TA600021-EN0/0
PCL6115 Starter Kit
PCL6115-EV
User’s Manual
Hardware
TA600021-EN0/0
Index
1. Preface ............................................................................................................................. 1
1.1 Cautions about this manual ..................................................................................................... 1
1.2 Production warranty ................................................................................................................ 1
1.2.1 Warranty period .................................................................................................................................... 1
1.2.2 Warranty scope ..................................................................................................................................... 1
1.3 Notice ...................................................................................................................................... 2
1.4 Confirmation ............................................................................................................................ 2
2. Introduction ...................................................................................................................... 3
2.1 Outline ..................................................................................................................................... 5
2.2 Notes....................................................................................................................................... 5
2.3 About warranty ........................................................................................................................ 5
3. Specification ..................................................................................................................... 6
3.1 Specification summary ............................................................................................................ 6
3.2. Outline specification ............................................................................................................... 7
3.3 Connector pin assignment ....................................................................................................... 8
3.3.1 CN1 ....................................................................................................................................................... 8
3.3.2 CN2 ....................................................................................................................................................... 9
3.3.3 CN3 ....................................................................................................................................................... 9
3.3.4 USB .................................................................................................................................................... 10
3.4 Jumper setting ....................................................................................................................... 10
3.4.1 JP1 ...................................................................................................................................................... 10
3.4.2. PT1 .................................................................................................................................................... 10
3.4.3. PT2 .................................................................................................................................................... 10
3.5 Stepper motor driver IC interface ........................................................................................... 11
3.5.1 Output pulse specification .................................................................................................................. 11
3.5.2 Excitation setting method ................................................................................................................... 11
3.5.3 Action mode ........................................................................................................................................ 11
3.6 Circuit diagram ...................................................................................................................... 12
3.6.1 Circuit No.1 ......................................................................................................................................... 12
3.6.2 Circuit No.2 ......................................................................................................................................... 13
3.6.3. Parts List ............................................................................................................................................ 14
- C1 -
TA600021-EN0/0
3.7 External dimensions .............................................................................................................. 15
3.8 External driver connection ..................................................................................................... 16
4. Accessories .................................................................................................................... 17
4.1 Stepping motor ...................................................................................................................... 17
4.2 Lead wire for motor ............................................................................................................... 17
4.3 USB cable ............................................................................................................................. 17
4.4 Simple user's manual ............................................................................................................ 18
- C2 -
TA600021-EN0/0
1. Preface
Thank you for considering our PCL6115-EV Starter Kit.
This manual describes specifications, functions of our PCL6115-EV Starter Kit and how to connect and use it.
In order to use this product safely, please read this manual thoroughly and keep it.
1.1 Cautions about this manua l
Please consider contents of this section when handling this manual.
1) Copying all or any part of this manual without written approval is prohibited by copyright lows.
2) The specifications of these LSIs may be changed to improve performance or quality without prior notice.
3) Although this manual was produced with the utmost care, if you find any points that are unclear, wrong or have
inadequate descriptions, please let us know.
1.2 Production w arr ant y
1.2.1 Warranty period
The warranty period is one year from the data of the delivery to an assigned place.
1.2.2 Warranty scope
If defects are found in the product during the warranty period under normal use defined used only in method set forth in this
manual, NPM will repair the product without charge or replace it with a new one at the direction of NPM.
The following cases are not covered by the warranty even during warranty period.
1) The products are modified or repaired by anyone other than NPM or a person authorized by NPM.
2) The defect results from dropping of the product after delivery or mishandling in transit.
3) Wearing of components, natural deterioration or fatigue
4) Causes arising from usage other than those described in this document.
5) The product has been subjected to natural disaster or force majeure such as fire, earthquake, lightning strike, wind,
flood, salt, electrical surges, etc.
6) The defects or damage results from a cause that is not the fault of NPM.
When the product is purchased from a s upplier other than NPM, please cont act that su ppli er regard ing the pr oduct w arranty.
NPM will not provide on-site repair. If the product is defective, the product must be returned to the specified location for
repair.
The warranty period of the repaired product is the same as the warranty period before the repair.
This warranty does not cover damages caused by product malfunction or damage to the product itself.
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TA600021-EN0/0
1.3 Notice
This document aims to de scr ibe details of the function of the product and d oes not warrant fitness for a par ti cu lar p ur po se of
the customers.
Examples of applications and circuit diagrams in this manual are included only for your reference. Please confirm the
feature and the safety of device or equipment before use.
1.4 Confirmation
Please do not use this product in the following conditions. If you need to use the product in the following conditions, please
contact our sales department before pro ceed ing.
1) Any equipment that may require high reliability or safety, such as nuclear facility, electricity or gas supply system,
transportation facilities, vehicle, various safety system, medical equipment, etc.
2) Any equipment that may directly affect human survival or property
3) Usage under conditions or circumstances that are not specified in the brochure, manual, etc.
When this product is used in any equipment where faults or malfunctions may directly affect human survival or property,
please secure high reliability and security with redundancy design, etc.
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TA600021-EN0/0
PCL6115 Starter Kit
PCL6115-EV_
TA600020-ENx/x
PCL6115 Starter Kit
PCL6115-EV
PCL6115-EV_App
TA600007-ENx/x
2. Introduction
Thank you for considering PCL6115-EV starter kit.
This manual is the instruction manual of the hardware of this product.
By using PCL6115-EV Starter Kit, you can learn motor control functions using pulse control LSI PCL6115.
Please refer to the following manuals alon g with this manual.
Hardware
Manual
Manual Name [Outline] Document File name Software File name Document No.
PCL6115 Starter Kit
User’s Manual
(Hardware)
PCL6115-EV
_HardwareManual_VerxE.pdf
－
TA600021-ENx/x
(This document)
－
User’s Manual
SimpleManual_VerxJE.pdf
(Simple Manual)
(x: revision)
Application
Software
Manual
PCL6115 Starter Kit
User’s Manual
(Application Software)
[Setting accel/decel pattern
and register display]
User’s Manual
(Language File Creation
Rule)
[Multi-language]
PCL6115 Starter Kit
User’s Manual
(Sample program)
[Check and add motion
pattern on development
environment]
PCL6115-EV
_ApplicationManual_VerxE.
pdf
_ApplicationLanguageFile
Manual_VerxE.pdf
PCL6115-EV
_ApplicationSampleManual
_VerxE.pdf
PCL6115-EV_Appli
cation_VxxxJEzip
licationLanguage
File_VxxxE.zip
PCL6115-EV_App
licationSample_V
xxxE.zip
TA600018-ENx/x
TA600022-ENx/x
- 3 -
PCL6115 Starter Kit
PCL6115-EV
PCL6115-EV_Motion
TA600008-EN
PCL6115/6125/6145
- DA70152-0/xE
Motion
Pattern
Builder
Manual
TA600021-EN0/0
(x: revision)
Manual Name [Outline] Document File name Software File name Document No.
PCL6115 Starter Kit
User’s Manual
(Motion Pattern Builder
PCL6115-EV
_MotionBuilderManual_Ver
xE.pdf
PCL6115-EV_Motion
Builder_VxxxJE.zip
TA600023-EN
x/x
Application Software)
[To describe function to
perform axis control visually
with a flowchart]
User’s Manual
(Motion Pattern Builder
Language File Creation
_MotionBuilder
LanguageFileManual_Verx
E.pdf
BuilderLanguageFile
_VxxxE.zip
Rule)
[Motion Pattern Builder in
Multi-language]
PCL6115 Starter Kit
User’s Manual
(Motion Pattern Builder
PCL6115-EV
_MotionBuilderSample
Manual_VerxE.pdf
PCL6115-EV_Motion
BuilderSample_Vxxx
E.zip
Sample Project)
[Check and add motion
pattern created by Motion
Pattern Builder on
development environment]
Reference
User’s Manual
Please download application software and related materials from our NPM website.
x/x
TA600024-EN
x/x
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TA600021-EN0/0
2.1 Outline
This product can o perate a stepp ing motor PF CU30-24V4GM(1/12) by connecting with PC using U SB2.0 and
controlling pulse control LSI PCL6115 from application software PCL6115EV.
2.2 Notes
- When unpacking PCL6115-EV starter kit packing box, please check that PCL6115-EV board and accessories
are included.
- The board can be exchanged with a new product only when it has an initial failure.
2.3 About warranty
We cannot guarantee an y trouble or malfunction at the time of use b ecause this product is provided f ree of
charge.
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TA600021-EN0/0
Item
Specification
Linear accel/decel, S-curve accel/decel
PCL6115 clock
X2: Crystal oscillator(SG-8002LB-19.6608M-PCB[EPSON])
Open-Drain output, Low-level Output current 24 mA
USB-Serial I/F
U3: FT232HL[FTDI]
48pin LQFP-48(9 mm × 9 mm) 0.5 mm pitch
FT232HL clock
X1: Crystal oscillator (CSTCE12M0G15L99-R0[murata]) 12MHz
Memory
U4: EEPROM (93LC56B[MICROCHIP])
128 × 16 bit, I2C I/F ･Customized FTDI device
Winding resistance 30Ω, speed Max 375 pps(1-2phase), torque 100mN･m
Buffer I/F
U6: IC(SN74LVC240APWG4[TI])
P3 to P7 to driver IC
5 pin SOT-25A Power on reset
Voltage power supply 3.3 V
TA1: IC(TA48033F[TOSHIBA]
HSOP-3-P-2.30D 3.3 V MAX 1 A
Terminal block for motor
CN1: 790-1102[RS Pro]
3. Specification
USB-Serial inter f ac e IC (FT232 HL [FTD I]) an d p ulse c ontr ol L SI (PCL6115 [NPM] ) ar e c on nect ed by the serial
bus I/F specification.
Connect the operat ion pulse output signal f rom OUT terminal of PCL6115 and the directio n judgment output
signal from DIR terminal to the CK terminal and CW/CCW terminal of the stepping motor driver IC
(TB6608FNG[TOSHIBA]). It controls excitat ion mode, RESET, ENABLE and STBY by connec ting the general
output bit signal of PCL6115.
3.1 Specification summary
Pulse control LSI U1: PCL6115[NPM]
･80 pin QFP(14 mm × 14 mm) 0.5 mm pitch
･Single voltage power supply 3.3V ･Serial bus I/F(SPI)
･Possitioning control range -2,147,483,648 ~ +2,147,483,647
･
Pulse output I/F U2: IC(SN74LVC2G07DCKT[TI])
･6 pin SC70 ･OUT/DIR terminal signal output of PCL6115
･
･
･
Stepping motor driver U5: IC (TB6608FNG [TOSHIBA])
･20 pin SSOP(7 mm × 4.4 mm) 0.65 mm pitch
･Bipolar constant current drive
･Micro-step([2phase], 1-2phase, W1-2phase, 2W1-2phase)
･Accessory stepping motor PFCU30-24V4GM(1/12) Weight 75g
･20 pin SSOP( 7mm × 4.4 mm) 0.65 mm pitch
･OUT/DIR terminal signal output of PCL6115, and terminals signals
Reset U7: IC (PST883A290NR [MITSUMI])
･
･
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Terminal block for pulse
CN2: 790-1105[RS Pro]
I/O connector
CN3: +EL/-EL/SD/ORG/ALM/EA/EB input signals, BSY output signal
Mini USB I/F connector
USB: UB-M5BR-G14-4S [JST]
･
Accessory MiniUSB cable(AB-10H) A-miniB type 1m]
LED
Power: SML-D12Y8WT86[ROHM](Yellow) ･Lit by power supply via USB
External diameters
40 mm (H) × 52 mm (W) × 12 mm (D)
Power supply
Supply 5 V from mini USB connector MAX: 500 mA
Current consumption
MAX: 380 mA (When stepping motor connected, speed 1 pps)
Storage humidity: 10% ~ 90% (No condensation)
Driver
Usage environment ･Storage temperature: 0°C ~ 50°C
･
TA600021-EN0/0
3.2. Outline specification
PCL6115
CN1
CN2
CN3
TOP VIEW
Stepping
Motor
MiniUSB
FT2232HL
Power LED
BOTTOM VIEW
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3.3 Connector pin assignment
Terminal No.
Terminal Symbol
Terminal Name
Note
A A phase 1
Motor cable color (Brown)
2
/A
A phase 2
Motor cable color (Orange)
3 B B phase 1
Motor cable color (Red)
4
/B
B phase 2
Motor cable color (Yellow)
3.3.1 CN1
Terminal block for stepping motor 790-1102[RS Pro]
Terminal block for stepping m otor 790-1102[RS Pro]
１
Accessory stepping motor PFCU30-24V4GM (1/12) is connected to CN1.
TA600021-EN0/0
- 8 -
3.3.2 CN2
Terminal No.
Terminal Symbol
Terminal Name
Note
5V
5V Power
Power Supply
2
OUT
OUT signal
Clock signal (Open-Drain)
3
DIR
DIR signal
Direction signal (Open-Drain)
4
GND
GND Power
Power Supply Ground
5
GND
GND Power
Power Supply Ground
Terminal No.
Terminal Symbol
Terminal Name
Note
5V
5V Power
Power Supply
2
+EL
+EL signal
End limit (+) direction
3
-EL
-EL signal
End limit (-) direction
4
SD
SD signal
Deceleration (Deceler at io n st op)
5
ORG
ORG signal
Origin input signal
6
ALM
ALM signal
Alarm input signal
7
EA
EA signal
(+) direction encoder
8
EB
EB signal
(-) direction encoder
9
BSY
BSY signal
Operations status monitor output signal
10
GND
GND Power
Power Supply Ground
Terminal block for Clock/Direction output signal 790-1105 [RS Pr o]
TA600021-EN0/0
１
[Driver side TTL input]
[Driver side Photocoupler input]
Refer to "2-8. Extermal driver connection"
3.3.3 CN3
+EL/-EL/SD/ORG/ALM/EA/EB input signals，BSY output signal Connector(not mounted)
１
+EL/-EL/SD/ORG/ALM/EA/EB input signals are pulled up to 5 V power supply with 10 KΩ and connected
directly to each terminal of PCL6115. BSY output signal is 3.3V level output (output current 8 mA).
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3.3.4 USB
Terminal No.
Terminal Symbol
Terminal Name
Note
VBus
5V Power
Power Supply
2
-Data(D-)
Data 3
+Data(D+)
+ Data 4
NC
5
GND
GND Power
Power Supply Ground
Short-circuit No.
Terminal Name
Note
1-2
No current down
When stopped, a current of about 250 mA always flows.
(Default setting)
PT1
Name
Note
Short
+EL/-EL positive logic
+EL/-EL inputs make the input logic positive logic.
(Default setting)
PT2
Name
Note
Short
DCY_L
Current decay mode setting “L”
Open
DCY_H
Current decay mode setting “H” (Default setting)
Mini USB Connector UB-M5BR-G14-4S[JST]
TA600021-EN0/0
１
-
3.4 Jumper setting
3.4.1 JP1
Vref setting jumper Connector XJ8B-0311[OMRON], Short-circuit socket XJ8A-0241[OMRON]
2-3 Automatic current down
3.4.2. PT1
Solder the part of PT1 (short) or remove solder (open)
When stopped, a current of about 125 mA flows.
Open +EL/-EL negative logic
3.4.3. PT2
Solder the part of PT2 (short) or remove solder (open)
+EL/-EL inputs make the input logic negative logic.
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TA600021-EN0/0
OUT(CK)
DIR(CW/CCW)
Motor rotation direction
L
CW (Output shaft clockwise direction)
H
CCW (Output shaft counterclockwise direction)
P4(M1)
P3(M2)
Excitation mode
Max speed
Movement amount per rotation
L
H
1-2 phase
375 pps
576
H
L
W1-2 phase
750 pps
1152
L
L
2W1-2 phase
1500 pps
2304
P6(RESET)
P7(ENABLE)
P5(STBY)
Operation mode
L L L
Operable mode
H L L
Initial mode (MO output [EZ input] Low level)
x H L
Enable stanby mode (Output OFF, Hi-inpedance)
x x H
Stanby mode (Output OFF, Hi-inpedance)
3.5 Stepper motor driver IC interface
3.5.1 Output pulse specificati on
OUT and DIR output signals of PCL6115 are connected to CK and CW/CCW input signals of the stepping motor
driver IC (TB6608FNG).
The output pulse specification (PMD2 to 0) of the environment setting 1 register (RENV1) of PCL6115 is 0x02.
3.5.2 Excitation setting m e t hod
P3 and P4 general-purpose out put signals of PCL6115 are connected to M2 a nd M1 input si gnals of step ping
motor driver IC (TB6608FNG). The following shows the maximum speed and movement amount of one rotation
when connecting to the stepping motor PFCU30-24V4GM (1/12).
The default setting is 2W1-2 phase excitation mode. The setting contents can be checked with sub status
(SSTSW) of PCL6115.
3.5.3 Action mode
P5, P6, and P7 general-purpose output signals of PCL6115 are connected to STBY, RESET and
ENABLE input signals of stepping motor driver IC (TB6608FNG).
The initial setting is the operable mode.
The setting contents can be checked with sub status (SSTSW) of PCL6115.
- 11 -
3.6 Circuit diagram
3.6.1 Circuit No.1
TA600021-EN0/0
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3.6.2 Circuit No.2
TA600021-EN0/0
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3.6.3. Parts List
1
LSI
NPM
PCL6115
1
U1 2
IC
TI
SN74LVC2G07DCKT
1
U2
3
LSI
FTDI
FT232HL
1
U3 4
EEPROM
MicroChip
93LC56BT-I/OT
1
U4 5
Driver IC
TOSHIBA
TB6608FNG
1
U5 6
IC
TI
SN74LV240APWR
1
U6
7
Reset IC
MITSUMI
PST883A290NR
1
U7
8
Oscillator
MURATA
CSTCE12M0G15L99R0
1
X1
-PCB
10
Regulator
TOSHIBA
TA48033BF
1
TA1
11
EMC Part
TDK
MPZ1608S601ATA00
3
L1,L2,L3
12
LED
ROHM
SML-D12Y8WT86
1
LED1
13
Jamper
OMRON
XJ8B-0311
1
JP1 14
Sockt
OMRON
XJ8A-0241
1
15
PULSE-GUARD
Littelfuse
PGB1010603
2
CR1,CR2
Not mounted
16
Check Pin
Mac8
LC-2-S White
2
TP2,TP3
Not mounted
17
Check Pin
Mac8
LC-2-S Black
1
TP1
Not mounted
18
Resistor
KOA
RK73Z1ETTP
2
R1,R2
19
Resistor
KOA
RK73B1ETTP102J
2
R16,R17
20
Resistor
KOA
RK73B1ETTP222J
1
R18
21
Resistor
KOA
RK73B1ETTP472J
1
R19 22
Resistor
KOA
RK73B1ETTP103J
33
R20-R52
23
Resistor
KOA
RK73H2BTTD2R00F
2
R11,R12
24
Resistor
KOA
RK73H1ETTD1202F
1
R13 25
Resistor
KOA
RK73H1ETTD1002F
1
R14
26
Capacitor
MURATA
GRM155B31E104KA8
7D
25
C1-C25
27
Capacitor
nichicon
F931D335MAA
1
C01 28
Capacitor
nichicon
F931A336MAA
1
C02 29
Capacitor
nichicon
F931C475MAA
4
C03-C06
30
Capacitor
nichicon
F931C106MAA
1
C07
31
Capacitor
nichicon
F931C336MBA
1
C08
32
Capacitor
MURATA
GRM1552C1H221JA0
1D
1
C09
33
Connector
JST
UB-M5BR-G14-4S
1
USB
34
Terminal BlocK
RS Pro
790-1102
1
CN1
35
Terminal BlocK
RS Pro
790-1105
1
CN2
36
Connector
JAE
PS-10-PE-D4T1-B1E
1
CN3
Not mounted
No. Part Name Manufacture Model Pieces Part No. Remark
TA600021-EN0/0
9 Oscillator EPSON SG-8002LB-19.6608M
1 X2
- 14 -
3.7 External dimensions
TA600021-EN0/0
Unit: mm
- 15 -
3.8 External driver connection
You can connect to an external driver using CN2 connector (clock, direction output signal) of
PCL6115-EV and operate with application software.
[Products connected]
Driver: AD1231 [NPM] (Unipolar constant current drive, micro step excitation)
Stepping motor: PJP56T44A16 [NPM] (2 phase hybrid type, 1.8 degrees/pulse)
Power supply: 24V
[Connection example]
Do not connect a stepping motor PFCU30-24V4GM (1/12) (accessory).
[Application software setting example]
The output pulse specification (PMD2 to 0) of the environment setting 1 register (RENV1) of
PCL6115 is 0x03.
The setting value of PRMV is 3200 (200 pulses per rotation, 1/16 micro step).
TA600021-EN0/0
- 16 -
4. Accessories
4.1 Stepping motor
PFCU30-24V4GM (1/12)[NPM] (1 piece)
4.2 Lead wire for motor
PFCU30 lead wire (E000016-885A) [NPM] 0.2m (1 piece)
CAUTION: When inserting the connector into the motor, do not insert it obliquely or do not overload it.
After inserting the connector, please do not pull strongly the harness or overload it.
TA600021-EN0/0
4.3 USB cable
Mini USB cable (AB-10H) A-miniB type 1m (1 piece)
- 17 -
4.4 Simple user's manual
TA600021-EN0/0
- 18 -
Revision
Revision
Date
Contents
First
Mar 19. 2018
Initial Release.
Second
June 25, 2018
Page 10
Corrected because a picture and letters are overlapped.
3.5.2 Excitation setting method
Fourth
Jul 16, 2019
Change Document No.
Add the manual list.
Third Dec 13, 2018 Change Operation speed to 1500 pps
3.1 Specification summary
TA600021-EN0/0
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TA600021-EN0/0
www.pulsemotor.com/group/
Information
www.pulsemotor.com/group/support
Copyright 2019 Nippon Pulse Motor Co., Ltd.
Issued in July, 2019
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