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Reference
User's Manual
For
PCL6045BL
Pulse Control LSI
(Preliminary)
Nippon Pulse Motor Co., Ltd.
- i -
■ Explanation of the descriptions in this manual
1. The "x" "y" "z" and "u" of terminal names and bit names refer to the X axis, Y axis, Z axis and U axis,
respectively.
2. Terminals with a # (ex.#RST) are negative logic. Their logic cannot be changed. Terminals without a # 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 "0". Finally, this bit will always return a "0" when read
out.
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.
[Preface]
(1) Copying all or any part of this manual without written approval is prohibited.
(2) The specifications of this LSI may be changed to improve performance or quality without prior
notice.
(3) Although this manual was produced with the utmost care, if you find any points that are unclear,
wrong, or have inadequate descriptions, please let us know.
(4) We are not responsible for any results that occur from using this LSI, regardless of item (3)
above.
[Cautions]
- ii -
INDEX
1. Outline and Features ......................................................................................................................................... 1
1-1. Outline ........................................................................................................................................................ 1
1-2. Features ..................................................................................................................................................... 1
2. Specifications ..................................................................................................................................................... 5
3. Terminal Assignment Diagram ........................................................................................................................... 6
4. Functions of Terminals ....................................................................................................................................... 7
5. Block Diagram ................................................................................................................................................. 12
6. CPU Interface .................................................................................................................................................. 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 a 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 (the axis assignment is omitted) .............................. 21
7-1-2. Start command ................................................................................................................................. 22
7-1-3. Speed change command .................................................................................................................. 22
7-1-4. Stop command ................................................................................................................................. 23
7-1-5. NOP (do nothing) command ............................................................................................................. 23
7-2. General-purpose output bit control commands........................................................................................ 24
7-3. Control command ..................................................................................................................................... 25
7-3-1. Software reset command ................................................................................................................. 25
7-3-2. Counter reset command ................................................................................................................... 25
7-3-3. ERC output control command .......................................................................................................... 25
7-3-4. Pre-register control command .......................................................................................................... 25
7-3-5. PCS input command ........................................................................................................................ 25
7-3-6. LTCH input (counter latch) command............................................................................................... 25
7-3-7. SENI, SEOR res
et command ........................................................................................................... 25
7-4. Register control command ....................................................................................................................... 26
7-4-1. Procedure for writing data to a register (the axis assignment is omitted) ........................................ 26
7-4-2. Procedure for reading data from a register (the axis assignment is omitted) .................................. 26
7-4-3. Table of register control commands ................................................................................................. 27
7-5. General-purpose output port control command ....................................................................................... 29
7-5-1. Command writing procedures .......................................................................................................... 29
7-5-2 Command bit allocation ..................................................................................................................... 29
8. Registers ......................................................................................................................................................... 30
8-1. Table of registers ...................................................................................................................................... 30
8-2. Pre-registers ............................................................................................................................................ 31
8-2-1. Writing to the operation pre-registers ............................................................................................... 31
8-2-2. Cancel the operation pre-register ..................................................................................................... 32
8-2-3. Writing to the comparator pre-registers ............................................................................................ 32
8-2-4. Cancel the comparator pre-register data.......................................................................................... 32
8-3.Description of the registers ....................................................................................................................... 33
8-3-1. PRMV (RMV) register ....................................................................................................................... 33
- iii -
8-3-2. PRFL (RFL) register ......................................................................................................................... 33
8-3-3. PRFH (RFH) register ........................................................................................................................ 33
8-3-4. PRUR (RUR) register ....................................................................................................................... 33
8-3-5. PRDR (RDR) register ....................................................................................................................... 34
8-3-6. PRMG (RMG) register ...................................................................................................................... 34
8-3-7. PRDP (RDP) register........................................................................................................................ 34
8-3-8. PRMD (RMD) register ...................................................................................................................... 35
8-3-9. PRIP (RIP) register ........................................................................................................................... 37
8-3-10. PRUS (RUS) register ..................................................................................................................... 37
8-3-11. PRDS (RDS) register ...................................................................................................................... 37
8-3-12. RFA register .................................................................................................................................... 38
8-3-13. RENV1 register .............................................................................................................................. 39
8-3-14. RENV2 register .............................................................................................................................. 41
8-3-15. RENV3 register .............................................................................................................................. 43
8-3-16. RENV4 register .............................................................................................................................. 46
8-3-17. RENV5 register .............................................................................................................................. 48
8-3-18. RENV6 register .............................................................................................................................. 50
8-3-19. RENV7 register .............................................................................................................................. 50
8-3-20. RCUN1 register .............................................................................................................................. 51
8-3-21. RCUN2 register .............................................................................................................................. 51
8-3-22. RCUN3 register .............................................................................................................................. 51
8-3-23. RCUN4 register .............................................................................................................................. 51
8-3-24. RCMP1 register .............................................................................................................................. 51
8-3-25. RCMP2 register .............................................................................................................................. 51
8-3-26. RCMP3 register .............................................................................................................................. 52
8-3-27. RCMP4 register .............................................................................................................................. 52
8-3-28. RCMP5 (PRCP5) register .............................................................................................................. 52
8-3-29. RIRQ register ................................................................................................................................. 53
8-3-30. RLTC1 register ............................................................................................................................... 53
8-3-31. RLTC2 register ............................................................................................................................... 53
8-3-32. RLTC3 register ............................................................................................................................... 54
8-3-33. RLTC4 register ............................................................................................................................... 54
8-3-34. RSTS register ................................................................................................................................. 55
8-3-35. REST register ................................................................................................................................. 56
8-3-36. RIST register .................................................................................................................................. 57
8-3-37. RPLS register ................................................................................................................................. 57
8-3-38. RSP
D register ................................................................................................................................ 58
8-3-39. RSDC register ................................................................................................................................ 58
8-3-40. PRCI (RCI) register ........................................................................................................................ 58
8-3-41. RCIC register .................................................................................................................................. 58
8-3-42. RIPS register .................................................................................................................................. 59
9. Operation Mode ............................................................................................................................................... 60
9-1. Continuous operation mode using command control .............................................................................. 60
9-2. Positioning operation mode ..................................................................................................................... 60
9-2-1. Positioning operation (specify a target position using an incremental value) (MOD: 41h) .............. 60
9-2-2. Positioning operation (specify the absolute position in COUNTER1) (MOD: 42h) .......................... 60
9-2-3. Positioning operation (specify the absolute position in COUNTER2) (MOD: 43h) .......................... 61
9-2-4. Command position 0 return operation (MOD: 44h) .......................................................................... 61
9-2-5. Mechanical position 0 return operation (MOD: 45h) ........................................................................ 61
9-2-6. One pulse operation (MOD: 46h, 4Eh) ............................................................................................. 61
9-2-7. Timer operation (MOD: 47h) ............................................................................................................. 61
9-3. Pulsar (PA/PB) input mode ...................................................................................................................... 62
9-3-1. Continuous operation using a pulsar input (MOD: 01h) ................................................................... 65
9-3-2. Positioning operations using a pulsar input (specify incremental position) (MOD: 51h) .................. 65
9-3-3. Positioning operation using pulsar input (specify absolute position to COUNTER1) (MOD: 52h) ... 65
9-3-4. Positioning operation using pulsar input (specify the absolute position in COUNTER2) (MOD: 53h)
.................................................................................................................................................................... 65
9-3-5. Command position zero return operation using a pulsar input (MOD: 54h) .................................... 66
9-3-6. Mechanical position zero return operation using pulsar input (MOD: 55h) ...................................... 66
9-3-7. Continuous linear interpolation 1 using pulsar input (MOD: 68h) .................................................... 66
9-3-8. Linear interpolation 1 using pulsar input (MOD: 69h) ...................................................................... 66
9-3-9. Continuous linear interpolation 2 using pulsar input (MOD: 6Ah) .................................................... 66
- iv -
9-3-10. Linear interpolation 2 using pulsar input (MOD: 6Bh) .................................................................... 66
9-3-11. CW circular interpolation using pulsar input (MOD: 6Ch) ............................................................... 66
9-3-12. CCW circular interpolation using pulsar input (MOD: 6Dh) ............................................................ 66
9-4. External switch (±DR) operation mode .................................................................................................... 67
9-4-1. Continuous operation using an external switch (MOD: 02h) ............................................................ 67
9-4-2. Positioning operation using an external switch (MOD: 56h) ............................................................ 68
9-5. Origin position operation mode ................................................................................................................ 69
9-5-1. Origin return operation ..................................................................................................................... 70
9-5-2. Leaving the origin position operations .............................................................................................. 78
9-5-3. Origin search operation .................................................................................................................... 78
9-6. EL or SL operation mode ......................................................................................................................... 80
9-6-1. Feed until reaching an EL or SL position ......................................................................................... 81
9-6-2. Leaving an EL or SL position ............................................................................................................ 81
9-7. EZ count operation mode ......................................................................................................................... 81
9-8. Interpolation operations ........................................................................................................................... 82
9-8-1.Interpolation operations ..................................................................................................................... 82
9-8-2. Interpolation control axis .................................................................................................................. 82
9-8-3. Synthesized speed constant control................................................................................................. 83
9-8-4. Continuous linear interpolation 1 (MOD: 60h) .................................................................................. 84
9-8-5. Linear interpolation 1 (MOD: 61h) .................................................................................................... 84
9-8-6. Continuous linear interpolation 2 (MOD: 62h) .................................................................................. 85
9-8-7. Linear interpolation 2 (MOD: 63h) .................................................................................................... 85
9-8-8. Circular interpolation ........................................................................................................................ 86
9-8-9. Circular interpolation synchronized with the U axis.......................................................................... 88
9-8-10. Interpolation operation synchronized with PA/PB .......................................................................... 88
9-8-11. Operation during interpolation ........................................................................................................ 89
10. Speed patterns .............................................................................................................................................. 90
10-1. Speed patterns ....................................................................................................................................... 90
10-2. Speed pattern settings ........................................................................................................................... 91
10-3. Manual
FH correction ............................................................................................................................. 95
10-4. Example of setting up an acceleration/deceleration speed pattern ....................................................... 99
10-5. Changing speed patterns while in operation ........................................................................................ 100
11. Description of the Functions ........................................................................................................................ 101
11-1. Reset .................................................................................................................................................... 101
11-2. Position override .................................................................................................................................. 102
11-2-1. Target position override 1 ............................................................................................................. 102
11-2-2. Target position override 2 (PCS signal) ........................................................................................ 103
11-3. Output pulse control ............................................................................................................................. 104
11-3-1. Output pulse mode ....................................................................................................................... 104
11-3-2. Control the output pulse width and operation complete timing .................................................... 105
11-4. Idling control ......................................................................................................................................... 106
11-5. Mechanical external input control......................................................................................................... 107
11-5-1. +EL, -EL signal ............................................................................................................................. 107
11-5-2. SD signal ...................................................................................................................................... 108
11-5-3. ORG, EZ signals ........................................................................................................................... 111
11-6. Servomotor I/F (Case in digital servo) .................................................................................................. 112
11-6-1. INP signal ..................................................................................................................................... 112
11-6-2. ERC signal .................................................................................................................................... 113
11-6-3. ALM signals .................................................................................................................................. 114
11-7. External start, simultaneous start ......................................................................................................... 115
11-7-1. #CSTA signal ................................................................................................................................ 115
11-7-2. PCS signal .................................................................................................................................... 116
11-8. External stop / simultaneous stop ........................................................................................................ 117
11-9. Emergency stop ................................................................................................................................... 118
11-10. Counter ............................................................................................................................................... 119
11-10-1. Counter type and input method .................................................................................................. 119
11-10-2. Counter reset .............................................................................................................................. 122
11-10-3. Latch the counter and count condition ....................................................................................... 123
11-10-4. Stop the counter ......................................................................................................................... 124
11-11. Comparator ......................................................................................................................................... 125
11-11-1. Comparator types and functions ................................................................................................. 125
剩余189页未读,继续阅读
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