NPM运动控制芯片PCD46X1A使用说明书

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DA70138-1/2E

■ Preface and cautions

■ Replacement version from PCD4500 / PCD45x1 series

This document is for replacement version of PCD4500 / PCD4511 / PCD4521 / PCD4541.

The PCD 46x1A series’ software is downward compatible with the PCD4500 / PCD4511 / PCD4521 / PCD4541.

When you use it within the conventional models’ functions, you can use the conventional software with

confirming added bits. When using previously existing software designed for the PCL4500/PCD4511/PCD4521/

PCD4541, please see “8-2. Compatible mode setting”.

The PCD46x1A series chips have some functions added to the conventional models. This document mainly

shows description in the case that you use these new functions as the PCD46x1 mode.

Regarding, hardware compatibility, attencion is required. Please see “14-1-7. Precautions in the case of use

with parallel I/F”.

Thank you for considering our pulse control LSI, the "PCD46x1A series."

Before using the product, read this manual to become familiar with the product.

Please note that the section "Handling precautions" which includes details about mounting this

LSI 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.

(5) If you use it in any device that may require high quality and reliability, or where faults or

malfunctions may directly affect human survival or injure humans, such as in nuclear power

control devices, aviation devices or spacecraft, traffic signals, fire control, or various types of

safety devices, we will not be liable for any problem that occurs, even if it was directly

caused by the LSI. Customers must provide their own safety measures to ensure

appropriate performance in all circumstances.

[Cautions]

DA70138-1/2E

iii

Contents

User’s Manual ······························································································································· i

■ Preface and cautions·················································································································· i

■ Replacement version from PCD4500 / PCD45x1 series ····································································· i

■ Descriptions of indicators that are used in this manual ······································································· ii

Contents ····································································································································· iii

Figure list ································································································································ vii

Table list ································································································································· viii

1. Outline and features ··················································································································· 1

1-1. Outline ······························································································································ 1

1-2. Features ···························································································································· 1

2. Specifications ··························································································································· 2

3. Terminal ·································································································································· 4

3-1. Terminal assignment diagrams ································································································ 4

3-1-1. Terminal assignment diagram of PCD4611A ········································································· 4

3-1-2. Terminal assignment diagram of PCD4621A ········································································· 5

3-1-3. Terminal assignment diagram of PCD4641A ········································································· 6

3-2. Terminal function list ············································································································· 7

4. Block diagram ·························································································································· 10

5. CPU I/F ·································································································································· 11

5-1. CPU Connection ················································································································· 11

5-1-1. Outline ························································································································ 11

5-1-1-1. CPU I/F signals ······································································································· 11

5-1-1-2. Selection of CPU I/F ································································································· 11

5-1-2. Parallel I/F ··················································································································· 12

5-1-3. Serial I/F ····················································································································· 13

5-2. How to access with parallel I/F ······························································································· 14

5-2-1. Address map ················································································································ 14

5-2-2. Wait control ·················································································································· 15

5-2-3. Procedure to write a command ························································································· 15

5-2-4. Procedure to read main status ·························································································· 15

5-2-5. Procedure to write to a register ························································································· 16

5-2-6. Procedure to read out from a register ················································································· 16

5-3. How to access with serial I/F ································································································· 17

5-3-1. Axis selection code ········································································································ 17

5-3-1-1. Axis selection area ··································································································· 17

5-3-1-2. Type selection area ·································································································· 18

5-3-1-3. Device selection area ······························································································· 18

5-3-2. General-purpose write operation ······················································································· 18

5-3-2-1. Writing to a command ······························································································· 18

5-3-2-2. Write to a register ···································································································· 19

5-3-3. General-purpose read operation ······················································································· 20

5-3-3-1. Read out a command ······························································································· 21

5-3-3-2. Read out status ······································································································· 22

5-3-3-3. Read out register ····································································································· 23

DA70138-1/2E

5-3-4. Read out general-purpose port status ················································································ 24

5-3-5. Read out main status ····································································································· 25

6. Commands ····························································································································· 26

6-1. Start mode command ··········································································································· 26

6-2. Control mode command ······································································································· 28

6-3. Register selection command ·································································································· 29

6-4. Output mode command ········································································································ 30

7. Status ···································································································································· 31

7-1. Main status ························································································································ 31

7-2. Extended status ·················································································································· 32

7-3. Product information code ······································································································ 33

8. Register ································································································································· 34

8-1. Register list ······················································································································· 34

8-2. Compatible mode setting ······································································································ 34

8-2-1. PCD46x1 mode ············································································································ 35

8-2-2. PCD45x1 compatible mode ····························································································· 36

8-2-3. PCD4500 compatible mode ····························································································· 37

8-3. Register details ··················································································································· 38

8-3-1. RMV ··························································································································· 38

8-3-2. RFL ···························································································································· 39

8-3-3. RFH ··························································································································· 39

8-3-4. RUD ··························································································································· 40

8-3-5. RMG ·························································································································· 40

8-3-6. RDP ··························································································································· 41

8-3-7. RIDL··························································································································· 42

8-3-8. RENV ························································································································· 42

8-3-9. RCUN ························································································································· 44

8-3-10. RSTS ························································································································ 44

8-3-11. RIDC ························································································································· 45

8-3-12. RIOP ························································································································ 46

8-3-13. RSPD ······················································································································· 47

8-3-14. RSPO ······················································································································· 48

8-3-15. RSPM ······················································································································· 49

9. Operation modes ······················································································································ 50

9-1. Continuous operation mode ··································································································· 50

9-1-1. Procedure example of [+] direction FL constant speed continuous operation ······························· 51

9-1-2. Procedure example of [-] direction FH constant speed continuous operation ······························· 51

9-1-3. Procedure example of [+] direction FH high-speed continuous operation ···································· 52

9-2. Origin return mode ·············································································································· 52

9-2-1. Procedure example of [+] direction of FH constant speed origin return operation ·························· 53

9-2-2. Procedure example of [+] direction of FH high speed origin return operation ······························· 54

9-2-3. Procedure example of [+] direction FH constant speed origin return operation with maximum feeding

amount control. ············································································································· 54

9-3. Positioning mode ················································································································ 55

9-3-1. Procedure example of [+] direction 1000 pulse FH high speed positioning operation ····················· 56

9-4. Timer mode ······················································································································· 57

9-4-1. Procedure example to use this mode as a 100 [msec] timer ···················································· 57

10. Speed pattern ························································································································ 58

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