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Basic Specification

Model G9001A G9002 G9003 G9004A
Name Center Device Local Device
( ID/Oe)		 PCL Device
(Pulse Generator)		 Local Device
(CPU Emulator)
CPU interface Z80, 8086, 68000, H8, etc. - - Z80, 6809, 8086, 68000, H8, etc
Reference clock 80 MHz (or 40 MHz)
Communication speed Selected from 20, 10, 5 or 2.5 Mbps
Communications protocol NPM original
Communications mode Cyclic mode for I/O ports and status communication, transient mode for data communication (half-duplex)
Interface RS-485 + Pulse transformer
Connection system Multidrop system
Error detection method CRC12
Cable length Max. 100 m (min. 0.6 m) with 32 local devices connected and communications rate 20 Mbps
Max. 50 m (min. 0.6 m) with 64 local devices connected and communications rate 20 Mbps
Package 64-pin QFP 80-pin QFP 80-pin QFP 80-pin QFP
Mold Dimensions (mm) 10 x 10 12 x 12 12 x 12 12 x 12
Supply voltage +3.3 V ±10%
Operating temperature -40°C to +85°C


Features

G9001A G9002 G9003 G9004A
Center Device Local Device
( ID/Oe)		 PCL Device
(Pulse Generator)		 Local Device
(CPU Emulator)
  1. Wholly controls serial communication, thereby minimizing burden to CPU.
  2. Cyclic transfer for I/O ports and transient transfer for data communication
  1. 32-bit I/O ports
  2. Input/output direction selectable by every 8 bits
  3. Tolerant buffer is used for interface, enabling it to connect to 5 V using few components.
  1. Provides the performance of 1 axis in high-end multiaxial programmable pulse generators.
  2. Tolerant buffer is used for interface, enabling it to connect to 5 V using few components.
  1. Enables control of remote devices by emulating CPU.
  2. Enables data exchange from/to remote local devices.
  1. Maximum 64 local devices can be connected to 1 serial line coming from the center device. Maximum 256 input/output control ports (2048 bits), maximum 64 motion control axes and maximum 128 chip control devices.
  2. Input/output and each device status communication time
    Input/output and each device information is automatically updated in the RAM area of center device every 1 cyclic communication
  3. With communication rate 20 Mbps (cyclic communication 15.1μs/local device)
    • 0.12 ms with 8 local devices connected (I/O: 256 bits)
    • 0.24 ms with 16 local devices connected (I/O: 512 bits)
    • 0.49 ms with 32 local devices connected (I/O: 1024 bits)
    • 0.97 ms with 64 local devices connected (I/O: 2048 bits)
  4. Data communication time
    Command from CPU allows to perform data communication by interrupting cyclic communication.
    * 19.3μs to send/receive 3-byte data (to write a moving amount to G9003)
    * 169.3μs to send/receive 256-byte data
  5. Connection cable for serial communication
    Multidrop connection using a dedicated cable or LAN cable (Catetory 5)
  6. Remarks
      CPU Emulation Mode Message Communication Mode
    Data buffer length 128 words 128 words
    1 word for system booking
    127 words for message data
    Data communication time 21.7μs to transfer 5 words 169.3μs to transfer 128 words
    Control address space 64 bytes
    Communication data length 1 to 128 words/frame (1 word = 16 bits)


* For Motionnet system, commercially available Ethernet LAN cable that ensures high-quality communication at high speed is recommended.

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