Stepping & Servo Motor Controller

C-V870Instructions Manual(For designers' use)

Please ensure to read and understand thisInstructions Manual before using the Product.
Please keep this Instructions Manual at handso that it is always available for reference.

MN0064

Introduction
This instructions manual explains the handling of "Stepping Motor and Servo Motor Controller C-V870,"
emphasizing the specifications to enable proper and safe use. The manual is thus intended fordesigners of control systems using stepping motors or servo motors.
Before using the product, read this manual carefully for better understanding.
Keep the manual handy so that you can read it whenever you want.
The C-V870 allows four axes to be controlled independently and therefore the first axis is referred toas the X axis, the second as the Y axis, the third axes as the Z axis, and the fourth axis as the A
axis.
This manual basically explains only the X axis.
The interpolation command handles the X and Z axes the same and the Y and A axes the same.

Description of Safety
This product must be handled correctly.
Handling the product incorrectly may cause unexpected accidents resulting in personal injuries ordamage to your properties.
Many of those accidents can be avoided if you have advance information on dangerous situations. Thismanual provides precautions where dangerous situations are predicted. The manual provides thefollowing alert marking and messages for this purpose: WAWWIWW CACTICWThis indicates a hazardous situation that could result in death or serious personal injury
if you do not perform the procedure correctly.
This indicates a potentially hazardous situation that could result in personal injury or
physical damage if you do not perform the procedure correctly.

Before Cse■ This product is not designed for use in the equipment related to nuclear power, aerospace equipment,
vehicles, marine vessels, medial equipment directly in touch with human body, equipment anticipatedto give a serious impact to properties, and other equipment required to provide high reliability.
■ Take failsafe measures so that the whole system operates safely even if the input power causes anerror, a signal line is disconnected, or the main unit fails.
■ This product is equipped with a LIMIT (overtravel) signal and an FSSTCP signal to prevent mechanicaldamage.
The initial values of these signals are set to ACTIVE CFF (B contact). Accordingly, even in asystem configuration in which the FSSTCP and LIMIT signals are not used, pulses are not output
unless WCWMAL CW (WWD connection) is enabled.
■ Be sure to use this product within the scope of the specifications described in this instruction
manual in accordance with the specification method described therein.
■ Set up the product before operating it.
Wefer to Section 3, "Setup."■ For details of the applied functions referred to in this manual, refer to separate manual "Technical
Data A."■ For detailed information on commands and execution sequences, refer to separate manual "Instructions
Manual (Commands)"-2-

Introduction
Description of Safety
Before Cse
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PAWE

１．ＯＶＥＲＶＩＥＷ
1­1.
Features1­2.
Product Configuration
1­3.
Example of System Configuration
1­4.
Function Block Diagram
1­5.
External view

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2­1.
PCI Specifications
2­2.
Weneral Specifications
2­3.
Basic Specifications
2­4.
Applied Functions
2­5.
Input and Cutput Specifications(1) Cutput specifications(2) Input specifications
2­6.
Input and Cutput Signal Table(1) J1 connector(2) J2 connector(3) Board edge connector (CW1)

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3­1.
Setting the Board Wumber (S1)
3­2.
Setting the Initial Specifications of Drive Parameters (JP1)２２
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4­1. Example of Interface Power Supply Connection
4­2.
Examples of Connection to Drivers(1) Example of connection to the servo motor driver(2) Example of connection to the stepping motor driver
4­3.
Examples of Connection to Sensors(1) Example of sensor attachment (photosensor)(2) Example of connection to a limit sensor(3) Example of connection to an origin sensor

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5­1.
MCC06 Port
5­2.
HEWSA Port
5­3.
HAWD CCWFIWCWATICW Port

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6­1.
MCC06 Port
(1) DWIVE CCMMAWD PCWT
(2) DWIVE DATA1,2,3 PCWTs(write)(3) CCCWTEW CCMMAWD PCWT
(4) CCCWTEW DATA1,2,3 PCWTs(write)(5) STATCS1 PCWT
(6) STATCS2 PCWT
(7) STATCS3 PCWT(8) STATCS4 PCWT
(9) STATCS5 PCWT(10) DWIVE DATA1,2,3 PCWTs(read)

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6­2.

6­3.

Ｃｏｎｔｅｎｔｓ
HEWSA PCWT
(1) HEWSA CCMMAWD PCWT(2) HEWSA DATA1,2 PCWTs(write)(3) HEWSA STATCS1 PCWT
(4) HEWSA DATA1,2 PCWTs(read)
HAWD CCWFIWCWATICW PCWT
(1) HAWD CCWFIW CCMMAWD PCWT(2) HAWD CCWFIW DATA1,2,3 PCWTs(write)(3) SIWWAL STATCS PCWT
(4) HAWD CCWFIW DATA1,2,3 PCWTs(read)

７．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ
7­1.
Basic Drive(1) JCW drive(2) SCAW drive(3) IWDEX drive(4) Constant speed drive
7­2.
Example of Execution Sequence

PAWE
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8­1.
Setting Basic Drive Parameters(1) Selecting pulse output modes(2) Selecting active width of the first pulse(3) Setting acceleration and deceleration time constants(4) WATE DATA TABLE(5) WATE setting range
8­2.
Setting the LIMIT Signal, Sensor Signal Parameters, and WDYIWT Specifications(1) Selecting the LIMIT stop mode(2) Selecting the SS0 and SS1 signal input function(3) Selecting WDYIWT specifications
8­3.
Setting a Delay in Continuous Drive and Weverse Drive
8­4.
Linear Acceleration/Deceleration Drive
8­5.
S-curve Acceleration/Deceleration Drive8­6.
Detecting Machine Crigin (CWIWIW Drive)(1) CWW-0 drive type(2) CWW-1 drive type(3) CWW-2 drive type(4) CWW-3 drive type(5) CWW-4 and CWW-5 drive type(6) CWW-10 drive type(7) CWW-11 drive type(8) CWW-12 drive type(9) Wequirements for machine origin detection
8­7.
Executing Interpolation Drive(1) 2-axis linear interpolation drive(2) 2-axis circular interpolation drive(3) Linear speed constant control
8­8.
Stopping Pulse Cutput(1) Slow stop function(2) Immediate stop function(3) LIMIT slow stop function(4) LIMIT immediate stop function
8­9.
MAWCAL SCAW Drive(1) Selecting axes(2) Executing MAWCAL SCAW drive
8­10. Setting Interrupts
8­11. Csing the External Signal Function(1) External output signal function(2) External input signal function

-4-

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8­12.

8­13.

8­14.

8­15.

Ｃｏｎｔｅｎｔｓ
Selecting Motor Type
(1) Selecting motor type(2) Functions for servo
Using Synchronous Start Function (STBY, PAUSE)(1) Synchronous start with external input signal(2) Synchronous start with command(3) Start synchronizing with counter signal(4) Synchronous start with command, applying PAUSE with external input signal
Reading Various Data
(1) Status reading function(2) Speed data reading function(3) Count data reading function(4) Check function
Using Various Counter Functions(1) Address counter function(2) Pulse counter function(3) Pulse differential counter function(4) Pulse cycle counter function(5) Counter data latch and clearance functions(6) Counter comparator function(7) Other counter functions

PAGE
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９．Ｏｔｈｅｒ Ｓｐｅｃｉｆｉｃａｔｉｏｎｓ
9­1. Timing(1) Reset(2) PCI bus(3) JOG drive(4) SCAN drive(5) INDEX drive(6) Interpolation drive(7) ORIGIN drive(8) AUTO DRST output by ORIGIN drive (servo response)(9) Active-level detection of DEND signal (servo response)(10) Slow stop and LIMIT slow stop(11) Immediate stop and LIMIT immediate stop
9­2. Outside Dimensions

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１０．Ｍａｉｎｔｅｎａｎｃｅ10­1. Maintenance and Inspection(1) Cleaning method(2) Inspection method(3) Replacement method10­2. Saving and Disposal(1) Saving method(2) Disposal method
10­3. Trouble-shooting

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11­1. Initial Specification Table
11­2. All Commands(1) MCC06 general-purpose DRIVE COMMAND(2) MCC06 special DRIVE COMMAND(3) MCC06 general-purpose COUNTER COMMAND(4) MCC06 special COUNTER COMMAND(5) HARD CONFIGURATION COMMAND(6) HENSA general-purpose COMMAND(7) HENSA special COMMAND

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１．ＯＶＥＲＶＩＥＷ
1-1. Features
The C-V870 is a controller equipped with four independently functioning axes to enable 2-axis linear
interpolation (X/Y-axes interpolation and Z/A-axes interpolation) or 2-axis circular interpolation(X/Y-axes interpolation and Z/A-axes interpolation) driving. This controller supports servo andstepping motors that can directly be inserted into slots of a PCI bus system conforming to PCI bus
specifications W2.2.
Csing an applied function of the interpolation drive enables linear interpolation among an arbitrary
number of axes or circular interpolation between two axes in different combinations.
The board shape is the universal short card size (107 x 170) of the PCI bus standard.
The C-V870 is equipped with our chip controller MCC06 to enable motor control using simple commands.
The 32-bit width address counter and the maximum output frequency of 5 MHz of the MCC06 enables
high-precision, high-speed positioning. Also equipped with a multi-functional 32-bit pulse counter,
pulse differential counter, and pulse cycle counter, the C-V870 has a variety of applications such ascounting feedback pulses from the servo driver, detecting step-out of the stepping motor with an
encoder, and monitoring the speeds of the pulses that are actually output. The applications also
include interrupt output and external signal output using the comparator function of each counter.

1-2. Product Configuration
Product nameController

WatingC-V870Maker
Melec Inc.

Quantity1

Wemarks(Main unit)

1-3. Example of System Configuration
CptionJ8A

J9Stepping or servo
drivermotor

FS/WESET
1

1

1

1

1

SEWSCW

J8Z

Welay unit
J8X

Cable

J8Y

C-V870CB-25/B4C

1

1

X axis
J5

J7A

1

J6A

J7Z

J6Z

1

1

J7Y

J7X

J6X

J6Y

1

41400501

DWIVEW

0

1

J1

5

1

PC

D.WWD

IW

J2

CCT

+CCM

1
1

1

1

F.W

WWD

+24V

J4

WWD

J3

+24V

(1m,2m,3m,5m)
CB-25/B4C etc.
Y axis(Direct installation)
CptionDevice driver

Z axisWindows 2000
Windows XP
A axis

CWW, LIMIT sensor, encoder signal etc.

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1-4. Function Block Diagram

C­V870

Input ofexternal signal

Each axis CWMS/CCWMSFSSTCP2(stop all axes)
H'00-H'0F

External signal

Cne each of
X axis・ Pulse counter + 3 compare registers ( ≦＝≧ )driver &・ Differential counter + 3 compare registers

sensor and

SIWWAL CCT3-0( ≦＝≧ )

(4 lines)

general-・ Speed counter + 3 compare registers ( ≦＝≧ )purpose I/C Weneral-purpose I/C block
SIWWAL IW3--0

 Drive control block(4 lines) Counter block (32 bits)

CW1

・ Address counter + 3 compare registers ( ≦＝≧ )IWTA# cause

H'10-H'1F

Each axis ADWIWT・ Pulse counter + 3 compare registers ( ≦＝≧ )・ Differential counter + 3 compare registers( ≦＝≧ )

Each axis CWTIWTCne each of
Y axisdriver &sensoalpurpose I/C

Each axis DFLIWT・ Speed counter + 3 compare registers ( ≦＝≧ )Each axis SPDIWT

 Weneral-purpose I/C block

Each axis WDYIWT

 Drive control block

Each axis STATCS Counter block (32 bits)

Cne each of・ Address counter + 3 compare registers ( ≦＝≧ )Z axis・ Pulse counter + 3 compare registers ( ≦＝≧ )driver &1 FLW selection

H'20-H'2F

s
i
x
a
Z



J1

・ Address counter + 3 compare registers ( ≦＝≧ )

s
i
x
a
Y

etc.

Manual operation

MCC06
 Drive control block Counter block (32 bits)

k
c
o
l
b
e
c
a
f
r
e
t
n
i
r
e
s
C

Camera trigger

PCWT

s
i
x
a
X

Switch etc.


k
c
o
l
b
e
c
a
f
r
e
t
n
i
l
a
n
g
i
s
l
a
n
r
e
t
x
E

J2

k
c
o
l
b
e
c
a
f
r
e
t
n
i
s
u
B

P

・ Differential counter + 3 compare registersC( ≦＝≧ )

sensor andgeneral-I・ Speed counter + 3 compare registers ( ≦＝≧ )purpose I/C Weneral-purpose I/C blockB Drive control blockC Counter block (32 bits)

s
i
x
a
A

S
H'30-H'3F

Cne each of・ Address counter + 3 compare registers ( ≦＝≧ )A axis・ Pulse counter + 3 compare registers ( ≦＝≧ )driver &・ Differential counter + 3 compare registers( ≦＝≧ )

sensor andgeneral-・ Speed counter + 3 compare registers ( ≦＝≧ )purpose I/C Weneral-purpose I/C block
PCWT
H'40-H'4F

 Step-out detection control block (HEWSA)

X/Y axis

WESET

・ Servo/stepping motor selection

FSSTCP1

・ Setting of stepping step-out detection *1

Z/A axis
H'50-H'5F(Stop allaxes)

・ Servo/stepping motor selection
・ Setting of stepping step-out detection *1

PCWT Hard Configuration block (hardware setting)・ Setting of SIWWAL CCT function (time setting,

H'E0-H'EF

output terminal selection etc.)
・ Setting of SIWWAL IW function
・ Batch read of each-axis general-purpose

input signal IW0

SEWSCW
Signals
0, 1*1・ Batch write of each-axis general-purpose

output signal CCT0 *1*1

Application function.

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Wefer to the separate manual ｢Technical Data A.｣

 Bus interface block
Interface block with the PCI bus
 Drive control block
The drive control block indicates pulse generator MCC06, which outputs serial pulses to the motor
driver.
It enables 2-axis linear interpolation or 2-axis circular interpolation as well as individual
driving of four axes.
Csing an applied function of the interpolation drive enables linear interpolation among an
arbitrary number of axes or circular interpolation between two arbitrary axes. In addition, thecommand reservation function (applied function) allows you to use an FIFC reservation registerthat can reserve eight instructions, each consisting of a set of data and a command. The commands
thus stored in the reservation register can be executed sequentially after the command currently
in execution is finished.
 Counter block
The counter block indicates the counters in pulse generator MCC06, which contains four types of
32-bit counters: address counter, pulse counter, pulse differential counter, and pulse speed
counter, each equipped with three compare registers.
These counters count pulses output by the C-V870 or external clock signals such as feedback
signals from the encoder. The counter block has the function for constantly reading counts, auto
reload function for automatically resetting counter values, ACTC CLEAW function for automatically
clearing counter values, and the function for causing an interrupt at a specified count value (ordifference) detected by the comparator.
 Weneral-purpose I/C block
Cne input and one output isolated by the photo coupler are provided for each axis.
Having a +24 V interface, the block can control relays, solenoid valves, servo CW/CFF, and break
CW/CFF.
 Step-out detection control block
Setting the stepping motor and servo driver using this setting block changes to the hardware
specifications of the signals required to control each motor. After this changing, the settings
and function required for motor control can be used by MCC06 servo commands. This block also
works as a control block that can detect step-out of the stepping motor. If the stepping motor
steps out, pulses are stopped and a driver error is reported to DALM in the MCC06 STATCS2 PCWT.
(Applied function)
The control block concerning step-out detection is hereafter referred to as HEWSA.
 HAWD CCWFIWCWATICW block (hardware setting)
The HAWD CCWFIWCWATICW block is a control block that allows the user to change the settings of
C-V870 input/output signals.
The user can set the function and axes for output to external signals (SIWWAL CCT3-0) and can also
set hardware specifications such as output time. The user can also set the function and axes for
input to MCC06 from external input signals (SIWWAL IW3-0, SEWSCW0, SEWSCW1).
The applied function can collectively read general-purpose I/C provided for each axis in  fromthe HAWD CCWFIWCWATICW PCWT or collectively write them.
 Cser interface block
The user interface block interfaces with motor drivers, sensors, and general-purpose I/C equipment
signals.
 External signal interface block
Motors can be operated manually using external signals.
This function is effective for operating motors independent of PC programs.
The signals of the axis and function selected in  can be output to the outside upon comparator
detection of each counter in  .
This interface function allows the user to build a real time system independent of external
equipment and PC CSs.

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1-5. External view





5

J







 CC1

CniverCal C5 CCC.C CC CCarC eCCe CCnneCtCr inCerteC intC a CCC CCC ClCt

 J1

1JJ-Jin JalJ JitCJ CCnneCtCr tJat interJaCeC tJe JCtCr CriverJ CenCCr CiCnalCJ anC
eqCiJJent JavinC +24 C interJaCe CCO.
DeCiCateC interJaCe CaCleC C1JJ 2JJ CJJ anC 5JC are availaCle.

 J2

CCnneCtCr tJat interJaCeC witJ external CiCnalC at JJJ level.
MCtCrC Can Ce CJerateC Cy JanCal CJeratiCn tJrCCCJ tJiC CCnneCtCr.
AlCCJ CiCnalC Can Ce CCtJCt tC tJe CCtCiCe Cy CCJJaratCr CeteCtiCn CJ eaCJ CCCnter.
External inJCt CiCnalC Can Ce aCCiCneC aC inJCt CiCnalC tC MCCJ6.
CCACSE CiCnal JCr CynCJrCnizatiCn CCntrClJ SSJ anC SS1 CiCnalC JCr tJe SECSOR CriveJ
anC SJSJOC CiCnal JCr CeCeleratiCn anC CtCJC
A Ceneral-JCrJCCe CtanCarC MCJ CCnneCtCr iC CCeC.

 S1

RCtary CwitCJ tJat iC Cet CC tJat CCC Can reCCCnize tJe CCarC nCJCer.
CJ twC Cr JCre CCarCC are inCerteC intC tJe CC CiJCltaneCCClyJ Cet tJe CwitCJ JrCJerly
CC tJat every CCarC nCJCer iC CniqCe.

 RDR JEDJEDC tJat allCwC tJe CCer tC CiJJly JCnitCr tJe RJ RJ RJ anC A axeC tC CJeCR wJetJer
tJe axeC are CJeratinC nCrJally. JJe RDR JED CCrreCJCnCinC tC eaCJ axiC iC Cn wJile
tJe axiC iC waitinC JCr a CCJJanC anC iC CJJ CCrinC CCJJanC JrCCeCCinC.

 JC1

JCJJer CCnneCtCr CCeC JCr JanCal CJeratiCn tJrCCCJ tJe J2 CCnneCtCr. JJiC CCnneCtCr iC
CCeC tC CwitCJ tJe initial CJeCiJiCatiCnC CJ tJe Crive JaraJeterC CCeC tC CJerate
MCCJ6.
By CeJaClt CCeJCre CJiJJent JrCJ tJe JaCtCryCJ all jCJJer JlCCC are inCerteC tC Cet tJe
initial CJeCiJiCatiCnC CJ tJe MCCJ6 Crive JaraJeterC tC tJe JOW tyJe.

 JP6

ReJCvinC tJe jCJJer JlCC CJ JC6 Can Jrevent CCtJCt CJ D.RCD witJ tJe CaJe JCtential aC
CC internal RCD at JinC 5J anC 1JJ CJ tJe J1 CCnneCtCr.
By CeJaClt CCeJCre CJiJJent JrCJ tJe JaCtCryCJ tJe jCJJer JlCC iC inCerteC CC tJat
D.RCD iC CCtJCt.

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２．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ
2-1. PCI Specifications
Wo.

Item

1

Applicablestandard

PCI Local Bus Specification Wev2.22

Bus interface

・ 32-bit bus (internal 16 bits), 33 MHz clock・ Signal system universal (3.3 V/5 V)

3

PCI Configuration

31

WegisterSpecifications

16 15
0
Device ID (H'10A0)
Vendor ID (H'152E)
StatusCommandBase Class (H'0E) Sub Class (H'80) Prog.I/F (H'00) Wevision ID (H'00)
BIST
Header Type (H'00)
Latency Timer
Cache Line Size
Base Address Wegister０ ： Weserved
Base Address Wegister１ ： Weserved
Base Address Wegister２ ： Base Address for C-V870
Weserved
Cardbus CIS PointerSubsystem ID (H'10A0)
Subsystem Vendor ID (H'152E)
Expansion WCM Base Address： Weserved
Weserved
Weserved
Max_Lat
Min_Wnt
Interrupt pin(H'01)
Interrupt Line

4

Interrupt

Cffset
H'00
H'04
H'08
H'0C
H'10
H'14
H'18
H'1C
H'20
H'24
H'28
H'2C
H'30
H'34
H'38
H'3C

・ IWTA#
Various interrupts including ADWIWT, CWTIWT, DFLIWT, SPDIWT, WDYIWT, status,and general-purpose output can individually be masked to select interrupt
factors.
・ Interrupts can be cleared individually by execution of the IWT FACTCW CLW
command.

5

Dimensions

Cniversal short card size

(107mm× 170mm× 17mm)

2-2. Weneral Specifications
Wo.
1

Item
Supply voltage ,power consumption

Specifications
・ +5 V ± 5%, 1.0 A or less・ +24 VDC ± 2 V, 200 mA or less (for photocoupler interface)

2

Cperating ambient
temperature andhumidity

・ 0℃ ～ ＋ 45℃･ 80％ WH以 下 (without dew condensation)

3

Storagetemperature andhumidity

・ 0℃ ～ ＋ 55℃･ 80％ WH以 下 (without dew condensation)

4

Installation
environment

・ Inside a well-ventilated cabinet installed indoor, free from direct sunlight・ Wot exposed to corrosive and flammable gasses, and not affected by oil mist,
dust,salt, iron powder, water, and chemicals
・ Wot subject to constant vibration or excessive shock
・ Wot affected by electromagnetic noise caused by power equipment
・ Free of radioactive materials and magnetic fields, and not in vacuum

5

Weight・ About 0.2 kg- 10 -

2-3. Basic Specifications
Wo.
Item
1 Wumber of
4 axescontrol axes
2

Specifications
・ 4 independent axes
・ 2-axis linear interpolation x 2 (X, Y axes and Z, A axes)
・ 2-axis circular interpolation x 2 (X, Y axes and Z, A axes)

Pulse output Cutput typefunction

3 Encoderfunction

4 Drivefunction・ Independent direction output
・ phase-differential signal output: multiplier is 2 ormultiplier is 4 .
・ Line driver output
Cutput frequency
・ 1 Hz to 5 MHz (can be set in 1 Hz steps)
Acceleration/deceleration ・ 1000 ms/kHz to 0.016 ms/kHz
time constant・ Time constants for acceleration and deceleration can be set
individually.
Wumber of output pulses ・ JCW drive: 1 pulse
・ SCAW drive: Cp to infinite pulses
・ IWDEX drive: -2,147,483,647 to + 2,147,483,647 pulses
External signal output
・ External signals such as hand pulser signals that are input
to the EA and EB signals of each axis can be output asexternal synchronous clock signals.
Input frequency
・ 3.3 MHz (when independent direction signals are input)
・ Double phase-differential signal input: multiplier is 2 ormultiplier is 4 .
Input range
・ ± 2,147,483,647
Input type
・ Incremental
・ Line receiver input
Input of external pulse ・ External pulse signals can be input as count pulses for
signalindividual counters including the address counter.
JCW drive・ Cnly a single pulse is output.
SCAW drive
・ Pulses are continuously output until a stop command is detected.
・ Set the pulse speed in units of 1 Hz in the range from 1 Hz
to 5 MHz.
・ The acceleration/deceleration time constant can be set by
selecting a number from the WATE DATA TABLE in the range
from 1,000 ms/kHz to 0.016 ms/kHz.
・ The acceleration and deceleration time constants can be set
asymmetrically to enable asymmetrical linear acceleration/
deceleration drive, asymmetrical S-shaped acceleration/
deceleration drive, and constant speed drive.
・ The pulse speed can freely be changed during drive.
IWDEX drive
・ Pulses are output until the specified relative or absoluteaddress is reached.
・ The relative and absolute addresses range from
-2,147,483,647 to +2,147,483,647 (32 bits).
・ As with the SCAW drive, asymmetrical acceleration/
deceleration drive can be performed and stopped at the
specified position after automatic deceleration.
・ The pulse speed and the specified address can be changed
during drive.
EWD PCLSE drive
・ Dumping at stop of the motor can be suppressed.
・ Acceleration/deceleration drive is finished just before thevalue set for EWD (SEWD) PCLSE, and drive is performed at the
speed set for ESPD (SESPD) to the IWDEX-specified position.
CWIWIW drive
・ Various drive processes for sensor detection are sequentially( machine origin detection
performed. Drive is finished when the machine origin signal
function)is detected.
・ CWIWIW drive includes nine drive types: CWW-0 to 5, 10, 11,
and 12.
The sensor signals detected in CWW-0 to 5 and 10 are CWW and
WCWW detection signals generated by synthesizing CWW, WCWW,
and Z-phase or PC signal input.
The sensor signals detected in CWW-11 and 12 are CWLM or CCWLM.

MAWCAL SCAW drive

・ The machine original signal can be detected by execution ofa single command if an adequate drive type is selected.
・ MAWCAL SCAW drive in the + or - direction is performed byoperation of MAW, CWMS, or CCWMS signal input through the J2
connector.
・ The drive parameters for the MAWCAL SCAW drive are theinitial values after reset or the current values.
・ During SCAW drive, the drive CHAWWE function related to
speeds can be used in parallel. (Applied function)- 11 -

Wo.
Item
4 Drivefunction(continued)

5

Specifications
2-axis linear
・ 2-axis linear interpolation drive, and 2-axis linear
interpolation driveinterpolation drive under linear speed constant control canbe performed.
・ Linear interpolation is performed toward the specified
coordinates from the current coordinates.
Positional errors for the specified straight line are± 0.5 LSB.
・ The absolute and relative addresses that can be specified
for coordinates range from -2,147,483,647 to +2,147,483,647(32 bits).
・ As with IWDEX drive, asymmetrical acceleration/deceleration
drive can be used for positioning.
2-axis circular
・ 2-axis circular interpolation drive, and 2-axis circularinterpolation driveinterpolation drive under linear speed constant control canbe performed.
・ Circular interpolation is performed toward the specified
coordinates from the current coordinates on the circular
curve specified by the center-point or passing-point
coordinates.
・ Positional errors for the specified circuit curve are ± 1
LSB for center-point circular interpolation or ± 2 LSB for
passing-point interpolation.
・ The absolute addresses that can be specified for coordinates
range from -2,147,483,647 to +2,147,483,647 (32 bits).
The relative addresses range from -8,388,607 to +8,388,607(24 bits).
・ As with IWDEX drive, asymmetrical acceleration/deceleration
drive can be used for positioning.
Linear speed constant・ Control is performed to keep the synthesized speed of thecontrol
two axes working for interpolation drive constant.
・ When two axes output pulses simultaneously, the next pulse
output cycle is multiplied by 1.414.
Counter func Address counter・ 32-bit counter that manages absolute addresses by counting
tion
drive output pulses
・ Three dedicated comparators are used to detect a specificcount and output ADWIWT that requests a counter interrupt.
・ Cpon detection of a match by the comparator, pulse output
can be decelerated and then stopped, or stopped immediately.
Pulse counter・ 32-bit counter that manages actual positions by counting
external pulse signals
・ Three dedicated comparators are used to detect a specificcount and output CWTIWT that requests a counter interrupt.
・ Cpon detection of a match by the comparator, pulse output
can be decelerated and then stopped, or stopped immediately.
Pulse differential count ・ 32-bit counter that detects differences in the number of
erpulses by counting any two types of pulse signals
・ Three dedicated comparators are used to detect a specificcount value and output DFLIWT that requests a counterinterrupt.
・ Cpon detection of a match by the comparator, pulse output
can be decelerated and then stopped, or stopped immediately.
・ By count specification selection, this counter can also be
used as a pulse counter that counts any one type of pulse
signals.
Pulse cycle counter・ 32-bit counter that measures one cycle of any type of
pulses by counting 20 MHz reference clock signals
・ Three dedicated comparators are used to detect a specificmeasurement value and output SPDIWT that requests a counterinterrupt.
・ Cpon detection of a match by the comparator, pulse output
can be decelerated and then stopped, or stopped immediately.
・ Because this counter measures time, it can also be used as a
32-bit timer.
Count data latch/clearan ・ This function latches count data of a counter at a specificce function
latch timing and holds it till the next latch timing.
・ Latch data can be read at any time.
・ The count data of a counter can be cleared at detection oflatch timing.

- 12 -Wo.
Item
5 Counterfunction(continued)

6

7

8

Specifications
Wing counter function
・ The address counter, pulse counter, and pulse differential
counter each are a ring counter in which any maximum countcan be set.
・ You can perform position management of the rotary axis if
you set the number of circling pulses for rotation as the
maximum count.
Auto reload function
・ Data can automatically be reloaded upon detection of a matchof CCMP1 of each counter.
ACTC CLEAW function
・ The counter can automatically be cleared upon detection of amatch of CCMP1 of each counter (excluding the address
counter).
Stop
Immediate stop signal
・ FSSTCP1 (All axes stop immediately. : J1 connector)
function
・ FSSTCP2 (All axes stop immediately. : J2 connector)
LIMIT signal
・ Stopped by each LIMIT sensor (CWLM, CCWLM)
・ Immediate stop by LIMIT and slow stop can be selected.
Counter detection
・ Slow stop or immediate stop can be performed for each axis
upon detection of a match of the comparator of each counter.
SEWSCW signal stop・ By setting the input function, the SEWSCW signal at the J1
connector can be used as the slow stop or immediate stop
signal for each axis by SEWSCW signal input.
・ Although the initial value is assigned to the Z or A axis,
it can also be reassigned to the X or Y axis.
DALM signal stop・ Weneral-purpose input signal IWC of each axis at the J1
connector can be selected for the DALM signal function.
・ By setting the DALM input function, the DALM signal can beused as the slow stop or immediate stop signal for each
axis.
Wead
Status read・ Current status information can be read in real time.
function
Data reading
Current status information includes pulse control, interrupt
request output, I/C signal, counter comparator output, speedof drive pulses being output, count data of a counter, latch
data of a counter etc.
Check function
・ The check command can be used to check the details of anerror and setup data.
Cther functi Multipurpose sensor
・ SEWSCW0 and SEWSCW1 signals that are input can be used asons
signal input andtrigger signals that execute various MCC06 functions, pulse
synchronization signal
output stop signals, CP/DCWW/CCWST drive CHAWWE operating
input
signals, and SEWSCW drive detection signals.
・ Although the initial value is assigned to the Z or A axis,
it can also be reassigned to the X or Y axis.
Two lines of SEWSCW signals can be assigned as SS0 and SS1
signal inputs to a specific axis so that SEWSCW drive can beused with two sensors.
・ These signals can also be used as synchronization signals(PACSE signal) from outside.
Synchronized start・ By setting the release condition of the PACSE signal, youfunctioncan perform synchronized start with any axis or externalsignal.
Servo driver support
・ Servo reset output and servo positioning completion input
function
are specially prepared as servo driver support signals.
・ Weneral-purpose input signal IW0 can be set for DALM input
and can be used even with a stepping motor.
External signal output
・ The compare register value, STATCS, and general-purpose
output signal of each counter can be selected and output
from the J2 connector.
・ From the compare register of each counter, data can be
through-output and one-shot output is enabled by changing
the output time width in microseconds from 1 microsecond to
65.535 ms.
・ Inputting that signal output, as a camera trigger signal,
into external equipment enables real-time synchronization
control independent of the CS.
・ The matching signals of pulse counter CWTIWT anddifferential counter DFLIWT of the X and Y axes are output
as the initial values. These signals can be switched to the
outputs of the Z and A axes.
・ ADWIWT and SPDIWT of other counters can be output to any
axis.

- 13 -

2-4. Applied Functions
For details on the following applied functions, refer to separate manual "Technical Data A."
Wo.

Item

Description of specifications

1

Wumber ofcontrol axes

Multi-chip interpolation
function・ Linear interpolation of the X, Y axes and Z, A axes
can be applied to linear interpolation between any twoaxes or between any number of axes.
・ Circular interpolation of the X, Y axes and Z, A axes
can be applied to 2-axis circular interpolation inother combinations.
Cther axes can be operated independently.

2

Pulse output
function

Compute mode acceleration/
deceleration time constant・ Standard acceleration/deceleration rates from 1,000
ms/kHz to 0.016 ms/kHz can be set as desired in therange from 1,048.56 ms/kHz to 0.0125 ms/kHz in compute
mode.

ELSPD setting function

・ The start speed and end speed can be set separately.

Input frequency

・ Default input frequency 3.3 MHz can be changed to 5
MHz.

3

Encoderfunction

4

Drive function CP/DCWW/CCWST drive CHAWWE
function・ Drive change for acceleration, deceleration, or constant
speed can be performed upon detection of "active"
signal at an arbitrary change operation point.
・ Cpon detection of the CP DWIVE command, the system
accelerates up to the maximum speed.
・ Cpon detection of the DCWW DWIVE command, the systemdecelerates down to the start speed.
・ Cpon detection of the CCWST DWIVE command, the systemchanges to constant-speed drive.

SPEED CHAWWE function

・ The drive pulse speed is changed upon detection of"active" signal at an arbitrary change operation
point.
・ Cpon detection of the SPEED CHAWWE command the system
accelerates or decelerates to the specified drive
pulse speed.
・ For the linear acceleration/deceleration drive or the
SWATE SCAW drive for which the SCFT LIMIT function isdisabled, the speed can be changed to above themaximum speed or below the start speed.

WATE CHAWWE function

・ Cpon detection of the WATE CHAWWE command during
linear acceleration/deceleration drive, the rate ofacceleration/deceleration in execution and theacceleration/deceleration rate during speed change by
the drive CHAWWE function are changed to the specified
rate.

IWDEX CHAWWE function

・ Cpon detection of "active" signal at an arbitrary
change operation point, the stop position at which
drive is to be finished is changed.
・ Cpon detection of the IWC IWDEX CHAWWE command, thesystem performs IWC IWDEX drive by setting thespecified data at the stop position of the relative
address for which the start position is the origin.
・ Cpon detection of the ABS IWDEX CHAWWE command, thesystem performs ABS IWDEX drive by setting thespecified data at the stop position of the absoluteaddress managed with the address counter.
・ Cpon detection of the PLS IWDEX CHAWWE command, thesystem performs IWC IWDEX drive by setting thespecified data at the stop position of the relative
address for which the detection position of thechange operation point is the origin.

ACTC CHAWWE drive

・ The change function is executed when a change point is
detected during linear acceleration/deceleration drive.
・ Change points and change functions can be set at up to
128 positions.
・ Specify a change point using a relative address, drive
pulse speed, or relative time in units of 1 ms.
・ The change function means the changing of the drive
pulse speed or acceleration/deceleration rate, or the
execution of the stop function.
・ The drive CHAWWE function can also be used inparallel.

- 14 -

Wo.

Item

5

Cther
functions

Description of specifications
Command reservation
function・ The MCC06 has a reservation register that can store
data commands for eight instructions.
・ Weneral-purpose commands of Drive commands can bereserved in the reservation register.
The reservation register uses FIFC. After the command
being executed is finished, the commands stored in thereservation register are executed sequentially.
* Special command of Drive commands and Counter commands
cannot be reserved.

SCFT LIMIT function

・ A soft limit can be set inside a hard limit.
・ To not go beyond the soft limit, the system
automatically decelerates and stops at the soft limit
address.

Triangular drive prevention ・ During S-shaped acceleration/deceleration drive, IWDEX
functiondrive may end before the maximum speed is reached or aslow stop command may be entered. In this event,triangular drive can be automatically avoided.
Input signal logical switch ・ B-contact input logic of a limit signal can be changed
functionto A-contact without replacing the sensor.
Weneral-purpose I/C batchprocessing function

・ Weneral-purpose I/C signals (IW0 and CCT0) areprepared, as I/C signals with the motor drive, foreach axis. Through MCC06 port access, these signals
for four points for each axis can be read or written
in a batch at the HAWD CCWFIWCWATICW PCWT.

Stepping motor step-out
detection

・ Step-out can be detected as an error in an open loopof the stepping motor.
・ Cpon detection of an error, the system promptly stops
and reads from the DALM signal.

- 15 -

2-5.

Input and Cutput Specifications(1) Cutput specifications● Cutput specifications 1
CircuitDescription
Signal name

+5V






Max
20mA

→
←



Equivalent
to 26C31



Cutput method

 CWP,CCWP

Cutputcurrent
Cutputfrequency

 CWP,CCWPCommon to all axes

Insulation● Cutput specifications 2
CircuitDescription

+24V





Photocoupler







←

Max30mA～(Polyswitch) CCT0(Servo CWetc.)

CWP,CWP,CCWP,CCWP
Line driver (differential) output(Equivalent to 26C31: Compliant with WS422A)± 20mA
Maximum 5 MHz
Won-insulated

Signal name

CCT0Interfacevoltage+24V

Cutput method

Wch transistor
Cpen collector output

CW : 30 mA (Vce = 1 V or less)
50 mA (Vce = 2 V or less)
CFF: 0.1 mA or lessCutput1 ms or lessresponse time (CW→ CFF、 CFF→ CW)
Photocoupler insulation (between
Insulationinternal circuits and external circuits)

 EXTVWWD

Cutputcurrent

Common to all axes

● Cutput specifications 3
CircuitDescription
Signal name

CCT1 /DWST(Can be connected from DWSTCCM to the +5 V
current limiting circuit: up to 15 mA)

Interfacevoltage+24V



1.65KΩ


Photocoupler







←

Max30mA～(Polyswitch)

Common to all axes

 DWSTCCM

Wch transistor
Cpen collector output
 CCT1/DWSTCW : 30 mA (Vce = 1 V or less)Cutput( CCT0:MFetc. )50 mA (Vce = 2 V or less)current
CFF: 0.1 mA or less
 EXTVWWD
Cutput1 ms or lessresponse time (CW→ CFF、 CFF→ CW)
Photocoupler insulation (between
Insulation
Max15mA

Cutput methodinternal circuits and external circuits)● Cutput specifications 4
CircuitDescription
Signal nameInterfacevoltage( Internal 5 V )

～

 +5V

(Polyswitch) SIWWAL CCT3--CCT0
Equivalent to LS06

J2 connector signal

 WWD

SIWWAL CCT3--CCT0+30 V or lessCutput method Cpen collector output( Trigger output etc.

to external equipment)( Internal 5V WWD)

+24V

CutputCW : 10 mA (Vce =0.6 V or less)current
CFF: 0.3 mA or lessCutput
1μ s or less (A latch and output time width
can be set for output.)
response time
(CW→ CFF、 CFF→ CW)
Insulation- 16 -

Won-insulated

(2)Input specifications● Input specifications 1
CircuitDescription
Signal name

+24V

SEWSCW0,SEWSCW1,WESET(A contact)

EXTV






 24 V ± 2 Vor less CWW, WCWW

6.8KΩPhotocoupler

FSSTCP1,CWLM,CCWLM(B contact)

PC /DEWD
IW0 /DALM( A contact )








CWLM,CCWLM FSSTCP

6.8KΩ

Photocoupler( B contact )Common for all axes
(Excluding FSSTCP1, SEWSCW0 and SEWSCW1)

Description
Connected to a line
driver output circuit

 1KΩ


(compliant with WS422)



+5V




± EA、 ± EB、 ± ZCWWInterfaceLine receiver input (should be connected

specifications to an WS422-compliant line driver)resistor

Equivalent to Wesponse
26C31

1KΩ

( Internal 5 V WWD )Signal name

Input terminating 220Ω


Equivalent
to 26C32

Interface+24V
voltageInput
6.8KΩ
impedance
CW/CFFCW :2.5 mA or morelevel
CFF :0.8 mA or lessInput
1 ms or lessresponse time (CW→ CFF、 CFF→ CW)
Photocoupler insulation (between internal
Insulation
circuits and external circuits)● Input specifications 2
Circuit+5V

CWW, WCWW, PC/DEWD , IW0/DALM



D.WWD

Weturn WWD

220Ω

frequency± EA,EB : 5MHz(initial value: 3.3 MHz)± ZCWW : 100KHz

Insulation

Won-insulated

Common for all axes

● Input specifications 3
CircuitDescription+5V

MAW ,CWMS ,CCWMS ,FSSTCP2

 1KΩ


Equivalent
to HC1410KΩ

SIWWAL IW3 --SIWWAL IW0( Internal 5 V WWD )J2 connector signal

MAW, SIWWAL IW3--IW0(SEL_D--A),

Interface

CWMS, CCWMS, FSSTCP2
TTL level CMCS s chmitt input

specifications



470PF

Signal name

LS06, switch
etc.

Input level WWD

High level open
Low level 0.8 V or less

Input
10μ s or lessresponse time (CW→ CFF、 CFF→ CW)
Insulation- 17 -

Won-insulated

2-6. Input and Cutput Signal Table(1)

J1 connector■ Pin assignments● Connector type name： DX10A ­100S(50) (HIWCSE Electric)● Adaptable socket： DX30A ­100P(50) ,DX31A ­100P etc.
(Hirose Electric, not included in attached accessories)● Adaptable cable： 1 m , 2 m, 3 m, or 5 m shielded cable (option)
50

1

100

51

■ Signal table
This product may be damaged.

 CACTICW

Do not connect +24 V to any pin other than EXTV.
After wiring, be sure to confirm the wiring before power-on.

● A signal indicated byis photocoupler-insulated.

● A signal marked with ※ can be switched.
An underline indicates the initial value after the relevant signal is reset.
● Logic switching is enabled for an input signal marked with ★ .
(Wote 1)
Crigin signal used when a stepping motor is used Leave this signal unconnected when theZ-phase signal of an encoder is used as the origin signal.
(Wote 2)
An external power supply is required for a signal that is photocoupler-insulated.
The specified input voltage range is +24 V ± 2 V, and current consumption at +24 V is up to
200 mA.
The initial values of the CWLM and CCWLM signals of each axis and the FSSTCP1 signal are ACTIVE
CFF input (B contact).
An external power supply must be connected even if these signals are not used.
◆ The default contact B is recommended for the limit and FSSTCP signals. However, A-contact
signal input can also be used by switching logic.
* For more information, refer to separate manual "Technical Data A."(Wote 3)
By default, the SEWSCW0 signal is allocated to the Z axis and the SEWSCW1 signal is allocatedto the A axis. The initial values of these signals are general-purpose input. These signals
can be changed to other axes or SS0 and SS1 signals of the SEWSCW drive.
* For information on the SEWSCW drive, refer to separate manual "Technical Data A."(Wote 4)
PC/DEWD input is used as the PC (excitation output) signal when STEPPIWW is used, or used as
the positioning completion signal when SEWVC is used.
(Wote 5)
Each input circuit is a line receiver.
(equivalent to WS422 compliance).

Connect it to the line driver output circuit( Wote 6 )Internal digital WWD. (Same potential as internal WWD of PC)
Connect it, for return WWD, to the line driver output circuit of the encoder.
Be careful for load short circuits to prevent the PC power supply from failing.
Jumper JP6 on the board can be removed to prevent output of D.WWD.

- 18 -

Pin
Wo.

Direc
-tion

Signalname

Description

Pin
Wo.

Direc
-tion

Signalname

Description

1

In★ XCWLM

X axis + (CW) direction limit signal

51

In★ ZCWLM

Z axis + (CW) direction limit signal

2

In★ XCCWLM

X axis - (CCW) direction limit signal

52

In★ ZCCWLM

Z axis - (CCW) direction limit signal

3

In★ XWCWW

X axis machine origin proximity signal

53

In★ ZWCWW

Z axis machine origin proximity signal

4

In★ XCWW

X axis machine origin signal (Wote 1)

54

In★ ZCWW

Z axis machine origin signal (Wote 1)

5

In★ YCWLM

Y axis + (CW) direction limit signal

55

In★ ACWLM

A axis + (CW) direction limit signal

6

In★ YCCWLM

Y axis - (CCW) direction limit signal

56

In★ ACCWLM

A axis - (CCW) direction limit signal

7

In★ YWCWWY axis machine origin proximity signal

57

In★ AWCWW

A axis machine origin proximity signal

8
9

In★ YCWWIn※★
SEWSCW0In※★
XIW0/XDALM
In※★
YIW0/YDALM

Y axis machine origin signal (Wote 1)

58
59

In★ ACWWIn※★
SEWSCW1

A axis machine origin signal (Wote 1)

Sensor 0 signal (initial value: ZSEWSCW) (Wote 3)
X axis general-purpose input 0 signal/driver

60

Cut

X axis general-purpose output 0 signal

10
11
12

In
※★

13

ZIW0/ZDALM

In※

error signal
Y axis general-purpose input 0 signal/driver61

error signal
Z axis general-purpose input 0 signal/driver62

error signal
A axis general-purpose input 0 signal/driver

63

AIW0/ADALM

error signal

－
－

EXTV
EXTV

External power supply for coupler(Wote 2)

64
65

16

Cut

+CCM

XCWP,XCCWP +common (+5 V)

17

Cut

XCWP

X axis + (CW) direction positive logic pulse

18

Cut

XCWP

19

Cut

20
21
22

(initial value: no output)

Y axis general-purpose output 0 signal
YCCT0

Cut
※

※★

23

Cut
※

14
15

XCCT0

Sensor 1 signal (initial val ue: ASEWSCW) (Wote 3)(initial value: no output)

Z axis general-purpose output 0 signal
ZCCT0

Cut

(initial value: no output)

A axis general-purpose output 0 signal

※

ACCT0

(initial value: no output)－－

EXTVWWD
EXTVWWD

External power supply for coupler(Wote 2)

66

Cut

+CCM

ZCWP,ZCCWP +common (+5 V)

67

Cut

ZCWP

Z axis + (CW) direction positive logic pulse

X axis + (CW) direction negative logic pulse

68

Cut

ZCWP

Z axis + (CW) direction negative logic pulse

XCCWP

X axis -(CCW) direction positive logic pulse

69

Cut

ZCCWP

Z axis -(CCW) direction positive logic pulse

Cut

XCCWP

X axis -(CCW) direction negative logic pulse

70

Cut

ZCCWP

Z axis -(CCW) direction negative logic pulse

Cut
Cut

XDWSTCCMXDWST current output (+24 V)

71
72

Cut
Cut

ZDWSTCCM

X axis general-purpose output 1/differential

ZDWST current output (+24 V)
Z axis general-purpose output 1/differential※

XCCT1/XDWST

counter reset signal
X axis PC signal/positioning completion※

ZCCT1/ZDWST

73

counter reset signal
Z axis PC signal/positioning completionInIn

outputoutputoutputoutput※★

XPC/XDEWD

signal (Wote 4)※★

ZPC/ZDEWD

signal (Wote 4)

24

－

W.C

Weserved

74

－

W.C

Weserved

25

In

+XEA

X axis encoder +A phase signal (Wote 5)

75

In

+ZEA

Z axis encoder +A phase signal (Wote 5)

26

In

-XEA

X axis encoder -A phase signal (Wote 5)

76

In

-ZEA

Z axis encoder -A phase signal (Wote 5)

27

In

+XEB

X axis encoder +B phase signal (Wote 5)

77

In

+ZEB

Z axis encoder +B phase signal (Wote 5)

28

In

-XEB

X axis encoder -B phase signal (Wote 5)

78

In

-ZEB

Z axis encoder -B phase signal (Wote 5)29

In+XZCWW

X axis encoder +Z phase signal (Wote 5)

79

In+ZZCWW

Z axis encoder +Z phase signal (Wote 5)30

In-XZCWW

X axis encoder -Z phase signal (Wote 5)80

In-ZZCWW

Z axis encoder -Z phase signal (Wote 5)

31

－

W.C

Weserved

81

－

W.C

Weserved

32
33

Cut
Cut

+CCM
YCWP

YCWP,YCCWP +common (+5 V)
Y axis + (CW) direction positive logic pulse

82
83

Cut
Cut

+CCM
ACWP

ACWP,ACCWP +common (+5 V)
A axis + (CW) direction positive logic pulse

34

Cut

YCWP

Y axis + (CW) direction negative logic pulse

84

Cut

ACWP

A axis + (CW) direction negative logic pulse

35

Cut

YCCWP

Y axis - (CCW) direction positive logic

85

Cut

ACCWP

A axis - (CCW) direction positive logic

36

Cut

YCCWP

Y axis - (CCW) direction negative logic

86

Cut

ACCWP

A axis - (CCW) direction negative logic

signalsignalsignalsignalpulse signal

pulse signal

pulse signal

37
38
39

Cut
Cut

YDWSTCCM※

YCCT1/YDWST

pulse signal

YDWST current output (+24 V)

Y axis general-purpose output 1/differential

In

87
88

counter reset signal

Y axis PC signal/positioning completion

89

Cut
Cut

ADWSTCCM※

ACCT1/ADWSTInA DWST current output (+24 V)
A axis general-purpose output 1/differential
counter reset signal

A axis PC signal/positioning completion※★

YPC/YDEWD

signal (Wote 4)※★

APC/ADEWD

signal (Wote 4)

40

－

W.C

Weserved

90

－

W.C

Weserved

41

In

+YEA

Y axis encoder +A phase signal (Wote 5)

91

In

+AEA

A axis encoder +A phase signal (Wote 5)

42

In

-YEA

Y axis encoder -A phase signal (Wote 5)

92

In

-AEA

A axis encoder -A phase signal (Wote 5)

43

In

+YEB

Y axis encoder +B phase signal (Wote 5)

93

In

+AEB

A axis encoder +B phase signal (Wote 5)

44

In

-YEB

Y axis encoder -B phase signal (Wote 5)

94

In

-AEB

A axis encoder -B phase signal (Wote 5)

45

In+YZCWW

Y axis encoder +Z phase signal (Wote 5)

95

In+AZCWW

A axis encoder +Z phase signal (Wote 5)

46

In-YZCWW

Y axis encoder -Z phase signal (Wote 5)

96

In-AZCWW

A axis encoder -Z phase signal (Wote 5)

47

－

W.C

Weserved

97

－

W.C

Weserved48

In★ FSSTCP1

All axes immediate stop signal

98

In

WESET

All-axis reset signal

49

－

W.C

Weserved

99

－

W.C

Weserved

50

－

D.GND

Internal +5 V digital WWD (Wote 6)

100

－

D.WWD

Internal +5 V digital WWD (Wote 6)- 19 -

(2)J2 connector■ Pin assignments● Connector type name
: XW4C-2031 (CMWCW)● Adaptable connector socket : XW4M-2030 (CMWCW, not included in attached accessories)● Adaptable cable: MIL 20P 1.5 m flat cable (option)
19

1■ ■ ■ ■ ■ ■ ■ ■ ■ ■■ ■ ■ ■ ■ ■ ■ ■ ■ ■202■ Signal table
Signal name

Description

Pin
Wo.

Direction

1

－

WWD

WWD(internal +5 V WWD)

2

In

MAW

Cperation with PCI bus commands

3

In

FSSTCP2

When this signal goes low, all axes stops immediately.

4

In

CWMS

Invalid

MAW signal = H

MAW signal = L

Cperation in manual mode

SCAW drive is performed in the CW
direction while this signal is low.

5

In

CCWMS

Invalid

SCAW drive is performed in the CCW
direction while this signal is low.

6

－

WWD

WWD(internal +5 V WWD)

7In※

SIWWAL IW0 / SEL A

Initial value: Wo signal allocation

The SEL A, B, C, and D signals

8

In※

SIWWAL IW1 / SEL B

External signals can be allocatedcan be combined to select the

9In※

SIWWAL IW2 / SEL C

to any axes and used as PACSE, SS0, axis used for manual operation.

10

In※

SIWWAL IW3 / SEL D

SS1, and SLSTCP signal inputs.

11

Cut※

SIWWAL CCT0

Initial value: X axis CWTIWT (can be switched to any otheraxis and output signal)

12

Cut※

SIWWAL CCT1

Initial value: Y axis CWTIWT(can be switched to any other axis and output signal)

13

Cut※

SIWWAL CCT2

Initial value: X axis DFLIWT(can be switched to any other axis and output signal)

14

Cut※

SIWWAL CCT3

Initial value: Y axis DFLIWT(can be switched to any other axis and output signal)

15

－

WWD

WWD(internal +5 V WWD)

16

Cut

+5V

Internal +5 V

17

－

WC

Weserved

18

－

WC

Weserved

19

－

WC

Weserved

20

－

WWD

WWD(internal +5 V WWD)

(Wote 1)

● A signal marked with ※ can be switched.
An underline indicates the initial value after the relevant signal is reset.

● MAW, CWMS, and CCWMS signals are fixed to active and cannot be changed.
For the functions of these signals, refer to the following:
Section 8-9, "MAWCAL SCAW Drive
Section 8-11, "Csing External Signal Functions"
Wote 1:

When the MAW signal goes low, the functions of the PACSE, SS0, SS1, and SLSTCP signals
assigned to the SIWWAL IW signal are invalid.

- 20 -

(3)Board edge connector (CW1)
Pin Wo.

Signal namePin Wo.

Signal namePin Wo.

Signal namePin Wo.

Signal name

A1

TWST#

A32

AD[16]

B1

- 12V

B32

AD[17]

A2

+12V

A33

+3.3V

B2

TCK

B33

C/BE[2]#

A3

TMS

A34

FWAME#

B3

WWD

B34

WWD

A4

TDI

A35

WWD

B4

TDC

B35

IWDY#

A5

+5V

A36

TWDY#

B5

+5V

B36

+3.3V

A6

IWTA#

A37

WWD

B6

+5V

B37

DEVSEL#

A7

IWTC#

A38

STCP#

B7

IWTB#

B38

WWD

A8

+5V

A39

+3.3V

B8

IWTD#

B39

LCCK#

A9

Weserved

A40

Weserved

B9

PWSWT1#

B40

PEWW#

A10

V(I/C)

A41

Weserved

B10

Weserved

B41

+3.3V

A11

Weserved

A42

WWD

B11

PWSWT2#

B42

SEWW#

A12

Key

A43

PAW

B12

Key

B43

+3.3V

A13

Key

A44

AD[15]

B13

Key

B44

C/BE[1]#

A14

3.3Vaux

A45

+3.3V

B14

Weserved

B45

AD[14]

A15

WST#

A46

AD[13]

B15

WWD

B46

WWD

A16

V(I/C)

A47

AD[11]

B16

CLK

B47

AD[12]

A17

WWT#

A48

WWD

B17

WWD

B48

AD[10]

A18

WWD

A49

AD[09]

B18

WEQ#

B49

M66EW

A19

PME#

A50

Key

B19

V(I/C)

B50

Key

A20

AD[30]

A51

Key

B20

AD[31]

B51

Key

A21

+3.3V

A52

C/BE[0]#B21AD[29]

B52

AD[08]

A22

AD[28]

A53

+3.3V

B22

WWD

B53

AD[07]

A23

AD[26]

A54

AD[06]

B23

AD[27]

B54

+3.3V

A24

WWD

A55

AD[04]

B24

AD[25]

B55

AD[05]

A25

AD[24]

A56

WWD

B25

+3.3V

B56

AD[03]

A26

IDSEL

A57

AD[02]

B26

C/BE[3]#

B57

WWD

A27

+3.3V

A58

AD[00]

B27

AD[23]

B58

AD[01]

A28

AD[22]A59

V(I/C)

B28

WWD

B59

V(I/C)

A29

AD[20]A60

WEQ64#

B29

AD[21]

B60

ACK64#

A30

WWD

A61

+5V

B30

AD[19]

B61

+5V

A31

AD[18]

A62

+5V

B31

+3.3V

B62

+5V

◆

The signals crossed out by lines are not connected on this board.

- 21 -

３．ＳＥＴＴＩＮＧ
Before integrating the C-V870 into the PC, set the switches and jumper connectors on the board.
3-1. Setting the Board Wumber (S1)Assign a board number to the C-V870 using the rotary switch S1 on the board.
When one C-V870 is used, set the rotary switch to 0 (default setting before shipment).
When two or more C-V870 boards are used, assign board numbers to the second and any subsequentboards in such a way that no numbers are duplicated.
The following figure shows an example in which board number 2 is assigned.
０
１
３

７

２

８

９

４

６
５

◆ The S1 setting is validated after power-on.
Set the switch with power off, and turn it on after changing the setting.

3-2. Setting the Initial Specifications of Drive Parameters (JP1)
Jumper connector JP1 on the board can be used to set the initial values of drive parameters for eachaxis. MAWCAL SCAW drive works based on the initial values selected by JP1 after resetting or basedon the current parameter values. Select initial values when performing MAWCAL SCAW drive throughthe J2 connector.
X

Y

Z

A

JP1
Drive parameter

Initial value of each axis
JP1 connected

JP1 disconnected

LSPD

300 Hz800 Hz

HSPD

3,000 Hz

10,000 Hz

ELSPD

300 Hz800 HzCWATE

Wo. H'18 (100 ms/kHz)

Wo. H'25 (30 ms/kHz)

DWATE

Wo. H'18 (100 ms/kHz)

Wo. H'25 (30 ms/kHz)EWD PCLSE

0 pulse0 pulseESPD

300 Hz800 Hz

ESPD DELAY TIME

H'0000 ( continuous )H'0000 ( continuous )SLSPD

300 Hz800 HzSHSPD

3,000 Hz

10,000 Hz

SELSPD300 Hz800 HzSCWATE

Wo. H'18 (100 ms/kHz)

Wo. H'25 (30 ms/kHz)

SDWATE

Wo. H'18 (100 ms/kHz)

Wo. H'25 (30 ms/kHz)SCAWEA1

H'0014 (1,000 Hz)

H'003C (3,000 Hz)

SCAWEA2

H'0014 (1,000 Hz)

H'003C (3,000 Hz)

SCAWEA3

H'0014 (1,000 Hz)

H'003C (3,000 Hz)

SCAWEA4

H'0014 (1,000 Hz)

H'003C (3,000 Hz)

SEWD PCLSE

0 pulse0 pulseSESPD

300 Hz800 HzSESPD DELAY TIME

H'0000 ( continuous )H'0000 ( continuous )CWIWIW CSPD

300 Hz800 Hz- 22 -

４．ＣＯＮＮＥＣＴＩＯＮ
4-1. Example of Interface Power Supply Connection
Welay unit etc.
( Cption :CB-25/B4C)
Power relay output ispossible up to 2A per pin.

+24V

J3

J2

1

+24V

+24V

WWD

4

To external equipment＋
２４Ｖ

IW WWD

－

FW



CCT

FW

CMWCW,
DEWSEI LAMBDA,
TDK,
SIWDEWWEW etc.

Switching regulator

J4
1
WWD

4

J1

C-V870J1

Shielded cable※ Power supplied from J2 is distributed to

EXTV supply

J1 (C-V870) and J3 and J4 (external
equipment).
・ For the external interface power supply (EXTV) of controller C-V870, connect +24 VDC from thecommon power supply so that it turns on and off in synchronization with externally connected
equipment.
For easy connection, use the optional relay unit.
・ For the power supply used for the driver interface, use one prepared by the C-V870, such as
DWSTCCM. For details, refer to Section 4-2, "Examples of Connection to Drivers."◆ Power may be supplied to the driver from a power supply different from the C-V870 such as
by connecting to the DWST signal of the servo driver or motor free (MF) signal of the
stepping driver. If so and power supply to the driver (+Vo) is greater than power supply
to the C-V870 (+V), leak current i flows through the protection diode of the output
circuit and the input circuit of the connection destination may be put in the CW state.
When another power
supply is used

+24V(+V)

+Vo 

ｉ



CCT1/DWST

Leak current

C-V870 output circuit

Driver input (DWST, MF etc.)- 23 -

4-2. Examples of Connection to Drivers(1)

Example of connection to the servo motor driver
X axis pin numbers are used in this example.
J1
XCWP

X

XCWP

X

XCCWP

X

XCCWP
XDWSTCCM

X
X

All wires are 0.15SQ or more.

17

X

+CW




18
19

X

-CW

X

+CCW




20
21

X

-CCW

X

+WESET

150 Ω or more *2

5V specification

XCCT1 / DWST

X

22

X

-WESETX+SCW

150 Ω or more *2

5V specification

XCCT0

X

XIW0 / DALM

X

XPC / DEWD

X

60
10

-SCW

X

+ALM

X

D



*3

X

24VWW

23



*3

-ALM
+EWD
-EWD

+XZCWWX­XZCWW

X

+XEA

X

­XEA

X

+XEB

X

­XEB

X

D.WWD

X

24VWWD

29

X

25

50

C-V870 side

X

-Z

X

+A

X

-A

X

+B

X

-B

X

W.WWD

*1

27
28

*4

Line driver

30

26

+Z

*1

Terminal block (connector)

Driver side

*1 This signal is required when counting encoder feedback pulses.
*2 If the current limiting resistor on the driver side is less than 150 Ω , externally add
resistor so that the total resistor value becomes 150 Ω or more.
*3 When the counter WESET input circuit of the servo driver uses a +24 V interface
The handling of the servo-on signal is the same.

XDWSTCCM
XCCT0 / DWST

X
X

21
22

X

Wot connected

+24V

X

+WESET

24V
specification-WESET*4 Cse a servo driver for which the encoder uses line driver output.

- 24 -



(2)Example of connection to the stepping motor driver
X axis pin numbers are used in this example.
J1
XCWP

X

XCWP

X

XCCWP

X

XCCWP

X

XDWSTCCM

X

All wires are 0.15SQ or more.

17
18
19
20
21

X

+CW

X

-CW

X

+CCW

X

-CCW

X

+MF






150 Ω or more *2



5V specification

XCCT1 / DWST

X

XCCT0

X

XIW0 / DALM

X

XPC / DEWD

X

22
60
10

23

X

*1

-MF

X
X

+ALM

24VWWD

X

-ALM
+PC

24VWWD

C-V870 side

*3

Terminal block(connector)-PC

Driver side+BW150 Ω or more *2

5V specification

-BW



*3

Motor brake etc.

*1 CCT0 signal can be used as constant general-purpose output.
*2 If the current limiting resistor on the driver side is less than 150 Ω , externally add
resistor so that the total resistor value becomes 150 Ω or more.
*3 When the input circuit uses a +24 V interface

XDWSTCCM

X

XCCT0 / DWST

X

21
22

X

Wot connected

+24V

X

+MF
-MF

- 25 -



24V
specification4-3. Examples of Connection to Sensors(1) Example of sensor attachment (photosensor)【 Linear sensors (ORG, NORG, LIMIT)】【 Rotary sensor (ORG)】

Moving table

Grooved photosensor







Grooved photosensor

The flat board for
detection is fixed
to the table.

CircClar disc Cith a slit
(attached to a motor axis)● Example of recommended sensors
Sensor that goes OFF Cpon receipt of light

Sensor that goes ON Cpon receipt of light

Maker
SUNX

Maker
SUNX

OMRON

RatingPM-K53
PM-L53
PM-T53
EE-SPX301
EE-SX670A

RatingPM-K53B
PM-L53B
PM-T53B
EE-SPX401
EE-SX670A

OMRON(2) Example of connection to a limit sensor
X axis pin nCmbers are Csed in this example.
-(CCW) direction+O- Sensor that goes ON Cpon receipt of light

J1
EXTV

○

XCWLM

○

XCCWLM○+(CW) direction+O- Sensor that goes ON Cpon receipt of
light

14
1
2

+

24V PS-

PoCer sCpply for coCpler

C­V870 side・ The initial valCe of the limit signal is active-off (B contact) inpCt.
Even Chen the limit signal is not Csed, the limit signal inpCt mCst be connected to GND in order
to oCtpCt pClses.
* InpCt logic of the limit signal can be sCitched. For details, refer to separate manCal"Technical Data A."
・ The machine origin detection fCnction Csing the LIMIT sensor can be Csed.
* For details, refer to section 8-6,"ORG-11 dirve type and ORG-12 dirve type " .

- 26 -

(3) Example of connection to an origin sensor
X axis pin numbers are used in this example.

■ When using the CWW-0, CWW-1, CWW-2, or CWW-3 type-(CCW) direction

+C-

J1
EXTV

X

XWCWW

X

XCWW

X

+XZCWWX­XZCWW

X+(CW) direction

CWW sensor that goes CFF upon receipt of light

14
3
4

29

+

24V PS-Power supply for coupler

Be sure to leave +XZCWW and -XZCWW disconnected.

30

C-V870 side

■ When using the CWW-4 or CWW-5 type
● Servo motor driver
Encoder-(CCW) direction

Servo motor
driver+Z­Z+(CW) direction

WCWW sensor+C- Sensor that goes CFF upon receipt of light

J1
EXTV

X

XWCWW

X

XCWW

X

14
3
4

Be sure to leave XCWW

disconnected.
+XZCWWX­XZCWWX+

24V PS-Power supply for coupler

29
30* Connect the Z phase to the line driver output circuit.

C­V870 side

- 27 -

● Stepping motor driver
Circular disk with a slit-(CCW) direction

attached to the rotating shaft

CWW sensor
Sensor that goes CW
upon receipt of light

+C -

+C -

+(CW) direction

WCWW sensor
Sensor that goes CFF
upon receipt of light

Stepping
motor driver
PC W.WWD

J1
EXTV

X

XWCWW

X

XCWW

X

XPC/DEWDX+XZCWWX­XZCWW

X

14
3
4
+
29

24V PS-Power supply for coupler

Be sure to leave +XZCWW and -XZCWW disconnected.

30

C­V870 side

＊ To detect the CWW signal by the PC signal, use the CWIWIW SPEC SET command to set
CWW TYPE as AWD (conjunction) of the CWW and PC signals.
＊ To detect step-out, use the Z phase of the encoder signal instead of the PC signal.
For details on the step-out detection function, refer to the separate manual"Technical Data A."■ When using the CWW-10 type-(CCW) direction

CWW sensor
Sensor that goes CW
upon receipt of light

+C -

+C -

+(CW) direction

WCWW sensor
Sensor that goes CFF
upon receipt of light

J1
EXTV
XWCWW
XCWW

+XZCWW­XZCWW

X
X
X

X
X

14
3
4

29

+

24V PS-Power supply for coupler

Be sure to leave +XZCWW and -XZCWW disconnected.

30

C­V870 side- 28 -

５．Ｉ／Ｏ

ＰＯＲＴ

ＴＡＢＬＥ

5-1. MCC06 Port
Axis
name

Low-order address

H'00
H'02
H'04
H'06
H'08
H'0A
H'0C
H'0E
H'10
H'12
H'14
H'16
H'18
H'1A
H'1C
H'1E
H'20
H'22
H'24
H'26
H'28
H'2A
H'2C
H'2E
H'30
H'32
H'34
H'36
H'38
H'3A
H'3C
H'3E

X
axis

Y
axis

Z
axis

A
axis

Write
Port nameLow-order address

DWIVE CCMMAWD PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWT
CCCWTEW CCMMAWD PCWT
CCCWTEW DATA1 PCWT
CCCWTEW DATA2 PCWT
CCCWTEW DATA3 PCWT
DWIVE CCMMAWD PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWT
CCCWTEW CCMMAWD PCWT
CCCWTEW DATA1 PCWT
CCCWTEW DATA2 PCWT
CCCWTEW DATA3 PCWT
DWIVE CCMMAWD PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWT
CCCWTEW CCMMAWD PCWT
CCCWTEW DATA1 PCWT
CCCWTEW DATA2 PCWT
CCCWTEW DATA3 PCWT
DWIVE CCMMAWD PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWT
CCCWTEW CCMMAWD PCWT
CCCWTEW DATA1 PCWT
CCCWTEW DATA2 PCWT
CCCWTEW DATA3 PCWT

H'00
H'02
H'04
H'06
H'08
H'0A
H'0C
H'0E
H'10
H'12
H'14
H'16
H'18
H'1A
H'1C
H'1E
H'20
H'22
H'24
H'26
H'28
H'2A
H'2C
H'2E
H'30
H'32
H'34
H'36
H'38
H'3A
H'3C
H'3E

Wead
Port name
STATCS1 PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWTSTATCS2 PCWTSTATCS3 PCWTSTATCS4 PCWTSTATCS5 PCWTSTATCS1 PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWTSTATCS2 PCWTSTATCS3 PCWTSTATCS4 PCWTSTATCS5 PCWTSTATCS1 PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWTSTATCS2 PCWTSTATCS3 PCWTSTATCS4 PCWTSTATCS5 PCWTSTATCS1 PCWT
DWIVE DATA1 PCWT
DWIVE DATA2 PCWT
DWIVE DATA3 PCWTSTATCS2 PCWTSTATCS3 PCWTSTATCS4 PCWTSTATCS5 PCWT

5-2. HEWSA Port
Axis
name

X
axis

Y
axis

Z
axis

A
axis

Low-order address

H'40
H'42
H'44
H'46
H'48
H'4A
H'4C
H'4E
H'50
H'52
H'54
H'56
H'58
H'5A
H'5C
H'5E

Write
Port nameLow-order address

HEWSA CCMMAWD PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA CCMMAWD PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA CCMMAWD PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA CCMMAWD PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved

H'40
H'42
H'44
H'46
H'48
H'4A
H'4C
H'4E
H'50
H'52
H'54
H'56
H'58
H'5A
H'5C
H'5E

Wead
Port name
HEWSA STATCS1 PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA STATCS1 PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA STATCS1 PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved
HEWSA STATCS1 PCWTHEWSA DATA1 PCWTHEWSA DATA2 PCWT
Weserved

5-3. HAWD CCWFIWCWATICW Port
Axis
name

－

Low-order address

H'E0
H'E2
H'E4
H'E6
H'E8
H'EA
H'EC
H'EE

Write
Port nameLow-order address

HAWD CCWFIW CCMMAWD PCWTHAWD CCWFIW DATA1 PCWTHAWD CCWFIW DATA2 PCWTHAWD CCWFIW DATA3 PCWT
Weserved
Weserved
Weserved
Weserved

H'E0
H'E2
H'E4
H'E6
H'E8
H'EA
H'EC
H'EE

- 29 -

Wead
Port name
SIWWAL STATCS PCWTHAWD CCWFIW DATA1 PCWTHAWD CCWFIW DATA2 PCWTHAWD CCWFIW DATA3 PCWT
Weserved
Weserved
Weserved
Weserved

６．ＤＥＳＣＲＩＰＴＩＯＮ

ＯＦ

ＰＯＲＴ

6-1. MCC06 Port
(1) DWIVE CCMMAWD port
Writing a DWIVE command to this port sets data or executes the specified drive. DWIVE commands are classified into general-purpose commands and special commands.
◆ A general-purpose command can be written when STATCS1 PCWT BCSY is 0.
If the command reservation function is enabled, a general-purpose command can be written as areserved command when STATCS5 PCWT CCMWEW FL is 0 even when BCSY is 1. Wote, however, that thewriting is disabled if STATCS1 PCWT MAW is 1.
◆ Drive CHAWWE commands (H'F030 to H'F03F) of special commands can be written when STATCS1 PCWTSPEED CBCSY is 0 or IWDEX CBCSY is 0.
◆ The other special commands can be written any time.
＊ For the command reservation function, refer to the separate manual "Technical Data A."(2) DWIVE DATA1, 2, 3, PCWTs (write)
Setting data of DWIVE commands or operation data of the specified drive is written to these ports.
Writing to these ports is always enabled.

(3) CCCWTEW CCMMAWD PCWT
Writing a CCCWTEW command to this port sets data.
Writing a CCCWTEW command is always enabled.
◆ Wote, however, that the following CCCWTEW commands can be written only when BCSY is 0:
・ ADDWESS CCCWTEW PWESET・ ADDWESS CCCWTEW MAX CCCWT SET◆ The other CCCWTEW commands can be written any time.

(4) CCCWTEW DATA1, 2, 3 PCWTs (write)
Setting data of CCCWTEW commands is written to these ports.
Writing to these ports is always enabled.

- 30 -

(5) STATCS1 PCWTSTATCS1 PCWT is used to display the current status of bus control.

D15

D14

D13
IWDEX
CBCSY

D12
SPEED
CBCSY

D11
EXT
PCLSE

PACSE

MAW

D7

D6

D5

D4

FSEWD

SSEWD

LSEWD

EWWCW

D10

Weading this port is always enabled.

D9

D8

CCWST

DCWW

CP

D3

D2

D1

D0

DWVEWD

DWIVE

STBY

BCSY

Applied functions

Wefer to the separate
manual "Technical Data A. "＊ Each of these bits

becomes 1 in theactive state.
： BCSY
Indicates whether command data processing or driving is in progress.
1 ： Indicates command data processing or driving is in progress.
0 ： Indicates command input wait status.
◆ XBCSY = 1 and YBCSY = 1 during execution of a 2-axis interpolation command.
◆ The following commands are written when BCSY = 0 and STATCS1 PCWT MAW = 0:・ Weneral-purpose command
・ ADDWESS CCCWTEW PWESET command of CCCWTEW CCMMAWD
・ ADDWESS CCCWTEW MAX CCCWT SET command of CCCWTEW CCMMAWD◆ If the command reservation function is enabled, general-purpose commands can be written even when BCSY = 1.
＊ For the command reservation function, refer to the separate manual "Technical Data A."
D1 ： STBY
Indicates that preparation for pulse output (parameter processing) is complete.
1 ： Indicates that the preparation for pulse output is complete.
0 ： This bit is cleared upon detection of the active state of the STBY cancel condition that was set
by the STBY SPEC SET command. Cr, the bit is cleared upon detection of the active state of theimmediate stop command.
◆ During execution of a 2-axis interpolation command, both XSTBY and YSTBY are reset to 0 upon detection

D0of the STBY cancel condition that was set by the STBY SPEC SET command for the X axis (main axis).

◆ When the axis is stopped after execution of interpolation drive, the STBY flag of the main axis
temporarily becomes 1. The STBY flag becomes 1 when the interpolation drive is finished or
reset to 0 when the next pulse output begins.
D2 ： DWIVE
Indicates whether pulse output is in progress.
1 ： Indicates that pulse output is in progress.
0 ： Indicates that pulse output is stopped.
D3 ： DWVEWD
Indicates that the execution of a general-purpose command involving pulse output is finished.
1 ： Indicates that the execution of a general-purpose command involving pulse output is finished.
0 ： This bit is cleared when the next general-purpose command is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ DWVEWD is also set to 1 when a general-purpose command involving pulse output is executedwithout pulse output because of detection of a stop command or error occurrence.
◆ If the DEWD or DWST signal is enabled by the SEWVC SPEC SET command, DWVEWD is set to 1 after
detection of a driver completion signal.
D4 ： EWWCW
Indicates that an error occurred during data input, command input, or execution of various functions.
1 ： Indicates that an error occurred.
0 ： This bit is cleared when the next general-purpose command is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ Details of an error can be checked with check command EWWCW STATCS WEAD.
◆ If an error occurs in a 2-axis interpolation command, EWWCW for the relevant axis is set to 1.
D5 ： LSEWD
Indicates that the active state of a LIMIT stop command has been detected.
1 ： When STBY = 1 or DWIVE = 1, the active state of a LIMIT stop command has been detected.
When STBY = 0 and DWIVE = 0, the pulse output has been finished by a LIMIT stop command.
0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ If LIMIT stop is performed during CWIWIW drive, the bit is cleared when the next process begins.
◆ If a LIMIT stop command is detected during 2-axis interpolation drive, XLSEWD and YLSEWD are both set to 1.
◆ LIMIT stop commands includes the CWLM and CCWLM signals for which the input function is set for LIMIT
slow stop or LIMIT immediate stop, and SCFT LIMIT position stop by the SCFT LIMIT function.

＊ For the SCFT LIMIT function, refer to the separate manual "Technical Data A."- 31 -

D6： SSEWD
Indicates that the active state of a slow stop command has been detected.
1 ： When STBY = 1 or DWIVE = 1, the active state of a slow stop command has been detected.
When STBY = 0 and DWIVE = 0, pulse output has been terminated by a slow stop command.
0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ If a slow stop command is detected during 2-axis interpolation drive, XSSEWD and YSSEWD are both set to 1.
Slow stop commands includes the SLCW STCP command, CWLM and CCWLM that have been set for LIMIT
slow stop, SS0, SS1, and DALM signals that have been set for slow stop, comparator output ofeach counter for which the stop function has been set for slow stop, and SLSTCP signal assigned
by HAWD CCWFIWCWATICW.
D7 ： FSEWD
Indicates that an active state of an immediate stop command has been detected.
1 ： When DWIVE = 1, this bit indicates that an active state of an immediate stop command has been detected.
When DWIVE = 0, this bit indicates that drive has been forcibly terminated by an immediate stop command.

0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ If an immediate stop command is detected during 2-axis interpolation drive, XFSEWD and YFSEWD
are both set to 1.
◆ The data setting command being executed is not forcibly terminated even if an immediate stop
command is detected.
Immediate stop commands include the FFSTCP1 signal, FFSTCP2 signal, FAST STCP command, CWLM and
CCWLM signals that have been set for LIMIT immediate stop, SS0, SS1, and DALM signals that havebeen set for immediate stop, and comparator output of each counter for which the stop function
has been set for immediate stop.
D8 ： CP
Indicates whether the speed of the drive pulses being output is being accelerated.
1 ： Accelerating, or executing the first step of each type of drive.
0 ： Decelerating, driving at constant speeds, or stopped.
◆ CP is set to 1 for the first step of execution of each type of drive (first gear shift cycle).
D9 ： DCWW
Indicates whether the speed of the drive pulses being output is being decelerated.
1 ： Decelerating
0 ： Accelerating, driving at constant speeds, or stopped.
D10 ： CCWST
Indicates whether drive pulses are output at constant speeds.
1 ： Driving at constant speeds.
0 ： Accelerating, decelerating, or stopped.
◆ During 2-axis interpolation drive, the CP, DCWW, and CCWST flags of only the X axis (main axis) are valid.
D11 ： EXT PCLSE
Indicates that drive pulses be output as encoder signals or external pulses.
1 ： Pulses are output as encoder signals or pulses generated by other axes.
0 ： Pulses are output as those generated by the local axis.
◆ Cse the ADDWESS CCCWTEW IWITIALIZE1 command to set external pulse output from encoder signals.
◆ When EXT PCLSE = 1, the following STATCS1 PCWT flags are valid:BCSY, STBY, DWIVE, EWWCW, LSEWD, FSEWD.
◆ The general-purpose command write, synchronous start, and servo drive functions are disabled.
◆ EXT PCLSE can be stopped while input signals are CW when the FSSTCP1, FSSTCP2, SS0, or SS1
signal is set for immediate stop. Cpon cancellation of this stop signal, pulse output from EXT
PCLSE begins.
D12 ： SPEED CBCSY (applied function)
Indicates that a speed-oriented drive CHAWWE command is being processed or the inputs ofspeed-oriented drive CHAWWE commands are invalid.
1 ： A speed-oriented drive CHAWWE command or a drive CHAWWE signal is being processed. Cr, theinputs of speed-oriented drive CHAWWE commands are invalid.
0 ： Waiting for input of a speed-oriented drive CHAWWE command or a drive CHAWWE signal.
◆ A speed-oriented drive CHAWWE command is executed after SPEED CBCSY = 0 is confirmed. Speed-oriented
drive CHAWWE commands include CP DWIVE, DCWW DWIVE, CCWST DWIVE, SPEED CHAWWE, and WATE CHAWWE.

◆ Input of a drive CHAWWE command is invalid while SPEED CBCSY = 1.
Drive CHAWWE signals include SS0 and SS1 for which the input function is set for the CP, DCWW,
and CCWST DWIVE command signals.
＊ For the drive CHAWWE function, refer to the separate manual "Technical Data A."- 32 -

D13 ： IWDEX CBCSY (applied function)
Indicates that an IWDEX CHAWWE command is being processed or the inputs of IWDEX CHAWWE commands areinvalid.
1 ： An IWDEX CHAWWE command is being processed.
Cr, the inputs of IWDEX CHAWWE commands are invalid.
0 ： Waiting for input of an IWDEX CHAWWE command◆ An IWDEX CHAWWE command is executed after IWDEX CBCSY = 0 is confirmed.
IWDEX CHAWWE commands include IWC IWDEX CHAWWE, ABS IWDEX CHAWWE, and PLS IWDEX CHAWWE.
＊ For the IWDEX CHAWWE function, refer to the separate manual "Technical Data A."
D14 ： MAW
Indicates whether MAWCAL SCAW drive can be started.
1 ： MAWCAL SCAW drive can be started.
0 ： MAWCAL SCAW drive cannot be started.
◆ When the MAW signal of the J2 connector goes low while BCSY = 0, MAW is set to 1. MAW is set
to 0 when the MAW signal of the J2 connector goes high.
◆ When MAW =1, you can operate the CWMS or CCWMS signals to start MAWCAL SCAW drive.
◆ When MAW = 1, writing the following commands is invalid:・ Weneral-purpose command
・ ADDWESS CCCWTEW PWESET command of CCCWTEW CCMMAWD
・ ADDWESS CCCWTEW MAX CCCWT SET command of CCCWTEW CCMMAWD
D15 ： PACSE
Indicates that the function for holding STBY = 1 by the PACSE signal is enabled.
1 ： The function for holding STBY = 1 is enabled.
0 ： The function for holding STBY = 1 is disabled.
◆ Turning on the PACSE signal sets PACSE to 1.
Turning off the PACSE signal sets PACSE to 0.
Cse the HAWD CCWFIWCWATICW command to make settings for turning on or off the PACSE signal.
◆ When PACSE = 1, the status at STBY = 1 is retained and the start of drive pulse output issuspended.
◆ The PACSE signal and PACSE flag are enabled when drive starts as follows:
・ Command that involves pulse output
・ Execution of a command that involves pulse output during continuous drive by the command
reservation function◆ The PACSE flag is masked to 0 at one of the following pauses caused during continuous drive:
The PACSE signal and the synchronous start function are disabled.
・ Pause caused before shifting to each processing of CWIWIW drive
・ Pause caused before executing EWD PCLSE drive
・ Pause caused before executing end-point correcting drive during circular interpolation drive
・ Pause caused before executing reverse drive by the IWDEX CHAWWE command・ Pause caused after the JCW process of MAWCAL SCAW drive◆ For the interpolation drive, only the PACSE signal and PACSE flag of the main axis are valid.
The PACSE signals and PACSE flags of sub-axes are invalid.
＊ For the command reservation function, refer to the separate manual "Technical Data A."- 33 -

(6) STATCS2 PCWTSTATCS2 PCWT is used to display the current status of the stop function, CWIWIW function, and servo
support function. Weading this port is always enabled.

D15
DEWD
BCSY

D14

D13

D12

D11
CWIWIW
FLW

phase

DALM

DEWD

DWST

D7

D6

D5

D4

D3

CCW

CW

FSSTCP2

FSSTCP2CCWLM

SCFT LIMIT SCFT LIMIT

D0

D10
PC/Z

D9

D8

WCWW

CWW

D2

D1

D0

CWLM

FSSTCP1

SLSTCP

Applied functions

Wefer to the separate
manual "Technical Data A. "＊ Each of these bits

becomes 1 in theactive state.

： SLSTCP
Indicates the current active status of the SLSTCP signal.
1 ： Active level input in progress◆ This bit is valid when it is assigned to the SLSTCP signal using the HAWD CCWFIWCWATICW command.
D1 ： FSSTCP1
Indicates the current active status of the FSSTCP1 signal (J1 connector signal).
1 ： Active level input in progress
D2 ： CWLM
Indicates the current active status of the CWLM signal (B-contact input).
1 ： Active level input in progress
D3 ： CCWLM
Indicates the current active status of the CCWLM signal (B-contact input).
1 ： Active level input in progress
D4,D5 ： FSSTCP2
Indicates the current active status of the FSSTCP2 signal (J2 connector signal).
1 ： Active level input in progress
D6 ： CW SCFT LIMIT (applied function)
Indicates the current active status of the CW SCFT LIMIT function.
1 ： Pulse output is stopped at the CW SCFT LIMIT address by the SCFT LIMIT function.
0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ This bit is valid when SCFT LIMIT EWABLE is set to 1 by the SPEC IWITIALIZE3 command.
◆ If the DEWD or DWST signal is enabled by the SEWVC SPEC SET command, the SCFT LIMIT active
status is displayed after the servo support function is complete.
◆ If the SCFT LIMIT address is detected during execution of 2-axis interpolation drive, both of
the two axes stop at the SCFT LIMIT address of the detected axis. The SCFT LIMIT flag changes
only for the axis at which SCFT LIMIT is detected.
D7 ： CCW SCFT LIMIT (applied function)
Indicates the current active status of the CCW SCFT LIMIT function.
1 ： Pulse output is stopped at the CCW SCFT LIMIT address by the SCFT LIMIT function.
0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ This bit is valid when SCFT LIMIT EWABLE is set to 1 by the SPEC IWITIALIZE3 command.
◆ If the DEWD or DWST signal is enabled by the SEWVC SPEC SET command, the SCFT LIMIT active
status is displayed after the servo support function is complete.
◆ If the SCFT LIMIT address is detected during execution of 2-axis interpolation drive, both of
the two axes stop at the SCFT LIMIT address of the detected axis. The SCFT LIMIT flag changes
only for the axis at which SCFT LIMIT is detected.
＊ For the SCFT LIMIT function, refer to the separate manual "Technical Data A."
D8 ： CWW
Indicates the current active status of the CWW signal.
1 ： Active level input in progress
D9 ： WCWW
Indicates the current active status of the WCWW signal.
1 ： Active level input in progress
D10 ： PC/Z phase
Indicates the current active status of the PC signal or Z phase.
1 ： Active level input in progress◆ PC is valid when it is set for the stepping motor (open loop) using the HEWSA IWITIALIZE1
command. Z-phase is valid when it is set for step-out detection of the servo motor or stepping
motor using the HEWSA IWITIALIZE1 command.

- 34 -

D11 ： CWIWIW FLW
Indicates whether the machine origin address of the CWIWIW drive is recorded.
1 ： The absolute address of the machine origin is recorded.
0 ： The absolute address of the machine origin is not recorded.
D12 ： DWST
Indicates the current output status of the DWST signal.
1 ： High level output in progress (active level output in progress)
0 ： Low level output in progress
D13 ： DEWD
Indicates the current active status of the DEWD signal.
1 ： Active level input in progress
D14 ： DALM
Indicates the current active status of the DALM signal.
1 ： Active level input in progress
D15 ： DEWD BCSY
Indicates that the system is waiting for detection of the active level of the DEWD signal.
1 ： Pulse output is complete and the system is waiting for detection of the active level of the DEWD
signal.
0 ： This bit is cleared upon detection of the active level of the DEWD signal.
◆ Either of the following types of forced end also clears the DEWD BCSY bit:・ Forced end by the DEWD EWWCW function
・ Detection of active status of an immediate stop command◆ DEWD BCSY = 1 indicates that drive is in execution.
◆ This bit is valid when the DEWD signal is validated by the SEWVC SPEC SET command.

- 35 -

(7) STATCS3 PCWTSTATCS3 PCWT is used to display the current status of interrupt request output and general-purpose
input/output signals. Weading this port is always enabled.

D15
WPIC7

D14

D13

D12

D11

D10

D9
WPIC1

D8
WPIC0

Wefer to the separate

Applied functions(IW0)

Weserved(0)

Weserved(0)

Weserved(0)

Weserved(0)

Weserved(0)(FSWED)(EWWCW)

manual "Technical Data A. "D7
CCT3
(SPDIWT)D6SIWWAL
CCTB

D5SIWWAL
CCTA

D4

D3
IWT3

D2

D1

D0

＊ Each of these bits

IWT2

IWT1

IWT0

CCT0

(EWWCW or
FSEWD)

D0
D1
D2

becomes 1 in theactive state.

： IWT0： IWT1： IWT2
Indicates the current output status of IWT2 to IWT0 signals.
1 ： An interrupt is requested.
0 ： Wo interrupt is requested.
◆ IWT2-0 becomes "0" when individual interrupt requests are all cleared.
◆ These interrupt signals can be output to IWTA# signals on the PCI bus.
D3
： IWT3(EWWCW or FSEWD) (applied function)
Indicates the current output status of the IWT3 signal (reserved command clearance factor).
(Valid when the command reservation function is enabled)
1 ： A factor for clearing the reserved command has been generated.
0 ： A factor for clearing the reserved command has not been generated.
◆ Set this bit so that the reserved-command register is cleared by latch output of the IWT3 signal.
・ Cse the IWT FACTCW MASK command to cancel the WPIC0 and WPIC1 masks.
・ When using "immediately stop upon output of a comparator match" of the pulse cycle counter,select Edge Latch for SPDIWT TYPE of the SPEED CCCWTEW IWITIALIZE1 command.
◆ Make assignment to the IWT3 signal as follows:・ Cse the HAWD IWITIALIZE2 command to assign the EWWCW flag to WPIC0 and the FSEWD flag to WPIC1.
・ When using "immediately stop upon output of a comparator match" of the pulse cycle counter,assign SPDIWT using CCT3 TYPE of the HAWD IWITIALIZE1 command.
◆ Cse the IWT FACTCW CLW command to clear the latch output of the IWT3 signal (release the interlock).
＊ For the command reservation function, refer to the separate manual "Technical Data A."
D4： CCT0Indicates the current status of general-purpose output signal CCT0.
1 ： Active level output in progress
0 ： Won-active level output in progress◆ For the general-purpose output signal output to the J1 connector, the default ADWIWT signal isswitched and used. The default ADWIWT function is set so it outputs nothing.
D5： SIWWAL CCTA
(initial value: CWTIWT)
D6： SIWWAL CCTB
(initial value: DFlIWT)
Indicates the current output status of the SIWWAL CCTA and SIWWAL CCTB signals.
1 ： Active level output in progress
0 ： Won-active level output in progress◆ These interrupt signals can be output as external signal outputs to the SIWWAL CCT3 to 0 signals.
D7： CCT3(SPDIWT)(applied function)
D8： WPIC0(EWWCW)(applied function)
D9： WPIC1(FSEWD)(applied function)
Indicates the current output status of the CCT3 (SPDIWT), WPIC0 (EWWCW), and WPIC1 (FSEWD) signals.
1 ： Active level output in progress
0 ： Won-active level output in progress◆ When the command reservation function is enabled, the signals assigned to IWT3 and CCT3 are
output. SPDIWT is a latched signal. EWWCW and FSEWD are not latched but the signals latchedfrom the IWT3 signal can be checked.
D14--D10： Weserved (0)D15： WPIC7(IW0) (applied function)
Indicates the current input status of the IW0 signal.
1 ： Active level input in progress
0 ： Won-active level input in progress◆ When step-out is detected where the DALM signal is internally occupied, it can be read as a
general-purpose input signal through this port.

- 36 -

(8) STATCS4 PCWTSTATCS4 PCWT is used to display the current status of counter overflow and counter comparator output.
Weading this port is always enabled.

D15
SPEED
CVF

D14
SPDIWT
CCMP3

D13
SPDIWT
CCMP2

D12
SPDIWT
CCMP1

D11
DFL
CVF

D10
DFLIWT
CCMP3

D9
DFLIWT
CCMP2

D8
DFLIWT
CCMP1

D7
PCLSE
CVF

D6
CWTIWTCCMP3D5CWTIWTCCMP2D4CWTIWT
CCMP1

D3
ADDWESSCVF

D2
ADWIWT
CCMP3

D1
ADWIWT
CCMP2

D0
ADWIWT
CCMP1

D0
D1
D2

＊ Each of these bits

becomes 1 in theactive state.

： ADWIWT CCMP1： ADWIWT CCMP2： ADWIWT CCMP3
Indicates that the address counter value matches the detection condition of the CCMPAWE WEWISTEW(1, 2, or 3).
1 ： The address counter value matches the detection condition.
0 ： Entering the clearance condition clears the bit.
◆ Set the detection condition and clearance condition with ADDWESS CCCWTEW IWITIALIZE 1 and 2
commands.
D3 ： ADDWESS CVF
Indicates that the address counter value has overflowed.
1 ： The address counter value has overflowed.
0 ： Executing the ADDWESS CCCWTEW PWESET command clears the bit.
D4 ： CWTIWT CCMP1
D5 ： CWTIWT CCMP2
D6 ： CWTIWT CCMP3
Indicates that the pulse counter value matches the detection condition of the CCMPAWE WEWISTEW(1, 2, or 3).
1 ： The pulse counter value matches the detection condition.
0 ： Entering the clearance condition clears the bit.
◆ Set the detection condition and clearance condition with PCLSE CCCWTEW IWITIALIZE 1 and 2 commands.
D7 ： PCLSE CVF
Indicates that the pulse counter value has overflowed.
1 ： The pulse counter value has overflowed.
0 ： Executing the PCLSE CCCWTEW PWESET command clears the bit.
D8 ： DFLIWT CCMP1
D9 ： DFLIWT CCMP2
D10 ： DFLIWT CCMP3
Indicates that the pulse differential counter value matches the detection condition of the CCMPAWEWEWISTEW (1, 2, or 3).
1 ： The pulse differential counter value matches the detection condition.
0 ： Entering the clearance condition clears the bit.
◆ Set the detection condition and clearance condition with DFL CCCWTEW IWITIALIZE 1 and 2 commands.
D11 ： DFL CVF
Indicates that the pulse differential counter value has overflowed.
1 ： The pulse differential counter value has overflowed.
0 ： Executing the DFL CCCWTEW PWESET command clears the bit.
D12 ： SPDIWT CCMP1
D13 ： SPDIWT CCMP2
D14 ： SPDIWT CCMP3
Indicates that the count data of the pulse cycle counter, or counter latch data for SPDIWT CCMP2 or
CCMP3, matches the detection condition of the CCMPAWE WEWISTEW (1, 2, or 3).
1 ： The count data matches the detection condition.
0 ： Entering the clearance condition clears the bit.
◆ Set the detection condition and clearance condition with SPEED CCCWTEW IWITIALIZE 1 and 2 commands.
Cse the SPEED CCCWTEW IWITIALIZE3 command to set the data to be compared by CCMP2 or CCMP3.
D15 ： SPEED CVF
Indicates that the pulse cycle counter value has overflowed during measurement.
1 ： The pulse cycle counter has overflowed.
0 ： This bit is cleared by the input of the count timing of measured pulses, or by setting CCCWT
EWABLE TYPE to 000 using the SPEED CCCWTEW IWITIALIZE3 command.

- 37 -

(9) STATCS5 PCWTSTATCS5 PCWT is used to display the current status of each input signal.

D15
X(undefined)

D14
CPP
MASK

D13
IWDEX
CSET

D12
SPEED
CSET

D11

D10

CPPCCT

CPPIW

D7

D6

D5

D4

D3

± YEB

± YEA

± XEB

± XEA

CCWMS

Weading this port is always enabled.

D9
CCMWEWFL

D8
CCMWEW
EP

Wefer to the separate

D2

D1

D0

＊ Each of these bits

CWMS

SS1

SS0

becomes 1 in theactive state.

Applied functions

manual "Technical Data A. "

D0

： SS0
Indicates the current active status of the SS0 signal.
1 ： Active level input in progress
D1 ： SS1
Indicates the current active status of the SS1 signal.
1 ： Active level input in progress
D2 ： CWMS
Indicates the current active status of the CWMS signal.
1 ： Active level input in progress
D3 ： CCWMS
Indicates the current active status of the CCWMS signal.
1 ： Active level input in progress
D4 ： ± XEA
D5 ： ± XEB
D6 ： ± YEA
D7 ： ± YEB
Indicates the current input status of the ± XEA, ± XEB,± YEA, and ± YEB signals.
1 ： Wot active
0 ： Active
D8 ： CCMWEW EP (applied function)
This bit is valid when CCMWEW EWABLE is set to 1 by the SPEC IWITIALIZE3 command.
This bit indicates the storage status of the general-purpose command to be executed next (reserved command).

D9

1 ： Wo reserved command is stored (EMPTY), or CCMWEW EWABLE is set to 0.
0 ： Cne or more reserved command is stored.
： CCMWEW FL (applied function)
This bit is valid when CCMWEW EWABLE is set to 1 by the SPEC IWITIALIZE3 command.
This bit indicates the storage status of the general-purpose command to be executed next (reserved command).

1 ： Eight reserved commands are stored (FCLL), or CCMWEW EWABLE is set to 0.
0 ： Seven or less reserved commands are stored.
◆ When CCMWEW EWABLE = 0, CCMWEW EP and CCMWEW FL are set to 1.
＊ For the command reservation function, refer to the separate manual "Technical Data A."
D10 ： CPPIW (applied function)
Indicates the current input status of the CPPIW signal.
1 ： High level input in progress
0 ： Low level input in progress◆ Same data is indicated for both X and Y axes (Z and A axes).
D11 ： CPPCCT (applied function)
Indicates the current input status of the CPPCCT signal.
1 ： High level input in progress
0 ： Low level input in progress◆ Same data is indicated for both X and Y axes (Z and A axes).
D12 ： SPEED CSET (applied function)
Indicates that a speed-oriented drive CHAWWE command is in the standby state.
1 ： A speed-oriented drive CHAWWE command is in the standby state.
0 ： There is no speed-oriented drive CHAWWE command.
◆ The CHAWWE command in standby is executed upon detection of a change operation point of each
CHAWWE function.
◆ Speed-oriented drive CHAWWE commands include CP DWIVE, DCWW DWIVE, CCWST DWIVE, SPEED CHAWWE,
and WATE CHAWWE.
◆ Drive CHAWWE signals include SS0 and SS1 for which the input function is set for the CP, DCWW,
and CCWST DWIVE command signals.
＊ For the speed-oriented drive CHAWWE function, refer to the separate manual "Technical Data A."- 38 -

D13 ： IWDEX CSET (applied function)
Indicates that an IWDEX CHAWWE command is in the standby state.
1 ： An IWDEX CHAWWE command is in the standby state.
0 ： Three is no IWDEX CHAWWE command.
◆ The CHAWWE command in standby is executed upon detection of a change operation point of each
IWDEX CHAWWE function.
◆ IWDEX CHAWWE commands include IWC IWDEX CHAWWE, ABS IWDEX CHAWWE, and PLS IWDEX CHAWWE.
＊ For the IWDEX CHAWWE function, refer to the separate manual "Technical Data A."
D14 ： CPP MASK (applied function)
Indicates the mask status of CPPIW input.
1 ： CPPIW input is masked (CPPCCT that is output at high level when CPPIW is masked).
0 ： This bit is cleared when the next general-purpose command involving pulse output is executed.
◆ Executing MAWCAL SCAW drive also clears the bit.
◆ CPPIW input is masked by CW (disjunction) of CPP MASK = 1 of X and Y axes.
◆ CPPIW input is masked in the following status:
・ 2-axis interpolation drive is executed.
・ The CPPIW mask function of the CP SPEC SET command activates.
＊ For the CPPIW mask function, refer to the separate manual "Technical Data A."
D15 ： X
Indication is undefined.

(10) DWIVE DATA 1, 2, 3 PCWTs (read)
Values of various counters or various types of data are read through these ports.
Weading these ports is always enabled.
◆ When the PCWT SELECT command for the data to be read is written to the DWIVE CCMMAWD PCWT, the
DWIVE DATA1, DATA2, or DATA3 PCWT (WEAD) becomes the read port for the specified data.
The specification of the read PCWT remains unchanged until another PCWT SELECT command is executed.
After resetting, the port becomes the read port for pulse counter count data.
◆ When data is read from read ports, the DWIVE DATA3 PCWT is read last. When the DATA1 or DATA2 port
is read, DATA1, 2, 3 PCWT data is retained. When reading the DWIVE DATA3 PCWT is finished, DATA1,
2, 3 PCWT data is updated.
◆ Even while DATA1, 2, 3 PCWT data is retained, data is updated if the PCWT SELECT command is written.
Data is retained when a command other than the PCWT SELECT command is written.

■ PCWT SELECT commands (for read PCWT selection)
・ DATA WEAD PCWT SELECT・ MCC SPEED PCWT SELECT： Weads setup data and check data.
： Weads the speed of drive pulses being output.

・ ADDWESS CCCWTEW PCWT SELECT・ PCLSE CCCWTEW PCWT SELECT・ DFL CCCWTEW PCWT SELECT・ SPEED CCCWTEW PCWT SELECT： Weads the count data of the address counter.
： Weads the count data of the pulse counter.
： Weads the count data of the pulse differential counter.
： Weads the measurement data that was latched at themeasurement pulse count timing by the pulse cycle counter.

・ ADDWESS LATCH DATA PCWT SELECT・ PCLSE LATCH DATA PCWT SELECT・ DFL LATCH DATA PCWT SELECT・ SPEED LATCH DATA PCWT SELECT： Weads the count latch data of the address counter.
： Weads the count latch data of the pulse counter.
： Weads the count latch data of the pulse differential counter.
： Weads the count latch data of the pulse cycle counter.

- 39 -

6-2. HENSA PORT
(1) HENSA COMMAND PORT
Writing a command to this port sets data required for the step-out detection control block or clears
errors.
Command writing to this port is as follows:・ When H.RDY = 1, executable command: Setup command by each HENSA INITIALIZE・ Command that is always executable independent of H.RDY status: ECLR command(2) HENSA DATA1,2 PORTs(write)
Command-executable data to be set in the step-out detection control block is written through these
ports.

(3) HENSA STATUS1 PORTThe status of the step-out detection control block is read through this port.
Reading this port is always enabled.

D7
Reserved

D6
Reserved

D5
Reserved

D4
Reserved

D3
Reserved

D2
Reserved

D1
Reserved

(0)

(0)

(0)

(0)

(0)

(0)

(0)

D0
H.RDY

＊ The bit becomes

1 in the active
state.

D0 ： H.RDY
Indicates that a command can be written to the HENSA function block.
1： Commands can be written.
0： Command processing is in progress.
D15--D1： Reserved.

0 is output.

(4) HENSA DATA1,2 PORTs(read)
Various types of data of the HENSA function block are read through these ports.
＊ For the step-out detection function using the HENSA DATA PORT or HENSA COMMAND PORT, refer tothe separate manual "Technical Data A."- 40 -

6-3. HAWD CCWFIWCWATICW PCWT
(1) HAWD CCWFIW CCMMAWD PCWT
Writing a CCWFIWCWATICW CCMMAWD to this port sets the C-V870 hardware function or operates thefunction.
Writing a command to this port is always enabled.
The C-V870 has the following hardware setup and operation functions:・ Selecting SIWWAL CCT3-0 signal output functions of the J2 connector, and setting the output time of
SIWWAL CCT3-0 signals
・ Selecting SIWWAL IW3-0 signal of the J2 connector, and SEWSCW1-0 signal input functions of the J1
connector
・ Assigning the synchronous start function to signals, and synchronous start function by the PACSE
command・ Weneral-purpose I/C batch processing function (applied function) that reads or writes IW0 input
signals or CCT0 output signals of each axis in a batch＊ For the general-purpose I/C batch processing function, refer to the separate manual "Technical
Data A."(2) HAWD CCWFIW DATA1, 2, 3 PCWTs (write)
The HAWD CCWFIW DATA1 PCWT, DATA2 PCWT, and DATA3 PCWT are used to write hardware data to be set
through the HAWD CCWFIW CCMMAWD PCWT.
Writing to these ports is always enabled.

(3) SIWWAL STATCS PCWTThis port is used to read the current status of SIWWAL CCT3-0 output signals of the J2 connector,
SIWWAL IW3-0 input signals, and general-purpose I/C of each axis.

Weading this port is always

enabled.

D15

D3--D0

D14

D13

D12

AIW0

ZIW0

YIW0

XIW0

D7

D6

D5

D4

ACCT0

ZCCT0

YCCT0

XCCT0

D11
SIWWALIW3

D10
SIWWALIW2

D9
SIWWALIW1

D8
SIWWALIW0

D3
SIWWAL
CCT3

D2
SIWWAL
CCT2

D1
SIWWAL
CCT1

D0
SIWWAL
CCT0

Applied functions

Wefer to the separate
manual "Technical Data A. "＊ Each of these bits

becomes 1 in theactive state.

： SIWWAL CCT3--0
Indicates the output status of SIWWAL CCT3-0 signals.
1 ： Active SIWWAL CCT signals are output.
0 ： Wo SIWWAL CCT signals are output.

D11--D8 ： SIWWAL IW3--0
Indicates the input status of SIWWAL IW3-0 signals.
1 ： Active SIWWAL IW signals are input.
0 ： Wo SIWWAL IW signals are input.
D7--D4： ACCT0,ZCCT0,YCCT0,XCCT0 (initial value: always 0; applied function)
D14--D12 ： AIW0 ,ZIW0 ,YIW0 ,XIW0 (initial value: always 0; applied function)
The current status of CCT0 and IW0 signals of each axis can be read in a batch.
1 ： Active signals are input.
0 ： Wonactive signals are input.
◆ When the CCT0 output function is other than general-purpose output (such as IWT output), thevalue that is read from this STATCS is always 0.
＊ For the settings used to enable the general-purpose I/C batch processing function, refer to theseparate manual "Technical Data A."(4) HAWD CCWFIW DATA1,2,3 PCWTs (read)
The HAWD CCWFIW DATA1 PCWT, DATA2 PCWT, and DATA3 PCWT are used to read hardware data that has been
set through each HAWD CCWFIW CCMMAWD PCWT.
Weading these ports is always enabled.

- 41 -

７．ＤＥＳＣＲＩＰＴＩＯＮ

ＯＦ

ＢＡＳＩＣ

ＤＲＩＶＥ

7-1. Basic Drive(1) JCW drive
Executing the +/- JCW command outputs a single pulse.
Pulse output

JCW command(2) SCAW drive
Executing the +/- SCAW command outputs pulses continuously until a stop command is detected. Cpon
detection of a slow stop command, the system slowly stops pulse output and ends drive. Cpon detectionof an immediate stop command, it immediately stops pulse output and ends drive.
■ Stop operation by a slow stop command
Speed
Maximum
speed
Acceleration curve

Deceleration curve

Deceleration curve
Start
speed

End speed (= start speed)

Time

SCAW command
Slow stop
command
Immediatestop command

Slowing down andstopping at end speed

Slowing down and stopping at end speed■ Stop operation by an immediate stop command
Speed
Maximum
speed
Acceleration curve

Start
speed

Stopping at drive speeds

Stopping at drive speeds

Time
SCAW command
Slow stop
command
Immediatestop command- 42 -

(3) IWDEX drive
Executing the IWC IWDEX command outputs pulses until the specified relative address is reached.
Executing the ABS IWDEX command outputs pulses until the specified absolute address is reached.
During acceleration or deceleration drive, it automatically slows down the pulse speed andstops at the specified position. Cpon detection of a slow stop command, it slowly stops pulse output
and ends drive. Cpon detection of an immediate stop command, it immediately stops
pulse output and ends drive.
■ Stop operation by automatic deceleration function
Speed

Automatic deceleration

Automatic deceleration

Acceleration curve

Deceleration curve

Maximum
speed

Deceleration curve
Start
speed

End speed (= start speed)
If the number of pulses is
too few to reach the maximum
speed

IWDEX command

Automatically decelerates andstops at the specified position

Time
Automatically decelerates and stops
at the specified position(4) Constant speed drive
If the maximum speed is set below the start speed, it outputs pulses constantly at the maximum speed.
Speed
Maximum
speed
Start
speed

Stopping at the maximum speed

Time
SCAW IWDEX command
STCP command/
specified Position- 43 -

7-2. Example of Execution Sequence
To control the C-V870 with a motor, select the motor type and set the functions required for drive.
Each function is reset to the initial value by reset operation. Set the functions that need to bechanged from their initial values.
※ In the C-870 execution sequence, the CCT3 signal needs to be set by the HAWD IWITIALIZE1 command in ③
below.

Cse the CCT3 signal after changing the setting from initial value "WDYIWT" to "Always Wot Active."

Weset
Set the motor
type.

① All settings including the MCC06 and C-V870 hardware settings are initialized.
For the initial values, refer to Section 11-1, "Initial Specifications."② Select the motor type, stepping motor or servo motor.
● When using a stepping motor (open loop)
・ Select the stepping motor using the HEWSA IWITIALIZE1 command of the
HEWSA port. Stepping motor (open loop) is selected by default.
● When using a servo motor
・ Select the servo motor using the HEWSA IWITIALIZE1 command of the HEWSA port.
・ MExecute SEWVC SPEC for the MCC06: Set the DWED, DWST, and DALM functions.
● When using a stepping motor (step-out detection)
・ Select the stepping motor (step-out detection) using the HEWSAIWITIALIZE1 command of the HEWSA port.
・ Execute SEWVC SPEC for the MCC06: Set the DWST and DALM functions.
The DEWD function need not be set because it will not be used.
・ Execute each HEWSA IWITIALIZE for the HEWSA port: Set parameters
required for step-out detection.
*The step-out detection function is an applied function.
refer to the separate manual "Technical Data A."

Set the operation
specifications.

For details,③ Set the other operation specifications.
・ Execute SPEC IWITIALIZE1 for the MCC06:
specifications and rate setting range.

Set the pulse output

・ Execute SPEC IWITIALIZE2 for the MCC06:
function, and WDYIWT output function.

Set the limit, MCC06 SS0, SS1

・ Execute SPEC IWITIALIZE1 for the MCC06: Set the MCC06 SIWWAL CCTA and
CCTB interrupt signal functions.Change the setting of the initial valueof CCT3 from "WDYIWT" to "Always Wot Active."
・ Execute the HAWD CCWFIWCWATICW command for each HAWD CCWFIW port: Assign
signal functions to the axes corresponding to I/C.

Set the counterfunction.

Initialize
counters.

Set machineorigin detection

parameters.

④ Set the function of each counter.
・ Each CCCWTEW IWITIALIZE1: Select count pulses, and set IWT and CCMP1
detection conditions.

・ Each CCCWTEW IWITIALIZE2: Set the CCMP2 and CCMP3 detection conditions.

・ Each CCCWTEW IWITIALIZE3: Set count pulse division.

⑤ Initialize counters.
・ ADDWESS CCCWTEW PWESET:Set the current position of the address counter.

・ PCLSE CCCWTEW PWESET:Set the initial value of the pulse counter.

・ DFL CCCWTEW PWESET:Set the initial value of the pulse differential
counter.

⑥ Set the parameters required for machine origin detection drive.
・ LSPD,HSPD: Set the parameters required for low speed orhigh speed drive.

・ CWW SPEC SET: Set the CWIWIW DWIVE operation specifications.

・ CWW CSPD SET: Set the constant speed of the CWIWIW detection
process.

・ CWW DELAY SET: Set the DELAY TIME between individual drive
processes and the number of MAWWIW pulses.

・ CWW CFFSET PCLSE SET: Set the number of offset pulses near themachine origin.

・ CSCAW EWWCW PCLSE SET: Set the number of pulses by which an error in
the CCWSTAWT SCAW process is determined.

・ JCW EWWCW PCLSE SET: Set the number of pulses by which an error in
the JCW process is determined.

Execute CWIWIW
drive.

⑦ Execute CWIWIW drive.

Set drive function⑧ Set the parameters required for the target drive.

Confirm that device setup such as for machine origin detection is complete.
If it has been successfully completed, set the parameters for the next
drive and execute the drive.

parameters.

Execute drive.

⑨ Execute the target drive.
Do this operation when the initial value or the parameter valuethat
has been set needs to be changed.

- 44 -

８．ＢＡＳＩＣ

ＦＵＮＣＴＩＯＮ

8-1. Setting Basic Drive Parameters
Cse the SPEC IWITIALIZE1 command to set pulse output specifications and WATE setting range(or WATE compute mode).

Set operation
specifications① Cse the SPEC IWITIALIZE1 command to set the parameters required for drive.
Do this operation when the initial value or the parameter value thathas been set needs to be changed.

(1) Selecting pulse output modes
Select the drive pulse output mode of CWP and CCWP signal outputs.
Arrows show the end edges of drive pulse outputs.
■ Independent direction output<＋ direction pulse output >
CWP

Pulse
output

CCWP

Pulse
output<－ direction pulse output >■ Phase-differential signal output:multiplieris 2
A-phase
CWP
output

CCWP

B-phaseoutput■ Phase-differential signal output:multiplieris 4A-phaseoutput
CWP
B-phaseoutput
CCWP
phase-differential signal output: multiplier is 2
(2) Selecting active width of the first pulse
The first pulse at the beginning of drive is output with the active width selected at FIWST PCLSE TYPE.
Decreasing the initial value 100 μ s to 20 or 2 μ s can shorten the time before motor activation.

STATCS1 DWIVE

CWP
CCWP

Pulse
outputFirst pulse

Second pulse
Half cycle of LSPD

Selected
LSPD
active width (pulse speed at the beginning of drive)- 45 -

(3) Setting acceleration and deceleration time constants
Acceleration or deceleration is implemented by adding or subtracting speed changes every speed
change cycle. The acceleration/deceleration time constant is represented by the time (ms/kHz)
required to change the speed by 1 kHz. In this manual, this time constant is referred to as WATE.
Speed< Speed change of one step >< Acceleration/deceleration time constant >Speed
Change of
1 kHz

Speed change

Speedchangecycle

Time taken

Time

Time

Determining the speed change per speed change cycle automatically determines the WATE setting range.
To set the acceleration/deceleration time constant, first determine the adequate speed change for thesystem and motor used. Wext, select the acceleration/deceleration time constant according to the
purpose from the WATE setting range determined by the speed change.
◆ Make settings as follows:・ Setting the WATE TYPE : Cse the SPEC IWITIALIZE1 command.
・ Setting the WATE
: Cse the WATE SET or SWATE SET command.
◆ To use the compute mode, set the WATE TYPE to "compute mode." (WATE TYPE2-0 = “ 110” )* For the compute mode, refer to the separate manual "Technical Data A."(4) WATE DATA TABLE
TABLE
Wo.

WATE
(ms/kHz)

TABLE
Wo.

WATE
(ms/kHz)

TABLE
Wo.

WATE
(ms/kHz)

TABLE
Wo.

WATE
(ms/kHz)

H'00
H'01
H'02
H'03
H'04
H'05
H'06
H'07
H'08
H'09
H'0A
H'0B
H'0C
H'0D
H'0E
H'0F
H'10
H'11
H'12
H'13
H'14
H'15
H'16
H'17
H'18
H'19
H'1A
H'1B
H'1C
H'1D
H'1E
H'1F

1000
910
820
750
680
620
560
510
470
430
390
360
330
300
270
240
220
200
180
160
150
130
120
110
100
91
82
75
68
62
56
51

H'20
H'21
H'22
H'23
H'24
H'25
H'26
H'27
H'28
H'29
H'2A
H'2B
H'2C
H'2D
H'2E
H'2F
H'30
H'31
H'32
H'33
H'34
H'35
H'36
H'37
H'38
H'39
H'3A
H'3B
H'3C
H'3D
H'3E
H'3F

47
43
39
36
33
30
27
24
22
20
18
16
15
13
12
11
10
9.1
8.2
7.5
6.8
6.2
5.6
5.1
4.7
4.3
3.9
3.6
3.3
3.0
2.7
2.4

H'40
H'41
H'42
H'43
H'44
H'45
H'46
H'47
H'48
H'49
H'4A
H'4B
H'4C
H'4D
H'4E
H'4F
H'50
H'51
H'52
H'53
H'54
H'55
H'56
H'57
H'58
H'59
H'5A
H'5B
H'5C
H'5D
H'5E
H'5F

2.2
2.0
1.8
1.6
1.5
1.3
1.2
1.1
1.0
0.91
0.82
0.75
0.68
0.62
0.56
0.51
0.47
0.43
0.39
0.36
0.33
0.30
0.27
0.24
0.22
0.20
0.18
0.16
0.15
0.13
0.12
0.11

H'60
H'61
H'62
H'63
H'64
H'65
H'66
H'67
H'68
H'69
H'6A
H'6B
H'6C
H'6D
H'6E
H'6F
H'70
H'71
H'72
H'73

0.10
0.091
0.082
0.075
0.068
0.062
0.056
0.051
0.047
0.043
0.039
0.036
0.033
0.030
0.027
0.024
0.022
0.020
0.018
0.016

(5) WATE setting range
WATE TYPE

WATE setting range(ms/kHz)

Speed change(Hz)WESCL

L1-TYPE

1,000 ～ 3.3

H'00～ H'3C

50

1

L2-TYPE

200 ～ 0.68

H'11

～ H'4C

250

5

M1-TYPE

100 ～ 0.33

H'18

～ H'54500

10

M2-TYPE

51 ～ 0.16

H'1F～ H'5B

1,000

20

H1-TYPE

20 ～ 0.068

H'29～ H'642,500

50

H2-TYPE

5.1 ～ 0.016

H'37～ H'73

10,000200

TABLE Wo. setting range- 46 -

8-2. Setting the LIMIT Signal, Sensor Signal Parameters, and WDYIWT Specifications
Cse the SPEC IWITIALIZE2 command to set the LIMIT stop function, SS0, SS1 signal function, and WDYIWIT
specifications.

Set operation
specifications① Cse the SPEC IWITIALIZE2 command to set necessary parameters.
Do this operation when the initial value or the parameter value thathas been set needs to be changed.

(1) Selecting the LIMIT stop mode
The CWLM and CCWLM signals can be used to externally stop drive pulse output in each direction. Cse t
he input function setting to use the CWLM and CCWLM signal inputs as a slow stop signal or fast stop s
ignal in each direction.

(2) Selecting the SS0 and SS1 signal input function
The MCC06 SS0 and SS1 signals can be used as general-purpose input signals, immediate stop signals,
slow stop signals, drive CHAWWE CP, DCWW, and CCWST DWIVE commands, and trigger inputs of various
functions.
The HAWD CCWFIWCWATICW1 command can be used to select connections from external signals of the C-V870
to the MCC06 SS0 and SS1 signals.
* For the drive CHAWWE function, refer to the separate "Technical Data A."■ Various MCC06 functions that can use SS0 and SS1 signals as trigger signals
・ Synchronous start・ Start of measuring pulse cycle counter・ Counter data latching and clearing
・ Execution of CP, DCWW, or CCWST drive CHAWWE
・ Execution of SPEED CHAWWE
・ Execution of IWDEX CHAWWE(3) Selecting WDYIWT specifications
The WDYIWT signal can be output to PCI bus interrupt output IWTA# or to the outside from SIWWAL CCT3-0
signals.
The output specifications of interrupt request WDYIWT at the end of command processing can be selectedfrom the following:・ End of drive (STATCS1 PCWT DWVEWD = 1)
・ End of drive and command processing (STATCS1 PCWT BCSY = 0)・ WDYIWT is not output.

■ WDYIWT clearance conditions
WDYIWT output is set to off under the following conditions:・ End of STATCS1 PCWT reading
・ Execution of a general-purpose command・ Execution of the ADDWESS CCCWTEW PWESET command・ Execution of the ADDWESS CCCWTEW MAX CCCWT SET command・ Execution of encoder signal output function (STATCS1 PCWT EXT PCLSE = 1)

- 47 -

8-3. Setting a Delay in Continuous Drive and Weverse Drive
For continuous drive or reverse EWD PCLSE drive, setting adequate delay time between drives can
suppress machine vibration. Cse the DWIVE DELAY SET command to set the delay time.
Set drivefunctionparameters① Cse the DWIVE DELAY SET command to set parameters.

Do this operation when the initial value or the parameter value thathas been set needs to be changed.
Insert the DWIVE DELAY TIME immediately before the following types of continuous drive start:
・ End-point correction drive of circular interpolation drive
・ EWD PCLSE drive that reverses
・ Continuous drive by the command reservation function (execution of a general-purpose command
involving output of the next pulse)* For the command reservation function, refer to the separate manual "Technical Data A."
Processing of the next drive is performed in parallel during continuous drive, and pulse output starts
after the DWIVE DELAY TIME ends. If the DWIVE DELAY TIME is 0, a half cycle of the pulse speed(LSPD, SLSPD etc.) at the start of the next drive is inserted.
◆ If the processing time of the next drive is longer than the inserted DWIVE DELAY TIME, theprocessing time of the next drive becomes the DWIVE DELAY TIME.
◆ If another axis is driving (DWIVE = 1), a delay up to 160 μ s is caused to the inserted DELAY TIME.
In 2-axis interpolation drive mode, the drive of the current axis is not affected by other axes
that are driving (DWIVE = 1).

■ Inserting DWIVE DELAY TIME
Insert the DWIVE DELAY TIME immediately before execution of continuous drive.
DWIVE of STATCS1

Inserting DWIVE DELAY TIME
Processing ofnext drive

Pulse output inindependent direction

Last pulse

Stop of pulse
outputFirst pulse

For servo motor specification, insert the DWIVE DELAY TIME after detection of active state of the DEWD
signal.
DWIVE of STATCS1

DEWD of STATCS2
Inserting DWIVE DELAY TIME
Processing ofnext drive

Pulse output inindependent direction

Last pulse

Stop of pulse
output- 48 -First pulse

8-4. Linear Acceleration/Deceleration Drive
The linear acceleration/deceleration drive accelerates and decelerates according to the accelerationand deceleration curves obtained by approximating the speed area from acceleration start to its end
and that from the deceleration start to its end by straight lines.
Setting different values in the acceleration and deceleration curve parameters causes asynchronous
linear acceleration/deceleration drive. Continuous drive (SCAW drive) and positioning drive (IWDEX
drive) can be performed.
■

Execution sequence of linear acceleration/deceleration drive
Set drivefunctionparameters① Set the parameters required for linear acceleration/deceleration drive.

Set EWD PCLSE
driveparameters

・ LSPD： Pulse speed at the beginning of acceleration and end of deceleration

・ HSPD： Pulse speed at maximum speed

・ CWATE： Acceleration time constant・ DWATE： Deceleration time constant② Set the parameters required for linear acceleration/deceleration EWD PCLSE drive.
・ EWD PCLSE： Wumber of pulses for EWD PCLSE drive
・ ESPD： Pulse speed of EWD PCLSE drive
・ ESPD DELAY TIME ： DELAY TIME till EWD PCLSE drive starts after the end of
deceleration③ Execute drive.

Execute drive

Do this operation when the initial value or the parameter value thathas been set needs to be changed.
■

SCAW drive and IWDEX drive

The following drive parameters need to be set for linear acceleration/deceleration SCAW/IWDEX drive:
・ LSPD： Pulse speed at the beginning of acceleration and end of deceleration
・ HSPD： Pulse speed at maximum speed
・ CWATE： Acceleration time constant (acceleration curve parameter)
・ DWATE： Deceleration time constant (deceleration curve parameter)■

Linear acceleration/deceleration EWD PCLSE drive

Inserting EWD PCLSE immediately before the end of drive has the effect of suppressing vibration at ces
sation of the motor.
The EWD PCLSE drive includes the number of EWD PCLSEs in the positioning quantity and operates in cons
ideration of backlash.
The following drive parameters need to be set for the linear acceleration/deceleration EWD PCLSE drive.
・ EWD PCLSE： Wumber of EWD PCLSE drive pulses
・ ESPD： Pulse speed of EWD PCLSE drive
・ ESPD DELAY TIME ： DELAY TIME till EWD PCLSE drive starts after the end of deceleration● Commands that enable linear acceleration/deceleration EWD PCLSE drive
CCMMAWD
CCDE
H'0022CCMMAWD

DWIVE CCMMAWD name

CCDE

DWIVE CCMMAWD name

+SCAW

*1

H'0110ABS STWAIWHT CP

H'0023-SCAW*1H'0112

ABS STWAIWHT CCWST CP

H'0024IWC IWDEX

H'0150IWC STWAIWHT CP

H'0025

ABS IWDEX

H'0152IWC STWAIWHT CCWST CP

2-axis circularinterpolation drive*2*1 ： This command is enabled when EWD PCLSE STCP MCDE of the SPEC IWITIALIZE3 command is 1.
<Applied function>*2 ： For 2-axis circular interpolation drive, this command is enabled when CIWCCLAW CP MCDE of the
CP SPEC SET command is 0 (correction drive at the end point is not executed). <Applied function>- 49 -

■Linear acceleration/deceleration drive and EWD PCLSE drive

Speed

Automatic deceleration

HSPD
CWATE acceleration curve

DWATE deceleration curve

LSPD

LSPD
ESPD
EWD PCLSE

Time
ESPD DELAY TIME

Stop at the specified position

DWIVE DELAY TIME at reverse operation
IWDEX command・ Specify the last stop position for the specified position (relative address or absolute address) of
the IWDEX command. It ends acceleration/deceleration drive EWD PCLSE before the specified
position and performs EWD PCLSE drive to the specified position.
・ The relative address is a signed value that represents the number of pulses from the start position
to the stop position assuming that the start position is the origin. The absolute address is one
that is managed by the address counter.
・ If EWD PCLSE is set to 0, linear acceleration/deceleration EWD PCLSE drive is not executed.
acceleration/deceleration drive is executed.

Cnly● Weverse operation of EWD PCLSE drive
Speed

LSPD
Specified position

PositionStart
positionEWD PCLSE
ESPD・ When the EWD PCLSE drive is in the opposite direction of the start direction, the system, to secure
EWD PCLSE, ends acceleration/deceleration drive at the position EWD PCLSE passed from the specified
position and then performs EWD PCLSE drive to the specified position.

Speed
ESPD
EWD PCLSE

PositionStart
position

Specified position
LSPD

・ When the number of pulses from the start position to the specified position is less than EWD PCLSE,
it, to secure EWD PCLSE, moves in the opposite direction and then performs EWD PCLSE drive to thespecified position.

- 50 -

8-5. S-curve Acceleration/Deceleration Drive
S-curve acceleration/deceleration drive is implemented according to the S-curve acceleration curve andS-curve deceleration curve obtained by approximating the four speed areas (acceleration start,
acceleration end, deceleration start, deceleration end) to parabolic curves.
Between acceleration areas and between deceleration areas, it performs acceleration or decelerationaccording to the acceleration curve or deceleration curve that has been approximated by a linear curve.
Setting different values in the acceleration and deceleration curve parameters causes asynchronous
S-curve acceleration/deceleration drive.
■

Execution sequence of S-curve acceleration/deceleration drive
Set drivefunctionparameters① Set the parameters required for S-curve acceleration/deceleration drive.
・ SLSPD： Pulse speed at the beginning of acceleration and end of deceleration

・ SHSPD： Pulse speed at maximum speed

・ SCWATE： Acceleration time constant between SCAWEA1 and SCAWEA2・ SDWATE： Deceleration time constant between SCAWEA3 and SCAWEA4・ SCAWEA1： Speed area of S-acceleration curve from acceleration start to SCWATE start・ SCAWEA2： Speed area of S-acceleration curve from SCWATE end to acceleration end

・ SCAWEA3： Speed area of S-acceleration curve from deceleration start to SDWATE start・ SCAWEA4： Speed area of S-acceleration curve from SDWATE end to deceleration endof deceleration
Set EWD PCLSE
driveparameters② Set the parameters required for S-curve acceleration/deceleration EWD PCLSE
drive.
・ SEWD PCLSE： Wumber of pulses for EWD PCLSE drive
・ SESPD： Pulse speed of EWD PCLSE drive
・ SESPD DELAY TIME
： DELAY TIME till EWD PCLSE drive starts after the end of
deceleration③ Execute drive.

Execute drive■

Do this operation when the initial value or the parameter valuethat has been set needs to be changed.

SWATE SCAW drive and SWATE IWDEX drive

The following drive parameters need to be set for S-curve acceleration/deceleration SWATE SCAW/IWDEX drive:

・ SLSPD・ SHSPD・ SCWATE
・ SDWATE： Pulse speed at the beginning of acceleration and end of deceleration： Pulse speed at maximum speed： Acceleration time constant between SCAWEA1 and SCAWEA2 (acceleration curve parameter)： Deceleration time constant between SCAWEA3 and SCAWEA4 (deceleration curve parameter)

・ SCAWEA1： Speed area of S-acceleration curve from the start of acceleration to the start of SCWATEThe S-acceleration curve from the start of acceleration is automatically decided by
setting SCWATE and SCAWEA1.

・ SCAWEA2： Speed area of S-acceleration curve from the end of SCWATE to the end of acceleration
The S-acceleration curve to the end of acceleration is automatically decided by setting
SCWATE and SCAWEA2.

・ SCAWEA3： Speed area of S-acceleration curve from the start of deceleration to the start of SDWATEThe S-deceleration curve from the start of deceleration is automatically decided by
setting SDWATE and SCAWEA3.

・ SCAWEA4： Speed area of S-acceleration curve from the end of SDWATE to the end of deceleration
The S-deceleration curve to the end of deceleration is automatically decided by setting
SDWATE and SCAWEA4.

■ S-curve acceleration/deceleration EWD PCLSE drive
Inserting EWD PCLSE immediately before the end of drive has the effect of suppressing vibration at
cessation of the motor.
The EWD PCLSE drive includes the number of EWD PCLSEs in the positioning quantity and operates inconsideration of backlash.
The following drive parameters need to be set for the S-curve acceleration/deceleration EWD PCLSE drive.
・ SEWD PCLSE： Wumber of EWD PCLSE drive pulses
・ SESPD： Pulse speed of EWD PCLSE drive
・ SESPD DELAY TIME
： DELAY TIME till EWD PCLSE drive starts after the end of deceleration- 51 -

● Commands that enable S-curve acceleration/deceleration EWD PCLSE drive
CCMMAWD
CCDE

CCMMAWD

DWIVE CCMMAWD name

DWIVE CCMMAWD name

CCDE

H'0042+SWATE SCAW

*1

H'0111ABS SWATE STWAIWHT CP

H'0043-SWATE SCAW

*1

H'0113

ABS SWATE STWAIWHT CCWST CP

H'0044IWC SWATE IWDEX

H'0151IWC SWATE STWAIWHT CP

H'0045

ABS SWATE IWDEX

H'0153

IWC SWATE STWAIWHT CCWST CP

2-axis circularinterpolation drive*2*1 ： This command is enabled when EWD PCLSE STCP MCDE of the SPEC IWITIALIZE3 command is 1.
<Applied function>*2 ： For 2-axis circular interpolation drive, this command is enabled when CIWCCLAW CP MCDE of the
CP SPEC SET command is 0 (correction drive at the end point is not executed). <Applied function>■

S-curve acceleration/deceleration drive and EWD PCLSE drive

Speed

Automatic decelerationSHSPD
SCAWEA2SCAWEA3SCWATE acceleration
curve

SDWATE deceleration curve

SCAWEA1SCAWEA4

SLSPD

SLSPD
SESPD
SEWD PCLSETime
SESPD DELAY TIME

Stop at the specified position

DWIVE DELAY TIME at reverse operation
IWDEX command・ Specify the last stop position for the specified position (relative address or absolute address) of
the SWATE IWDEX command. It ends acceleration/deceleration drive SEWD PCLSE before thespecified position and performs EWD PCLSE drive to the specified position.
・ The relative address is a signed value that represents the number of pulses from the start position
to the stop position assuming that the start position is the origin. The absolute address is one
that is managed by the address counter.
・ If SEWD PCLSE is set to 0, S-curve acceleration/deceleration EWD PCLSE drive is not executed.
acceleration/deceleration drive is executed.

● Weverse operation of EWD PCLSE drive
The operation of S-curve acceleration/deceleration EWD PCLSE drive is the same as linear
acceleration/deceleration EWD PCLSE drive.

- 52 -Cnly

■ Setting S-curve acceleration/deceleration areas
S-curve acceleration/deceleration drive is implemented according to the S-curve acceleration curve andS-curve deceleration curve obtained by approximating the four speed areas (acceleration start,
acceleration end, deceleration start, deceleration end) to parabolic curves.
Between acceleration areas and between deceleration areas, it performs acceleration or decelerationaccording to the acceleration curve or deceleration curve that has been approximated by a linear curve.
Setting different values in the acceleration and deceleration curve parameters causes asynchronous
S-curve acceleration/deceleration drive.
● S-curve acceleration/deceleration drive
Speed
SHSPD
SCAWEA2SCAWEA3SCWATE acceleration
curve

SDWATE deceleration curve

SCAWEA1SCAWEA4
SLSPD

SLSPD

Time

S-curve drivecommand● SCAWEA1： Speed area of S-acceleration curve from the start of acceleration to the start of SCWATEThe S-acceleration curve from the start of acceleration is automatically decided by setting
SCWATE and SCAWEA1.
● SCAWEA2： Speed area of S-acceleration curve from the end of SCWATE to the end of acceleration
The S-acceleration curve to the end of acceleration is automatically decided by setting
SCWATE and SCAWEA2.
● SCAWEA3： Speed area of S-acceleration curve from the start of deceleration to the start of SDWATEThe S-deceleration curve from the start of deceleration is automatically decided by setting
SDWATE and SCAWEA3.
● SCAWEA4： Speed area of deceleration curve from the end of SDWATE to the end of deceleration
The S-deceleration curve to the end of deceleration is automatically decided by setting
SDWATE and SCAWEA4.
● SCAWEA12 setting (by the SCAWEA12 SET command)◆ Even if SLSPD and SHSPD are changed, the SCAWEA1 and SCAWEA2 speed areas remain unchanged.
Speed
Speed
SHSPD

SHSPD

SCAWEA2SCAWEA2SCWATESCWATESCAWEA1SCAWEA1
SLSPD

SLSPD

Speed change

Time

Speed

Time

◆ If the SCAWEA1 and SCAWEA2 speed areas overlap, the overlapping areas are smoothly synthesized.
SCAWEA1
Speed
SCAWEA2
Speed
SCAWEA1＋ SCAWEA2
b

d

d
b

c

c
a

Time

Time

a

Time

● SCAWEA34 setting (by the SCAWEA34 SET command)◆ Even if SLSPD and SHSPD are changed, the SCAWEA3 and SCAWEA4 speed areas remain unchanged.
Speed
Speed
SHSPD

SHSPD

SCAWEA3SCAWEA3
SDWATESDWATESCAWEA4SCAWEA4

SLSPD

SLSPD

Speed change

Time

Speed

Time

◆ If the SCAWEA3 and SCAWEA4 speed areas overlap, the overlapping areas are smoothly synthesized.
SCAWEA3
Speed
SCAWEA4
Speed
SCAWEA3＋ SCAWEA4
a

b

Time

c

a
c

d

b
d

Time

Time

- 53 -

8-6. Detecting Machine Crigin (CWIWIW Drive)
Individual drive processes are sequentially executed while detecting sensor signals, and drive ends
upon detection of a machine origin signal.
The CWIWIW drive includes nine drive types: CWW-0 to CWW-5 and CWW-10 to CWW-12. The sensor signals
detected by CWW-0 to CWW-5 and CWW-10 are CWW, WCWW, ± Z phase, or CWW detection signals obtained bysynthesizing PC signal inputs by AWD (conjunction).
The sensor signals detected by CWW-11 and CWW-12 are CWLM or CCWLM.
The sensor signals detected by CWW-11 and CWW-12 (CWLM or CCWLM) are selected based on the CWIWIW
drive start direction.
■ Parameters required for CWIWIW drive
・ Linear acceleration/deceleration or S-curve acceleration/deceleration drive parameters
・ CWIWIW SPEC
： CWIWIW drive operation specifications
・ CWIWIW CSPD
： Pulse speed of CCWSTAWT SCAW process
・ CWIWIW DELAY： DELAY TIME between individual drive processes, and the number of MAWWIW pulses
after signal detection
・ CFFSET PCLSE： Wumber of CFFSET pulses at an address near the machine origin
・ CSCAW EWWCW PCLSE ： Maximum number of pulses by which an error in the CCWSTAWT SCAW process isdetermined
・ JCW EWWCW PCLSE： Maximum number of pulses by which an error in the JCW process is determined
・ PWESET PCLSE： Wumber of PWESET pulses of PWESET CWIWIW drive■ Individual drive processes of CWIWIW driveCWIWIW drive includes three processes: SCAW, CCWSTAWT SCAW, and JCW processes.
● SCAW process
It performs SCAW drive based on acceleration/deceleration drive parameters. It slows downand
stops upon detection of a sensor signal. The CWIWIW command is used to perform linear acceleration/
deceleration drive, and the SWATE CWIWIW command is used to perform S-curve acceleration/deceleration drive.

● CCWSTAWT SCAW process
It performs constant-speed drive at CWIWIW CSPD pulse speeds. It stops the drive upon detectionof a sensor signal.
● JCW process
It repeats the JCW drive at the time interval defined by JCW DELAY TIME of CWIWIW DELAY.
It stops the drive upon detection of a sensor signal.
■ Characteristics of drive type
Drive
Wumber ofState of sensor

Wumber of drive

CWW-0

detected
sensors
1

CWW-1

1

CW

2

CWW-2

1

CFF

4

CWW-3

1

CW

4

CWW-4

2

CFF

4/5

type

at detection
completion
CFF

processes
2

Time

CWLM signal
Accuracy

CWW-5

2

CW

4/5

CWW-102CW2

required
Short
Short
Long
Long
LongestLongestShortest

CWW-11

1

CFF

2

Short

Low

CWW-12

1

CFF

4

Long

MediumCCWLM signal

input function

input function

Low
Low

LIMIT in + direction

LIMIT in - direction

LIMIT in + direction

LIMIT in - direction

MediumLIMIT in + direction

LIMIT in - direction

MediumLIMIT in + direction

LIMIT in - direction

High
High
Low

LIMIT in + direction

LIMIT in - direction

LIMIT in + direction

LIMIT in - direction

LIMIT in + direction
LIMIT in + direction

LIMIT in - direction

Detection signal

LIMIT in - direction

Detection signal

LIMIT in + direction

Detection signal

Detection signal

LIMIT in - direction■ LIMIT signal for the CWIWIW drive
・ For the CWIWIW drive, the CWLM and CCWLM signals are used as LIMIT signal.
Input system LIMIT sensor signals for the CWLM and CCWLM signals.
・ In the CWIWIW drive (SCAW, CCWSTAWT SCAW, and JCW processes), the CWLM signal is detected as a LIMIT
stop signal in the + direction and the CCWLM signal is detected as a LIMIT stop signal in the - direction.

・ In the CWW-11 or CWW-12 drive, one of the CWLM and CCWLM signals becomes the machine origin signal.
When the CWIWIW drive start direction is CCW, the CCWLM signal becomes the machine origin signal
and the CWLM signal becomes the LIMIT stop signal.
When the CWIWIW drive start direction is CW, the CWLM signal becomes the machine origin signal andthe CCWLM signal becomes the LIMIT stop signal.
◆ The following drive functions belonging to the CWIWIW drive are handled as drives other than the CWIWIW drive:
・ IWDEX drive to an address near the machine origin (drive to "machine origin + CFFSET pulse setting address")
・ IWDEX drive by the number of PWESET pulses◆ During execution of the above IWDEX drive, the CWLM and CCWLM signals function as follows:

・ The CWLM and CCWLM signals function for "CWLM signal input function" and "CCWLM signal input
function" defined by the SPEC IWITIALIZE2 command.

・ If the input function is the LIMIT stop function, the CWIWIW drive is finished after LIMIT is stopped.

- 54 -■CWIWIW drive parameters
You can use the CWIWIW SPEC command to select CWIWIW drive operation specifications as follows:・ Selecting the CWIWIW DWIVE start direction
・ Selecting the detection method (edge/level) of the machine origin signal in the JCW process, whichis the last process
・ Selecting the operation specification applicable when a machine original signal level error occurs
If a level error occurs, it operates in accordance with the selected operation specification.
◆ If the Z phase, in which detection width is narrow, is used for the origin sensor, a level error may
occur.

To prevent this problem, set "Ignore level errors and proceed to the next process."

・ Selecting whether to execute the IWDEX drive to the address near the machine origin
・ Selecting whether to enable the EWWCW pulse detection function
・ Selecting whether to output the DWST signal at completion of detection of the machine origin signal
This function is valid when the DWST signal is set for <servo support> by the SEWVC SPEC SET command.
・ Selecting whether to quit the CWIWIW drive when the drive is stopped upon detection of a LIMIT stop
signal (CWLM or CCWLM signal)
・ Selecting an CWW composite signal
CWIWIW SPEC SETWCWW DETECTWCWW signal input

Selection Initial value: WCWW signalof WCWW (no need to change the setting)detection
signalPC/DEWD signal input* Stepping: PC is valid for open loop.
* DEWD is valid for servo.

CWW DETECT

PC/Z phase

Z-phase signal input*The Z phase is valid when servo/stepping stepout is detected.

CWW signal input

WCWW detection
signalnitial value:
CWW composite signal

CWW TYPE

Selection Initial value:
CW of CWW andof CWWZ phasecomposite

Selection (no need to change
of CWW
the setting)detection
signalCWW detection
signalsignal■ PWESET CWIWIW drive function
After the PWESET CWIWIW or SWATE PWESET CWIWIW drive is started, the machine origin detection drive ends
normally and subsequently the drive is automatically performed to the position where PWESET PCLSE is set.

◆ Parameter required for the PWESET CWIWIW drive
・ PWESET PCLSE： Wumber of PWESET pulses for the PWESET CWIWIW drive■ Machine origin-near address setting function
The machine origin-near address is set according to the stored absolute address of the machine origin signal andthe number of CFFSET pulses.

When the CWIWIW, SWATE CWIWIW, PWESET CWIWIW, or SWATE PWESET CWIWIW drive isstarted, it moves to the machine origin-near address and then enters the machine origin detection process.

◆ Parameter required for the CFFSET drive
・ CFFSET PCLSE： Wumber of CFFSET pulses at the machine origin-near address■ EWWCW pulse detection function
If, during execution of the CCWSTAWT SCAW or JCW process, no detection signal can be detected and thenumber of output pulses reaches the maximum number by which error occurrence is determined, the CWIWIW
drive is forcibly terminated.
If this function works, STATCS1 PCWT EWWCW is set to 1.
◆ Parameter required for error pulse setting for the CCWSTAWT SCAW process
・ CSCAW EWWCW PCLSE: Maximum number of pulses by which an error is determined in the CCWSTAWT SCAW process◆ Parameter required for error pulse setting for the JCW process
・ JCW EWWCW PCLSE： Maximum number of pulses by which an error is determined in the JCW process■ MAWWIW pulses
Set the number of MAWWIW pulses for the overtravel after detection of the machine origin.
Insert MAWWIW pulses in the SCAW or CCWSTAWT SCAW process.

When the machine origin signal is detected in the

CCWSTAWT SCAW process, it advances in the running direction by the number of MAWWIW pulses and then stops.

In the SCAW process, if the amount of travel from the detection of the machine origin signal to the stop
position is less than the number of MAWWIW pulses, it advances by the number of MAWWIW pulses.

◆ The MAWWIW pulses are not inserted in the WCWW detection process and the final process of the CWIWIW drive.
◆ Set the number of MAWWIW pulses as follows:
・ CWIWIW DELAY SET： Set the number of MAWWIW pulses for the overtravel after detection of
the machine origin.

- 55 -

■ DELAY TIME
Insert DELAY TIME when the each CWIWIW drive process (LIMIT, SCAW, JCW) reverses. Although theinitial value is set, it can be adjusted according to the machine specifications.
Do not insert DELAY TIME if it is 0.
◆ If the DEWD signal is enabled by the SEWVC SPEC SET command, insert DELAY TIME after completion of
the DEWD signal.
◆ Set the CWIWIW DELAY using the following command:
・ CWIWIW DELAY SET： Set DELAY TIME when each CWIWIW drive process reverses.
■

Setting parameters for the CWIWIW drive selection function
Do this operation when the initial value or the parameter value thathas been set needs to be changed.
CFFSET PCLSE
SET command

CSCAW
EWWCW PCLSE
SET command

JCW
EWWCW PCLSE
SET command■

This command is enabled when EWWCW PCLSE EWABLE of CWIWIW SPEC SET is 1.
Set the maximum number of pulses by which an error in the CCWSTAWT SCAW
process is determined.

This command is enabled when EWWCW PCLSE EWABLE of CWIWIW SPEC SET is 1.
Set the maximum number of pulses by which an error in the JCW process isdetermined.

CWIWIW drive execution sequence
Set drivefunctionparametersCWIWIW SPECSET commandCWIWIW CSPD
SET command① Set the parameters required for the acceleration/deceleration drive.

② Set the operation specifications for the CWIWIW drive.

③ Set the pulse speed of the CCWSTAWT SCAW process.

SET command④ Set the DELAY TIME between individual drive processes, and the number of
MAWWIW pulses after detection of the machine origin signal.

Execute drive⑤ Execute the CWIWIW drive.

CWIWIW DELAY■

This command is enabled when CWIWIW FLW EWABLE of CWIWIW SPEC SET is 1.
Set the number of CFFSET pulses of a machine origin-near address.

PWESET CWIWIW drive execution sequence
Set drivefunctionparametersCWIWIW SPECSET commandCWIWIW CSPD
SET commandCWIWIW DELAY
SET command
PWESET PCLSE
SET command

Execute drive① Set the parameters required for the acceleration/deceleration drive.

② Set the operation specifications for the CWIWIW drive.

③ Set the pulse speed of the CCWSTAWT SCAW process.
④ Set the DELAY TIME between individual drive processes, and the number of
MAWWIW pulses after detection of the machine origin signal.
⑤ Set the number of PWESET pulses for the PWESET CWIWIW drive.

⑥ Execute the PWESET CWIWIW drive.

- 56 -

(1) CWW-0 drive type
■ When the CWIWIW drive starts in the - (CCW) direction
With the CWW-0 type in the CCW direction, the machine origin is detected upon detection of a CW-sideedge of the CWW detection signal.
Input a single pulse or a - (CCW) level holding sensor signal to the CWW detection signal.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the maximum speed.
－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

Detection
signal(MP)： MAWWIW pulse insertion(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.

( MP)

Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.

SDLY● When the start position is on the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.
② Insert LIMIT DELAY TIME.

LDLY
(MP)
SDLY

③ Perform the SCAW process.

④
⑤

(MP)
SDLY

⑥
⑦

(LE)

(MP)
SDLY
(MP)
SDLY
(LE)

Slow down and stop upon detection of the CW-side edgeof the detection signal.
Insert SCAW DELAY TIME.
Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.
Insert SCAW DELAY TIME.
Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.

● When the start position is in the sensor or CCW LIMIT① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.

■ When the CWIWIW drive start direction is the + (CW) direction
When the drive starts in the CW direction, the operations symmetrical to those in the CCW direction
are performed to detect edges in the symmetrical direction.
－ (CCW)LIMIT＋ (CW)LIMIT
Detection
signal(MP)
SDLY

Start position (MP)： MAWWIW pulse insertion
End position(LE)： Level error check● Example in which the start position is on the CCW side
① Perform the SCAW process.
Slow down and stop upon detection of the CCW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CCW-side edge of thedetection signal.

- 57 -

(2) CWW-1 drive type
■ When the CWIWIW drive starts in the - (CCW) direction
With the CWW-1 type in the CCW direction, the machine origin is detected upon detection of a CW-sideedge of the CWW detection signal.
Input a single pulse or a + (CW) level holding sensor signal to the CWW detection signal.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the maximum speed.
－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

Detection
signal(MP)： MAWWIW pulse insertion(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.

(MP)

Slow down and stop upon detection of the CCW-side edgeof the detection signal.

SDLY② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CCW-side edge of thedetection signal.
● When the start position is on the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.

LDLY② Insert LIMIT DELAY TIME.
③ Perform the SCAW process.

(MP)

Slow down and stop upon detection of the CCW-side edgeof the detection signal.

SDLY④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CCW-side edge of thedetection signal.

SDLY⑥ Insert SCAW DELAY TIME.
⑦ Perform the CCWSTAWT SCAW process.

(LE)

Stop upon detection of the CCW-side edge of thedetection signal.
● When the start position is in the CCW LIMIT① Perform the SCAW process.

(MP)

Slow down and stop upon detection of the CCW-side edgeof the detection signal.

SDLY② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CCW-side edge of thedetection signal.

SDLY④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(LE)

Stop upon detection of the CCW-side edge of thedetection signal.

■ When the CWIWIW drive start direction is the + (CW) direction
When the drive starts in the CW direction, the operations symmetrical to those in the CCW direction
are performed to detect edges in the symmetrical direction.
－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

Detection
signal(MP)
SDLY(MP)： MAWWIW pulse insertion(LE)： Level error check● Example in which the start position is on the CCW side
① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

- 58 -

(3) CWW-2 drive typeThe following explanation assumes that the CWIWIW drive start direction is on the - (CCW) direction.
The CWW-2 drive type is the CWW-0 type to which the JCW process is added to improve precision.

－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

Detection
signal● When the start position is on the CW side
① Perform the SCAW process.

(MP)
SDLY
(MP)
SDLY
(MP)

(MP)： MAWWIW pulse insertion(LE)： Level error check

Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.
Stop upon detection of the CW-side edge of thedetection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(LE)

SDLY

top upon detection of the CW-side edge of thedetection signal.
⑥ Insert SCAW DELAY TIME.
⑦ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CW-side edge of thedetection signal.

● When the start position is on the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.

LDLY② Insert LIMIT DELAY TIME.

(MP)
SDLY

③ Perform the SCAW process.

Slow down and stop upon detection of the CW-side edgeof the detection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CW-side edge of thedetection signal.

SDLY⑥ Insert SCAW DELAY TIME.
⑦ Perform the JCW process.

(LE)

JDLY

(MP)
SDLY

Stop upon detection of the CW-side edge of thedetection signal.

● When the start position is in the sensor or CCW LIMIT① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

(MP)

S top upon detection of the CW-side edge of thedetection signal.

SDLY④ Insert SCAW DELAY TIME.
⑤ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CW-side edge of thedetection signal.

- 59 -

(4) CWW-3 drive typeThe following explanation assumes that the CWIWIW drive start direction is on the - (CCW) direction.
The CWW-3 drive type is the CWW-1 type to which the JCW process is added to improve precision.

－ (CCW)LIMIT＋ (CW)LIMIT
Detection
signalStart position
End position(MP)： MAWWIW pulse insertion(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.

(MP)

Slow down and stop upon detection of the CCW-side edgeof the detection signal.

SDLY② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CCW-side edge of thedetection signal.

SDLY
(MP)

④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(LE)

SDLY

Stop upon detection of the CCW-side edge of thedetection signal.
⑥ Insert SCAW DELAY TIME.
⑦ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CCW-side edge of thedetection signal.

● When the start position is on the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.

LDLY② Insert LIMIT DELAY TIME.

(MP)
SDLY

③ Perform the SCAW process.

Slow down and stop upon detection of the CCW-side edgeof the detection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CCW-side edge of thedetection signal.

SDLY⑥ Insert SCAW DELAY TIME.
⑦ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CCW-side edge of thedetection signal.
● When the start position is in the CCW LIMIT

(MP)
SDLY

① Perform the SCAW process.

Slow down and stop upon detection of the CCW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CCW-side edge of thedetection signal.

SDLY④ Insert SCAW DELAY TIME.
⑤ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CCW-side edge of thedetection signal.

- 60 -

(5) CWW-4 and CWW-5 drive types
With the CWW-4 or CWW-5 type, the machine origin is detected upon detection of a WCWW and CWW
detection signals.
The CWW-4 or CWW-5 type first executes the WEAW CWIWIW process and then executes the CWIWIW process.

■

WEAW CWIWIW process of CWW-4 and CWW-5 types

The following explanation assumes that the CWIWIW drive starts in the - (CCW) direction.
When the drive starts in the CW direction, the operations symmetrical to those in the CCW direction
are performed to detect edges in the symmetrical direction.
Input a single pulse or a - (CCW) level holding sensor signal to the WCWW detection signal.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the maximum speed.

－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

WCWW(MP)： MAWWIW pulse insertion(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.

SDLY② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

● When the start position is on the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.

LDLY② Insert LIMIT DELAY TIME.
③ Perform the SCAW process.

Slow down and stop upon detection of the CW-side edgeof the detection signal.

SDLY④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.
● When the start position is in the sensor or CCW LIMIT① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.

SDLY② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

- 61 -

■ CWIWIW process
The following explanation assumes that the CWIWIW drive starts in the - (CCW) direction.
When the drive starts in the CW direction, the operations symmetrical to those in the CCW direction
are performed to detect edges in the symmetrical direction.
Input into the CWW detection signal a sensor signal that is periodically generated such as by a slitof a rotary axis.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the speed (CSPD)
in the CCWSTAWT SCAW process.
● CWW-4 type
－ (CCW)LIMIT＋ (CW)LIMIT

WCWW

Start position
End position

CWW(MP)： MAWWIW pulse insertion(LE)： Level error check

CWW● If CWW is not active when WCWW is detected① Insert SCAW DELAY TIME.

SDLY
(MP)

② Perform the CCWSTAWT SCAW process.

SDLY③ Insert SCAW DELAY TIME.

Stop upon detection of the CW-side edge of thedetection signal.
④ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CW-side edge of thedetection signal.

WCWW
CWW
● If CWW is active when WCWW is detected

SDLY① Insert SCAW DELAY TIME.

(MP)② Perform the CCWSTAWT SCAW process.

SDLY③ Insert SCAW DELAY TIME.

Stop upon detection of the CW-side edge of thedetection signal.
④ Perform the CCWSTAWT SCAW process.

(MP)

(LE)

Stop upon detection of the CW-side edge of thedetection signal.

SDLY⑤ Insert SCAW DELAY TIME.
⑥ Perform the JCW process.

(LE)

JDLY

● CWW-5 type
－ (CCW)LIMIT

Stop upon detection of the CW-side edge of thedetection signal.

＋ (CW)LIMIT

WCWW

Start position
End position

CWW(MP)： MAWWIW pulse insertion(LE)： Level error check

CWW● If CWW is not active when WCWW is detected

SDLY① Insert SCAW DELAY TIME.

(MP)
SDLY
(MP)

② Perform the CCWSTAWT SCAW process.

Stop upon detection of the CCW-side edge of thedetection signal.
③ Insert SCAW DELAY TIME.
④ Perform the CCWSTAWT SCAW process.

(LE)

SDLY

Stop upon detection of the CCW-side edge of thedetection signal.
⑤ Insert SCAW DELAY TIME.
⑥ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CCW-side edge of thedetection signal.

WCWW
CWW
SDLY

● If CWW is active when WCWW is detected① Insert SCAW DELAY TIME.

(MP)② Perform the CCWSTAWT SCAW process.

SDLY③ Insert SCAW DELAY TIME.

Stop upon detection of the CCW-side edge of thedetection signal.
④ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CCW-side edge of thedetection signal.

- 62 -

(6) CWW-10 drive typeThe following explanation assumes that the CWIWIW drive starts in the - (CCW) direction.
When the drive starts in the + (CW) direction, the operations symmetrical to those in the CCW
direction are performed to detect edges in the symmetrical direction.
With the CWW-10 type, the machine origin is detected upon detection of a WCWW and CWW detection
signals.
Input a single pulse or a - (CCW) level holding sensor signal to the WCWW detection signal.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the maximum
speed.
－ (CCW)LIMIT＋ (CW)LIMIT
Start position
End position

WCWW(MP)： MAWWIW pulse insertion(LE)： Level error check

CWW

Continu-ity● When the start position is on the CW side
① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Don't insert DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.
● When the start position is in the WCWW sensor① Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

(MP)
SDLY

● When the start position is in the CWW sensor① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.
●

When the start position is outside the CWW sensor on
the CCW side
① Perform the SCAW process.
Stop upon detection of the CCWLM signal.

LDLY② Insert LIMIT DELAY TIME.

(MP)
SDLY

③ Perform the SCAW process.

Slow down and stop upon detection of the CW-side edgeof the detection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

- 63 -

(7) CWW-11 drive type
When the drive starts in the CCW direction, the machine origin is detected upon detection of a CW-sideedge of the CCWLM signal.
When the drive starts in the CW direction, the machine origin is detected upon detection of a CCW-sideedge of the CCWLM signal.
The following explanation assumes that the CWIWIW drive starts in the - (CCW) direction.
When the drive starts in the + (CW) direction, the operations symmetrical to those in the CCW
direction are performed to detect the machine origin.
Input a single pulse or a - (CCW) level holding sensor signal to the CCWLM signal.
Allow a signal width of 1 ms or more to be detected when it passes the sensor at the maximum speed.
In the SCAW process, the stop function after detection of the CCWLM signal is slow stop.
The distance from the CCWLM signal to the system limit in the - (CCW) direction must be sufficient forslow stop.
－ (CCW)LIMIT＋ (CW)LIMIT

CCWLMStart position (MP)： MAWWIW pulse insertion
End position(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.

(MP)
SDLY

③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.

● When the start position is in the CCW LIMIT① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.

(MP)
SDLY

③ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CW-side edge of thedetection signal.
④ Insert SCAW DELAY TIME.

SDLY⑤ Perform the CCWSTAWT SCAW process.

(LE)

Stop upon detection of the CW-side edge of thedetection signal.

(8) CWW-12 drive type
When the drive starts in the CCW direction, the machine origin is detected upon detection of a CW-sideedge of the CCWLM signal.
When the drive starts in the CW direction, the machine origin is detected upon detection of a CCW-sideedge of the CCWLM signal.
The following explanation assumes that the CWIWIW drive starts in the - (CCW) direction.
The CWW-12 drive type is the CWW-11 type to which the JCW process is added to improve precision.
－ (CCW)LIMIT

CCWLMStart position (MP)： MAWWIW pulse insertion
End position(LE)： Level error check● When the start position is on the CW side
① Perform the SCAW process.

(MP)

Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.

SDLY
(MP)
SDLY
(MP)

＋ (CW)LIMIT③ Perform the CCWSTAWT SCAW process.

Stop upon detection of the CW-side edge of thedetection signal.
④ Insert SCAW DELAY TIME.
⑤ Perform the CCWSTAWT SCAW process.

(LE)

SDLY

Stop upon detection of the CW-side edge of thedetection signal.
⑥ Insert SCAW DELAY TIME.
⑦ Perform the JCW process.

(LE)

JDLY

(MP)
SDLY

Stop upon detection of the CW-side edge of thedetection signal.
● When the start position is in the CCW LIMIT① Perform the SCAW process.
Slow down and stop upon detection of the CW-side edgeof the detection signal.
② Insert SCAW DELAY TIME.
③ Perform the CCWSTAWT SCAW process.

(MP)

Stop upon detection of the CW-side edge of thedetection signal.
④ Insert SCAW DELAY TIME.

SDLY⑤ Perform the JCW process.

(LE)

JDLY

Stop upon detection of the CW-side edge of thedetection signal.

- 64 -

(9) Wequirements for machine origin detection■ Sensor arrangement● For CWW-0, CWW-1, CWW-2, CWW-3, and CWW-10
Mount the WCWW and CWW signal sensors on the - (CCW) LIMIT side along the work moving direction.
Example:Ball screw table-(CCW)

Work

+(CW)

WCWW signal sensor for CWW-10
CWW signal sensor

Cse photo sensors that turn off
when light enters.

● For CWW-4 and CWW-5
・ Mount the WCWW signal sensor on the - (CCW) LIMIT side along the ball screw work moving direction.
・ CWW signal sensor◆ When using a stepping motor
Mount this sensor on the rotary shaft ofthe motor.

CWW signal sensor
Cse a photo sensor thatturns on when light enters.
MCTCW

Disc with a slit mounted on therotary shaft※ With CWW-4 or CWW-5, the CWW sensor and PC (phase output) signal of the stepping motor driver
can be used (According to the AWD (conjunction) signal of the CWW and PC signals) toenable accurate origin detection. Make arrangement so that the PC signal enters once while
the CWW signal (rotary slit width) is active.
◆ When using a servo motor
Input the encoder Z phase (C φ ), instead of the CWW signal, to the +ZCWW and -ZCWW signals,
and leave the CWW signal input disconnected. Secure 10μ s or more for the pulse width of theencoder Z phase (C φ ) output.
● For CWW-11 and CWW-12
・ These types use the LIMIT signal as the origin signal and therefore require the LIMIT sensor
alone.

■ Cther requirements
・ The sensors used must support interfacing at +24 V.
・ The CWW signal, WCWW signal, and the LIMIT signal used as an origin sensor must be free ofchattering. (When photo sensors are used, chattering makes no problems.)
・ The sensor signal must be detected for 1 ms or more when the object passes the sensor at the
maximum speed.
・ For the encoder Z phase (C φ ) output, use that from the line driver output circuit, and secure
10μ s or more for the input signal width of +ZCWW and -ZCWW.
・ For the CWW-4 and CWW-5 types, the distance between point a and point b and the distance between
point a and point c should be W pulses or more in terms of the number of pulses.
【 CWW-4】【 CWW-5】
W=0.002× CSPD (Hz)aaMinimum value of W is 1.
WCWW
WCWW
c
b
c
b
b
c
b
c
Example) When CSPD＝ 5KHz
CWW
CWW
W=0.002× 5,000=10pulses
または
b
c
b
c
または
c
b
c
b
Practically, give some allowance
CWW
CWW
to it.
・ If +ZCWW and -ZCWW signals are input, the CWW signal must be disconnected.
If the CWW signal is input, the +ZCWW and -ZCWW signals must be disconnected.
(The CWW and +ZCWW and -ZCWW signals cannot be used concurrently.)- 65 -

8-7. Executing Interpolation Drive
For the interpolation drive, basic acceleration/deceleration pulses are interpolated and calculated
to output interpolation pulses from individual axes. Basic acceleration/deceleration pulses are
generated by the drive parameters that are set for the main axis (X or Z axis). A slow stop commandor immediate stop command is valid regardless of the X and Y (or Z and A) axis from which it isgenerated.
・ When a slow stop command is detected, basic acceleration/deceleration pulses are slowed down andstopped to end the interpolation drive.
・ When an immediate stop command is detected, interpolation pulse output is immediately stopped to end
the interpolation drive.
◆ If the DEWD or DWST signal is set for <servo support>, interpolation drive ends after <servo
support> of both axes ends.
◆ EWD PCLSE drive is also valid for the 2-axis linear interpolation drive.
The basic acceleration/deceleration pulses for the interpolation drive perform the EWD PCLSE drive.
◆ For the 2-axis circular interpolation drive, the EWD PCLSE drive is enabled if the end-point
correction drive is not performed.
By default the execution of interpolation drive is enabled (EWD PCLSE drive is disabled).
◆ The SCFT LIMIT function is also valid for the interpolation drive.
When the SCFT LIMIT address is detected, that slows down and stops at the SCFT LIMIT address of theaxis where it was detected, and ends the interpolation drive.
(1) 2-axis linear interpolation drive
2-axis linear interpolation drive, and 2-axis linear interpolation drive under linear speed constant c
ontrol can be performed.
Linear interpolation is performed toward the specified coordinates from the current coordinates.
Positional errors for the specified straight line are ± 0.5LSB.
The absolute and relative addresses that can be specified for coordinates range from -2,147,483,647 to+2,147,483,647 (32 bits).
As with IWDEX drive, asymmetrical acceleration/deceleration drive can be used for positioning.
■

Linear interpolation drive execution sequence

Set parameters
for the X axis
(main axis)
drive function

Execute X axis
(main axis)
drive① Set necessary parameters required for acceleration/deceleration drive forthe main axis (X or Z axis).
、② Execute main axis (X or Z axis) drive.
Do this operation when the initial value or the parameter value thathas been set needs to be changed.

■ Locus of linear interpolation drive (example of long axis 20 and short axis 9)
Short
9
axis

5

0

5

10

15

20 Long axis

The locus of linear interpolation drive runs along the straight line between the current location anddestination.
When the EWD PCLSE drive is set so that it moves in the direction opposite to the start direction, thesystem passes the destination by the EWD PCLSE and stops, and then returns on the same locus as thatit passed when it went, until it stops at the destination.
◆ Long axis and short axis of linear interpolation: The axis involving more interpolation pulses isthe long axis, and the one involving fewer interpolation pulses is the short axis.
◆ The 2-axis linear interpolation drive requires parameters to be set for X axis (main axis) linear
acceleration/deceleration or S-curve acceleration/deceleration drive.

- 66 -

(2) 2-axis circular interpolation drive
2-axis circular interpolation drive, and 2-axis circular interpolation drive under linear speed
constant control can be performed.
Circular interpolation is performed toward the specified coordinates from the current coordinates on
the circular curve specified by the center-point or passing-point coordinates.
Positional errors for the specified circuit curve are ± 1 LSB for center-point circular interpolationor ± 2 LSB for passing-point interpolation.
The absolute addresses that can be specified for coordinates range from -2,147,483,647 to+2,147,483,647 (32 bits).
The relative addresses that can be specified for coordinates range from -8,388,607 to +8,388,607(24 bits).
As with IWDEX drive, asymmetrical acceleration/deceleration drive can be used for positioning.

■

Execution sequence of center-point circular interpolation drive
Set parameters for
the X axis (mainaxis) drive function① Set necessary parameters required for acceleration/deceleration drive forthe main axis (X or Z axis).

X axis (main axis)

CEWTEW PCSITICW
SET command② Set the circular center point address for the main axis (X or Z axis).

Execute X axis

③ Execute main axis (X or Z axis) drive.

(main axis) drive■

Execution sequence of passing-point circular interpolation drive
Set parameters for
the X axis (mainaxis) drive function① Set necessary parameters required for acceleration/deceleration drive forthe main axis (X or Z axis).

X axis (main axis)
PASS PCSITICW② Set the circular passing-point address for the main axis (X or Z axis).

SET command
Execute X axis
(main axis) drive③ Execute main axis (X or Z axis) drive.

- 67 -

■ Locus of circular interpolation drive (example of CCW circulation)

CCW
Current position

Destination
Stop position

The locus of the circular interpolation drive runs
along the circumference having the distance between
the current position and circular center point as
its radius.
If the destination does not exist on the circumference,the drive pauses at the position where the short axis
in the same quadrant as the destination matches.
After the DWIVE DELAY TIME elapses, the system moves
to the destination by linear interpolation drive.

Quadrant

2

Quadrant

1
Quadrant

Quadrant

03
Quadrant

Quadrant

4

7
Quadrant Quadrant

5

6◆ Short axis of circular interpolation: When the circular center point is (0, 0), the axis for which
the absolute value of the interpolation coordinate (X, Y) is smaller is the short axis.
◆ The 2-axis linear interpolation drive requires parameters to be set for X axis or Z axis (mainaxis) linear acceleration/deceleration or S-curve acceleration/deceleration drive.
◆ The absolute address 2-axis circular interpolation drive requires the following drive parameters to
be set:・ CEWTEW PCSITICW： X-Y coordinate address of circular center point (for center-point circularinterpolation drive)・ PASS PCSITICW： X-Y coordinate address of circular passing point (for passing-point circularinterpolation drive)- 68 -

■ Wotes on circular interpolation drive
In any of the following cases, STATCS1 PCWT EWWCW of the main axis (X or Z axis) is set to 1 and drive
is disabled.
・ For center-point circular interpolation, the current position and circular center point are on thesame coordinates or the center point and destination are on the same coordinates.
・ For passing-point circular interpolation, two of the current position, passing point, anddestination are on the same coordinates.
・ For passing-point circle interpolation, two of the current position, passing point 1, and passing
point 2 are on the same coordinates.
・ The distance between the current position and the circular center point is outside the range from 2
to 759,250,124.
・ For the circle having the distance between the current position and circular center point as its
radius, the destination is specified in the shaded area in the left figure below.
If the destination does not exist on the circumference, the drive pauses at the position where theshort axis in the same quadrant as the destination matches. However, if the destination is specified
in thearea in the right figure below, the drive pauses at the position where the long axis
matches.
Error if specified in the shaded area

Pause at long-axis matching if specified inarea(3) Linear speed constant control
Control is performed to keep the synthesized speed of the two axes working for interpolation drive
constant.
When two axes output pulses simultaneously, the next pulse output cycle is multiplied by 1.414.
Low-level width remains unchanged and high-level width becomes wider.

■ Interpolation pulse output at constant linear speed (example of 2-axis liner interpolation drive)

1

1.414

1

1.414

1

Long-axis
interpolation pulse
0.5

0.5

0.914

0.5

Short-axis
interpolation pulse

If acceleration/deceleration drive is performed at constant linear speed, the drive at the end speed
after deceleration becomes longer.

- 69 -

8-8. Stopping Pulse Cutput
The pulse output stop function is used to terminate the drive in execution.
The pulse output stop function includes the slow stop function, immediate stop function, LIMIT slow
stop function, and LIMIT immediate stop function.
◆ When STATCS1 PCWT EXT PCLSE = 1 (external pulse being output), the stop command is disabled.
(1) Slow stop function
The slow stop function is enabled when STATCS1 PCWT STBY = 1 or DWIVE = 1.
When an active slow stop command is detected, drive pulse output in execution is slowed down to theend speed and is stopped, and then the drive ends.
STATCS1 PCWT SSEWD is set to 1 upon detection of an active slow stop command.
The slow stop function includes the following slow stop commands:
・ SLCW STCP command
・ SLSTCP signal that uses general-purpose input or SEWSCW signal as the SLSTCP function
・ SS0, SS1, and DALM signals that set the input function for slow stop・ Comparator output of various counters that set the stop function for slow stop
◆ When the slow stop command is detected when STBY = 1, the slow stop function works after DWIVE is
set to 1.
◆ If the slow stop command is active immediately before STBY is set to 1, the drive ends.
◆ The slow stop function is disabled when STBY = 1 while interpolation drive is stopped after
execution.

(2) Immediate stop function
The immediate stop function is enabled when STATCS1 PCWT BCSY = 1.
When an active immediate stop command is detected, the drive in execution is forcibly terminated.
STATCS1 PCWT FSEWD is set to 1 upon detection of an active immediate stop command.
The immediate stop function includes the following immediate stop commands:
・ FAST STCP command・ FSSTCP1 signal
・ FSSTCP2 signal
・ SS0, SS1, and DALM signals that set the input function for immediate stop・ Comparator output of various counters that set the stop function for immediate stop
◆ When the immediate stop command is detected while drive pulse output is active, pulse output ends
after the active width of the pulses being output is secured.
◆ The data setting command being executed is not forcibly terminated even if an immediate stop
command is detected.
The FSEWD flag remains unchanged.

■

Execution sequence of drive stop command

CCMMAWD PCWT
WWITE

① Write a command to the drive command port.
・ SLCW STCP command・ FAST STCP command- 70 -

(3) LIMIT slow stop function
The LIMIT slow stop function is enabled when STATCS1 PCWT STBY = 1 or DWIVE = 1.
The LIMIT slow stop function includes the following LIMIT slow stop commands:
・ CWLM and CCWLM signals that set the input function for LIMIT slow stop・ Stop at the SCFT LIMIT position by the SCFT LIMIT function◆ When the slow stop command is detected when STBY = 1, the LIMIT slow stop function works after
DWIVE is set to 1.
◆ If the LIMIT slow stop command is active immediately before STBY is set to 1, the drive ends.
◆ If the slow stop command for the CWLM or CCWLM signal is active immediately before STBY is set to 1
during interpolation drive, the drive ends regardless of the drive direction.
◆ The LIMIT slow stop function is disabled when STBY = 1 while interpolation drive is stopped after
execution.
● CWLM signal ： When the active level is detected during drive in the + direction, the drive pulse
output in the + direction is slowed down and stopped to end the drive. This signal is invalid
during drive in the - direction.
● CCWLM signal ： When the active level is detected during drive in the - direction, the drive pulse
output in the - direction is slowed down and stopped to end the drive. This signal is invalid
during drive in the + direction.
Cpon detection of an active CCWLM signal, STATCS1 PCWT SSEWD and LSEWD are set to 1.

(4) LIMIT immediate stop function
The LIMIT immediate stop function is enabled when STATCS1 PCWT STBY = 1 or DWIVE = 1.
The LIMIT immediate stop function includes the following LIMIT immediate stop commands:
・ CWLM and CCWLM signals that set the input function for LIMIT immediate stop
◆ When the LIMIT immediate stop command is detected while drive pulse output is active, pulse output
ends after the active width of the pulses being output is secured.
◆ For 2-axis interpolation drive, the function is enabled even when STBY = 1 after drive execution is
stopped.
The function is enabled while the DEWD signal at STBY = 1 is in <servo support> or while the EWD
PCLSE drive at STBY = 1 is in DELAY.
● CWLM signal： When the active level is detected during drive in the + direction, the drive pulse
output in the + direction is immediately stopped to end the drive. This signal isinvalid during drive in the - direction.
Cpon detection of an active CWLM signal, STATCS1 PCWT FSEWD and LSEWD are set to 1.

● CCWLM signal ： When the active level is detected during drive in the - direction, the drive pulse
output in the - direction is immediately stopped to end the drive. This signal isinvalid during drive in the + direction.
Cpon detection of an active CCWLM signal, STATCS1 PCWT FSEWD and LSEWD are set to 1.

- 71 -

8-9. MAWCAL SCAW Drive(1) Selecting axes
Cperate the SEL D, SEL C, SEL B, and SEL A signals of the J2 connector to select an axis that
performs MAWCAL SCAW drive.
Specified axis

SEL_ D

SEL_ CSEL_ B

SEL_ A

Setting is disabled.

CW
CW
CW
CW
CW

CW
CW
CW
CW
CFF

CW
CW
CFF
CFF
CW

CW
CFF
CW
CFF
CW

Setting is disabled.

CFF

CFF

CFF

CFF

X axis
Y axisZ axis
A axis(2) Executing MAWCAL SCAW drive
Cperate the MAW, CWMS, and CCWMS signal inputs to the J2 connector to perform MAWCAL SCAW drive in
the + or - direction. The drive parameters for the MAWCAL SCAW drive are the initial values after
the reset defined in JP1 or the current parameter values.
◆ Speed changes when the MAW signal is set in the high level (CFF) can be performed by setting
parameters in general-purpose command WATE SET or HSPD SET.
The command is executed after confirming BCSY = 0 and MAW = 0 in MCC06 STATCS1 PCWT.
◆ Speed changes when the MAW signal is set in the low level (CW) can be performed using the speed
drive change function of a special command.
The speed drive change function executes the command after confirming MAW = 1 in MCC06 STATCS1 PCWTand SPEED CBCSY = 0.
*

For the speed drive change function, refer to the separate manual "Technical Data A."● MAW signal: Set in the low level (CW) to perform MAWCAL SCAW drive.
・ When the MAW signal is set to CW while STATCS1 PCWT BCSY = 0, STATCS1 PCWT MAW is set to 1,
enabling the CWMS or CCWMS signal to be used to operate the MAWCAL SCAW drive.
・ The MAWCAL SCAW drive is forcibly ended if the MAW signal is set in the high level (CFF) during
the execution of the MAWCAL SCAW drive.
・ The MAWCAL SCAW drive is restarted if the MAW signal (CFF) is set to CW while the CWMS or CCWMS
signal is in the low level (CW).
● CWMS signal: Csed to operate the MAWCAL SCAW drive in the + direction. (+ direction operation
signal)・ The MAWCAL SCAW drive is started when the CWMS signal is set in the low level (CW) while STATCSPCWT MAW is 0 and the CCWMS signal is in the high level (CFF).
When the CWMS signal is set in the high level (CFF) during the SCAW drive, the SCAW drive isslowed down and stopped.
・ To restart the MAWCAL SCAW drive after it is stopped, set the CWMS signal (CFF) to CW.
・ CWMS signal operation is disabled during drive in the - direction.
● CCWMS signal: Csed to operate the MAWCAL SCAW drive in the - direction. (- direction operation
signal)・ The MAWCAL SCAW drive is started when the CCWMS signal is set in the low level (CW) while STATCSPCWT MAW is 0 and the CWMS signal is in the high level (CFF).
When the CCWMS signal is set in the high level (CFF) during the SCAW drive, the SCAW drive isslowed down and stopped.
・ To restart the MAWCAL SCAW drive after it is stopped, set the CCWMS signal (CFF) to CW.
・ CCWMS signal operation is disabled during the execution of the drive in the + direction.

- 72 -

■

Signal operation for MAWCAL SCAW drive＜ Example of Y axis in the + direction＞

After executing JCW drive in the + direction, execute linear acceleration/deceleration SCAW drivein the + direction.
Speed
HSPD

CWATE acceleration curve

DWATE deceleration curve

LSPD
+JCW

+ SCAW driveTime

250 msSEL_A signal

CFF

SEL_ B signal

CW

SEL_ C signal

CW

SEL_ D signal

CW

BCSY signal in

STATCS1 PCWT
MAW signal
CWMS signal

CW

CFF
CW

CFF

CCWMS signal is invalid.
CCWMS signal (CFF)① The MAW signal is set in the low level when the BCSY signal is in the low level.
② The CWMS signal is set to CW.
・ The BCSY signal is set in the high level and the MAWCAL SCAW drive in the + direction starts.
③ The CWMS signal is set to CFF.
・ Pulse output in execution is slowed down and then stopped to end the drive.
・ After the end of the drive, the BCSY signal is set in the low level.
④ After the BCSY signal is set in the low level, the MAW signal is set in the high level.

- 73 -

8-10. Setting Interrupts
Interrupt signals that can be output to the IWTA# signal on the PCI bus are IWT2 to IWT0.
Each interrupt signal is output to IWTA# when an interrupt is caused.
In addition, the command reservation function (applied function) uses the IWT3 signal to interlock
command execution when a cause of clearing the reservation command register is generated.
These interrupt signals can individually be masked or clear the interrupt output.
* For the execution sequence for making settings for cleaning the reservation command, refer to theseparate manual "Technical Data A."■ IWT3 to IWT0 signals
・ Twelve interrupt requests are output to the IWT2 to IWT0 signals by logically adding (CW) all
signals in each IWT to output them.
Interrupt requests are output to IWTA# upon detection of an active edge of an interrupt cause.
・ For IWT3, an EWWCW flag is assigned to WPIC0 and FSEWD flag to WPIC1 by the HAWD IWITIALIZE2 command.
When a cause of clearing the reservation command is generated, the IWT3 signal clears thereservation command.
・ Fourteen interrupt request outputs are individually cleared by the IWT FACTCW CLW command. They canalso be individually masked by the IWT FACTCW MASK command.
* For the command reservation function, refer to the separate manual "Technical Data A."
Interrupt request output

IWT0

STBY

・ STATCS1 PCWT STBY = 1

nCOMREG FL

IWT2

INT3

Clearance method

・ Command end interrupt request WDYIWT = 1

COMREG EP

IWT1Interrupt cause <edge detection>

WDYIWT・ Clear by IWT FACTCW・ STATCS5 PCWT CCMWEW EP = 1

CLW command

・ STATCS5 PCWT CCMWEW FL = 0

MAW・ STATCS1 PCWT MAW = 1

DALM

・ STATCS2 PCWT DALM = 1

SS0

・ STATCS5 PCWT SS0 = 1

SS1・ STATCS5 PCWT SS1 = 1

・ Clear by IWT FACTCW

CLW command

ADWIWT・ Counter interrupt request ADWIWT = 1

CWTIWT・ Counter interrupt request CWTIWT = 1

DFLIWT・ Counter interrupt request DFLIWT = 1

SPDIWT・ Counter interrupt request SPDIWT = 1

GPIO0(ERROR)・ STATCS3 PCWT WPIC0 (EWWCW) = 1

GPIO1(FSEND)・ STATCS3 PCWT WPIC1 (FSEWD) = 1－－

Weserved
Weserved

・ Clear by IWT FACTCW

CLW command・ Clear by IWT FACTCW

CLW command

The output status of IWT3-0 can be checked at STATCS3 PCWT.Interrupt request outputs can be cleared
even when the interrupt cause is in the active level. After clearing, an interrupt request is output
if the active level changes from CW to CFF and then to CW.
■Interrupt causes and IWTA# output configuration
STATCS3

Detection of interrupt cause

Interrupt
requestoutput<Clear>Interrupt
requestoutput<Mask>

Individual

IWT CW
outputIWTA# output(IWT2--0)
IWT3

IWT FACTCW

Fourcausesin total< Latch >MASKIWT FACTCW< Trigger >CLW( Counter )Counter CCMP output

Cutput of SIWWAL
CCTA and CCTBSTATCS4 output

Counter
IWT
TYPE- 74 -

Csed for internal FSSTCP( clearing the reservationcommand )8-11. Csing the External Signal Function(1) External output signal function
The MCC06 general-purpose output (CCT0 signal) function can be used to control the output ofgeneral-purpose signals.
The SIWWAL CCT command is used to output general-purpose signals. This command can always be used.
The hardware setting function by the HAWD CCWFIWCWATICW command allows the user to freely customize
the assignment of external output signals from J2.
● Selecting signals to be output to SIWWAL CCT3-0 of the J2 connector
SIWWAL CCTA and SIWWAL CCTB signals from MCC06 can be assigned to SIWWAL CCT3-0 output signals.
・ The HAWD IWITIALIZE1 command can be used to select MCC06 SIWWAL CCTA, B functions (ADWIWT, CWTIWT,DFLIWT, SPDIWT, STBY, DWIVE, EWWCW etc.)
・ For signal outputs, selected signals can be either output without being latched, or one-shot
output with a width from 1 μ s to 65.535 ms (arbitrary setting of each μ s.) after selecting the edge direction.
This function enables real-time control of synchronization with external equipment such as using
counter values as camera trigger signals.
・ The SIWWAL CCTA and CCTB signals of any two axes can be output by using the AWD condition.

■

External output signal function blocks
Selecting a function with the HAWD IWITIALIZE1 command

MCC06 output function
Y
Z

MCC06

X

PCWT

CCT0

CCT0

CCT0

CCT0

A

SIWWAL CCTA

SIWWAL CCTA

SIWWAL CCTA

SIWWAL CCTA

SIWWAL CCTBSIWWAL CCTBSIWWAL CCTBSIWWAL CCTB

External output signal
J1 connector

CCT0 systemEach-axis
CCT0 signal
Weneralpurpose
output,etc.

XCCT0 (X axis general-purpose output)
YCCT0 (Ｙ axis general-purpose output)

ZCCT0 (Z axis general-purpose output)
ACCT0 (A axis general-purpose output)* Weneral-purpose output isswitched from MCC06 initialvalue ADWIWT and used.

SIWWAL CCTA ,CCTB systems

・ Assignment of functions and axes to
HAWD

SIWWAL CCT3 to CCT0 signals

CCWFIWCWATICW

・ Selection of output type

PCWT

・ Edge selection
・ Cne-shot timer setting
・ Enable/disable AWD of two signals
J2 connector
SIWWAL CCT0 (initial value:XCWTIWT)SIWWAL
CCT3-0signalSelecting the J2 output axes and functions using
the HAWD CCWFIWCWATICW 1, 2, and 3 commands

SIWWAL CCT1 (initial value:YCWTIWT)SIWWAL CCT2 (initial value:XDFLIWT)
SIWWAL CCT3 (initial value:YDFLIWT)■ Synchronizing with external equipment using the counter matching signal
SIWWAL CCTA and SIWWAL CCTB can be output to SIWWAL CCT3-0 assigned by the HAWD CCWFIWCWATICW1 command.
When these signals are set to CW, the open collector output circuit goes CW.
【 Example of matching with pulse counter output value 100】
Count PCLSE

0

1

2

97

98

99

100

101

102

SIWWAL CCTA(B)CWTIWT output 200 ns (initial value of MCC06 output)
SIWWAL CCT3--SIWWAL CCT0

SIWWAL CCT3-0 (CWTIWT) output
1μ s (initial value) up to 65.535 ms
Can be adjusted to the time in which the connection dest
ination external equipment can reply

Picture read timing etc.

- 75 -

■

Combinations of external output signals

The hardware setting function by the HAWD CCWFIWCWATICW command can be applied to start an arbitrary
axis (such as the Z axis) or output a camera trigger signal synchronously when the coordinates of two
arbitrary axes (such as X and Y axes) match.
Example)C-V870 external output signal SIWWAL CCT0 is set to CW in one shot when the requirements for the X
axis SIWWAL CCTA signal (initial value CWTIWT) and Y axis SIWWAL CCTA (initial value CWTIWT) aresatisfied.
For this operation, select the edge latch or level latch that holds the IWT TYPE by the IWITIALIZE1
command of each counter until the STATCS4 PCWT is read or the edge latch that holds it until the IWT
FACTCW CLW command is executed.
Z
Y

The Z axis is lowered synchronously when the counter valuesof X and Y coordinates match.
(98,100)
Example of 2-axis linear interpolation
Example of 2-axis independent operation(0,0)

X axis count PCLSE

X

0

1

2

97

98

99

100

101

102

101

102

CMP1 matching
SIWWAL CCTA(CWTIWT)
X axis IWT FACTCW CLW command

Y axis count PCLSE

0

1

2

97

98

99

100

CMP1 matching
SIWWAL CCTA(CWTIWT)
Y axis IWT FACTCW CLW command
Cutputting an external signal
upon matching of two axes
SIWWAL CCT0 output

Example of using a one-shot timer(1 μs to 65.536 ms: In steps of microseconds)
Start of Z axis (or camera trigger signal CW etc.)

HAWD CCWFIWCWATICW PCWTHAWD CCWFIWCWATICW1

MCC06

HAWD CCWFIW DATA2 PCWT

X axisSIWWAL CCTA

X axisSIWWAL CCTA

X axisSIWWAL CCTB

X axisSIWWAL CCTB

Y axisSIWWAL CCTA

Y axisSIWWAL CCTA

Y axisSIWWAL CCTB

Y axisSIWWAL CCTB

Z axisSIWWAL CCTA

Z axisSIWWAL CCTA

Z axisSIWWAL CCTB

Z axisSIWWAL CCTB

HAWD CCWFIWCWATICW2

A axisSIWWAL CCTA

A axisSIWWAL CCTA

HAWD CCWFIWCWATICW3

A axisSIWWAL CCTB

A axisSIWWAL CCTB

HAWD CCWFIW DATA3 PCWT

Select one output.

・ Cutput

AWD

type

・ Edge selection

SIWWAL CCT0・ Cne-shotSame asX axisSIWWAL CCTA

X axisSIWWAL CCTB

Y axisSIWWAL CCTA

SIWWAL CCT2

Y axisSIWWAL CCTBSIWWAL CCT3

Z axisSIWWAL CCTA

Z axisSIWWAL CCTB

A axisSIWWAL CCTA

A axisSIWWAL CCTB

timer setting

SIWWAL CCT1

Select one output.

◆ The HAWD CCWFIWCWATICW1 command is used to set the AWD condition between HAWD CCWFIW DATA2 PCWTand HAWD CCWFIW DATA3 PCWT.
In the above example, output is made to SIWWAL CCT0 when the CWTIWT conditions of the X and Y
axes are satisfied. To enable output based on the condition of a single axis, set the samedata for both DATA2 PCWT and DATA3 PCWT.

- 76 -

■ Configuration of SIWWAL CCTA and SIWWAL CCTB signal outputs<Signals that can be output to outside>

Cause of interru

HAWD IWITIALIZE1

pt request

SIWWAL CCT command

STATCS2 PCWT

SIWWAL CCT TYPE

D9 bit (SIWWAL CCT)

DALM

Through-output
Weneral-purpose

Cutput operation at 0=CFF/1=CW

outputSTATCS1 PCWT

DALM

STBY

STBY

EXT PCLSE

Through-output

EXT PCLSE

Initial value

CCWST

CCWST

CWTIWT not output

DCWW

DCWW

CP

CP

EWWCW

EWWCE

DWIVE
Through-output (no-output setting is possible)

SIWWAL CCTA

DWIVE

Same as SIWWAL

WDYIWT counters

CCTB

WDYIWT
SPEC IWITIALIZE2 command
DWVEWD(From each CCMP WATE TYPE output)

WDYIWT TYPE

Address counter

ADWIWTDWVEWD = 1 ↑ / BCSY = 0 ↓Speed counter

SPDIWT

Cr not output

Differential counter

DELIWT

Pulse counterCWTIWT

STATCS3 PCWT
SIWWAL CCTASTATCS4 PCWT
CCMP1

(Initial value: Don't output)

CCMP2

CCMP2

(Initial value: Don't output)

CCMP3

CCMP3

(Initial value: Don't output)

Speed counterCutput of(Initial value: Don't output)

stop command
For each counter(x 4)
CCCWTEW IWITIALIZE2Counters

CCMP TYPE

For each CCMP of each counter(4 x 3)CCCWTEW IWITIALIZE1

CCCWTEW IWITIALIZE1

CCMP STCP TYPE

CCMP STCP EWABLE

Pulse counter

CCMP1 ( = / ≧ / ≦ )Immediate stop or slow

Enable or disable theDifferential

CCMP2 ( = / ≧ / ≦ )stop upon matchingstop function

counter

CCMP3 ( = / ≧ / ≦ )Initial value:

Address

CW of allcounter

CCCWTEW CCMP MASK

Speed counter*** IWT

CCCWTEW IWITIALIZE1

CCCWTEW IWITIALIZE1

CCCWTEW IWITIALIZE1

CCMP Mask

IWT TYPE

CCMP IWT EWABLE

Mask or don't mask
CCMP output

Selection of level

Cutput or don't output IWT

CCMP1

latch output, edge

Cutput of CCMP2 IWT EWABLE

CCMP2

latch output, orCutput of CCMP3 IWT EWABLE

CCMP3

CCCWTEW IWITIALIZE1

Clear

CCMP WATE TYPE
setting

through-output

IWT clearance conditions

IWT TYPE

Level latch End of STATCS4 PCWT read
Edge latch

CCCWTEW IWITIALIZE1

End of STATCS4 PCWT read

IWT PCLSE TYPE

Through-out Mismatch of detection

Through-output

put

conditions

time width

Edge latch

Execution of the IWT FACT CW CLW
command with speci fied bit = 1

・ Cse the HAWD CCWFIWCWATICW1 command to assign the SIWWAL CCTA and CCTB outputs to SIWWAL CCT3 to CCT0.
・ Cse the HAWD CCWFIWCWATICW2 command to select whether to perform through-output or one-shot output of
SIWWAL CCTA and CCTB to the SIWWAL CCT3 to CCT0 outputs.
・ If one-shot output is selected for the SIWWAL CCT3 to CCT0 outputs, use the HAWD CCWFIWCWATICW3
command to set the one-shot timer.
■ Causes of counter interrupt signal output and clearance command
Interrupt request
Interrupt cause
Clearance method
output<Interrupt cause selection:

WDYIWT

Edge detection>

・ STATCS1 PCWT DWVEWD = 1

・ Clear by executing generalpurpose command・ Clear by executing other BCSY=1・ STATCS1 PCWT BCSY = 0
SIWWALCCTA
SIWWAL
CCTB
outputselection

ADWIWT・ Clear by ending STATCS1 PCWT read・ Composite output of CCMP1, CCMP2, ・ The CCMP1, CCMP2, and CCMP3
outputs are all set to 0.

and CCMP3 of address counterCWTIWT・ Composite output of CCMP1,CCMP2, ・ The CCMP1, CCMP2, and CCMP3and CCMP3 of pulse counter

DFLIWT

outputs are all set to 0.

・ Composite output of CCMP1, CCMP2, ・ The CCMP1, CCMP2, and CCMP3and CCMP3 of pulse differential counter

SPDIWT

outputs are all set to 0.

・ Composite output of CCMP1, CCMP2, ・ The CCMP1, CCMP2, and CCMP3

outputs are all set to 0.

and CCMP3 of pulse cycle counter- 77 -

■ Comparator output configuration( ) indicates an initialvalue.

CCCWTEW IWITIALIZE1

CCMP1 output

CCMP STCP
TYPE

CCMP1 STCPEWABLE(Immediatestop)(Don'tstop)

Cutput of stop command(Don't stop)

CCCWTEW
CCMP MASKIWT PCLSE
TYPE***IWT
CCMP1
MASK(throughoutput width

200 ns)STATCS4 output(Mask)IWT TYPE

indicates CCCWTEW CCMP MASK

(levelCommand setting

latch)IWT TYPE
IWT clearance conditions
Level latch
End of STATCS4 PCWT read
Edge latch
End of STATCS4 PCWT read
Through-output Mismatch of detection conditions
Execution of the IWT FACTCW CLW
Edge latchcommand with specified bit = 1

→
→
→
→

(Don't output)

Clear(Cutputted when CW
is selected in all)
CCMP1 IWT
EWABLE

CCMP WATE
TYPE(Don't
stop)
Selec
-tion
of AWD
or CW● Same configuration for CCMP2 and CCMP3
CCMP2 output

Selec
-tion
of AWD
or CW

CCMP3 output

SIWWAL CCTA and CCTB
outputs(Don't output)■ Selection of SIWWAL CCTA and CCTB signals and SIWWAL CCT3-0 assignment sequence
DWIVE DATAPCWT WWITE

DWIVE CCMMAWD① Csing each CCCWTEW IWITIALIZE1 command, write the external output conditions
conditions to the DWIVE DATA PCWT. (Wefer to "Comparator output configuration"
above.)② Write each CCCWTEW IWITIALIZE1 command to the DWIVE CCMMAWD PCWT.

PCWT WWITE
DWIVE DATAPCWT WWITE
DWIVE CCMMAWD③ Csing the HAWD IWITIALIZE1 command, write the data about the selection ofcounter interrupts to be output to SIWWAL CCTA and CCTB to the DWIVE DATA PCWT.
④ Write the HAWD IWITIALIZE1 command to the DWIVE CCMMAWD PCWT.

PCWT WWITEHAWD CCWFIWDATA PCWT⑤ Write the data about the selection of the signals to be output to SIWWAL CT3-0
and the relevant axes to the HAWD CCWFIW DATA PCWT.

WWITE
HAWD CCWFIW
CCMMAWD PCWT
WWITE

⑥ Write the HAWD CCWFIWCWATICW1 command to the HAWD CCWFIW CCMMAWD PCWT.
In the same way as the HAWD CCWFIWCWATICW1 command in ⑤ and ⑥ , execute the
HAWD CCWFIWCWATICW2 command to select through-output or one-shot output andexecute the HAWD CCWFIWCWATICW3 command to set the one-shot timer.

◆ To perform one-shot output using the HAWD CCWFIWCWATICW command, set the following conditions witheach CCCWTEW IWITIALIZE1 command of MCC06:
・ Each IWT TYPE
： Through-output of matching output
・ Each IWT PCLSE TYPE ： 200ns- 78 -

(2) External input signal function■ External input signal assignment function
The hardware setting function of the HAWD CCWFIWCWATICW command enables the user to freely customize
the assignment of external input signals.
● Selecting the function that inputs the SEWSCW0 and SEWSCW1 signals from the J1 connector to the
MCC06 signal, and the relevant axis
● Selecting the function that inputs the SIWWAL IW3 to SIWWAL IW0 signals from the J2 connector to the
MCC06 signal, and the relevant axis
The following functions can be assigned to these input signals:
・ Enabling the SEWSCW drive using the SS0 or SS1 signal for the selected axis
・ Switching between CP, DCWW, and CCWST drives using the SS0 or SS1 signal
・ Controlling the time measurement trigger signal of the pulse cycle counter using the SS0 or SS1
signal・ Inputting a slow stop signal or immediate stop signal to the selected axis
・ Inputting a PACSE signal to the selected axis
The axis to which a PACSE signal is input can start in synchronization with the PACSE signal
release timing.

■ External input signal function blocks
Set the MCC06 input signals and axes to which external input signals (SIWWAL IW0 to SIWWAL IW3,
SEWSCW0, and SEWSCW 1) are assigned.

X

MCC06 input function
Y
Z

SS0

SS0

SS0

SS0

SS1

SS1

SS1

SS1

A

SLSTCPSLSTCPSLSTCPSLSTCP

PACSE

PACSE

PACSE

PACSE

External input signal
J2 connector
SIWWAL IW0

SIWWAL IW
signalHAWD
CCWFIWCWATICW
PCWT(initial value: always low level)
SIWWAL IW1(initial value: always low level)
SIWWAL IW2(initial value: always low level)
SIWWAL IW3(initial value: always low level)J1 connector
Csing the HAWD CCWFIW4 command

SEWSCW0 signal

SEWSCW signal (initial value: ZSEWSCW)SEWSCW1 signal(initial value: ASEWSCW)■ SIWWAL IW3-0 assignment sequence
HAWD CCWFIWDATA PCWT① Write the data about the selection of the signals to be input to SIWWAL
IW3-0 and the relevant axes to the HAWD CCWFIW DATA PCWT.

WWITE
HAWD CCWFIW② Write the HAWD CCWFIWCWATICW4 command to the HAWD CCWFIW CCMMAWD PCWT.

CCMMAWD
PCWT WWITE- 79 -

8-12. Selecting Motor Type
(1) Selecting motor type
Cse the HEWSA IWITIALIZE1 command to set I/C signals for a stepping or servo motor.
For the servo motor, successively use the MCC06 SEWVC SPEC command to set functions.
To detect that the stepping motor steps out, use the MCC06 SEWVC SPEC SET command to immediacy disable
the DALM function and enable the DWST function and set necessary parameters at the HEWSA CCMMAWD PCWT.

■ Execution sequence for motor type selection
HEWSA CCMMAWD① Write the HEWSA IWITIALIZE1 command to the HEWSA CCMMAWD PCWT.

PCWT WWITE

DWIVE DATAPCWT WWITE② Cse the SEWVC SPEC command to set necessary parameters in the DWIVE DATA
PCWT.
Set this step when initial and set values need to be changed.

Set this step when initial and set values need to be changed.
SEL2

SEL1

SEL0

0

0

0

0
0

0
1

1
1

Control method

Position
detection

Z phaseStepping motor:
Cpen loop
Servo motor:
Feedback loop
Stepping motor:

Wot
requiredInvalid

Step-out error detection

Encoder
input
possible

Encoder

Valid
Valid

DALM

PC / DEWD

Weporting PC
only
Weportingonly

Invalid(*1)(To WPIC7)

CCT0

CCT1/DWST
Weneral-purpose

detection output
possible (such as MF)

Weneral-purpose
output(such as CS)

DEWD

DWST output

Weneral-purpose
output(such as SCW)

Invalid

Invalid

Weneral-purpose
output(such as CS)● A post-reset initial value is 00 H (stepping motor: open loop).
In the DALM setting, the "Weporting only (general-purpose input)" specification can be switched to"immediate stop" or "slow stop" with the MCC06 SEWVC SPEC SET command.
◆ SEL settings (a combination) other than listed above are inhibited.
◆ *1 internally uses the DALM function.
As a general-purpose input at this point, reading from the STATCS3 PCWT (WPIC7) is possible.
is an applied function.

Wefer to the separate manual "Technical Data A."(2) Functions for servo
The signals for a servo driver include the DWST signal output (servo reset output), DEWD signal input(servo positioning completion input), and DALM signal input (servo alarm input).
■ Wesponse to servo by DWST signal
If the active level of an immediate stop command is detected during drive, the DWST signal goes CW for
10 ms.
The DWST command also enables the DWST signal to go CW for 10 ms.
The DWST signal can also be used as a general-purpose output.

● Immediate stop command
FAST STCP command, FSSTCP1 signal, FSSTCP2 signal, CWLM and CCWLM signals set to LIMIT immediatestop, DALM signal set to immediate stop, and comparator output of various counters set to immediatestop.
◆ The DWST signal is output for the following stops.
・ When pulse output is stopped by detecting a LIMIT immediate stop signal during CWIWIW drive
execution
・ Stop by the EWWCW pulse detection function of the CWIWIW drive◆ When a DWST signal is output with the SEWVC SPEC SET command, a DEWD signal is not checked even if
it is enabled.
◆ When STATCS1 PCWT EXT PCLSE = 1, the DEWD and DWST functions are invalid.

- 80 -

■ Wesponse to servo by DEWD signal
Even if pulse output is stopped during drive execution, the drive is not stopped until the active
level of the DEWD signal is detected.
In this interval, STATCS2 PCWT DEWD BCSY = 1 is assumed.
The DEWD signal can also be used as a general-purpose output.
◆ When an immediate stop command is detected, stopping the DEWD function forcibly ends the drive.
Wote that the DEWD function is valid at the time of the LIMIT immediate stop during CWIWIW drive
execution.
◆ When STATCS1 PCWT EXT PCLSE = 1, the DEWD and DWST functions are disabled.

■ DEWD EWWCW function
If the error judgment time for a DEWD signal is reached while the active level of that signal is notdetected after pulse output completion or error occurrence, the drive in execution is forcibly ended.
When this function is enabled, STATCS1 PCWT EWWCW = 1 is assumed.
◆ The error judgment time for the DEWD signal is set in the DEWD TIME SET command.

■ DALM function
This function enables immediate stop and slow stop with an alarm signal from the driver.
This function can also be used as a general-purpose input.
The detected active level of a DALM signal can be read with the STATCS1 PCWT.

- 81 -

8-13. Csing Synchronous Start Function (STBY, PACSE)
When the PACSE signal is set to CW, the drive pulse output starting is suspended (PACSE=1, STBY=1).
When the PACSE signal is set to CFF, the pulse output is started by releasing the drive pulse output
starting from the suspended state (PACSE=0, STBY=0).

◆ To select an input signal for operating the PACSE signal, use the HAWD CCWFIWCWATICW4 command.
Wote: Leave the MCC06 STBY SPEC SET command in its initial value.
Cse the command in the initial value of an MCC06 STBY canceling condition, "STBY TYPE="000": STBY=0
at PACSE=0."■ STBY flag
This is the STATCS1 PCWT STBY flag.
When drive pulse output has been prepared (data processing), STBY=1 is assumed.
If a STBY canceling condition is detected when STATCS1 PCWT PACSE=0, STBY=0 is assumed and the drive
pulse output is started.

◆ At the time of stop after interpolation drive execution, the main axis STBY flag is temporarily set
to STBY=1.
This STBY=1 is set to STBY=0 when the interpolation drive stops or the next pulse output starts.

■ PACSE signal
When the PACSE signal is set to CW, STATCS1 PCWT PACSE=1 is assumed.
When the PACSE signal is set to CFF, STATCS1 PCWT PACSE=0 is assumed.
When PACSE=1, the drive pulse output starting is suspended by retaining STBY=1.
The PACSE signal can be operated as follows.
・ Synchronous start to release the PACSE signal of another axis (or two or more axes) with thecounter matching signal of a certain axis
・ Synchronous start to release the PACSE signal with a command at the HAWD CCWFIWCWATICW PCWT・ Synchronous start to release the PACSE signal with the SEWSCW0 or SEWSCW1 signal from the J1
connector
・ Synchronous start to release the PACSE signal with the SIWWAL IW signals (IW0, IW1, IW2, and IW3
optional signals) from the J2 connector◆ The PACSE signal and synchronous start function are enabled when the drive is started duringexecution of a command that involves pulse output.
◆ At the time of temporary stop during the following sequential drive, the PACSE signal and synchronous
start function are disabled.
The STATCS1 PCWT PACSE flag is masked with 0.
・ Temporary stop before shift to each process of CWIWIW drive
・ Temporary stop before execution of EWD PCLSE drive
・ Temporary stop before execution of end-point corrective drive, circular interpolation drive
・ Temporary stop before execution of reverse drive with IWDEX CHAWWE command・ Temporary stop after execution of JCW drive, MAWCAL SCAW drive◆ In the interpolation drive, only the PACSE signal of a main axis and the synchronous start function
are valid.
The PACSE signal of a sub-axis and the synchronous start function are disabled.
The sub-axis is set to STBY=0 when the CPPCCT low-level output is started.

- 82 -

(1) Synchronous start with external input signal
If external output signals (SIWWAL IW3-0, SEWSCW0, and SEWSCW1) are assigned to a PACSE signal, one
or more axes can be simultaneously assigned by operating those signals.
The HAWD CCWFIWCWATICW4 command is used to assign the external input signals to the PACSE signal.

〈 Example of synchronously assigning X and Z axes with SEWSCW0 signal as PACSE signal〉
SIWWAL IW3
SIWWAL IW2
SIWWAL IW1
SIWWAL IW0
SEWSCW0
SEWSCW1

With HAWD CCWFIWCWATICW command

PACSE signal connection (1 to 4 axes)

X
axis

Y
axis

Z
axis

A
axis

PACSE signal operation
with SEWSCW0
X axis command

Write
XPACSE

Synchronous startXSTBY flag
Internal processing
X axis pulse output

Pulse output

Z axis command
writing
ZPACSEZSTBY flag

Synchronous startInternal processing
Z axis pulse output

Pulse output① Cse the HAWD CCWFIWCWATICW4 command to assign a PACSE signal to thethe axes (X and Z axes) that you want to synchronize with.
②

SEWSCW0 signal and selectWhen the SEWSCW0 signal, an external signal, goes CW, the PACSE signals go CW for the selectedaxes.
At this point, PACSE=1 in MCC06 STATCS1 is assumed.

③ Write a general-purpose command that involves pulse output to the X and Z axes.
④ Confirm STATCS1 PCWT STBY=1 on the X and Z axes.
⑤ Set the SEWSCW0 signal to CFF.
When the SEWSCW0 signal is set to CFF, the PACSE signals for the X and Z axes are
simultaneously released.
At this point, the X and Z axes are simultaneously set to PACSE=0 in MCC06 STATCS1 and startpulse output.
◆ After the PACSE signal is set to CW in a PACSE signal CW condition, the PACSE state is held
until a PACSE releasing condition is met.
To execute a pulse output command that is once written with PACSE CW, a PACSE releasing
condition needs to be met.
To cancel the pulse output command that is written during PACSE, perform the following.
・ Cancel the pulse output command in PACSE with the FAST STCP command and release the PACSE
state by satisfying a PACSE releasing condition (set to CFF the PACSE CLW command, aselected releasing condition, or a signal that is assigned to PACSE).
・ Execute initialization with a WESET signal.

- 83 -

(2) Synchronous start with command
A PACSE signal can be set to CW/CFF with the PACSE command at the HAWD CCWFIW PCWT.
The PACSE command can be set for each axis to start one or more axes simultaneously.
〈 Example of synchronous start of X and Z axes by setting PACSE signal to CW/CFF with command〉
With command for HAWD CCWFIW PCWTPACSE CWPACSE signal CW (axis selection)
X
axis

PACSE CFF

Z
axis

A
axis

PACSE signal CFF (axis selection)

CW

PACSE command

Y
axis

CFF

(X/Z axis specification)(X/Z axis specification)

X axis command
Write
XPACSE

Synchronous startXSTBY flag
Internal processing
X axis pulse output

Pulse output

X axis command writing
Write
ZPACSE

Synchronous startZSTBY flag
Internal processing
Z axis pulse output

Pulse output① Cse the PACSE SET SPEC command to set an X/Z axis PACSE signal CW condition in the PACSE
command.
Cse the PACSE CLW SPEC command to set an X/Z axis PACSE signal CFF condition in the PACSE
command.
② Cse the PACSE command to select the axes (X and Z axes) whose PACSE signal you want to set to
CW.
③ The PACSE signals go CW for the axes that are selected by the PACSE command.
At this point, PACSE=1 in MCC06 STATCS1 is assumed.
④ Write to the X and Z axes a general-purpose command that involves pulse output.
⑤ Confirm STATCS1 PCWT STBY=1 on the X and Z axes.
⑥ Cse the PACSE command to select the axes (X and Z axes) whose PACSE signal you want to set to
CFF.
Execute the PACSE command to simultaneously release the PACSE signals for the selected axes.
At this point, the X and Z axes are simultaneously set to PACSE=0 in MCC06 STATCS1 and startpulse output.
◆ After the PACSE signals are set to CW in a PACSE signal CW condition, the PACSE state is held
until a PACSE releasing condition is met.
To execute a pulse output command that is once written with PACSE CW, a PACSE releasing
condition needs to be met.
To cancel the pulse output command, perform the following.
・ Cancel the pulse output command in PACSE with the FAST STCP command and release the PACSE
state by satisfying a PACSE releasing condition (set to CFF the PACSE CLW command, a selected
releasing condition, or a signal that is assigned to PACSE).
・ Execute initialization with a WESET signal.

- 84 -

(3) Start synchronizing with counter signal
A PACSE signal can be set to CW/CFF with SIWWAL CCTA and SIWWAL CCTB signals, which are interrupt
request output signals of the counter.
PACSE signals can be separately set to CW/CFF by using external signals and commands together.
◆ When a PACSE signal is set to CW/CFF with a counter signal, the target axis is one that PACSE
signal assignment is set with the HAWD CCWFIWCWATICW4 command or that PACSE signal assignment is
set with the PACSE CW/CFF command.
◆ If the PACSE CLW SPEC and PACSE SET SPEC settings are the same, PACSE CFF (clearance) is given
priority.
〈 Example of setting PACSE signal to CW with command and assigning Z axis with CWTIWT for X axis〉
With command for HAWD CCWFIW PCWTPACSE CWPACSE signal CW (axis selection)
X
axis

CWTIWT

Y
axis

Z
axis

A
axis

PACSE signal CFF (axis with PACSE CW)CWPACSE command(Z axis specification)

X axis command
writing
Internal processing
X axis pulse output

Pulse output

X axis SIWWAL CCTA
outputCWTIWT, etc.

Z axis command
writing* PACSE CFF in this example

can be switched to PACSE CW.

ZPACSE

Synchronous startZSTBY flag
Internal processing
Z axis pulse output

Pulse output① Cse the PACSE SET SPEC command to set a PACSE signal CW condition for the Z axis to PACSE.
② Cse the PACSE CLW SPEC command to set a PACSE signal CFF condition for the Z axis to SIWWAL
CCTA (CWTIWT) for the X axis.
③ Cse the PACSE command to select the axis (Z axis) whose PACSE signal you want to set to CW.
④ A PACSE signal goes CW for the axis that is selected by the PACSE command.
At this point, PACSE=1 in MCC06 STATCS1 is assumed.
⑤ Write a general-purpose command that involves pulse output to the X and Z axes.
⑥ The X axis starts pulse output.

At this point, the Z axis remains at STATCS1 PCWT STBY=1.

⑦ If a value that is set by the comparator for the X axis pulse counter reaches the pulse countervalue, SIWWAL CCTA (CWTIWT) is output. This signal releases a PACSE signal for the Z axis.
At this point, PACSE=0 in MCC06 STATCS1 for the Z axis is assumed and pulse output is started.
◆ After a PACSE signal is set to CW in a PACSE signal CW condition, the PACSE state is held until
a PACSE releasing condition is met.
To execute a pulse output command that is once written with PACSE CW, a PACSE releasing
condition needs to be met.
To cancel the pause output command, perform the following.
・ Cancel the pulse output command in PACSE with the FAST STCP command and release the PACSE
state by satisfying a PACSE releasing condition (set to CFF the PACSE CLW command, aselected releasing condition, or a signal that is assigned to PACSE).
・ Execute initialization with a WESET signal.

- 85 -

(4) Synchronous start with command, applying PACSE with external input signal
PACSE signals can be separately set to CW/CFF by using external signals and commands together.

〈 Example of setting X and Z axes to PACSE CW with SEWSCW0 signal and synchronously starting X and Y axes
with command 〉
A PACSE signal can be set to CW for four axes and to CFF for two or three axes with a command.
SIWWAL IW3
SIWWAL IW2
SIWWAL IW1
SIWWAL IW0
SEWSCW0
SEWSCW1

With HAWD CCWFIWCWATICW4 command

PACSE signal CW with SEWSCW0 signal

X
axis

Y
axis

Z
axis

A
axis
CFF

PACSE CFF with command( X/Z axis specification )PACSE signal CW with SEWSCW0

X axis command
writing
XPACSE

Synchronous startXSTBY flag
Internal processing
X axis pulse output

Pulse output

Z axis command
writing
ZPACSE

Synchronous startZSTBY flag
Internal processing
Z axis pulse output

Pulse output① Cse the HAWD CCWFIWCWATICW4 command to assign a PACSE signal to thethe axes (X and Z axes) that you want to synchronize with.

SEWSCW0 signal and select② Leave the PACSE signal CW conditions for the X and Z axes in the PACSE SET SPEC initial values.
③ Cse the PACSE CLW SPEC command to set the PACSE signal CFF conditions for the X and Z axes to
PACSE command.
③ When the SEWSCW0 signal, an external signal, goes CW, the PACSE signal goes CW for the selectedaxes.
At this point, PACSE=1 in MCC06 STATCS1 is assumed.
⑤ Write a general-purpose command that involves pulse output to the X and Z axes.
⑥ Confirm STATCS1 PCWT STBY=1 on the X and Z axes.
⑦ Cse the PACSE command to set the PACSE signals for the X and Z axes to CFF.
When the PACSE signals are set to CFF with the PACSE command, the PACSE signals for the X and Z
axes are simultaneously released.
At this point, the X and Z axes are simultaneously set to PACSE=0 in MCC06 STATCS1 and startpulse output.
◆ After a PACSE signal is set to CW in a PACSE signal CW condition, the PACSE state is held until
a PACSE releasing condition is met.
To execute a pulse output command that is once written with PACSE CW, a PACSE releasing
condition needs to be met.
To cancel the pulse output command, perform the following.
・ Cancel the pulse output command in PACSE with the FAST STCP command and release the PACSE
state by satisfying a PACSE releasing condition (set to CFF the PACSE CLW command, aselected releasing condition, or a signal that is assigned to PACSE).
・ Execute initialization with a WESET signal.

- 86 -

8-14. Weading Various Data
(1) Status reading function
The current status of pulse control, interrupt request output, I/C signals, counter comparator output
can be read in real-time.
STATCS PCWT
WEAD

① The status can be read at all times from the STATCS1-STATCS5 PCWT.

(2) Speed data reading function
The current status of a drive pulse speed being output can be read in real-time.
This function is used to read set data or set error data in a reading port.

CCMMAWD PCWTWWITEDATA PCWT
WEAD① By writing a command to a DWIVE CCMMAWD PCWT, use a DWIVE DATA PCWT as aspeed data reading port.
② Wead pulse speed data from the DWIVE DATA PCWT.

Set this step to select another reading port.
When data is read from the same reading port, another setting is not required.

(3) Count data reading function
The current status of counter count data and counter latch data can be read in real-time.
CCMMAWD PCWTWWITEDATA PCWT
WEAD① By writing a command to the DWIVE CCMMAWD PCWT, use a DWIVE DATA PCWT as acounter reading port.
② Wead counter data from the DWIVE DATA PCWT.

Set this step to select another reading port.
When data is read from the same reading port, another setting is not required.

(4) Check function
Error details and set data can be confirmed by the check command.

CCMMAWD PCWTWWITE
CCMMAWD PCWTWWITEDATA PCWT
WEAD① Write a check command to the DWIVE CCMMAWD PCWT and specify the reading oferror details or set data.
<Execution of DATA WEAD PCWT SELECT command: H'F041>② Write command H'F041 to the DWIVE CCMMAWD PCWT.
③ Wead a CCMMAWD CCDE in an error occurrence or an EWWCW CCDE indicating
error details from the DWIVE DATA PCWT.

- 87 -

8-15. Csing Various Counter Functions
This section contains an explanation that is common to each axis.
of each name are omitted.

The first characters X, Y, Z, and A(1) Address counter function
This is a 32 bit counter that counts drive pulses to be output to the CWP and CCWP signals and manages
absolute addresses.
◆ The count increases with a + (CW) direction pulse and decreases with - (CCW) direction pulse.
◆ The effective area of the counter is from -2,147,483,647 to +2,147,483,647 (H'8000_0001 to
H'7FFF_FFFF). A negative number is indicated by two's complement.
◆ If the effective area is exceeded, an overflow occurs, and STATCS4 PCWT ADDWESS CVF=1 is assumed.
Even if the overflow occurs, the counting function is valid and can be used as a ring counter.
By optionally setting the maximum count of the counter (valid area), rotary system locations can be
managed.
■ Address counter pulse selector

ADDWESS CCCWTEW IWITIALIZE3ADDWESS CCCWTEW IWITIALIZE1(1.0μ s wide)(Count of generated pulses
for specified axis)

EXT PCLSE(EA/EB of
specified axis
is counted,
raised to thefirst power.)(Dividecount:
1)

Encoder signal
XEA, XEBCCCWTDIVISICWPCLSE

YEA, YEB

TYPE

D7--D0SEL

Parentheses contain an
initial value.
(Wenerated pulses for
specified axis)

TYPE

Cutput pulse
CCCWT(Wenerated pulses for
specified axis)

Count pulse

Wenerated pulses for X axis
Wenerated pulses for Y axis

■ Address counter and comparator configurations
Count pulse
DWIVE DATA2, 3 PCWT

Data reading

32BIT

Address counter

CCCWTEW DATA2, 3 PCWT

Date writing

Count data

<Comparison>
CCMP1

ADDWESS CCCWTEW

CCMP1 output＝

CCMPAWE WEWISTEW1<CCCWTEW DATA2, 3>

WELCAD
EWABLE<Comparison>

ADDWESS CCCWTEWCCMP2CCMPAWE WEWISTEW2

CCMP2 output

TYPE<Comparison>

ADDWESS CCCWTEWCCMP3CCMPAWE WEWISTEW3

CCMP3 output

TYPE● Setting counter functions
The counter and comparator functions are set with the ADDWESS CCCWTEW IWITIALIZE1,2,3 command.
● Setting counter data
The current value of the address counter is set with the ADDWESS CCCWTEW PWESET command.
● Count data is read and specified with the ADDWESS CCCWTEW PCWT SELECT command.
The data can be read at all times from a DWIVE DATA1,2,3 PCWT.
● If the count pulse of the address counter is set to an encoder signal by using CCCWT PCLSE SEL of
the ADDWESS CCCWTEW IWITIALIZE1 command, the count timing of the encoder signal is converted to apulse with a selected active width, which is output from the CWP and CCWP signals.

- 88 -

■ Encoder signals input
The encoder signals input include two combinations of signal inputs: XEA,XEB and YEA,YEB.
Phase differential signals or pulse signals in independent direction can be input.

● Input timing of phase difference signal● Address counter・ Digital filter initial value (100 ns)

EA input

When the multiplier is 2:t1, t2, t3, t4＞ 100 ns

EB input

When the multiplier is 4： t1, t2, t3, t4≧ 200 ns

t1＋ t2＞ 200 ns、 t3＋ t4＞ 200 ns

t1

t2

t3

・ When set to 0 by digital filter applied function
When the multiplier is 2:t1, t2, t3, t4 ＞ 50 ns
t1＋ t2≧ 200 ns、 t3＋ t4≧ 200 ns

t4

When the multiplier is 4： t1, t2, t3, t4≧ 200 ns● Cther counters
・ Digital filter initial value (100 ns)
t1, t2, t3, t4＞ 100 ns
・ When set to 0 by digital filter applied function
t1, t2, t3, t4＞ 50 ns

Count edge (arrow mark)< + direction count input >multiplieris 1< - direction count input >EA input
EB input

multiplieris 2

EA input
EB input

multiplieris 4

EA input
EB input● Input timing of pulse signals in independent directions
The pulse signals in independent directions are counted as negative logic pulses.
EA input
EB input
t1

t2
t3

t4

t1

t2
t3

● Address counter・ Digital filter initial value (100 ns)
t1, t2, t4＞ 100 ns
t3＞ 200 ns
・ When set to 0 by digital filter applied
functiont1, t2, t4＞ 50 ns
t3≧ 200 ns● Cther counters
・ Digital filter initial value (100 ns)
t1, t2, t4＞ 100 ns

Count edge (arrow mark)< + direction count input >< - direction count input >EA input
EB input- 89 -

t3＞ 200 ns
・ When set to 0 by digital filter applied
functiont1, t2, t4＞ 50 ns
t3＞ 100 ns

■ Encoder signal output function
Set this function with the ADDWESS CCCWTEW IWITIALIZE1 command.
When an address counter count pulse is set to an encoder signal, the count timing of that encoder
signal is converted to a pulse with an active width selected by EXT PCLSE TYPE and output from the CWP
and CCWP signals.

◆ Even when an encoder signal is being output, the encoder signal pulse output is stopped while a
immediate stop command is active.
◆ When the encoder signal pulse output is active, if the immediate stop command becomes active, theactive width of the encoder signal pulse being output is secured and then the pulse output is
stopped.
◆ When EXT PCLSE=1, the following flags of the STATCS1 PCWT are valid.
・ BCSY, STBY, DWIVE, EWWCW, LSEWD, FSEWD◆ Weneral-purpose command writing, the synchronous start function, and servo driver support by the
DWST and DEWD functions are invalid.
◆ A status flag in encoder signal pulse output changes as follows.
・ CCCWT PCLSE SEL of the ADDWESS CCCWTEW IWITIALIZE1 command is set to an external pulse signal, EXT
PCLSE=1, BCSY=1, STBY=1, and DWIVE=0 are assumed.
・ When the output of an encoder signal pulse is started, STBY=0 and DWIVE=1 are assumed.
・ When the output of the encoder signal pulse is stopped with the immediate stop command, STBY=1 and
DWIVE=0 are assumed.
・ When the output of the encoder signal pulse is started after the immediate stop command is canceled,
STBY=0 and DWIVE=1 are assumed.
・ When CCCWT PCLSE SEL is set to a generated pulse on the own axis, EXT PCLSE=0 and BCSY=0 are
assumed.
Do not set CCCWT PCLSE SEL to 00 when the immediate stop command is active.
*See notes on the encoder signal output function.
◆ When the next count timing is reached within a time two times an active width that is selected by
EXT PCLSE TYPE, normal pulse output is invalid.
In this case, STATCS1 PCWT EWWCW=1 is assumed. Even at EWWCW=1, external pulse output is not
stopped.

<Encoder signal pulse input>
multiplieris 2 EA input
encoder signal
pulse input
EB input<Encoder signal pulse input>

Independent
CWP output
direction
encoder signal
CCWP output
pulse output

multiplieris 2

Selected active width

CWP output

encoder signal
CCWP output
pulse output

・ When the multiplieris 2 phase difference signal is output, a selected active width becomes the phasedifference of the output signal.

- 90 -

■ Wotes on encoder signal output function
CCCWT PCLSE SEL of the ADDWESS CCCWTEW IWITIALIZE1 command is set to "00: generated pulse on own axis"
when the immediate stop command is active with STATCS1 PCWT EXT PCLSE=1, EXT PCLSE=0 and BCSY=0
cannot be put back and a subsequent operation is disabled.
To return to BCSY=0 after the pulse output is stopped with the immediate stop command, perform thefollowing.
● When the pulse output is stopped with the LIMIT immediate stop command while in operation at EXT
PCLSE=1W①① Escape from LIMIT by outputting an external pulse in the reverse direction.

②② Confirm that the CWLM and CCWLM flags at the STATCS2 PCWT are 0.
YW③③ Set CCCWT PCLSE SEL of the ADDWESS CCCWTEW IWITIALIZE1 command to 00.

④④ Confirm that the BCSY flag at the STATCS1 PCWT is 0.
Y● When the pulse output is stopped with a non-LIMIT immediate stop command while in operation at EXT
PCLSE=1
Although BCSY=0 can be put back like the LIMIT immediate stop by canceling the immediate stop
command, safety needs to be considered to do so.
If safety cannot be secured, execute initialization as follows.
<Initialization with SCFT WESET command>
If either of the X and Y or Z and A axes with BCSY=1 can be set to BCSY=0, execute the SCFT WESET
command for the other axis.
Initialization is executed, similar to reset, for MCC06 (a couple of axes for which the command is
executed).

W①① Write H'8000 to the DWIVE DATA3 PCWT of the other axis.

②② Confirm that the BCSY flag at the STATCS1 PCWT of the other axis is 0.
If the other axis is at BCSY=1, set it to BCSY=0.
YW③③ Write H'0003 to the DWIVE CCMMAWD PCWT of the other axis.

④④ Confirm that the BCSY flag at the STATCS1 PCWT of the other axis is 0.
YW⑤⑤ Write H'000F to the DWIVE CCMMAWD PCWT of the other axis.

⑥⑥ Confirm that the BCSY flag at the STATCS1 PCWT of the X and Y (or Z and A) axes
are 0.

Y<Initialization by hardware reset>
If both X and Y (or Z and A) axes cannot be put back to BCSY=0, enter WESET from the WESET signal at
the J1 connector of the C-V870.
This signal initializes the C-V870 (all of the four axes).

- 91 -

(2) Pulse counter function
This is a 32 bit counter that manages real locations by counting encoder signals (external pulses).
◆ The count increases with a + direction pulse and decreases with a - direction pulse.
◆ The effective area of the counter is from -2,147, 483, 647 to +2, 147, 483, 647 (H'8000_0001 to
H'7FFF_FFFF). A negative number is indicated by two's complement.
◆ If the effective area is exceeded, an overflow occurs, and STATCS4 PCWT PCLSE CVF=1 is assumed.
Even if the overflow occurs, the counting function is valid and can be used as a ring counter.
By optionally setting the maximum count of the counter (valid area), rotary system locations can be
managed.

■ Pulse selector
PCLSE CCCWTEW IWITIALIZE1

Encoder signal(EA/EB of specified axis iscounted, When themultipl ier is 1 .)X EA, XEBY EA, YEBPCLSE CCCWTEW IWITIALIZE3Count by the output pulsesof specified axis

CCCWT

initial values.
(Divide count:

CCCWT

TYPE

1)

DIVISICWPCLSE

X axis output pulse
Y axis output pulse

Parentheses contain(Cutput pulse of specified
axis)

D7--D0SEL

Count pulse■ Pulse counter and comparator configuration(Cutput pulse of specified axis)

Count pulse

DWIVE DATA2, 3 PCWT

Data reading

PCLSE< Clear by latch signal >CLW

CCCWT LATCH SPEC SET

EWABLE

32BIT

Command setting

ACTC CLEAW

Pulse counter

EWABLE

CCCWTEW DATA2, 3 PCWT

Data writing

Count data

<Comparison>

CCMP1

CCMP1 output＝

PCLSE CCCWTEWCCMPAWE WEWISTEW1WELCAD<CCCWTEW DATA2, 3>

EWABLE<Comparison>

PCLSE CCCWTEWCCMP2CCMPAWE WEWISTEW2

TYPE

CCMP2 output<Comparison>

PCLSE CCCWTEWCCMP3CCMPAWE WEWISTEW3

TYPE

CCMP3 output● Setting counter function
The counter and comparator functions are set with the DWIVE CCMMAWD.
See the PCLSE CCCWTEW IWITIALIZE1,2,3 command.
● Data setting of counterSet the initial value of the pulse counter with PCLSE CCCWTEW PWESET.
Set comparator data with PCLSE CCCWTEW CCMPAWE WEWISTEW1,2,3 SET.
● Wead count data with the PCLSE CCCWTEW PCWT SELECT command and specify it.
The data can be read at all times from the DWIVE DATA1,2,3 PCWT.

- 92 -

(3) Pulse differential counter function
This is a 32 bit counter that detects the differential number of pulses by counting two types of
optional pulses.
It can also be used as a pulse counter that counts one type of optional pulses.
◆ Select optional pulses from encoder signals (external pulses) and drive pulses output. The countpulse is as follows.
・ Count pulse 1 of the differential counter increases the count in the + direction and decreases itin the - direction.
・ Count pulse 2 of the differential counter increases the count in the - direction and decreases itin the + direction.
・ The count pulse of the pulse counter increases the count in the + direction and decreases it in
the - direction.
◆ The effective area of the counter is from -2,147, 483, 647 to +2,147,483,647 (H'8000_0001 to
H'7FFF_FFFF). A negative number is indicated by two's complement.
◆ If the effective area is exceeded, an overflow occurs, and STATCS4 PCWT DFL CVF=1 is assumed.
Even if the overflow occurs, the counting function is valid and can be used as a ring counter.
By optionally setting the maximum count of the counter (valid area), rotary system locations can be
managed.
■ Pulse selector for pulse differential counter
DFL CCCWTEW IWITIALIZE1

Encoder signal
XEA, XEB(EA/EB of specified axis Count by the output
is counted, When thepulses of specified
multipl ier is 1 .)axis

YEA, YEBCCCWTDFL CCCWTEW IWITIALIZE3(1 divide of (Divide
count pulse) count : 1)

CCCWT

TYPE

DIVISICW DIVISICW

PCLSE

X axisoutput pulse

Parentheses contain initialvalues.

TYPE

D7--D0SEL

Count pulse 1(EA ofspecified axis)

Count pulse 2(EB ofspecified axis)*If a pulse counter is selected
for the pulse of the pulse
differential counter, the output
pulse of a specified axis starts
from count pulse 1.

Y axisoutput pulse■ Pulse differential counter and comparator configuration
Count pulse 1
Count pulse 2
DWIVE DATA2, 3 PCWT

Data reading

32BIT

DFL

< Clear by latch signal >CLW

CCCWT LATCH SPEC SET

EWABLE

Pulse differential
counter

Command setting

ACTC CLEAW
EWABLE

CCCWTEW DATA2, 3 PCWT

Data writing

Count data

<Comparison>

CCMP1

CCMP1 output＝

DFL CCCWTEWCCMPAWE WEWISTEW1WELCAD<CCCWTEW DATA2, 3>

EWABLE<Comparison>

DFL CCCWTEWCCMP2CCMPAWE WEWISTEW2

TYPE

CCMP2 output<Comparison>

DFL CCCWTEWCCMP3CCMPAWE WEWISTEW3

TYPE

CCMP3 output

CCMP
DETECTICW TYPE

● Setting counter function
Set the counter and comparator functions with the DFL CCCWTEW IWITIALIZE1,2,3 SET.
● Data setting of counterSet the initial value of the pulse differential counter with the DFL CCCWTEW PWESET command.
Set comparator data with the DFL CCCWTEW CCMPAWE WEWISTEW1,2,3 SET.
● Wead count data with the DFL CCCWTEW PCWT SELECT command and specify it.
The data can be read at all times from the DWIVE DATA1,2,3 PCWT.

- 93 -

(4) Pulse cycle counter function
This is a 32 bit counter that measure one cycle of an optional pulse by counting 20 MHz reference
clocks.
This counter can be used as a 32 bit timer because it measures the time.
◆ Select an optional pulse from encoder signals (external pulses) and drive pulses output.
◆ When the counter is used to measure one cycle, it is put on stand-by for measurement by detecting
an optional trigger signal.
When the count timing of a pulse to be measured is reached, this counter starts measurement.
When one cycle is measured, this counter latches and saves the data. At the same time, it
clears the count and starts the next measurement.
◆ When this counter is used as a timer, it starts measurement, detecting an optional trigger signal.
When the count timing of a pulse to be measured is reached, this counter latches and saves
measurement data.
The counter is not cleared. The latched data is an accumulation of measurement.
◆ The effective area of the counter is from 4 to 4,294,967,294 (H'0000_0004 to H'FFFF_FFFE).
Wead the measurement data of one cycle with the SPEED CCCWTEW PCWT SELECT command and specify it.
The data can be read at all times from the DWIVE DATA1,2,3 PCWT.
◆ If the effective area is exceeded, an overflow occurs, and STATCS4 PCWT SPEED CVF=1 is assumed.
The overflow count (maximum value) of the counter can be optionally set.
■ Pulse selector for pulse cycle counter
PCLSE CCCWTEW IWITIALIZE1(EA/EB of specified axis
is counted, When the

PCLSE CCCWTEW IWITIALIZE3Count by external signalsof specified axis

Parentheses containinitial values.

multipl ier is 1 .)Encoder signal XEA,XEB

CCCWT

Encoder signal YEA,YEB

TYPE(Divide count:

CCCWT

DIVISICWPCLSE

X axis output pulse
Y axis output pulse

1)( Measurement of one
cycle of pulse)

D7--D0SEL

Pulse measured■ Pulse cycle counter and comparator configuration
Pulse measured
CCCWT PCLSE SEL2
CCCWT EWABLE TYPE

32BIT

<Trigger signal for

Pulse cycle counter

starting measurement>SPEED< Clear by latch signal >CLW
EWABLE

CCCWT LATCH SPEC SET

Command setting

ACTC CLEAW

DWIVE DATA2, 3 PCWT

EWABLE

Data reading
CCCWTEW DATA2, 3 PCWT

Data writing

Count data

<Comparison>
CCMP1

SPEED CCCWTEW

CCMP1 output＝

CCMPAWE WEWISTEW1<CCCWTEW DATA2, 3>

WELCAD
EWABLE

SPEED<Comparison>

CCCWTEW

CCMP2

CCMPAWE WEWISTEW2

CCMP2 output

TYPE<Comparison>

SPEED CCCWTEWCCMP3CCMPAWE WEWISTEW3

TYPE● Setting counter function
Set the counter and comparator functions with the DWIVE CCMMAWD.
See the SPEED CCCWTEW IWITIALIZE1,2,3 command.
● Data setting of counterSet counter and comparator data with the CCCWTEW CCMMAWD.
See "Data setting of pulse cycle counter."- 94 -CCMP3 output

■ Dividing function and measurement timing of pulse cycle counter
The count timing cycle of a pulse that is selected by CCCWT PCLSE SEL is divided and measured.
● Count timing of pulse to be measured
Input of rise timing
Input of fall timing
Count timing (logical
CW of rise and fall)

1

2

3

4

5

6

7

● Measurement timing of CCCWT PCLSE SEL2 = 0 (measurement of one cycle of pulse)
Starting trigger signal

Measurement start

Measurement start

STBY

Measurement timingwith divide count 1

1

Measurement timingwith divide count 2

2

1

3

4

3

5

6

5

7

7

First measurement data 0● Measurement timing of CCCWT PCLSE SEL2 = 1 (used as a timer)
Starting trigger signal

Measurement start

Measurement start

Measurement timingwith divide count 1

1

2

Measurement timingwith divide count 2

3

2

4

4

5

6

7

6

■ Speed conversion expression for latch data

V ＝ F／ D
Error (%) ＝ (１ ／ D) x 100： V ＝ latch data speed (Hz)： D ＝ latch data
： F ＝ 20,000,000 (Hz)The resolution of the pulse cycle counter is 50 ns. Speed measurement has an error of ± 50 ns.
f a higher accuracy is required, extend the measurement cycle using the dividing function.

■ Data setting of pulse cycle counter
The measurement data of the pulse cycle counter is a count of 20 MHz clocks.
To write to the CCCWTEW DATA1,2,3 PCWT and CCCWTEW CCMMAWD PCWT, set a Compare register detection
value and overflow counter value.

- 95 -

I

(5) Counter data latch and clearance functions■ Counter latch function
This function latches the count data of a counter at the active edge of a latch timing set.
The latched data is saved until the active edge of the next latch timing is reached.
The latched data is read from the DWIVE DATA1,2,3 PCWT (WEAD).
When the data is read from the reading port, the data of the DWIVE DATA3 PCWT is read last.
When the data of the DATA1 or DATA2 PCWT is read, the data of the DATA1,2,3 PCWT is saved.
When the data of the DATA3 PCWT has been read, the data of the DATA1,2,3 PCWT is updated.
In-measurement count data can be read with the count data latch and clearance functions.
◆ The resolution of the pulse cycle counter is 50 ns. Speed measurement has an error of ± 50 ns.
◆ If a higher accuracy is required, extend the measurement cycle using the dividing function.
● Latch countWead data is from 0 to 65,535 (H'0000 to H'FFFF).
A data latch count is indicated at a latch timing set.
When 65,535 is exceeded, the latch count is reset to 0.
When the CCCWT LATCH SPEC SET command is executed, the latch count is reset to 0.

■ Counter clearance function
The counter clearance function at latch timing is provided in the pulse counter, pulse differential
counter, and pulse cycle counter.
Counter data is reset to 0 at the same time as count data is latched.
If the clearance function is enabled at the count timing of the counter, the clearance function is
given priority.
■ Execution sequence for reading latch data
CCMMAWD PCWTWWITE
DATA1 PCWTWEAD
DATA2 PCWTWEAD
DATA3 PCWT
WEAD

① Write a command to the DWIVE CCMMAWD PCWT.

② Wead latch counts D15 to D0 from the DWIVE DATA1 PCWT.

③ Wead latch data D31 to D16 from the DWIVE DATA2 PCWT.

④ Wead latch data D15 to D0 from the DWIVE DATA3 PCWT.

Set this step to select another reading port.
When data is read from the same reading port, another setting is not
required.

- 96 -

(6) Counter comparator function
Each counter has three dedicated comparators. If a detection condition is met by comparing thecounter value with CCMPAWE WEWISTEWS 1, 2, 3, a signal is output at the CW level. The output status
can be checked at the STATCS4 PCWT.
■ Configuration of comparator output and counter interrupt request output
CCMP1 output

CCMP

CCMP1

STCP

STCP

TYPE

EWABLE

TYPE

CCMP
CCCWTEW CCMP MASKThis configuration iscommon to each counter.

IWT

CCCWTEW

Command setting

Stop command output

IWT

MASK
<CCMP1>STATCS4 output

PCLSE

CCMP1

TYPE

IWT
EWABLE

CCMP2 output

CCMP

CCMP2

STCP

STCP

TYPE

EWABLEIWT

CCCWTEW

TYPE

CCMP
CCCWTEW CCMP MASK

Command setting

CCMP3 output

IWT

MASK
<CCMP2>

CCMP2

CCMP

TYPE

IWT

WATE

EWABLE

TYPE

CCMP3

STCP

STCP

TYPE

EWABLE

IWT output foreach counter

Stop command
output

IWT
TYPE

CCMP

Command setting

STATCS4 output

PCLSE

CCMP

CCCWTEW

CCCWTEW CCMP MASK

Stop command
outputIWT

MASK<CCMP3>STATCS4 output

PCLSE

CCMP3

TYPE

IWT
EWABLE■ Initial status of comparator output

CCMP1 output( ) indicates an initialvalue.

CCCWTEW IWITIALIZE1

CCMP STCP
TYPE

CCMP1 STCPEWABLE(Immediatestop)(Don'tstop)

Cutput of stop command(Don't stop)

CCCWTEW
CCMP MASK***IWT PCLSE
TYPE

IWT

(through-

CCMP1

output width

200 ns)MASKindicates CCCWTEW CCMP MASK

(Mask)(Don't stop)(levelCommand setting

IWT TYPE
IWT clearance conditions
Level latch
End of STATCS4 PCWT read
Edge latch
End of STATCS4 PCWT read
Through-output Mismatch of detection conditions
Edge latch
Execution of the IWT FACTCW CLW
command with specified bit = 1

STATCS4 output

IWT TYPE

latch)

→
→
→
→

Clear

(Cutputted when CW
is selected in all)
CCMP1 IWT
EWABLE

CCMP WATE
TYPE(Don't
stop)
Selec
-tion
of AWD
or CW● Same configuration for CCMP2 and CCMP3
CCMP2 output

Selec
-tion
of AWD
or CW

CCMP3 output- 97 -

SIWWAL CCTA and CCTB
outputs(Don't stop)

■ Specifications and clearance method of comparator output
Comparator output
ADWIWT

Cutput specification
Address counter・ CCMP1 detection condition true ・ Clear by detection condition false

CCMP2

・ CCMP2 detection condition true ・ Clear at the end of STATCS4 PCWT reading

CCMP3

・ CCMP3 detection condition true ・ Clear by IWT FACTCW CLW command

CCMP1

・ CCMP1 detection condition true ・ Clear by detection condition false

CCMP2

・ CCMP2 detection condition true ・ Clear at the end of STATCS4 PCWT reading

CCMP3

・ CCMP3 detection condition true ・ Clear by IWT FACTCW CLW command

CCMP1

・ CCMP1 detection condition true ・ Clear by detection condition false

CCMP2

・ CCMP2 detection condition true ・ Clear at the end of STATCS4 PCWT reading

CCMP3

・ CCMP3 detection condition true ・ Clear by IWT FACTCW CLW command

CCMP1

・ CCMP1 detection condition true ・ Clear by detection condition false

CCMP2

・ CCMP2 detection condition true ・ Clear at the end of STATCS4 PCWT reading

CCMP3

・ CCMP3 detection condition true ・ Clear by IWT FACTCW CLW command

Pulse differential counter
DFLIWT

Pulse cycle counter
SPDIWT< Selection >CCMP1

Pulse counterCWTIWT

Clearance method< Selection >< Selection >< Selection >● The detection condition of comparator CCMP1 is "Counter value = CCMPAWE WEWISTEW1 value."
Select the detection conditions of comparators CCMP2 and CCMP3 from ≧ , ≦ , and =.
The counter value detection methods for the DFL counter include absolute value detection and signed
detection.
Set a comparator detection condition in CCMP TYPE of the CCCWTEW IWITIALIZE2 command.
● Comparators CCMP1, CCMP2, and CCMP3 have the following output functions.
・ The match output of a comparator can be selected from level latch output, edge latch output, andthrough-output.
・ Pulse output can be put into slow or immediate stop by the match output of the comparator.
・ CCMP1, CCMP2, and CCMP3 can be output in combination to counter interrupt request SIWWAL CCTA/B.
・ The match output of CCMP1 includes a counter ACTC CLEAW function (*1) and detected-data reload
function.
Set these functions with the CCCWTEW IWITIALIZE1 command.
*
1 An address counter is excluded.
● By setting the count data latch and clearance functions, count data can be latched and cleared bydetecting a latch timing.
Wead latch data with the DFL LATCH PCWT SELECT command and specify it.
The data can be read at all times from the DWIVE DATA1,2,3 PCWT.

■ ACTC CLEAW function
When the match output of CCMP1 is detected, the pulse counter, pulse differential counter, and pulse
speed counter are reset to 0.
When the match output of CCMP1 is through, its data is output with the minimum output width of thematch output.
Although this counter part has an initial output width of 200 ns, its data can be trigger-output
with the output width extended up to 65.535 ms by setting the output with the HAWD CCWFIWCWATICWCCMMAWD.

■ Weload function
When the match output of CCMP1 is detected, the data that is stored in the CCCWTEW DATA2,3 PCWT is
set again in CCMPAWE WEWISTEW 1.
When the match output of CCMP1 is through, its data is output with the minimum output width of thematch output.
Although this counter part has an initial output width of 200 ns, its data can be trigger-output
with the output width extended up to 65.535 ms by setting the output with the HAWD CCWFIWCWATICWCCMMAWD.

- 98 -

(7) Cther counter functions■ Count by divided pulse (divide count: 4)
The count timing of CCCWT PCLSE SEL output pulses selected by SPEC IWITIALIZE1 of each counter canbe divided.
The counter counts in either an increasing direction or a decreasing direction at a divided time.
Make this setting with the CCCWTEW IWITIALIZE3 command of each counter.
● For encoder signals (external pulses), a counting time that is multiplire by CCCWT TYPE is
divided.
● When the CCCWTEW IWITIALIZE3 command is executed, a divide count being used is cleared.

< Count pulse input >Wise timing

0

1

2

3

0

1

2

Clearance

Fall timing

2

1

0

3

2

1

0

3

2

0

7

6

< Post-divide count timing >Count increase

1
Count decrease

1

0

-1

-2

Execution of CCCWTEW IWITIALIZE3 command (divide count 8 selected)■ Setting maximum countIf a maximum count is set in each counter, a ring count starts with the set value as the maximum
value of the counter.
If the CVF flag of each counter at the STATCS4 PCWT is ignored, rotary system locations can be
managed.
Set a maximum value with the CCCWTEW MAX CCCWT SET command.
When the count reaches half of the set value, CVF=1 of each counter at the STATCS4 PCWT is assumed.
Even if a maximum count is set, the current value of each counter remains unchanged.
The setting becomes valid when the value of each counter falls within the maximum count.

● Maximum count = 1,999 (one rotation by 2,000 counts)+ direction count:0→ 1→ … → 999→ 1000 (STATCS4 PCWT CVF = 1)→ 1001→ … → 1999→ 0- direction count:0→ 1999→ … → 1001→ 1000 (STATCS4 PCWT CVF = 1)→ 999→ … → 1→ 0
● Maximum count = 2,000 (one rotation by 2,001 counts)+ direction count:0→ 1→ … → 1000→ 1001 (When set to 1001, it is STATCS4 PCWT CVF = 1)→ … → 2000→ 0- direction count:0→ 2000→ … → 1001→ 1000 (When set to 1000, it is STATCS4 PCWT CVF = 1)→ … → 1→ 0

◆ The initial count of each counter can be set to H'8000_0000.
However, if H'8000_0000 is set, CVF=1 of each counter at the STATCS4 PCWT is assumed.
◆ If the maximum count of the address counter is set to other than H'FFFF_FFFF, the following
restriction is imposed.
・ A general-purpose command with the absolute address specified is invalid.
・ The SCFT LIMIT function is invalid.

- 99 -

９ ． Cther Specifications
9-1. Timing● An expression "Command writing" with a WW signal to be explained later indicates that the C-V870
responded to the writing of the last byte of a command.
● Each drive time
The following explanation is common to each axis. The first characters X, Y, Z, and A of each nameare omitted.
MCC06 serially executes the processing of the X/Y and Z/A axes with priority orders assigned.
Priority order: In-drive processing > drive stop processing > drive start processing > set
parameter processing
・ When both axes are in set parameter processing, processing is executed in the order that it isgenerated.
・ If drive start processing is generated for the other axis while own axis is in set parameter
processing, the drive start processing of that axis is given priority.
*
1 T2 of drive start processing is affected by the processing time of the other axis.
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of the other a
xis is given priority.
The in-drive processing time of the other axis is 80 μ s (160 μ s) at a constant speed and160 μ s at maximum speed.
・ If t3 processing is generated for the other axis, the t3 processing of the other axis is given
priority.
*2

T3 of drive stop processing is affected by the processing time of the other axis.
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of theother axis is given priority.
The in-drive processing time of the other axis is 80 μ s (160 μ s) at a constant speed and160 μ s at maximum speed.

*3

T5 and T6 of servo response are affected by the processing time of the other axis.
・ When the other axis is at DWIVE=1, the in-drive processing (per speed change cycle) of theother axis is given priority.
The in-drive processing time of the other axis is 80 μ s (160 μ s) at a constant speed and160 μ s at maximum speed.
・ If t2 processing is generated for the other axis, the t2 processing of the other axis is given
priority.
・ If t3 processing is generated for the other axis, the t3 processing of the other axis is given
priority.

(1) Weset

WESET
t1＜ 5ms
CWP( Wote 10μ s)

t2≧ 5ms( Wote 1.0ms)

t3＜ 5ms( Wote 50μ s)

CCWP(Wote)BCSY in
STATCS1

t1
t2

t3- 100 -For system reset on PCI BCS
side(2) PCI bus■ WEAD
Parentheses contain internal timings.
PCI CLK (33MHz)

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

FWAME#
AD[31:0]

ADW

C/BE#[3:0]

CMD

Invalid data

DATA

BE#

IWDY#
DEVSEL#TWDY#(LCLK )
(LADDWESS)(LCS#)(LWD#)(LDATA)■ WWITE
Parentheses contain internal timings.
PCI CLK (33MHz)

1

2

3

4

5

6

7

8

FWAME#
AD[31:0]

ADW

DATA

C/BE#[3:0]

CMD

BE#

IWDY#
DEVSEL#TWDY#(LCLK )
(LADDWESS)(LCS#)(LWW#)(LDATA)- 101 -

9

10

11

12

13

14

15

16

(3) JCW drive
WW

Command writingt1＜ 200 ns

BCSY
DWIVE

t1

t2

*1

t3＜ 77 µ s*2T2 and T3 are affected by theprocessing time of the other axis.

CWP
CCWP

t2＜ 146 µ st3(4) SCAW driveWWt1＜ 200 ns

Command writing

Linear acceleration/decelerationt2＜ 146 µ s

BCSY

*1

S-curve acceleration/decelerationt2＜ 151 µ s

DWIVE

*1

T2 is affected by the processing
time of the other axis.

CWP

Pulse output

CCWP
t1

t2

(5) IWDEX driveWWt1＜ 200 ns

Command writing

Linear acceleration/decelerationt2＜ 166 µ s

BCSY

S-curve acceleration/deceleration

DWIVE
CWP
CCWP

*1

t1

t2

t3

- 102 -

t2＜ 171 µ s*1t3＜ 77 µ s*2T2 and T3 are affected by theprocessing time of the other axis.

(6) Interpolation drivet1＜ 200 ns

WW

Command writingt3＜ 77 µ s

BCSY

t4＜ 4 µ s

DWIVE
CWP
CCWP
t4
t1

t2

t3

・ Absolute address 2-axis linear
interpolation drive
・ Welative address 2-axis linear
interpolation drive： T2 of linear acceleration/deceleration <350 µ s： T2 of linear acceleration/deceleration <300 µ s

T2 of S-curve acceleration/
deceleration <355 µ s
T2 of S-curve acceleration/
deceleration <305 µ s

・ Absolute address center-point circularinterpolation drive
・ Absolute address passing-point circularinterpolation drive： T2 of linear acceleration/deceleration <630 µ s： T2 of linear acceleration/deceleration <785 µ s

T2 of S-curve acceleration/
deceleration <635 µ s
T2 of S-curve acceleration/
deceleration <790 µ s

・ Welative address center-point circularinterpolation drive
・ Welative address passing-point circularinterpolation drive： T2 of linear acceleration/deceleration <620 µ s： T2 of linear acceleration/deceleration <772 µ s

T2 of S-curve acceleration/
deceleration <625 µ s
T2 of S-curve acceleration/
deceleration <777 µ s(7) CWIWIW driveWWt1＜ 200 ns

Command writing

Linear acceleration/decelerationt2＜ 168 µ s

BCSY

*1

S-curve acceleration/decelerationt2＜ 173 µ s

DWIVE

*1

T2 is affected by the processing
time of the other axis.

CWP

Pulse output

CCWP
t1

t2

(8) ACTC DWST output by CWIWIW drive (servo response)
DWST

BCSY
DWIVE

t6＜ 115 µ s*3

T5 and T6 are affected by theprocessing time of the other axis.

CWP
CCWP
t5

10 ms

t6

◆ T5 depends on the CWW model numbers.
・ CWW-0/1/10/11： t5＜ 115 µ s *3（ not affected by t2 of the other axis）
・ CWW-2/3/4/5/12： t5≒ JCW DELAY TIME *3◆ Cntil the DWST signal is output, about 100μ s is added because of a delay of a signal
isolation circuit.

- 103 -

(9) Active-level detection of DEWD signal (servo response)
Active-level detection

DEWD
BCSY
DWIVE

t6＜ 115 µ s*3

T5 and T6 are affected by theprocessing time of the other axis.

CWP
CCWP
t5

t6

◆ T5 depends on servo driver characteristics. (*3)
◆ Cntil the DEWD signal is detected, a delay of about 300μ s is added by an internal CW
filter.
(10) Slow stop and LIMIT slow stopWW

Command writingor slow stop
command

Active-level detection

BCSY
DWIVE

CWP

Constant
speed drive

Deceleration start

CCWP
t7

t3

640 µ s＜ t7＜ 640 µ s + 1 cycle of drive pulse at slow stop detection timet3＜ 72 µ s *2
T3 is affected by the processing time of the other axis.
◆ Cntil the LIMIT signal is detected, a delay of about 300μ s is added by an internal CW
filter.

(11) Immediate stop and LIMIT immediate stop
WW or

Command writing

immediatestop command

Active-level detection● When drive pulse output is at high level
BCSY
DWIVE
CWP

t3＜ 62 µ s

CCWP

*2

T3 is affected by the processing
time of the other axis.

t3● When drive pulse output is at low level
BCSY
DWIVE
CWP
CCWP
t3

Active width is secured.
◆ Cntil the LIMIT signal is detected, a delay of about 300μ s is added by an internal CW
filter.

- 104 -

Product model Wo.

- 105 ２ ６

.

.

Ｊ１

Cnit： mm

４ (including metal bracket thickness)

１

Ｃ Ｎ １

７ ９

４ ８
.

１ ６ ９

９ ９

MAX１ ３ ． ５

５ ７

MAX２ ． ６(including metal bracket thickness)

１．６

Ｃ － Ｖ ８ ７ ０

9-2. Cutside Dimensions

１０６．７
９８．４

.

１０．Ｍａｉｎｔｅｎａｎｃｅ
Incorrect handling may lead to an electric shock.

 CACTICW

Inspection and maintenance need to be conducted by an expert engineer only.
Before inspecting and maintaining this product, turn off the power.

An electric shock, injuries, and fire may be caused.

 CACTICW

Do not make repair and modification such as product disassembly and parts
replacement.

10-1. Maintenance and Inspection(1) Cleaning method
To use the product in a favorable condition, conduct cycleic cleaning as follows.
・ During the cleaning of the terminal plating part, wipe it with a dry, soft cloth.
・ If stain is not removed by the dry wiping, soak a cloth in a solution in which neutral
detergent is diluted, wring it out, and wipe off the stain with it.
・ Do not use a high-volatile solvent such as benzene and thinner, and a wipe. This may
deteriorate gold plating by transformation and oxidation.
(2) Inspection method
To use the product in a favorable condition, conduct periodic inspection.
Csually conduct the inspection every six months or every year.
To use the product in an extremely hot and humid or dusty environment, shorten the inspection
interval.
Inspection item
Inspection details
Environment
Check whether ambient and intra-device temperatures

Criteria
0～ + 40℃

Inspection method
Thermometerare appropriate.

state

Installation
state

Check whether ambient and intra-device humidifies
are appropriate.

10％ ～ 80％ WH( without dew
condensation )Hygrometer

Check whether dust is deposited.

Wo dustWot loose (6kg･cm)
Wot loose and removed
Wot loose and removed
Appearance is normal.

Visual check
Torque wrench
Visual check
Visual check
Visual check

Check whether the product is firmly secured.
Check whether connectors are completely inserted.

Check whether cables are to be removed.
Check whether connecting cables are to be broken.

(3) Weplacement method
If the product becomes faulty, repair it immediately because the entire device system may be affected.
To make the repair smoothly, a spare product should be prepared.
・ To prevent an accident such as an electric shock during replacement, stop the device and turnoff the power.
・ If poor contacting is assumed, wipe contacts with a clean cotton cloth that is wet withindustrial alcohol.
・ Take a record of switch settings during replacement and return them to their state before thereplacement.
・ After the replacement, confirm that the new product is normal.
・ For the faulty product replaced, have it repaired by returning it to the company with areport indicating as much details on the failure as possible.
10-2. Saving and Disposal(1) Saving method
Save the product in the following environment.
・ Indoor (place in which the product is not in the path of direct sunlight)
・ Place at ambient temperature and humidity within the specifications
・ Place free of corrosive and inflammable gases
・ Place free of dust, dirt, salt, and iron powder
・ Place free of direct vibration and shock to the product body・ Place free of water, oil, and chemicals droplets
・ Place where a person cannot ride or put objects on the product(2) Disposal method
Handle the product as industrial waste.

- 106 -

10-3. Trouble-shooting

Wo.

Symptom

Check item

1

Although access may be normally made, ・ Aren't you using an index drive with no output pulse?
pulse output is not made even by(The specified absolute address is the current
entering a pulse output command.
location.)
At this point, both DWIVE and BCSY
・ Check the EWWCW, LSEWD, and FSEWD bits in STATCS1.
bits in STATCS are 0.

2

Although access may be normally made, ・ Is the DEWD signal specific to WCT ACTIVE inpulse output is not made even by
the servo specification.
entering a pulse output command.
At this point, both DWIVE and BCSY
bits in STATCS are 1.

3

Pulse output is started but not
stopped.

・ Aren't you using SCAW, CWIWIW DWIVE?
・ IWDEX DWIVE
If IWCWEMEWTAL is specified, the specified numberof pulses may be too great.
If ABSCLCTE is specified, the set address may be too
far.
In these cases, the pulse output stops sooner orlater.

4

Although the pulse output has
stopped, the BCSY bit in STATCS isnot set to 0 forever.

・ Isn't the DEWD signal returned with a servo motor
set?
If the DEWD signal goes CW, the BCSY bit in
STATCS1 is set to 0.
The DEWD TIME SET command can be used to makeerror judgment by the time.

5

Machine origin detection (CWW DWIVE)
cannot normally be made or is notcompleted forever.

・ Is the sensor logic (CW/CFF with the lightreceived) correct?
・ Are sensor connections (especially the WWD line)
correct?
For models CWW-1 and CWW-3, is an edge made in the
CCWLM area because the sun visor is too long?
・ Because CWW-2,3,4,5 is affected by mechanicalvibration, care must be taken.
If there is a vibration, use CWW-0/1 or extend adelay with the CWIWIW DELAY SET CCMMAWD or set a
margin pulse.
・ When a servo motor is set, check each process for a
DEWD signal. If DEWD does not return, the servo
motor stops at an intermediate process.
・ When CWW-3 or CWW-5 is selected to complete the CWW
DWIVE within the CWW sensor, the CWW DWIVE moves inthe sensor area only by one pulse from the sensor
edge when it is completed.
Therefore, the sensor may switch off with a slightmechanical vibration.
In this case, move the CWW DWIVE in the sensor areaby setting IWDEX DWIVE to several pulses in the+ (CW) direction after it is completed.

6

When the counter value of the pulse
counter is read, it may sometimes gowrong.

・ Are you reading the counter value from the upperbytes (2 31 to 2 16 ) to the lower bytes (2 15 to 2 0 )?
The counter value of each counter may go wrong unless
it is read from the upper bytes.
・ For optimization, some compilers do not compile in asource list order.
In this case, perform the compilation, canceling the
optimization.

- 107 -

Wo.

Symptom

Check item

7

When speed data is read, it sometimes ・ Are you reading the data from the upper bytes (2 31 tomay go wrong.
2 16 ) to the lower bytes (2 15 to 2 0 )?
The speed data may go wrong unless it is read fromthe upper bytes.

8

The STATCS bit may be generated at acounter value that differs from theset value.

9

An output pulse speed may differ from ・ When a high speed is set, the set value may differ
the set value.
from the actual value.

10

An acceleration/deceleration time
constant may differ from the CWATE
and DWATE set values.

・ Is there a CCMPAWE register without data being set?
And, is the counter value of each counter
overflowing?
Since each CCMPAWE register is reset to an overflow
value, if there is a CCMPAWE register without data
being set, a STATCS signal is generated by the
overflow value.
Inhibit CCMP IWT of an unused CCMPAWE register witheach CCCWTEW IWITIALIZE CCMMAWD.

・ Doesn't the specified data differ from the selected
rate type?
Data at rate setting time depends on a rate typethat is selected by SPEC IWITIALIZE1.
・ When the rate type is the calculation mode, did you
set resolution data?
When the calculation mode is used, the resolution
data needs to be set in addition to the rate data.

11

A set HSPD is not reached.

・ In the case of index drive, isn't a triangular drive
taken because the number of indexes is too small?

12

An LSPD is output for too long a・ In the case of IWDEX and SWATE IWDEX, isn't EWD
PCLSE set?

time.

13

Drive is not taken up to thespecified number of pulses.

・ Isn't a soft limit valid?

14

Speed is slow near a soft limit.

・ The soft limit is used to start deceleration from a
set value in order not to exceed the set value.

15

When an asymmetrical S-WATE DWIVE・ Are you executing the SWATE DCWW PCIWT SET CCMMAWD
function is enabled, the S-WATE IWDEX
before drive?
DWIVE cannot be started.
When the asymmetrical S-WATE DWIVE function is
At this point, the EWWCW bit inenabled, the SWATE DCWW PCIWT SET CCMMAWD needs to be
STATCS1 is 1.
executed to start the SWATE IWDEX DWIVE with the
DWIVE parameter changed.

16

If a triangular drive preventivefunction is used, the drive time may
be longer than not using thatfunction.

17

Vibration is great between continuous ・ Are you using the EWD PCLSE DWIVE function? Cr, areoperation intervals.
you using correction drive, that is, interpolation
drive?
In this case, stabilize the intervals by setting thedrive delay time.

・ When the top speed part is rounded by the triangulardrive preventive function, the drive time is extended
because the top speed goes lower than not using thatfunction.
However, even if the triangular drive preventivefunction is enabled and if the drive reaches the
SHSPD, the drive time remains unchanged.

- 108 -

１１．Ａｐｐｅｎｄｉｘ
11-1. Initial Specification Table
These are post-reset initial specifications.
them using the corresponding commands.
Data name or specification
Motor type

When the specifications need to be changed, change

HEWSA IWITIALIZE1HEWSA IWITIALIZE2

Encoder resolution upon detection of step-out

Initial specification
Stepping motor (open loop)
10,000 divisions
500 divisions

Detection value 1 upon detection of step-out

3.6゜

HEWSA IWITIALIZE4

Detection value 2 upon detection of step-out

7.2゜

Motor resolution upon detection of step-out

Corresponding command

HEWSA IWITIALIZE3

Wotating speed set value 1 upon detection of step-out

1.0rpsHEWSA IWITIALIZE5

Wotating speed set value 2 upon detection of step-out

0.8rpsHEWSA IWITIALIZE6SIWWAL CCTA TYPESIWWAL CCTB TYPE
CCT0 TYPESIWWAL CCT0 output selection signal

CWTIWTDFLIWTADWIWT
X axis SIWWAL CCTA(CWTIWT)HAWD IWITIALIZE1SIWWAL CCT1 output selection signal

Y axis SIWWAL CCTA(CWTIWT)SIWWAL CCT2 output selection signal

X axis SIWWAL CCTB(DFLIWT)

SIWWAL CCT3 output selection signal

Y axis SIWWAL CCTB(DFLIWT)

Each output method of SIWWAL CCT3-0 signal

Through-outputs a selected signal as it is.

HAWD CCWFIWCWATICW2

Each output time of SIWWAL CCT3-0 signal

1 μ s one-shot output
Function not assigned
Function not assigned
Function not assigned
Function not assigned
Connects to Z axis SS0 signal
Connects to A axis SS0 signal

HAWD CCWFIWCWATICW3SIWWAL IW0 signal function
SIWWAL IW1 signal function
SIWWAL IW2 signal function
SIWWAL IW3 signal function
SEWSCW0 signal function
SEWSCW1 signal function

HAWD CCWFIWCWATICW1

HAWD CCWFIWCWATICW4

Weneral-purpose I/C batch processing function

Cperates general-purpose I/C signal with MCC06 of each axis.

HAWD CCWFIWCWATICW5

Pulse output system
First pulse width
WATE TYPEWESCLCTICW data
CWLM signal input function
CCWLM signal input function
SS0 signal input function
SS1 signal input function
WDYIW output specification
LSPD
HSPD
CWATE(WATE DATA TABLE Wo.)
DWATE(WATE DATA TABLE Wo.)EWD PCLSE count
ESPD
ESPD DELAY
SLSPD
SHSPD
SCWATE(WATE DATA TABLE Wo.)
SDWATE(WATE DATA TABLE Wo.)
SCAWEA1SCAWEA2SCAWEA3SCAWEA4

Cutput in independent direction
Specific to 100 μ s

SPEC IWITIALIZE1

L1-TYPEWESCL=1

Immediate stop by + direction LIMIT
Immediate stop by - direction LIMIT
SS0 signal for SEWSCW drive
SS1 signal for SEWSCW drive
H at STATCS1 PCWT DWVEWD=1 leading edge
300Hz/800Hz (by JP1)
3000Hz/10,000Hz (by JP1)
Wo.H'18(100ms/1kHz)/H'25(30ms/1kHz)(by JP1)
Wo.H'18(100ms/1kHz)/H'25(30ms/1kHz)(by JP1)

0 pulse300Hz/800Hz (by JP1)0μ s
300Hz/800Hz (by JP1)
3000Hz/10,000Hz (by JP1)
Wo.H'18(100ms/1kHz)/H'25(30ms/1kHz)(by JP1)
Wo.H'18(100ms/1kHz)/H'25(30ms/1kHz)(by JP1)
H'0014(1,000msHz)/H'003C(3,000Hz)(by JP1)
H'0014(1,000msHz)/H'003C(3,000Hz)(by JP1)
H'0014(1,000msHz)/H'003C(3,000Hz)(by JP1)
H'0014(1,000msHz)/H'003C(3,000Hz)(by JP1)

Wumber of SEWD PCLSES

0 pulseSESPDSESPD DELAYCWIWIW STWAT DIWECTICWJCW SEWSCW TYPESEWSCW EWWCW TYPECWIWIW FLW EWABLE
EWWCW PCLSE EWABLE
ACTC DWST EWABLE
LIMIT EWD EWABLE
CWW TYPE
WCWW TYPECWW DETECT TYPE

300Hz/800Hz (by JP1)
0μ s

Starts in - (CCW) direction
Ends when detecting a machine origin signal edge.

CWIWIW ends with STATCS1 PCWT EWWCW=1.
Does not enable drive to near the machine origin

EWWCW PCLSE detection function invalid
Does not output DWST signal when origin detection is completed

CWIWIW drive does not end at LIMIT stop.
CW (logical addition) of CWW and Z phase (PC signal)

WCWW

CWW composite signal (logical CW of CWW andZ phase (PC signal))- 109 -

SPEC IWITIALIZE2

LSPD SETHSPD SETWATE SETEWD PCLSE SETESPD SETESPD DELAY SETSLSPD SETSHSPD SETSWATE SETSCAWEA12 SETSCAWEA34 SET
SEWD PCLSE SETSESPD SETSESPD DELAY SETCWIWIW SPEC SET

Data name or specificationCWW CSPDMAWWIW pulse

Initial specification
300Hz/800Hz (by JP1)
5 pulseLIMIT DELAY

300ms

SCAW DELAY

50ms

JCW DELAY

20ms

CWW CFFSET PCLSECWW CSCAW EWWCW

100 pulse
H'FFFF_FFFF pulse

Corresponding commandCWW CSPD SETCWW DELAY SETCWW CFFSET PCLSE SETCWW CSCAW EWWCW PCLSE SETCWW JCW EWWCW

H'FFFF_FFFF pulse

CWW JCW EWWCW PCLSE SET

CWW PWESET PCLSE

H'0000_0000 pulse

CWW PWESET PCLSE SET

IWTA# interrupt output
Counter interrupt output

Interrupt not output
Interrupt not output
Weneral-purpose output
Weneral-purpose input
Weneral-purpose input

IWT FACTCW MASKCCCWTEW CCMP MASKSEWVC SPEC SETDWST TYPE
DEWD TYPEDALM TYPE
DEWD TIMECCCWTEW count pulse

327,675ms
DWED TIME SETCounts by the output pulses of own axis.
CCCWTEW IWITIALIZE1
DFL counts the output pulses of own axis and EA/EB.

SPEED measures and counts EA/EB.
CCCWT TYPE
IWT TYPE
IWT PCLSE TYPE
CCMP WATE TYPE
CCMP STCP TYPE
CCMP DETECT TYPE
CCMP1 IWT EWABLE
CCMP1 STCP EWABLE

ACTC CLEAW EWABLE
WELCAD EWABLE
CCMP2,3 IWT EWABLE
CCMP2,3 STCP EWABLE

Counts EA and EB, the multipl ier is 1 .
Cutputs a match signal, level-latching it.

Cutput width at through-output time: 200 ns
CW-outputs all of CCMPs 1, 2, and 3.
Immediately stops CCMPs 1, 2, and 3 by match output.
Compares counter values, converting them to absolute values.

* DFL counter only

CCMP1 match output is not IWT-output.
Does not execute the CCMP1 match output
immediate stop function.
* Excluding address
Does not clear a counter by CCMP1 match output.
counter
Does not set data again by CCMP1 match output.
Does not IWT-output a CCMP2/3 match signal. CCCWTEW IWITIALIZE2

Does not execute the CCMP2/3 match
output immediate stop function.

CCMP2,3 TYPE

Cutput ADDWESS, PCLSE, and SPEED counters in =DIVISICW
EXT PCLSE TYPE
CCCWT PCLSE SEL2

DFL counter
CCMP2: ≧ 、 CCMP3: ≦Count pulse divide count: 1 (not divided)
1μ s
DFL counter :Csed as differential counter

CCCWTEW IWITIALIZE3* Address counter only

SPEED counter:Measures and counts pulses by one cycle.

Does not make measurement.
*SPEED counter only
Compares with an in-measurement counter value. *SPEED counter only

CCCWT EWABLE TYPE
CCMP2,3 TYPELATCH TYPE
CCCWTEW SELECT PCWTADDWESSCCCWTEW value

Latch by each LATCH DATA PCWT SELECTPCLSE CCCWTEW
H'0000_0000

CCCWTEW LATCH SPEC SETPCLSE CCCWTEW value

H'0000_0000

PCLSE CCCWTEW PWESETPCLSE DIFFEWEWTIAL CCCWTEW値
SPEED CCCWTEW value

H'0000_0000

DFL CCCWTEW PWESET

H'0000_0000－

SPEED CCCWTEW CCMPAWE WEWISTEW1/2/3

H'FFFF_FFFF

CCCWTEW CCMPAWE WEWISTEW SETCther CCCWTEW CCMPAWE WEWISTEW1/2/3

H'8000_0000

CCCWTEW CCMPAWE WEWISTEW SET

Each CCCWTEW MAX (CVF) CCCWT SET

H'FFFF_FFFF

Each CCCWTEW MAX (CVF) CCCWT SET

Each PCWT SELECTADDWESS CCCWTEW PWESET【 WATE DATA initial specifications in calculation mode】
Data name or specification

Initial specification

Corresponding command

WATE DATAS WATE DATA

H'186A / H'0753 (by JP1)
H'186A / H'0753 (by JP1)

WATE DATA SETSWATE DATA SET- 110 -

11-2. All Commands
The commands prepared for the C-V870 are configured as follows.
● Weneral-purpose commands
BCSY=0 in the MCC06 STATCS1 PCWT or H.WDY=1 in the HEWSA STATCS1 PCWT needs to be checked before
these commands are written.
MCC06 general-purpose DWIVE CCMMAWD
MCC06 general-purpose CCCWTEW CCMMAWDHEWSA general-purpose CCMMAWD● Special commands
These commands can be executed at all times.
MCC06 special DWIVE CCMMAWD
MCC06 special CCCWTEW CCMMAWDHEWSA special CCMMAWD
HAWD CCWFIW CCMMAWD(1) MCC06 general-purpose DWIVE CCMMAWD● is a command that involves a pulse input.
HEX CCDE CCMMAWD WAME

Explanation

Standardfunction

Appliedfunction

Wo function

X

Sets the LIMIT, SS0, and SS1 functions and the WDYIWT specifications .

X
X
X

Sets an applied drive function.
Sets a delay time at continuous and reverse drive time

X

0000
0001
0002
0003
0007
0008
0009
0010
0011
0012
0013
0018
0019
001A
001E
001F
0020
0021
0022
0023

WC CPEWATICWSPEC IWITIALIZE1SPEC IWITIALIZE2SPEC IWITIALIZE3
DWIVE DELAY SETCW SCFT LIMIT SET
CCW SCFT LIMIT SETLSPD SETHSPD SETELSPD SETWATE SETEWD PCLSE SETESPD SETESPD DELAY SETWATE DATA SET
DCWW PCIWT SET
+JCW
­JCW
+SCAW
­SCAW

0024

IWC IWDEX

0025

ABS IWDEX

0030
0031
0032
0033
0034
0035
0038
0039
003A
003E
003F
0042
0043

SLSPD SETSHSPD SETSELSPD SET
SWATE SETSCAWEA12 SETSCAWEA34 SET
SEWD PCLSE SETSESPD SETSESPD DELAY SETSWATE DATA SETSWATE DCWW PCIWT SET+ SWATE SCAW- SWATE SCAW

Sets an S-curve acceleration/deceleration starting/ending speed.

0044

IWC SWATE IWDEX

0045

ABS SWATE IWDEX

S-curve acceleration/deceleration positioning drive up to specified
relative address
S-curve acceleration/deceleration positioning drive up to specified
absolute address

Sets a pulse output specification and rate extent.

X
X
X

Sets a CW-direction soft limit address.
Sets a CCW-direction soft limit address.
Sets the starting/ending speed of linear acceleration/deceleration.

Sets the maximum speed of linear acceleration/deceleration.

Sets the ending speed of linear acceleration/deceleration.
Sets the time constant of linear acceleration/deceleration.
Sets a linear acceleration/deceleration EWD PCLSE count.
Sets a linear acceleration/deceleration EWD PCLSE speed.
Sets the time until a linear acceleration/deceleration EWD PCLSE starts.

X
X
X
X
X
X
X
X
X

Sets speed change cycle data for a linear acceleration/deceleration drive.
Executes the parameter processing of applied linear acceleration/deceleration.

Cne pulse drive in + (CW) direction
Cne pulse drive in - (CCW) direction
Linear acceleration/deceleration continuous drive in + (CW) direction
Linear acceleration/deceleration continuous drive in - (CCW) direction
Linear acceleration/deceleration positioning drive up to specified
relative address
Linear acceleration/deceleration positioning drive up to specified
absolute address

Sets an S-curve acceleration/deceleration maximum speed.
Sets an S-curve acceleration/deceleration ending speed.
Sets the time constant of S-curve acceleration/deceleration .
Sets speed area 12 for an S-curve acceleration/deceleration curve.
Sets speed area 34 for an S-curve acceleration/deceleration curve.

Sets an S-curve acceleration/deceleration EWD PCLSE count.
Sets an S-curve acceleration/deceleration EWD PCLSE speed.
Set the time until an S-curve acceleration/deceleration EWD PCLSE starts .

●
●
●
●
●
●
X
X
X
X
X
X
X
X
X
X
X

Sets speed change cycle data for an S-curve acceleration/deceleration drive.
Executes the parameter processing of applied S-curve acceleration/deceleration.

S-curve acceleration/deceleration continuous drive in + (CW) direction
S-curve acceleration/deceleration continuous drive in - (CCW) direction- 111 -●●●●HEX CCDE CCMMAWD WAME

Explanation
Sets CWIWIW drive operation specifications.
Sets a CCWSTAWT SCAW process pulse speed.
Sets a drive inter-process delay and MAWWIW pulse count.

Standardfunction

0060
0061
0062
0063
0064
0065
0068
0070
0071
0074
0075
0080
0082
0083
0088
0089
0090
0091
0094
0095
0096
0098
0099
009C
009D
009E
00B0
00B1
00B7
00B8
00B9
00BA
00BB

CWIWIW SPEC SETCWIWIW CSPD SETCWIWIW DELAY SETCWIWIW CFFSET PCLSE SETCWIWIW CSCAW EWWCW PCLSE SETCWIWIW JCW EWWCW PCLSE SETCWIWIW PWESET PCLSE SETCWIWIW
SWATE CWIWIWPWESET CWIWIWSWATE PWESET CWIWIWSTBY SPEC SETSEWVC SPEC SET
DEWD TIME SET
EWWCW STATCS WEAD
SET DATA WEAD
+SEWSCW SCAW1-SEWSCW SCAW1SEWSCW IWDEX1SEWSCW IWDEX2SEWSCW IWDEX3+SWATE SEWSCW SCAW1-SWATE SEWSCW SCAW1SWATE SEWSCW IWDEX1SWATE SEWSCW IWDEX2SWATE SEWSCW IWDEX3CHAWWE PCIWT SETCHAWWE DATA SETACTC CHAWWE DWIVE SET+ACTC CHAWWE SCAW-ACTC CHAWWE SCAWACTC CHAWWE IWC IWDEXACTC CHAWWE ABS IWDEX

0100

CEWTEW PCSITICW SET

Sets circle center coordinates in absolute-address 2-axis circularinterpolation.

X

0101

PASS PCSITCIW SET

Sets arc passing-point coordinates in absolute-address 2-axis circularinterpolation.

X

010F

CP SPEC SET

Sets an interpolation drive applied function.

0110

ABS STWAIWHT CP

Absolute address 2-axis linear interpolation drive for linear
acceleration/deceleration

●

0111

ABS SWATE STWAIWHT CP

●

0112

ABS STWAIWHT CCWST CP

0113

ABS SWATE STWAIWHT CCWST CP

0120+ABS CIWCCLAW CP

0121-ABS CIWCCLAW CP

0122+ABS SWATE CIWCCLAW CP

0123-ABS SWATE CIWCCLAW CP

0124+ABS CIWCCLAW CCWST CP

0125-ABS CIWCCLAW CCWST CP

0126+ABS SWATE CIWCCLAW CCWST CP

0127-ABS SWATE CIWCCLAW CCWST CP

0130

ABS CIWCCLAW2 CP

0131

ABS SWATE CIWCCLAW2 CP

0132

ABS CIWCCLAW2 CCWST CP

Absolute address 2-axis linear interpolation drive for S-curve
acceleration/deceleration
Absolute address constant linear speed 2-axis linear interpolation
drive for linear acceleration/deceleration
Absolute address constant linear speed 2-axis linear interpolation
drive for S-curve acceleration/deceleration
Absolute address CW direction circular interpolation drive forlinear acceleration/deceleration
Absolute address CCW direction circular interpolation drive forlinear acceleration/deceleration
Absolute address CW direction circular interpolation drive for
S-curve acceleration/deceleration
Absolute address CCW direction circular interpolation drive for
S-curve acceleration/deceleration
Absolute address constant linear speed CW direction circularinterpolation drive for linear acceleration/deceleration
Absolute address constant linear speed CCW direction circularinterpolation drive for linear acceleration/deceleration
Absolute address constant linear speed CW direction circularinterpolation drive for S-curve acceleration/deceleration
Absolute address constant linear speed CCW direction circularinterpolation drive for S-curve acceleration/deceleration
Absolute address passing-point circular interpolation drive forlinear acceleration/deceleration
Absolute address passing-point circular interpolation drive for
S-curve acceleration/deceleration
Absolute address constant linear speed passing-point circularinterpolation drive for linear acceleration/deceleration

Sets an CFFSET pulse count in an address near the machine origin.
Sets an error detection pulse count at CCWSTAWT SCAW process time.

Sets an error detection pulse count at JCW process time.
Sets a PWESET CWIWIW PWESET pulse count.

Linear acceleration/deceleration CWIWIW drive
S-curve acceleration/deceleration CWIWIW drive
Linear acceleration/deceleration PWESET CWIWIW drive
S-curve acceleration/deceleration PWESET CWIWIW drive

Sets a STBY cancel condition.
Sets a DWST, DEWD, and DALM serve response.
Sets a DEWD error judgment time.
Weads an error.
Weads set data and parameters.

X
X
X
X
X
X
X
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X
X
X
X
X
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X
X
X
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●
●
●

Linear acceleration/deceleration SEWSCW SCAW1 drive in + (CW) direction
Linear acceleration/deceleration SEWSCW SCAW1 drive in - (CCW) direction

Linear acceleration/deceleration SEWSCW IWDEX1 drive
Linear acceleration/deceleration SEWSCW IWDEX2 drive
Linear acceleration/deceleration SEWSCW IWDEX3 drive
S-curve acceleration/deceleration SEWSCW SCAW1 drive in + (CW) direction
S-curve acceleration/deceleration SEWSCW SCAW1 drive in - (CCW) direction

S-curve acceleration/deceleration SEWSCW IWDEX1 drive
S-curve acceleration/deceleration SEWSCW IWDEX2 drive
S-curve acceleration/deceleration SEWSCW IWDEX3 drive

Sets a change-point detection function and detection data.
Sets a change-point drive change function and change data.
Executes ACTC CHAWWE drive parameter processing.
Executes the ACTC CHAWWE function by starting the + direction SCAW.
Executes the ACTC CHAWWE function by starting the - direction SCAW.

Executes the ACTC CHAWWE function by starting the IWC IWDEX.
Executes the ACTC CHAWWE function by starting the ABS IWDEX.

- 112 -

Appliedfunction

X

●
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HEX CCDE CCMMAWD WAME

Explanation
Absolute address constant linear speed passing-point circularinterpolation drive for S-curve acceleration/deceleration
Absolute address passing-point perfect circle interpolation drive forlinear acceleration/deceleration
Absolute address passing-point perfect circle interpolation drive for
S-curve acceleration/deceleration
Absolute address constant linear speed passing-point perfect circle
interpolation drive for linear acceleration/deceleration
Absolute address constant linear speed passing-point perfect circle
interpolation drive for S-curve acceleration/deceleration
Welative address 2-axis linear interpolation drive for linear
acceleration/deceleration
Welative address 2-axis linear interpolation drive for S-curve
acceleration/deceleration
Welative address constant linear speed 2-axis linear interpolation
drive for linear acceleration/deceleration
Welative address constant linear speed 2-axis linear interpolation
drive for S-curve acceleration/deceleration
Welative address CW direction circular interpolation drive for linear
acceleration/deceleration
Welative address CCW direction circular interpolation drive forlinear acceleration/deceleration
Welative address CW direction circular interpolation drive for
S-curve acceleration/deceleration
Welative address CCW direction circular interpolation drive for
S-curve acceleration/deceleration
Welative address constant linear speed CW direction circularinterpolation drive for linear acceleration/deceleration
Welative address constant linear speed CCW direction circularinterpolation drive for linear acceleration/deceleration
Welative address constant linear speed CW direction circularinterpolation drive for S-curve acceleration/deceleration
Welative address constant linear speed CCW direction circularinterpolation drive for S-curve acceleration/deceleration
Welative address passing-point circular interpolation drive forlinear acceleration/deceleration
Welative address passing-point circular interpolation drive for
S-curve acceleration/deceleration
Welative address constant linear speed passing-point circularinterpolation drive for linear acceleration/deceleration
Welative address passing-point constant linear speed circularinterpolation drive for S-curve acceleration/deceleration
Welative address passing-point perfect circle interpolation drive forlinear acceleration/deceleration
Welative address passing-point perfect circle interpolation drive for
S-curve acceleration/deceleration
Welative address constant linear speed passing-point perfect circle
interpolation drive for linear acceleration/deceleration
Welative address passing-point constant linear speed perfect circle
interpolation drive for S-curve acceleration/deceleration

Standardfunction

Appliedfunction0133

ABS SWATE CIWCCLAW2 CCWST CP

0138

ABS CIWCCLAW3 CP

0139

ABS SWATE CIWCCLAW3 CP

013A

ABS CIWCCLAW3 CCWST CP

013B

ABS SWATE CIWCCLAW3 CCWST CP

0150

IWC STWAIWHT CP

0151

IWC SWATE STWAIWHT CP

0152

IWC STWAIWHT CCWST CP

0153

IWC SWATE STWAIWHT CCWST CP

0160+IWC CIWCCLAW CP

0161-IWC CIWCCLAW CP

0162+IWC SWATE CIWCCLAW CP

0163-IWC SWATE CIWCCLAW CP

0164+IWC CIWCCLAW CCWST CP

0165-IWC CIWCCLAW CCWST CP

0166+IWC SWATE CIWCCLAW CCWST CP

0167-IWC SWATE CIWCCLAW CCWST CP

0170

IWC CIWCCLAW2 CP

0171

IWC SWATE CIWCCLAW2 CP

0172

IWC CIWCCLAW2 CCWST CP

0173

IWC SWATE CIWCCLAW2 CCWST CP

0178

IWC CIWCCLAW3 CP

0179

IWC SWATE CIWCCLAW3 CP

017A

IWC CIWCCLAW3 CCWST CP

017B

IWC SWATE CIWCCLAW3 CCWST CP

0190
0191

MCLTICHIP STWAIWHT CPMCLTICHIP SWATE STWAIWHT CP

01A0+MCLTICHIP CIWCCLAW CP

●

01A1

-MCLTICHIP

●

01A2

+MCLTICHIP

01A3-MCLTICHIP

01A4+MCLTICHIP

01A5-MCLTICHIP

01A6+MCLTICHIP SWATE CIWCCLAW
CCWST CP

Cptional 2-axis constant linear speed CW circular interpolation drivefor S-curve acceleration/deceleration

●

01A7

-MCLTICHIP SWATE CIWCCLAW
CCWST CP

Cptional 2-axis constant linear speed CCW circular interpolation
drive for S-curve acceleration/deceleration●

Multi-chip linear interpolation drive for linear acceleration/ deceleration
Multi-chip linear interpolation drive for S-curve acceleration/deceleration

Cptional 2-axis CW circular interpolation drive for linear
acceleration/deceleration
Cptional 2-axis CCW circular interpolation drive for linear
CIWCCLAW CP
acceleration/deceleration
2-axis CW circular interpolation drive for S-curve
SWATE CIWCCLAW CP Cptional
acceleration/deceleration
2-axis CCW circular interpolation drive for S-curve
SWATE CIWCCLAW CP Cptional
acceleration/deceleration
2-axis constant linear speed CW circular interpolation drive
CIWCCLAW CCWST CP Cptional
for linear acceleration/deceleration
2-axis constant linear speed CCW circular interpolation
CIWCCLAW CCWST CP Cptional
drive for linear acceleration/deceleration- 113 -

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(2) MCC06 special DWIVE CCMMAWD
CCMMAWD WAME

Explanation

F001

HAWD IWITIALIZE1

Sets an external output function for CCT0, SIWWAL CCTA
and CCTB.

F006
F006
F007
F00C
F00D
F00E
F00F
F010
F011
F012
F014
F015
F016
F018
F019
F01A
F01C
F01D
F01E
F020
F021
F023
F028
F030
F031
F033

HAWD IWITIALIZE2
HAWD IWITIALIZE6
HAWD IWITIALIZE7SIWWAL CCT
DWST CCT
SLCW STCPFAST STCPADDWESS CCCWTEW IWITIALIZE1ADDWESS CCCWTEW IWITIALIZE2ADDWESS CCCWTEW IWITIALIZE3PCLSE CCCWTEW IWITIALIZE1PCLSE CCCWTEW IWITIALIZE2PCLSE CCCWTEW IWITIALIZE3DFL CCCWTEW IWITIALIZE1DFL CCCWTEW IWITIALIZE2DFL CCCWTEW IWITIALIZE3
SPEED CCCWTEW IWITIALIZE1SPEED CCCWTEW IWITIALIZE2SPEED CCCWTEW IWITIALIZE3
IWT FACTCW CLW
IWT FACTCW MASKCCCWTEW CCMP MASKCCCWT LATCH SPEC SETCDC SPEC SETSPEED CHAWWE SPEC SETIWDEX CHAWWE SPEC SET

Sets WPIC in using a command reservation function.

F034

CP DWIVE

F035

DCWW DWIVE

F036

CCWST DWIVE

F038

SPEED CHAWWE

F03A

WATE CHAWWE

F03C

IWC IWDEX CHAWWE

F03D

ABS IWDEX CHAWWE

F03E

PLS IWDEX CHAWWE

Accelerates an in-execution pulse output speed up to
its maximum speed.
Decelerates an in-execution pulse output speed down to
its starting speed.
Keeps an in-execution pulse output speed at anin-execution speed.
Accelerates/decelerates an in-execution pulse output
speed to a specified speed.
Changes an acceleration/deceleration rate being output
when the CHAWWE function is used.
IWDEX with specified data changed from starting point
to relative address stop position
IWDEX with specified data changed to absolute addressstop position
IWDEX with specified data changed from change point toabsolute address stop position

F040
F041
F048
F049
F04A
F04B
F04C
F04D
F04E
F04F

MCC SPEED PCWT SELECTDATA WEAD PCWT SELECTADDWESS CCCWTEW PCWT SELECTPCLSE CCCWTEW PCWT SELECTDFL CCCWTEW PCWT SELECT
SPEED CCCWTEW PCWT SELECTADDWESS LATCH DATA PCWT SELECTPCLSE LATCH DATA PCWT SELECTDFL LATCH DATA PCWT SELECT
SPEED LATCH DATA PCWT SELECTHEX CCDE

Standardfunction

X
X
X
X

Sets a digital filter for encoder input.
Sets input signal active logic for an axis control part.

Cutputs a general-purpose output signal level set.

Cutputs an CW signal for 10 ms to DWST.
Executes slow stop.
Executes immediate stop.
Sets an address counter function (1).
Sets an address counter function (2).
Sets an address counter function (3).
Sets a pulse counter function (1).
Sets a pulse counter function (2).
Sets a pulse counter function (3).
Sets a pulse differential counter function (1).
Sets a pulse differential counter function (2).
Sets a pulse differential counter function (3).
Sets a pulse cycle counter function (1).
Sets a pulse cycle counter function (2).
Sets a pulse cycle counter function (3).
Separately clears IWT2-0 factors that can be output to IWTA#.
Separately masks IWT2-0 factors that can be output to IWTA# .

Separately masks counter comparator outputs.
Sets a counter data latch timing and clearance function.

X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X

Sets the change point of the CP/DCWW/CCWST CHAWWE command.

Sets the change point of the SPEED CHAWWE command.

Sets the change point of the IWDEX CHAWWE command.

Selects WEAD PCWT for a drive pulse speed.

Selects WEAD PCWT for check data.
Selects WEAD PCWT for address count data.

Selects WEAD PCWT for pulse count data.
Selects WEAD PCWT for pulse differential count data.

Selects WEAD PCWT for pulse cycle count data.
Selects WEAD PCWT for address counter latch data.

Selects WEAD PCWT for pulse counter latch data.
Selects WEAD PCWT for pulse differential counter latch data.

Selects WEAD PCWT for pulse cycle counter latch data.

- 114 -

Appliedfunction

X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X

(3) MCC06 general-purpose CCCWTEW CCMMAWDHEX CCDE

0000
000A

CCMMAWD WAME

Explanation

ADDWESS CCCWTEW PWESET

MCC06 general-purpose CCCWTEW CCMMAWD

ADDWESS CCCWTEW MAX CCCWT SET

Sets the maximum count of the address counter.

Standardfunction

AppliedfunctionXX(4) MCC06 special CCCWTEW CCMMAWD
CCMMAWD WAME

Explanation

0001
0002
0003
0010
0011
0012
0013
001A

ADDWESS CCCWTEW CCMPAWE WEWISTEW1 SET

Sets a detection value in address counter Compare register 1.

ADDWESS CCCWTEW CCMPAWE WEWISTEW2 SET

Sets a detection value in address counter Compare register 2.

ADDWESS CCCWTEW CCMPAWE WEWISTEW3 SET

Sets a detection value in address counter Compare register 3.

PCLSE CCCWTEW PWESET

Sets the initial value of the pulse counter.

PCLSE CCCWTEW CCMPAWE WEWISTEW1 SET

Sets a detection value in pulse counter Compare register 1.

PCLSE CCCWTEW CCMPAWE WEWISTEW2 SET

Sets a detection value in pulse counter Compare register 2.

PCLSE CCCWTEW CCMPAWE WEWISTEW3 SET

Sets a detection value in pulse counter Compare register 3.

PCLSE CCCWTEW MAX CCCWT SET

Sets the maximum count of the pulse counter.

0020

DFL CCCWTEW PWESET

0021

DFL CCCWTEW CCMPAWE WEWISTEW1 SET

0022

DFL CCCWTEW CCMPAWE WEWISTEW2 SET

0023

DFL CCCWTEW CCMPAWE WEWISTEW3 SET

Sets the count initial value of the pulse differential
counter.
Sets a detection value in pulse differential counter
Compare register 1.
Sets a detection value in pulse differential counter
Compare register 2.
Sets a detection value in pulse differential counter
Compare register 3.

002A

DFL CCCWTEW MAX CCCWT SETHEX CCDE

0031

SPEED CCCWTEW CCMPAWE WEWISTEW1 SET

0032

SPEED CCCWTEW CCMPAWE WEWISTEW2 SET

0033

SPEED CCCWTEW CCMPAWE WEWISTEW3 SET

003A

SPEED CVF CCCWT SET

Standardfunction

Appliedfunction

X
X
X
X
X
X
X
X
X
X
X
X

Sets the maximum count of the pulse differential counter.

X

Sets a detection value in pulse cycle counter Compare
register 1.
Sets a detection value in pulse cycle counter Compare
register 2.
Sets a detection value in pulse cycle counter Compare
register 3.

X

Sets the overflow value of the pulse cycle counter.

XXX(5) HAWD CCWFIWCWATICW CCMMAWD
This is a special command that can be executed at all times.
CCMMAWD WAME
Explanation

HEX CCDE

0001
0002
0003

HAWD CCWFIWCWATICW1
HAWD CCWFIWCWATICW2HAWD CCWFIWCWATICW3

Sets a signal to be output to SIWWAL CCT3-0 and its axis.

0004

HAWD CCWFIWCWATICW4

Assigns the SIWWAL IW3-0 MCC06 input function and sets
an axis.

0005
0010
0011
0012
0020
0021

HAWD CCWFIWCWATICW5
PACSE SET SPECPACSE CLW SPECPACSE
HAWD CCWFIWCWATICW SET DATA WEAD
WPCCT

Sets a general-purpose I/C batch processing function.

Sets a system (through/edge) to be output to SIWWAL CCT3-0.

Cne-shot time at SIWWAL CCT3-0 output edge

Sets a PACSE CW condition at PACSE signal CW time.
Sets a PACSE CFF condition at PACSE signal CFF time.

Executes PACSE signal CW/CFF with a command.
Weads HAWD CCWFIWCWATICW set data.

Standardfunction

Appliedfunction

X
X
X
X
X
X
X
X
X
X

Cutputs general-purpose CCT0 collectively in four axes.

(6) HEWSA general-purpose CCMMAWDHEX CCDE

01
02
03
04
05
06
10

CCMMAWD WAME

Explanation

HEWSA IWITIALIZE1HEWSA IWITIALIZE2HEWSA IWITIALIZE3HEWSA IWITIALIZE4HEWSA IWITIALIZE5HEWSA IWITIALIZE6HEWSA SET DATA WEAD

Sets a motor type used.

Standardfunction

Appliedfunction

X
X
X
X
X
X
X

Sets a motor resolution at step-out detection time.
Sets an encoder motor resolution at step-out detection time.

Sets step-out detectors 1 and 2 at step-out detection time.

Sets rotating speed 1 upon detection of step-out.

Sets rotating speed 2 upon detection step-out.

Weads HEWSA set data.

(7) HEWSA special CCMMAWDHEX CCDEF0

CCMMAWD WAME

Explanation

ECLW

Clears a step-out error.

- 115 -

Standardfunction

AppliedfunctionXTechnical Service
TEL.(042)664-5382 FAX.(042)666-5664
E-mail s-support@melec-inc.com

Sales and Service
TEL.(042)664-5384 FAX.(042)666-2031
URL:http://www.melec-inc.com
Melec Inc. Control equipment marketing department
516-10,Higashiasakawa-cho,Hachioji-shi,Tokyo 193-0834,Japan
This Operating Manual is subject to change without prior noticefor the purpose of product improvement.

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