NPM Motionnet G9001A User manual

DA70131-1/3E
G9001A/G9002A
User's Manual
(Center device / I/O device)
Remote I/O & Remote Motion

DA70131-1/3E
Thank you for considering our super high-speed serial communicator LSI, the "G9000" series.
To learn how to use the G9000 series, 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.
[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.
(5) Please see the latest version on our website.
[Cautions]
As a next generation communication system, the Motionnet can construct faster and more volume
large, scale-systems with wire saving than conventional T-NET system (conventional LSI product to
construct serial communication system by NPM). Further, it has data communication function which
the T-NET does not have, so that it can control data control devices such as PCL series (pulse train
generation LSI made by NPM).
The Motionnet system consists of one center device connected to a CPU bus, a maximum of 64 local
devices, all connected using cables of two or three conductive cores
[What Motionnet is]
(1) Terminals and signal names with a bar above the name use negative logic.
Ex.: ___ CS means that the CS terminal uses negative logic.
[Logic indicators]
]

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INDEX
I. Center device (G9001A)...................................................................................................................... I-1
1. Outline................................................................................................................................................. I-3
2. Features .............................................................................................................................................. I-3
3. General specifications....................................................................................................................... I-4
3-1. Communication system specifications .................................................................................... I-4
3-2. Center device specifications (G9001A)..................................................................................... I-5
4. Hardware description ........................................................................................................................ I-6
4-1. A list of terminals (QFP-64) ........................................................................................................ I-6
4-2. Terminal allocation diagram....................................................................................................... I-8
4-3. Entire block diagram................................................................................................................... I-9
4-4. Functions of terminals.............................................................................................................. I-10
4-5. Address map..............................................................................................................................I-14
4-5-1. "Device information" area.................................................................................................I-18
4-5-2. "Cyclic communication error flags" area ...................................................................... I-19
4-5-3. "Change to Input Change Interrupt Setting" area .......................................................... I-20
4-5-4. "Input Change Interrupt Flag" area.................................................................................. I-21
4-5-5. "Port data" area..................................................................................................................I-21
4-6. Status..........................................................................................................................................I-22
4-7. Interrupt status.......................................................................................................................... I-24
4-8. Command...................................................................................................................................I-25
4-8-1. Operation command ..........................................................................................................I-25
4-8-2. Memory access command ................................................................................................ I-27
4-8-3. Register access command................................................................................................ I-28
4-9. Register......................................................................................................................................I-29
4-9-1. RENV0 register ................................................................................................................... I-29
4-9-2. RERCNT...............................................................................................................................I-30
4-9-3. RSYCNT............................................................................................................................... I-30
4-9-4. RDJADD............................................................................................................................... I-30
4-9-5. RVER.................................................................................................................................... I-30
5. Description of the software.............................................................................................................I-31
5-1. Outline of control ......................................................................................................................I-31
5-1-1. Communication control..................................................................................................... I-31
5-1-2. Communication type.......................................................................................................... I-31
5-1-3. Input change interrupt....................................................................................................... I-33
5-1-4. Break function (when RENV0(8) = 0)................................................................................ I-33
5-1-5. Control of communication errors..................................................................................... I-33
5-2. Operating procedure................................................................................................................. I-35
5-2-1. Reset....................................................................................................................................I-35
5-2-2. Cyclic communication procedures .................................................................................. I-35
5-2-3. Data communication procedure ....................................................................................... I-35
5-2-4. Exclude a device with an error ......................................................................................... I-35
5-2-5. Restoring excluded devices to cyclic communications................................................ I-35
5-3. Status after reset.......................................................................................................................I-35
6. How to calculate the communication cycle time.......................................................................... I-36
6-1. Time required for one cycle..................................................................................................... I-36
6-2. Time required for one complete data communication.......................................................... I-36
6-3. Total time of cyclic communication (including data communication)................................ I-36
7. Electrical Characteristicsi-.............................................................................................................. I-37

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7-1. Absolute maximum ratings...................................................................................................... I-37
7-2. Recommended operating conditions...................................................................................... I-37
7-3. DC characteristics..................................................................................................................... I-37
7-4. AC characteristics..................................................................................................................... I-38
7-4-1. Reference clock.................................................................................................................. I-38
7-4-2. Reset timing........................................................................................................................I-38
7-4-3. I/F mode 4 (IF1=H, IF0=H) (8-bit Z80 etc.)I- ...................................................................... I-39
7-4-4. I/F mode 3 (IF1=H, IF0=L) (16-bit 8086 etc.)..................................................................... I-40
7-4-5. I/F mode 2 (IF1=L, IF0=H) (16-bit H8 etc.)......................................................................... I-41
7-4-6. I/F mode 1 (IF1=L, IF0=L) (16-bit 68000 etc.).................................................................... I-42
8. External dimensions........................................................................................................................ I-43
II. I/O device (G9002A) .......................................................................................................................... II-1
1. Outline................................................................................................................................................ II-3
2. Features ............................................................................................................................................. II-3
3. Basic specifications.......................................................................................................................... II-3
3-1. I/O device specifications........................................................................................................... II-3
4. Hardware Description....................................................................................................................... II-4
4-1. List of terminals (QFP-80) ......................................................................................................... II-4
4-2. Terminal assignment drawings................................................................................................. II-6
4-3. Complete block diagram ........................................................................................................... II-7
4-4. Functions of terminals............................................................................................................... II-8
4-5. Status after reset.......................................................................................................................II-11
5. Electrical Characteristics...............................................................................................................II-12
5-1. Absolute maximum ratings..................................................................................................... II-12
5-2. Recommended operating conditions..................................................................................... II-12
5-3. DC characteristics.................................................................................................................... II-12
5-4. AC characteristics.................................................................................................................... II-13
5-4-1. Reference clock................................................................................................................. II-13
5-4-2. Reset timing.......................................................................................................................II-13
5-4-3. Fixed output data timing................................................................................................... II-14
5-4-4. Input data set timing ......................................................................................................... II-14
6. External dimensions....................................................................................................................... II-15
III. Connection Examples and Recommended Environments........................................................ III-1
1. Connection examples...................................................................................................................... III-3
1-1. An example of a circuit to interface a CPU to a center device............................................. III-3
1-1-1. I/F mode 4 (IF1 = H, IF0 = H) .............................................................................................. III-3
1-1-2. I/F mode3 (IF1=H, IF0=L).................................................................................................... III-4
1-1-3. I/F mode 3 (IF1 = L, IF0 = H)............................................................................................... III-5
1-1-4. I/F mode 1 (IF1 = L, IF0 = L)............................................................................................... III-6
1-1-5. Connecting to a CPU without a wait function................................................................. III-7
1-2. Access timing............................................................................................................................III-8
1-2-1. Normal access.................................................................................................................... III-8
1-2-2. Access by commands...................................................................................................... III-10
1-3. Line transceiver and pulse transformer for the center device........................................... III-14
1-4. Line transceivers and pulse transformers for local devices.............................................. III-15
1-5. Complete configuration..........................................................................................................III-17
2. Recommended environment......................................................................................................... III-18
2-1. Cable.........................................................................................................................................III-18

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2-2. Terminating resistor................................................................................................................III-18
2-3. Pulse transformer....................................................................................................................III-18
2-4. I/F chip......................................................................................................................................III-18
2-5. Parts used in our experiments............................................................................................... III-19
2-6. Other precautions ................................................................................................................... III-19
IV. Software Examples (flow chart).....................................................................................................IV-1
1. Assumption.......................................................................................................................................IV-3
1-1. Environment and precautions used for the descriptions.....................................................IV-3
1-2. Commands used .......................................................................................................................IV-3
2. Software Examples ..........................................................................................................................IV-4
2-1. Start of the simplest cyclic communication...........................................................................IV-4
2-2.Specifiy the data for the local devices that are connected ...................................................IV-5
2-3. Set up an input-change interrupt ............................................................................................IV-7
2-4. Check and clear any existing input-change interrupts.........................................................IV-9
2-5. Check and clear cyclic communication errors.................................................................... IV-11
2-6. Communication with port data (port data and data device status)....................................IV-13
2-7. Data communication 1: Put the value in the register of the PCL device ..........................IV-15
2-8. Data communication 2: Read a register in a PCL device ...................................................IV-16
2-9. Data communication 3: Start the PCL device ......................................................................IV-17
2-10. Data communication 4: Start a PCL6045B using a CPU emulation device ....................IV-19
V. Troubleshooting................................................................................................................................V-1
1. Checking the center device .............................................................................................................V-1
2. Checking the local devices..............................................................................................................V-1
3. Checking the system........................................................................................................................V-2
VI. Handling Precautions.....................................................................................................................VI-1
1. Design precautions..........................................................................................................................VI-1
2. Precautions for transporting and storing LSIs.............................................................................VI-1
3. Precautions for mounting ...............................................................................................................VI-2
3-1. Precautions about G9001A and G9002A ................................................................................VI-2
3-2. Precautions about G9002.........................................................................................................VI-3
VII. Differences between G9001 and G9001A...................................................................................VII-1
1. How to distinguish between G9001 and G9001A using a program...........................................VII-1
2. Newly added functions in the G9001A..........................................................................................VII-1
2-1. Main status................................................................................................................................VII-1
2-2. Operation commands..............................................................................................................VII-1
2-3. Register access command......................................................................................................VII-2
2-4. Register.....................................................................................................................................VII-2
2-4-1. RENV0 register ..................................................................................................................VII-2
2-4-2. RERCNT..............................................................................................................................VII-3
2-4-3. RSYCNT..............................................................................................................................VII-3
2-4-4. RDJADD..............................................................................................................................VII-3
2-4-5. RVER...................................................................................................................................VII-3
VIII. The difference between G9002 and G9002A............................................................................VIII-1

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1. G9002A's improvement of G9002A..............................................................................................VIII-1
1-1. Serial communication control terminal ................................................................................VIII-1
1-2. Function of I/O port terminal..................................................................................................VIII-1
2. Difference of electrical Characteristics.......................................................................................VIII-2
2-1. Absolute maximum ratings....................................................................................................VIII-2
2.2 Recommended operating conditions....................................................................................VIII-2
2-3. DC characteristics...................................................................................................................VIII-3
3. External dimension........................................................................................................................VIII-4

DA70131-1/3E
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I. Center device (G9001A)
User's Manual

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DA70131-1/3E
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1. Outline
This LSI is a center device of the Motionnet system.
It contains 256-byte RAM for controlling I/O and 512-byte RAM for data communication, and can control up to 64
local devices.
The local devices can be classified into I/O devices (G9002A) that control input/output signals such as G8014C on
the T-NET system, and data device (G9003, G9103A, G9004A) that control by data such as G8015. It allocates
device numbers from 0 to 63 for each local device.
One I/O device (G9002A) has 4 ports (1 port = 8 bits) for input/output (select input/output by terminals).
Therefore, all the local devices that connect to the center device use I/O devices (G9002A), you can connect I/Os
of 2048 points (64 units x 4 ports x 8 bits = 2048) by serial communication.
One data device (G9003, G9103Aor G9004A) can communicate max. 256 bytes data (maximum data length of the
PCL device (G9003) will be 8 byte communication and of the PCL device (G9103A) will be 128 byte
communication).
If all of the local devices that connect to the center device use the PCLdevices (G9003 or G9103A), 64 axes can be
controlled by serial communication.
2. Features
- Maximum data transfer speed is 20 Mbps.
- Transfer cycle time is less than 1 msec when 64 local devices are connected (in case of cyclic communication
only).
- One center device can connect up to 256 ports (2048 bits) for I/O connection.
- The center device provides input interrupt function to a CPU.
- Local devices are classified into the following devices:
* "I/O device" dedicated to control I/O port (G9002A)
* "PCL device" to generate pulse strings.(G9003 or G9103A)
* "CPU emulation device" to control data communication between CPUs and other peripheral
equipment.(G9004A)
- Local devices allocate device numbers (0 to 63) with hardware. These device numbers can be assigned at
random in a Motionnet system. Further, by system communication, device numbers can automatically be
allocated.
- The center device is integrated with a memory for I/O ports. Thus, the center device can operate I/O status just
like accessing normal memories.
- The center device is integrated with four types of CPU-I/F circuits (Z80, 8086, H8, 68000, etc.). As it applies for
typical CPU interfaces, it will offer wide possibility to interface with a variety of CPUs.
- The center device normally uses 512 bytes area as address area. However, if resource is shorted, it can use
8-byte areas.
- Input 3.3 V single power as power supply.
However, the major terminals can be connected to devices that run with 5 V.

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3. General specifications
3-1. Communication system specifications
Item
Description
Reference clock Note 1
40 MHz or 80 MHz
Communication speed Note 2
2.5 M, 5 M, 10 M, or 20 Mbps
Communication code
NRZ code
Communication protocol
NPM original method
Communication method
Half-duplex communication
Communication I/F Note 3
RS-485 or pulse transfer
Connection method
Multi-drop connection
Number of local devices
64 devices max.
Cyclic communication cycle when 20 Mbps
Note 4
When using 8 local devices
(IN: 128 points, OUT: 128 points) --- 0.12 msec.
When using 16 local devices
(IN: 256 points, OUT:256 points) --- 0.24 msec.
When using 32 local devices
(IN: 512 points, OUT: 512 points) --- 0.49 msec.
When using 64 local devices
(IN: 1024 points, OUT: 1024 points) --- 0.97 msec.
Note 1:When transferring data with 20 Mbps speed, and if the clock duty can be maintained to ideal "50:50"
condition, the center device can be operated by inputting 40 MHz clock signal.
The above ideal conditions mean that an oscillator and the center device are connected as 1:1 and close to
each other. (Actually, even these conditions cannot establish 50:50. However, a duty approximate to the
ideal one will be established.
Even if the ideal duty is broken a little, when signal lines are shorter and/or the number of local devices is
smaller, the center device can operate without any trouble. (For the details, see the section for the "CLK"
terminal.)
When the signal lines are longer and/or the number of connected local devices is greater and if it is difficult
to warranty the clock duty, you should take measures such as preparing an 80 MHz signal or preparing a 40
MHz clock proprietary to the center device.
To select clock rate, specify by using the LSI terminal. In either clock rate, the maximum speed of 20 Mbps
is the same.
Note 2:Select the communication speed by using the LSI terminal. Regardless of the selection of the
communication speed, the reference clock remains the same.
Note 3:NPM recommends using a system with a pulse transformer.
Note 4:The number of I/O ports in the parenthesis is true when the all the connected local devices are connected
as I/O device (G9002A).
When data devices are connected such as PCLdevice (G9103A), the number of available I/O points will be
decreased. However, basic cyclic cycle (alt. frequency) does not change. (When the center device
communicates data, the frequency will be changed. For this matter, see the "Calculation of communication
time" in this manual.