Nova Electronics MCX514 Manuale utente

4 Axes Motor Control IC with High Functions

MCX514 User’s Manual

2014-08-01 Ver. 1.0

2014-12-15 Ver. 2.0

2015-02-01 Ver. 3.0

2015-04-17 Ver. 4.0

2015-10-15 Ver. 5.0

2015-12-09 Ver. 6.0

NOVA electronics

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1.OUTLINE................................................................1

1.1 The Main Features of Functions..................................................................................................... 1

1.2 Functional Block Diagram............................................................................................................... 9

1.3 Specification Table.........................................................................................................................11

2.The Descriptions of Functions..............................15

2.1 Fixed Pulse Driving and Continuous Pulse Driving....................................................................... 15

2.1.1 Relative Position Driving ...................................................................................................................... 15

2.1.2 Absolute Position Driving ..................................................................................................................... 16

2.1.3 Counter Relative Position Driving......................................................................................................... 16

2.1.4 Continuous Pulse Driving..................................................................................................................... 18

2.2 Acceleration and Deceleration...................................................................................................... 20

2.2.1 Constant Speed Driving........................................................................................................................ 20

2.2.2 Trapezoidal Driving [Symmetrical]........................................................................................................ 21

2.2.3 Non-Symmetrical Trapezoidal Acceleration .......................................................................................... 23

2.2.4 S-curve Acceleration/Deceleration Driving [Symmetrical] ..................................................................... 25

2.2.5 Non-symmetrical S-Curve Acceleration/Deceleration ........................................................................... 31

2.2.6 Pulse Width and Speed Accuracy......................................................................................................... 33

2.3 Position Control............................................................................................................................ 34

2.3.1 Logical Position Counter and Real position Counter............................................................................. 34

2.3.2 Position Comparison............................................................................................................................ 34

2.3.3 Software Limit ...................................................................................................................................... 34

2.3.4 Position Counter Variable Ring............................................................................................................. 35

2.4 Multi-Purpose Register................................................................................................................. 36

2.4.1 Comparative Object and Comparison Condition................................................................................... 36

2.4.2 Usage of Comparison Result................................................................................................................ 37

2.4.3 Load / Save of Parameters by Synchronous Action.............................................................................. 40

2.5 Automatic Home Search............................................................................................................... 41

2.5.1 Operation of Each Step........................................................................................................................ 42

2.5.2 Deviation Counter Clearing Signal Output............................................................................................ 45

2.5.3 Timer Between Steps ........................................................................................................................... 45

2.5.4 Setting a Search Speed and a Mode.................................................................................................... 46

2.5.5 Execution of Automatic Home Search and the Status........................................................................... 50

2.5.6 Errors Occurring at Automatic Home Search........................................................................................ 51

2.5.7 Notes on Automatic Home Search........................................................................................................ 52

2.5.8 Examples of Automatic Home Search .................................................................................................. 53

2.6 Synchronous Action...................................................................................................................... 59

2.6.1 Activation Factor .................................................................................................................................. 61

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2.6.2 Action................................................................................................................................................... 63

2.6.3 Synchronous Action Settings................................................................................................................ 67

2.6.4 Synchronous Action Execution............................................................................................................. 70

2.6.5 Interrupt by Synchronous Action........................................................................................................... 70

2.6.6 Examples of Synchronous Action......................................................................................................... 71

2.6.7 Synchronous Action Delay Time........................................................................................................... 76

2.7 Split Pulse..................................................................................................................................... 78

2.7.1 Split Pulse Setting................................................................................................................................ 78

2.7.2 Start / Termination of Split Pulse........................................................................................................... 79

2.7.3 Split Pulse in Synchronous Action ........................................................................................................ 80

2.7.4 Interrupt by Split Pulse......................................................................................................................... 80

2.7.5 Notes on Split Pulse............................................................................................................................. 80

2.7.6 Examples of Split Pulse........................................................................................................................ 81

2.8 General Purpose Input / Output Signal......................................................................................... 87

2.8.1 nPIOm Signal....................................................................................................................................... 87

2.8.2 Other Input Signals .............................................................................................................................. 90

2.9 Timer ............................................................................................................................................ 91

2.9.1 Timer Operation ................................................................................................................................... 91

2.9.2 Timer Setting........................................................................................................................................ 92

2.9.3 Timer-Start / Timer-Stop ....................................................................................................................... 92

2.9.4 Timer and Synchronous Action............................................................................................................. 92

2.9.5 Timer Operating State and Current Timer Value Reading..................................................................... 92

2.9.6 Interrupt by Timer................................................................................................................................. 92

2.9.7 Examples of Timer................................................................................................................................ 93

2.10 Interrupt........................................................................................................................................ 96

2.10.1 Interrupt from X, Y, Z and U axes ......................................................................................................... 96

2.10.2 Interrupt during Continuous Interpolation.............................................................................................. 97

2.11 Input Signal Filter ......................................................................................................................... 98

2.11.1 Setting of Input Signal Filter Function................................................................................................... 99

2.11.2 Example of Setting Input Signal Filters................................................................................................100

2.12 Other Functions.......................................................................................................................... 101

2.12.1 Driving By External Pulses..................................................................................................................101

2.12.2 Pulse Output Type Selection...............................................................................................................104

2.12.3 Encoder Pulse Input Type Selection....................................................................................................105

2.12.4 Hardware Limit Signals .......................................................................................................................106

2.12.5 Interface to Servo Motor Driver ...........................................................................................................107

2.12.6 Emergency Stop..................................................................................................................................107

2.12.7 Status Output ......................................................................................................................................108

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3.Interpolation .......................................................109

3.1 Linear Interpolation......................................................................................................................111

3.1.1 Maximum Finish Point.........................................................................................................................111

3.1.2 Examples of Linear Interpolation.........................................................................................................111

3.2 Circular Interpolation ...................................................................................................................113

3.2.1 The Finish Point Checking of Circular Interpolation.............................................................................114

3.2.2 Toggle of Interpolation Axis .................................................................................................................114

3.2.3 The Example for CW Circular Interpolation..........................................................................................114

3.3 Helical Interpolation.....................................................................................................................115

3.3.1 Interpolation Axis Setting.....................................................................................................................116

3.3.2 Interpolation Speed Setting .................................................................................................................116

3.3.3 Helical Rotation Number Setting..........................................................................................................116

3.3.4 Position Data Setting...........................................................................................................................117

3.3.5 Helical Calculation Execution..............................................................................................................118

3.3.6 Helical Interpolation Execution............................................................................................................119

3.3.7 Current Helical Rotation Number Reading...........................................................................................119

3.3.8 Position Drift in Helical Interpolation....................................................................................................120

3.3.9 Examples of Helical Interpolation ........................................................................................................121

3.4 Bit Pattern Interpolation.............................................................................................................. 124

3.4.1 Designation of Interpolation Axis .........................................................................................................125

3.4.2 Interpolation Speed Setting .................................................................................................................125

3.4.3 Bit Pattern Data Writing.......................................................................................................................125

3.4.4 Issue of Interpolation Driving Command..............................................................................................126

3.4.5 Termination of Interpolation.................................................................................................................126

3.4.6 Check Available Space of Pre-buffer ...................................................................................................127

3.4.7 Interruption of Interpolation Driving .....................................................................................................127

3.4.8 Example of Bit Pattern Interpolation....................................................................................................128

3.5 Constant Vector Speed............................................................................................................... 129

3.5.1 Constant Vector Speed Setting............................................................................................................130

3.6 Short Axis Pulse Equalization..................................................................................................... 131

3.6.1 Short Axis Pulse Equalization Setting..................................................................................................131

3.6.2 Notes on Using Short Axis Pulse Equalization.....................................................................................132

3.7 Continuous Interpolation............................................................................................................. 133

3.7.1 How to Perform Continuous Interpolation............................................................................................134

3.7.2 Continuous Interpolation by Using Interrupt.........................................................................................136

3.7.3 Errors during Continuous Interpolation................................................................................................137

3.7.4 Attention for Continuous Interpolation .................................................................................................137

3.7.5 Example of Continuous Interpolation...................................................................................................138

3.8 Acceleration / Deceleration Control in Interpolation.................................................................... 140

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3.8.1 Acceleration / Deceleration for Linear Interpolation.............................................................................140

3.8.2 Acceleration / Deceleration for Circular Interpolation and Bit Pattern Interpolation..............................140

3.8.3 Acceleration / Deceleration for Continuous Interpolation.....................................................................142

3.9 Single-step interpolation............................................................................................................. 143

3.9.1 Command Controlled Single-step Interpolation ...................................................................................143

3.9.2 External Signal Controlled Single-step Interpolation............................................................................144

3.9.3 Attention for Single-step Interpolation..................................................................................................144

3.10 Multichip Interpolation................................................................................................................. 145

3.10.1 Execution Procedure...........................................................................................................................146

3.10.2 Stop of Interpolation Driving................................................................................................................148

3.10.3 Continuous Interpolation .....................................................................................................................148

3.10.4 Notes for Multichip Interpolation..........................................................................................................148

3.10.5 Examples of Multichip Interpolation.....................................................................................................149

4.I2C Serial Bus ....................................................153

4.1 Pins used in I2C Bus Mode ........................................................................................................ 153

4.1.1 Pull-up Resistor (Rp)...........................................................................................................................153

4.1.2 I2CRSTN Reset...................................................................................................................................154

4.2 I2C Bus Transmitting and Receiving........................................................................................... 154

4.2.1 Writing Operation ................................................................................................................................155

4.2.2 Reading Operation..............................................................................................................................156

4.2.3 Notes on Using I2C Serial Bus............................................................................................................158

4.2.4 Connection Example...........................................................................................................................158

4.2.5 Control Example..................................................................................................................................159

5.Pin Assignments and Signal Description............162

5.1 Pin Assignments......................................................................................................................... 162

5.2 Signal Description....................................................................................................................... 163

5.3 Input/Output Logic...................................................................................................................... 169

5.4 Remarks of Logic Design ........................................................................................................... 170

6.Register..............................................................171

6.1 Register Address by 16-bit Data Bus.......................................................................................... 171

6.2 Register Address by 8-bit Data Bus............................................................................................ 173

6.3 Register Address by I2C Serial Interface Bus Mode................................................................... 173

6.4 Command Register: WR0........................................................................................................... 174

6.5 Mode Register1: WR1 ................................................................................................................ 174

6.6 Mode Register2: WR2 ................................................................................................................ 175

6.7Mode Register3: WR3 ................................................................................................................ 176

6.8 Output Register: WR4 ................................................................................................................ 178

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6.9 Output Register: WR5 ................................................................................................................ 179

6.10 Data Register: WR6/WR7........................................................................................................... 179

6.11 Main Status Register: RR0 ......................................................................................................... 180

6.12 Status Register 1: RR1............................................................................................................... 181

6.13 Status Register 2: RR2............................................................................................................... 182

6.14 Status Register 3: RR3............................................................................................................... 183

6.15 PIO Read Register 1: RR4 ......................................................................................................... 185

6.16 PIO Read Register 2: RR5 ......................................................................................................... 185

6.17 Data-Read Register: RR6 / RR7................................................................................................. 185

7.Commands.........................................................186

7.1 Command Lists........................................................................................................................... 186

7.2 Commands for Writing Data ....................................................................................................... 190

7.2.1 Jerk Setting.........................................................................................................................................190

7.2.2 Deceleration Increasing Rate Setting ..................................................................................................190

7.2.3 Acceleration Setting ............................................................................................................................191

7.2.4 Deceleration Setting............................................................................................................................191

7.2.5 Initial Speed Setting ............................................................................................................................192

7.2.6 Drive Speed Setting ............................................................................................................................192

7.2.7 Drive pulse number / Finish point setting.............................................................................................193

7.2.8 Manual Decelerating Point Setting ......................................................................................................193

7.2.9 Circular Center Point Setting...............................................................................................................194

7.2.10 Logical Position Counter Setting .........................................................................................................194

7.2.11 Real Position Counter Setting .............................................................................................................194

7.2.12 Software Limit + Setting ......................................................................................................................194

7.2.13 Software Limit − Setting ......................................................................................................................195

7.2.14 Acceleration Counter Offsetting...........................................................................................................195

7.2.15 Logical Position Counter Maximum Value Setting................................................................................195

7.2.16 Real Position Counter Maximum Value Setting....................................................................................195

7.2.17 Multi-Purpose Register 0 Setting.........................................................................................................196

7.2.18 Multi-Purpose Register 1 Setting.........................................................................................................196

7.2.19 Multi-Purpose Register 2 Setting.........................................................................................................196

7.2.20 Multi-Purpose Register 3 Setting.........................................................................................................197

7.2.21 Home Search Speed Setting ...............................................................................................................197

7.2.22 Speed Increasing / Decreasing Value Setting......................................................................................197

7.2.23 Timer Value Setting.............................................................................................................................198

7.2.24 Split Pulse Setting 1............................................................................................................................198

7.2.25 Split Pulse Setting 2............................................................................................................................198

7.2.26 Interpolation / Finish Point Maximum Value Setting.............................................................................199

7.2.27 Helical rotation number setting............................................................................................................199

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7.2.28 Helical calculation setting....................................................................................................................199

7.3 Commands for Writing Mode...................................................................................................... 200

7.3.1 Multi-Purpose Register Mode Setting..................................................................................................200

7.3.2 PIO Signal Setting 1............................................................................................................................201

7.3.3 PIO Signal Setting 2・Other Settings..................................................................................................203

7.3.4 Automatic Home Search Mode Setting 1.............................................................................................204

7.3.5 Automatic Home Search Mode Setting 2.............................................................................................205

7.3.6 Input Signal Filter Mode Setting ..........................................................................................................207

7.3.7 Synchronous Action SYNC0, 1, 2, 3 Setting........................................................................................208

7.3.8 Interpolation Mode Setting ..................................................................................................................210

7.4 Commands for Reading Data ..................................................................................................... 212

7.4.1 Logical Position Counter Reading .......................................................................................................212

7.4.2 Real Position Counter Reading ...........................................................................................................212

7.4.3 Current Drive Speed Reading..............................................................................................................212

7.4.4 Current Acceleration / Deceleration Reading.......................................................................................213

7.4.5 Multi-Purpose Register 0 Reading.......................................................................................................213

7.4.6 Multi-Purpose Register 1 Reading.......................................................................................................213

7.4.7 Multi-Purpose Register 2 Reading.......................................................................................................213

7.4.8 Multi-Purpose Register 3 Reading.......................................................................................................214

7.4.9 Current Timer Value Reading ..............................................................................................................214

7.4.10 Interpolation / Finish point maximum value Reading............................................................................214

7.4.11 Current Helical Rotation Number Reading...........................................................................................214

7.4.12 Helical Calculation Value Reading.......................................................................................................215

7.4.13 WR1 Setting Value Reading................................................................................................................215

7.4.14 WR2 Setting Value Reading................................................................................................................215

7.4.15 WR3 Setting Value Reading................................................................................................................215

7.4.16 Multi-Purpose Register Mode Setting Reading....................................................................................216

7.4.17 PIO Signal Setting 1 Reading..............................................................................................................216

7.4.18 PIO Signal Setting 2 / Other Settings Reading ....................................................................................216

7.4.19 Acceleration Setting Value Reading.....................................................................................................217

7.4.20 Initial Speed Setting Value Reading.....................................................................................................217

7.4.21 Drive Speed Setting Value Reading.....................................................................................................217

7.4.22 Drive Pulse Number / Finish Point Setting Value Reading...................................................................217

7.4.23 Split Pulse Setting 1 Reading..............................................................................................................218

7.4.24 General Purpose Input Value Reading ................................................................................................218

7.5 Driving Commands..................................................................................................................... 219

7.5.1 Relative Position Driving .....................................................................................................................219

7.5.2 Counter Relative Position Driving........................................................................................................220

7.5.3 + Direction Continuous Pulse Driving..................................................................................................220

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7.5.4 −Direction Continuous Pulse Driving..................................................................................................220

7.5.5 Absolute Position Driving ....................................................................................................................221

7.5.6 Decelerating Stop................................................................................................................................221

7.5.7 Instant Stop.........................................................................................................................................221

7.5.8 Direction Signal + Setting....................................................................................................................221

7.5.9 Direction Signal − Setting....................................................................................................................222

7.5.10 Automatic Home Search Execution.....................................................................................................222

7.6 Interpolation Commands............................................................................................................. 223

7.6.1 1-axis Linear Interpolation Driving (Multichip)......................................................................................223

7.6.2 2-axis Linear Interpolation Driving.......................................................................................................223

7.6.3 3-axis Linear Interpolation Driving.......................................................................................................223

7.6.4 4-axis Linear Interpolation Driving.......................................................................................................224

7.6.5 CW Circular Interpolation Driving ........................................................................................................224

7.6.6 CCW Circular Interpolation Driving......................................................................................................224

7.6.7 2-Axis Bit Pattern Interpolation Driving................................................................................................224

7.6.8 3-Axis Bit Pattern Interpolation Driving................................................................................................225

7.6.9 4-Axis Bit Pattern Interpolation Driving................................................................................................225

7.6.10 CW Helical Interpolation Driving..........................................................................................................225

7.6.11 CCW Helical Interpolation Driving .......................................................................................................225

7.6.12 CW Helical Calculation........................................................................................................................226

7.6.13 CCW Helical Calculation .....................................................................................................................226

7.6.14 Deceleration Enabling.........................................................................................................................226

7.6.15 Deceleration Disabling ........................................................................................................................226

7.6.16 Interpolation Interrupt Clear / Single-step Interpolation........................................................................227

7.7 Synchronous Action Operation Commands................................................................................ 228

7.7.1 Synchronous Action Enable Setting.....................................................................................................228

7.7.2 Synchronous Action Disable Setting....................................................................................................229

7.7.3 Synchronous Action Activation ............................................................................................................229

7.8 Other Commands ....................................................................................................................... 230

7.8.1 Speed Increase...................................................................................................................................230

7.8.2 Speed Decrease..................................................................................................................................230

7.8.3 Deviation Counter Clear Output...........................................................................................................231

7.8.4 Timer-Start ..........................................................................................................................................231

7.8.5 Timer-Stop...........................................................................................................................................231

7.8.6 Start of Split Pulse...............................................................................................................................231

7.8.7 Termination of Split Pulse....................................................................................................................232

7.8.8 Drive Start Holding ..............................................................................................................................232

7.8.9 Drive Start Holding Release ................................................................................................................232

7.8.10 Error / Finishing Status Clear...............................................................................................................232

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7.8.11 RR3 Page 0 Display............................................................................................................................233

7.8.12 RR3 Page 1 Display............................................................................................................................233

7.8.13 Maximum finish point clear..................................................................................................................233

7.8.14 NOP....................................................................................................................................................233

7.8.15 Command Reset .................................................................................................................................234

8.Connection Examples ........................................235

8.1 Example of 16-bit / 8-bit Bus Mode Connection ......................................................................... 235

8.2 Example of Connection in I2C Bus Mode................................................................................... 236

8.3 Connection Example .................................................................................................................. 237

8.4 Pulse Output Interface................................................................................................................ 237

8.5 Connection Example for Input Signals........................................................................................ 238

8.6 Connection Example for Encoder............................................................................................... 238

9.Example Program...............................................239

10. Electrical Characteristics.................................252

10.1 DC Characteristics...................................................................................................................... 252

10.2 AC Characteristics...................................................................................................................... 253

10.2.1 Clock...................................................................................................................................................253

10.2.2 Read / Write Cycle ..............................................................................................................................253

10.2.3 CLK / Output Signal Timing.................................................................................................................254

10.2.4 Input Pulses........................................................................................................................................254

10.2.5 General Purpose Input / Output Signals (nPIO7～0) ...........................................................................255

10.2.6 Split Pulse...........................................................................................................................................255

10.2.7 I2C Serial Bus......................................................................................................................................256

11. Timing of Input / Output Signals......................257

11.1 Power-On Reset......................................................................................................................... 257

11.2 Fixed Pulse or Continuous Pulse Driving ................................................................................... 257

11.3 Interpolation Driving ................................................................................................................... 258

11.4 Start Driving after Hold Command.............................................................................................. 258

11.5 Instant Stop ................................................................................................................................ 258

11.6 Decelerating Stop....................................................................................................................... 259