 P2M0 P1M1 P1M0 P0M1 P0M0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
POFF EOFF SMAX PMSK IEND PDIR PIM1 PIM0 EZL
Bit
18
19
27
28
29
30
31
EDIR EIM1 EIM0 PINF EINF
P1L
P0L
Bit name
Detail
EINF
1: Apply a noise filter to the EA/EB/EZ inputs.
PINF
1: Apply a noise filter to the PA/PB inputs.
IEND
Regardless of whether a normal or emergency stop occurs, the PCL will output an INT
signal when stopped.
PMSK Masks output pulses.
SMAX 1: Enables the currently working axis to be specified for the "start when the specified axis
stops" function.
EOFF
1: Disables EA/EB inputs.
POFF
1: Disables PA/PB inputs.
- 163 -
2-6. RENV4 register
Bit 7 (C1RM), bit 15 (C2RM) and bit 23 (IDXM) have been added.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
C2RM C2D1 C2D0 C2S2 C2S1 C2S0 C2C1 C2C0 C1RM C1D1 C1D0 C1S2 C1S1 C1S0 C1C1 C1C0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
C4D1 C2D0 C4S3 C4S2 C4S1 C4S0 C4C1 C4C0 IDXM C3D1 C3D0 C3S2 C3S1 C3S0 C3C1 C3C0
Bit Bit name
Detail
7
C1RM 1: Sets COUNTER1 for ring counter operation using Comparator 1.
15
C2RM 1: Sets COUNTER2 for ring counter operation using Comparator 2.
23
IDXM 0: Output an IDX signal while COUNTER4 = RCMP2.
1: When COUNTER4 becomes "0" by counting down, the PCL will output an IDX signal for
two CLK cycles. (This is only valid when C4S0 to C4S3 are set to 1000, 1001 or 1010.)
2-7. RENV5 register
Bits 24 (CU1L) to bit 27 (CU4L) have been added.
Bit Bit name
Details
24
CU1L 1: The PCL clears COUNTER1 at the same time it latches COUNTER1.
25
CU2L 1: The PCL clears COUNTER2 at the same time it latches COUNTER2.
26
CU3L 1: The PCL clears COUNTER3 at the same time it latches COUNTER3.
27
CU4L 1: The PCL clears COUNTER4 at the same time it latches COUNTER4.
2-8. RENV6 register
Bit 15 (PSTP), bits 16 to 26 (BD0 to 10), and bits 27 to 31 (REG0 to 4) have been added.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
PSTP
0
ADJ1 ADJ0 BR11 BR10 BR9
BR8
BR7
BR6
BR5
BR4
BR3
BR2
BR1
BR0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
PMG4 PMG3 PMG2 PMG1 PMG0 PD10 PD9
Bit
15
PD8
PD7 PD6
Bit name
PSTP
PD5
PD4
PD3
PD2
PD1
PD0
Detail
1: Even when a stop command is written, the pulses already input on PA/PB will be
fed.
16 to 26 PD0 to 10 Set the PA/PB division rate [Divide by (set value / 2048)]
27 to 31 PMG0 to 4 Set the PA/PB multiplication rate [enter (multiplication value - 1)]
- 164 -
2-9. RSTS register
Bits 18 & 19 (PFC0 to 1) and bits 20 & 21 (PFM0 to 1) have been added.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
SDIN SLTC SCLR SDRM SDRP SEZ SERC SPCS SEMG SSTP SSTA SDIR CND3 CND2 CND1 CND0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
0
0
0
0
0
0
0
0
0
0
PFM1 PFM0 PFC1 PFC0
0
SINP
Bit
Bit name
Detail
18 to 19 PFC0 to 1 Monitors the use conditions of the RCMP5 pre-register.
20 to 21 PFM0 to 1 Monitors the use conditions of the operation pre-registers (other than RCMP5).
2-10. PRCI (RCI) register
A data register to hold the circular interpolation step number has been added. (This is not available for the
U axis.)
RCI is the register for PRCI.
31 30 0
*
Step numbers
Bits with an asterisk "*" will be ignored when written, and become "0" when read.
2-11. RCIC register
A register to read the circular interpolation step count value has been added. (Read only)
31 30 0
0
Step count value
2-12. Stop in the middle of a circular interpolation
The PCL6045 cannot resume the remainder of a circular interpolation when stopped in the middle of the
operation.
The PCL6045B can continue the operation using the Residual Amount Start command (54h to 57h).
2-13. Improved precision for the FH correction calculation
The PCL6045B has improved FH correction calculation precision, compared to the PCL6045.
Therefore, for small feed amount positioning operations, the speed curve may change.
2-14. Change the start timing to count down using EZ during a zero return operation
1) When ORM = 0100, 0101, or 1011, the PCL will reverse direction when the ORG input turns ON, and it
will stop moving backward when EZ starts counting up.
Although the PCL6045 starts counting pulses on the EZ terminal at the same time it reverses direction,
the PCL6045B will start counting EZ pulses after the ORG input changes from ON to OFF.
2) When ORM = 0111, 1000, or 1100, the PCL will reverse direction when the EL input turns ON, and it
will stop moving backward when EZ starts counting up.
Although the PCL6045 starts counting pulses on the EZ terminal at the same time it reverses direction,
the PCL6045B will start counting EZ pulses after the EL input changes from ON to OFF.
2-15. Correct the acceleration speed when the synthesized speed is constant
When the synthesized speed is constant (MPIF = 1) and an auto ramp down point is specified (MSDP =
0), if you want to execute linear interpolation 1 or a circular interpolation with acceleration/deceleration, set
PRDP to "-1." (When using the PCL6045, leave PRDP = 0.)
- 165 -
[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.
- Do not apply a voltage greater than the specified voltages for the Vdd5 terminal to the input/output
terminals and do not pull them below GND.
- Please consider the voltage drop timing when turning the power ON/OFF. Consider power voltage drop
timing when turning ON/OFF the power.
- Make sure you consider the input timing when power is applied.
- Be careful not to introduce external noise into the LSI.
- Hold the unused input terminals to +5 V or GND level.
- Do not short-circuit the outputs.
- Protect the LSI from inductive pulses caused by electrical sources that generate large voltage surges,
and take appropriate precautions against static electricity.
4) Provide external circuit protection components so that overvoltages caused by noise, voltage surges, or
static electricity are not fed to the LSI.
5) Turn the Vdd5 (+5V) and Vdd3 (+3.3V) supply ON/OFF at the same time, or as nearly the same time as
possible. Turning the power on to either voltage supply may cause a "break-through current" to flow.
Continued application of a "break-through current" may generate heat and shorten the life of the LSIs.
2. Precautions for transporting and storing LSIs
1) Always handle LSIs carefully and keep them in their packages. Throwing or dropping LSIs may damage
them.
2) Do not store LSIs in a location exposed to water droplets or direct sunlight.
3) Do not store the LSI in a location where corrosive gases are present, or in excessively dusty
environments.
4) Store the LSIs in an anti-static storage container, and make sure that no physical load is placed on the
LSIs.
3. Precautions for installation
1) In order to prevent damage caused by static electricity, pay attention to the following.
- Make sure to ground all equipment, tools, and jigs that are present at the work site.
- Ground the work desk surface using a conductive mat or similar apparatus (with an appropriate
resistance factor). However, do not allow work on a metal surface, which can cause a rapid change in
the electrical charge on the LSI (if the charged LSI touches the surface directly) due to extremely low
resistance.
- When picking up an LSI using a vacuum device, provide anti-static protection using a conductive rubber
pick up tip. Anything which contacts the leads should have as high a resistance as possible.
- When using a pincer that may make contact with the LSI terminals, use an anti-static model. Do not use
a metal pincer, if possible.
- Store unused LSIs in a PC board storage box that is protected against static electricity, and make sure
there is adequate clearance between the LSIs. Never directly stack them on each other, as it may cause
friction that can develop an electrical charge.
2) Operators must wear wrist straps which are grounded through approximately 1M-ohm of resistance.
3) Use low voltage soldering devices and make sure the tips are grounded.
4) Do not store or use LSIs, or a container filled with LSIs, near high-voltage electrical fields, such those
produced by a CRT.
5) To preheat LSIs for soldering, we recommend keeping them at a high temperature in a completely dry
o
environment, i.e. 125 C for 24 hours. The LSI must not be exposed to heat more than 2 times.
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6) When using an infrared reflow system to apply solder, we recommend the use of a far-infrared pre-heater
and mid-infrared reflow devices, in order to ease the thermal stress on the LSIs.
Product flow direction
Far-infrared heater (pre-heater)
Mid-infrared heater (reflow-heater)
o
o
Package and substrate surface temperatures must never exceed 240 C and they must not exceed 210 C
for more than 30 seconds. The temperature change when cooling after a solder reflow process must be less
o
than 3 C per second.
7) When using hot air for solder reflow, the restrictions are the same as for infrared reflow equipment.
8) When using vapor phase solder, use Fluorinate FC-70 solvent, or its equivalent. The ambient
o
o
temperature must not exceed 215 C for more than 30 seconds and it must not exceed 200 C for more
than 60 seconds.
o
9) When using a solder iron, the lead section temperature must not exceed 260 C for more than 10 seconds
o
or 350 C for more than 3 seconds.
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4. Other precautions
1) When the LSI will be used in poor environments (high humidity, corrosive gases, or excessive amounts
of dust), we recommend applying a moisture prevention coating.
2) The package resin is made of fire-retardant material; however, it can burn. When baked or burned, it may
generate gases or fire. Do not use it near ignition sources or flammable objects.
3) This LSI is designed for use in commercial apparatus (office machines, communication equipment,
measuring equipment, and household appliances). If you use it in any device that may require high
quality and reliability, or where faults or malfunctions may directly affect human survival or injure humans,
such as in nuclear power control devices, aviation devices or spacecraft, traffic signals, fire control, or
various types of safety devices, we will not be liable for any problem that occurs, even if it was directly
caused by the LSI. Customers must provide their own safety measures to ensure appropriate
performance in all circumstances.
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NIPPON PULSE MOTOR CO., LTD.
Tokyo Office: No. 16-13, 2-chome, Hongo, Bunkyo-ku, Tokyo 113-0033, Japan
Phone: 81-3-3813-8841 Fax: 81-3-3813-7049
E-mail: [email protected] http://www.pulsemotor.com
U.S. Office: 1073 East Main Street, Radford, VA 24141, U.S.A.
Phone: 1-540-633-1677 Fax: 1-540-633-1674
E-mail: [email protected] http://www.nipponpulse.com
MNAL. No. PCL-6045B-1 1B-5205-0.5 (5205) ims