Specifications

• 4 Axes of control
• Data Bus 16/8 bits selectable

Interpolation Functions

2-axes / 3-axes Linear Interpolation

• Interpolation Range Each axis: -2,147,483,646 ~ +2,147,483,646
• Interpolation Speed: 1 PPS ~ 4 MPPS
• Interpolation Accuracy: ±0.5 LSB (Within the range of whole interpolation)

Circular Interpolation

• Interpolation Range Each axis: -2,147,483,646 ~ +2,147,483,646
• Interpolation Speed: 1 PPS ~ 4 MPPS
• Interpolation Accuracy: ±1 LSB (Within the range of whole interpolation)

2 axes / 3 axes Bit Pattern Interpolation

• Interpolation Speed: 1 PPS ~ 4 MPPS (Dependent on CPU data writing time)

Related Functions of Interpolation

• Can select any axis
• Constant vector speed
• Continuous interpolation
  
• Single step interpolation (Command/external signals)

Common Specifications of Each Axis

• Drive Pulses Output (When CLK = 16 MHz)
• Pulse Output Speed Range: 1 PPS ~ 4 MPPS
• Pulse Output Accuracy within: ±0.1% (according to the setting speed)
• S-curve Jerk: 954 ~ 62.5 x 10⁶ PPS/S² (Multiple = 1)
                      477 x 10³ ~ 31.25 x 10⁹ PPS/S² (Multiple =500)
• Accelerating / Decelerating Speed: 125 ~ 1 x 10⁶ PPS/S (Multiple = 1)
                                                     62.5 × 10³ ~ 500 x 10⁶ PPS/S (Multiple = 500)
• Initial Speed: 1 ~ 8,000 PPS (Multiple = 1)
                       500 PPS ~ 4×10⁶ PPS (Multiple = 500)
• Drive Speed: 1 ~ 8,000 PPS (Multiple = 1)
                      500 PPS ~ 4×10⁶ PPS (Multiple = 500)
• Output-pulse Number: 0 ~ 4,294,967,295 / unlimited
• Speed Curve: Constant speed, symmetrical/non-symmetrical linear acceleration, symmetrical/non-symmetrical parabola S-curve acceleration/deceleration drive
• Index Pulse Drive Deceleration Mode auto (non-symmetrical linear acceleration is also allowed) / manual
• Output-pulse numbers and drive speeds changeable during the driving
• Triangle form prevention of linear acceleration fixed pulse drive and S-curve acceleration/deceleration fixed pulse drive
• Independent 2-pulse system or 1-pulse 1-direction system selectable
• Logical levels of drive pulse selectable, output pin switchable

Encoder Input

• A/B quadrature pulse style or Up/Down pulse style selectable
• Pulse of 1, 2 and 4 divisions selectable (A/B quadrature pulse style)

Position Counter

• Logic Position Counter (for output pulse t) range: -2,147,483,648 ~ +2,147,483,647
• Real Position Counter (for feedback pulse) range: -2,147,483,648 ~ +2,147,483,647
• Variable ring counter function, real position counter increase/decrease inversion function, and real position counter clear function by the IN2 signal Data read and write possible

Comparison Register

• COMP + Register Position comparison range: -2,147,483,648 ~ +2,147,483,647
• COMP - Register Position comparison range: -2,147,483,648 ~ +2,147,483,647
• Status and signal outputs for the comparisons of position counters
• Software limit functioned

Automatic home search

• Automatic execution of
• Step 1 (high-speed near home search)
• Step 2 (low-speed home search)
• Step 3 (low-speed encoder Z-phase search)
• Step 4 (high-speed offset drive). Enable/Disable of each step and search direction selectable
• Deviation counter clear output : Clear pulse width within the range of 10µ ~ 20msec and logical level selectable

Synchronous Action

• Activation factor
• Position counter >= COMP+ variation, position counter < COMP+ variation, position counter < COMP- variation, position counter >= COMP - variation, start of driving, termination of driving, IN3 signal-high, IN3 signal-low, LP read command, activation command.
• Action
• Start of ± fixed pulse drive, start of ± continuous pulse drive, drive decelerating stop, drive instant stop, saving position counter values, setting position counter values, settingan output pulse number, setting a drive speed, external signal output (DCC), and interrupt

Any action of other axes can be activated from the factor of the own axis.

Interrupt (Interpolations Excluded)

• The factors of occurring interrupt:
• the drive-pulse outputting
• the start / finish of a constant-speed drive during the acceleration / deceleration driving
• the end of the driving
• the volume of position counter >= the volume of COMP-
• the volume of position counter < the volume of COMP-
• the volume of position counter >= the volume of COMP+
• the volume of position counter < the volume of COMP+
• terminating of automatic home search, synchronous action

Enable / disable for these factors selectable

External Signal for Driving

• EXPP and EXPM signals for fixed pulse / continuous drive
• Driving in manual pulsar mode (encoder input)

External Deceleration / Sudden Stop Signal
 

• IN0 ~ 3: 4 points for each axis

Enable / disable and logical levels selectable

Servo Motor Input Signal

• ALARM (Alarm), INPOS (In Position Check), DCC (Pin shared between deviation counter clear output and DRIVE)

Enable / disable and logical levels selectable

General Output Signal

• OUT0 ~ 7: 8 points for each axis (wherein 4 points use with drive status output signal pin)

Driving Status Signal Output

• ASND (speed accelerating), DSND (speed decelerating), CMPP (position >= COMP+), CMPM (position < COMP-) 

Drive status and status registers readable

Limit Signals Input

• 2 points, for each + and - side 

Logical levels and decelerating / sudden stop selectable

Emergency Stop Signal Input

• EMG, 1 point for 4 axes

Contents of integral type filters

• Equipped with integral filters in the input column of each input signal. One time constant can be selected from eight types.
  

Electrical Characters

• Temperature Range for Driving (MCX314As): 0° ~ +85°C (32°F ~ 185°F)
• Temperature Range for Driving (MCX314AL): -40°° ~ +85°C (-40°F ~ 185°F)
• Power Voltage for Driving (MCX314As): +5V ± 5 %
• Power Voltage for Driving (MCX314AL): +3.3V ± 5 %
• Consumption current (MCX314As): 70mA typ (112mA max)
• Consumption current (MCX314AL): 21mA typ (30mA max)
• Input Signal Level (MCX314As): CMOS, TTL connectable
• Input Signal Level (MCX314AL): CMOS, TTL connectable (5V tolerant)
• Output Signal Level (MCX314As): 5V CMOS Level
• Output Signal Level (MCX314AL): 3.3V CMOS Level (only TTL can be connnected for 5V type)
  
• Input Clock Pulse (MCX314As): 16 MHz (Standard)
• Input Clock Pulse (MCX314AL): 16 MHz (Standard); 32 MHz (max.)
  

Package

• 144-pin plastic LQFP, pitch = 0.5mm lead free item
• Dimension : 20 × 20 × 1.4 mm (External size including pins : 22 × 22 × 1.6 mm)