NPM PCL6113 User manual

User's Manual
For
PCL6113/6123/6143
Pulse Control LSI
Nippon Pulse Motor Co., Ltd.

- i -
•Explanation of the descriptions in this manual
1. The "x" "y" "z" and "u" of terminal names and bit names refer to the X axis, Y axis, Z axis and U axis,
respectively.
2. Terminals with a bar over the name (ex. ) are negative logic. Their logic cannot be changed. Terminals
without a bar over the name are positive logic. Their output logic can be changed.
3. When describing the bits in registers, "n" refers to the bit position. A "0" means that the bit is in position 0,
and that it is prohibited to write to any bit other than the "0" bit. Finally, this bit will always return a "0" when
read.
4. Unless otherwise indicated, figures related to timing (intervals) in this manual are based on a reference clock
of 19.6608 MHz.
Thank you for considering our pulse control LSI, the "PCL6100 series."
Before using the product, read this manual to become familiar with the product.
Please note that the section "Precautions for handling," which include details about installing this IC,
can be found at the end of this manual.
[Preface]
(1) Copying all or any part of this manual without written approval is prohibited.
(2) The specifications of this LSI may be changed to improve performance or quality without prior
notice.
(3) Although this manual was produced with the utmost care, if you find any points that are unclear,
wrong, or have inadequate descriptions, please let us know.
(4) We are not responsible for any results that occur from using this LSI, regardless of item (3)
above.
[Cautions]

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INDEX
1. Outline and Features................................................................................................................................. 1
1-1. Outline............................................................................................................................................... 1
1-2. Features ............................................................................................................................................ 1
2. Specifications ............................................................................................................................................ 4
3. Terminal Assignment Diagram .................................................................................................................. 5
3-1. PCL6113............................................................................................................................................ 5
3-2. PCL6123 ........................................................................................................................................... 5
3-3. PCL6143 ........................................................................................................................................... 6
4. Function of Terminals ................................................................................................................................ 7
5. Block Diagram ......................................................................................................................................... 14
6. CPU Interface.......................................................................................................................................... 15
6-1. Setting the CPU interface type........................................................................................................ 15
6-2. Hardware design precautions ......................................................................................................... 15
6-3. Examples of CPU interfaces ........................................................................................................... 16
6-4. Address map ................................................................................................................................... 18
6-4-1. Axis arrangement map ............................................................................................................. 18
6-4-2. Internal map of each axis ......................................................................................................... 18
6-5. Description of the map details......................................................................................................... 20
6-5-1. Write the command code and axis selection (COMB0, COMB1)............................................. 20
6-5-2. Write to an output port (OTPW, OTPB) .................................................................................... 21
6-5-3. Write/read the input/output buffer (BUFW, BUFB).................................................................... 21
6-5-4. Reading the main status (MSTSW, MSTSB)............................................................................ 22
6-5-5. Reading the sub status and input/output port (SSTSW, SSTSB, IOPB) .................................. 23
7. Commands (Operation and Control Commands) ................................................................................... 24
7-1. Operation commands...................................................................................................................... 24
7-1-1. Procedure for writing an operation command .......................................................................... 24
7-1-2. Start command ......................................................................................................................... 24
7-1-3. Speed change command.......................................................................................................... 25
7-1-4. Stop command.......................................................................................................................... 25
7-1-5. NOP (do nothing) command..................................................................................................... 25
7-2. General-purpose output bit control commands............................................................................... 26
7-3. Control command............................................................................................................................ 27
7-3-1. Software reset command.......................................................................................................... 27
7-3-2. Counter reset command ........................................................................................................... 27
7-3-3. ERC output control command .................................................................................................. 27
7-3-4. Pre-register control command .................................................................................................. 27
7-3-5. PCS input command................................................................................................................. 27
7-3-6. LTCH input (counter latch) command.......................................................................................27
7-4. Register control command .............................................................................................................. 28
7-4-1. Procedure for writing data to a register .................................................................................... 28
7-4-2. Procedure for reading data from a register .............................................................................. 28
7-4-3. Table of register control commands.......................................................................................... 29
7-5. General-purpose output port control command .............................................................................. 30
7-5-1. Command writing procedures................................................................................................... 30
7-5-2. Command bit allocation ............................................................................................................ 30

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8. Registers ................................................................................................................................................. 31
8-1. Table of registers............................................................................................................................. 31
8-2. Pre-registers ................................................................................................................................... 32
8-3. Description of the registers ............................................................................................................. 34
8-3-1. PRMV (RMV) registers............................................................................................................. 34
8-3-2. PRFL (RFL) registers ............................................................................................................... 34
8-3-3. PRFH (RFH) registers .............................................................................................................. 34
8-3-4. PRUR (RUR) registers ............................................................................................................ 34
8-3-5. PRDR (RDR) registers ............................................................................................................. 35
8-3-6. PRMG (RMG) registers ............................................................................................................ 35
8-3-7. PRDP (RDP) registers.............................................................................................................. 35
8-3-8. PRMD (RMD) registers ............................................................................................................ 36
8-3-9. PRIP (RIP) registers ................................................................................................................ 37
8-3-10. PRUS (RUS) registers ........................................................................................................... 37
8-3-11. PRDS (RDS) registers ........................................................................................................... 38
8-3-12. RENV1 register ..................................................................................................................... 38
8-3-13. RENV2 register .................................................................................................................... 40
8-3-14. RENV3 register ..................................................................................................................... 42
8-3-15. RCUN1 register ..................................................................................................................... 43
8-3-16. RCUN2 register ..................................................................................................................... 43
8-3-17. RCMP1 register...................................................................................................................... 43
8-3-18. RCMP2 register...................................................................................................................... 43
8-3-19. RIRQ register ......................................................................................................................... 44
8-3-20. RLTC1 register ...................................................................................................................... 44
8-3-21. RLTC2 register ...................................................................................................................... 44
8-3-22. RSTS register......................................................................................................................... 45
8-3-23. REST register ......................................................................................................................... 46
8-3-24. RIST register ......................................................................................................................... 46
8-3-25. RPLS register ......................................................................................................................... 47
8-3-26. RSPD register ........................................................................................................................ 47
8-3-27. RSDC register ........................................................................................................................ 47
9. Operation Mode ...................................................................................................................................... 48
9-1. Continuous operation mode using command control ..................................................................... 48
9-2. Positioning operation mode ............................................................................................................ 48
9-2-1. Positioning operation ............................................................................................................... 48
9-2-2. Timer operation ........................................................................................................................ 48
9-3. Pulsar (PA/PB) input mode ............................................................................................................. 49
9-3-1. Continuous operation using a pulsar input............................................................................... 51
9-3-2. Positioning operations using a pulsar input..............................................................................51
9-4. External switch operation mode...................................................................................................... 52
9-4-1. Continuous operation using an external switch........................................................................ 52
9-4-2. Positioning operation using an external switch ........................................................................ 53
9-5. Zero return operation mode ............................................................................................................ 54
9-5-1. Zero return operation 0............................................................................................................. 56
9-5-2. Zero return operation 1............................................................................................................. 57
9-6. Linear interpolation operation ......................................................................................................... 58
9-6-1. Outline of interpolation operation ............................................................................................. 58
9-6-2. Interpolation procedures........................................................................................................... 58
9-6-3. Operation during interpolation.................................................................................................. 59
10. Speed Patterns ..................................................................................................................................... 61
10-1. Speed patterns ............................................................................................................................ 61
10-2. Speed pattern settings ................................................................................................................ 62
10-3. Manual FH correction.................................................................................................................. 66
10-4. Example of setting up an acceleration/deceleration speed pattern ............................................ 70
10-5. Changing speed patterns while in operation............................................................................... 71

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11. Description of the Functions.................................................................................................................. 72
11-1. Reset............................................................................................................................................ 72
11-2. Position override .......................................................................................................................... 73
11-2-1. Target position override 1 .................................................................................................... 73
11-2-2. Target position override 2 (PCS signal) ............................................................................... 74
11-3. Output pulse control..................................................................................................................... 75
11-3-1. Output pulse mode .............................................................................................................. 75
11-3-2. Control the output pulse length and operation complete timing .......................................... 76
11-4. Mechanical external input control ................................................................................................ 77
11-4-1. +EL, -EL signal .................................................................................................................... 77
11-4-2. SD signal ............................................................................................................................. 77
11-4-3. ORG, EZ signals.................................................................................................................. 80
11-5. Servomotor I/F............................................................................................................................ 81
11-5-1. INP signal ............................................................................................................................ 81
11-5-2. ERC signal........................................................................................................................... 82
11-5-3. ALM signals ......................................................................................................................... 83
11-6. External start, simultaneous start ................................................................................................ 84
11-6-1. signal .........................................................................................................................84
11-6-2. PCS signal ........................................................................................................................... 85
11-7. External stop / simultaneous stop................................................................................................ 86
11-8. Emergency stop........................................................................................................................... 87
11-9. Counter ........................................................................................................................................ 89
11-9-1. Counter type and input method ...........................................................................................88
11-9-2. Counter reset ....................................................................................................................... 90
11-9-3. Stop the counter .................................................................................................................. 91
11-10. Comparator ................................................................................................................................ 92
11-10-1. Comparator types and functions........................................................................................ 93
11-10-2. Ring count function............................................................................................................ 93
11-11. Synchronous starting ................................................................................................................. 94
11-11-1. Start triggered by another axis stopping............................................................................ 94
11-11-2. Start on internal synchronous signal ................................................................................. 96
11-12. Output an interrupt signal .......................................................................................................... 98
12. Electrical Characteristics..................................................................................................................... 100
12-1. Absolute maximum ratings ........................................................................................................ 100
12-2. Recommended operating conditions......................................................................................... 100
12-3. DC characteristics ..................................................................................................................... 101
12-4. AC characteristics 1) (reference clock) ..................................................................................... 101
12-5. AC characteristics 2) (CPU I/F) ................................................................................................. 102
12-5-1. 16-bits I/F 1) (IF1 = L, IF0 =L) 68000..............................................................................102
12-5-2. 16-bits I/F 2) (IF1 = L,IF0 = H)H8....................................................................................103
12-5-3. 16-bits I/F 3) (IF1 = H, IF0 =L) 8086.................................................................................104
12-5-4. 8-bits I/F 4) (IF1 = H, IF0 = H) Z80.....................................................................................105
12-6. Operation timing (common for all axes) .................................................................................... 106
13. External Dimensions ........................................................................................................................... 110
13-1. PCL6113...................................................................................................................................... 110
13-2. PCL6123 ......................................................................................................................................111
13-3. PCL6143 ..................................................................................................................................... 112

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Appendix: List of various items ................................................................................................................. 113
Appendix 1: List of commands............................................................................................................. 113
Appendix 2: Label list ........................................................................................................................... 115
Handling Precautions................................................................................................................................ 123
1. Design precautions .......................................................................................................................... 123
2. Precautions for transporting and storing LSIs.................................................................................. 123
3. Precautions for installation............................................................................................................... 123
4. Other precautions............................................................................................................................. 124

-1-
1.OutlineandFeatures
1-1.Outline
ThePCL6113,PCL6123,PCL6143areCMOSLSIsdesignedtoprovidetheoscillating,high-speedpulses
neededtodrivesteppermotorsandservomotors(pulsestringinputtypes).
Itcanoffervarioustypesofcontroloverthepulsestringsandthereforethemotorperformance.These
includecontinuousoperation,positioning,zeroreturnataconstantspeed,linearacceleration/deceleration,
andS-curveacceleration/deceleration.
Thenumberofcontrolaxesisasfollows:oneforthePCL6113,twoforthePCL6123,and4forthe
PCL6143.Theyofferlinearinterpolationofmultipleaxes(usingsingleormultiplePCLs),confirmationofa
PCL'soperationstatus,andinterruptoutputbyavarietyofconditions.Inaddition,theyareequippedwith
servomotordrivercontrolfeatures.
Thesefunctionscanbeusedwithsimplecommands.Theintelligentdesignphilosophyreducestheburden
ontheCPUunitstocontrolmotors.
1-2.Features
♦Singlevoltagepowersupply3.3V
ThesePCLscanbeoperatedfroma3.3V(±10%)singlevoltagepowersupply.
Theoutputsignallevelrangeis0to3.3V.Theinputsignallevelrangeis0to3.3V,or0to5V.
♦Superhigh-speedpulsetrainoutput
9.8Mppscanbeoutputwhenusinga19.6608MHz(standard)referenceclock,or15Mppswhenusinga
30MHz(maximum)referenceclock.
♦CPU-I/F
ThesePCLsallcontainintegralinterfacecircuitsforfourdifferentCPUtypes,andtheycanbeconnected
toawidevarietyofCPUs.
ExamplesofCPUtypes:Z80,8086,H8,or68000etc.
♦Acceleration/decelerationspeedcontrol
Linearacceleration/decelerationandS-curveacceleration/decelerationareavailable.
Linearacceleration/decelerationcanbeinsertedinthemiddleofanS-curveacceleration/deceleration
curve.(SpecifytheS-curverange.)
TheS-curverangecanspecifyeachaccelerationanddecelerationindependently.Therefore,youcan
createanacceleration/decelerationprofilethatconsistsoflinearaccelerationandS-curvedeceleration,or
viceversa.
♦Interpolation
ThesePCLscanperformlinearinterpolation(offeringsynchronizedoperation)ofanynumberofaxes.
♦Speedoverride
Insingleaxisoperation,thespeedcanbechangedduringoperationinanyoftheoperationmodes.
However,thespeedcannotbechangedduringlinearinterpolation.
♦Overridingtargetposition1)and2)
1)Thetargetposition(feedamount)canbechangedwhilefeedinginthepositioningmode.
Ifthecurrentpositionexceedsthenewlyenteredposition,themotorwilldecelerate,stop(immediate
stopwhenalreadyfeedingatalowspeed),andthenfeedinthereversedirection.
2)Startsoperationthesameasinthecontinuousmodeand,whenitreceivesanexternalsignal,itwill
stopafterthespecifiednumberofpulses.
♦Triangledriveelimination(FHcorrectionfunction)
Inthepositioningmode,whenthereareasmallnumberofoutputpulses,thisfunctionautomatically
lowersthemaximumspeedandeliminatestriangledriving.
♦Lookaheadfunction
Thenextsetofdata(feedamount,initialspeed,feedspeed,accelerationrate,decelerationrate,speed
magnificationrate,ramping-downpoint,operationmode,S-curverangeonanacceleration,S-curverange

-2-
onadeceleration)canbewrittenwhileexecutingthecurrentdata.
Whenthecurrentoperationiscomplete,thesystemwillimmediatelyexecutethenextoperation.
♦Avarietyofcountercircuits
Thefollowingfourcountersareavailableseparatelyforeachaxis.
Counter Useorpurpose CounterInput/Output
COUNTER1 28-bitcounterforcontrolofthecommandposition Outputspulses,EA/EB
input
COUNTER2 28-bitcounterformechanicalpositioncontrol Outputspulses,EA/EB
input
Bothofthemcanalsobelatchedbywritingacommand,orbyprovidinganLTC,orORGsignal.
ThePCLscanalsobesettoresetautomaticallysoonafterlatchingthesesignals.
♦Comparator
Thereare2comparatorcircuitsforeachaxis.Theycanbeusedtocomparetargetvaluesandinternal
countervalues.
Comparator1canbecomparedwithCOUNTER1andComparator2canbecomparedwithCOUNTER2.
♦Simultaneousstartfunction
MultipleaxescontrolledbythesameLSI,orcontrolledbymultiplesetsofthisLSI,canbestartedatthe
sametime.
♦Simultaneousstopfunction
MultipleaxescontrolledbythesameLSI,orcontrolledbymultiplesetsofthisLSI,canbestoppedatthe
sametimebyacommand,byanexternalsignal,orbyanerrorstoponanyaxis.
♦Manualpulsarinputfunction
Byapplyingmanualpulsesignals,youcanrotateamotordirectly.
Theinputsignalscanbe90˚ phase difference signals (1x, 2x, or 4x) or up and down signals.
WhenanELsignalofthefeeddirectionisinput,thePCLstopstheoutputofpulses.But,itcanfeedinthe
oppositedirectionwithoutanycommand.
♦Directinputofoperationswitch
Aninputterminalforoperationswitchisprovidedtodirectlydriveamotorwithanexternaloperation
switch.
Theseswitchesturnthemotorforward(+)andbackward(-).
Theresultsofaswitchpresscanbesettokeepfeedingpulseswhilepresseddown,ortofeedasingle,
specifiednumberofpulsesforeachpressoftheswitch.
♦Operationmode
ThebasicoperationsofthisLSIare:continuousoperation,positioning,zeroreturn,andlinear
interpolation.Bysettingtheoptionaloperationmodebits,youcanuseavarietyofoperations.
<Examplesoftheoperationmodes>
1)Start/stopbycommand.
2)Continuousoperationandpositioningoperationusingamanualpulsar.
3)Single-shotorcontinuousoperationusingthedriveswitch.
4)Zeroreturnoperation.
5)Positioningoperationusingcommands.
6)Hardwarestartofthepositioningoperationusinginput.
7)FeedforaspecifiedamountafterturningONthePCS.(Positionoverride(2))
♦Zeroreturnsequences
1)FeedsatlowspeedandstopswhentheORGsignalisturnedON
2)FeedsatlowspeedandstopswhenanEZsignalisreceived(aftertheORGsignalisturnedON).
3)Feedsathighspeed,decelerateswhentheSDsignalisturnedON,andstopswhentheORGsignal
isturnedON.
4)Feedsathighspeed,decelerates,andstopswhentheORGsignalisturnedON.
5)Feedsathighspeed,startsdecelerationwhentheORGsignalisturnedON.Then,itstopswhenan

-3-
EZsignalisreceived.
♦Mechanicalinputsignals
Thefollowingfoursignalscanbeinputforeachaxis.
1)+EL:WhenthissignalisturnedON,whilefeedinginthepositive(+)direction,movementonthisaxis
stopsimmediately(withdeceleration).WhenthissignalisON,nofurthermovementoccurson
theaxisinthepositive(+)direction.(Themotorcanberotatedinthenegative(-)direction.)
2)-EL:Functionsthesameasthe+ELsignalexceptthatitworksinthenegative(-)direction.
3)SD:Thissignalcanbeusedasadecelerationsignaloradecelerationstopsignal,accordingtothe
softwaresetting.Whenthisisusedasadecelerationsignal,andwhenthissignalisturnedON
duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeed.Ifthis
signalisONandmovementontheaxisisstarted,themotoronthisaxiswillrunattheFLlow
speed.Whenthissignalisusedasadecelerationstopsignal,andwhenthissignalisturnedON
duringahighspeedfeedoperation,themotoronthisaxiswilldeceleratetotheFLspeedand
thenstop.
4)ORG:Inputsignalforazeroreturnoperation.
Forsafety,makesurethe+ELand-ELsignalsstayonfromtheELpositionuntiltheendofeachstroke.
TheinputlogicforthesesignalscanbechangedusingtheELLterminal.
TheinputlogicoftheSDandORGsignalscanbechangedusingsoftware.
♦ServomotorI/F
Thefollowingthreesignalscanbeusedasaninterfaceforeachaxis.
1)INP:Inputpositioningcompletesignalthatisoutputbyaservomotordriver.
2)ERC:Outputdeflectioncounterclearsignaltoaservomotordriver.
3)ALM:Regardlessofthedirectionofoperation,whenthissignalisON,movementonthisaxisstops
immediately(decelerationstop).WhenthissignalisON,nomovementcanoccuronthisaxis.
WhilethePCLisoperatinginthetimermode,itcannotbestoppedusingtheALMinput.
EventhoughthePCLisstopped,itwilloutputanINT(interruptrequest)whenanALMsignalis
received.
TheinputlogicoftheINP,ERC,andALMsignalscanbechangedusingsoftware.
TheERCsignalisapulsedoutput.Thepulselengthcanbeset.(12µsecto104msec.Aleveloutputis
alsoavailable.)
♦Outputpulsespecifications
Outputpulsescanbesettoacommonpulse,2-pulsemodeor90ophasedifferencemode.Theoutputlogic
canalsobeselected.
♦Emergencystopsignal()input
WhenthissignalisturnedON,movementonallaxesstopsimmediately.WhilethissignalisON,no
movementisallowedoneitheraxes.
Thisinputcannotbedisabled.ThePCLwillstopwhenthissignalispresent,evenitisinthetimermode.
♦Interruptsignaloutput
Ansignal(interruptrequest)canbeoutputformanyreasons.
TheterminaloutputsignalcanuseORedlogicforlotsofconditionsoneachaxis.
(WhenmorethanoneLSIisused,wiredORconnectionsarenotpossible.)

--4
2.Specifications
Item Description
Numberofcontrolaxes PCL6113:One
PCL6123:Two(XandYaxes)
PCL6143:Four(X,Y, Z,andUaxes)
Referenceclock Standard:19.6608MHz(Max.30MHz)
Positioningcontrolrange -134,217,728to+134,217,727(28-bit)
Ramping-downpoint
settingrange 0to16,777,215(24-bit)
Numberofregistersused
forsettingspeeds Twoforeachaxis(FLandFH)
Speedsettingsteprange 1to16,383(14-bits)
Speedmultiplication
range
0.3xto600x(Belowareexampleswitha19.6608MHzreferenceclock.)
When0.3xisselected:0.3to4,914.9pps
When1xisselected:1to16,383pps
When600xisselected:600to9,829,800.pps
Theavailablepulsespeedrangevarieswiththereferenceclockspeed.
Whenthereferenceclockis30MHzandifmultiplicationrateis600x,the
maximumspeedwillbe15Mpps.
Acceleration/deceleration
characteristics
Selectableacceleration/decelerationpatternforbothincreasinganddecreasing
speedseparately,usingLinearandS-curveacceleration/deceleration.
Accelerationratesetting
range 1to16,383(14-bits)
Decelerationratesetting
range 1to16,383(14-bits)
Ramping-downpoint
automaticsetting
Theautomaticsettingisonlyavailablewhentheaccelerationanddeceleration
curvesaresymmetrical.
Feedspeedautomatic
correctionfunction
Automaticallylowersthefeedspeedforshortdistancepositioningmoves.
Manualoperationinput Manualpulsarinput,pushbuttonswitchinput
Counter COUNTER1:Positioncontrolcounter(28bits)
COUNTER2:Positioncontrolcounter(28bits)
Comparators 28-bitsx2circuits/axis
Interpolationfunctions Linearinterpolation:Any2to4axes
Operatingtemperature
range -40to+80oC
Powersupply Singlevoltagepowersupply:3.3V±10%
Package PCL6113:80-pinQFP
PCL6123:128-pinQFP
PCL6143:176-pinQFP