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Nova Electronics MCX514 User Manual

Manual is about: 4 axes motor control IC with high functions

Summary of MCX514

  • Page 1

    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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    - i - 1. Outline ................................................................ 1 1.1 the main features of functions ..................................................................................................... 1 1.2 functional block diagram ...................................................

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    - ii - 2.6.2 action ................................................................................................................................................... 63 2.6.3 synchronous action settings ..................................................................................................

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    - iii - 3. Interpolation ....................................................... 109 3.1 linear interpolation ...................................................................................................................... 111 3.1.1 maximum finish point ...........................................

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    - iv - 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 / deceler...

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    - v - 6.9 output register: wr5 ................................................................................................................ 179 6.10 data register: wr6/wr7 ........................................................................................................... 179 6.11 main st...

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    - vi - 7.2.28 helical calculation setting ....................................................................................................................199 7.3 commands for writing mode ...................................................................................................... 200 7...

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    - vii - 7.5.4 − direction continuous pulse driving ..................................................................................................220 7.5.5 absolute position driving ......................................................................................................................

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    - viii - 7.8.11 rr3 page 0 display ............................................................................................................................233 7.8.12 rr3 page 1 display ..................................................................................................................

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    - ix - 13.2 standard installation conditions by soldering iron ..................................................................... 261 13.3 standard installation conditions by solder reflow ..................................................................... 261.

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    Nova electronics inc. Mcx514 - i － － i ■ revision history 1st edition 2014-08-01 newly created. 2nd edition 2014-12-15 ・correction of the following errors 1.3 specification table over limit signal signal name 3. Interpolation each interpolation speed 7.4.24 general purpose input value reading data r...

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    Nova electronics inc. Mcx514 - ii － － ii introduction in general, semiconductor products sometimes malfunction or fail to function. When incorporating this ic in a system, make sure that a safe system is designed to avoid any injuries or property damage caused by malfunctioning of this ic. This ic i...

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    Nova electronics inc. Mcx514 - iii － － iii ■ terms and symbols used in the manual active the function of a signal is the state of being enabled. Drive action to output pulses for rotating a motor to the driver (drive unit) of a pulse type servo motor or setepping motor. Fixed pulse drive drive that ...

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    Nova electronics inc. Mcx514 - 1 － 1 － 1. Outline 1.1 the main features of functions mcx514 is a 4-axis motion control ic that has improved greatly in functions of previous ic such as mcx314as / mcx314al. As the interpolation functions, it provides the existing linear interpolation, circular interpo...

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    Nova electronics inc. Mcx514 - 2 － 2 － ■ 8 stages of pre-buffer for continuous interpolation mcx514 is equipped with 8 stages of pre-buffer register that stores finish point data (and others) in each segment, in order to handle continuous interpolation driving at high-speed. In the case of the previ...

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    Nova electronics inc. Mcx514 - 3 － 3 － ■ short axis pulse equalization mode for interpolation in interpolation driving, all of axes that perform interpolation do not always output drive pulses at regular intervals during driving. As shown in the figure below, in 2-axis linear interpolation, the axis...

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    Nova electronics inc. Mcx514 - 4 － 4 － ■ speed range-free mcx514 is a new motion control ic that has no multiple of speed (range setting) to set the drive speed. This will enable us to freely set the speed from 1 pps up to 8 mpps in increments of 1 pps. When using the multiples of speed to set the s...

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    Nova electronics inc. Mcx514 - 5 － 5 － ■ various acceleration / deceleration drive mode  types of acceleration / deceleration driving acceleration / deceleration driving can perform the following driving. Constant speed driving linear acceleration / deceleration driving (symmetry/ non-symmetry) s-c...

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    Nova electronics inc. Mcx514 - 6 － 6 － ■ various synchronous actions synchronous action is the function that executes a specified action together if a specified activation factor occurs. These synchronous actions can be performed fast and precisely, independent of the cpu. Synchronous action can be ...

  • Page 20

    Nova electronics inc. Mcx514 - 7 － 7 － ■ output of split pulse this is a function in each axis that outputs split pulses during the driving, which synchronizes axis driving and performs various operations. The split length, pulse width of a split pulse and split pulse number can be set. By using wit...

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    Nova electronics inc. Mcx514 - 8 － 8 － ■ built-in input signal filter the ic is equipped with an integral type filter in the input step of each input signal. It is possible to set for each input signal whether the filter function is enabled or the signal is passed through. A filter time constant can...

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    Nova electronics inc. Mcx514 - 9 － 9 － 1.2 functional block diagram mcx514 functional block diagram is shown in the fig. 1.2-1 as below. It comprises control sections of 4 axes, x, y, z and u that have the same function, and interpolation counting sections. In interpolation driving, interpolation is...

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    Nova electronics inc. Mcx514 - 10 － 10 － acceleration/deceleration generator speed generator pulse generator logical position counter action control section 32bit 32bit up down up down command/data interpretation process section interrupt generator wave change p+ p- pp/pls/pa pm/dir/pb lmtp lmtm inp...

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    Nova electronics inc. Mcx514 - 11 － 11 － 1.3 specification table (clk＝16mhz) item subitem description control axis 4 axes cpu parallel bus connection 16-bit/8-bit bus selectable cpu serial bus connection i 2 c serial interface bus interpolation function interpolation commands 2-axis /3-axis /4-axis ...

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    Nova electronics inc. Mcx514 - 12 － 12 － position counter logical position counter count range：-2,147,483,648 ～ +2,147,483,647 drive pulse *5 real position counter count range：-2,147,483,648 ～ +2,147,483,647 drive pulse *5 variable ring possible to set the count maximum value of each counter softwar...

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    Nova electronics inc. Mcx514 - 13 － 13 － interrupt number of signals 2: int0n, int1n interrupt factor ・when multi-purpose register comparison changed ・comparative object： logical/real position counter value, current drive speed, current timer value ・comparison condition： ≧，＞，＝，＜ ・start/termination o...

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    Nova electronics inc. Mcx514 - 14 － 14 － *1 parameter that is used in s-curve acceleration / deceleration driving. *2 pulse range that can be set for the driving that outputs specified pulses. In continuous driving, pulses are output up to infinity. *3 automatic deceleration stop performs decelerati...

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    Nova electronics inc. Mcx514 - 15 － 15 － 2. The descriptions of functions 2.1 fixed pulse driving and continuous pulse driving there are two kinds of pulse output commands: fixed pulse driving that is performed based on the number of output pulses predetermined and continuous pulse driving that outp...

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    Nova electronics inc. Mcx514 - 16 － 16 － 2.1.2 absolute position driving absolute position driving performs the driving by setting the destination point based on a home (logical position counter = 0). The destination point can be set by absolute coordinates regardless of the current position. The ic...

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    Nova electronics inc. Mcx514 - 17 － 17 － ■ changing drive pulse number in the middle of driving (override) the drive pulse number (tp) can be changed in relative position driving and counter relative position driving. However, the drive direction must be the same before and after the change of drive...

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    Nova electronics inc. Mcx514 - 18 － 18 － • speed is changed during the driving in the non-symmetry trapezoidal acceleration/deceleration and s-curve acceleration/deceleration fixed pulse driving. • acceleration, deceleration, jerk (acceleration increasing rate) and deceleration increasing rate are s...

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    Nova electronics inc. Mcx514 - 19 － 19 － table 2.1-3 setting parameters：continuous pulse driving parameter symbol comment acceleration / deceleration ac／dc no need to set deceleration when acceleration and deceleration are equal. Initial speed sv drive speed dv ■ changing drive speed during the driv...

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    Nova electronics inc. Mcx514 - 20 － 20 － decelerating stop. If low-speed searching, continuous pulse driving is performed at constant speed. And when the signal that is enabled becomes active, mcx514 will perform instant stop. This ic has automatic home search function. See chapter 2.5 for details o...

  • Page 34

    Nova electronics inc. Mcx514 - 21 － 21 － ■ example for parameter setting of constant speed the constant speed is set 980 pps as shown in fig. 2.2-2 below. In this case, the relative position driving that the drive pulse number is 2450 is performed. Initial speed sv = 980 set the value which initial ...

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    Nova electronics inc. Mcx514 - 22 － 22 － ■ example for parameter setting of trapezoidal driving as shown in the figure right hand side, acceleration is formed from the initial speed 500 pps to 15,000 pps in 0.3 sec. Acceleration ac = 48333 (15000-500)/0.3 = 48333pps/sec initial speed sv = 500 drive ...

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    Nova electronics inc. Mcx514 - 23 － 23 － 2.2.3 non-symmetrical trapezoidal acceleration if an object is to be moved using stacking equipment, there will be a need to change acceleration and deceleration of vertical transfer since gravity acceleration is applied to the object. This ic can perform aut...

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    Nova electronics inc. Mcx514 - 24 － 24 － [note] • in non-symmetry linear acceleration / deceleration driving, when acceleration > deceleration (fig. 2.2-7), the following condition is applied to the ratio of acceleration and deceleration. 6 10 8 dv ac dc × × > for instance, if the driving speed dv =...

  • Page 38

    Nova electronics inc. Mcx514 - 25 － 25 － 2.2.4 s-curve acceleration/deceleration driving [symmetrical] s-curve acceleration / deceleration driving performs acceleration and deceleration to a specified drive speed with a smooth curve that forms a secondary parabolic curve. This ic creates a s-curve b...

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    Nova electronics inc. Mcx514 - 26 － 26 － ■ triangle form prevention of s-curve acceleration / deceleration driving s-curve acceleration / deceleration driving also has the triangle form prevention function for keeping a speed curve smooth. In fixed pulse driving of s-curve acceleration/deceleration ...

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    Nova electronics inc. Mcx514 - 27 － 27 － ＜the prevention of triangle driving profile in decelerating stop＞ in linear acceleration / deceleration driving, if the decelerating stop is commanded during acceleration, the speed curve forms a triangle form. In s-curve acceleration / deceleration driving, ...

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    Nova electronics inc. Mcx514 - 28 － 28 － ■ example of parameter setting (symmetry s-curve acceleration / deceleration) the figure shown below is the example of s-curve acceleration that reaches from the initial speed 100pps to the drive speed 40kpps in 0.4 seconds. Sv dv t 2 t = 0.4sec jk(slope) 2 d...

  • Page 42

    Nova electronics inc. Mcx514 - 29 － 29 － ■ partial s-curve acceleration / deceleration in acceleration / deceleration driving with a linear section of acceleration and deceleration, it is possible to form a smooth s-curve only in the start/end part of acceleration or deceleration. To set the speed p...

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    Nova electronics inc. Mcx514 - 30 － 30 － ■ example of parameter setting (partial s-curve acceleration / deceleration) the figure shown below is the example of partial s-curve acceleration that reaches to 10kpps in 0.2 seconds by parabolic acceleration and then reaches from 10kpps to 30kpps in 0.2 se...

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    Nova electronics inc. Mcx514 - 31 － 31 － 2.2.5 non-symmetrical s-curve acceleration/deceleration in s-curve acceleration/deceleration driving, a non-symmetrical s-curve can be created by setting a jerk and a deceleration increasing rate individually. However, in non-symmetry s-curve acceleration/dec...

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    Nova electronics inc. Mcx514 - 32 － 32 － ■ example of parameter setting (non-symmetry s-curve acceleration / deceleration) the figure shown below is the example of non-symmetry s-curve acceleration / deceleration that reaches from the initial speed (sv) 100pps to the drive speed (dv) 40kpps in 0.2 s...

  • Page 46

    Nova electronics inc. Mcx514 - 33 － 33 － 2.2.6 pulse width and speed accuracy ■ duty ratio of drive pulse the period time of ＋/－ direction pulse driving is decided by system clock sclk. The tolerance is within ±１clk (for clk=16mhz, the tolerance is ±62.5nsec). Basically, the duty ratio of each pulse...

  • Page 47

    Nova electronics inc. Mcx514 - 34 － 34 － 2.3 position control mcx514 has two 32-bit up-and-down counters per axis for controlling the current position (logical position counter and real position counter), which can compare with the current position by presetting a value to a multi-purpose register. ...

  • Page 48

    Nova electronics inc. Mcx514 - 35 － 35 － 0 +10000 -1000 sp sm ＋direction software limit error current position ≧ sp －direction software limit error current position ＜ sm slmt+ register sp=10000 slmt- register sm=-1000 fig. 2.3-2 value setting of software limit and software limit error software limit...

  • Page 49

    Nova electronics inc. Mcx514 - 36 － 36 － 2.4 multi-purpose register mcx514 has four signed 32-bit multi-purpose registers (mr3~0) per axis. Multi-purpose register can be used to compare with the current position, speed and timer, and then can read out the status which represents comparison result an...

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    Nova electronics inc. Mcx514 - 37 － 37 － table 2.4-1 setting of comparative object mkt1 bit mkt0 bit mrm comparative object 0 0 logical position counter (lp) 0 1 real position counter (rp) 1 0 current drive speed value (cv) 1 1 current timer value (ct) table 2.4-2 setting of comparison condition mkc...

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    Nova electronics inc. Mcx514 - 38 － 38 － ■ comparison output signal the user can output the comparison result of a multi-purpose register as a comparison output signal. When the comparison result of a multi-purpose register meets a specified comparison condition, the comparison output signal outputs...

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    Nova electronics inc. Mcx514 - 39 － 39 － set to enable sync2 synchronous actions. For more details of the synchronous action functions and settings, see chapter 2.6. ■ example: synchronous action activation while 10 seconds timer is running, to activate relative position driving in x axis after 5 se...

  • Page 53

    Nova electronics inc. Mcx514 - 40 － 40 － 2.4.3 load / save of parameters by synchronous action by using the synchronous action, the user can load the value pre-set in a multi-purpose register as a new speed or drive pulse number, and save the current position and a speed to a multi-purpose register....

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    Nova electronics inc. Mcx514 - 41 － 41 － 2.5 automatic home search this ic has a function that automatically executes a home search sequence such as high- speed home search → low-speed home search → encoder z-phase search → offset drive without cpu intervention. The automatic home search function se...

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    Nova electronics inc. Mcx514 - 42 － 42 － 2.5.1 operation of each step in each step, the user can specify execution/non-execution, the ＋/－ search direction and a detection signal by mode setting. If non-execution is specified, it proceeds with next step without executing that step. ■ step 1: high-spe...

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    Nova electronics inc. Mcx514 - 43 － 43 － ■ step 2: low-speed home search drive pulses are output in a specified direction at the speed set in the home search speed (hv) until the specified detection signal becomes active. The user can specify either nstop1 or limit signal as a detection signal. If a...

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    Nova electronics inc. Mcx514 - 44 － 44 － ④when a detection signal is the same in step 1 and step 2 and a search direction is also the same in step 1 and step 2, and a specified signal is inactive before step 2 starts. [behavior] the operation described in irregular operation ② is performed. This ope...

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    Nova electronics inc. Mcx514 - 45 － 45 － ■ step 4: high-speed offset drive drive pulses set in the drive pulse number (tp) are output at the speed set in the drive speed (dv) by relative position driving. This step 4 is normally used to move the axis from the mechanical home position to the operatio...

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    Nova electronics inc. Mcx514 - 46 － 46 － 2.5.4 setting a search speed and a mode to perform an automatic home search, the following speed parameters and mode must be set. ■ setting speed parameters table 2.5-2 setting speed parameters speed parameter command code (hex) description drive speed (dv) ０...

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    Nova electronics inc. Mcx514 - 47 － 47 － ③ detection signal of each step step 1 can be selected from nstop0, nstop1 and limit signals. Step 2 can be selected from either nstop1 or limit signals. Step 3 is fixed to nstop2 signal. The same signal can be set in step 1 and step 2. The detection signal s...

  • Page 61

    Nova electronics inc. Mcx514 - 48 － 48 － ■ automatic home search mode setting 2 automatic home search mode setting 2 can be set by setting each bit of wr6 register as shown below and then writing automatic home search mode setting 2 command (24h) into wr0 register. It specifies the logical level of ...

  • Page 62

    Nova electronics inc. Mcx514 - 49 － 49 － ② enable/disable the timer between steps the user can set to enable/disable the timer between steps and timer time. To enable/disable the timer between steps, set d7 bit (htme) to 0: disable, 1: enable timer time can be set by d10～7 bits (htm2～htm0), and the ...

  • Page 63

    Nova electronics inc. Mcx514 - 50 － 50 － 2.5.5 execution of automatic home search and the status ■ execution of automatic home search an automatic home search is executed by automatic home search execution command (5ah). It will be started by writing the command code 5ah to wr0 register after correc...

  • Page 64

    Nova electronics inc. Mcx514 - 51 － 51 － 2.5.6 errors occurring at automatic home search the following table lists the errors that may occur during the execution of an automatic home search. Table 2.5-10 errors occurring at automatic home search cause of the error operation of ic at the error displa...

  • Page 65

    Nova electronics inc. Mcx514 - 52 － 52 － 2.5.7 notes on automatic home search ■ search speed a home search speed (hv) must be set to a low speed to increase the home search position precision. Set a value lower than the initial speed to stop the operation immediately when an input signal becomes act...

  • Page 66

    Nova electronics inc. Mcx514 - 53 － 53 － 2.5.8 examples of automatic home search ■ example 1 home search using a home signal high-speed and low-speed home search is performed by one home signal, and encoder z-phase search is not performed. Make sure to input a home signal to nstop1. Fig. 2.5-13 conn...

  • Page 67

    Nova electronics inc. Mcx514 - 54 － 54 － 【program example in x axis】 // wr2 register setting wr0 ← 011fh write // select x axis wr2 ← 0800h write // home signal logical setting: xstop1: low active // enables hardware limit // input signal filter mode setting wr6 ← 0a0fh write // d11～d8 1010 filter d...

  • Page 68

    Nova electronics inc. Mcx514 - 55 － 55 － ■ example 2 home search using a limit signal the example that uses a limit signal of one side as an alternative home signal and performs a home search. In this case, a limit signal in the － direction is used as an alternative home signal. To perform a home se...

  • Page 69

    Nova electronics inc. Mcx514 - 56 － 56 － // d1 1 step １ search direction： －direction // d0 1 step １ execution/non-execution： execution wr0 ← 0123h write // writes a command // automatic home search mode setting 2 wr6 ← 0000h write // d15 0 // d14 0 // d13 0 // d12 0 // d11 0 // d10～8 0 timer value /...

  • Page 70

    Nova electronics inc. Mcx514 - 57 － 57 － ■ example 3 home search for a servo motor in the case of the pulse input type servo driver, normally an encoder z-phase signal is output from the driver (a servo amplifier). To perform the home search with high position precision, a deviation counter in the d...

  • Page 71

    Nova electronics inc. Mcx514 - 58 － 58 － 【program example in x axis】 // wr2 register setting wr0 ← 011fh write // select x axis wr2 ← 0800h write // home signal logical setting： xstop1,2:low active // enables hardware limit // input signal filter mode setting wr6 ← 0acfh write // d15～d12 0000 filter...

  • Page 72

    Nova electronics inc. Mcx514 - 59 － 59 － 2.6 synchronous action synchronous action of this ic performs various actions in each axis, among axes or between the ic and an external device during the driving, such as output an external signal at a specified position or save the current position to a spe...

  • Page 73

    Nova electronics inc. Mcx514 - 60 － 60 － example 4 measures the time to pass through from the position a to the position b during the driving. Passing through the position a passing through the position b Ｔ(μsec) internal timer timer- start save the timer value action activation factor activation fa...

  • Page 74

    Nova electronics inc. Mcx514 - 61 － 61 － 2.6.1 activation factor 16 activation factors are provided for synchronous actions as shown in the table below. Table 2.6-1 activation factors code (hex) synchronous action set 0 sync0 synchronous action set 1 sync1 synchronous action set 2 sync2 synchronous ...

  • Page 75

    Nova electronics inc. Mcx514 - 62 － 62 － [note] • the constant speed area (the area that driving is performed at a constant speed) may be slightly generated at the termination of driving in acceleration / deceleration driving. Description 4: split pulse about “start of split pulse”, a synchronous ac...

  • Page 76

    Nova electronics inc. Mcx514 - 63 － 63 － description 10: general purpose input signal hi and the change of when falling about “npiom input hi and npiok input ↓”, it is activated when npiom (m=4~7) input signal is hi level and npiok (k =0~3) input signal is falling from hi level to low level. As show...

  • Page 77

    Nova electronics inc. Mcx514 - 64 － 64 － description 1: load parameter value it loads the value of a multi-purpose register mrm into each parameter. Table 2.6-3 load parameter value notation description mrm → dv loads the value of mrm register into drive speed (dv). Mrm → tp loads the value of mrm r...

  • Page 78

    Nova electronics inc. Mcx514 - 65 － 65 － ① npiom (m=0~3) signal synchronous pulse output setting to set npiom signal for the synchronous pulse output by mode setting, use pio signal setting 1 command (21h) and set as shown below. Wr6 d7 d6 d5 d4 h l d15 d14 d13 d12 d11 d10 d9 d8 d3 d2 d1 d0 p1m0 p0m...

  • Page 79

    Nova electronics inc. Mcx514 - 66 － 66 － description 4: start of relative / absolute position driving using mrm value at the start of driving, the value of mrm register is set to drive pulse number (tp) and relative or absolute position driving is started. Since the value of mrm register is written ...

  • Page 80

    Nova electronics inc. Mcx514 - 67 － 67 － 2.6.3 synchronous action settings there are syncm settings, enable setting and disable setting for synchronous action settings, and by configuring these settings, a synchronous action is performed. ■ syncm setting it sets 4 synchronous action sets by synchron...

  • Page 81

    Nova electronics inc. Mcx514 - 68 － 68 － activation of other synchronous action sets in other axes this bit is used to activate simultaneously in cooperation with the action of synchronous action set 0(sync0) in another axis when the activation factor is activated by the synchronous action set. Spec...

  • Page 82

    Nova electronics inc. Mcx514 - 69 － 69 － ■ disable setting each synchronous action set can be disabled by synchronous action disable setting command (91h~9fh). When the synchronous action set is disabled, the action is not invoked by when the activation factor is activated. 4 synchronous action sets...

  • Page 83

    Nova electronics inc. Mcx514 - 70 － 70 － 2.6.4 synchronous action execution ■ execution steps of synchronous action synchronous action is performed as follows. ① set the activation factor and action by synchronous action syncm setting command (26h~29h). ② enable the synchronous action set by synchro...

  • Page 84

    Nova electronics inc. Mcx514 - 71 － 71 － 2.6.6 examples of synchronous action ■ example 1 when passing through the position 15,000 during the driving in x axis, output synchronous pulses to xpio0. Driving start axis is passing through the position 15,000 xpio0 output the pulse signal to the external...

  • Page 85

    Nova electronics inc. Mcx514 - 72 － 72 － pp,pm lp pio0 14999 15000 match the comparison with mr0 delay of 2clk fig. 2.6-7 timing of example 1: synchronous action from chapter 2.6.7, a delay from the occurrence of an activation factor is 1clk and a delay up to the action is 1clk, so the delay time of...

  • Page 86

    Nova electronics inc. Mcx514 - 73 － 73 － ■ example 2 when an external signal is input during the driving in x axis, save the position data. External signal is input save the current position of the axis to the register mr0 register -562,490 activation factor action driving start fig. 2.6-8 example 2...

  • Page 87

    Nova electronics inc. Mcx514 - 74 － 74 － ■ example 3 calculates the time passing through from position a (10000) to position b (55000) during x axis driving. Passing through the position a passing through the position b Ｔ(μsec) internal timer timer- start save the timer value action activation facto...

  • Page 88

    Nova electronics inc. Mcx514 - 75 － 75 － // sync0,1 enable wr0 ← 0183h write // start driving wr0 ← 0152h write // starts＋direction continuous pulse driving sync1 is activated and interrupt occurs // read timer value saved in mr1 wr0 ← 0135h write rr6 → read rr7 → read // timer-stop wr0 ← 0174h writ...

  • Page 89

    Nova electronics inc. Mcx514 - 76 － 76 － 2.6.7 synchronous action delay time a synchronous action delay is a total of the delay from the occurrence of an activation factor to an action as shown in the tables below. ■ delay from the occurrence of an activation factor 1clk=62.5nsec (clk=16mhz) table 2...

  • Page 90

    Nova electronics inc. Mcx514 - 77 － 77 － ■ delay up to an action 1clk=62.5nsec (clk=16mhz) table 2.6-9 delay up to an action action definition of the end of delay delay time (clk) load mrm → dv until the mrm value is loaded into dv 1 load mrm → tp until the mrm value is loaded into tp 1 load mrm → s...

  • Page 91

    Nova electronics inc. Mcx514 - 78 － 78 － 2.7 split pulse this is a function that outputs the split pulse which is synchronized with a drive pulse during the driving in each axis. This function is useful for when the user wants to perform the other operation at regular pulse intervals, synchronizing ...

  • Page 92

    Nova electronics inc. Mcx514 - 79 － 79 － ■ split pulse mode setting the operating mode of split pulses can be set by pio signal setting 2・other settings command (22h). At the start of split pulse, set with or without starting pulse, and the logical level of split pulse output to d10, d11 bits of wr6...

  • Page 93

    Nova electronics inc. Mcx514 - 80 － 80 － 2.7.3 split pulse in synchronous action split pulse can be operated by a synchronous action. As the activation factor of a synchronous action, the following 3 types can be specified: “at the start of split pulse”, “at the output of split pulse” and “at the te...

  • Page 94

    Nova electronics inc. Mcx514 - 81 － 81 － 2.7.6 examples of split pulse ■ example 1 split pulse starts from the start of x axis driving. After issuing start of split pulse command, driving starts and split pulses are output with driving. Wrn xpp, xpm write driving command issue start of split pulse c...

  • Page 95

    Nova electronics inc. Mcx514 - 82 － 82 － ■ example 2 split pulse starts from position 5,000 in x axis. After starting the drive, split pulse starts from when the logical position reaches to 5,000. This is performed by the function of a synchronous action. Xpp, xpm xspltp xlp lp≧mr0 start split pulse...

  • Page 96

    Nova electronics inc. Mcx514 - 83 － 83 － ■ example 3 split pulses are output at constant speed area during s-curve acceleration /deceleration driving in x axis. At constant speed area during s-curve acceleration /deceleration driving, split pulses are output. This is performed by the function of a s...

  • Page 97

    Nova electronics inc. Mcx514 - 84 － 84 － // synchronous action sync1 setting wr6 ← 0185h write // d3～d0 0101 prev3～0 ：activation factor finish constant speed driving // d8～d4 11000 act4～0 ：action termination of split pulse // d15 0 rep ：repeat must be disabled wr0 ← 0127h write // sync0,1 enable wr0...

  • Page 98

    Nova electronics inc. Mcx514 - 85 － 85 － ■ example 4 starts to output split pulses from position 5,000 in x axis and changes split length and pulse width from position 10,000 split pulse starts from the logical position 5,000 and changes a split length and pulse width from the logical position 10,00...

  • Page 99

    Nova electronics inc. Mcx514 - 86 － 86 － // synchronous action setting // synchronous action sync0 setting wr6 ← 0171h write // d3～d0 0001 prev3～0 ：activation factor mrm object changed to true // d8～d4 10111 act4～0 ：action start of split pulse wr0 ← 0126h write // synchronous action sync1 setting wr...

  • Page 100

    Nova electronics inc. Mcx514 - 87 － 87 － 2.8 general purpose input / output signal mcx514 has 8 general purpose input / output pins in each axis, npio7～0. When not using the input signal that has a specific function, disable its function, and it can be used as a general purpose input signal. 2.8.1 n...

  • Page 101

    Nova electronics inc. Mcx514 - 88 － 88 － ■ npiom signal reading the signal levels of npiom signals can be read out by rr4, rr5 registers anytime regardless of input/output. X axis is from d7~d0 bits (xpio7～xpio0) of rr4 register, y axis is from d15~d8 bits (ypio7～ypio0), z axis is from d7～ d0 bits (...

  • Page 102

    Nova electronics inc. Mcx514 - 89 － 89 － ■ synchronous pulse ・mrm comparison output set 2 bits corresponding to npiom signal that is used to 1, 1 and set by pio signal setting 1 command (21h). Used as synchronous pulse output signal as the action of a synchronous action, synchronous pulses can be ou...

  • Page 103

    Nova electronics inc. Mcx514 - 90 － 90 － 2.8.2 other input signals as shown in the table below, about input signals other than npiom signals, when the functions of those signals are not used, they can be used as a general purpose input signal. The signal levels of input signals are displayed in rr3 ...

  • Page 104

    Nova electronics inc. Mcx514 - 91 － 91 － 2.9 timer mcx514 is equipped with one timer in each axis , which can set with the range of 1 ~ 2,147,483,647μsec in increments of 1μsec (at clk = 16mhz). By using with synchronous action, various operations which combine a motor drive and timer functions can ...

  • Page 105

    Nova electronics inc. Mcx514 - 92 － 92 － 2.9.2 timer setting to operate a timer, the timer value and operation mode (once / repeat) must be set. ■ timer value setting a timer value can be set by timer value setting command (16h). Set values to wr6, 7 registers and write timer value setting command (...

  • Page 106

    Nova electronics inc. Mcx514 - 93 － 93 － 2.9.7 examples of timer ■ example 1 driving starts after 17.35msec when x axis driving is finished. When relative position driving is finished, it again starts the same relative position driving after 17.35msec. This is performed by the function of a synchron...

  • Page 107

    Nova electronics inc. Mcx514 - 94 － 94 － ■ example 2 outputs designated drive pulses to x axis every 1msec. Relative position driving (20kpps×10 pulses of the constant speed drive) starts every 1msec. This is performed by the function of a synchronous action. 1. 000ms drive pulse 1. 000ms 1. 000ms f...

  • Page 108

    Nova electronics inc. Mcx514 - 95 － 95 － ■ example 3 performs decelerating stop in acceleration/deceleration driving of x axis after driving at constant speed for 10msec. After acceleration/deceleration driving starts, a timer starts from the start of constant speed area for 10msec and when time is ...

  • Page 109

    Nova electronics inc. Mcx514 - 96 － 96 － 2.10 interrupt mcx514 has 2 kinds of interruptions, one is the interruption generated from each x, y, z and u axis, and the other is the interruption generated during continuous interpolation driving. The interrupt signal to the host cpu has also 2 signals, i...

  • Page 110

    Nova electronics inc. Mcx514 - 97 － 97 － ■ interrupt in 8-bit data bus when 8-bit data bus is used, individually set each wr1h/wr1l register to 1– enable or 0 – disable. When an interrupt occurs (interrupt signal (int0n) is low), individually read each rr1h/ rr1l register. If either register is only...

  • Page 111

    Nova electronics inc. Mcx514 - 98 － 98 － 2.11 input signal filter this ic is equipped with an integral type filter in the input stage of each input signal. Figure 2.11-1 shows the filter configuration of each input signal in x axis, and y, z and u axes have the same circuit as x axis. The time const...

  • Page 112

    Nova electronics inc. Mcx514 - 99 － 99 － 2.11.1 setting of input signal filter function the filter function of each input signal can be set by input signal filter mode setting command (25h). D7 d6 d5 d4 h l d15 d14 d13 d12 d11 d10 d9 d8 d3 d2 d1 d0 wr6 fl00 fl01 fl02 fe7 fe4 fe5 fe6 fe3 fe1 fe2 fe0 ...

  • Page 113

    Nova electronics inc. Mcx514 - 100 － 100 － filter functions are not available for input signals explsn, pin7～0. 2.11.2 example of setting input signal filters for the input signals belong to the filter time constant a, s et a 128μsec delay filter to emgn, xlmtp, xlmtm, xstop0, xstop1 input signals a...

  • Page 114

    Nova electronics inc. Mcx514 - 101 － 101 － 2.12 other functions 2.12.1 driving by external pulses this function is that controls relative position driving and continuous pulse driving not by the commands but by external signals. (nexpp, nexpm). As the number of motor axis controlled by the system in...

  • Page 115

    Nova electronics inc. Mcx514 - 102 － 102 － ■ relative position driving mode set d9, 8 bits of pio signal setting 2・other settings (22h) to 1, 0 and set the appropriate speed parameters for relative position driving and drive pulse number (positive value). Once nexpp falls down to the low level (↓), ...

  • Page 116

    Nova electronics inc. Mcx514 - 103 － 103 － ■ manual pulsar mode set d9, 8 bits of pio signal setting 2・other settings (22h) to 1, 1 and set the appropriate speed parameters for driving and drive pulse number. Connect the a-phase signal of an encoder to nexpp input and the b-phase signal to nexpm inp...

  • Page 117

    Nova electronics inc. Mcx514 - 104 － 104 － 2.12.2 pulse output type selection drive pulse output signals are xpp/pls/pa(37) and xpm/dir/pb(38) in x axis, ypp/pls/pa (39) and ypm/dir/pb(40) in y axis, zpp/pls/pa (41) and zpm/dir/pb(42) in z axis, and upp/pls/pa (43) and upm/dir/pb(44) in u axis. Four...

  • Page 118

    Nova electronics inc. Mcx514 - 105 － 105 － 2.12.3 encoder pulse input type selection the encoder pulse input (neca /ppin, necb /pmin) which counts up/down the real position counter can be selected from 2 types, quadrature pulses input and up / down pulse input. ■ quadrature pulses input as quadratur...

  • Page 119

    Nova electronics inc. Mcx514 - 106 － 106 － ■ encoder pulse input type setting encoder pulse input type can be set by d8, 9 bits (pimd0, 1) of wr3 register. Encoder pulse input type logical level of encoder input signal replacing input pins of encoder input signal d7 d6 d5 d4 h l d15 d14 d13 d12 d11 ...

  • Page 120

    Nova electronics inc. Mcx514 - 107 － 107 － 2.12.5 interface to servo motor driver ■ ninpos signal and nalarm signal as the input signals for connecting a servo motor driver, there are the ninpos signal (in-position input signal) and the nalarm signal (alarm input signal). The user can set each signa...

  • Page 121

    Nova electronics inc. Mcx514 - 108 － 108 － 2.12.7 status output the status of driving /stop is output to d3~0 (n-drv) bits of rr0 register and npio0 signal. The driving status of acceleration / constant speed / deceleration is output to d4(asnd), d5(cnst), d6(dsnd) bits of rr3 register page1 in each...

  • Page 122

    Nova electronics inc. Mcx514 - 109 － 109 － 3. Interpolation interpolation driving is the operation to move the position by interpolating every drive pulse each of more than 2axes. Mcx514 can perform linear interpolation, circular interpolation, helical interpolation and bit pattern interpolation dri...

  • Page 123

    Nova electronics inc. Mcx514 - 110 － 110 － be sure to set interpolation speed when interpolation driving is performed, especially in the following cases, it must be set. • when interpolation driving is performed after normal driving, and when speed parameters are the same as those in normal driving....

  • Page 124

    Nova electronics inc. Mcx514 - 111 － 111 － 3.1 linear interpolation any 2 or 3 axes or all the 4 axes can be set for linear interpolation. To execute linear interpolation, set the finish point coordinates relative to the present point coordinates, and write the linear interpolation driving command b...

  • Page 125

    Nova electronics inc. Mcx514 - 112 － 112 － wr7 ← 0000h write wr0 ← 0106h write wr6 ← ff38h write ；finish point of y axis ：-200 wr7 ← ffffh write wr0 ← 0206h write wr0 ← 0061h write ；2-axis linear interpolation driving ■ example of linear interpolation for 3 axes executes linear interpolation for x, ...

  • Page 126

    Nova electronics inc. Mcx514 - 113 － 113 － 3.2 circular interpolation any 2 axes of the 4 axes can be set for circular interpolation. In the orthogonal coordinates on the right figure, 2 axes are each set to the ax1 axis (horizontal axis) and ax2 axis (vertical axis) in order of priority x>y>z>u, th...

  • Page 127

    Nova electronics inc. Mcx514 - 114 － 114 － 3.2.1 the finish point checking of circular interpolation in the circular interpolation, it assumes that the current position (start point) is (0,0). The radius is determined depending on the value of the center point coordinates, and then the circular trac...

  • Page 128

    Nova electronics inc. Mcx514 - 115 － 115 － 3.3 helical interpolation helical interpolation operates to move another axis in synchronization with the circular interpolation in the xy plane (orthogonal coordinates). The figure shown below is an example to move z-axis in the + direction, corresponding ...

  • Page 129

    Nova electronics inc. Mcx514 - 116 － 116 － 3.3.1 interpolation axis setting in helical interpolation, the axes to perform circular interpolation are fixed in x and y axes, which mean that the other axes cannot be used to perform circular interpolation. Z and u axes can be specified as the axes to mo...

  • Page 130

    Nova electronics inc. Mcx514 - 117 － 117 － 3.3.4 position data setting it sets the center point (x, y) and finish point of circular interpolation that is operated on the xy plane. In addition, if the user moves z or u axis in synchronization with circular interpolation, set the feed amount of z or u...

  • Page 131

    Nova electronics inc. Mcx514 - 118 － 118 － 3.3.5 helical calculation execution it is required that the total number of output pulses for circular interpolation is found out in advance in order to perform moving of z-axis uniformly in helical interpolation. Helical calculation command is to find out ...

  • Page 132

    Nova electronics inc. Mcx514 - 119 － 119 － 3.3.6 helical interpolation execution before performing helical interpolation, set the position data that is set in 3.3.4 again, and then helical interpolation will be performed by cw helical interpolation driving command (69h) or ccw helical interpolation ...

  • Page 133

    Nova electronics inc. Mcx514 - 120 － 120 － 3.3.8 position drift in helical interpolation helical interpolation performs circular interpolation in the xy plane, and moves z or u axis in synchronization with the circular interpolation. Ideally, the increased amount of the rotation angle in the center ...

  • Page 134

    Nova electronics inc. Mcx514 - 121 － 121 － 3.3.9 examples of helical interpolation ■ example 1 helical interpolation under 1 rotation (x, y, z axes) it performs ccw circular interpolation that has the center at the relative position (x:0, y:10000) from the start point (current point), and terminates...

  • Page 135

    Nova electronics inc. Mcx514 - 122 － 122 － ■ example 2 helical interpolation with multiple rotations (x, y, z axes) it performs cw circular interpolation that has the center at the relative position (x:0, y:10000) from the start point (current point), and moves z axis 3000 pulses every 1 rotation, a...

  • Page 136

    Nova electronics inc. Mcx514 - 123 － 123 － ■ example 3 helical interpolation with both z and u axes (x, y, z axes) it performs the radius 10000 of circular interpolation with one rotation in the ccw direction. During one rotation of circular interpolation, move z axis 3000 pulses and rotate u axis o...

  • Page 137

    Nova electronics inc. Mcx514 - 124 － 124 － 3.4 bit pattern interpolation mcx514 bit pattern interpolation is the operation that performs interpolation of several axes by specifying whether to output pulses in the + or – direction by a unit of 1 drive pulse. It can interpolate from 2 axes up to 4 axe...

  • Page 138

    Nova electronics inc. Mcx514 - 125 － 125 － 3.4.1 designation of interpolation axis interpolation axis can be specified by interpolation mode setting command (2ah). As shown below, set d0~d3 bits of wr6 register, set 1 to the bit corresponding to the axis that interpolation is performed. Bit pattern ...

  • Page 139

    Nova electronics inc. Mcx514 - 126 － 126 － 3.4.4 write of interpolation driving command after writing bit pattern data of all axes, write bit pattern interpolation driving command to wr0 register. It can interpolate from 2 axes to 4 axes. The codes of interpolation driving commands are as follows. T...

  • Page 140

    Nova electronics inc. Mcx514 - 127 － 127 － 3.4.6 check available space of pre-buffer mcx514 has 8 stages of pre-buffer for continuous interpolation. In bit pattern interpolation, it can store 8 stages of 16 bit pattern data for each of all interpolation axes, that is, 16 × 8 = 128 bits. When the use...

  • Page 141

    Nova electronics inc. Mcx514 - 128 － 128 － 3.4.8 example of bit pattern interpolation it performs bit pattern interpolation of m×16 bits with x and y axes. For example, in case of fig. 3.4-1 example of bit pattern interpolation, it has 79 bits and so m = 5. Set interpolation drive speed: 1000pps at ...

  • Page 142

    Nova electronics inc. Mcx514 - 129 － 129 － 3.5 constant vector speed vector speed is the driving speed of the tip of a locus performing interpolation driving, and it is also called head speed. In operations such as machining or coating workpieces during interpolation driving, it is important to keep...

  • Page 143

    Nova electronics inc. Mcx514 - 130 － 130 － 3.5.1 constant vector speed setting constant vector speed can be set by 2 bits, d6 and d7 of interpolation mode setting command (2ah). D7 d6 d5 d4 h l d15 d14 d13 d12 d11 d10 d9 d8 d3 d2 d1 d0 wr6 spd0 spd1 the settings of d6 and d7 bits corresponding to ea...

  • Page 144

    Nova electronics inc. Mcx514 - 131 － 131 － 3.6 short axis pulse equalization usually in interpolation driving, all of axes that perform interpolation do not output drive pulses at regular intervals during driving. As shown in fig. 3.6-1 a. Below, in 2-axis linear interpolation, the axis (long axis) ...

  • Page 145

    Nova electronics inc. Mcx514 - 132 － 132 － 3.6.2 notes on using short axis pulse equalization • short axis pulse equalization cannot be used in the following driving. ① s-curve acceleration/deceleration driving ② multichip interpolation ③ single step interpolation ④ bp interpolation ⑤ continuous int...

  • Page 146

    Nova electronics inc. Mcx514 - 133 － 133 － 3.7 continuous interpolation continuous interpolation is the operation that performs a series of interpolation processes such as linear interpolation → circular interpolation → linear interpolation → ···. This can only be performed when the number of the ax...

  • Page 147

    Nova electronics inc. Mcx514 - 134 － 134 － 3.7.1 how to perform continuous interpolation to perform continuous interpolation, set interpolation data to pre-buffer in advance and then start interpolation driving. The user can set interpolation data of 8 segments to pre-buffer at a maximum before star...

  • Page 148

    Nova electronics inc. Mcx514 - 135 － 135 － (1) interpolation axis setting interpolation axis can be set by interpolation mode setting command (2ah). As shown below, set d0~d3 bits of wr6 register, set 1 to the bit corresponding to the axis that interpolation is performed. ・ after starting interpolat...

  • Page 149

    Nova electronics inc. Mcx514 - 136 － 136 － (9) check writable of next data d12～d15 bits (hstc0～3) of rr0 register are assigned to the value of the stack counter in 8 stages of pre-buffer, and it displays the accumulation amount of the buffer. When the value of 4 bits is 0, it indicates an empty stat...

  • Page 150

    Nova electronics inc. Mcx514 - 137 － 137 － 3.7.3 errors during continuous interpolation there are 2 types of errors occurred during continuous interpolation: the error such as limit over run, and the writing error of interpolation data. ■ error such as limit over run when an error occurs such as lim...

  • Page 151

    Nova electronics inc. Mcx514 - 138 － 138 － 3.7.5 example of continuous interpolation fig. 3.7-2 shows an example of continuous interpolation started at the point (0, 0) from segment s1 to s21, which is configured with 2-axis linear interpolation and circular interpolation. Circular interpolation is ...

  • Page 152

    Nova electronics inc. Mcx514 - 139 － 139 － //--- set segment3 cw circular ----- wr6 ← 01f4h write ；finish point x：500 wr7 ← 0000h write wr0 ← 0106h write wr6 ← 01f4h write ；finish point y：500 wr7 ← 0000h write wr0 ← 0206h write wr6 ← 01f4h write ；center point x：500 wr7 ← 0000h write wr0 ← 0108h writ...

  • Page 153

    Nova electronics inc. Mcx514 - 140 － 140 － 3.8 acceleration / deceleration control in interpolation interpolation is usually performed in constant speed driving; however, mcx514 can perform interpolation also in linear acceleration / deceleration driving and s-curve acceleration / deceleration drivi...

  • Page 154

    Nova electronics inc. Mcx514 - 141 － 141 － wr6 ← 01f4h write ；initial speed：500 pps wr7 ← 0000h write wr0 ← 0104h write wr6 ← 4e20h write ；drive speed： 20000 pps wr0 ← 0105h write wr6 ← d8f0h write ；center point x：-10000 wr7 ← ffffh write wr0 ← 0108h write wr6 ← 0000h write ；center point y：0 wr7 ← 0...

  • Page 155

    Nova electronics inc. Mcx514 - 142 － 142 － 3.8.3 acceleration / deceleration for continuous interpolation in continuous interpolation, same as in circular and bit pattern interpolations, only trapezoidal driving using manual deceleration is available, and s-curve driving and automatic deceleration c...

  • Page 156

    Nova electronics inc. Mcx514 - 143 － 143 － 3.9 single-step interpolation single-step is defined as: pulse by pulse outputting. Either command or external signal can execute the single-step interpolation. By using external signal, interpolation driving can be performed in synchronization with an exte...

  • Page 157

    Nova electronics inc. Mcx514 - 144 － 144 － 3.9.2 external signal controlled single-step interpolation explsn pin (30) is used for the single-step interpolation from the external signal. Normally, explsn input signal is on the hi level. When it changes to low, the interpolation step will be output. T...

  • Page 158

    Nova electronics inc. Mcx514 - 145 － 145 － 3.10 multichip interpolation this is the function that performs multiple axes linear interpolation by using multiple ic chips. Fig. 3.10-1 shows the connection example of 12 axes linear interpolation with 3 chips. Since the main chip plays a role to send th...

  • Page 159

    Nova electronics inc. Mcx514 - 146 － 146 － 3.10.1 execution procedure the execution procedure of multiple axes linear interpolation by using multiple ic chips is as follows. (1) designation of multichip main/sub and interpolation axis it specifies the main or sub chip and the execution axis of inter...

  • Page 160

    Nova electronics inc. Mcx514 - 147 － 147 － [note] • the maximum drive speed is 4mpps in multichip interpolation. Set the drive speed lower than 4mpps. • the setting drive speed is applied to the axis that has the maximum number of the drive pulse in all axes of multiple axes linear interpolation. Th...

  • Page 161

    Nova electronics inc. Mcx514 - 148 － 148 － (5) termination of driving, error check during interpolation driving, the drive bits (d3～0：n-drv) of interpolation axis become 1 in rr0 register of each chip. The user can check the termination of driving whether the drive bit of the main axis returns to 0 ...

  • Page 162

    Nova electronics inc. Mcx514 - 149 － 149 － 3.10.5 examples of multichip interpolation examples using 2 chips: main and sub chips are as follows. ■ example 1 multichip interpolation with each chip of 2-axis x and y 【program example】 // interpolation mode setting of main and sub chips // writing to ma...

  • Page 163

    Nova electronics inc. Mcx514 - 150 － 150 － // write interpolation command in the order of sub chip and main chip // writing to sub chip1 wr0 ← 0061h write // 2-axis linear interpolation // writing to sub chip2 wr0 ← 0061h write // 2-axis linear interpolation // writing to main chip wr0 ← 0061h write...

  • Page 164

    Nova electronics inc. Mcx514 - 151 － 151 － ■ example 2 continuous interpolation in multichip interpolation the following example a, b, c and error handling are the same as example 1. 【program example】 // interpolation mode setting of main and sub chips // writing to main chip wr6 ← 0403h write // ma...

  • Page 165

    Nova electronics inc. Mcx514 - 152 － 152 － // writing to main chip wr0 ← 0061h write // 2-axis linear interpolation // seg2 // writing to main chip wr6 ← 000ah write // finish point1 x 10 wr7 ← 0000h write wr0 ← 0106h write // execute the handling a // execute the handling b wr6 ← 0014h write // fin...

  • Page 166

    Nova electronics inc. Mcx514 - 153 － 153 － 4. I2c serial bus this ic has i 2 c serial interface bus in addition to the existing 8-bit/16-bit data bus as the interface to connect a host cpu. I 2 c serial bus uses only 2 lines to transfer data: serial data line (sda) and serial clock line (scl). Three...

  • Page 167

    Nova electronics inc. Mcx514 - 154 － 154 － 4.1.2 i2crstn reset ■ at initial setting in the initial state of the system, noise may be occurred in scl and sda signals by switching i 2 c pin mode of the host cpu, and then the data transfer may not be performed correctly. In this case, please adjust the...

  • Page 168

    Nova electronics inc. Mcx514 - 155 － 155 － 4.2.1 writing operation mcx514 writing procedures to wr register are described below. ■ generate start condition when scl signal is hi and sda signal changes from hi to low, it becomes start condition. Whenever sending and receiving, the host cpu must gener...

  • Page 169

    Nova electronics inc. Mcx514 - 156 － 156 － ■ write data then, perform data writing. The data for writing is transmitted from wrn register specified by the slave address, byte by byte. From only one byte to multiple bytes continuously can be written. In the 9th scl after sending 1 byte, if mcx514 cor...

  • Page 170

    Nova electronics inc. Mcx514 - 157 － 157 － specify the address set by a2 (22), a1 (23), a0 (24) pins of mcx514 to ca2～ca0 of chip address. Low is 0 and hi is 1. As for a register address, specify the register address that the user wants to read, referring to the following table. Although rr register...

  • Page 171

    Nova electronics inc. Mcx514 - 158 － 158 － 4.2.3 notes on using i2c serial bus • when writing to wr0 register, the high byte (h) must be written first, followed by the low byte (l). The user cannot write 2 bytes continuously. It is necessary to set and write each slave address individually. If the l...

  • Page 172

    Nova electronics inc. Mcx514 - 159 － 159 － 4.2.5 control example the following three examples show the flow of controlling the ic using i2c serial bus. The user can download sample programs for controlling each type of cpu including these three examples, from our web site: http://www.Novaelec.Co.Jp/...

  • Page 173

    Nova electronics inc. Mcx514 - 160 － 160 － (2) write data to perform data writing such as parameter settings, write parameters to wr6, wr7 registers and then write an axis assignment and command to wr0 register. Regarding writing of wr0 register, as described in (1) write command, a command must be ...

  • Page 174

    Nova electronics inc. Mcx514 - 161 － 161 － (3) read data to perform data reading, write an axis assignment and command to wr0 register, and then read rr6, rr7 registers. Regarding writing of wr0 register, as described in (1) write command, a command must be written after the axis assignment. ① write...

  • Page 175: McX514

    Nova electronics inc. Mcx514 - 162 － 162 － 5. Pin assignments and signal description 5.1 pin assignments d1 5 d1 4 d1 3 d1 2 d1 1 d1 0 d9 d8 vd d gn d d7 d6 d5 d4 d3 d2 d1 d0 vd d gn d a3 a2 a1 a0 sd a cs n/ sc l wr n rd n re se tn ex pl sn h1 6l 8/ i2 cr st n bu sm od in t0 n in t1 n vd d gn d 1 2 ...

  • Page 176

    Nova electronics inc. Mcx514 - 163 － 163 － 5.2 signal description see chapter 5.3 for description of input/output logic. The input signals with – f – symbol indicates that an integral filter circuit is available in the internal input column of this ic. Signal name pin no. Input/output signal descrip...

  • Page 177

    Nova electronics inc. Mcx514 - 164 － 164 － signal name pin no. Input/output signal description xpp/pls/pa ypp/pls/pa zpp/pls/pa upp/pls/pa 37 39 41 43 output a pulse + / pulse / pulse phase a: + direction dive pulse outputting it is low level at reset, and when driving is started, duty 50% (at const...

  • Page 178

    Nova electronics inc. Mcx514 - 165 － 165 － signal name pin no. Input/output signal description xalarm yalarm zalarm ualarm 67 86 105 124 input b －Ｆ－ servo alarm: input signal for servo driver alarm enable/disable and logical level can be set as commands. When enabled and when changes to active level...

  • Page 179

    Nova electronics inc. Mcx514 - 166 － 166 － signal name pin no. Input/output signal description xpio4/expp/dsnd/cmp0 ypio4/expp/dsnd/cmp0 zpio4/expp/dsnd/cmp0 upio4/expp/dsnd/cmp0 59 78 97 116 bi-directional b －Ｆ－ universal input output4 / external operation+ / descend / compare mr0: general purpose ...

  • Page 180

    Nova electronics inc. Mcx514 - 167 － 167 － signal name pin no. Input/output signal description xdcc ydcc zdcc udcc 64 83 102 121 output a deviation counter clear: deviation counter clear output signal a deviation counter clear output (dcc) signal is output for a server motor driver. The signal can b...

  • Page 181

    Nova electronics inc. Mcx514 - 168 － 168 － signal name pin no. Input/output signal description vdd 9,19,35, 53,71,89, 107,125,143 +3.3v power terminal all of the pins must be connected to each power without fail..

  • Page 182

    Nova electronics inc. Mcx514 - 169 － 169 － 5.3 input/output logic input a lvttl schmitt trigger input, which is high impedance because there is no pull high resister for those signals in this ic. Input is 5v tolerant. 3.3v and 5v type output (cmos level and ttl level) can be connected. The user shou...

  • Page 183

    Nova electronics inc. Mcx514 - 170 － 170 － 5.4 remarks of logic design a. About test1, 2 pins make sure that test1, 2 (141, 142) pins are connected to gnd. If set to hi, it will not work correctly at all due to running the internal test circuit. B. About unused input pins make sure that unused input...

  • Page 184

    Nova electronics inc. Mcx514 - 171 － 171 － 6. Register this chapter describes the user how to access all the registers in mcx514, and what are the mapping addresses of these registers. 6.1 register address by 16-bit data bus as shown in the table below, when 16-bit data bus is used, the access addre...

  • Page 185

    Nova electronics inc. Mcx514 - 172 － 172 － ■ read register in 16-bit data bus all registers are 16-bit length. Address a2 a1 a0 symbol register name contents 0 0 0 rr0 main status register ・driving status and error status ・ready for interpolation, quadrant for circle interpolation and continuous int...

  • Page 186

    Nova electronics inc. Mcx514 - 173 － 173 － 6.2 register address by 8-bit data bus in case of the 8-bit data bus access, the 16-bit data bus can be divided into high and low word byte. As shown in the table below, xxxxl is the low word byte (d7~d0) of 16-bit register xxxx, xxxxh is the high word byte...

  • Page 187

    Nova electronics inc. Mcx514 - 174 － 174 － 6.4 command register: wr0 command register is used for axis assignment and command registration for each axis in mcx514. The register is composed of the bit for axis assignment and setting command code. After command code has been written to this register, ...

  • Page 188

    Nova electronics inc. Mcx514 - 175 － 175 － d9 timer interrupt occurs when the timer expires. D10 spltp interrupt occurs at the↑of a pulse in each split pulse. (when the split pulse logic is set to hi pulse) d11 splte interrupt occurs when the split pulse is finished. D15～12 sync3～0 interrupt occurs ...

  • Page 189

    Nova electronics inc. Mcx514 - 176 － 176 － (hlmt−) bit of rr2 register will become 1. When it becomes active level, driving stops. D12 hlm-m the bit for controlling stop type when nlmtp, nlmtm limit input signals are active. 0: instant stop, 1: decelerating stop when limit signal is used as the stop...

  • Page 190

    Nova electronics inc. Mcx514 - 177 － 177 － d4,3 dpmd1,0 setting pulse output type. D4(dpmd1) d3(dpmd0) pulse output type 0 0 independent 2-pulse 0 1 1-pulse 1-direction 1 0 quadrature pulse and quad edge evaluation 1 1 quadrature pulse and double edge evaluation when independent 2-pulse type is enga...

  • Page 191

    Nova electronics inc. Mcx514 - 178 － 178 － "count down" input. So, it will count up when the positive pulses go up (↑). D10 pi-l setting logical level of an encoder input signal. 0: positive logical level, 1: negative logical level when up / down pulse input type is engaged, it will count at the fal...

  • Page 192

    Nova electronics inc. Mcx514 - 179 － 179 － 6.9 output register: wr5 this register is used for setting the z-axis general purpose input / output signals zpio7～0 and u-axis general purpose input / output signals upio7～0 as general purpose output. It is low level output when the bit is set 0, and hi le...

  • Page 193

    Nova electronics inc. Mcx514 - 180 － 180 － 6.11 main status register: rr0 main status register is used for displaying the driving and error status of each axis. It also displays ready signal for continuous interpolation, quadrant of circular interpolation and continuous interpolation pre-buffer stac...

  • Page 194

    Nova electronics inc. Mcx514 - 181 － 181 － during continuous interpolation driving, when sc is 8, it indicates the pre-buffer stack is the upper limit. And when sc is 7 and under, it is possible to write interpolation data for next node (parameters and interpolation commands). When sc is 0, it indic...

  • Page 195

    Nova electronics inc. Mcx514 - 182 － 182 － 6.13 status register 2: rr2 each axis has status register rr2 individually. The host cpu specifies the status register of which axis should be accessed depends on the axis of written command just before. Or the user can specify the axis by writing nop comma...

  • Page 196

    Nova electronics inc. Mcx514 - 183 － 183 － d8 sync if the driving is stopped by one of synchronous actions (sync3 ~ 0), it will become 1. D11～9 stop2～0 if the driving is stopped by one of external stop signals (nstop2~ 0), it will become 1. D12 lmt+ if the driving is stopped by +direction limit sign...

  • Page 197

    Nova electronics inc. Mcx514 - 184 － 184 － d5 inpos displaying the input status of in-position input signal for a servomotor ninpos (66,85,104,123). D6 alarm displaying the input status of servo alarm input signal nalarm (67,86,105,124). D7 lmtp displaying the input status of hardware limit input si...

  • Page 198

    Nova electronics inc. Mcx514 - 185 － 185 － 6.15 pio read register 1: rr4 pio read register rr4 is used for displaying the signal status of general purpose input / output signals xpio7~0 in x axis and general purpose input / output signals ypio7~0 in y axis. The bit is 0 if the signal is on the low l...

  • Page 199

    Nova electronics inc. Mcx514 - 186 － 186 － 7. Commands 7.1 command lists ■ commands for writing data code command symbol data range data length (byte) ００h jerk setting (acceleration increasing rate) ＪＫ 1 ～ 1,073,741,823 [pps/sec 2 ] 4 ０１ deceleration increasing rate setting ＤＪ 1 ～ 1,073,741,823 [pps...

  • Page 200

    Nova electronics inc. Mcx514 - 187 － 187 － ■ commands for writing mode code command symbol data length (byte) ２０h multi-purpose register mode setting ＭＲＭ 2 ２１ pio signal setting 1 Ｐ１Ｍ 2 ２２ pio signal setting 2・other settings Ｐ２Ｍ 2 ２３ automatic home search mode setting 1 Ｈ１Ｍ 2 ２４ automatic home searc...

  • Page 201

    Nova electronics inc. Mcx514 - 188 － 188 － ■ driving commands code command ５０h relative position driving ５１ counter relative position driving ５２ + direction continuous pulse driving ５３ − direction continuous pulse driving ５４ absolute position driving ５６ decelerating stop ５７ instant stop ５８ direction...

  • Page 202

    Nova electronics inc. Mcx514 - 189 － 189 － ■ other commands code command ７０h speed increase ７１ speed decrease ７２ deviation counter clear output ７３ timer-start ７４ timer-stop ７５ start of split pulse ７６ termination of split pulse ７７ drive start holding ７８ drive start holding release ７９ error / finishin...

  • Page 203

    Nova electronics inc. Mcx514 - 190 － 190 － 7.2 commands for writing data commands for writing data is used for setting driving parameters such as acceleration, drive speed, drive pulse number… when more than one axis is specified, it is possible to set the same data in specified axes simultaneously....

  • Page 204

    Nova electronics inc. Mcx514 - 191 － 191 － 7.2.3 acceleration setting code command symbol data range data length (byte) ０２h acceleration setting ＡＣ 1 ～ 536,870,911 ４ an acceleration setting value is a parameter that determines acceleration in linear acceleration/deceleration driving. The unit of the...

  • Page 205

    Nova electronics inc. Mcx514 - 192 － 192 － 7.2.5 initial speed setting code command symbol data range data length (byte) ０４h initial speed setting ＳＶ 1 ～ 8,000,000 ４ “sv” is the parameter determining the initial speed for the start of acceleration and the termination of deceleration. The unit of the...

  • Page 206

    Nova electronics inc. Mcx514 - 193 － 193 － the value of current drive speed during the driving can be read by current drive speed reading command (32h). A drive speed setting value can be read by drive speed setting value reading command (45h). 7.2.7 drive pulse number / finish point setting code co...

  • Page 207

    Nova electronics inc. Mcx514 - 194 － 194 － 7.2.9 circular center point setting code command symbol data range data length (byte) ０８h circular center point setting ＣＴ -1,073,741,823～+1,073,741,823 ４ “ct” is the parameter setting the center point in circular and helical interpolation driving. The coor...

  • Page 208

    Nova electronics inc. Mcx514 - 195 － 195 － 7.2.13 software limit − setting code command symbol data range data length (byte) ０Ｃh software limit − setting ＳＭ -2,147,483,648 ～ +2,147,483,647 ４ “sm ” is the parameter setting the value of − direction software limit slmt− register. Enable / disable, an o...

  • Page 209

    Nova electronics inc. Mcx514 - 196 － 196 － 7.2.17 multi-purpose register 0 setting code command symbol data range data length (byte) １０h multi-purpose register 0 setting ＭＲ０ -2,147,483,648 ～ +2,147,483,647 ４ “mr0” is the parameter setting the value of multi-purpose register 0. Multi-purpose register...

  • Page 210

    Nova electronics inc. Mcx514 - 197 － 197 － 7.2.20 multi-purpose register 3 setting code command symbol data range data length (byte) １３h multi-purpose register 3 setting ＭＲ３ -2,147,483,648 ～ +2,147,483,647 ４ “mr3” is the parameter setting the value of multi-purpose register 3. Multi-purpose register...

  • Page 211

    Nova electronics inc. Mcx514 - 198 － 198 － 7.2.23 timer value setting code command symbol data range data length (byte) １６h timer value setting ＴＭ 1 ～ 2,147,483,647 ４ “tm” is the parameter setting the time that a timer is up. The unit of the setting value is μsec. Timer value = tm [ μsec] the curren...

  • Page 212

    Nova electronics inc. Mcx514 - 199 － 199 － 7.2.26 interpolation / finish point maximum value setting code command symbol data range data length (byte) １９h interpolatopn / finish point maximum value setting ＴＸ 1～1,073,741,823 ４ “tx” is the parameter setting the maximum value of finish point in linear...

  • Page 213

    Nova electronics inc. Mcx514 - 200 － 200 － 7.3 commands for writing mode commands for writing mode is used for setting driving parameters such as multi-purpose register, automatic home search, synchronous action and interpolation driving. When more than one axis is specified, it is possible to set t...

  • Page 214

    Nova electronics inc. Mcx514 - 201 － 201 － 7.3.2 pio signal setting 1 code command symbol data length (byte) ２１h pio signal setting 1 Ｐ１Ｍ ２ “p1m” is the parameter setting the function of npio7~0 signals. Npio7~0 signals can be used for the general purpose input / output signals, synchronous input si...

  • Page 215

    Nova electronics inc. Mcx514 - 202 － 202 － （k:0～7） npiom signal (pin number) pkm1,0 = 0,0 pkm1,0 = 0,1 pkm1,0 = 1,0 pkm1,0 = 1,1 general purpose input *note general purpose output drive status output (true = hi) synchronous pulse output, mrm comparison output xpio0(63) ypio0(82) zpio0(101) upio0(120...

  • Page 216

    Nova electronics inc. Mcx514 - 203 － 203 － 7.3.3 pio signal setting 2・other settings code command symbol data length (byte) ２２h pio signal setting 2・other settings Ｐ２Ｍ ２ “p2m” is the parameter setting the logical level of a synchronous pulse and pulse width. In addition, it can set the synchronous a...

  • Page 217

    Nova electronics inc. Mcx514 - 204 － 204 － d10 spll the logical level of split pulse output. 0: positive logical pulse, 1: negative logical pulse positive logical pulse： negative logical pulse： d11 splbp with or without starting pulse of split pulse output. 0: without starting pulse, 1: with startin...

  • Page 218

    Nova electronics inc. Mcx514 - 205 － 205 － * if a limit signal is specified, the limit signal in the search direction specified by d5(s2dr) will be selected. D7 s2dc setting for whether the deviation counter clear (ndcc) signal is output or not in the signal detection of step 2. 0: non-output, 1: ou...

  • Page 219

    Nova electronics inc. Mcx514 - 206 － 206 － d2 lclr setting for whether the logical position counter is cleared or not at the end of automatic home search. 0: non-clear, 1: clear d3 dcpl setting the logical level of deviation counter clear (ndcc) output pulses. 0: positive logical pulse, 1: negative ...

  • Page 220

    Nova electronics inc. Mcx514 - 207 － 207 － 7.3.6 input signal filter mode setting code command symbol data length (byte) ２５h input signal filter mode setting ＦＬＭ ２ “flm” is the parameter setting the enable / disable of input signal filter and the time constant of 2 filters. D7 d6 d5 d4 h l d15 d14 d...

  • Page 221

    Nova electronics inc. Mcx514 - 208 － 208 － 7.3.7 synchronous action sync0, 1, 2, 3 setting code command symbol data length (byte) ２６h synchronous action sync0 setting Ｓ０Ｍ ２ ２７h synchronous action sync1 setting Ｓ１Ｍ ２ ２８h synchronous action sync2 setting Ｓ２Ｍ ２ ２９h synchronous action sync3 setting Ｓ３Ｍ ...

  • Page 222

    Nova electronics inc. Mcx514 - 209 － 209 － 07 save ct → mrm 14 drive speed decrease 08 save cv(sync0)， ca(sync1) → mrm 15 timer-start 09 synchronous pulse npiom output 16 timer-stop 0a start of relative position driving 17 start of split pulse 0b start of counter relative position driving 18 termina...

  • Page 223

    Nova electronics inc. Mcx514 - 210 － 210 － 7.3.8 interpolation mode setting code command symbol data length (byte) ２Ａh interpolation mode setting ＩＰＭ ２ “ipm” is the parameter setting the mode for interpolation driving. It does not need axis assignment. X-en d7 d6 d5 d4 h l d15 d14 d13 d12 d11 d10 d9...

  • Page 224

    Nova electronics inc. Mcx514 - 211 － 211 － d12 maxm specifies the setting of the linear interpolation maximum value. 0: automatic setting, 1: manual setting when using manual setting, set the finish point maximum value by interpolation / finish point maximum value setting command (19h). D15,14 intb,...

  • Page 225

    Nova electronics inc. Mcx514 - 212 － 212 － 7.4 commands for reading data commands for reading data are used to read the internal register. After a data reading command is written into register wr0, this data will be set in registers rr6 and rr7. The user can obtain a specified data by reading the re...

  • Page 226

    Nova electronics inc. Mcx514 - 213 － 213 － 7.4.4 current acceleration / deceleration reading code command symbol data range data length (byte) ３３h current acceleration / deceleration reading ＣＡ 0 ～ 536,870,911 ４ in acceleration / deceleration driving, the value of current acceleration speed during a...

  • Page 227

    Nova electronics inc. Mcx514 - 214 － 214 － 7.4.8 multi-purpose register 3 reading code command symbol data range data length (byte) ３７h multi-purpose register 3 reading ＭＲ３ -2,147,483,648 ～ +2,147,483,647 ４ the value of multi-purpose register mr3 is set in read registers rr6 and rr7. It can be used ...

  • Page 228

    Nova electronics inc. Mcx514 - 215 － 215 － 7.4.12 helical calculation value reading code command symbol data range data length (byte) ３Ｂh helical calculation value reading ＨＬＶ 1 ～ 2,147,483,646 ４ it reads the result of helical calculation by helical calculation command (6bh, 6ch). The helical calcul...

  • Page 229

    Nova electronics inc. Mcx514 - 216 － 216 － 7.4.16 multi-purpose register mode setting reading code command symbol data range data length (byte) ４０h multi-purpose register mode setting reading ＭＲＭ (bit data) ２ the value set by multi-purpose register mode setting command (20h) is set in read register ...

  • Page 230

    Nova electronics inc. Mcx514 - 217 － 217 － 7.4.19 acceleration setting value reading code command symbol data range data length (byte) ４３h acceleration setting value reading ＡＣ 1 ～ 536,870,911 ４ the value set by acceleration setting command (02h) is set in read registers rr6 and rr7. The unit of the...

  • Page 231

    Nova electronics inc. Mcx514 - 218 － 218 － 7.4.23 split pulse setting 1 reading code command symbol data range data length (byte) ４７h split pulse setting 1 reading ＳＰ１ rr6 split length：2 ～ 65,535 ４ rr7 pulse width：1 ～ 65,534 the value set by split pulse setting 1 command (17h) is set in read registe...

  • Page 232

    Nova electronics inc. Mcx514 - 219 － 219 － 7.5 driving commands driving commands include the commands for drive pulse output for each axis and other related commands. After the command code is written with axis assignment in command register wr0, the command will be executed immediately. In driving,...

  • Page 233

    Nova electronics inc. Mcx514 - 220 － 220 － 7.5.2 counter relative position driving code command ５１h counter relative position driving the signed drive pulse number that is set will be output from the + direction drive pulse signal (npp) or the – direction drive pulse signal (npm). When the drive pul...

  • Page 234

    Nova electronics inc. Mcx514 - 221 － 221 － 7.5.5 absolute position driving code command ５４h absolute position driving this command performs the driving from present point to finish point. Before driving, the destination point based on a home (logical position counter = 0) should be set with a signed...

  • Page 235

    Nova electronics inc. Mcx514 - 222 － 222 － 7.5.9 direction signal − setting code command ５９h direction signal − setting this command is used to set the direction signal dir to the active level of the – direction before driving when the pulse output type is 1-pulse 1-direction. As shown in 11.2, once...

  • Page 236

    Nova electronics inc. Mcx514 - 223 － 223 － 7.6 interpolation commands interpolation commands consist of the commands for 2 / 3 / 4 axes linear interpolation, cw / ccw circular interpolation, 2 / 3 / 4 axes bit pattern interpolation, cw / ccw helical interpolation and other related commands. The axis...

  • Page 237

    Nova electronics inc. Mcx514 - 224 － 224 － 7.6.4 4-axis linear interpolation driving code command ６３h 4-axis linear interpolation driving this command performs 4-axis interpolation from present point to finish point. Before driving, the finish point of the 4 corresponding axes should be set by incre...

  • Page 238

    Nova electronics inc. Mcx514 - 225 － 225 － 7.6.8 3-axis bit pattern interpolation driving code command ６７h 3-axis bit pattern interpolation driving this command performs 3-axis bit pattern interpolation. Before driving, the +/− direction bit data of the three interpolating axes should be set, and th...

  • Page 239

    Nova electronics inc. Mcx514 - 226 － 226 － 7.6.12 cw helical calculation code command ６Ｂh cw helical calculation this command performs helical calculation in the clockwise direction. It is required that the total number of output pulses for circular interpolation be found out in advance in order to ...

  • Page 240

    Nova electronics inc. Mcx514 - 227 － 227 － 7.6.16 interpolation interrupt clear / single-step interpolation code command ６Ｆh interpolation interrupt clear / single-step interpolation interpolation interrupt clear command clears the interrupt (int1n) generated in continuous interpolation. Single-step...

  • Page 241

    Nova electronics inc. Mcx514 - 228 － 228 － 7.7 synchronous action operation commands synchronous action operation commands are used to enable, disable or activate a synchronous action. There are 4 synchronous action sets: sync0，1，2，3, and any of synchronous action sets can be enabled, disabled or ac...

  • Page 242

    Nova electronics inc. Mcx514 - 229 － 229 － 7.7.2 synchronous action disable setting code command ９１h ～９Ｆh synchronous action disable setting this command sets to disable each synchronous action set which is specified by the lower 4-bit of the command code. Once the synchronous action is set to disab...

  • Page 243

    Nova electronics inc. Mcx514 - 230 － 230 － 7.8 other commands these commands are without writing data and executed by writing the axis assignment and command code into wr0 command register. [note] • it requires 125 nsec (maximum) to access the command code when clk=16mhz. Please write the next comma...

  • Page 244

    Nova electronics inc. Mcx514 - 231 － 231 － 7.8.3 deviation counter clear output code command ７２h deviation counter clear output this command outputs deviation counter clear pulses from the ndcc output pin. Before issuing this command, set the logical level of pulses and pulse width by the automatic ...

  • Page 245

    Nova electronics inc. Mcx514 - 232 － 232 － 7.8.7 termination of split pulse code command ７６h termination of split pulse this command stops to output split pulses. Split bit of page1 of rr3 register which indicates the split pulse is in operation becomes 0 by issuing termination of split pulse comman...

  • Page 246

    Nova electronics inc. Mcx514 - 233 － 233 － 7.8.11 rr3 page 0 display code command ７Ａh rr3 page 0 display this command displays page0 of rr3 register. When displaying page0, d15 bit of rr3 register becomes 0. 7.8.12 rr3 page 1 display code command ７Ｂh rr3 page 1 display this command displays page1 of...

  • Page 247

    Nova electronics inc. Mcx514 - 234 － 234 － 7.8.15 command reset code command ００ＦＦh command reset this command resets the ic. All the upper 8 bits (d15~d8) of wr0 register must be set to 0. The user cannot access the ic for a period of 8clk (500nsec：clk=16mhz) after the command code is written. Simil...

  • Page 248

    Nova electronics inc. Mcx514 - 235 － 235 － 8. Connection examples 8.1 example of 16-bit / 8-bit bus mode connection ■ example of connection with sh-4cpu and 16-bit bus mode example of 16-bit bus mode connection sh-4/sh7760 examples of waiting control bus clock 66.664mhz － setup waiting 1 cycle inser...

  • Page 249

    Nova electronics inc. Mcx514 - 236 － 236 － 8.2 example of connection in i2c bus mode ■ example of connection with h8sx1655cpu and i2c bus mode example of i2c bus mode connection h8sx1655 mcx514 csn/scl scl0(87) sda0(86) +3.3v +3.3v sda 3.3k 3.3k h8sx1655 examples of register setting register address...

  • Page 250

    Nova electronics inc. Mcx514 - 237 － 237 － 8.3 connection example the figure below illustrates the connection example of x-axis. All of 4 axes can be configured in the same way as shown below. 8.4 pulse output interface ■ output to motor driver in differential circuit + - + - gnd twisted pair shield...

  • Page 251

    Nova electronics inc. Mcx514 - 238 － 238 － 8.5 connection example for input signals limit signals often pick up some noise since complicated cabling is normally involved. A photo coupler alone may not be able to absorb this noise. Enable the filter function in the ic and set an appropriate time cons...

  • Page 252

    Nova electronics inc. Mcx514 - 239 － 239 － 9. Example program the example of c program for mcx514 is shown in this chapter. This is a 16-bit bus configuration program. This program can be downloaded from our web site ( http://www.Novaelec.Co.Jp/ ). File name：mcx514aple.C ////////////////////////////...

  • Page 253

    Nova electronics inc. Mcx514 - 240 － 240 － reading #define mcx514_cmd3a_chln 0x003a // current helical rotation number reading #define mcx514_cmd3b_hlv 0x003b // helical calculation value reading #define mcx514_cmd3d_wr1 0x003d // wr1 setting value reading #define mcx514_cmd3e_wr2 0x003e // wr2 sett...

  • Page 254

    Nova electronics inc. Mcx514 - 241 － 241 － // other commands ////////////////////////////// #define mcx514_cmd70_vinc 0x0070 // speed increase #define mcx514_cmd71_vdec 0x0071 // speed decrease #define mcx514_cmd72_dcc 0x0072 // deviation counter clear output #define mcx514_cmd73_tmsta 0x0073 // tim...

  • Page 255

    Nova electronics inc. Mcx514 - 242 － 242 － } int writereg1(int axis, unsigned short data){ // writes into wr1 register writereg0(((axis // axis assignment return(writereg((volatile unsigned short*)(reg_addr + mcx514_wr1), data)); } int writereg2(int axis, unsigned short data){ // writes into wr2 reg...

  • Page 256

    Nova electronics inc. Mcx514 - 243 － 243 － } int setjerk(int axis, long data){ // jerk setting return(setdata(mcx514_cmd00_jk, axis, data)); } int setdjerk(int axis, long data){ // deceleration increasing rate setting return(setdata(mcx514_cmd01_dj, axis, data)); } int setacc(int axis, long data){ /...

  • Page 257

    Nova electronics inc. Mcx514 - 244 － 244 － int setsplit2(int axis, long data){ // split pulse setting 2 return(setdata(mcx514_cmd18_sp2, axis, data)); } int settpmax(long data){ // interpolation / finish point maximum value setting return(setdata(mcx514_cmd39_tx, mcx514_axis_none, data)); } int seth...

  • Page 258

    Nova electronics inc. Mcx514 - 245 － 245 － return(getdata(mcx514_cmd34_mr0, axis, data)); } int getmr1(int axis, long *data){ // multi-purpose register 1 reading return(getdata(mcx514_cmd35_mr1, axis, data)); } int getmr2(int axis, long *data){ // multi-purpose register 2 reading return(getdata(mcx5...

  • Page 259

    Nova electronics inc. Mcx514 - 246 － 246 － } int exedrvvp(int axis){ // + direction continuous pulse driving return (execmd(mcx514_cmd52_drvvp, axis)); } int exedrvvm(int axis){ // − direction continuous pulse driving return (execmd(mcx514_cmd53_drvvm, axis)); } int exedrvab(int axis){ // absolute p...

  • Page 260

    Nova electronics inc. Mcx514 - 247 － 247 － } int exedecen(void ){ // deceleration enabling return (execmd(mcx514_cmd6d_ decen, mcx514_axis_none)); } int exedecdis(void ){ // deceleration disabling return (execmd(mcx514_cmd6e_ decdis, mcx514_axis_none)); } int execlrstep(void ){ // interpolation inte...

  • Page 261

    Nova electronics inc. Mcx514 - 248 － 248 － return 0; } // common function of reading rr register (i/o port access. The following is the example of sh microcomputer.) int readreg(volatile unsigned short *adr, unsigned short *data) { *data = reg_read(adr); return 0; }.

  • Page 262

    Nova electronics inc. Mcx514 - 249 － 249 － // common function of commands for writing data // data can be written by writing data into wr6, wr7, and then writing a command into wr0. Int setdata(unsigned short cmd, int axis, long data) { long mask_data = 0x0000ffff; unsigned short write_data; // writ...

  • Page 263

    Nova electronics inc. Mcx514 - 250 － 250 － // waiting for termination of driving void waitdrive(int axis) { unsigned short rrdata; readreg0(&rrdata); // reads rr0 while ((rrdata & axis)) { // if during the driving readreg0(&rrdata); // reads rr0 } } // waiting for termination of split pulse void wai...

  • Page 264

    Nova electronics inc. Mcx514 - 251 － 251 － // synchronous action // performs “example 3 calculates the time passing through from position a (10000) to position b (55000) during x axis // driving.” in “2.6.6 examples of synchronous action”. Void sync(void ) { // constant speed driving at 10kpps setst...

  • Page 265

    Nova electronics inc. Mcx514 - 252 － 252 － 10. Electrical characteristics 10.1 dc characteristics ■ absolute maximum ratings item symbol condition value unit power voltage v ＤＤ － -0.3 ～ +4.0 v input voltage v Ｉ v Ｉ ＜ v ＤＤ ＋3.0v -0.3 ～ +7.0 v output voltage v Ｏ v Ｏ ＜ v ＤＤ ＋3.0v -0.3 ～ +7.0 v output c...

  • Page 266

    Nova electronics inc. Mcx514 - 253 － 253 － 10.2 ac characteristics (t ＯＰＲ = -40～+85℃, v ＤＤ = +3.3v±10%, output load condition：d15～d0, intn：85pf, sda：400pf, others：50pf) 10.2.1 clock clk tcyc twh twl ■ clk input signal symbol item min. Typ. Max. Unit tcyc clk cycle 50 62.5 ns twh clk hi level width 1...

  • Page 267

    Nova electronics inc. Mcx514 - 254 － 254 － 10.2.3 clk / output signal timing the following output signals are synchronized with clk signal. The level will be changed at clk↑. Clk t dd output signal output signals: npp, npm, ndcc, nspltp, npio7～0 (according to the function selected) symbol item min. ...

  • Page 268

    Nova electronics inc. Mcx514 - 255 － 255 － 10.2.5 general purpose input / output signals (npio7～0) the figure shown at the lower left hand side illustrates the delay time when npio7～0 input signals are read through rr4, 5 registers. The ic built-in filter is disabled. The figure shown at the lower r...

  • Page 269

    Nova electronics inc. Mcx514 - 256 － 256 － 10.2.7 i 2 c serial bus ■ scl clock symbol item min. Max. Unit fscl scl clock frequency 400 khz tswh scl clock hi level width 600 ns tswl scl clock low level width 1300 ns tscr scl clock time of rising edge 300 ns tscf scl clock time of falling edge 300 ns ...

  • Page 270

    Nova electronics inc. Mcx514 - 257 － 257 － 11. Timing of input / output signals 11.1 power-on reset a. The reset signal input to pin resetn needs to keep on the low level for at least 8 clk cycles. B. When resetn is on the low level for 6 clk cycles maximum, the power-on output signal is determined ...

  • Page 271

    Nova electronics inc. Mcx514 - 258 － 258 － 11.3 interpolation driving 1st pulse 2nd pulse final pulse clk wrn npp,npm, ndrive a b c ndir valid level npls undefined c c c c c c undefined valid level valid level a. The first pulses (npp, npm and npls) during interpolation driving will be output after ...

  • Page 272

    Nova electronics inc. Mcx514 - 259 － 259 － 11.6 decelerating stop the following figure illustrates the timing of decelerating stop. Decelerating stop signals are nstop2～0 and nlmtp/m (when setting the decelerating stop mode). When a decelerating stop input signal becomes active, or a decelerating st...

  • Page 273

    Nova electronics inc. Mcx514 - 260 － 260 － 12. Package dimensions novaelec. Mcx514 36 37 144 109 108 73 72 1 e b d d1 e e1 取り付け面 a a2 a1 c l θ Ａ部 Ａ部詳細図 aaa i ndex package size 20×20×1.4 mm symbol size (mm) description min. Standard max. A － － 1.7 height from seating plane to the top end of package m...

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    Nova electronics inc. Mcx514 - 261 － 261 － 13. Storage and recommended installation conditions 13.1 storage of this ic note the following items in regard to the storage of this ic. (1) do not throw or drop the ic. Otherwise, the packing material could be torn, damaging the airtightness. (2) store th...

  • Page 275

    Nova electronics inc. Mcx514 – a-1 － a-1 － appendix a calculation formula of acceleration/deceleration drive a-1 case of trapezoidal acceleration/deceleration driving (clk = 16mhz) ◎calculation formula of acceleration ac when initial speed sv, drive speed dv and acceleration time ta are given accele...

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    Nova electronics inc. Mcx514 – a-2 － a-2 － a-2 case of s-curve acceleration/deceleration driving (clk = 16mhz) acceleration ac is fixed to 1fff ffffh. ◎calculation formula of jerk jk when initial speed sv, drive speed dv and acceleration time ta are given jerk 2 a t ) sv dv ( 4 jk − = [pps/sec 2 ] ◎...

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    Nova electronics inc. Mcx514 – b-1 － b-1 － appendix b parameter calculation formula when input clock except 16mhz when mcx514 input clock frequency is fclk (hz), setting values of each speed and timer are as follows. Initial speed [pps] ＝ 6 clk 10 16 f sv × × drive speed [pps] ＝ 6 clk 10 16 f dv × ×...

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    Nova electronics inc. Mcx514 – c-1 － c-1 － appendix c differences with mcx300 series main differences between mcx300 series and mcx514 are as follows. For details of functions, please refer to each description in this manual. Item mcx300 series mcx514 1 treatment of unused input pins can open. (pull...

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    Nova electronics inc. Mcx514 – c-2 － c-2 － 12 command code and mode setting bit － differs from mcx300 series. 13 position and speed parameters setting for interpolation driving when interpolation driving is performed continuously, and if parameters are the same as previous values, it is not necessar...