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FIGURE 1. Block Diagram
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ãã³é 眮å³LM628N LM629N LM629M
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Order Number LM629M-6, LM629M-8, LM628N-6, LM628N-8, LM629N-6 or LM629N-8See NS Package Number M24B or N28B
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絶察æ倧å®æ Œ (Note 1)
æ¬ããŒã¿ã·ãŒãã«ã¯è»çšã»èªç©ºå®å®çšã®èŠæ Œã¯èšèŒãããŠããŸãããé¢é£ããé»æ°çä¿¡é Œæ§è©Šéšæ¹æ³ã®èŠæ Œãåç §ãã ããã
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DCé»æ°çç¹æ§(VDDãšTAã¯äžèšã®åäœç¯å²ïŒfCLKïŒ 6MHz)
ACé»æ°çç¹æ§(VDDãšTAã¯äžèšã®åäœç¯å²ïŒfCLKïŒ 6MHzïŒCLOADïŒ 50pFïŒå ¥åè©Šéšä¿¡å· trïŒ tfïŒ 10ns)
åãã³ã®é»å§ (GNDãåºæº ) ïŒ 0.3VïœïŒ 7.0V
ä¿å枩床ç¯å² ïŒ 65âïœïŒ 150âãªãŒã枩床
28ãã³ã»ãã¥ã¢ã«ã»ã€ã³ã©ã€ã³ã»ããã±ãŒãž (ãã³ãä»ãã4ç§ ) 260â
24ãã³è¡šé¢å®è£ ããã±ãŒãž(ãã³ãä»ãã10ç§ ) 300â
æ倧æ¶è²»é»å (TA⊠85âãNote 2) 605 mW
ESDèå§ (CZAPïŒ 120pFãRZAPïŒ 1.5k) 1000V
åäœæž©åºŠç¯å² ïŒ 40âïŒ TAïŒïŒ 85âã¯ããã¯åšæ³¢æ°
LM628N-6ãLM629N-6ãLM629M-6 1.0 MHzïŒ fCLKïŒ 6.0 MHz
LM628N-8ãLM629N-8ãLM629M-8 1.0 MHzïŒ fCLKïŒ 8.0 MHz
é»æºé»å§ (VDD) 4.5VïŒ VDDïŒ 5.5V
Symbol Parameter Conditions Tested Limits Units
Min Max
IDD Supply Current Outputs Open 110 mA
INPUT VOLTAGES
VIH Logic 1 Input Voltage 2.0 V
VIL Logic 0 Input Voltage 0.8 V
IIN Input Currents 0⊠VIN⊠VDD ïŒ 10 10 ÎŒA
OUTPUT VOLTAGES
VOH Logic 1 IOHïŒïŒ 1.6 mA 2.4 V
VOL Logic 0 IOLïŒ 1.6 mA 0.4 V
IOUT TRI-STATE® Output Leakage Current 0⊠VOUT⊠VDD ïŒ 10 10 ÎŒA
Timing Interval T# Tested Limits Units
Min Max
ENCODER AND INDEX TIMING (See Figure 2)
Motor-Phase Pulse Width T1ÎŒs
Dwell-Time per State T2ÎŒs
Index Pulse Setup and Hold T3 0 ÎŒs
(Relative to A and B Low)
CLOCK AND RESET TIMING (See Figure 3)
Clock Pulse Width
LM628N-6, LM629N-6, LM629M-6 T4 78 ns
LM628N-8, LM629N-8, LM629M-8 T4 57 ns
Clock Period
LM628N-6, LM629N-6, LM629M-6 T5 166 ns
LM628N-8, LM629N-8, LM629M-8 T5 125 ns
Reset Pulse Width T6ÎŒs
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Note 1: ã絶察æ倧å®æ Œããè¶ ããæ¡ä»¶äžã§ã¯ãããã€ã¹ã¯æå·ãåããŸããããã€ã¹ããåäœå®æ Œããè¶ ããŠåäœãããå ŽåãDCããã³ ACé»æ°ç¹æ§ã®ã¹ããã¯ã¯é©çšãããŸããã
Note 2: 70â以äžã®åšå²æž©åºŠã§åäœãããå Žåãããã€ã¹ã¯ãæ倧æ¥åéšæž©åºŠãè¶ ããªãããã«ä¿è·ããªããã°ãªããŸãããããã€ã¹ãããªã³ãåºæ¿ã«å®è£ ããæã¯ããªãŒããå²ã 3ã€ã³ã以äžã®é ãšãªã¢ (ã°ã©ãŠã³ãã»ãã¬ãŒã³ãªã© )ã«ãã³ãä»ãããŸãã28ãã³DIP (N)ãš24ãã³ SO (M)ã¯é ã®ãªãŒããã¬ãŒã ããã©ã¹ããã¯ã§ã¢ãŒã«ãããŠããŸãããã€ããçºçããç±ã¯ããªãŒããã¬ãŒã ããããªã³ãåºæ¿ã®é ãã¿ãŒã³ãžãšéããŸããé ãã¿ãŒã³ã¯ããŒãã·ã³ã¯ãšããŠåããŸããçé¢åºæ¿ãããäž¡é¢ãŸãã¯å€å±€åºæ¿ã®æ¹ãããè¯ãæŸç±ç¹æ§ãæã¡ãŸãã
Note 3: ããžãŒããããèªã¿åºãããã«ã¯ãã¹ãã€ã¿ã¹ãã€ããæåã«èªã¿åºãããªããã°ãªããŸãããããžãŒãããã®èªã¿åºãæéã¯ãããžãŒããããã»ããããããã«ããããå¿ èŠãšããæéãããã¯ããã«é·ããããå®éã«ããžãŒãããã»ãã£ã¬ã€ã枬å®ããã®ã¯äžå¯èœã§ããããžãŒãããã¯ããŠãŒã¶ããããèªã¿åºããšããã«æå¹ã«ãªãããšã«å¯ŸããŠä¿èšŒãããŸãã
Timing Interval T# Tested Limits Units
Min Max
STATUS BYTE READ TIMING (See Figure 4)
Chip-Select Setup/Hold Time T7 0 ns
Port-Select Setup Time T8 30 ns
Port-Select Hold Time T9 30 ns
Read Data Access Time T10 180 ns
Read Data Hold Time T11 0 ns
RD High to Hi-Z Time T12 180 ns
COMMAND BYTE WRITE TIMING (See Figure 5)
Chip-Select Setup/Hold Time T7 0 ns
Port-Select Setup Time T8 30 ns
Port-Select Hold Time T9 30 ns
Busy Bit Delay T13 (Note 3) ns
WR Pulse Width T14 100 ns
Write Data Setup Time T15 50 ns
Write Data Hold Time T16 120 ns
DATA WORD READ TIMING (See Figure 6)
Chip-Select Setup/Hold Time T7 0 ns
Port-Select Setup Time T8 30 ns
Port-Select Hold Time T9 30 ns
Read Data Access Time T10 180 ns
Read Data Hold Time T11 0 ns
RD High to Hi-Z Time T12 180 ns
Busy Bit Delay T13 (Note 3) ns
Read Recovery Time T17 120 ns
DATA WORD WRITE TIMING (See Figure 7)
Chip-Select Setup/Hold Time T7 0 ns
Port-Select Setup Time T8 30 ns
Port-Select Hold Time T9 30 ns
Busy Bit Delay T13 (Note 3) ns
WR Pulse Width T14 100 ns
Write Data Setup Time T15 50 ns
Write Data Hold Time T16 120 ns
Write Recovery Time T18 120 ns
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FIGURE 2. Quadrature Encoder Input Timing
FIGURE 3. Clock and Reset Timing
FIGURE 4. Status Byte Read Timing
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FIGURE 5. Command Byte Write Timing
FIGURE 6. Data Word Read Timing
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FIGURE 7. Data Word Write Timing
端å説æ (ãã³é 眮å³ãåç § )
24ãã³ SOPã®ãã³çªå·ãã«ãã³å ã«ç€ºããŸãã
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ãã³ 2ã3 (18ã19): ãšã³ã³ãŒãä¿¡å· (AãB)å ¥å :ã€ã³ã¯ãªã¡ã³ã¿ã«ã»ãšã³ã³ãŒãããã® 2çžç©åœ¢ä¿¡å·ãåããŸããã¢ãŒã¿ãæ£å転ããŠãããšãããã³ 2ã®ä¿¡å·ã¯ãã³ 3ã®ä¿¡å·ããã90 é²ãã¿ãŸãããããã®ä¿¡å·ã¯ 8ã¯ããã¯ã«å¯Ÿå¿ãããšã³ã³ãŒãåºåã§ã (Figure 9
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ãã³ 12 (5): ãããã»ã¬ã¯ã (CS): æžã蟌ã¿ããããã¯èªã¿åºããéžæããŸãã
ãã³ 13 (6): ãªãŒã (RD): ã¹ãã€ã¿ã¹ãšããŒã¿ãèªã¿åºããŸãã
ãã³ 14 (7): ã°ã©ãŠã³ã (GND):ã°ã©ãŠã³ãã»ãã³
ãã³ 15 (8): ã©ã€ã (WR)å ¥å :ã³ãã³ããšããŒã¿ãæžã蟌ã¿ãŸãã
ãã³ 16 (9): ããŒãã»ã¬ã¯ã (PS) å ¥å :ã³ãã³ãããŒãããããã¯ããŒã¿ããŒããéžæããŸãããã®ãã³ã "LOW" ã«ããã°ã³ãã³ãããŒããã"HIGH" ã«ããã°ããŒã¿ããŒããéžæãããŸãããŸãããã®ãã³ã«ãã£ãŠä»¥äžã®ã¢ãŒããå¯èœãšãªããŸãã
1. ã³ãã³ããã³ãã³ãããŒãã«æžã蟌ãŸããŸã (ãã³ 16 "LOW")ã
2. ã¹ãã€ã¿ã¹ãã€ããã³ãã³ãããŒãããèªã¿åºãããŸã(ãã³ 16 "LOW")ã
3. ããŒã¿ãããŒã¿ããŒãã«ãã£ãŠæžã蟌ãŸããèªã¿åºãããŸã (ãã³ 16 "HIGH")ã
ãã³ 17 (10): ãã¹ãã»ã€ã³ã¿ã©ãã (HI)åºå :å²ã蟌ã¿ç¶æ ãçºçãããã¹ãã»ã³ã³ãã¥ãŒã¿ã« (ãã¹ãã»ã€ã³ã¿ã©ããã»ãµãŒãã¹ã»ã«ãŒ
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1. LM628 (8 ãããåºåã¢ãŒã )ïŒDAC ãžã®åºåã©ããããŒã¿ãMSBã¯ãã³ 18ãLSBã¯ãã³ 25ã
2. LM628 (12ãããåºåã¢ãŒã ):ãã«ããã¬ãã¯ã¹6ãããã»ã¯ãŒãã®åºåã 2 ã€ãããŸããäžäœã¯ãŒããæåã«åºåãããŸããMSBã¯ãã³ 18ãLSBã¯ãã³ 23ã§ããã€ãŸããäžäœã¯ãŒãã«å¯Ÿãããã³ 24㯠"LOW"ã«ãªããŸãããã³ 25ã®ä¿¡å·ã®ç«ã¡äžãããšããžã¯åºåããŒã¿ãã¹ãããŒãããããã«äœ¿ãããŸããFigure 8ã«ãã«ããã¬ãã¯ã¹ä¿¡å·ã®ã¿ã€ãã³ã°ã瀺ããŸãã
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ãã³ 26 (14): ã¯ãã㯠(CLK): 6MHz (ããã㯠8MHz)ã®ã·ã¹ãã ã»ã¯ããã¯ãåããŸãã
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6. ãµã³ããªã³ã°åšæã 2048/fCLKãããã㯠256ÎŒS (8MHzã®å Žå )ã«ã»ããããŸãã
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端å説æ (ãã³é 眮å³ãåç § ) (ã€ã¥ã )
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TABLE 1. System Specifications Summary
äœçœ®ç¯å² ïŒ 1,073,741,824ïœ 1,073,741,823ã«ãŠã³ã
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FIGURE 9. Quadrature Encoder Signals
FIGURE 10. Typical Velocity Profiles
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ãã¹ãããã»ããµã¯ãããŒãã»ã»ã¬ã¯ã (PS)å ¥å (ãã³ 16)ãããžã㯠"LOW"ã®ãšãããã¹ã I/OããŒããéã£ãŠ LM628ã«ã³ãã³ããæžã蟌ã¿ãŸããåžæã®ã³ãã³ãã³ãŒãã¯ãã©ã¬ã«ã»ããŒãã»ã©ã€ã³ã«å ¥ããã©ã€ã(WR)å ¥å (ãã³ 15)ãã¹ãããŒããããŸããã³ãã³ããã€ãã¯ãWR å ¥åã®ç«ã¡äžãããšããžã§ LM628ã®äžãžã©ãããããŸããã³ãã³ããã€ããæžã蟌ããšãããŸãæåã«ã¹ãã€ã¿ã¹ãã€ããèªã¿åºãå¿ èŠãããã"ããžãŒããã"(ããã0)ãšåŒã°ãããã©ãã°ã®ç¶æ ããã§ãã¯ããŸããããžãŒããããããžã㯠"HIGH" ã®ãšãã¯ãã³ãã³ãã¯æžã蟌ãŸããŸãããããžãŒããã㯠100ÎŒs以äžã®æéã¯äžå¯ã§ã15ÎŒsïœ 25ÎŒsãæšæºã§ãã
èªã¿åºãã®å Žåããã¹ãããã»ããµã¯æžã蟌ã¿ã®å Žåãšåæ§ã« PS
(ãã³ 16)ã "LOW"ã«ãªã£ããšãããªãŒã (RD)å ¥å (ãã³ 13)ãã¹ãããŒãããã¹ãã€ã¿ã¹ãã€ããèªã¿åºããŸããã¹ãã€ã¿ã¹ã®æ å ±ã¯ RDã "LOW"ã§ããéãæ®ããŸãã
LM628ãžããŒã¿ãæžã蟌ãã ããLM628ããããŒã¿ãèªã¿åºãããã«ã¯ (ã³ãã³ããæžããã¹ãã€ã¿ã¹ãèªãããã«ã¯ )ãPS (ãã³ 16)
ãããžãã¯"HIGH"ã«ããŸãããããã®æžã蟌ã¿ãšèªã¿åºã㯠2ãã€ãã¯ãŒãã®æŽæ°å€ (1ïœ 7)ã§ããããããã®æåã®ãã€ãã¯äžäœãã€ãã§ãããã®ãã€ãã¯ãã©ã€ã(WR)ããŸãã¯ãªãŒã (RD)ã¹ãããŒããå¿ èŠã§ããããŒã¿ã¯ãŒã ( ãã¢ã»ãã€ã )ãäŒéãããšããã¹ãã€ã¿ã¹ãã€ããæåã«èªã¿åºããããžãŒãããã®ç¶æ ããã§ãã¯ããå¿ èŠããããŸããããžãŒããããããžãã¯"LOW"ã®ãšãããŠãŒã¶ã¯1ã€ã®ããŒã¿ã¯ãŒããããªã2ã€ã®ãã€ããé ã«äŒéã§ããŸãããããžãŒãããã次ã®ãã¢ã»ãã€ããäŒéããåã« (ãã«ããã«ã»ã¯ãŒããäŒéãããšãã« )ãå床ããžã㯠"LOW"ã«ãªã£ãŠããããã§ãã¯
ããªããã°ãªããŸãããããŒã¿äŒé㯠LM628ã® (éãåããããŠããªã ) å éšå²ã蟌ã¿æ¡ä»¶ãéã£ãŠå®äºãšãªããŸããLM628 ãããŒã¿äŒé (ãããã¯ã³ãã³ããã€ã)ã®ããå²ã蟌ã¿ãããŠããªããšããããžãŒãããã¯ãã¹ãããã»ããµã«ãã®ç¶æ ãç¥ãããŸããããžãŒãããã "HIGH"ã®ãšãã³ãã³ããæžãããŠãããã®ã³ãã³ãã¯ç¡å¹ãšãªããŸãã
ã³ãã³ããã€ããæžã蟌ãããããã¯ããŒã¿ã® 2çªç®ã®ãã€ããèªã¿åºã /æžã蟌ã¿ããåŸã«ãããžãŒãããã¯çŽã¡ã« "HIGH"ã«ãªããŸã(Figure 5ïœ 7åç § )ã
ã¢ãŒã¿åºå
LM628ã® DACåºåããŒãã¯ãã©ããã 8ãããã»ãã©ã¬ã«åºåããŸãã¯ãã«ããã¬ãã¯ã¹ 12ãããåºåã®ã©ã¡ãã§ã䜿ããŸãã8ãããåºåãšããŠäœ¿ãå Žåã«ã¯ãããŒã»ã¹ã«ãŒ ( å ¥åãã©ãããããŠããªã ) D/Aã³ã³ããŒã¿ãçŽæ¥æ¥ç¶ã§ããŸãã12ãããåºåã¯ãå ¥åãã©ãããããŠãã12ãããD/Aã³ã³ããŒã¿ãšå€éšã® 6ãããã»ã©ããã䜿ã£ãŠç°¡åã«ããã«ããã¬ãã¯ã¹ãããŸããDAC åºåããŒã¿ã¯ãªãã»ããã»ãã€ããªã»ã³ãŒãã§ããã€ãŸãã8ãããã§ãŒã㯠80Hexã12ãããã§ãŒã㯠800Hex ã§ããããã以äžã®å€ã§ã¯ã¢ãŒã¿ã«è² ã®ãã«ã¯ã以äžã®å€ã§ã¯ã¢ãŒã¿ã«æ£ã®ãã«ã¯ãäžããŸãã12 ãããåºåãšããŠäœ¿çšããå ŽåãLM628ã¯ãããã«ããã¬ãã¯ã¹ã»ããã»ã¹ãå¶åŸ¡ããããã®ä¿¡å·ãåããŠããŸã (Figure 8åç § )ã
LM629㯠8ããããPWMã®ãµã€ã³ãšãã°ããã¥ãŒãåºåä¿¡å·ãåããã¹ã€ããåŒã®ã¢ãŒã¿ãã©ã€ãã»ã¢ã³ããçŽæ¥ãã©ã€ãã§ããŸããFigure 11ã« PWMãã°ããã¥ãŒãåºåä¿¡å·ã®ãã©ãŒãããã瀺ããŸãã
FIGURE 11. PWM Output Signal Format (Sign output (pin 18) not shown)
TABLE 2. LM628 User Command Set
Command Type Description Hex Data Note
BytesRESET Initialize Reset LM628 00 0 1
PORT8 Initialize Select 8-Bit Output 05 0 2
PORT12 Initialize Select 12-Bit Output 06 0 2
DFH Initialize Define Home 02 0 1
SIP Interrupt Set Index Position 03 0 1
LPEI Interrupt Interrupt on Error 1B 2 1
LPES Interrupt Stop on Error 1A 2 1
SBPA Interrupt Set Breakpoint, Absolute 20 4 1
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LM
628/
LM
629
åäœåç (ã€ã¥ã )
TABLE 2. LM628 User Command Set
Note 4: ã³ãã³ãã¯ã¢ãŒã¿åäœäžã«å®è¡å¯èœ
Note 5: ã³ãã³ãã¯ã¢ãŒã¿åäœäžã«å®è¡äžå¯
Note 6: å é床ãå€ãããªããã°ãã³ãã³ãã¯ã¢ãŒã¿åäœäžã«å®è¡å¯èœ
Note 7: ã³ãã³ãããŒãããã®ã¹ãã€ã¿ã¹ãã€ãã®èªã¿åºãã¯ãããŒããŠã§ã¢ã«ãã£ãŠãµããŒããããŠããã®ã§ãã³ãã³ãã¯ã³ãŒããå¿ èŠãšããŸããã
ãŠãŒã¶ã»ã³ãã³ãã»ã»ãã
æŠèŠ
ãã®ãã©ã°ã©ãã§ã¯ LM628ã®ãŠãŒã¶ã»ã³ãã³ãã»ã»ããã«ã€ããŠèª¬æããŸããããã€ãã®ã³ãã³ãã¯åç¬ã§äœ¿ããŸããããã以å€ã¯ããŒã¿ãå¿ èŠãšããŸããäŸãã°ãã³ãã³ãSTT (STarTåäœ )ã¯ããŒã¿ãå¿ èŠãšããŸããããã³ãã³ãLFIL (Load FILterãã©ã¡ãŒã¿ )ã¯ããŒã¿(埮åé ã®ãµã³ããªã³ã°åšæãš(ããã㯠)ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ )ãå¿ èŠã§ãã
ã³ãã³ãã¯æ©èœããšã«åãããŠããŸããã€ãŸããã€ãã·ã£ã©ã€ãºãå²ã蟌ã¿å¶åŸ¡ããã£ã«ã¿å¶åŸ¡ãè»è·¡å¶åŸ¡ãããŒã¿ã»ã¬ããŒãã§ãããããã®ã³ãã³ã㯠Table 2ã«ãªã¹ããããŠããã以äžã®ãã©ã°ã©ãã§èª¬æããŸããåã³ãã³ãã®å称ã«æ²¿ã£ãŠããã®ã³ãã³ãã»ãã€ãã»ã³ãŒããèªã¿åºã / æžã蟌ã¿ããå Žåã®ããŒã¿ã»ãã€ãã®å¿ èŠæ°ãã¢ãŒã¿åäœäžã«ãã®ã³ãã³ããå®è¡ã§ãããåŠãã®ã³ã¡ã³ããèšè¿°ãããŠããŸãã
ã€ãã·ã£ã©ã€ãŒãŒã·ã§ã³ã»ã³ãã³ã次㮠4ã³ãã³ãã¯ã·ã¹ãã ãåæèšå®ããããã«äœ¿çšãããŸãã
RESET COMMAND: RESET THE LM628
ã³ãã³ãã»ã³ãŒã : 00 Hex
ããŒã¿ãã€ã : ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ã (ããã³ãã³ 27ã®ããŒããŠã§ã¢ã»ãªã»ããå ¥å )ã¯ã以äžã®ããŒã¿ããŒãã«ããã ãã§ããã€ãŸãããã£ã«ã¿ã»ãã©ã¡ãŒã¿ãšãã®å ¥åãããã¡ãè»è·¡ãã©ã¡ãŒã¿ãšãã®å ¥åãããã¡ãã¢ãŒã¿å¶åŸ¡åºåã§ããã¢ãŒã¿å¶åŸ¡åºåããŒãã®ãšãããªãã»ããã»ãã€ããªã»ã³ãŒãã§ã¹ã±ãŒã«ã¯ååã«ãªããŸã (ã€ãŸãã8ãããåºåã¢ãŒãã§ã¯80Hexã12 ãããåºåã¢ãŒãã§ã¯ 800Hex ã§ã )ããªã»ããã®éãDACããŒã㯠12ãããDACã "ãŒã "ã«ãããã 800Hexãåºåãã8ãããDACããŒãã«ãããã 80HexãåºåããŸãããã®ã³ãã³ãã¯ããŸãå²ã蟌ã¿ããã¹ã¯ããã³ãã³ãMSKIã® 6ãããããŒ
ã¿ã®ãã¡5ãããã (ãã¹ã¯ããªãããã« )ã¯ãªã¢ããŸããããã§SBPA/
SBPRå²ã蟌㿠(ãã¬ãŒã¯ãã€ã³ãã»ã€ã³ã¿ã©ãã)ã®ã¿ããã¹ã¯ãããŸãããã®ä»ã«ããã®ã³ãã³ãã¯åºåããŒãã®ãµã€ãºã 8ãããã«èšå®ããçŸåšã®çµ¶å¯Ÿäœçœ®ã "HOME"ãšããŠå®çŸ©ããŸãããããªãæã§ãå®è¡ããããã®ãªã»ãã㯠1.5ms以å ã§å®äºããŸããã³ãã³ã PORT8ãšã³ãã³ã PORT12ãåç §ããŠãã ããã
PORT8 COMMAND: SET OUTPUT PORT SIZE TO 8BITS
ã³ãã³ãã»ã³ãŒã : 05 Hex
ããŒã¿ãã€ã: ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : äžå¯èœ
LM628 ã®ããã©ã«ãåºå (ã³ãã³ãã«ãã£ãŠæå®ãããªããšãã®åºå )ã®ããŒããµã€ãºã¯ 8ãããã§ããã€ãŸãã8ãããDACã䜿çšãããšããPORT8ã³ãã³ããå®è¡ããå¿ èŠã¯ãããŸããã12ãããDACã䜿çšãããšãã¯ããã®ã³ãã³ããå®è¡ããŠã¯ãããŸããããããããšãã¯ãã¢ãŒã¿ã®åäœãäžå®ããã€äºæž¬ã®ã€ããªããã®ãšãªããŸããLM629ãã€ãŸãLM628ã® PWMåºåããŒãžã§ã³ã䜿çšããå Žåã¯ã8ãããåºåããŒããµã€ãºãéžæããŸãã
PORT12 COMMAND: SET OUTPUT PORT SIZE TO 12BITS
ã³ãã³ãã»ã³ãŒã : 06 Hex
ããŒã¿ãã€ã: ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : äžå¯èœ
12ãããDACã䜿çšãããšããã³ãã³ã PORT12ã¯ãå§åããã»ã¹ã®åæã«å®è¡ãããªããã°ãªããŸããããã®ã³ãã³ãã®äœ¿çšã¯ã·ã¹ãã ã»ããŒããŠã§ã¢ã«ãã£ãŠå¿ ç¶çã«æ±ºå®ãããããããŠãŒã¶ã¯åŸã§ãã®ã³ãã³ãã®äœ¿çšã ãã¯ãããããç¥ãããšã«ãªããŸããRESETã³ãã³ããçºè¡ããããªãã° (8ãããåºåãããã©ã«ãåºåãšããŠéžæããããã )ãã³ãã³ã PORT12ã¯çŽã¡ã«å®è¡ãããªããã°ãªããŸããããã®ã³ãã³ãã¯ã8ãããDACããŸã㯠LM629ã䜿çšãããšãã«ã¯äœ¿çšããŠã¯ãªããŸããã
Command Type Description Hex Data NoteBytes
SBPR Interrupt Set Breakpoint, Relative 21 4 1
MSKI Interrupt Mask Interrupts 1C 2 1
RSTI Interrupt Reset Interrupts 1D 2 1
LFIL Filter Load Filter Parameters 1E 2 to 10 1
UDF Filter Update Filter 04 0 1
LTRJ Trajectory Load Trajectory 1F 2 to 14 1
STT Trajectory Start Motion 01 0 3
RDSTAT Report Read Status Byte None 1 1, 4
RDSIGS Report Read Signals Register 0C 2 1
RDIP Report Read Index Position 09 4 1
RDDP Report Read Desired Position 08 4 1
RDRP Report Read Real Position 0A 4 1
RDDV Report Read Desired Velocity 07 4 1
RDRV Report Read Real Velocity 0B 2 1
RDSUM Report Read Integration Sum 0D 2 1
13 www.national.com/JPN/
LM
628/LM
629
ã€ãã·ã£ã©ã€ãŒãŒã·ã§ã³ã»ã³ãã³ã (ã€ã¥ã )
DFH COMMAND: DEFINE HOME
ã³ãã³ãã»ã³ãŒã : 02 Hex
ããŒã¿ãã€ã : ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯çŸåšäœçœ®ã"HOME"ãããã¯çµ¶å¯Ÿäœçœ®ãŒã(0)ã«èšå®ããŸããDFHã³ãã³ããã¢ãŒã¿åäœäžã«å®è¡ããããšãSTT
ã³ãã³ããå®è¡ãããªãéãã¯ãåããŠããã¢ãŒã¿ã®åæ¢äœçœ®ã¯å€ãããŸããã
å²ã蟌ã¿å¶åŸ¡ã³ãã³ã以äžã® 7 ã€ã®ãŠãŒã¶ã»ã³ãã³ãã¯ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«äœ¿ãããæ¡ä»¶ãšé¢ä¿ããããŸãããã³ 17ã«ãã£ãŠãã¹ãã»ã³ã³ãã¥ãŒã¿ã«å®éã«å²ã蟌ã¿ããããã®æ¡ä»¶ãšããŠã¯ãã³ãã³ãMSKIãšé¢é£ããå²ã蟌ã¿ãã¹ã¯ããŒã¿ã®äžã®çžåœãããããããããžãã¯"HIGH"(ãã¹ã¯ãããªãç¶æ )ã«ããããšãå¿ èŠã§ãã
ãã¹ãŠã®å²ã蟌ã¿ã®åœ¹å²ã¯ãã¹ãã€ã¿ã¹ãã€ããèªã¿åºããŠèª¿ã¹ãããããã¹ãã»ã³ã³ãã¥ãŒã¿ã«ç¥ãããããšã§ããã³ãã³ãMSKIã«ãã£ãŠããã¹ãŠã®å²ã蟌ã¿ããã¹ã¯ãããªãç¶æ ã§ã (å²ã蟌ã¿å¯èœã§ã )ãããããã®å²ã蟌ã¿æ¡ä»¶ã®ç¶æ ã¯ã¹ãã€ã¿ã¹ãã€ãã®äžã«çŸãããŠããŸãããã®ç¹é·ã«ãããå²ã蟌ã¿ãå®è¡ããã®ãšã¯å察ã«ãLM628ã¯ã¹ãã€ã¿ã¹æ å ±ãããŒãªã³ã°å¯èœã«ããŸãã
SIP COMMAND: SET INDEX POSITION
ã³ãã³ãã»ã³ãŒã : 03 Hex
ããŒã¿ãã€ã : ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ããå®è¡ããããšã次ã®ã€ã³ããã¯ã¹ã»ãã«ã¹å ¥åã¯çµ¶å¯Ÿäœçœ®ã«çžåœãããã®äœçœ®ã¯ã€ã³ããã¯ã¹ã»ã¬ãžã¹ã¿ã«èšé²ãããŸããã¹ãã€ã¿ã¹ãã€ãã®ããã3㯠"HIGH"ã«ã»ãããããŸãããšã³ã³ãŒãäœçžå ¥åãšã€ã³ããã¯ã¹ã»ãã«ã¹å ¥åã®åæ¹ã "LOW"ã«ãªããšãããã®äœçœ®ãèšé²ãããŸãããŠãŒã¶ã¯ãã€ã³ããã¯ã¹ã»ãã«ã¹ãæã£ã "HOME"äœçœ® (ã³ãã³ãDFHãåç § )ã®ç²ŸåºŠãããé«ããããã«ããã®ã¬ãžã¹ã¿ãèªã¿åºããŸã (ã³ãã³ã RDIPãåç § )ãã€ã³ããã¯ã¹ã»ãã«ã¹ã®çºçãç¥ãããããã«ããŠãŒã¶ã¯ LM628ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«èšå®ã§ããŸããã³ãã³ãMSKI
ãšã³ãã³ãRSTIãåç §ããŠãã ããã
LPEI COMMAND: LOAD POSITION ERROR FORINTERRUPT
ã³ãã³ãã»ã³ãŒã : 1B Hex
ããŒã¿ãã€ã : 2
ããŒã¿ç¯å² : 0000ïœ 7FFF Hex
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
(ã«ãŒãã»ãµãã³ã°ã»ãžã£ã³ã¯ã·ã§ã³ã®åºåã«ããã )é倧ãªäœçœ®ãšã©ãŒã¯ãé倧ãªã·ã¹ãã äžã®åé¡ã瀺ããŠããŸããäŸãã°ãããŒã¿ã®åæ¢ãªã©ã§ããLPEIã®æ©èœã¯ãäœçœ®ãšã©ãŒãæ€åºããããã«ãå ¥åã«ã¹ã¬ãã·ã§ã«ããèšå®ããŸããäœçœ®ãšã©ãŒã®çµ¶å¯Ÿå€ãã¹ã¬ãã·ã§ã«ããè¶ ãããšããšã©ãŒãæ€åºãããŸãããã®ã¹ã¬ãã·ã§ã«ã㯠"HIGH"ã«ã»ãããããã¹ãã€ã¿ã¹ãã€ãã®ããã5ã«çŸããŸãã
äœçœ®ãšã©ãŒã倧ããããŠã¢ãŒã¿ãåæ¢ããããå Žåãã³ãã³ãLPESã䜿çšããŠãã ãããã³ãã³ã LPEIã«ãã£ãŠã¹ã¬ãã·ã§ã«ãã»ããŒã¿ãæžã蟌ãŸããé çªã¯äžäœãã€ãããã§ããé倧ãªäœçœ®ãšã©ãŒã®çºçãç¥ãããããã«ããŠãŒã¶ã¯ LM628 ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«èšå®ã§ããŸããã³ãã³ãMSKIãšã³ãã³ãRSTIãåç §ããŠãã ããã
LPES COMMAND: LOAD POSITION ERROR FORSTOPPING
ã³ãã³ãã»ã³ãŒã : 1A Hex
ããŒã¿ãã€ã: 2
ããŒã¿ç¯å² : 0000ïœ 7FFF Hex
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
LPESã®æ©èœã¯åºæ¬çã« LPEIãšåãã§ãããé倧ãªäœçœ®ãšã©ãŒãæ€åºãããšãã«ãã¢ãŒã¿ãåæ¢ãããæ©èœãä»ãå ããããŠããŸãããã®ãšããã¢ãŒã¿ã®ãã©ã€ãã¯å®éãªãã«ããããªãã»ããã»ãã€ããªã§ãŒãã«ãªãããã«ãããŒãã»ã¹ã±ãŒã«ã«èšå®ããŸããLPEI
ãšåæ§ã«ãã¹ãã€ã¿ã¹ãã€ãã®ããã5ã "HIGH"ã«ã»ãããããŸããã³ãã³ã LPES ã«ãã£ãŠã¹ã¬ãã·ã§ã«ãã»ããŒã¿ãæžã蟌ãŸããé çªã¯äžäœãã€ãããã§ããé倧ãªäœçœ®ãšã©ãŒã®çºçãç¥ãããããã«ããŠãŒã¶ã¯ LM628ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«èšå®ã§ããŸããã³ãã³ãMSKIãšã³ãã³ãRSTIãåç §ããŠãã ããã
SBPA COMMAND:
ã³ãã³ãã»ã³ãŒã : 20 Hex
ããŒã¿ãã€ã: 4
ããŒã¿ç¯å² : C0000000ïœ 3FFFFFFF Hex
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯çµ¶å¯Ÿäœçœ®ã«é¢ããŠãéçç¹ãèšå®ããŸããéçç¹ã«éãããšããã¹ãã€ã¿ã¹ãã€ãã®ããã6ã "HIGH"ã«ã»ãããããŸãããã®æ©èœã¯è»è·¡ãš (ããã㯠)ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ã®ä¿¡å·ãã¢ããããŒãããã®ã«äœ¿çšãããŸããäœçœ®ã«éããããšãç¥ãããããã«ããŠãŒã¶ã¯ LM628 ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«èšå®ã§ããŸããã³ãã³ãMSKIãšã³ãã³ãRSTIãåç §ããŠãã ããã
SBPR COMMAND:
ã³ãã³ãã»ã³ãŒã : 21 Hex
ããŒã¿ãã€ã: 4
ããŒã¿ç¯å² : 説æãåç §
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯çžå¯Ÿäœçœ®ã«é¢ããŠãéçç¹ãèšå®ããŸããã³ãã³ã SBPAãšåæ§ã«ãéçç¹äœçœ® (ç®æšäœçœ®ã«å¯Ÿããçžå¯ŸçãªçŸåšäœçœ® )ã«éãããšããã¹ãã€ã¿ã¹ãã€ãã®ããã6ã "HIGH"ã«ã»ãããããŸããã€ãŸãããã®çžå¯Ÿçéçç¹ã®å ¥åå€ãã·ã¹ãã ã®çµ¶å¯Ÿäœçœ®ç¯å²å (C0000000ïœ 3FFFFFFFHex)ã«ããç®æšäœçœ®ã«å ãããããšãäžèšã®ããã«ãªããŸãããã®æ©èœã¯è»è·¡ãš ( ããã㯠)ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ã®ä¿¡å·ãã¢ããããŒãããã®ã«äœ¿çšãããŸããéçç¹äœçœ®ã«éããããšãç¥ãããããã«ããŠãŒã¶ã¯ LM628
ããã¹ãã»ã³ã³ãã¥ãŒã¿ã«å²ã蟌ã¿ããããã«èšå®ã§ããŸããã³ãã³ãMSKIãšã³ãã³ãRSTIãåç §ããŠãã ããã
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MSKI COMMAND: MASK INTERRUPTS
ã³ãã³ãã»ã³ãŒã : 1C Hex
ããŒã¿ãã€ã : 2
ããŒã¿ç¯å² : 説æãåç §
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯ãã¹ãã»ã³ã³ãã¥ãŒã¿ã«èµ·ããåŸããå²ã蟌ã¿æ¡ä»¶ããŠãŒã¶ã«æ±ºå®ããããã®ã§ããã¹ãã€ã¿ã¹ãã€ãã®ããã1ïœ 6ã¯ãã¹ãå²ã蟌ã¿ããå¯èœæ§ã®ãã6çš®é¡ã®æ¡ä»¶ã瀺ããŠããŸããå²ã蟌ã¿ãçºçãããšãç¶ããŠãã¹ãã»ã³ã³ãã¥ãŒã¿ã¯ãçºçããç¶æ ãèªèããããã«ã¹ãã€ã¿ã¹ãã€ããèªã¿åºããŸãã次ã«ãMSKI
ã³ã³ãã¥ãŒã¿ã¯ 2ããŒã¿ãã€ãã«ãã£ãŠçŽã¡ã«ãã©ããŒãããããšã«æ³šæããŠãã ããã2 çªç®ã® ( äžäœ )ãã€ãã®ããã1ïœ 6ã¯ãåã ã®å²ã蟌ã¿ã®ãã¹ã¯ãããããããã¯ãã¹ã¯ãããªãç¶æ ã決å®ããŸãããã® 6ãããã»ãã£ãŒã«ãã®ã©ããããŒãã«ãªãã°ãçžåœããå²ã蟌ã¿æ¡ä»¶ããã¹ã¯ããŸããã€ãŸãããããªãããããå²ã蟌ã¿ãå¯èœã§ãããã®ãšãã2ãã€ããããªãä»ã®ãããã«ã¯äœã圱é¿ã¯ãããŸããããã®ãã¹ã¯ã¯ãã¹ãå²ã蟌ã¿éçšã®ã¿ãã³ã³ãããŒã«ããŸããã¹ãã€ã¿ã¹ãã€ããèªã¿åºãã®ã¯ããã¹ã¯ãã€ããšã¯é¢ä¿ã®ãªãå®éã®æ¡ä»¶ãç¥ãããã®ãã®ã§ããTable 3 ãåç §ããŠãã ããã
TABLE 3. Mask and Reset Bit Allocations for Interrupts
RSTI COMMAND: RESET INTERRUPTS
ã³ãã³ãã»ã³ãŒã : 1D Hex
ããŒã¿ãã€ã : 2
ããŒã¿ç¯å² : 説æãåç §
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
Table 3 ã®å²ã蟌ã¿æ¡ä»¶ã®ãã¡ã1 ã€ã®å²ã蟌ã¿ãçºçãããšããã³ãã³ãRSTIã¯ã¹ãã€ã¿ã¹ãã€ãäžã®å²ã蟌ã¿ãããŠãããã©ãã°ã»ãããããªã»ããããŸããããããåæã«ãªã»ããããã°ããŠãŒã¶ã«ãã£ãŠããã°ã©ã ãããé åºã«ãããã£ãŠãããããåæã«ãã¹ãã»ã³ã³ãã¥ãŒã¿ã§åŠçã§ããŸããMSKIã³ãã³ããšåæ§ã«ã2çªç®ã®(äžäœ )ãã€ãã®ããã1ïœ 6ã¯ãTable 3ã«ç€ºãããŠããå²ã蟌ã¿ç¶æ ã«äžèŽããŸãããŸããRDSTATã³ãã³ããåç §ããŠãã ããããã® 6ãããã»ãã£ãŒã«ãã®ã©ããããŒãã«ãªãã°ãçžåœããå²ã蟌ã¿æ¡ä»¶ããªã»ããããŸããæ®ãã®ãããã«ã¯äœã圱é¿ã¯ãããŸããã
ãã£ã«ã¿å¶åŸ¡ã³ãã³ãããã§ã¯ 2ã€ã®ãŠãŒã¶ã³ãã³ããçšæãããŠããŸããã©ã¡ããã埮åé ã®ãµã³ããªã³ã°åšæãèšå®ããããã®ãã®ã§ãããã®ç®çã¯ãã·ã¹ãã ã調æŽãããããšãããã®ã·ã¹ãã å€æŽã®ã¿ã€ãã³ã°ãå¶åŸ¡ããããã«ããã£ã«ã¿ã®ãã©ã¡ãŒã¿ã調æŽããããšã§ãã
LFIL COMMAND: LOAD FILTER PARAMETERS
ã³ãã³ãã»ã³ãŒã : 1E Hex
ããŒã¿ãã€ã: 2ïœ 10
ããŒã¿ç¯å² :
ãã£ã«ã¿å¶åŸ¡ã¯ãŒã : 説æãåç §ãã£ã«ã¿ç³»æ° : 0000ïœ 7FFF Hex (æ£ã®ã¿ )
ç©åç¯å² : 0000ïœ 7FFF Hex (æ£ã®ã¿ )
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ã«ãŒãè£åãå¶åŸ¡ããããã« LM628ã«æžã蟌ãŸãããã£ã«ã¿ã»ãã©ã¡ãŒã¿ ( ä¿æ° )ã¯ãkpãkiãkdãš il (Integration Limit)ã§ããIntegration Limit ( ç©åç¯å² ) il ã¯ç©åé (Eq. 1ãåç § ) ãããŠãŒã¶ãèšå®ããæ倧å€ãšçãããããŸãã¯å°ããå€ã«ãªãããã«å¶éãããã®ã§ãããã®ç¯å²ã¯ç©åãæå°ã«ãããã®ã§ãããããã㯠"WIND-UP"( ã¢ãŒã¿ã®å šäœåäœã®ãªãŒããŒã·ã¥ãŒãã«ããåœ±é¿ )ããªã»ãããããã®ã§ããæ£ã®ã¿ã®å ¥åå€ã¯ç©åé ã®çµ¶å¯Ÿå€ã«çžåœããŸããç©åé ã®å€ã ilãè¶ ãããšãã(åºæã® Sign
ãæã£ã ) ilã®å€ã¯ã埮ç©åã®å€ã«çœ®ã代ãããŸãã
埮åé ã®ãµã³ããªã³ã°åšæã¯ãã®ã³ãã³ãã«ãã£ãŠããã°ã©ã å¯èœã§ããã³ãã³ãã³ãŒããæžã蟌ãã åŸããã®æåã® 2 ã€ã®ããŒã¿ãã€ãã¯åŸ®åé ã®ãµã³ããªã³ã°åšæãèŠå®ããŸãã4ã€ã®ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ã®ãã¡ã©ãã (1 ã€ãããã¯è€æ° ) ããå ¥ã£ãŠããããŒã¿ãã€ãã«ãã£ãŠæžã蟌ãŸããããšã«ãªããŸããæžã蟌ãŸããé ã¯äžäœãã€ãããã§ãããã®ããã« 2 ã€ã®ããŒã¿ãã€ãã¯ããã®çš®é¡ãšæ°éã®æ å ±ãLM628ã«äŒéãããã£ã«ã¿å¶åŸ¡ã¯ãŒãã«ãã£ãŠæ§æãããŠããŸããTable 4ãåç §ããŠãã ããã
TABLE 4. Filter Control word Bit Allocation
ããã 8 ïœ 15 ã¯åŸ®åé ã®ãµã³ããªã³ã°åšæãéžæãããã®ã§ããTable 5ãåç §ããŠãã ããããŠãŒã¶ã¯ããã£ã«ã¿å¶åŸ¡ã³ãã³ããé£ç¶ããŠæžã蟌ãŸããŠããéã«ããããã®ããããäžéšçã« SAVEããŠãã〠Restoreããªããã°ãªããŸããã
ãã£ã«ã¿å¶åŸ¡ã¯ãŒãã®ããã4ïœ 7ã¯äœ¿ãããŸããã
ããã 0ïœ 3ã¯ãæžã蟌ãŸããçŽåã®ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ã»ã¯ãŒãããã®æ°ãåãã LM628ã«éç¥ããŸããããã§ããŠãŒã¶ã¯ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ã®ãã¡ãããã€ãã¢ããããŒãããã (ãããã¯ããªãã )ã®éžæãããŸãããã®éžæã¯ããã£ã«ã¿å¶åŸ¡ã¯ãŒãã«äžèŽãããããäœçœ®ã§ãããžãã¯ä¿¡å·ã«ãã£ãŠè¡ãããŸãã
Bit Position FunctionBits 15 thru 7 Not Used
Bit 6 Breakpoint Interrupt
Bit 5 Position-Error Interrupt
Bit 4 Wrap-Around Interrupt
Bit 3 Index-Pulse Interrupt
Bit 2 Trajectory-Complete Interrupt
Bit 1 Command-Error Interrupt
Bit 0 Not Used
Bit Position FunctionBit 15 Derivative Sampling Interval Bit 7
Bit 14 Derivative Sampling Interval Bit 6
Bit 13 Derivative Sampling Interval Bit 5
Bit 12 Derivative Sampling Interval Bit 4
Bit 11 Derivative Sampling Interval Bit 3
Bit 10 Derivative Sampling Interval Bit 2
Bit 9 Derivative Sampling Interval Bit 1
Bit 8 Derivative Sampling Interval Bit 0
Bit 7 Not Used
Bit 6 Not Used
Bit 5 Not Used
Bit 4 Not Used
Bit 3 Loading kp Data
Bit 2 Loading ki Data
Bit 1 Loading kd Data
Bit 0 Loading il Data
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ãããã¯ãŒããæ§æãããã¢ãšããŠæžã蟌ãŸããŸããLM628ãžéãããŒã¿ã¯ãŒãã®é åºã¯ããã£ã«ã¿å¶åŸ¡ã¯ãŒãã®èª¬æã«ããããã«äžåãã®é åºã«ãªããŸããäŸãã°ãkpããå§ãŸãkiãkdãilã®é åºã«ãªããŸããåã ã®ã¯ãŒãã®é åºã¯äžäœãã€ãããå§ãŸããŸããã¯ãŒã(2ãã€ã)ãæžã蟌ãåã«ãèªã¿èŸŒãã¹ãã¹ãã€ã¿ã¹ãã€ãã®ããžãŒãããããã§ãã¯ããå¿ èŠããããŸããå¿ èŠãªããŒã¿ã¯äžèšã«è¿°ã¹ãæäœã«ãã£ãŠãããã«ãããã¡æ§æã®æåã®ãããã¡ã«æžã蟌ãŸããŸããã€ãŸããUDFã³ãã³ããå®è¡ããããŸã§ãããŒã¿ã¯ 2 çªç®ã® ( åäœããŠãã ) ã¬ãžã¹ã¿ã«äŒéãããŸãããããã«ãã£ãŠLM628ãæå©ã«äœ¿çšã§ããŸããã€ãŸãããŠãŒã¶ã¯å®éã«äœ¿çšããåã«å€§éãªããŒã¿ãå ¥åã§ããŸãããã®ç°¡åãªãã€ãã©ã€ã³å¹æã«ãããã¹ãã»ã³ã³ãã¥ãŒã¿ã®ããŒã¿éä¿¡ã§ã®é害ãåããããšãšãã«ãåæåŒå€è»žå¶åŸ¡ã·ã¹ãã ãããç°¡åã«äœããŸãã
UDF COMMAND: UPDATE FILTER
ã³ãã³ãã»ã³ãŒã : 04 Hex
ããŒã¿ãã€ã : ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
UDFã³ãã³ãã¯ãã£ã«ã¿ã»ãã©ã¡ãŒã¿ãšLFILã³ãã³ãã«ãã£ãŠããã°ã©ã ããããã®ã®ç¹æ§ãã¢ããããŒãããããã«äœ¿çšããŸããããã€ãã®ããããã¯ãã¹ãŠã®ãã©ã¡ãŒã¿(埮åé ãkpãkiãkdãil)ã¯é©åãªã³ãã³ãã«ãã£ãŠå€æŽå¯èœã§ããããã£ã«ã¿ã®ã¢ããããŒãã¯äžå®å®ãªçŸåãŸãã¯ã¹ããªã¢ã¹ãæžããããã®èšç®ãšåæããŠããŸãã
è»è·¡å¶åŸ¡ã³ãã³ã以äžã® 2 ã€ã®ãŠãŒã¶ã³ãã³ãã¯è»è·¡å¶åŸ¡ãã©ã¡ãŒã¿ ( äœçœ®ãé床ãå é床 )ãåäœã¢ãŒã (äœçœ®ãŸãã¯é床 )ãæ¹å (é床ã¢ãŒãã®ã¿ )ãèšå®ããããã«äœ¿ãããŸãããããã¯ãåžæããã¢ãŒã¿åäœãèšå®ããããããããã¯ããã¥ã¢ã«åæ¢ã¢ãŒããéžæããããã«å¿ èŠã§ãããŸãããããã®ã·ã¹ãã ã®å€åããã¿ã€ãã³ã°ãå¶åŸ¡ããããã«ãå¿ èŠã§ãã
LTRJ COMMAND: LOAD TRAJECTORY PARAMETERS
TABLE 5. Derivative-Term Sampling Interval Selection Codes
Note 8: èšèŒã®åãµã³ããªã³ã°åšæ㯠8.0MHzã®ã¯ããã¯åšæ³¢æ°åäœæã®ãã®ã§ãã256ÎŒs㯠2048/8MHzã«çžåœããŸããä»ã®ã¯ããã¯åšæ³¢æ°ã®å Žåã¯ããµã³ããªã³ã°åšæã®ã¹ã±ãŒãªã³ã°ãå¿ èŠã§ãã
ã¢ãŒã¿åäœãå¶åŸ¡ããããã« LM628ã«æžã蟌ãŸããè»è·¡å¶åŸ¡ãã©ã¡ãŒã¿ã¯ãå é床ãé床ãäœçœ®ã§ããããã«å ããŠãããã 3
ãã©ã¡ãŒã¿ãçµ¶å¯Ÿå ¥åã§ããããšããã«é¢ããæ瀺ã¯ãã®ã³ãã³ãã«ãã£ãŠããã°ã©ã å¯èœã§ããåæ§ã«ãé床ã¢ãŒãã®éžæãšæ¹åãããã¥ã¢ã«åæ¢ã¢ãŒãã®éžæãšå®è¡ããããããã®ã³ãã³ãã«ãã£ãŠããã°ã©ã å¯èœã§ãããã®ã³ãã³ãã³ãŒããæžã蟌ãã åŸãæåã®2 ããŒã¿ãã€ãã¯ãã©ã¡ãŒã¿ã®å€åãèŠå®ããŸããæžã蟌ãŸããé ã¯äžäœãã€ãããã§ãããã®ããã« 2 ã€ã®ããŒã¿ãã€ãã¯ãã®çš®é¡ãšæ°éã®æ å ±ã LM628ã«äŒéããè»è·¡å¶åŸ¡ã¯ãŒãã«ãã£ãŠæ§æãããŠããŸããTable 6ãåç §ããŠãã ããã
TABLE 6. Trajectory Control Word Bit Allocation
ããã 12 ã¯é床ã¢ãŒãã®ãšããã¢ãŒã¿ã®æ¹åãèšå®ããŸãããã®ããããããžãã¯1ã«ã»ããããã°æ£æ¹åã«ãªããŸãããã®ãããã¯äœçœ®ã¢ãŒãã®ãšãã«ã¯æ©èœããŸããã
ããã11ã¯ãLM628ãé床ã¢ãŒã (ããã11-ããžãã¯1)ããããã¯äœçœ®ã¢ãŒã (ããã11-ããžãã¯0)ã«èšå®ããŸãã
ã³ãã³ãã»ã³ãŒã : 1F Hex
ããŒã¿ãã€ã: 2ïœ 14
ããŒã¿ç¯å² :
è»è·¡å¶åŸ¡ã¯ãŒã : 説æãåç §äœçœ® : C0000000ïœ 3FFFFFFF Hex
é床 : 00000000ïœ 3FFFFFFF Hex
(æ£ã®ã¿ )
å é床 : 00000000ïœ 3FFFFFFF Hex
(æ£ã®ã¿ )
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : 説æãåç §
Bit Position Selected Derivative
15 14 13 12 11 10 9 8 Sampling Interval
0 0 0 0 0 0 0 0 256 ÎŒs
0 0 0 0 0 0 0 1 512 ÎŒs
0 0 0 0 0 0 1 0 768 ÎŒs
0 0 0 0 0 0 1 1 1024 ÎŒs, etcâŠ
thru 1 1 1 1 1 1 1 1 65,536 ÎŒs
Bit Position Function
Bit 15 Not Used
Bit 14 Not Used
Bit 13 Not Used
Bit 12 Forward Direction (Velocity Mode Only)
Bit 11 Velocity Mode
Bit 10 Stop Smoothly (Decelerate as Programmed)
Bit 9 Stop Abruptly (Maximum Deceleration)
Bit 8 Turn Off Motor (Output Zero Drive)
Bit 7 Not Used
Bit 6 Not Used
Bit 5 Acceleration Will Be Loaded
Bit 4 Acceleration Data Is Relative
Bit 3 Velocity Will Be Loaded
Bit 2 Velocity Data Is Relative
Bit 1 Position Will Be Loaded
Bit 0 Position Data Is Relative
Bit Position Function
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å é床ãšé床㯠32ããã(æ£ã®ã¿ )粟床ã§ãããç¯å²ã¯0 (00000000Hex)ïœ 230ïŒ 1 (3FFFFFFF Hex)ã§ããäž¡æ¹ãšãäžäœ 16ãããã¯ãåæ°ããŒã¿ãšããŠäžžããããŸããåŸã£ãŠããããã®ãã©ã¡ãŒã¿ã®äžäœæŽæ°ããŒã¿ã¯ã(0ïœ 31ã®ãããã®ãã¡ )ããã16
ã§ããèšç®ãããé床ãã³ãŒãåããããã«ãäŸãã°ãåžæé床 (ã«ãŠã³ã /ãµã³ãã«åšæ )ã« 65,536ããããŠãæåŸã«ãã€ããªã³ãŒãã«å€æããŸããå é床ã®åäœã¯ã«ãŠã³ã/ã«ãŠã³ã/ãµã³ãã«ã§ããäœçœ®ã¯ 32ãããæŽæ°ã§ããããã®ç¯å²ã¯ïŒ 230 (C0000000 Hex)ïœ 230ïŒ 1 (3FFFFFFF Hex)ã§ãã
äžèšã«è¿°ã¹ãæäœã«ãã£ãŠãå¿ èŠãªããŒã¿ã¯ããã«ãããã¡æ§æã®æåã®ãããã¡ã«æžã蟌ãŸããŸããã€ãŸããSTTã³ãã³ããå®è¡ããããŸã§ãããŒã¿ã¯ 2çªç®ã® (åäœããŠãã )ã¬ãžã¹ã¿ã«äŒéãããŸãããããã¯æå©ãªç¹ã§ããŠãŒã¶ãå®éã«äœ¿çšããåã«å€§éã®ããŒã¿ãå ¥åã§ããããã§ãããã®ç°¡åãªãã€ãã©ã€ã³å¹æã«ãã£ãŠããã¹ãã»ã³ã³ãã¥ãŒã¿ã®ããŒã¿éä¿¡ã«ãããé害ãåããããšãšãã«åæåŒå€è»žå¶åŸ¡ã·ã¹ãã ãããç°¡åã«äœããŸãã
STT COMMAND: START MOTION CONTROL
ã³ãã³ãã»ã³ãŒã : 01 Hex
ããŒã¿ãã€ã: ç¡
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å é床ãå€ãããªããã°å¯èœ
STTã³ãã³ãã¯ãåžæããè»è·¡ãšLTRJã³ãã³ãã«ãã£ãŠããã°ã©ã ãããè»è·¡ã®ã¹ããã¯ãå®è¡ããããã«äœ¿ãããŸããå€è»žå¶åŸ¡ã®åæ (1ãµã³ãã«åšæ以å )ããšãããã«ã¯ãåã ã® (ããã³ãã¹ãŠã® ) 軞ã®ããã«å¿ èŠãªè»è·¡ãã©ã¡ãŒã¿ãããŒãããåæã«ããã¹ãŠã®è»žã«åç¬ã® STT ã³ãã³ããå®è¡ããŸãããã®ã³ãã³ãã¯ãããæ¡ä»¶äžãé€ããŠãã€ã§ãå®è¡å¯èœã§ãããã®çŠæ¢æ¡ä»¶ãšã¯ãå é床ãå€åããŠããã€è»è·¡ãå®äºããŠããªãå Žåããããã¯å é床ãå€åããŠããã€ã¢ãŒã¿ãããã¥ã¢ã«åæ¢ããŠããªãå Žåã§ããSTTã³ãã³ããã¢ãŒã¿åäœäžã«å®è¡ããããã€å é床ãå€åããŠããå Žåã¯ãã³ãã³ãã»ãšã©ãŒã®å²ã蟌ã¿ãçºçãããã®ã³ãã³ãã¯ç¡å¹ãšãªããŸãã
ããŒã¿ã»ã¬ããŒãã£ã³ã°ã»ã³ãã³ã以äžã® 7ã€ã®ãŠãŒã¶ã³ãã³ãã¯LM628ã®å éšã¬ãžã¹ã¿ããããŒã¿ãåŸãããã«äœ¿çšããŸããã¹ãã€ã¿ã¹ãäœçœ®ãé床ã®æ å ±ãäŒéãããŸããRDSTAT ãé€ããŠãæåã«ã³ãã³ãããŒãã«äžèŽããã³ãã³ããæžã蟌ãã åŸããã®ããŒã¿ã LM628ã®ããŒã¿ããŒãããèªã¿åºãããŸãã
RDSTAT COMMAND: READ STATUS BYTE
ã³ãã³ãã»ã³ãŒã : ç¡
èªã¿åºããã€ã: 1
ããŒã¿ç¯å² : 説æãåç §
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
RDSTAT ã³ãã³ãã¯æ¬æ¥ã³ãã³ãã§ã¯ãããŸããããä»ã®ã³ãã³ããšãšãã«ããã«èŒããŠããã®ã¯ããã¹ãã»ã³ã³ãã¥ãŒã¿ãšã®éä¿¡ãå¶åŸ¡ããã®ã«åžžã«äœ¿ãããããã§ãããã®ã³ãã³ãã«ã¯ãèªå·±èå¥ã³ãŒãããããŸãããã³ãã³ãã¯çŽæ¥ããŒããŠã§ã¢ã«ãã£ãŠãµããŒãããããã€ã§ãå®è¡å¯èœã§ããã¹ãã€ã¿ã¹ãèªã¿åºã 1ã€ã®ãã€ãã¯ãCSãPSãRDããã¹ãŠããžã㯠"ãŒã "ã«ã»ãããããšéžæãããŸããTable 7ãåç §ããŠãã ããã
TABLE 7. Status Byte Bit Allocation
ããã7ã¯ã¢ãŒã¿ãªãã»ãã©ãã°ã§ã(åºåããªãã»ããã»ãã€ããªã³ãŒãã«ãããŠãŒãã«ãªããããªããŒãã¹ã±ãŒã«ã«ãããŠ)ã¢ãŒã¿ãã©ã€ãåºåããªãããŸãã以äžã®æ¡ä»¶ã®ããããã«ãã£ãŠã¢ãŒã¿ã¯å転ãæ¢ããŸããã€ãŸãããã¯ãŒã¢ããã»ãªã»ãããã³ãã³ã RESET é床ã®ãšã©ãŒ(ã³ãã³ã LPESãå®è¡ãããŠãããšã )ããããã¯ã¢ãŒã¿ã®ããã¥ã¢ã«åæ¢ã®ããã«ã³ãã³ã LTRJ ã䜿ãããå Žåãªã©ã§ãã
Bit Position Function
Bit 7 Motor Off
Bit 6 Breakpoint Reached [Interrupt]
Bit 5 Excessive Position Error [Interrupt]
Bit 4 Wraparound Occurred [Interrupt]
Bit 3 Index Pulse Observed [Interrupt]
Bit 2 Trajectory Complete [Interrupt]
Bit 1 Command Error [Interrupt]
Bit 0 Busy Bit
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ããã¥ã¢ã«ã»ã¢ãŒã¿ãªãã»ã¹ãããããããã«ãã³ãã³ãLTRJãšãšãã«ããã7ãã»ããããããšããŠããã³ãã³ã STTãã¢ãŒã¿åæ¢æã«å®è¡ãããªãéããããã 7 ã¯å®éã«æ©èœããªãããšã«æ³šæããŠãã ãããäžèšä»¥å€ã®æ¡ä»¶ã§ã¯ãããã 7ã¯ã³ãã³ã STTã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã 6 ã¯ãéçç¹ã«éãããšãã®ãã©ãã°ã§ãäœçœ®ãã³ãã³ãSBPAãããã㯠SBPRã«ãã£ãŠããŒããããéçç¹ãè¶ãããšããããã6ã¯ããžãã¯1ã«ã»ãããããŸãããã®ãã©ãã°ã¯ãã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ãããã6ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã 5 ã¯é床ã®äœçœ®ãšã©ãŒçºçæã®å²ã蟌ã¿ãã©ãã°ã§ãäœçœ®ãšã©ãŒã®å²ã蟌ã¿æ¡ä»¶ãæºãããšãã«ãããžãã¯1ã«ã»ãããããŸãããšã©ãŒããã³ãã³ã LPEIãããã㯠LPESã«ãã£ãŠããŒããããã¹ã¬ãã·ã§ã«ããè¶ ãããšãããã®ãã©ãã°ã¯çºçããŸãããã®ãã©ãã°ã¯ã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ãããã5ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã4ã¯ãã©ããã¢ã©ãŠã³ãã»ãã©ãã°ã§ãæ°å€ã® "ã©ããã¢ã©ãŠã³ã "ãçºçãããšããããžãã¯1ã«ã»ãããããŸãã "ã©ããã¢ã©ãŠã³ã "ãšã¯äœçœ®ããŒã¿ã LM628 ã®äœçœ®ã¢ãã¬ã¹ç©ºéãè¶ ããããšãæå³ããé床ã¢ãŒãã®éã«èµ·ãããŸããã©ããã¢ã©ãŠã³ããçºçãããšããäœçœ®æ å ±ã¯ãšã©ãŒã®äžã«ããããŠãŒã¶ã¯ãã®ã€ã³ã¿ã©ããã«ãã£ãŠæ£ç¢ºãªäœçœ®ããŒã¿ã確èªã§ããŸãããã®ãã©ãã°ã¯ã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ãããã4ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã3ã¯ãã€ã³ããã¯ã¹ã»ãã«ã¹ã®åŸã«åºãå²ã蟌ã¿ãã©ãã°ã§ã(ã³ãã³ã SIPãå®è¡ãã㊠)ã€ã³ããã¯ã¹ã»ãã«ã¹ãçºçãããšãããžãã¯1ã«ã»ãããããã€ã³ããã¯ã¹äœçœ®ã¬ãžã¹ã¿ãã¢ããããŒããããããšã瀺ããŸãããã®ãã©ãã°ã¯ãã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ãããã3ã¯ã³ãã³ã RSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã 2 ã¯è»è·¡çµäºæã®å²ã蟌ã¿ãã©ãã°ã§ãLTRJã³ãã³ãã«ãã£ãŠããã°ã©ã ãããã〠STTã³ãã³ãã«ãã£ãŠã€ãã·ã£ã©ã€ãºãããè»è·¡ãæçµç¹ã«éãããšããããžãã¯1ã«ã»ãããããŸãããªãŒããŒã·ã¥ãŒããããã㯠(ã¢ãŒã¿ã®èœåãè¶ ããŠé床ãèšå®ãããã㪠)
éçæ¡ä»¶ã®ãããã¢ãŒã¿ããŸã æçµæå®äœçœ®ã«ãªãå ŽåããããŸãããã®ãããã¯ä¿¡å·ã¬ãžã¹ã¿ã®ããã7ãšããã10ã® "OR"ãã®ãã®ã§ãã次ã®ã³ãã³ãRDSIGSãåç §ããŠãã ããããã®ãã©ãã°ã¯ãã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ããããã2ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã1ã¯ã³ãã³ããšã©ãŒå²ã蟌ã¿ãã©ãã°ã§ãæžã蟌ã¿ãé©å (ãããã¯äžé©å ) ã ã£ãå Žåã§ããŠãŒã¶ãããŒã¿ãèªã¿åºãããšãããšãã«ãããžã㯠1ã«ã»ãããããŸãããã®ãã©ãã°ã¯ãã¹ãã€ã¿ã¹ããã¹ã¯ãããã¹ãã»ã€ã³ã¿ã©ãããšã¯å¥ã®æ©èœã§ããããã1ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã0ã¯ããžãŒãã©ãã°ã§ãããŒã¿ã®æžã蟌ã¿ãšèªã¿åºãã®åã«ã¹ãã€ã¿ã¹ã "Busy"ã "Ready"ãã確èªããããã« (ãã¹ãã»ã³ã³ãã¥ãŒã¿ã®ããã°ã©ã ã䜿ã£ãŠ )ãŠãŒã¶ããã°ãã°ãã¹ãããããã«äœ¿ããŸãããã®ãããªæžã蟌ã¿ãšèªã¿åºãã¯ãããã 0 ãããžãã¯ã»ãŒã (ããžãŒã§ã¯ãªãç¶æ ) ã®ãšãå®è¡ãããŸããããžãŒãããã"HIGH"ã®ãšãããããªãã³ãã³ãããããã¯ããŒã¿ã®æžã蟌ã¿ãç¡å¹ãšãªããŸããããŒã¿ã®èªã¿åºãã«ã€ããŠã¯ãããžãŒãããã"HIGH"ã®ãšããçŸåšã® I/OããŒãã»ãããã¡ã®äžèº«ãèªã¿åºãã®ã§ãã£ãŠããã¹ãã»ã³ã³ãã¥ãŒã¿ã«ãã£ãŠèšç®ãããäºæž¬å€ãèªãã®ã§ã¯ãããŸããããã®ãã㪠(ããžãŒãããã "HIGH"ã®ãšãã® )èªã¿åºããæžã蟌ã¿ã¯ãã³ãã³ããšã©ãŒå²ã蟌ã¿ãçããŸããã
RDSIGS COMMAND: READ SIGNALS REGISTER
ã³ãã³ãã»ã³ãŒã : 0C Hex
èªã¿åºããã€ã: 2
ããŒã¿ç¯å² : 説æãåç §
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
LM628ã®å éšä¿¡å·ã¬ãžã¹ã¿ã¯ããã®ã³ãã³ãã䜿çšããŠèªã¿åºããŸããèªã¿åºãé ã¯äžäœãã€ãããã§ãã (0ãé€ãã )ãã®ã¬ãžã¹ã¿ã® 2çªç®ã®ãã€ãã¯ã¹ãã€ã¿ã¹ãã€ããç¹°ãè¿ãããã®ã§ããTable
8ãåç §ããŠãã ããã
TABLE 8. Signals Register Bit Allocation
ããã15ã¯ãã¹ãå²ã蟌ã¿ãã©ãã°ã§ããã¹ãã»ã€ã³ã¿ã©ããåºå (ãã³ 17)ãããžãã¯1ã«ãªã£ããšãã«ãããã15ãããžãã¯1ã«ã»ãããããŸãããã³ 17ã¯ã6ã€ã®ãã¹ãå²ã蟌ã¿æ¡ä»¶ã®ã©ãããçºçãããšã (äžèŽããå²ã蟌ã¿æ¡ä»¶ããã¹ã¯ãããŠããªããšã )ãããžãã¯1ã«ã»ãããããŸããããã15 (ãšãã³ 17)ã¯ã³ãã³ãRSTIã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã 14ã¯å é床æ€åºãã©ãã°ã§ãå éããŒã¿ã LM628ã«æžã蟌ãŸãããšããããžãã¯1ã«ã»ãããããŸããããã14㯠STTã³ãã³ãã«ãã£ãŠã¯ãªã¢ãããŸãã
ããã13ã¯UDFæ€åºãã©ãã°ã§ãUDFã³ãã³ããå®è¡ããããšããããžã㯠1ã«ã»ãããããŸããããã13ã¯ãããã»ãããããŠãããµã³ããªã³ã°åšæã®çµããã§ã¯ãªã¢ãããããããã®ä¿¡å·ã¯ãšãŠãçããã¢ãã¿ãªã³ã°ã«ã¯ããŸã圹ã«ç«ã¡ãŸããã
ããã12ã¯æ£æ¹åãã©ãã°ã§ãLM628 ãé床ã¢ãŒãã®ãšã圹ç«ã¡ãŸãããã®ãããã¯ã¢ãŒã¿ã®æ¹åãæ£æ¹åã瀺ããšãããžã㯠1 ã«ã»ããããã"éæ¹å "ã§ã¯ããžãã¯0ã«ãªããŸããããã12ã¯ã³ãã³ã LTRJã«ãã£ãŠã»ããããã¯ãªã¢ãããŸããã³ãã³ã STTãå®è¡ãããªãéããããã12ã®å®éã®ã»ãããšã¯ãªã¢ã¯ãªãããŸããã
ããã11ã¯é床ã¢ãŒãã»ãã©ãã°ã§ããŠãŒã¶ã (ã³ãã³ã LTRJã«ãã£ãŠ ) é床ã¢ãŒããéžæããããšã瀺ãããã«ããžã㯠1ã«ã»ãããããŸããããã11㯠(ã³ãã³ã LTRJã«ãã£ãŠ )äœçœ®ã¢ãŒããéžæããããšãã«ã¯ãªã¢ãããŸããã³ãã³ã STTãå®è¡ãããªãéããããã11ã®å®éã®ã»ãããšã¯ãªã¢ã¯è¡ãããŸããã
ããã 10ã¯ãªã³ã»ã¿ãŒã²ããã»ãã©ãã°ã§ãè»è·¡ãžã§ãã¬ãŒã¿ãæåŸã«å®è¡ããã STTã³ãã³ãã«ããä»äºãçµãããšãã«ããžã㯠1ã«ã»ãããããŸããããã10ã¯æ¬¡ã® STTã³ãã³ãã«ãã£ãŠã¯ãªã¢ãããŸãã
Bit Position FunctionBit 15 Host Interrupt
Bit 14 Acceleration Loaded (But Not Updated)
Bit 13 UDF Executed (But Filter Not yet Updated)
Bit 12 Forward Direction
Bit 11 Velocity Mode
Bit 10 On Target
Bit 9 Turn Off upon Excessive Position Error
Bit 8 Eight-Bit Output Mode
Bit 7 Motor Off
Bit 6 Breakpoint Reached [Interrupt]
Bit 5 Excessive Position Error [Interrupt]
Bit 4 Wraparound Occurred [Interrupt]
Bit 3 Index Pulse Acquired [Interrupt]
Bit 2 Trajectory Complete [Interrupt]
Bit 1 Command Error [Interrupt]
Bit 0 Acquire Next Index (SIP Executed)
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ã«ãã£ãŠã¯ãªã¢ãããŸãã
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ããã0ïœ 7ã¯ãããã0ãé€ããŠã¹ãã€ã¿ã¹ãã€ããç¹°ãè¿ãããã®ã§ããããã 0 ã¯æ¬¡ã®ã€ã³ããã¯ã¹ãåã蟌ããã©ãã°ã§ãã³ãã³ãSIP ãå®è¡ããããšãããžã㯠1ã«ã»ãããããŸããã€ãŸãã次ã®ã€ã³ããã¯ã¹ãã«ã¹ãçºçããªãéããããã0㯠"0"ã®ãŸãŸã§ãã
RDIP COMMAND: READ INDEX POSITION
ã³ãã³ãã»ã³ãŒã : 09 Hex
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ããŒã¿ç¯å² : C0000000ïœ 3FFFFFFF Hex
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ãã®ã³ãã³ãã¯ãã€ã³ããã¯ã¹ã»ã¬ãžã¹ã¿ã«èšé²ãããäœçœ®ãèªã¿åããã®ã§ããããã«ãã£ãŠã·ã¹ãã ãšã©ãŒããã§ãã¯ã§ããŸããSIP
ã³ãã³ãããã€å®è¡ãããããšããã€ã³ã¯ãªã¡ã³ã¿ã«ã»ãšã³ã³ãŒãã®åè§£èœ (ãšã³ã³ãŒãã»ã©ã€ã³ã® 4éå )ã«ãã£ãŠåŸãããäœçœ®ãã€ãŸãæ°ããã€ã³ããã¯ã¹äœçœ® -以åã®ã€ã³ããã¯ã¹äœçœ®ïŒœã¯åžžã«æŽæ°ã§ãããã¹ãã»ã³ã³ãã¥ãŒã¿ã«ããèšç®ã®ããã« RDIPã³ãã³ãã䜿çšããã°ããããã®ããŒã¿ã®ç²åŸã容æã«ãªããŸãããã®ã³ãã³ãã¯ãŸããHOMEããããã¯ä»ã®ç¹å¥ãªäœçœ®ãç¢ºèª /å€å¥ããããã«ã䜿ãããŸãã4 ãã€ãã®èªã¿åãã¯äžäœãã€ãããäžäœãã€ãã®é ã§ãã
RDDP COMMAND: READ DESIRED POSITION
ã³ãã³ãã»ã³ãŒã : 08 Hex
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ããŒã¿ç¯å² : C0000000ïœ 3FFFFFFF Hex
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯ããããã¡ã€ã«ã»ãžã§ãã¬ãŒã¿ã®ç®æš (çŸç¶ )äœçœ®åºåãèªã¿åããŸããããã¯ã«ãŒãã»ãµãã³ã°ã»ãžã£ã³ã¯ã·ã§ã³ãžã®"ã»ãããã€ã³ã"å ¥åã§ãã4ãã€ãã®èªã¿åãã¯äžäœãã€ãããäžäœãã€ãã®é ã§ãã
RDRP COMMAND: READ REAL POSITION
ã³ãã³ãã»ã³ãŒã : 0A Hex
èªã¿åºããã€ã: 4
ããŒã¿ç¯å² : C0000000ïœ 3FFFFFFF Hex
ã¢ãŒã¿åäœäžã®ã³ãã³ãã®å®è¡ : å¯èœ
ãã®ã³ãã³ãã¯ã¢ãŒã¿ã®çŸåšã®å®è¡äœçœ®ãèªã¿åããŸããããã¯ã«ãŒãã»ãµãã³ã°ã»ãžã£ã³ã¯ã·ã§ã³ãžã®ãã£ãŒãããã¯å ¥åã§ãã4ãã€ãã®èªã¿åãã¯äžäœãã€ãããäžäœãã€ãã®é ã§ãã
RDDV COMMAND: READ DESIRED VELOCITY
ã³ãã³ãã»ã³ãŒã : 07 Hex
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