Explanation of Functions
S-curve acceleration/deceleration	Pulse rate is accelerated or decelerated in S curve, which enables reduction of the mechanical vibration caused by conventional linear acceleration/deceleration. (The degree of vibration suppression differs depending on conditions including the applied motor, mechanism and operating pattern.)
S-curve section setting	To shorten the S-curve acceleration/deceleration time, the S-curve can be made linear on the way. That is , S-curve sections lets acceleration or deceleration be made in S curve at the start and end with a linear section in between.
Triangular drive correction function (FH correction function)	When operated with parameters which cause triangular drive(abrupt change form acceleration to deceleration), operating pulse rate (FH) is automatically decreased to eliminate triangular drive.
Origin return	Movement is made to the origin. Various origin. Various origin return modes are available depending on models. Refer to respective User’s Manuals.
Origin search, origin escape	Origin search : Origin return is made from the designated direction while reciprocating between plus and minus end limits. Origin escape: When origin signal is ON, pulse output returns OFF position once. At that time, it can be stopped by counting encoder Z-phase signals.
Origin return with moving amount restricted	When origin signal is ON or when pulses are output in the number designated by the chip stops outputting pulses.
Limit positioning	Movement is made to mechanical or programmed end limit position, and then stops normally.
Limit escape	Movement made to limit OFF position from the mechanical or programmed end limit position.
Servomotor interface	The following signals are available for servomotor control: In-position : Until receiving in-position signal from servomotor drive, the chip does not complete the operation. Deviation counter clear : The chip outputs one-shot signal to clear deviation counter of servomotor drive. Alarm : When receiving alarm signal from servomotor drive, the chip stops outputting pulses. *1 PCD2112 inputs the alarm signal at the reset terminal.
Encoder input (up to 4 times multiplication possible)	The chip can input encoder signal for present position management. The input signal can be selected from 2-pulse signal or 90° phase difference signal (1, 2 or 4 times multiplied)
Origin return using encoder Z-phase signals too	The chip stops outputting pulses regarding origin return complete when several encoder Z-phase signals are counted after origin signal ON. The number of counting encoder Z-phase signals can be changed in a prescribed range.
Automatic setting of ramping-down point	The number of pulses used for acceleration or calculated number of pulses is automatically written to the ramping-down point setting register. * 2. With PCL6000 series and G9103/G9003, automatic setting of ramping-down point is possible in a range of (deceleration time) ≤(acceleration time x2).
Up/down counter (present position counter)	Up/down counter can be used for present position management, etc. it can count output pulses or signals of encoder, pulse, etc. The input signal can be selected from 2-pulse signal or 90° phase difference signal (1, 2 or 4 times multiplied) *3. PCL6000 series and G9103/9003 are equipped with a counter which is usable as deviation counter.
Origin return at up/down counter zero(programmed automatic zero return)	The chip continues outputting pulses until up/down counter value is zero. The function enables a single command to perform such operation that “Read the present up/down counter value, set the value to the zero direction and start.”
Counter latch with hardware	Input signal latches designated counter value(s). (Input logic can be changed by software technic.)
Comparator	Enables comparison between register value and counter value. When the comparison result satisfies comparison conditions, the level of CMP pin changes. Also, satisfaction of comparison conditions can be used to stop the chip from outputting pulses or to generate interrupt signal. Functions differ depending on models. For details, respective User’s Manuals.
External mechanical signal input	As mechanical position detection signals, the chip can input the following signals : EL signal : Mechanical end limit signal. Basically the chip immediately stops outputting pulses when the end limit signal in moving direction is turned on, and continues stopping of the end limit signal is turned off. Some models can be set so that EL signal ON causes deceleration-stop. 2. SD signal : Mechanical ramping-down signal. When made valid, the SD signal ON lets the chip decelerate pulse output to the starting pulse rate (FL). When the signal is turned off thereafter, the chip accelerates pulse output. 3. ORG signal : Mechanical origin signal used for origin return. Some models can be set so that ORG signal ON stops pulse output after counting encoder Z-phase signals or ORG signal causes deceleration-stop without using SD signal.
Interrupt signal output	Interrupt signal to CPU. Some models can read the interrupt factor. (Number of interrupt factors differs depending on models.) *4 G9103/G9003 have no interrupt signal output pin but interrupt CPU by changing the level at port 0.
Interrupt factor setting	Enables selection of only necessary interrupt factors. (Event-based interrupt)
Interrupt status (interrupt factor monitor)	Enables monitoring of the factor initiating output of interrupt signal to CPU.
Status (monitor)	Present operating status and external signal input status can be monitored from CPU. Depending on models, status can be monitored from the status address or via registers. For details, refer to respective User’s Manuals.
Prebuffer buffer for next operation (Pre-register)	Buffer for continuous operation with different patterns. Writing operating parameters (preset amount, starting pulse rate, operating pulse rate, acceleration/deceleration rates, etc.) to preregisters during operation in progress enables the start command to copy the parameters from preregisters to operating registers and then start the chip outputting pulses according to new parameters. Thus, by preparing preregisters for the next operation, continuous operation with different patterns is made possible.
Automatic start of next operation	With parameters for the next operation written to preregister, the chip can automatically be started be started based on parameters of preregister upon completion of the present operation, thereby enabling continuous operation with no pause.
Command buffer monitor	Enables monitoring of command written.
Selection of output pulse logic	Output pulse logic can be changed.
Selection of output pulse mode	Output pulse mode can be selected from common pulse mode (command pulse and direction pulse), 2-pulse mode (pulse in plus direction and pulse in minus direction) or 90° phase difference signal mode. *5. With PCD4500 series, 90° phase difference signal can be output using the 2-phase stepping motor excitation sequence output.
Excitation sequence output for 2-phase stepping motor	By connecting the output to a stepping motor drive IC or transistor array, a stepping motor controller/drive system can easily be configured.
Monitor signal output terminal	Enables the user to monitor the status of operation, constant-speed operation, acceleration/deceleration, etc.
Pulser input	Enables the user to output pulses from the pulse output pin by operating the manual pulser at the mechanism. Input pulser signal is 2-pulse signal (plus and minus pulses) or 90° phase difference signal. 90° phase signal can be multiplied for counting.
Pulser synchronized positioning	Positioning is made in synchronization with pulser signal. The chip stops outputting pulses after outputting pulses for the preset moving amount. If receiving pulses more than the preset amount from the pulser, the chip ignores them.
Linear interpolation	Linear interpolation is possible between desired axes of one or multiple chips. *6. With PCL6113, linear interpolation is made possible by using 2 or more units.
Circular interpolation	Circular interpolation is possible between2 desired axes. *7. With G9103, circular interpolation is made possible by using 2 or more units.
Continuous interpolation	Use of preregisters enables successive linear or circular interpolation.
Overriding target position	Target position (moving amount) can be changed during positioning operation in progress. If the newly written parameter designates a position already passed, the chip decelerates and stops pulse output (immediately stops when operating at constant speed.), and then moves in reverse direction. Also, pulse output can be stopped by outputting a preset number of pulses based on external signal input timing.
1-pulse output	One pulse can be output with on command. That is, “starting with value 1 preset” can be made with one command.
Idling pulse	Enables acceleration to be started after outputting several pulses at the starting pulse rate (FL). This function enables the user to set the starting pulse rate near upper limit of the self-starting pulse rate of the stepping motor.
Output pulsewidth control	Output pulse width can be controlled to quicken stop timing. When the output pulse rate is lower than the reference value, the pulse width constant. When it is higher than the reference value, the pulse width is duty 50%. Especially, if positioning is complete at the low starting pulse rate (FL), in-positioning can be quickened by making the width of the last pulse shorter.
Simultaneous start/stop	Simultaneous start/stop in multiaxial control with multiple chip can be made by connecting all concerned chips through STA pins.
External start/stop	Enables the user to start or stop pulse output using an external signal.
Out-of-step detection	Out-of-step detection is made possible by mounting a feedback encoder to the stepping motor.
I/O port(general-purpose input/output terminal)	Input or output can be defined by setting. If set for output, for example the port can be used for excitation ON/OFF of stepping motor drive, count-down signal, etc. With some models, the I/O port can output interrupt signal to CPU based on level change.
Operating switch input terminal	Enables the user to directly drive the motor by inputting forward or reverse direction signal.
Ring count function	Use of counters and comparators in combination enables repetitive operation in a designated counting range. The function can be utilized for such a purpose as counting a rotating table.
Backlash correction	Backlash is corrected every time the moving direction is changed (except when making interpolation)
Soft limit function	Limit can be programmed by using 2 comparator circuits. Entering the programmed limit causes immediate stop or deceleration-stop. Thereafter, operation is possible only in reverse direction.
Timer operation	The chip can be used as a timer by letting it internally perform positioning operation without outputting any pulse.
Synchronization signal output	The chip can output a timing pulse signal at designated intervals.
Vibration suppression	With a control constant designated in advance, 1 pulse each is added in reverse and forward directions just before stop. This function enables reduction of vibration at the time of stopping the stepping motor. For example, the setting time can be shortened.
Independent operating mode	This mode enables the chip to operate with no CPU connected. Write parameters for up to 32 operating patterns from CPU to EEPROM in advance. Then, the chip can operate with CPU removed. Also, mounting to a board the EEPROM in which parameters or operating patterns are written, enables operation without CPU.
Compatibility to 5V interface	If the supply voltage is 3.3V, each chip uses tolerant buffer for interface, thereby enabling it to connect to 5 V with few components.