Basic Description for PCL Series

Transcription

1 Insrucion documens Pulse Conrol LSIs Basic Descripion or PCL Series Nippon Pulse Moor Co., Ld.

2 Table o conens I. Ouline 1 1. PCL-240 amily 1 2. PCL50oo series 1 3. PCL61oo series / 60oo series 1 II. Dierences beween he PCL series and PCD series 2 1. Which should be seleced? 2 Comparison o he basic uncions in he PCD45oo, PCL61oo, and PCL60oo series 2 2. PCL series eaures in Table 1 above. 2 III. Major addiional aciliies and uncions o he PCL series 3 1. Encoder inpu (A/B phase signal (90 phase dierence signal) or bi-direcional pulse signals) 3 2. Up/down couner 3 3. Servomoor inerace 3 4. Pre-regiser (preliminary buer or he nex operaion) 4 5. Rampdown poin auo seing uncion 5 6. S-curve range seing 7 7. Operaing speed correcion uncion (FH correcion uncion) 8 8. Various zero reurn mehods 8 9. Comparaor Pulsar inpu Sepper moor ou-o-sep deecion uncion 14 Insrucions or he PCL60oo series Ouline 16 Feaures 16 POINT 1. Inerpolaion operaion 16 Wha is linear inerpolaion? 16 Wha is arc inerpolaion? 16 Wha is synhesized consan speed conrol? 17 POINT 2. Coninuous operaion using he pre-regisers 17 Wha is a pre-regiser? 17 POINT 3. Various acceleraion/deceleraion paerns 18 POINT 4. Targe posiion and speed override during operaion 18 [Targe posiion override] 18 [Operaion speed override] 19 POINT 5. Smooh he speed curve by using he FH correcion uncion 19 Wha is he FH correcion uncion? 19 POINT 6. A variey o couners and comparaors are buil in 19

3 POINT 7. Oher useul uncions 21 Manual operaion inpu 21 Synchronous sar conrol 21 CPU-I/F 21 Idling pulse oupus 21 Backlash correcion / slip correcion 21 Vibraion resricion uncion 21 Simulaneous sar / simulaneous sop 21 Mechanical inpu signals 22 Servomoor I/F 22 Oupu pulse speciicaion 22 Emergency sop signal inpu 22 Inerrup signal oupu 22 POINT 8. A variey o operaion modes 22

4 Basic descripion o PCL series Basic Descripion or PCL Series This documen oulines he major uncions o he PCL series pulse conrol LSIs, which are no par o he PCD series I. Ouline The PCD/PCL series pulse conrol LSIs manuacured by NPM now have a varied lineup. These producs (17 models) can be divided ino he ollowing hree groups, according o heir command uncions and regisers. PCL-240 amily PCD4500/4511/4521/4541 PCL-240AK/240MK/240AS/240MS PCL50oo amily (PCL50oo series) PCL3013/5014 PCL5022/5023 PCL60oo amily (PCL61oo series/60oo series) PCL6113/6123/6143 PCL6025/6045B 1. PCL-240 amily In his amily, each command is allocaed a speciic bi. Basically, his is a simple amily ha has only our modes: sar mode, conrol mode, regiser selec mode, and an oupu mode (8 bis are used or each mode). Since he PCL-240 series has a larger number o uncions han he PCD series, some commands or addiional uncions are accessed hrough regisers. 2. PCL50oo series The PCL55oo series has many more uncions han he PCL-240 amily, wih los o commands and regisers. The mehod or wriing and reading his series is dieren rom he PCL-240 amily. The PCL5022/5023 are LSIs or conrolling wo axes. The speciicaions or hese LSIs when working on one axis are no as broad as he PCL5014, which can be used or linear inerpolaion. (For deails abou linear inerpolaion, see he user's manual or each model, or see page 17 in his documen.) 3. PCL61oo series / 60oo series The PCL60oo series has sill more uncions han he PCL50oo series, such as los o couners, comparaors, and an arc inerpolaion uncion (see page 16). The bis or commands, regisers, and saus condiions have been named or easy reerence. This series conains he bes models we oer. PCL61oo series has ewer uncions han he PCL60oo series, and hey cos much less as well. Even hough he uncions are limied, he basic high level uncions are sill presen, such as servomoor conrol and linear inerpolaion. The power supply requiremen is jus 3.3 V. They oer he highes oupu requency oered by he NPM pulse conrol LSIs, and hey can conrol high-resoluion linear moors. When our models are classiied by compaibiliy wih soware programs, here are 6 ypes, as shown below: (1) PCD4500/4511/4521/4541 (2) PCL-240AK/240MK/240AS/240MS (3) PCL3013/5014 (4) PCL5022/5023 (5) PCL6113/6123/6143 (6) PCL6025/6045B -1-

5 Basic descripion o PCL series II. Dierences beween he PCL series and PCD series 1. Which should be seleced? Excep or he exciaion sequence oupu or a 4-pole (2-pole) sepper moor, here are no uncions ound in he PCD series which are no ound in he PCL series, The PCD series have he minimum required uncions or conrolling sepper moors. In addiion o hese uncions, he PCL series can handle servomoors and are equipped wih he various ineraces, encoder inpus, and up/down couners ha are needed o conrol servomoors. The regisers relaed o speed paerns have more bis o handle he high speeds o servomoors. Each model also has oher uncions. However, o make he selecion simple, i you wan o conrol a closed loop sysem using posiion deecion equipmen such as encoders, you should irs consider using he PCL series. I you wan o conrol an open loop sysem using sepper moors, you should irs consider using he PCD series. Table 1 sums up he basic perormance oerings o he PCD series, PCL61oo series, and PCL60oo series. Comparison o he basic uncions in he PCD45oo, PCL61oo, and PCL60oo series Funcion Model PCD4511/4521/4541 PCL6113/6123/6143 PCL6025/6045B Number o axes conrolled 1/2/4 1/2/4 2/4 Sandard reerence clock requency Maximum pulse oupu requency Number o regisers or speciying speed MHz MHz (Max. 30 MHz) MHz (Max. 20 MHz) 2.4 Mpps 9.8 Mpps (Max. 15 MHz) 6.5 Mpps 2 (FL, FH) 2 (FL, FH) 3 (FL FH FA (or correcion)) Number o speed sep seings 8,191 (13 bis) 16,383 (14 bis) 65,535 (16 bis) Speed muliplicaion range 1x o 300x 0.3x o 600x 0.1x o 100x Acceleraion rae range 2 o 1,023 (10 bis) (Used or boh 1 o 16,383 (14 bis) 1 o 65,535 (16 bis) Deceleraion rae range acceleraion/deceleraion) 1 o 16,383 (14 bis) 1 o 65,535 (16 bis) Posiioning pulse range (coundown couner) 0 o 16,777,215 (24 bis) -134,217,728 o +134,217,727 (28 bis) -134,217,728 o +134,217,727 (28 bis) CPU inerace 8-bi bus 16-bi bus 16-bi bus Rampdown poin range 1 o 65,535 (16 bis) 1 o 16,777,215 (24 bis) 1 o 16,777,215 (24 bis) <Table 1> 2. PCL series eaures in Table 1 above. (1) The is a large number o speed seps. => Can oupu high requency pulses wih low speed muliplicaion. => Finer uning o he speed seing is possible. => When he speed seing regisers (FH or FL speeds) are se o he same values as in he PCD, he speed muliplicaion rae can be se beween 1/2 o 1/8. (2) The acceleraion and deceleraion raes can be se independenly. => For example, a shor acceleraion wih a long deceleraion is easily se. (Excep or he PCL3013.) (3) The seing range o he acceleraion, deceleraion raes, and he rampdown poin is larger. => In he PCD series, hese seing ranges are raher small, which places some resricions on he acceleraion speed and he speed seing. In he PCL series, here is almos no resricion when seing he maximum speed. As shown above, he PCL series has almos no resricion on is operaion, compared wih he PCD series. -2-

6 Basic descripion o PCL series III. Major addiional aciliies and uncions o he PCL series Though we canno describe everyhing in deail here, his secion will inroduce he remarkable uncions o he PCL ha are no ound on he PCD series. (For an ouline o all he uncions, see he uncion descripion lis.) The symbols nex o he addiional uncions or capabiliies have he ollowing meaning: 240 -> PCL-240 series uncion (excep or he PCD series) 50oo -> PCL50oo series uncion 61oo -> PCL6100 series uncion 60oo -> PCL60oo series uncion 1. Encoder inpu (A/B phase signal (90 phase dierence signal) or bi-direcional pulse signals) oo 61oo 60oo Mainly used o inpu signals rom an encoder mouned on a servomoor. In some applicaions, an encoder is mouned on a sepper moor o conrol he curren posiion. Encoder signals are inpu on he EA/EB erminals on he PCL50oo/61oo/60oo series. The inpu signal ype can be eiher an A/B phase signal (90 phase dierence signals) or a bi-direcional pulse (posiive and negaive direcion pulses). I A/B phase signals are seleced, hey can be muliplied by 2x or 4x. Normally roaion ype encoders are mouned a he back o he servomoor. Recenly, however, linear ype encoders are being insalled on linear moion sages ha use linear moors. An EZ encoder inpu erminal is available (excep on he PCL-240AK) or inpuing he Z-phase signal, ha is oupu once per roaion o he encoder. This is usually used, ogeher wih he ORG signal, o perorm a precision zero reurn posiioning operaion. 2. Up/down couner oo 61oo 60oo The PCD series only have a down couner. However, he PCL series have an up/down couner as well as a down couner. The up/down couner couns up while he moor is roaing in a posiive direcion and i couns down while he moor is roaing in a negaive direcion. This couner is mainly used o coun A/B phase signals rom he encoder. Since he couner is couning signals rom he encoder, you can know he exac curren posiion a he momen you read his couner. This couner also can be used in he ollowing way: - Se i o no coun when pulse signals are inpu, such as A/B phase signals. - In addiion o A/B phase signals, bi-direcional pulse signals, which use so called posiive and negaive direcion pulses, can also be couned. - In addiion o exernal signals, such as A/B phase signals and bi-direcional pulses, he couner can also coun pulses oupu by he PCL isel. 3. Servomoor inerace oo 61oo 60oo These LSIs have INP, ERC, and ALM erminals or making connecions o a servo driver. For deails abou he roles and uncions o each signal, see he "Basics o servo moor conrol" and he " Funcion descripion lis" pamphles. -3-

7 Basic descripion o PCL series 4. Pre-regiser (preliminary buer or he nex operaion) 50oo (Excep PCL5022/5023) 61oo 60oo The erm pre-regiser reers o a regiser used o prepare or operaion. Simply pu, his is jus like a waiing room where he daa or he nex speed paern is sored. As you can see in <Table 2> below, he pre-regisers are provided primarily or regisers ha deermine speed paerns. Regisers ha have pre-regisers Regiser name Regiser deails PCL3013/5014 PCL6113/6123/6143 PCL6025/6045B Feed amoun (prese amoun or arge posiion) R0 RMV RMV FL speed R1 RFL RFL FH speed R2 RFH RFH Acceleraion rae R3 RUR RUR Deceleraion rae R15 RDR RDR Speed muliplicaion rae R4 RMG RMG Rampdown poin R5 RDP RDP Operaion mode Operaion mode buer RMD RMD Cener posiion during arc inerpolaion, or main axis eed amoun during linear - RIP RIP inerpolaion S-curve range during S-curve acceleraion R16 (shared or boh RUS RUS S-curve range during S-curve deceleraion acceleraion / deceleraion) RDS RDS Sar command Wih preliminary buer <Table 2> On he models ha do no have pre-regisers (PCD series, PCL-240 series, and PCL5022/5023), i you wan o use nex dieren operaing paern aer compleing one operaion, irs he LSI conirms he end o he previous operaion using he INT signal or a saus regiser. Aer conirming his, you have o wrie he daa or he nex operaion (prese amoun, FL/FH speed, acceleraion/deceleraion rae, muliplicaion ec.) rom a CPU. I he regiser value is he same as in he previous operaion, you only wrie he prese amoun and any oher values you wan o change. The ime required o conirm he end o previous operaion and wrie he daa or he nex operaion is only a ew µs. However, his inerval is simply waiing ime beore he ulimae operaion begins. Wih pre-regisers, you can wrie he daa or he nex operaion during he curren operaion, so ha he nex daa are available as soon as hey can be used. Then, he LSI can sar he nex operaion immediaely, wihou he waiing ime described above. The operaing paern is a chain o muliple paerns, as shown in Figure 2. - Wihou pre-regisers (1) (2) (3) During his inerval, he LSI conirms ha operaion (1) has sopped and wries he regiser values and commands or operaion (2). Thereore, here is a period when everyhing sops, even hough i is very shor. (The same is rue or he ime beween operaions (2) and (3), ec.) <Figure 1> -4-

8 Basic descripion o PCL series - Wih pre-regisers (1) (2) (3) Using pre-regisers, he LSI can prepare he daa or he nex operaion during he curren operaion, so ha no ime is los beween operaions. <Figure 2> 3 4 In anoher applicaion, drawing a reesyle curve (a sequence o shor line segmens) changes in he speed are possible, as shown in Figure L P1 P2 P3 P4 P5 <Figure 3> In order o sar he nex operaion by eliminaing he waiing ime, you have o wrie he daa o each o pre-regisers or he speed paern seings, as well as he nex operaion s sar command. The acual procedure is as ollows. To operae a moor wih he paern shown in Figure 2, do he ollowing: a) Firs, wrie he values or operaion (1) in each pre-regiser. b) Wrie a sar command. The momen he sar command is wrien, all o he values are copied ino he appropriae operaion regisers and he LSI sars operaion. c) Aer saring operaion, he values or operaion (2) mus be wrien o he LSI. However, he pre-regisers sill conain he values ha were wrien in sep a) above, so you only need o overwrie hose values ha are dieren rom operaion (1). (However, he eed amoun [prese amoun or arge posiion] sill needs o be wrien again, even i he value is he same as in he previous operaion, because he couner is rese o zero when he curren operaion is complee.) d) During he execuion o operaion (1), wrie he nex operaion sar command. e) Aer operaion (2) has sared, repeas sep c) and d) or subsequen operaions. 5. Rampdown poin auo seing uncion oo 61oo 60oo For posiioning operaions (prese operaions) wih he PCD series, we have o se a rampdown poin (deceleraion sar poin) or acceleraion/deceleraion operaions, in order o ell he LSI he number o residual pulses a which o sar deceleraion. All models in he PCL series have a rampdown poin auo seing uncion. Using his uncion, you don need o wrie he rampdown poin seing regiser or each operaion. There are wo ways o hink abou using he PCL series rampdown poin auo seing uncion. -5-

9 Basic descripion o PCL series (1) Coun Mehod (PCL-240AK/240MK,3013,5022,6113/6123/6143) This sysem couns he number o pulses used or acceleraion (he number o pulses beween FL and FH speed). When he number o residual pulses is equal o his amoun, he LSI sars he deceleraion. Coun mehod FH When he number o pulses used or he acceleraion is equal o he number o residual pulses, he LSI sars he deceleraion. FL Couns he number o pulses needed or acceleraion, Then, ses he same number o pulses as he rampdown poin. <Figure 4> This mehod requires he (acceleraion ime) = (deceleraion ime). I you wan o change he deceleraion ime (i you wan o have an asymmerical paern, you have o disable he auo seing o he rampdown sar poin. In his case you will have o wrie a value ino he rampdown poin seing regiser, jus like wih he PCD series. (This is generally reerred o manual rampdown poin seing.) (2) Calculaion Mehod (PCL-240AS/240MS,5014,5023,6025/6045B) In conras wih he Coun Mehod (1), his mehod always calculaes he number o pulses required o deceleraion rae and sop. The calculaed resul is used as he rampdown poin. The advanage o his mehod is ha he deceleraion ime can be dieren rom he acceleraion ime. (Asymmerical speed paerns are possible) => This was designed or users who wan he deceleraion ime o be shorer han he acceleraion ime ha would be se using he rampdown poin auo seing uncion. Calculaion mehod Calculaes he number o pulses needed o reach FL speed rom he curren FH speed, using he curren deceleraion rae and use his value as he rampdown poin. FH Sar deceleraing using he deceleraion rae ha is se. FL <Figure 5> -6-

10 Basic descripion o PCL series 6. S-curve range seing 240 (excep or he PCL-240AK/240MK), 50oo (excep or he PCL3013/5022), 61oo 60oo FH Poin A (A large rae o acceleraion. By drawing he angen, you can see how seep he slope is.) Wih a normal S-curve, he cener poin o he S-curve (poin A in Figure 6) has he larges acceleraion rae (a seep slope). This means ha he moor mus accelerae rapidly a his poin. So, he sepper moor may ge ou-o-sep. FL FH <Figure 6> S-curve range By inseing a sraigh line, he acceleraion rae will be smaller (he slope will be less seep). PCL series models ha have S-curve acceleraion / deceleraion can make his inermediae par a sraigh line (excep or PCD series and he PCL3013). By providing a sraigh line here, he acceleraion rae will be smaller (he slope will be less seep) and an ou-o-sep condiion can be prevened. By seing he S-curve range, he lengh o he sraigh line can be se reely. FL <Figure 7> -7-

11 Basic descripion o PCL series 7. Operaing speed correcion uncion (FH correcion uncion) 240(excep PCL-240AK/240MK) 50oo (excep or he PCL3013/5022) 61oo 60oo FH FH In order o eliminae he sharp peak o he riangle shape in Figure 8 in he PCD series, you mus manually calculae he peak speed FH'. Then, you can se a op speed ha is a lile smaller han he FH' value. FL FH FH <Figure 8> Models ha oer S-curve acceleraion / deceleraion (excep or he PCD series and he PCL3013), have an FH correcion uncion ha can auomaically se his FH' value inernally. By enabling his uncion, he LSI can creae an S-curve ha uses FH' speed as he op speed, so ha he peak o he shape will be smooh. FL <Figure 9> 8. Various zero reurn mehods In he PCD series, here is no oher way o decelerae and perorm a zero reurn han o urn ON he SD sensor o sar deceleraion and hen sop when he ORG sensor urns ON. In he PCL series however, you can selec various mehods o perorm a zero reurn, such as using an encoder Z-phase signal and you do no have o use he SD sensor. This secion discusses ypical zero reurn mehods. (1) Decelerae on receiving he SD signal and sop on he ORG signal oo 61oo 60oo FH Sar deceleraion when SD goes ON Sop when ORG goes ON This is he normal zero reurn mehod, he same as he PCD series. Aer saring wih an acceleraion/deceleraion paern, when he SD sensor goes ON he moor sars o decelerae. When he ORG sensor goes ON, he moor sops. FL <Figure 10> -8-

12 Basic descripion o PCL series (2) Turn ON he SD signal and when he ORG signal goes ON he LSI sars couning he EZ pulses. When he number o EZ pulses reaches he prese value, sop he moor oo 61oo 60oo FH FL ORG = ON Sar deceleraion when SD goes ON Coun he speciied number o EZ pulses and hen sop The zero reurn mehod described in (1) may have a deviaion o a ew pulses rom he acual zero poin. This is mehod allows reurning o he zero posiion more accuraely, using he Z-phase signal rom an encoder. The number o EZ pulses couned can be se beween 1 and 16. <Figure 11> (3) When he ORG signal goes ON, he moor sars o decelerae and begins couning EZ pulses. When he number o EZ pulses couned reaches he prese value, he moor sops. 50oo 61oo 60oo FH Sar o decelerae when ORG goes ON Sop aer couning he prese number o EZ pulses This mehod uses he ORG sensor in place o he SD sensor. You can use i i you wan o avoid using he SD sensor. FL <Figure 12> (4) When he R0 pre-regiser se value is reached, he moor sops. 50oo ORG sensor Pu a large amoun in R0 as a prese value, i he ORG sensor is broken, he moor can be sopped when he pulses equal his prese amoun. <Figure 13> -9- This mode is basically he same as described in (1) o (3) above. However, he moor will sop when he number o pulses is equal o he R0 pre-regiser value, and does no require reurning o he zero posiion. One example o is use is o zero-reurn he moor using roaion, i he ORG sensor is disconneced or broken, he ORG signal canno be inpu so he moor can never sop. Then, by seing a raher larger number o pulses in R0, he moor can be sopped when i reaches ha number o pulses. I he moor is sopped in his way, arrange o oupu an error, and you will know ha here is a problem on or around he ORG sensor. (5) Moving away rom zero posiion 50oo(excep PCL5022/5023) 60oo This mehod is used o sop he moor aer he ORG signal goes ON and hen OFF. This is used in cases where he irs ORG ON does no really occur a he zero posiion.

13 Basic descripion o PCL series (6) Zero posiion search operaion 50oo(excep PCL5022/5023) 60oo In his zero search, he moor roaes beween he -EL sensor and +EL sensor, back and orh, and inally inds he zero posiion rom he speciied direcion. Inernally, his is conigured by auomaically swiching beween zero reurn operaions and zero leaving operaions. (7) Oher zero reurn operaions 60oo Oher zero reurn operaions are possible wih he PCL6025/6045B: a) reurn o a memorized ORG signal ON posiion, b) he moor deceleraes, sops and hen reverses when he EL signal goes ON. When he speciied number o EZ pulses is couned, he moor sops. For he deails abou mehods (5), (6), and (7), see he User's Manual or hese operaion modes. 9. Comparaor 50oo(Excep PCL5022/5023) 61oo 60oo FH FL When he moor reaches a prese posiion, a signal is oupu. <Figure 14> The comparaor reers o a comparison circui. Compare he prese value (i.e. he comparaor daa) wih an inernal couner value. When he comparison condiion is me, he LSI will oupu a signal, or he PCL can ake urher acion. In simple erms, i les you know when he machine has passed a posiion wih a signal, which can be used o have he machine do somehing else. The deails o he comparaor uncion vary wih each model. The PCL60oo series can sore ive comparaor daa. The inernal acion ha occurs when a condiion is me can be seleced rom various iems. The PCL3013/5014 and PCL61oo series can sore wo comparaor daa. However, he PLC61oo series have a simpliied version o his uncion. This secion discusses examples o he comparaor uncion in he PCL3013/5014. We ll reer o comparaor 1 daa as "CMPD1," Comparaor 2 daa are "CMPD2," he coundown couner value is "DC," and he up/down couner value is "UDC." (1) Wha kinds o condiions can be speciied? You decide which condiions will be used or he CMPD1 (or CMPD2) and DC (or UDC), and he signal o be oupu. You can selec rom 13 ypes o condiions, including hose shown below. a) When UDC is equal o CMPD1, oupu a signal. (CMPD1 = UDC) b) When UDC is larger han CMPD1, oupu a signal. (CMPD2<UDC) c) When DC is smaller han CMPD2, oupu a signal. (CMPD2>DC) d) When UDC is larger han CMPD1, and is smaller han CMPD2, oupu a signal (CMPD1<UDC<CMPD2) (2) Wha does i mean o pu ou a signal? a) The CMP erminal goes ON (LOW) uncondiionally when he comparaor condiions are me. b) An INT signal can be oupu. Se bi 12 in R8 (Environmen regiser 3) (3) Wha kinds o inernal processing will he PCL do when he condiions are me? The PCL3013/5014, in addiion o urning ON he CMP erminal and oupuing an INT signal, can do any o he our hings below. a) Do nohing. b) Immediaely sop oupuing pulses. c) Coninue he inernal operaion bu don oupu pulses. d) Change he FH speed or he acceleraion/deceleraion rae o he pre-regiser values. => Selec one o he acions he above using bis 20 and 21 in R7 (Environmen regiser 2). -10-

14 Basic descripion o PCL series * In he PCL61oo series, a comparison beween inside he range and ouside he range, as described above in (1) a) and d), is no possible (I mus be handled by a CPU.). Also he PCL61oo series canno execue inernal acion (3) c) above. Thereore, when he condiions are me, only he CP1/CP2 erminals (CMP erminal on he PCL5014) go ON, or an INT signal is oupu. In he PCL60oo series, in addiion o a), b), and c) above, hey have los o couners or comparisons and can ake various oher acions. For deails, see he respecive User's manual. (4) Example wih a PCL3013/5014 a) Using only one comparaor 200,000 pulse posiion (when he couner value reaches 20,001, oupu an INT signal and accelerae oward a 7,000 pps speed a an acceleraion rae o 500) During operaion wih a prese amoun o 50,000, when he up/down couner value exceeds 20,000, oupu an INT signal and sar acceleraing he moor. (pps) Prese amoun 50,000 Se as ollows: - R0 pre-regiser (prese amoun) = R1 pre-regiser (FL speed) = R2 pre-regiser (FH speed) = R3 pre-regiser (acceleraion rae) = R4 pre-regiser (muliplicaion) = 299 (1x) - R10 (comparaor 1 daa)= Se R8 (Environmen regiser 3) bi 13 = 1 (oupu an INT signal when he comparaor condiions are me) - Se R7 (Environmen regiser 2) bis 16 o 19 = (comparaor condiion: R10 < couner) - Se R7 (Environmen regiser 2) bis 20 o 21 = 11 (ill R2 and R3 wih he pre-regiser values) <Figure 15> (s) - Se R7 (Environmen regiser 2) bi 22 = 0 (comparison couner o use: up/down couner) - Se he up/down couner o 0. (Conrol command 61h) - Se he operaion mode buer, conrol mode buer, and oher regiser values and rigger a sar (high-speed sar: 13h) => Accelerae rom 1,000 pps o 5,000 pps. - Aer saring, wrie 7,000 ino he R2 pre-regiser and 500 ino he R3 pre-regiser. Then, when he up/down couner reaches 20,001 (he 20,001 s pulse aer saring), he moor will operae as ollows: - The moor will accelerae rom 5,000 pps o 7,000 pps wih an acceleraion slope o 500. (In oher words, he R2 and R3 pre-regiser values are copied ino he regisers.) - The CMP signal goes LOW (ON). - The INT signal goes LOW (ON). -11-

15 Basic descripion o PCL series b) Using wo comparaors Ou o range Only possible o operae in his range Ou o range Make i possible o operae only wihin he range o posiions beween 10,000 and +10,000. I he machine ries o operae ouside his range, sop immediaely and oupu an INT signal <Figure 16> To do his, use he ollowing seings: - R10 (comparaor 1 daa) = -10,000 - R11 (comparaor 2 daa) = 10,000 - Se R8 (Environmen regiser 3) bi 13 = 1 (oupu an INT signal when he comparaor condiions are me). - Se R7 (Environmen regiser 2) bis 16 o 19 = 1000 (comparaor condiion: R10 > couner, R11 < couner) - Se R7 (Environmen regiser 2) bis 20 o 21 = 01 (immediaely sop oupuing pulses) - Se R7 (Environmen regiser 2) bi 22 = 0 (comparison couner o use: Up/down couner) Wih hese seings, i he value o he up/down couner becomes smaller han -10,001 or larger han +10,001, he moor will sop immediaely and he CMP and INT signals will go LOW (ON). (5) Soware limi 60oo The soware limi is dieren rom he hardware end limis, such as he ±EL sensors. I is used o se boh ends o a range using wo comparaors. Basically, he LSI operaes wih he range o he daa rom wo comparaors, allowing hem o uncion as soware end limis. When he comparaor condiions are me (he machine has moved ouside he soware limi range), he moor sops immediaely and canno roae any more in he same direcion. However, he moor can be roaed in he opposie direcion. The soware limi uncion is ound in he PCL6025/6045B, bu no in he PCL50oo or PCL61oo series. Example (4) b), in Secion 9 o Chaper III looks like a soware limi uncion. When he comparaor condiions are me (ouside he range), he moor sops immediaely. However he moor canno be moved any more, no even in he opposie direcion. Thereore, in order o make i possible o move he moor wih he PCL3013/5014, change bis 20 o 21 (seleced acion when he comparaor condiions are me) in R7 rom 01 o 00 (do nohing) (R7 is Environmen regiser 2). By seing i o do nohing, he moor can be roaed in he opposie direcion. However, please noe ha in his case, he moor can also be moved urher in he direcion i was going when i wen pas he limi. -12-

16 Basic descripion o PCL series 10. Pulsar inpu 50oo 61oo 60oo (1) Wha is a pulsar? Generally, pulsars look like he one in Figure 17. The roaing dial is equipped wih an encoder, and can be urned wih he handle on he dial. The dial is jus like he dial on a sae. I clicks as i urns. Turn i clockwise o move in he posiive direcion. The pulsar in he phoo on he le has wo roary swiches. The le roary swich is used o selec he axis o move (up o six axes can be addressed separaely). The righ roary swich is used o selec he unis (how many pulses per ick on he dial). <Figure 17> <Figure17> Basically, mos pulsars can oupu A/B phase signals. When an operaor needs o adjus he posiion o a workpiece on a sage, push buons may be used o adjus i in a posiive or negaive direcion. However, in order o make ine adjusmens o he posiion, he pulsar may be more eicien. Emergency sop buon Muliplier (number o pulses per ick on he dial) x1: One pulse per ick. x10: 10 pulses per ick. x100: 100 pulses per ick. <Figure 18> Selec he axis o conrol An bare encoder wih a marked dial, as shown o he le, can be purchased and insalled on a conrol panel. <Figure 19> -13-

17 Basic descripion o PCL series (2) Manual pulsar inpu on he PCL This is a uncion used o receive encoder signals rom some oher encoder han he eedback encoder on he back o he moor. Then, pulses can be oupu rom he OUT and DIR erminals. A manual pulsar is no used o oupu pulses like a sar command. However, as you urn he dial, he moor will roae and he up/down couner can coun he amoun moved. The PCL can read pulsar signals on boh he PA and PB erminals. The inpu signal ype can be A/B phase signals (90 phase dierence signals) or bi-direcional pulses (posiive and negaive direcion pulses). When A/B phase signals are seleced, you can se he muliplier o 1x, 2x, or 4x. The PCL oupus pulses rom he OUT and DIR erminals ha are synchronized wih he speed a which you urn he dial. I a sepper moor is used, urning oo as may cause i o ge ou o sep. Thereore, he PCL is se so ha i won oupu pulses a a high requency, wih he FH speed being used as he upper limi. 11. Sepper moor ou-o-sep deecion uncion 50oo 60oo Encoder (200 ppr) 2-pole HB ype sepper moor (2-2 phase exciaion, 200 ppr) This uncion deecs ou-o-sep o sepper moors. To use his uncion, insall an encoder wih he same resoluion as he sepper moor on he same axis as he sepper moor, as shown in Figure 20. The PCL compares he number o pulses oupu by isel wih he pulses reurned rom he encoder. I he dierence exceeds a prese value, he PCL deermines ha an ou-o-sep condiion has occurred and is akes a speciied acion. The acion aken when an ou-o-sep condiion is deeced varies wih each model. <Figure 20> (1) PCL50oo series This series sops he moor immediaely and oupus an INT signal. (The PCL50oo series has a delecion couner or deecing an ou-o-sep moor. This couner manages he delecion amoun.) For example, i he maximum delecion deecion amoun is se o 5, when he dierence beween he number o oupu pulses and reurned pulses is 5 or less, he PCL considers ha OK. I he dierence is 6 or more, he PCL declares ha he moor is ou-o-sep and oupus an INT signal. (2) PCL60oo series This series deecs an ou-o-sep condiion using Comparaor 3 and COUNTER3 (he delecion couner). Thereore, he acion aken when an ou-o-sep is deeced can be seleced rom he acions available when he comparaor condiions are me. (Same as in secion 9 (3) in Chaper III.) The PCL50oo series has ERA/ERB erminals, exclusively or connecing an ou-o-sep deecion encoder. Wih he PCL60oo series, he EA/EB erminals are shared or use wih an ou-o-sep deecion encoder. Jus like wih a pulsar inpu, you can choose he pulse syle: A/B phase signals (90 phase dierence signal) or bi-direcional pulse signals (posiive and negaive direcion pulses). When A/B phase signals are seleced, you can se he muliplier o 1x, 2x, or 4x. * The PCL61oo series does no have an ou-o-sep deecion uncion. Wha he PCL61oo series can do is as ollows: a) Coun oupu pulses using COUNTER1. b) Coun encoder signals (EA/EB inpu) using COUNTER2. <To check during operaion> c-1) During operaion, lach COUNTER1 and COUNTER2 using he lach command, and hen check he dierence beween hem using a CPU. (I you wan o perorm his check by using an inerrup, creae a program ha will make his comparison a a speciied inerval using he comparaor.) <To check while sopped> c-2) Check he COUNTER1 and COUNTER 2 values while sopped o deermine i here was an abnormal dierence in he couns. -14-

18 Basic descripion o PCL series So, he PCL60oo series needs you o wrie a program o compare he wo values and deermine i an ou-o-sep condiion has occurred. So ar, his documen has been describing he major uncions, ocused mainly on he PCL50oo and PCL61oo series. Saring on he nex page we would like o describe enhanced conrol uncions such as inerpolaion conrols and a arge posiion override uncion, using he PCL6025/6045B or our example (he op o he line NPM pulse conrol models). The ollowing descripions are aken rom insrucion manual or he PCL6025/6045B. The PCL6025/6045B have all he uncions ha are described in his documen. However, he PCL5022/5023, and PCL61oo series also have some o he uncions, such as linear inerpolaion and arge posiion override. Please reer o he "Lis o uncions." -15-

19 Insrucions or he PCL60oo series Basic descripion o PCL series Ouline Aer receiving conrol commands rom a CPU bus inerace, he PCL6025/6045B conrols sepper moors and servomoors ha are driven by pulse rain inpus. One o hese LSI chips provides independen conrol (variable coninuous operaion, zero reurn operaion, and posiioning operaion using consan speed, linear acceleraion/deceleraion, S-curve acceleraion/deceleraion) o wo or 4 axes, linear inerpolaion beween wo o our axes and arc inerpolaion beween wo axes. Feaures POINT 1. Inerpolaion operaion The PCL6025/6045B oers he ollowing inerpolaion operaions: Linear inerpolaion 1: Linear inerpolaion 2: One chip in his series can provide linear inerpolaion o any wo o our axes. (Two axes only wih he 6025) Muliple chips in hese series can provide linear inerpolaion o ive or more axes. Arc inerpolaion: Arc inerpolaion beween any wo axes. (Beween he X and Y axes or he 6025) The inerpolaion operaion can be execued up o he maximum pulse requency (approx. 6.5 Mpps wih a reerence clock o MHz) in boh linear and arc inerpolaions. ******** Wha is linear inerpolaion?**************** To execue a linear inerpolaion, speciy he end poin coordinaes and he desired linear inerpolaion operaion. Speciy he end poin as an incremenal number o pulses rom he curren posiion on each axis. The PCL auomaically ideniies he axis wih he larger eed amoun as main axis, and he oher axis is he slave axis. The main axis is supplied wih pulses and he slave axis is supplied wih a reduced number o pulses based on he inerpolaion calculaions. Figure 1 shows a wo-axis linear inerpolaion wih end poin coordinaes o (10, 4) using he X and Y axes. Curren coordinae (0, 0) X axis oupu pulses Y axis oupu pulses Y (slave axis) Pulse ou [Two-axis linear inerpolaion] End poin coordinaes (10, 4) X (main axis) Figure 1 ******** Wha is arc inerpolaion?******************* To execue an arc inerpolaion, ake he curren posiion as he saring poin (coordinae posiion 0, 0) and speciy he cener and end poin coordinaes o an arc. Then selec eiher a CW or CCW arc inerpolaion operaion. Ener he cener coordinae and end poin coordinaes as incremenal values rom he curren posiion (saring poin). The CW arc inerpolaion draws an arc rom he curren coordinaes o he end poin coordinaes in a clockwise direcion, using he cener coordinaes as he cener o he arc. The CCW arc inerpolaion draws an arc in a counerclockwise direcion. Figure 2 is an example o drawing an arc wih he X and Y axes in a CW arc inerpolaion operaion. Sar poin (0, 0) X axis oupu pulses Y axis oupu pulses Y (slave axis) End poin coordinaes (10, 10) Cener coordinae (10, 0) Pulse ON X axis -16- [CW arc inerpolaion: 90 o arc] Figure 2

20 Basic descripion o PCL series *** Wha is synhesized consan speed conrol? ***** Figure 3 shows he locus o a wo-axis inerpolaion operaion. Following he basic pulses sen o he main axis, pulses are oupu o each axis. In he igure, when boh he X and Y axis pulses are oupu, hey have o eed longer disance (x 2) compared wih single axis eeding. Thereore, wih he synhesized consan speed conrol during simulaneous operaion o wo axes, he PCL will increase he speed x 1/ 2 (muliplying he pulse oupu ime x 2). When you wan o operae hree axes simulaneously, he speed o each axis is muliplied x 1/ 3. X axis oupu pulses Y axis oupu pulses Y x 2 [An example o wo axes inerpolaion] X Figure 3 POINT 2. Coninuous operaion using he pre-regisers ********Wha is a pre-regiser? ****************************** The pre-regisers are regisers in which you can wrie he daa (eed amoun, iniial speed, operaion speed, acceleraion/deceleraion rae, speed muliplicaion rae, rampdown poin, operaion mode, arc inerpolaion cener, and S-curve range during acceleraion/deceleraion) needed or he nex operaion, and each subsequen operaion. The pre-regisers have he wo-sep design shown in Figure 4. They operae as a FIFO. Change Seing 2nd pre-regiser 1s pre-regiser Regiser Operaion conrol circui Figure 4 Normally, operaion daa is wrien o he 2nd pre-regiser, and when you wan o change he curren operaion, such as changing he speed, you wrie new daa direcly o he regisers. When he curren operaion is complee, he PCL auomaically sars he nex operaion using he daa in he pre-regiser. This mehod o operaion eliminaes any delay ha would inerrup he process and reduces CPU processing ime o provide smooh, coninuous operaion. Alhough he pre-regiser has o wo sages, when you are allowed o wrie o he 2nd pre-regiser by he curren operaion compleing, he PCL can oupu an inerrup signal o a CPU, so ha he PCL can operae coninuously, as shown in Figure 5. Y axis 1) 2) 6) 1) CW arc inerpolaion (180 o ) 3) 5) CW arc inerpolaion (90 o ) 2) 4) 6) Linear inerpolaion 3) 5) 4) [Coninuous inerpolaion operaion o arcs and lines] X axis Figure 5-17-

21 POINT 3. Various acceleraion/deceleraion paerns Each speed paern can speciy he ollowing elemens independenly: - Iniial speed Operaion speed - Operaion speed - Acceleraion speed characerisics Acceleraion (acceleraion rae, acceleraion S-curve S-curve range range) - Deceleraion characerisics Iniial speed (deceleraion rae, deceleraion S-curve range) [Speed paern] Acceleraion rae Posiioning operaion eed amoun Basic descripion o PCL series Deceleraion rae Deceleraion S-curve range Ramp down poin o posiioning operaion: Manual or auomaically se Figure 6 Thereore, he various acceleraion/deceleraion paerns in Figure 7 can be used. The rampdown poin can be se auomaically as long as he (Deceleraion ime) (Acceleraion ime x 2) [Examples o accelearion / deceleraion paerns] Figure 7 POINT 4. Targe posiion and speed override during operaion During operaion, he arge posiion and speed can be changed reely (by overwriing hem). [Targe posiion override] By overwriing he arge posiion daa during operaion, he arge posiion can be overridden. The PCL changes he arge posiion wih he sar posiion as he reerence poin. The examples in Figure 8 are as ollows: [Targe posiion override] Figure 8 When he arge posiion is changed o a poin urher away han he prese arge posiion during acceleraion or consan speed operaion, he PCL will operae wih he curren speed paern and complee he posiioning using he new daa. Change o ar away posiion When arge posiion is changed o a poin urher away han he prese arge posiion while deceleraing, he PCL will accelerae again rom he curren posiion o he speciied operaion speed and hen complee he posiioning using he new daa. Change o ar away posiion When he moor has already passed he new posiion, or you change he arge posiion so ha i is closer han he prese arge posiion while deceleraing, he moor will decelerae and sop. Then i will reverse and complee he posiioning using he new daa. Change o already passed posiion -18-

22 Basic descripion o PCL series [Operaion speed override] By changing he speed seings during operaion, you can change he speed and he acceleraion rae. (1) When he operaion speed is changed o a lower speed han he prese while acceleraing, and i he new speed < curren speed, he moor will use S-curve deceleraion o reach he new speed. (2) (3) When he operaion speed is changed aer acceleraion is complee, he moor will use S-curve deceleraion o reach he new speed. (4) When a higher operaion speed is wrien during acceleraion, he moor will accelerae o he prese speed wihou changing he S-curve paern. Then i will accelerae again o he new speed. (5) When a lower operaion speed is wrien during acceleraion, and i he new speed > speed when he change was wrien, he moor will accelerae o he new speed wihou changing he S-curve characerisics. Spee Examples o speed paern changes by overwriing he speed during S-curve acceleraion / deceleraion 4) 2) 5) 1) 3) Time Figure 9 POINT 5. Smooh he speed curve by using he FH correcion uncion *** Wha is he FH correcion uncion? *** During a posiioning operaion, i he eed amoun is very small, his uncion auomaically lowers he maximum speed and avoids riangle driving. This smoohes he speed curve. pps [FH correcion uncion] Figure 10 Auomaic correcion o he maximum speed or small eed amouns. sec POINT 6. A variey o couners and comparaors are buil in Beside a dedicaed posiioning couner, he PCL6025/6045B have our couner circuis per axis. Couner 1 is exclusively or oupuing pulses. The inpu or Couners 2 o 4 can be seleced wih a CPU. All o he couners can lach and rese heir couner values rom a signal inpu, and respond o operaing condiions and commands rom a CPU so ha you can use hem in a variey o applicaions. -19-

23 ( : Can coun, Blank: Can coun) Basic descripion o PCL series Couner1 Couner 2 Couner 3 Couner 4 Couner name Command Mechanical General-purpo Delecion posiion posiion se Couner ype Up/down Up/down Delecion Up/down couner couner couner couner Bi lengh Oupu pulses Encoder (EA/EB) inpus Pulsar (PA/PB) inpus Reerence clock cycles/2 The PCL6025/6045B have ive buil in circuis wih 28-bi comparaors (CMP1 o 5), and can selec he comparison daa shown in he able below. In addiion, here are 9 mehods or comparison and our responses o choose rom when he condiions are me. By using he comparaors and couners above, you can do he ollowing: Inerrup oupu, oupu comparison resuls exernally, use as an inernal synchronous sar. Immediae sop, or deceleraion sop o he operaion Auomaic speed change during operaion Soware limi uncion Ou-o-sep deecion or sepper moors Synchronous signal oupu ( : Can compare, Blank: Can compare) Comparison daa CMP1 CMP2 CMP3 CMP4 CMP5 Couner 1 Couner 2 Couner 3 Couner 4 Posiioning couner Curren speed Pre-regiser None None None None Yes Major applicaions Soware limi uncion Auo speed Posiive limi Negaive limi change [Example o he soware limi uncion] Negaive limi posiion Posiive limi posiion Normal operaion range Can move in urher he negaive direcion Operaion aer reaching he negaive limi posiion Can move in he posiive direcion Can move in he negaive direcion Can move urher in he posiive direcion Operaion aer reaching he posiive limi posiion -20-

24 Basic descripion o PCL series POINT 7. Oher useul uncions Manual operaion inpu The manual operaion inpu can be used o allow an operaor o operae a moor wih swiches or a manual pulsar, insead o hrough a CPU. Using a manual pulsar or swich inpu, each axis can be operaed independenly. Firs, wrie a sar command or manual operaion mode wih a CPU. Then he PCL can oupu pulses in response o swiches or pulsar inpus. Synchronous sar conrol A synchronous sar can be execued in he ollowing wo condiions. Sar when anoher axis sops Wih his uncion, when one axis or muliple axes sop (or example when he X and U axes sops or when he X, Y, and Z axes sop), his can be se as he condiion or saring anoher axis. Sar on an inernal synchronous signal There are nine ypes o iming or he inernal synchronous signal (comparaor condiions are me, sar/complee acceleraion, sar/complee deceleraion). Selec one o hese. CPU-I/F You can selec one o he ollowing our ypes as a CPU hardware inerace. 1) For a Z80 CPU 8-bi 2) For a 8086 CPU 16-bi 3) For an H8 CPU 16-bi 4) For a CPU 16-bi Idling pulse oupus When saring wih acceleraion/deceleraion his uncion makes i possible o accelerae o he iniial speed aer a ew pulses o operaion (idling pulses). By seing he iniial speed higher wih acceleraion/deceleraion conrol, a sepper moor can be proeced rom encounering an ou-o-sep condiion. Backlash correcion / slip correcion The backlash/slip correcion oupus a number o correcion pulses a correcion speed jus beore saring a command operaion. The backlash correcion uncion is acivaed each ime he eed direcion is changed. The slip correcion uncion is acivaed jus beore a command operaion, regardless o he operaion direcion. Vibraion resricion uncion This uncion adds one pulse o reverse operaion and one pulse o orward operaion jus beore compleing a command operaion, so as o limi vibraion when sopping. The oupu iming or adding he pulses can be se in he regiser. Simulaneous sar / simulaneous sop Muliple axes conrolled by one IC or muliple axes conrolled by muliple ICs can be sared simulaneously by commands or exernal signals. Also, his uncion can sop all he axes a he same ime on a command, an exernal signal, or by an error sop on any axis. -21-

25 Basic descripion o PCL series Mechanical inpu signals The ollowing our signals can be inpu or each axis: 1) +EL --- When his signal urns ON while operaing in he posiive direcion, he moor sops immediaely, or deceleraes and sops. 2) -EL --- When his signal urns ON while operaing in he negaive direcion, he moor sops immediaely, or deceleraes and sops. 3) SD --- Used as a deceleraion signal or a deceleraion sop signal by a soware seing. 4) ORG --- Inpu signal or a zero reurn operaion The inpu logic or he +EL/-EL signals can be changed wih hardware. The inpu logic o he SD/ORG signals can be changed wih soware. Servomoor I/F The ollowing inerace can be provided or he ollowing hree signals on each axis. 1) INP --- Inpu a posiioning complee signal ha is oupu by a servomoor driver. 2) ERC --- Oupu delecion couner clear signal, sen o a servomoor driver. 3) ALM --- Inpu an alarm signal ha is oupu by a servomoor driver. When his inpu signal goes ON, he moor sops immediaely, or deceleraes and sops. The inpu/oupu logic o he INP, ERC, and ALM signals can be changed wih soware. The ERC signal is a pulse oupu and he pulse lengh can be seleced. Oupu pulse speciicaion Selec eiher common pulse or wo pulse mode. The oupu logic can be seleced. Emergency sop signal inpu When his signal goes ON, all he axes sop immediaely. While his signal is ON, no axis can be operaed. Inerrup signal oupu An inerrup signal can be oupu by 17 ypes o errors and 19 ypes o evens. The error inerrup causes are always uncondiionally oupu. However, he even causes can be se in he regisers. -22-

26 Basic descripion o PCL series POINT 8. A variey o operaion modes Roughly speaking, he PCL series have 18 operaion modes. Command coninuous operaion Pulsar coninuous operaion Swich coninuous operaion Zero reurn operaion Zero posiion leave operaion Limi posiioning operaion Limi leaving operaion Sars by a sar command, sops by a sop command. Aer wriing a sar command, synchronizes pulsar inpu wih oupu pulses. Aer wriing a sar command, oupus pulses conrolled by a swich inpu. Feed o he zero posiion: 13 zero reurn sequences are available. When he zero posiion sensor is ON, i moves he moor o a posiion where he sensor signal goes OFF. Moves o he end limi posiion or soware limi posiion. When a moor is on an end limi posiion or soware limi posiion, i moves i o a posiion where he limi signal urns OFF. Posiioning operaion Se a arge posiion and sar a posiioning operaion. Zero posiion reurn operaion Move o a command posiion or owards a posiion unil he curren posiion couner becomes 0. One pulse operaion Oupu jus one pulse. Timer operaion The IC perorms a posiioning operaion inernally. However, i does no oupu pulses. Used as a process imer. Pulse synchronized posiioning Posiioning operaion synchronized wih he pulsar inpu. Swich inpu posiioning Oupu a prese number o pulses each ime a swich signal is inpu. Linear inerpolaion 1 operaion Linear inerpolaion o any wo o our axes. Linear inerpolaion 2 operaion Linear inerpolaion o ive axes or more using muliple ICs. Coninuous linear inerpolaion operaion Coninuous linear inerpolaion 2 operaion Arc inerpolaion operaion Operaion using linear inerpolaion 1. Bu he operaion coninues unil a sop command is inpu. Operaion using linear inerpolaion 2. Bu he operaion coninues unil a sop command is inpu. Arc inerpolaion wih any wo axes. Can draw a perec righ circle. In he discussion above, we have only been oulining he eaures and uncions o he PCL series. For iems no described in his documen or deails o he individual uncions, see he user's manual or each model. We hope his documen will be helpul in your selecion o a PCL model. -23-

27 Basic descripion o PCL series Nippon Pulse Moor Co., Ld. Asia/Europe: Nippon Pulse Moor Co., Ld Hongo, Bunkyo-ku, Tokyo , Japan TEL: FAX: Web: hp// in-l@npm.co.jp Norh/Souh America: Nippon Pulse America, Inc Eas Main Sree, Radord, VA 24141, U.S.A. TEL: FAX: Web: hp// ino@nipponpulse.com