PCL6045B Datasheet, PDF (136/176 Pages) List of Unclassifed Manufacturers – User Manual For PCL6045B Pulse Control LSI

Read the event interrupt ( output) cause <Bit 4 to 12 of RIST>
IRUS (bit 4) = 1: When the acceleration is started.
IRUS (bit 5) = 1: When the acceleration is complete.
IRUS (bit 6) = 1: When the deceleration is started.
IRUS (bit 7) = 1: When the deceleration is complete.
IRC1 (bit 8) = 1: When the Comparator 1 conditions are satisfied.
IRC2 (bit 9) = 1: When the Comparator 2 conditions are satisfied.
IRC3 (bit 10) = 1: When the Comparator 3 conditions are satisfied.
IRC4 (bit 11) = 1: When the Comparator 4 conditions are satisfied.
IRC5 (bit 12) = 1: When the Comparator 5 conditions are satisfied.
[RIST] (READ)
7
0
nnnn- - - -
15
8
- - -nnnnn
11-14-1. Start triggered by another axis stopping
If the start condition is specified as a "Stop on two or more axes", when any of the specified axes stops
after operating, and the other axes never start (remain stopped), the axis which is supposed to start
when the conditions are met will start operation.
Example 1 below shows how to specify a "stop on two or more axes". In the example, while the X axis
(or Y axis) is working, the Y (or X) axis remains stopped. Then, the U axis starts operation when
triggered by the X (or Y) axis stopping.
[Example 1]
After setting steps 1) to 3), start and stop the Y axis and then the X axis will start.
1) Set MSY0 to 1 (bits 18 to 19) in PRMD for the U axis to "11." (Start triggered by another axis
stopping)
2) Set MAX0 to 1 (bits 20 to 23) in PRMD for the U axis to "0011." (When the Y axis and then the X
axis stops)
3) Write a start command for the U axis.
The "start when another axis stops" function has two operation modes: one is PCL6045 compatible and
the other is the PCL 6045B mode. Select the operation mode using SMAX in the RENV2 register. (When
SMAX = 0, the PCL6045 compatible mode is selected.)
[PCL6045 compatible mode]
In order to use "Another axis stops" as a start condition, the axis specifying this condition (X axis) must
be ready to start its process and then it can wait for the other axis to stop. At this point the other axis (the
Y axis) can be started and stopped.
For example, if the X and Y axes are performing circular interpolation, and if "All Y axes stop" is set as a
start condition in the pre-register for the next operation, when X an Y are "waiting for all axes to stop" (so
that they can start the linear interpolation at the end of the circular interpolation), since they are already
stopped the change "from operation to stop" will not occur while they are waiting. Therefore the X and Y
axes will never start the linear interpolation.
In other words, the working axis cannot be specified for the MAX setting to start itself.
[PCL6045B mode]
When "start when another axis stops" is specified as the start condition for the next operation in a
specific pre-register, the working axis can be called out in the MAX setting so that it starts itself on the
next operation at the end of a previous operation.
Example 1
Settings
Operation mode for the X axis in initial operation: MSY0 to 1 = 00, MAX0 to 3 = 0000
Operation mode calling for the X axis in the next operation: MSY0 to 1 = 11, MAX0 to 3 = 0011
Operation mode for the Y axis in initial operation: MSY0 to 1 = 00, MAX0 to 3 = 0000
Operation mode calling for the Y axis in the next operation: MSY0 to 1 = 11, MAX0 to 3 = 0011
(X axis positioning operation time) > (Y axis positioning operation time)
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