C-823v1 取扱説明書
Contents
1. 7 5 0 UU U NEAR ORG CCW LIMIT CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED E LD LIMIT DELAY TIME on 4 0000 g SD SCAN DELAY TIME E JD JOG DELAY TIME nn o 000000 Y 000000 on d 350000 f BENNETT n opa 73 C 823v1 e ORG l VASA 000000 1 000 or LOWIJ J n 000 ON H H X1NORG X1NORG 0 1 D gt B i X1ORG ino d 000079 10000 4o 00004 L ood 204 8 ORG 10 CCW LIMIT CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED x10RG I LD LIMIT DELAY TIME L SD SCAN DELAY TIME E 000000 DELAY TIME s A 000000 nun oo 4 onan 0 nano2. COUNTER 5 2 J 0 PULSE CLOCK COUNTER 90 CLOCK 1 COUNT PATTERN TYPE DFLINT DFL COUNTER INITIALIZE DFL COMP1 2 STOP ENABLE DFL COMP STOP TYPE DFLINT OUTPUT TYPE COUNTER SELECT PORT PULSE COUNTER PORT SELECT SCAN DELAY TIME 50ms ORIGIN DELAY SET JOG DELAY TIME 20ms PULSE COUNTER 0 PULSE COUNTER PRESET PULSE COUNTER PULSE COUNTER COMPARE COMPARE REGISTER1 800000 n REGISTER 5 SET COUNTER COUNTER PRESET COUNTER COUNTER COMPARE COMPARE REGISTER1 REGISTER1 2 SET 98 9 4 C 823v1 COMMAND 1 DRIVE COMMAND COMMAND C 823v1 00000000 00000
3. 101 L p p p E3 E3 E3 gaoqoooo oooo g L3 L3 L3 L3 ET EP E 0 0 0 0 0 0 0 0 EZ ES Ei E L3 iz E E o rrr c al o o L3 r3 ral el LL r3 o r3 2 5 o 2 e jp L3 Ex el als L3 5 5 ES EJ E ES o ETE ES EI EJ E L3 E3 rr EEE E um 052 5 oj oj ea o020 0 E3 r3 rcr o x oj c a aoa gn Ef E o ger OOOO O Eys o ol9 a ES gO ia aalala 5 5 n 2 O c3 rr cl c gO C3 r3 Ul o 5 o0 rn ol ol ol 2 5 r3 rn ES EYEE cr n 5 C3
4. D 5 LOW 00000 PULSED O O O O OJ DRIVE O O OJ J BUSY DRIVE BITO 10 DRST 000 O SERVO DRIVER RESET I 1 1 H B B U l L PULSE LH HU D HH D D D U 7 UI D DRST J SERVO DRIVER J RESET I 000 SERVO RESET DRSTO O STEPPING MOTORGDDDDBDBDUOU UU Uu 2 SPEED DATA Hz 000000 SPEED DATA HSPD LSPD CSPD SHSPD SLSPD 0 0 Hz 00 30 D 0 DATA D HL E DE HE U U U 1H 3 333 33386 00000000 SPEED 1 2 3 3MHz 1 00000 SPEED I 1 HSPD 10000 002710 L1 000000 HSPD 10000Hz 000000 160 000 000 TT D U 600
5. DATA1 PORT DP DP DATAT PORT n WRITE E STOP DATA2 PORT OUTPUT WRITE CNTINT LATCH TRIGGER DATA3 PORT WRITE U COMMAND 02 WRITE DRIVE 0 U POWER COMP STOP TYPE D PULSE COUNTER COMPARE REGISTER1 0 5000000000000 10 0000 CNTINT OUTPUT TYPE D PULSE COUNTER O O O COMPARE REGISTER1 0 5000000000000 I III 00000 000000 STATUSSREADI DO 10 0 U 0 U U STATUSSREADI I B D UO DI D CNTINT LATCH TRIGGER TYPE D PULSE COUNTER ODO BIOO D COMPARE REGISTERT 5000000000000 10000000
6. 0000 STATUS3 INT MASKI PULSE DFL 0000 ON OFF 0 INT MASK COMMAND J O O O O O O J COMMAND J J J COMMAND 0 PULSE COUNTER DFL COUNTER COMPARATOR 00000000000000 PULSED O COMPARATOR 0 0 0000000000000 O STATUS3 PORT READ 0000 STATUS3 PORT READ 0 LL DFL COUNTER INITIALIZE COMMAND DL U D D D INT OUTPUT TYPE OOOO D 0 PULSE COUNTER DFL COUNTER
7. L3 r3 L3 mn 5 L3 mr L3 mr O m r3 N 0 005 x CSPD 0 CSPDT 5 0 005 5 0000 2500 Hz U 2500000000000 100000 O0 1112 13 000000 1 0 00000 cw 0 00000000 ORIGIN DRIVED B H BH B B U U 2 MARGIN TIME 3 JOG DRIVE D O O0 O0 SENSOR TYPE J D D D 4 ERROR I 000 5 X1DRST X4PO I X1ORG 0 5 6 STEPPING MOTOR DRIVER 76 7 4 COUNTER C 823v1 1 00000 Mccosv20 0000000000 24BIT HARD 0000006060 lt
8. SCAN jpe JOG 70 C 823v1 LL EL EL EE T 2 oRG 0 1 CCW LIMIT CW LIMIT XIORG 1 HSPD HIGH SPEED S c ___ _ CSPD CONSTANT SPEED LD LIMIT DELAY TIME on 4 onoo 9 SD SCAN DELAY TIME o 00000 lt B Y ond b 1 0000 EQ dy sgg E P ml 00 a 0000 000000 0 0 1 CWUI 000 00 00000600 3 1 0 CCW LIMIT CW LIMIT HSPD HIGH SPEED dec s CSPD CONSTANT SPEED x LD LIMIT DELAY TIME sni nooo 9 SD SCAN DELAY TIME lt N gni gt 0000 H 0000 gt onon X1ORG 0 CCW ut 71 4 ORG 2 CCW LIMIT 1 oo 1 nono 1 E gun 4 17 0000 U X1ORG CW C 823v1 CW LIMIT DDDDt
9. PORT SELECT COMMAND 00000000 0 B BL 0 POWER ON RESET DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT DATA READ DRIVE DATA1 2 3 PORTO 0000000 COMMAND J 1 000000000 O DRIVE DATA3 PORTO 2120000000000 DRIVE DATAS PORTO D ADDRESS READ SET DATA READ ERROR STATUS READ SERIAL COMMAND I UU 00000 58 C 823v1 4 SLOW STOP COMMAND COMMAND 5 000 000 COMMAND D BUSY 10000 000 DRIVEI 5 FAST STOP COMMAND COMMAND 000 COMMAND U BUSY 10000 000 59
10. 4 INDEX n oRIGNO DDD D D 0000000000 ORG 0 5 10000 ORG NORG Z 000 PODDDD G NORG 0 DD D 000 ORG 11 120 00000000000 CwMg O CCWLM U U SPEED CHANGE J J 5 5 12 C 823v1 B LU uuu pcm BEBnmDuur ELE LEE C3 C3 C3 p4 E3 E3 E3 C3 F3 EJ a EJ 2400000000000 L3 L3 C3 LOL 24000 2 X1 Y1 Z1 A1
11. TEL 042 664 5382 FAX 042 666 5664 E nai TEL 042 664 5384 FAX 042 666 2031
12. DFL COUNTER INITIALIZE COMMAND 00000 0000006060 COUNTER Sonsm 000 PULSE DFL DFL COUNTER COUNTER INITIALIZE COMMAND 0000 0 COMPARATOR INTO 5 0 00000000 PULSE COUNTER INITIALIZE COMMAND 6 2 3 0 DFL COUNTER COMMAND 6 2 10 0 INT MASK 6 3 2 e E T ON CR t OR 8 11 0 0 8 13 80 C 823v1 7 5 1 LU L1 UL U 1 SERVO DRIVERI 0 0 D SPEC INITIALIZE1 COMMAND J 0000000 00000 MOTOR J SERVO MOTOR STEPPING MOTOR POWER ON RESET
13. 101 1 mM mMm MMMMMeMMeeeHe 101 E 101 CD UE EEE 101 I L 101 1 0000 101 2 101 UUUUUUUUUUUU C 823v1 LL 131 11 T 823 1 0 0 0 0 SERVO STEPPINGGID D 8000000 MOTOR CONTROL 000000000 MCCO5vV2 0100 O PULSE COUNTER 0 COUNTER I LH LH LH UU U U U 0 SERVO DRIVER I I l 9823 1 CHIP CONTROLLER MCCO5v2 5 000000000 2 823 1 8000000000000 1 2 1 0000 iE C 8231 0000 1 3 000000 VME O D 0 C 823v1 p EP d 000000 oj d i u ut s lt l EE Hg 25 4 100 100 0 CB 25A 4C 1
14. C 823v1 OOO L 0000 m MN0239 C 823v1 B B B B Ph t UUUUUUUUUUDU L3 L3 L3 A E E L3 L3 L3 E UUDDUUDUUDDUDUDUUUDDUDUUUDUUDUUDUDUUUD 80 VME Tipi C 823v1 L1 L1 L1 L1 L1 ELE E3 1 E a 5 a 05 E a L3 L3 L3 L3 E E L3 L3 E3 E3 E3 F3 E UUUDUUUDUUDUDUDUUUuDUUDUUDUUDUDUU uDUul ADD HHB HDH HB B Bth PB BT E dd Innnnnn
15. 44 C 823v1 COMPARATOR 0 10000000 0 STATUS3 READ ATOR LL LL DLDLCED D D D D DL ITI L3 r3 L3 L3 rn L3 L3 r3 io Q v gt DFLINT LATCH TRIGGER TYPE D COUNTER O 0 XIDFLINT O I D O COMPARATOR1 20 00000000000 10000000 UID 0 U U STATUS3 READ 000000 RESET U UUUDUDUUDDUDUDBDBUUGuUDUUDUDUDDUBTDUUDUDU STATUS3 READ O0 O0 0 DRIVE DATA2 PORT D D ONO L COUNT CLOCK TYPE COUNT PATTERN TYPE INT ENABLE COMP1 STOP ENABLE 2323 2 DRIVE COUNT CLOCK TYPE D OU X1 MCCO5v2 DRIVE PULSE X1CWP X1CCWP 0 IPP 10
16. ADDRESS COUNTER MCCO5v2 1 O O0 0 PULSE 4 0000 24 J10 32 40000000 0 5 SERVO STEPPING 9 900000 0 00000 000000 1 5 0000 N Z RDY J1 e J2 N C 823v1 MST a patat ga JP1X1 JP1Y 1 JP1Z1 JP1A1 JP1X2 JP1Y2 JP1Z2 JP1A2 U RDY X1 Y11 A1 RDY X2 Y2 Z2 A2 O IN10 IN11 IN12 IN13 IN20 IN21 IN22 IN23 O OUT10 OUT11 0UT12 0UT13 OUT20 0UT21 O0UT22 0UT23 BEN Mec ur Me c EI AS 1110000100 B f J III Uil la ICDS IL adr mor M 8 III L TP eta 5 BU 9natrmez III zal LEOZ E 0000000 r 5 cro
17. COUNT PATTERN TYPE 57 57 000000000 BITI II D E353 opa D OOO o o 1 X1EA X1EB O O O 2 9900000000 1 1 00 400000000000 MCCO5v2 0 O PULSE C 00 90 0 00 CLOCKII J l F L T L EB gt E lf FB gt 45 C 823v1 INT ENABLE D COUNTER COMPARATOR1 0 0000 X1DFLINT 10 STOP ENABLE 0 DD COUNTER 1000000 DRIVE DATAS PORT I1 Hj H E B E B UU U U DATA3 PORT 0151818191911 COMP2 INT ENABLE COMP2 STOP ENABLE U 2 U 2 COMP2 INT ENABLE 0 COUNTER COMPARATOR2 0 0 0 HH X1DFLINT 10 COMP2 STOP ENABLE D DD COUNTER 2 0 0 00000 5 ogot 1000000 46 C 823v1 ll 11 SET DATA READ COMMAND
18. 2 000 75 C 823v1 11 000000 e ORG 23 ORG 100 XINORG XIORCO 0000000000000 CCW 000 CW A 2 X1NORG I 00000 ooo00000000000 XIORGO000000 000 oFF00000 ORG 4 5 D c amp MOTOR D iM SERVO MOTOR SERVO 00000 40 C D BD C 823v1 X1ZORG X1ZORG 1 0 43 5 00000 2 00 oRG 2 OR00000000000000000000000 ORG 11 12 000 12 0000 ORG 0 1 2 3 11 12 ORG 4 5 10 0 ORG 4 5 0 UU U 000 SPEEDO ORGI JU UU UI X4ORGII pna 1 000000000 SPEED 0 6
19. BT EU X1CNTINT 10 STOP TYPE D COMPARE 1000000 40 C 823v1 DRIVE DATA3 PORT D D ETE PE COMP2 INT ENABLE COMP2 STOP TYPE COMP3 INT ENABLE STOP TYPE INT ENABLE 4 STOP COMPS INT ENABLE 5 STOP TYPE DRIVE PORTO 0 0 U POWER 2 INT ENABLE 0 COMPARE REGISTER2 O 0 0 0 X1CNTINTO O O O O OOOO 10 COMP2 STOP TYPE D COMPARE REGISTER2 O 0 0 0 0000 PULSE 1000 000000000000000 00 ut COMP3 INT ENABLE D COMPARE REGISTER3 D J 0 0 0 XteNTINTH DH D DD X1CNTINT 10 X1CNTINT COMP3 STOP TYPE D COMPARE REGISTER3 0 0 UU O O O O PULSE 10 D D BITE D D Uu COMPA4 INT ENABLE 0 COMPARE REGISTERA 0 0 0 0 X1CNTINTO OO O O X1CNTINT 10 D uuu
20. COMMAND 00 WRITE 37 C 823v1 2 SPEC INITIALIZE1 COMMAND COMMAND 015 000 000000000600 DRIVE DATA1 PORT DRIVE 1 PORTO 000000000600 DATA1 PORT DATA1 PORT D D L 1 COMMAND E DRIVE TYPE 01 WRITE LIMIT STOP TYPE MOTOR TYPE RDYINT TYPE U e DRIVE TYPE D D DRIVE TYPE O00000 BIT lU U D ID D DRIVE TYPE L 0 0 0 1 MTYPE 0 1 1 DD e LIMIT STOP TYPE D on nim 100000 MOTOR TYPE D 00000 BITI U Ll 0 SERVO 1 STEPPING RDYINT D D BITD TD 000000 o o 1 000 1 000000000000 38 C 823v1 3 PULSE COUNTER COMMAND COMMAND 02 PULSE 00000000000 DRIVE DATA1 2 3 PORT
21. PULSE J DRIVE T s R y UDDDDDDDDDD lt 003000000000000000 REGISTER SOFT LIMIT O 0 DD l DEND ERROR 00 U IV o L3 L3 J L3 L3 r3 E L1 L1 L1 E 1 E L1 E m L3 r3 r3 r3 2 lt 2 ra p pm i mH p ouiuda ca mH p ca im DENDO I 0 STATUS1 PORT ERROR 00 0 Endo c3 c3 ra B p e m d 3 c3 r B p e m c m 02 m ca ii o O C3 o C3 o C3 O O O O Endo L3 L3 L3 g2 0 sona 14 C 823v1 2 5 0 0000 1 0000 9 ll 1 CWP CWP CCWP CCWP CWP CCWP 26LS31 0 RS422A 0 1 5 20 20 3 3MHz
22. 48 14 INCREMENTAL INDEX COMMAND 48 15 ABSOLUTE INDEX COMMAND 49 16 CSPD SET COMMAND 49 17 OFFSET PULSE SET COMMAND 50 18 ORIGIN DELAY SET COMMAND 50 19 ORIGIN FLAG RESET COMMAND 50 20 ORIGIN COMMAND 51 21 SRATE SET COMMAND 51 22 SLSPD SET COMMAND 52 23 SHSPD SET COMMAND 52 24 SSRATE ADJUST COMMAND 53 25 SERATE ADJUST COMMAND 53 26 SCSPD1 ADJUST COMMAND 54 27 SCSPD2 ADJUST COMMAND 54 28 S SRATE SCAN COMMAND 55 29 S SRATE INCREMENTAL
23. COMMAND POWER ON RESET SLSPD 3009 0 000006060 615 WRITE U 1 7 5 C3 D 000000 20 COMMAND 0000 0 SCSPD1 SCSPD2 0000000000600 5 5 23 SHSPD SET COMMAND COMMAND 62 000 S RATE DRIVE 0 O O SHSPD HIGH 5 DRIVE DATA1 2 3 PORTO SHSPD HzO O 3000 DRIVE 23 DATA2 PORT DATA3 PORT D D 0 D u D D DATA1 PORT L 2 2 L 429127 12 WRITE DO m SHSPD DATA 1 1 0 3 333 333 32DCD5 0 0 WRITE 0 1 5 00000000 COMMAND POWER ON RESET 0 SHSPD 300 625 WRITE U 7 5 3 0 000000 0 2 0 3 5 2 2 SCSPD1 SCSPD2 i 0 0000000000000000 52 C 823v1 24 SSRATE ADJUST COMMAND COMMAND 68 000 S RATE DRIVE O O J O 89 DRIVE DATA3 PORT SSRATE DATA OD 000000 DRIVE POR
24. RDY LED LED ACTIVEII I II U LED ACTIVE I U 10 ogo H L3 r3 EXE L3 r3 C 823v1 C 823 1 00001 INJ APAN C 823v1 5V 5 DC 24V 2V 460mA 24 0 0 45 C 80 000 U COMMAND PORT 9 233 4 x 160mm x 20mm 11 C 823v1 0000 sn 1 8 1030ms 1kHz 0 004ms 1kHz INDEX 8 388 607 L1 U 2 3 0 0 00 2 000000000 1 030 ms kHz J 0 004 ms kHz O O 3000 HETE 00000 0 192 3 3MHz 1950 0000 RATE DATA TABLE No 6000000000 SCAN 1 00000 3 INDEX 167772140 0 0 00000
25. 0000000 1 BUSY BITI 10 SLOW STOP COMMANDO OOO O BUSY BITI PULSE SLOW STOP COMMA DRIVEIJ I HU 2 2 BUSY BITO 10 0 0 FSSTOP 00000 BUSY BIT 00 0 PULSED UUUUUUUUUUOU 1 5 0 0 O 0 FAST STOP COMMAND D 0 1 COMMAND 0 0 2 RESET I 0000 0 DREND ERROR MAN j BUSY 0 DREND ERROR MAN so C 823v1 5 7 STATUS2 PORT XIJDUUDUDUDUUDUDDUDUDDUDUUUUUUDUDDUUDU 1000000 L X1DEND PO xORG T l HIGH 1 LOW X1NORG X1CWLM 1 fJ X1CCWLM 1 l 000 0 0 0 0000 op Low 1 HIGH D D 50 0000000 5 8 STATUS3 PORT PULSE COUNTER O O 0 0 COUNTER STATUSEL 000000 PORTO DO D BEBE 1
26. 8 388 607 8 388 607 PULSE AREA B D 0 ADDRESS COUNTER PORT COUNTER D 0 POWER ADDRESS 3 PULSE COUNTER PULSE COUNT I a PULSE COUNTER 0 0 Mccosezp PuLsSEDO00O0000000000000000000 b COUNT DATA DRIVE DATA1 23 0 O O PULSE COUNTER PORT H H 8 388 607 8 388 607 PULSE AREA 8 388 608 00000000000 0000000000 STATUS3 PORTO OvFBITH 1000000 c COUNTER POWER ON RESETI COUNTER COMMAND PULSE COUNTER D PULSE COUNTER INITIALIZE COMMAND O O OO O O POWER ON RESET 0 00000000000 Mccosv20 0 0 PULSE COUNT COMPARE J J a PULSE COUNTER 0 0 0 0 O COMPARE REGISTER 0 b COUNTER 0
27. 400 0 000000 8 11 IRQn RDYINT STATUS STATUS BUSY BUSY DS0 WR DSO RD IRQn IRQn RDYINT RDYINT t1 80ns t3 80ns t2 100ns t4 100ns COMMAND J COMMAND COMMAND srATUS1H D O H ooo H oa oa 9 oa oa A oa oa a HA L3 r3 o r3 L3 r3 2 2 0 0000000 86 SPEC INITIALIZE1 6 C 823v1 8 12 IRQn CNTINT STATUS J 1 Uu PULSE COUNTER INITIALIZE COMMAND CNTINT LATCH TRIGGER TYPE J 0000000 PLS COMPARE REGISTER _ 7X8 X Z3 10 X A X 1 DS0 TES STATUS3 gt gt 1 5 STATUSS COMP1 5 COMPARE REGISTER 100 00000000 9 005 UUDUDUUDUUDUUUUuc 0 TATUS3 PORT 0 X1CNTINTO 00000000 PULSE COUNTER INITIALIZE COMMAND CNTINT LATCH TRIGGER TYPED 1000000 PLS
28. 5 00000000000000 U 0 COMPARATOROO0O000000000000 0 STATUS3 PORTH U RESET 000 0 0 RESETI I H UU RESET 0000 4 5 00000000 X1CNTINT O O 0 0 0 COMPARATOR D 0000000000000 0 0000 000000 FSEND BTO 10000000000000 SSEND BITO 1000000 d PULSE COUNT COMPARE 0 CONTROL PULSE COUNTER INITIALIZE D COMPARE REGISTER J 0 DATA O 0 0 COUNTER PORTO 00000000 COUNTER PORT DRIVE PORTU O0O0000 000000 U U U e COMPARE REGISTER1 0 OJ O COMPARE REGISTER1 0 COMPARE REGISTER Q 00 0000000000000 0000 COMPARE 0000 CONTROL 0 0 PULSE COUNTER wuu COMPARE REGISTER1 0 0 0 0 0 0 PULSE COUNTER 00000000 COMPARE REGISTER1 COUNTER DATA1 2 3 PORT Hl Hl D
29. O O POWER ON RESET O 000100000000 1 PULSE 0 0 O 0 0 COMMAND I I HUU D DU 20 0 0 COMMAND O 0 COUNTER COMMAND 000000000 U COMMAND LU PULSE COUNTER O O0 COUNT O 1 D 0000 COUNTER I COUNT O 0000000000 7 4 0 COUNTER 0 Uu Uu PULSE 0 COUNT COMPARE 82 M C 823v1 5 8 1 JOG DRIVE STEPPING MOTORHn DD D 0H B B CI CW H DRIVE DTACK X1CWP STATUS DRIVE STATUS BUSY t1 150ns t20 34 5 42 s t5 23 5 31 s t30 36 5 44 s 35p 5 43 s t4 100 s 8 3 INDEX DRIVE S RATE INDEX DRIVE 8 2 SCAN DRIVE S RATE SCAN DRIVE STEPPING MOTOR Hj Bi Hl U D B CCW DRIVE DTACK X1CCWP STATUS DRIVE STATUS BUSY t1 150ns 20 43 75 s t30 63p 5 95 5 JURATE 1 3ms O STEPPING MOTOR Hj B HH d BH H B
30. COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 1 R W 22 Ln X2 MCC05v2 Y2 MCC05v2 2 MCC05v2 A2 MCC05v2 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 R W STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3
31. U 3 SCAN O INDEX DRIVE 00000 COMMAND U H COMMAND F8 000 DRIVE DATA3 PORT DATA3 PORT WRITE DRIVE DATA3 COMMAND DATA3 PORT 8 WRITE D D L PLS COMP1 INT MASK PLS COMP2 INT MASK PLS COMP3 INT MASK PLS COMP4 INT MASK PLS COMPS INT MASK DFL COMP1 INT MASK DFL COMP2 INT MASK DRIVE DATA3 PORT 0 BTOO0O000000000 O O 0 POWER ON RESET O O O D PLS INT MASK D PULSE COUNTER on 1 lI l I 10 00000 PLS COMP2 INT MASK D PULSE COUNTER on n L Ll 000 10 00000 PLS COMP3 INT MASK D PULSE COUNTER on 10 00000 57 3 C 823v1 PLS COMP4 INT MASK D PULSE COUNTER on nnam 10 00000 PLS COMPS INT MASK D PULSE COUNTER 10 00000 DFL COMP1 INT MASK
32. 5 ORG 3 CCW LIMIT amp Lun TER lt ul jc uni gt lon oo LE gt i is onnn lan ll HSPD HIGH SPEED CSPD CONSTANT SPEED LD LIMIT DELAY TIME SD SCAN DELAY TIME JD JOG DELAY TIME O llUDUDDU A 000000 CW LIMIT X4ORG I U O CCWO nnn 72 HSPD HIGH SPEED CSPD CONSTANT SPEED LD LIMIT DELAY TIME SD SCAN DELAY TIME JD JOG DELAY TIME 000000 000000 6 ORG 4 NEAR ORG j C 823v1 CCW LIMIT CW LIMIT XINORG HSPD HIGH SPEED Dl eo e ee S z CSPD CONSTANT SPEED LD LIMIT DELAY TIME on 4 0000 i SD SCAN DELAY TIME c up JD JOG DELAY TIME nn D i o 000000 l U A 000000 ond i2nnan iro 00 OT 5 1 amp e NEN XtoRG HICHO I I 0 00 OFF 000000 U ON X1NORG X1NORG D U D X10RG X10RG cm 1 1 10000 1 00 J 1 Li TREE uni ie 204
33. 0 200000 UUU DRIVEN 0UUUU U U U STEPPING MOTOR 84 1 URATE DRATE I 00 t1 150ns 2 71u s t3 O 934 5 2 URATE DRATE I 0 t1 150ns t2 1 3ms L TYPE 630 u s M TYPE 400 u s H TYPE 22u s t1 200ns 51u s t2 53ms 00000 D DATAH D HH BD O 2 12 PULSE U 2 SERVOMOTORI JI O O 0 0 DEND I I O STEPPING MOTOR DDOBDDUHU Cw np DRIVE O X1DEND X1CWP STATUS STATUS BUS t1 t2 tl 33u s 41H s t20 20u s D 5 DEND 010000000 C 823v1 llu ll 8 7 I l U 8 8 0 U 1 STEPPING MOTOR 00000000 STEPPING MOTOR 00000000 CW DRIVE CW DRIVE D 0 1 0 1 DTACK DTACK 0 2 0 2 X1CWP UUU FSSTOP STATUS 3 DRIVE X1CWP STATUS STATUS BUSY DRIVE STATUS BUSY 1 t2 1 t2 t3 gt K 38u 5 42 s 2 100 s 2 20u s t20 38u s 46p 510 00 O 4 t30 20u s U 1 SLOW 1 U 2 SLOW
34. 1 1 Un A10 SENSOR 210 210 210 2 2 m N A 2 70 m JQ x X o 3 3 lt lt _ x gt U gt j gt gt a o N N N gt gt N o gt 1CCWP LI U 1000 110 120 0 13D D o o A o N c O O X1CWP X1CCWP J 0 0 5V ew n 0000000 ew n 0000000 ccw 0 0000000 ccw g0p 0000000 X1 0 A 1 IG S ez Al m jz 6 9 c N N N m m o o lollo jo I3 3 IS Ix lt z d 2 2 o tak Daun 1000 1100 Daun 1200 Daun 1300 GND U 2 1 21 0 ccew n 000000000 N X1DRSTCOM X1D N RST D 24 Z1CCWP Z1DRSTCOM E ZT1DRST 0 0 24V X1DEND X1PO ER X10 Z1DEND Z1PO 210 g X1 0 EI gt X1 0 X1 0 N
35. 62 5 PULSE COUNTER COMPARE REGISTER4 SET COMMAND 62 6 PULSE COUNTER COMPARE REGISTERS SET COMMAND 62 7 COUNTER PRESET COMMAND 63 8 COUNTER COMPARE REGISTER1 SET COMMAND 63 9 COUNTER COMPARE REGISTER2 SET COMMAND 63 C 823v1 7 1 DRIVE J 64 1 JOG DRIVE J 64 2 eee ae het asa ae EMER ag sas 64 3 INDEX DRIVE J D 65 4 DRIVE SPEEDO 0 O00 0 s 65 5 0000000 0 ORIGIN DRIVE 66 6 LIMIT SENSOR J steigen su ad eie ntis 66 7 S RATE SCAN DRIVE 66 8 S RATE INDEX DRIVE D 67 9 SRATE DRIVE J J O TOO EEE RE ERE ARREARS 67 69
36. ev N 1 1 Z o lo me e o lo lm lo Er E ge 5 jo 0 jo I imp jm Im Li 1 jo x1 0 zn Y1CWP Y1CCWP O 0 00 5V ev X XAZORG Y1CWP g w Y10 cw 0 000000000 cw 0 000000000 ccw 0 000000000 1 Y1D 10 cw 0 000000000 cw 0 000000000 w 1 1 C Y1CCWP 1CCWP 1 Y Y1DRSTCOM Y1DRST 4 4 1 5 24V Y1D 1 Y1D A1DRSTCOM A1PO 4 RSTDUUUU 24V AT L 1 1 U 3 A10 ccw 0 000000000 A10 ccw 0 000000000 DEND Y1PO N C 1 A um A N 1 1 X1ZORG COM Y1CWP EA EA EB EB J LJ Y1D Y1D r3 c3 gt 1 UJ 1 Y Y1ZORG I A A A e o ma o EI 0 0 EN 49 50 Y1D Ei Ej I E EX ml ri IE ixi e m jim jm un 1 UJ o
37. 000 5 14 INDEX COMMAND COMMAND 14n 00000 INDEX DRIVE I Hl Hl B U DRIVE DATA1 2 3 PORT 0 0 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT PORT D PULSED 00 FFFFFF 20000000000 DATA2 PORT WRITE DATA3 PORT WRITE 000 UH 1000 0 PORT DATA2PORT DATA3 PORT COMMAND 8 388 607 FE FF 14 WRITE O On 48 C 823v1 15 ABSOLUTE INDEX COMMAND COMMAND 15n 00000 INDEX DRIVE D Hl Hl B U DRIVE DATA1 2 3 PORT 1 Hl UU 0 0 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D an Te a forc ADDRESS 0 FFFFFF a 580 000000 200000000600 DATA2 PORT WRITE EJ E 000 ADDRESS I ADDRESS 10 00 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 7F FF 10 00 00 0 000 10 FF o 8 388 607 80 0 16 CSPD SET COMMAND COMMAND Lian 000 ORIGIN DRIVE 0 CSPD CONSTANT SPEEDJ
38. STATUSSREADII 000000 CNTINTO O D STATUS3 READ 0000 CNTINT LH 39 C 823v1 DRIVE DATA2 PORT 000000000600 DATA2 PORT D D ESSE Tl COUNT CLOCK TYPE COUNT PATTERN TYPE AUTO CLEAR ENABLE RELOAD ENABLE COMP1 INT ENABLE COMP1 STOP ENABLE DRIVE COUNT CLOCK TYPE D PULSE COUNTER BITI D D X1 MCCO5v2 DRIVE PULSE X1CWP X1CCWP 10 COUNT PATTERN TYPE D D BITO Dror 00000000 sus 1 XIEAXIEB0 00 200000000000 9 4nnmpnnmnpmnmt 1 0 400000000000 1 1 1EB o00000000 AUTO CLEAR ENABLE D 0 RELOAD ENABLE D INT ENABLE D COMPARE REGISTER1 00 0 0
39. DRIVE DATA1 2 3 PORT Hz 00 3 DRIVE DATA1 2 3 PORT j 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT Y D 5 D D p D 25 ET WRITE DATA2PORT CSPD DATA WRITE CSPD DATAHL 0 0 0000 1 16 3 333 333 32DCD5 D O O 0 WRITE SET COMMANDO j HH B H B H B D 0 B H B HH B HL D 0 U HI 7 UI D COMMAND POWER CSPD 30 1A WRITE 7 5 3 0 0 00 5 49 C 823v1 17 OFFSET PULSE SET COMMAND COMMAND Ba 000 ORIGIN DRIVE Q 0 OFFSET PULSE O HHDH D DRIVE DATA3 PORT DRIVE PORTO 000000000600 PORT D D tp e WRITE m OFFSET PULSE COMMAND 1Bs WRITE OFFSET PULSE H B H H B U 0 05 E 255 FFo D O U POWER ON RESET OFFSET PULSE O 000000000 OFFSET PULSE DATA3 PORT 18 ORIGIN DELAY SET COMMAND 105 000 000000 DRVELI UU U DELAY DRIVE DATA1 23 PORTO 00000 DATA1 PORT LIMIT DELAY TIME 300ms 3C DELAY TIME DATA2 PO
40. EXTV X1NORG 000000 X1ZORG X1ZORG X1ZORG jj uH du B d B D H D D DU X1ZORG C 823Vv1 2 STEPPING MOTOR DRIVER ORG 4 0RG 5 STEPPING MOTOR DRIVER J ORG 4 ORG 5 0 0 O X410 0 0000000 CCW I n CW D D EXTV X1NORG X10RG X1ZORG X1ZORG C 823v1 29 C 823v1 3 SERVO MOTOR DRIVER ORG 4 0RG 5 J SERVO MOTOR DRIVER ORG 4 ORG 5 0 0 O X410 0 0000000 ccw 0 cw 0 l EXTV X1NORG X1ORG X1ZORG X1ZORG 823 1 4 ORG 10 J ORG 10 0 00 Xx10 0 0000000 ccw 0 l EXTV X1NORG 000000 X1ZORG X1ZORG X1ZORG H 00000000000 X1ZORG C 823v1 30 C 823v1 PORT 5 1 DRIVE COMMAND PORT DRIVE PORTO D D COMMAND 0 0 O 6 1 0 0 6 40 00000000 5 2 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMAND 00000 5 3 DRIVE DATA1 2 3 PORT READ ADDRESS READ COMMAND SET DATA READ ERROR STATUS READ COMMAND J DATA 000000 COMMAND WRITE J STATUS1 0 BUSY BITO 0 PULSE COUNTER COUNTER ADDRESS COUNTER J 5 4 COUNTER COMMAND PORT PULSE COUNTER
41. CNTINT e aa a a a aa aaa a a e 87 8 13 ROVI 88 8 14 00000 89 15 RESET ECA RONA 90 8 16 BUS TIMING 91 LH DI D U 5 RATE Uu esee 92 1 RR 92 25535955 92 TL A 93 1 INITIALIZE PROGRAM a e a r 95 2 SPEED RATE SET PROGRAM 96 3 INDEX DRIVE PROGRAM 97 4 ORIGIN DRIVE PROGRAM aaa 97 9 3 823 1 0 000000 98 9 4 C 823v1 99 1 DRIVE COMMAND J COMMAND 99 2 COMMANDE COMMAND 100 10 4 0 0000
42. U 2 00000000000 PULSE 0 U U DRIVE O TPULSE O0 3 FAST STOP COMMAND 00000000 000 000 PuLSE O IPULSEI I I UO U U 40000 12000000 tu 8 9 0 D D 2 SERVO CW DRIVE D DTACK FSSTOP X1CWP X1DRST X1DEND STATUS DRIVE STATUS BUSY t1z 100p s t3 10ms 5 20u s 2 26u s 4 t4 15u s 24p s DRSTO0 000 DEND 1 STOP U 2 0 3 PULSE O 1PULSE OOO D U 85 8 10 LIMIT 0 cw 0 0 DRIVE X1CWLM X1CWP STATUS DRIVE STATUS BUSY t1z 400 s t20 38u 5 42 s t3 20u 5 C 823v1 0 PULSED UO O DRIVE 1PULSEDD J H D D DRIVE UUDUDUUDUDUDUDUUDUDUDPUSELIDDUDUUDU 8 8 0 0 0 890 00000000000 FSSTOP pp
43. COUNTER PRESET COMPARE REGISTER SET COMMAND 0000 PORTO O COMMAND 6 50 0000000 5 5 COUNTER DATA1 2 3 PORT WRITE COUNTER COMMAND J OOO ee C 823v1 5 6 STATUS1 PORT Mccos2 0 0000000000 BUSY BIT 0 DRIVE DREND ERROR LSEND SSEND FSEND 0 1000000 L BUSY BIT DRIVE BIT DREND BIT ERROR BIT MAN BIT LSEND BIT SSEND BIT FSEND BIT 10000000000 COMMAND BUSY BITI OU U COMMAND 6 2 0 00 0 00000 BusYBITO 100000000000 10000000 10000000 2 000000 0000 000000 0 32 BUSYI ERROR I 00000000 ERROR STATUS READ 0000000000 COMMAND 000000 0000 0 2 BUSY BUSY BIT 000 0 PULSED pp
44. ATDFLINT X2DFLINT Y2DFLINT Z2DFLINT A2DFLINT 1 INT I D IRQ7 IRQ1 00 520000000 ONC 5 00000000 ON ON OFF ON OFF ON OFF ON ON OFF OFF ON 0 0000000000000 98 53 1 00000000 2 0 0000000 53 2 0 SEA 27 12 00 0000 UDDDDDDD X1RDYINT Y1RDYINT Z1RDYINT A1DFLINT A2CNTINT X2RDYINT Y2RDYINT N L1 L1 L1 Im L1 H LI Oo oioioio O O CO O gt Z2RDYINT A2RDYINT X2DFLINT Y2DFLINT Z2DFLINT A2DFLINT 24 C 823v1 3 52 0000 520 00 RDYINT SPEC INITIALIZE1 CNTINT PULSE COUNTER INITIALIZE COMMAND DFLINT DFL COUNTER CNTINT DFLINT 0 O COMP1 COMP5 DFL COMP1 2 00000000
45. 0 2 SVO O D 3 4 X1DRST XIDEND o 24VGND lt 1 o 129 X1ZORG o 1 O 28 O a0 1 0427 1 ae O C 823v1 24V RESET DRIVER 2 150000000000 3 SERVO DRIVERI 000 D 0 24 0 0000000000000 X1DRSTCOM O MUU X1DRST 22 0 4 00000 20 000000000000000000600 X1ZORG X1ZORG 30 27 ND C 823v1 4 2 LIMIT U 1 LIMIT J1 EXTV X1CWLM X1CCWLM FSSTOP1 C 823v1 O FSSTOPn0 O OU ACTIVE 0 pp 2 LIMIT 0 X1CWLM X1CCWLM C 823v1 28 C 823v1 4 3 000000000 1 ORG 0 ORG 1 ORG 2 ORG 3 0 ORG 0 ORG 1 0ORG 2 0RG 3 0 0 CX1 B 0000000 CW l CCW lt
46. BG1IN D15 BG2IN BG2OUT BG3IN BG3OUT BRO BR2 AM5 BR3 A20 A19 18 IACKIN SERCLK 1 IACKOUT SERDAT 1 GND IRQ7 A14 IRQ6 A13 IRQS IRQ4 IRQ3 A02 IRQ2 IRQ1 12V 5V STDBY 32 v 000 D06 D07 olojo C oo gt lt eo N SYSCLK N D D WRITE ND D 16 DTACK I N AS GND gt gt gt lt lt lt N z 07 A06 S S S E 2 2 2 2 2 2 2 2 2 2 2 gt 1 0 1 5 6 7 8 9 0 1 3 5 6 7 8 9 0 1 2 3 4 5 7 8 1 1 12 1 14 1 1 1 1 1 2 4 3 3 32 20 261 85 0 5mm ll 1mm J1 12 C 823v1 MADE IN J APAN Drm x 0 ICD iZ In uj ma TED ZA IVId 22 zV _ O TXId qm qm qn 3 NI ES 1 a 9nanrmez LI sid SLE CN Um mn N zz lz 02 165 03 C 823v1 233 35 11 111 cB 53 52 823 00
47. CCMPARATE REG STERI SET COMMAND ME L PREGL QOMPARATE REGSTERI DATA LOAD MOVE D XICONTDT3 DATA LSB LSRL 8 DO ME B D XICNIDI2 LSRL 8 D0 M B XAONIDT1 DATA MB MOVE 019 XICNTGOM QOMPARATE REG STER1 SET COMMAND 00000000 U UO POWER DO U III U 2 000000 9300000000 2 SPEED RATE SET PROGRAM DATAAREA 00000000000 KK 5K 5 5K 5K 2K kok 2K 2F 2F 2F 2F 2F 2K 2K K K K 2F 2F 2F 2F 5K 5K 5K 5K 5K KK SPEED RATE SET r KEK k KEK k K kkk k kkk k kkk kkk kkk RATE SET JSR XL ROY WIT MOVE URATE XLAXSDI2 UP RATE QUT MOVE DRATE XLAXSDI3 RATE OUT MOVE 069 XLAXSQCM RATE SET COMMAND CUT LSPD SET COMMAND J SR MOVE L J SR MOVE B XIRDY LSPD DO XIDOUT 07H XIAXSCOM HSPD SET COMMAND J SR MOVE L J SR MOVE B XIRDY HSPD DO XIDOUT 08H XLAXSCOM CSPD SET COMMAND J SR MOVE L JSR MOVE B XIRDY CSPD 4 00 X1 ROY VAT LSPD DATA LOAD 3BYTE DATA OUT LSPD SET COMAND OUT RD VAT HSPD DATA LOAD 3BYTE DATA OUT HSPD SET COMAND OUT X1 ROY VAT CSPD DATA LOAD 3BYTE DATA OUT CSPD SET COMAN OUT 96 C 823v1
48. O DX10A 100S 50 O00000 0000000 DX30A 100P 50 DX81A 100PKD 1m 2m 3m sm0 0000000 00000 50 1 24 0 0 2 24 2 00000 24V 0 MAX 460mA O O 000000 5 ACTIVE OFF 00 BD DDR D D 3 9 17 e J1 X1 Y1 Z1 A1 L1 L1 L1 L1 L1 L1 w X10 cw 0 0000000 C 823v1 4 6 9 3x xl x Z o o OE O O 5 AE OIJ IF Ol IS lt lt EJ X10 ccw 0 0000000 uat Lu ul cw 0 0000000 cew n 0000000 ual uut SENSOR 1 1 1 Y1D Y1D N Y1D Zn TEST N O 2 N O C3 A B2 3 ccw 00000000
49. 3 INDEX DRIVE PROGRAM DRIVE ADDRESS INDEX DRIVEN 00000000 0 DRIVE DI LB D DATA AREAN 000 UH 2 3 KKK 5K 5K kok kok kok 2K 2F 2F 2F 2K 5K 5K 5F 2F 2F 2F 2F 2F 5K 5K kok k K ABSQLUTE NEX DRI VE kkk kk kk ke ke ke ke ke ke ke ke ke ke kk 5k ok ok ok ok ok ok 5k kK KK ABSOLUTE DRI VE JSR MOVE L ABSDT DO JSR MOVE 15H X1IAXSCCM 4 ORIGIN DRIVE PROGRAM RDY VAT ADRESS DATA LOAD DATA OUT ABSQLUTE NEX COMAND CUT DATA AREA 1 0 OFFSET PULSE J 0 0 J 0 LDELAY 1 SDELAY 1 JDELAY 1 D 0000 5 ORIGIN DRIVE 0 0000000000 DATA DRIVEII I IU U P KK KEK K KEKE EEE REE EEE EAE CRI G N ERI VE KKK 5K 5 kok kok 3K 3F 2F 2F 2F 2F 2K 2K 5K 2F 2F 2F 2F 2F 2K 5K 2K kok 5K k k OFFSET PULSE SET JSR MOVE CFFSET X1AXSDT3 MOVE 1BH X1AXSCCM CRI G N DELAY SET JSR MOVE X1AXSDT1 MOVE 5051 X1AXSDT2 MOVE DELAY X1A
50. 5 la Y1U X1 Y1 Zz1A10 000000 0000 N r3 00 18 1 Y1 21 A1 000000 e J2 X2 Y2 Z2 A2 I L1 L1 L1 L1 L1 x20 cw 0 0000000 A C 823v1 z20 cw 0 0000000 m 2 6 lt lt lt lx lx x N IN IN INI IN IN z o o lo 2 O lo 9 5 O 2 Ol A IF rm mr EJ 2 cw 0 0000000 cew n 0000000 SENSOR J X2 X2 Y2 Y2 Y2 Y2 22 ESL ES i 55 N N O 2 O 3 N N O O O gt gt gt N IN IE a lt gt 2 9 220 zz0 00000000 zz0000000 D 1 A20 2 ccw 0 0000000 208 000000 U 1 2 0 SENSOR J 0 ai 2 o gt gt lo s a gt n N j gt N z S z S D S N Z N O rc m Im N JO gt Q E lt lt 0 N 2v Uu X2CCWP ILI 0
51. FSSTOPI 0 0 0 000000 0 00000 NORMAL DUDUDUDUUDUDUDUDUuDUuUuDUuDunuuupu 82 1 8 100 20 4 50 6 7 xin Yin 1410 a10 2 ven 220 A2H 0000 000000 PAGE 0000 293933 03 8 gt 8 ankusapa 8 9 1 5 0 0 000 10 2 4 0 000 11 PR 11 12 240000 o 14 15 eese Ue 15 XH 16 OIL u 17 ONCE EN RE 17 2 VME l a l 20 21 PORT 22 0 0000 PORTO
52. SRATE 00000000 RATED T TD zn 3 SRATE D DH HB RATED I D DI SCSPD1 scsPD20 00000 SLSPD SHSPD 5 SCSPD2 SLSPD SHSPD SLSPD x i SCSPD1 SCSPD2 SHSPD 0 1 SCSPD2 0 ScsPD10 00000 SCSPD2H SCSPD10 ScsPD2 SHSPD JQ H 0 HB 0 scsPo20 0 2 SLSPD SHSPD SET COMMAND 000000000 808 52 SPEC COMMAND SPEED 0 U uuu SRATEQ 00000000 RATED T 68 C 823v1 7 2 0 DU 1 000000 SLOW STOP COMMAND J 0 0 PULSE OOOO DO PULSEII I I III U SSEND 1 2 000000 FSSTOP FAST STOP COMMAND O 00000 1000000 FSSTOP1 0 0 0 OO U 1 1 21 10 4 FSSTOP2 0 O 0 O 0 X2 Y2 Zz2 A2 0 40000000000 3 LIMIT CW PULSE 0 U U CWLM U CCW I 0 PULSEO I U CCWLMII I IDD U U 00000 10000 SPEC INITIALIZE1 COMMAND LIMIT STOP TYPE POWER 69 C 823v1
53. U ADDRESS JI J IU III U U ORG 0 3 11412000000000000000 ADDRESS I 000800 ORG 4 5 0 000000 NORG I J I J H 0 OFFSET PULSEI I J H JII lJ 0 ADDRESS 000800 OFFSET PULSE 255PULSE O O 0 O OFFSET PULSE POWER ON RESET OFFSET PULSE ORIGIN FLAG RESET COMMAND 0000 0 0 DEND ERROR ORIGIN 00000 ORG 0 11 ORG 1 ORG 2 12 ORG 10 2 l ON 0 0 0 D 1112 ORIGIN DRIVE JOG DRIVE Uu duuu CONSTANT SCAN SCAN JOG DRIVEN D EH D D Joc DRIVEN 00 100000 OD UUUDUUUUDUDU sn sis CONSTANT SCAN DRIVE UL L0 0H D 0000 JOGDRVEUIJDDDUDUDUDD iS
54. g w Y2CWP 2 cw 0 000000000 ccw 0 000000000 Y2 Y2 A2CWP A2CCWP A20 cw 0 000000000 2 0 cw 0 000000000 A20 ccw 0 000000000 w Y2CCWP Y2 0 ccw 0 000000000 5 D 24V Y2D Y2 Y2 N LI A2CCWP A2DRSTCOM A2DRST A2DEND A2PO A20 ccw 0 000000000 A2DRST 0000 24V 2 2 A um A N Y2DEND Y2PO N C E 2EA EA 2EB COM Y2CWP EA A EB B Y2 Y2 c3 c3 gt Y2 UJ Y2 gt A A A 49 50 oo o o a 0 0 EN Y2ZORG Y2 E I E EX E ri IE iE e m jim jm un 1 UJ o 5 la Y2 J 2 2 2 2 0000 N r3 00 19 C 823v1 2 J3 BBSY D08 D08 BCOLR D09 D02 ACFALL D10 BGOIN BGOOUT j S
55. 0000 9 jd j A 2 25 4 100 10 0 0 CB25A4C lt gt gt amar 1m Y2U p j 49 220 i Hl y 20 1 4 0 000000 C 823v1 5 ISS SS L3 L3 L3 E EA E X10 MCC05v2 A1 MCC05v2 21 00000000000 lt gt X2 MCC05v2 Y2 MCC05v2 2 MCC05v2 21 gt A2 MCC05v2 1 nd d GC E n DRIVE D MOTOR 000000 COUNTER p rH oa n0 oo 0 ogo ogo ogo pt 8 MCC05v2 COUNTER ADDRESS COUNTER PULSE COUNTER O COUNTER O O O 24BIT UP DOWN
56. 69 2 OE Ty ES 69 69 70 aspas Sus KSEE 70 2 ORG O a a 71 3 ORG ama ma a sisa 71 4 6 20 D 72 tapusqan 72 6 ORG 4 73 7 ORG50 73 8 ORG TO P a A DD 74 9 ORG 110 D 75 75 Hg 76 5 CI D 76 c c p Sa S ME ass 76 7 4 COUNTER J D 77 usc aa 77 2 ADDRESS COUNTER 78 3 PULSE 78 A I COUNTER TI asna nsn a sas Big aeta 79 5 COMPARATOR 8
57. 11 DRI VE COMAND PORT Y1AXSDI1 EQU OFF0013H DATAL PORT YlAXSDI2 EQU OFF0015H 2 PORT Y1AXSDI3 EQU OFF0017H DATA3 PORT Y1ONTGOM OFF0019H CONTER COWAND PORT Y1CNIDI1 EQU CONIER DATA1 PORT Y1CNIDI2 EQU OFFOO1DH CONIER DATA2 PORT Y1CNIDI3 ECU OFF001FH CANIER PORT Y1AXSST1 EQU OFF0011H STATUS1 PORT 1 55 2 EQU OFF0019H STATUS2 PORT 1 5 EQU OFFOO1BH STATUS3 PORT Y1AXSST4 EQU OFFOO1DH STATUS4 PORT Y1AXSST5 EQU 1 STATUS5 PORT Zl XI S EQU OFF0021H DRI VE COMAND PORT ZIAXSDI1 EQU OFF0023H DRI VE DATA1 PORT ZIAXSDI2 EQU OFF0025H DRI VE 2 PORT 3 EQU OFF0027H DRI VE DATA3 PORT Z1CNICOM EQU OFF0029H CONIER COMAND PORT ZIONIDI1 EQU OFF002BH CONIER DATA1 PCRT ZIONIDI2 EQU OFFOO2DH CONIER DATA2 PORT ZIONIDI3 EQU OFFOO2FH CANIER DATA3 PORT ZIAXSSTl EQU OFFO0021H STATUSl PORT ZIAXSST2 OFFO0029H STATUS2 PORT ZIAXSST3 EQU OFFOO2BH STATUS3 PORT ZIAXSSTA EQU OFFOO2EH STATUSA PORT ZIAXSST5 EQU OFFOO2FH STATUS5 PORT 1 S ALAXSCOM EQU OFF0031H DRI VE COMAND PORT AlAXSDT1 OFF0033H DATAL PORT ALAXSDI2 OFF0035H 2 PORT ALAXSDI3 OFF0037H DRIVE DATA3 PORT AY1CNTCOM EQU OFF0039H CANER PORT EQU OFFO03BH CONIER DATAl PORT AICNIDI2 OFFOO3DH CONIER DATA2 PORT
58. L PLS r PLS 2 PLS COMP3 BIT PLS PLS 5 PLS OVF DFL COMP1 BIT DFL COMP2 BIT PLS PULSE COUNTER COMPARE REGISTER1 PLS 2 PULSE COUNTER COMPARE REGISTER2 PLS COMP3 BIT PULSE COUNTER COMPARE REGISTER3 HL B0 HN 0 gH HL D D D 0 Uu Uu PLS COMPA PULSE COUNTER COMPARE REGISTERA PLS COMPS PULSE COUNTER COMPARE REGISTERS PLS OVF BIT O PULSE DFL COMP1 BIT 0 COUNTER gt DFL COMPARE REGISTER1 000 D BO B U 0 uUunnnunnn u DFL 2 BIT 00 O COUNTER s DFL COMPARE 2 STATUS READ COUNTER INITIALIZE COMMAND O 0 O O O STATUS OO O PULSED 233 5 C 823v1 5 9 STATUS4 PORT UUDDUDDDDDUDUDUDUDBDUDUDUDUDUDUUPOTIBDUDUDUDBUDBDUDUDUDUDUUDD 1 L FrssroPH 0000 00 LOW 1 HIGH
59. STATUS DFL DFL COUNTER INITIALIZE COMMAND DFLINT LATCH TRIGGER TYPED 0000000 DFL COMPARE REGISTER1 _ 10 DLUDDUUU 7X 8 X 9 10 XSI X8 DS0 STATUS3 DFLINT O 0 x I3 STATUSS3 DFL COMP1 COMPARE REGISTER SET COMMANDO 0000000 0000000000000 1900000006060 0000000000000000 STATUS3 0000000000000000 0 STATUS3 PORTO DFL COUNTER INITIALIZE COMMAND DFLINT LATCH TRIGGER TYPED 1000000 DFL COMPARE REGISTER1 2 7 X 8 X 9 X 10 X 11 X 12 X 4 p DS0 STATUS3 DFLINT STATUS3 DFL COMP1 COMPARE REGISTER 5 0000000000000000 0000000000 0 0 U STATUS3 PORTO DFL COUNTER INITIALIZE COMMAND DFLINT OUTPUT TYPED 1 00000 000000 DFL COMPARE REGISTER1 2 7X 8 X 9 X X 11 X 10 X 9 X8 DFLINT O J ay 3 5 D STATUS3 DFL COMP1 COMPARE REGISTER SET COMMAND 00000000000 0000000000000000 DFUNTO 00
60. 02 01110010 DD S RATE INCREMENTAL INDEX 02 DO opis 27 jun pn 1 3 d 3 0 1 URATE DRATEQ 00000000 COMMAND J 00000 H TYPE MAX100ms MAX 35ms MAX 15ms 0 2 0 8 0000 36 C 823v1 2 COMMAND COMMAND I U U COMMAND 000 000 46 500 0000000000600 X CODE COMMAND NAME 11110111 11110111 D D D D D D D i 11111101 uu SPEED PORT SELECT MAX 200ns D 8 1111100 3 PULSE COUNTER COUNTER COMMAND X X X 0011 X X X x0111 X X X X 1000 O0 nnnm MAX 200ns MAX 200ns MAX 200ns PULSE COUNTER COMPARE 4 SET MAX 200ns MAX 200ns MAX 200ns COUNTER COMPARE REGISTER1 SET MAX 200ns COUNTER COMPARE REGISTER2 SET MAX 200ns 3E rm gt m E o 6 2 DRIVE COMMAND 1 NO OPERATION COMMAND COMMAND 00 5 Ht UJ
61. 4 STOP TYPE D COMPARE 4 BITI lI 0 1000000 COMPS INT ENABLE D COMPARE REGISTERS O 0 0 X1CNTINT 10 X1CNTINT COMPS STOP TYPE D COMPARE REGISTERS 0 00 O O O O PULSE 10 D D 000000000000000 00 BITL LU 41 C 823v1 4 ADDRESS INITIALIZE COMMAND COMMAND 035 000000000000 ADDRESS 0 0 ADDRESS COUNTER D HUD BD D DRIVE DATA1 22 3 PORTO ADDRESS I BD HD D DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D Dp D D ee t ADDRESS 0 FFFFFF o DATA2 PORT WRITE EX TI EXT ADDRESS I ADDRESS 10000 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 7F FF 10 00 00 8388607 so o o 5 ADDRESS READ COMMAND COMMAND 04 1 2 3 0 0 ADDRess 8 0000000 DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D TIT ze T T r RF luum 04 WRITE Es
62. C 823v1 6 4 0000 1 COUNTER READ COMMAND nn 000 PULSE O O 1 0 ADDRESS O COUNTER COUNT DATA IU UU U 1 COUNTER PORT SELECT DRIVE DATA1 2 3 READ PORT COUNT DATA II IU D U DRIVE DATA1 2 3 PORTO 00000000000 DATA2 PORT DATA1 PORT DATA2 PORT DATA3 PORT READ D p D ELI rj EIER DATA3 PORT L READ COUNT DATA O FFFFFFn 2 COUNT DATA COUNT DATA 100 00 DATA1 PORT DATA2 PORT DATAS3 PORT 8 388 607 0 ADDRESS COUNTER I Hl O U 0 O PORT SELECT COMMAND 6 3 3 0 2 DATA READ DRIVE 1 2 3 PORTO 0000000000 2 SPEED READ COMMAND nn 000 5 UUNUUUT SPEED PORT SELECT DRIVE DATA1 2 3 PORT 5 DRIVE 2 9 DATA1 PORT DATA2 PORT DATA3 PORT D 0 0 0 0 E E sepan SPEED DATA 30 FFFFF8 PULSE SPEED SET DATA1 PORT READ DATA2 PORT READ DATA3 PORT READ 160 000 000 PULSE SP
63. MME DO YIAXSDI3 DATA LSB QUT LSRL 8 DO DO YIAXSDI2 LSRL 8 DO MME DO 1 0 1 DATA MB QUT RTS PROGRAM 000 0 U KK 5K 5 5K 5K kok kok 3K 2F 2F 2F 2F 2K 2K 5K 2F 2F 2F 2F 2F 2K 5K 5K 5K 5K k k c DATA AREA okololokololokolelokolelokolelokokolelokolelokolelokolelorok INAD 1000 INTI AI Z ADDRESS CPREGL DC L 10000 REG 5 DATA URATE DCB 13 UP RATE 13 20n 1000H DRATE DC B 13 DOW RATE No 13 20n 1000Fz 94 LSPD DCL HPD ABSDT DCL DCL HPD DCL HPB DCL PaO CFFSET DC B DC B SDELAY DC B J DELAY DCB 1000 2500 12000 3000 20000 3 50 300 5 50 5 20 5 C 823v1 LON SPEED DATA 1000Hz 10000 H GH SPEED DATA 10000 CBJ ECT ADDRESS DATA FCR ERI VE ADDRESS 2500 CRG TYPE CFFSET PULSE DATA 50PU SE DELAY 300ns SCAN 50ns JOG LDELAY TIME 20ns 0000000000000000000000000 1 INITIALIZE PROGRAM POWER ON RESET 0 D D e U uuu Dual DRIVE 0 L LIMIT STOP TYPE J 0 0 MOTOR STEPPING RDYINT TYPE 000000 uggaag 0000000 PULSE COUNTER COMPARATER PULSE COUNTER MCCO05v2 DRIVE PULSE 1 I I B D E E U 0 COMPARATE REGISTER 1
64. 0 005 005 00 o 10 FF FF 8 388 607 80 00 5 011 30 S RATE ABSOLUTE INDEX COMMAND COMMAND 731 000 DRIVE DATA1 2 3 PORT I UU 0 0 DRIVE DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D Y 25 E eseni ERE E WRITE ADDRESS 0 FFFFFF o WRITE ADDRESS LH 1 0 H1 B 200000000600 U 000 ADDRESS UU U DATA3 PORT ADDRESS 10D 8 388 607 FF o 10 00 n 00 n OA n COMMAND 0 00 5 00 5 00 5 73g WRITE 10 FF o FF r F6n L 8 388 607 80 0 i 55 C 823v1 31 ERROR STATUS READ COMMAND COMMAND E2 0 000 STATUS1 PORTO 0 ERROR 1000 ERROR 00000000000 DRIVE DATA3 PORT ERROR I U 0 HEX CODE HB D E U 00 IDO ERROR 00000000 01 IDO 00 0 COMMAND U D LU 025 IIII SET DATA READ I 0 0 0 COMMAND DODO 035 IIII SPECIAL URATE z 3 SOFT LIMITO URATE DRATE SPECIAL SCAN O O D 04 IIII SERIAL 100000 055 IIIJ SOFT LIMIT O O U 065 IIII DEND ERROR I DRIVE 075 HH ORIGIN ERROR I DRIVE 085 IIII SENSOR INDEX3 DATA SET 09 IIII COMMANDE 0 0 0 0 0 DATA J ORG D 00000 SET DATA READ 0
65. 1 1 0 CLOCK lt X1CWP X1CCWP PULSE COUNT PATTERN TYPE PULSE COUNTER INITIALIZE COMMAND INT CONTROL PULSE COUNTER INITIALIZE COMMAND COUNT PATTERN TYPE DFL COUNTER INITIALIZE COMMAND INT CONTROL DFL COUNTER INITIALIZE COMMAND COUNTER DATA1 2 3 WRITE PORT DATA PULSE COUNTER INITIALIZE COMMAND PULSE COUNTER PRESET COUNTER COMMAND Q Q 24BIT PULSE COUNTER COUNT DATA 24BIT COMPARATOR x Sch X1CNTINT OUTPUT 24 COMPARE REGISTER x Sch 1 5 REG SET COUNTER COMMAND DFL COUNTER INITIALIZE COMMAND DFL COUNTER PRESET COUNTER COMMAND ADRS DFL PULSE COUNTER PORT 24BIT COUNTER SELECT COMMAND DRIVE DATA1 2 3 READ PORT SELECTOR gt 24BIT COMPARATOR x 2ch X1DFLINT OUTPUT 24BIT COMPARE REGISTER x 2ch I COMP1 2 REG SET E COUNTER COMMAND ADDRESS DATA 24BIT ADDRESS COUNTER ADDRESS INITIALIZE COMMAND DRIVE 24BIT DATA DATA1 2 3 WRITE PORT 77 C 823v1 2 ADDRESS COUNTER ADDRESS COUNTER 0 MCC05v2 55 COUNT DATA DRIVE DATA1 2 3 PORT 1 0000000 0 O0 ADDRESS READ
66. D COUNTER 1000000 DFL COMP2 INT MASK D COUNTER BITH D O 0 4 5 U uu 0 COMMAND 215 000 PORT SELECT COMMAND ADDRESS COUNTER PORT SELECT COMMAND COMMAND 000 DRIVE DATA1 2 3 PORT ADDRESS COUNTER COUNT READ O PORTE LB 1H B BD DFL COUNTER PORT SELECT COMMAND COMMAND 000 DRIVE DATA1 2 3 PORT DFL COUNTER COUNT READ O PORTE LB LH BH PULSE COUNTER PORT SELECT COMMAND COMMAND o DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT READ O SPEED PORT SELECT COMMAND COMMAND FD o 000 DRIVE DATA1 2 3 PORTO PULSE J SPEED DATA READ 0 PORT 000000 COMMAND O O 0 O DRIVE DATA1 2 3 PORTO I H 0 0 0 DATADD DH HD D C 4 5 0 COMMAND O O 200ns 0 2
67. FSSTOP2 2 2 2 2 CWLM CCWLM LIMIT MIT D D D D Ui D 0 FSSTOP4 E t Di E DU uuu D uuu uu NTER MAND PULSE COU COM COUNTER D MASTER J 000 RDYINT CNTINT DFLINT sx C 823v1 2 4 11 HD nn nun 1 5000000 0 004ms kHz TABLE No 000000000 000 H 00 SPEED DATA BH PULSE 5 Hz DU uuu 20 0 MODE 0000 UUUUUUDDUDUDBDUuLU D D out END PULSE 0 0 ut 0000 ESPDI JU U INDEX J 0 3 ORIGIN 0 ORIGIN OOO UO U D D D D U D ORIGIN DRIVE NORG U O CW LIMIT MARGIN TIME J DD Doug D D 000000 00000 PULSE O O 0 0 0 MARGIN TIME LI LI ORIGIN ERROR 00 U CONST SCAN DRIVE 0 O JOG DRIVE I
68. HSPD DATA DATA 000000 1 1 D 3 333 333 32DCD5 1 00 DATA2 PORT WRITE EJ E HSPD 0000000 POWER ON RESET 0 0 0 HSPD 3000 7 5 3 0 0 0 0 5 10 DFL COUNTER INITIALIZE COMMAND COMMAND 095 OOO DRIVE 1 2 3 PORT 0 O COUNTER 010000000 DRIVE DATA1 PORT 000000000600 DATA1 PORT D D EICHENSEER DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 09 WRITE DRIVE DATA1 PORTO 0 0 U POWER e DFL COMP STOP TYPE D DD COUNTER BITO 0 0 COMPARATOR1 20 00000000000 on nnm 10 B DFLINT OUTPUT TYPE D COUNTER 00 D BITDD T COMPARATOR1 20 00000000000 0000000 STATUS3 READ 000 10 0 U DFL COMP STOP TYPE DFLINT OUTPUT TYPE DFLINT LATCH TRIGGER TYPE 0 p u
69. I COMPARATE REGISTER1 0 O0 O O 10000 2710H O U U U ADDRESS 0 MOTOR 0 ADDRESS 1000 3E8H O O O O O U PULSE COUNTER O 1000 SE8H PRESET 1 EH H Hi Bj B D HH U U U O PULSE COUNTER ADDRESS COUNTER I 1 Hl H B D U 00 KKK 5F 2K 2K 2K kok kok kok kok kok 2K 5K kok kok 2K 3K 3K 2K 2K 2K KK XL AX S IN TI ALI ZE EEE EEE EEE EEEEEEEEEEE SPEC IN TI ALI ZE1 COMMAND JSR MOVE B MOVE B X1RDY 28H XLAXSDT1 01H ROY VAT DRI VE SPEC DATA OUT SPEC IN TI ALI 251 COMAN OUT PLS CANTER I N TI ALI ZE COWAND J SR MOVE B MOVE B MOVE B MOVE B XIRDY 00H XLAXSDT1 209 XIAXSDT2 400 XLAXSDI3 02H XLAXSCOM ROY VAT CANTER SPEC 1 OUT CANTER SPEC DATA2 OUT CANTER SPEC DATAS OUT PLS COANIER I N TI ALI COMAND OUT ADDRESS I N TI ALI COMAND J SR MOVE L J SR MOVE B XIRDY DO XIDOUT 03H XLAXSCOM ROY VAT IN TALI ZE ADERESS DATA LOAD 3BYTE DATA OUT ADDRESS IN TI ALI ZE OUT 95 CANIER PRESET COMMAND MVE L B LSR L MOVE B LSR L B B IN ADD DO XICNIDI3 8 DO XI1ONTDT2 8 DO XICNIDrI1 00H X1CNTCOM C 823v1 INTI ALI ZE ADDRESS DATA LOAD DATA LSB OJT DATA MB OUT CANTER PRESET CMD OUT
70. OUT 13 NS IN11 IN12 DATA IN13 2 PORT 1 p pe 2 1000000 OUT10 OUT11 OUT12 OUT13 PORT POWER ON RESET OFF 35 COMMAND 00000 00000000000 PORT S 1 Mccosv2 000 2168 0000000000 6 1 COMMAND 1 D DRIVE COMMAND C 823v1 10 1 X2 Z210 COMMAND 00000001 SPEC INITIALIZE1 MAX 1 2ms 1 00000110 RATE SET MAX 60 5 0 1 00001010 SET DATA READ 35 s 9 g 00010000 JOG 2 00010101 0 2 E zl uu snn CS f R Jiduuun unn jJ 0i3 MAX 55 s 00011011 OFFSET PULSE SET 20 s 00011100 ORIGIN DELAY SET 25u s 00011101 ORIGIN FLAG RESET 25u s LOOT C i c e 01100000 SRATE SET MAX 150 u s 01100001 01100101 SCSPD1 ADJUST MAX 100 u s 01100110 SCSPD2 ADJUST MAX 100 u s 01110000 DD SRATESCAN 03 01110001 DD SRATESAN
71. 0 ADDRESS 00 FFFFFF 5 2 ADDRESS ADDRESS 10 00 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 TF FF o FF o COMMAND 000000 000000 ADDRESS DATA ADDRESS COUNTER COUNT DATA READ 6 4 READ J DRIVE 0 DRIVE DATA1 2 3 PORT O 0 O PULSE COUNTER J COUNTER I D DC CL D DL PORT PORTE 0 ADDRESS READ 0000000 PORTO ADDRESS 0000 PORTO D ADDRESS DATA DI DB D 0 PORTO J O O O O O DRIVE DATA3 PORTO PORTO D D ADDRESS READ COMMAND DRIVE DATA3 PORT l 42 C 823v1 6 SERVO RESET COMMAND COMMAND 055 COMMAND 05 WRITE 7 RATE SET COMMAND COMMAND 06 5 DATA2 PORT WRITE DATA3 PORT WRITE COMMAND O06 WRITE ESI T 8 LSPD SET COMMAND COMMAND 07 5 DATA1 PORT WRITE DATA3 PORT WRITE COMMAND 075 WRITE SERVO DRIVER U 0 DRST Ol 10ms 1 0000060 STEPPING MOTOR J 00000 0 COMMAND NO OPERATI
72. 22 29 24 1 INTO O 7 1 24 Nesil EEE 24 S 25 ett 26 1 26 2 STEPPING MOTOR DRIVER 0000 26 3 SERVO MOTOR DRIVER Q D OD 27 4 2 IMITO DL HD O 28 1 LIMIT J D 28 2 IMITO OO 28 ass 29 1 ORG 0 ORG 1 ORG 2 ORG 3 29 2 STEPPING MOTOR DRIVER ORG 4ORG 5 29 3 SERVO MOTOR DRIVER ORGA ORG 5 30 4 30 O PORT I 5 1 DRIVE COMMAND PORT 3
73. 26LS31 J DRST DRSTCOM 0 svi 00000000000 15mAD m 24 DRSTCOM Mae SORT 50mA Vce 6 70mA Vcel 2 OFF 0 1mA 0 uu OUT10 OUT13 OUT20 OUT23 Bonn 0000 1000 ONDO 000000 I ON 50mA Vce 0 6V J ws 7TOmA Vce 2V OFF D O 1mA 0 0000000000 15 2 0000 DEND PO 1 i RESETn 1 Zn AnSENSOR 1 FSSTOPn 1 1 INxO INx3 RESETn FSSTOPn ZnSENSOR AnSENSOR 000 0000800 CWLM CCWLM LU uuu 0 16 C 823v1 ORG NORG DEND PO 0 0 IN10 IN13 IN20 IN23 ZISENSOR Z2SENSOR A1SENSOR A2SENSOR RESET1 RESET2 CWLM CCWLM 0 FSSTOP1 FSSTOP2 ON 3 5 J INO IN3 0 7 0mA OFF 1 0mA INO IN3 1 9 Dau EB ZORG ON 7 8mA U OFF 1 0mA 0 0 ZORG 100KHz C 823v1 26 1 J1 J2 pU SES mul
74. 36 2 COMMAND 37 3 PULSE COUNTER COUNTER COMMAND 37 6 2 DRIVE COMMAND 37 1 NO OPERATION COMMAND 37 2 SPEC INITIALIZE1 COMMAND 38 3 PULSE COUNTER INITIALIZE COMMAND 39 4 ADDRESS INITIALIZE COMMAND 42 5 ADDRESS READ COMMAND 43 6 SERVO RESET COMMAND 43 7 RATE SET COMMAND 43 8 LSPD SET COMMAND 43 9 HSPD SET COMMAND 44 10 DFL COUNTER INITIALIZE COMMAND 44 11 SET DATA READ COMMAND 47 12 JOG COMMAND 48 13 SCAN COMMAND
75. 4 D 1 UUUUUUUUDBUDUBBDUDUHDUUUXNORGI I Cw D 000 00 H O xtoRe 000 00 000000 CONSTANT SCAN DRIVE 0 0 0 O U 0 000000000 74 C 823v1 9 ORG 11 CCW LIMIT CW LIMIT X1CCWLM 1 HSPD HIGH SPEED U 1 l CSPD CONSTANT SPEED e SD SCAN DELAY TIME Ove 000000 O 0000 lt o4 A 000000 0000 lt 0000 n gt X1CCWLMO OO 10 ORG 12 0 D CCW LIMIT CW LIMIT X1CCWLM 1 HSPD HIGH SPEED 1 ooon O L CSPD CONSTANT SPEED ES SD SCAN DELAY TIME uni nnnn JD JOG DELAY TIME 000000 00006 lan A 000000 4 W 0000 T oo X1CCWLMO OO
76. COMMAND 0A mccosv20 0000000 SPEC SPEED DATA DRIVE 0 000000000 0 0 DATA COMMAND DRIVE DATA1 5000000 0 2 3 DRIVE DATA3 PORT WRITE O 00000000000 DATA3 PORT D D U 2 3 2 1 L 12 DATA1 PORT WRITE DATA3 PORT WRITE COMMAND OA WRITE COMMAND CODE DRIVE DATA1 2 3 DATA D COMMAND m DATA3 PORTO 006 R RATE SET TATUS COMMAND J COMMAND PORT COMMAND O O BUSY 0 U 1 DATA2 3 PORT U U DATA2 PORT URATE No DATAS PORT DRATE No I Bi BH E UU 0 Y DATA1 PORT 00000000060 READ DRIVE DATA3 PORT 0 STATUS1 PORTO ERROR BIT I I ODE COMMAND NAME CODE COMMAND NAME SPEC INITIALIZE1 ABSOLUTE DATA SET RATE SET U 2 29 PART RATE SET 0 3 3 LSPD SET MARGIN TIME SET s HSPD SET 2Co PEAK PULSE SET f SEND PULSE SET x CW SOFT LIMIT SET CCW SOFT LIMIT SET SPEC INITIALIZE4 DATA2 PORT READ D
77. COMPARE REGISTER1 SET COMMAND O UU DU U 62 C 823v1 7 COUNTER PRESET COMMAND COMMAND 065 00 COUNTER PULSE COUNTER PRESET COMMAND I 00000 POWER ON RESET 0 0B Hd D D 8 COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 07 000 COUNTER COMPARE 1 0000 5 COUNTER DATA1 2 3 PORT COMPARE DATA I1 II U U COUNTER DATA1 2 3 PORT UUUUUUUU U U U COUNTER DATA2 DATA1 PORT DATA2 PORT DATA3 PORT PORT WRITE DP D D D D DP 22 25 25 28 21 20 PORT WRITE COMPARE DATA 0 7FFFFF 07 WRITE 00 0000000 0 2 POWER ON RESET 0 0000000 0 000000 O O O DATA O COMMAND PORT COUNTER I J 0 0 O O DRIVE PORT O 0 PORT ADDRESS 0 0 0 0003400000000 0200000000000000 00000000002 BT000000 9 COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 000 HD COUNTER COMPARE REGISTER2 0000000 5 0000000 COUNTER COMPARE REGISTER1 SET 63 C 823v1 7 1 DRIVE 1 JOG DRIVE 1 JOG 1 e 006 COMMAND X1CWP X1CCWP e JOG COMMAND X1CWP X1CCWP o JO
78. LOW SPEED SLSPD SET SET PULSE ADDRESS S RATE INDEX DRIVE 0 SLSPD 5 9 S RATE DRIVE Ll EH E E E U U LI 5 DRIVE J O SSRATE SERATE SCSPD1 SCSPD20 4 000000000 0 0 SRATE SLSPD SHSPD 0 00 0 5 2 DUD 0 0 0 00 00000000 0600 000 Hz SHSPD f SERATE SERATET SCSPDP E SCSPDI ed SLSPD ssRATE SRATE ssRATET t DATA COMMAND SSRATE ADJUST SERATE ADJUST scsPD1 0 0000 RATE I O0 SPEED sSCSPD1 ADJUST scsPD2 0 0 0 00 RATE I SPEED SCSPD2 ADJUST 67 SSRATE SCSPD2 C 823v1 SLSPD SCSPD10 0 0 000 SSRATEH 9 SRATE SET COMMAND O 0 0 80000000000000 0 1 DRIVE TYPE J 0 J MODE 0 SSRATEQ DB 0000 RATE DATA LH DLL B LH 5 80 DATA TABLE D 80 000 55 0000
79. O COW DRIVE DTACK X1CWP STATUS DRIVE STATUS BUSY 14 5 i2 t3 8 4 ORIGIN DRIVE 1 URATE DRATE I I l t1 150ns t40 35 s 44 H s 20 71u s 79u s 50 20u s t30 93 s 101H s 2 URATE z DRATE I I l t1 150ns t40 35u s 44 u s t20 1 3 L TYPE 50 18u s 630 u s M TYPE 400 u s H TYPE 35 t20 22u 5 1 ABSOLUTE INDEX DRIVE 0 0 0 ADDRESS J RETURN DRIVE D J O O DRIVE DTACK X1CCWP STATUS DRIVE STATUS BUSY 83 t1 150ns t 2 70u s t30 82U s C 823v1 2 ABSOLUTE INDEX DRIVE 0 0 0 ADDRESS J 0 RETURN O O CCW I O DRIVE DTACK X1CCWP STATUS DRIVE STATUS BUSY 8 5 SPEED CHANGE DTACK 0000000000 STATUS5 CHANGE BUSY 0 t2 0 CHANGE COMMAND 0 00000000 CHANGE COMMAND 0 O 0 PULSE 8 6 DEND 000 8 cw 0 O X1DEND X1CWP LII STATUS STATUS BUSY 1 t2 t3 10 SERVO DRIVER U U U t2 11 s t3 20u s U 5
80. P Esa en n n 05 n 02 Eu E ES HE rcr 2 gO C3 rr ES m EX cr 5 5 EE EE LE n 2 5 o0 0 a zu S Een Er n E ExELEREI EXT EJ EJ cr ola a aaa Fm 5 imam r3 02 E ES ES EJ EYE ol ol E ES Ez l 05 O oj oj 2 O a LODO ERES L3 L3 C3 m L3 L3 r3 o o o L3 L3 C3 F3 L3 r3 r3 DT C3 C3 C3 C3 C3 C3 ELE 05 5 Ern H H agam i a no oj oj oj es im ES E ES EE es es sss kaa c3 c rr c 63 m E EXE E EX r3 r3 ol aol al al al o000 5 rrr Op t3 r3 E c pr pr E Ed p Tl E L3 05 r3 ol ol ol ol za Wisa 5 L3 cr t3 r3 E c r3 r3 E ES ES El D Exp Jisan ojoj ET E r3 Kissa r3 Tp t3 r3 r3 c pr pr L3 L3 r3 r3 L3 r3 r3 o o o E ESI E DT C3 C3 C3 C3 C3 C3 LEE E o0 go eI e
81. RATE 1 f 2119871615 14 13 a jM 9 8 28 eh 10 20K 100K 50K N H TYPE 14312 11 10 9 8 7 Hz VA 1 0 6 HU 0 5 P 4 2 3 222 2 d 50 100 150 200 ns 92 C 823v1 9 2 0000000000 0000 C 823v1 0 CONTROL O O O USER PROGRAM OO U U 00000 MASTER 68000 C 823v1 0 0 0 ADDRESS FF00005 3 1 2 E OI DU U 2 0000000 F 2K 2K 2K EEEE EEE 2F 2K EKK 2F ook 2K 2K 5K oo ok ok ABLE Xl AX S XLAXSQCM EQU OFF0001H DRI COWAND PORT X1AXSDI1 EQU OFF0003H DATA1 PORT X1AXSDI2 EQU OFF0005H DATZ2 PORT XIAXSDI3 EQU OFF0007H DRIVE DATA3 PORT X1CNTGCM EQU OFFO009H CONIER COWAND PORT XIONIDI1 EQU OFFOOOBH CONIER DANTAI PORT XIONTIDI2 EQU OFFOOODH CONTER DATA2 PORT XIONIDI3 EQU OFFOOOFH CANIER DATA3 PORT 1 5 1 EQU OFF0001H STATUS1 PORT 1 5 2 STATUS2 PORT 1 5 EQU OFFOOO0BH STATUS3 PCRT X1AXSST4 EQU STATUS4 PORT 1 5 5 EQU STATUS5 PORT 1 AN 5 Y1AXSQOM
82. n a 3 C C3 r1 c r3 r3 r4 n 02 05 5 C3 r3 r3 02 5 Op t3 c E c pr p LE ES ELE ES o0 r3 05 ETE ogo0000 00 EE E33 m og200000 Llu Hoooo Llu OC 102 0000 D D D D D D D 1 D co 2 0000 C 823v1 102 L1 z L1 E HE o L1 o o o o o E o o LL o LL o LL oA o oan o LL oA Lum LL oA Lum LL oA O00 LL oA 0O00 LL oA 0O00 a E E IE EE II ERR IE TE EI ETE a EE E L ELE E a i C3 HT EI 1303 URL http www melec inc com s support del ec i nc com
83. 0 SS DEI S o S S SSS L R S 81 1 SERVO DRIVER D D 81 2 SPEED DATA HZ 00000 81 3 DRIVE TYPE QD 0D 0000 82 gt a e 82 SNE O DATAD HO EEE 82 a C EE 82 E a 82 8 1 JOG DRIVE 83 8 2 SCAN DRIVE S RATE SCAN DRIVE 83 8 3 INDEX DRIVE S RATE INDEX DRIVE 83 8 4 ORIGIN DRIVE 83 8 5 SPEED CHANGE 84 N AER RARER A REAR 84 TA E BR OEE E E EE CC EELS 85 a M M M EL 85 C 85 8 10 LIMITI 86 C 823v1 PAGE 8 11 O RDYINT 86 8 12 1
84. 0 0 O COMMAND OOOO I 0 MODE RATE SET J DATA1 PORT DATA U O DATA MODE Q O RESOLUTIONSETI I UU PART HSPD PART No IPART PULSE PART No IPART RATE PART No ISERIAL INDEX CHECK PART No OA O00 DRIVE 0 O O O O INDEX CHANGE O O O EL O OD DEND ERROR ORIGIN ERROR 0 COMMAND E2 WRITE Lm 0 0 DATA3 PORT READ ERROR CODE STATUS1 PORT UUUUUUUUUDuD ERROR COMMAND J COMMA 56 C 823v1 6 3 COMMAND 1 SPEED CHANGE COMMAND COMMAND 7 000 SCAND 0 INDEX DRIVE J O DRIVE DATA1 2 3 PORT SPEEDO 3000 DATA DRIVE DATA1 2 3 PORT O O 0 O HSPD SET COMMAND 1 0000 Y DATA1 PORT WRITE U 1 0 0 2 4 500 0 0 0000000000 STATUS5 SPEED CHANGE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 7 WRITE 2 INT MASK COMMAND 0 2 SPEED DATA0 00000000 1 2 3 0000000600 PORT WRITE
85. 00000 FI I D D 3 2 DATA MODE D O O 00000000 DATA 0 0 000000 0 0 0 000000000000000000000 0 O L TYPE H TYPE MODE 0 00000 UO 00 URATE DRATE 0 0 O USER I 000000 DATA TABLE No 0000000600 DATA TABLE 9 1 1 0 0000000 0 5 DATA LTYPE TYPE M TYPE H TYPE MODE SPEED 10Hz 100kHz 10Hz 800kHz 10Hz 3 3MHz 10Hz 3 3MHz SPEED D 1Hz 100kHz 1Hz 800kHz 1Hz 3 3MHz 1Hz 3 3MHz RATE D D 1000ms 1000Hz 50ms 1000Hz 5ms 1000Hz 1030ms 1000Hz 1 0ms 1000Hz 0 05ms 1000Hz 0 005ms 1000Hz 0 004ms 1000Hz uut 62Hz STEP 4kHz STEP 68kHz STEP 68kHz STEP 0000 81 C 823v1
86. 000000 OO U U DFLINT OUTPUT TYPE 0 00000 0000000 Dalle 0 X10000 COUNTO D YS RON SIS NIE U DSO 0 IRQn X1DFLINT t1 300ns t2 300ns t3 100ns 88 C 823v1 814 e 900 00000000000000 PULSE COUNTER COUNTER t1 150 x ns t1 200 x ns EB t2 330 ns t2 430 x ns 660 x ns tooo PULSE COUNTER I 0 0 0 001 O COUNTE 0O D UP COUNT DOWN COUNT UP COUNT DOWN COUNT exse uid s Aes 2 E p R T UP COUNT DOWN COUNT CES sp TT 0000 COUNIIHHU X1EA t1 150ns PULSE COUNTER tooo 330ns PULSE COUNTER t1 200ns DFL COUNTER tooo 430ns DFL COUNTER X1EB tooo tooo 89 8 15 RESET RESET X1CWP X1CCWP X1DRST IRQn RDYINT CNTINT DFLINT STAT
87. 00000000 U 2 993 SSRATE 1 1 D U U DRIVE 0 0 0 0 L TYPE 0 1030ms 1000Hz 0 M TYPE 0 51 5ms 1000Hz D H TYPE 5 15ms 1000Hz J MODE RESOLUTION D 1 030 ms 1000Hz SSRATE SRATE 0 1 5 J SRATE J D0000 SsRATEE 5 0 2 SSRATEN 0O00 SPEC COMMAND SCSPD2 SRATEQ SSRATE 0 D D UL DI SSRATE 0 IU UL DI SRATE 0000 RATED D DE DI SCSPD1 scsPD20 00000 SLSPD SHSPD 5 SCSPD1 SLSPD SHSPD SLSPD x SLSPD SCSPD1 SCSPD2 0 1 SCSPD10 SLSPD 0 0 0000 SCSPD1I 1 SCSPD1 SCSPD20 0 0 000 8 5 01 2 0 2 SLSPD SET J SHSPD SET COMMANDO 000000000 sesPD1 SPEC INITIALIZE1 COMMAND 000 5
88. 00000000 0000 e 25 41 00000000 C 823v1 1 cwccw 00000 0000000 a 000 J1 16 0 155600 COM X1CWP 18 X1CCWP 2 C 823v1 0000 0000000 00000000 0000006060 J1 X1CWP M X1CWP 18 000 0000 0 155000 19 X1CCWP zo Oe X1CCWP ex C 82 3v1 000 0000 DRIVER 2 STEPPING MOTOR DRIVER 1 STEPPING MOTOR DRIVER 0 0 X1PO 25 C 823v1 O 000 0000 24VGND DRIVER STEPPING DRIVER 0 XDRST xzoRG 26 3 SERVO MOTOR DRIVER I SERVO MOTOR DRIVER J1 X1DRSTCOM 00000 0 155000 C 823v1 150 2 1 N 2
89. 000000000 4 DRIVE SPEED CHANGE COMMAND O SCAN INDEX DRIVE 0 0o SPEED CHANGE COMMAND 0000 0 sPEED 000000080 U 1 URATE DRATE 0 2 5 LSPD O U 0 SPEED 0 3 SPEED CHANGE SPEED CHANGE 0000000 SPEED CHANGE COMMAND 00000000 0 STATUS5 PORT SPEED CHANGE BUSY SPEED CHANGE 65 C 823v1 5 0000000 ORIGIN DRIVE ORIGIN COMMAND 000000000000 DRIVE D LU D LU D 000000000 JOG SCAN DRIVE SCAN DRIVE ABSOLUTE INDEX DRIVE DATA I 0 COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET CSPD CONSTANT SPEED CSPD SET RATE SET RATE SET OFFSET PULSE OFFSET PULSE SET LDELAY LIMIT DELAY TIME ORIGIN DELAY SET SDELAY SCAN DELAY TIME ORIGIN DELAY SET JDELAY JOG DELAY TIME ORIG
90. 001 INJ APAN 21 13 5 13 71 2 47 3 1 C MCC05v2 Y1D MCC05v2 210 MCC05v2 A1D MCCO5v2 823v1 D 00 Ln 00 1 PORT 0 C 823v1 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 R W STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER DATA1
91. 001 00000010 00000011 00000100 00000101 00000110 00000111 00001000 00001001 LSPD SET HSPD SET DFL COUNTER INITIALIZE 00001010 SET DATA READ 00001011 00001100 00001101 00001110 CW SOFT LIMIT SET CCW SOFT LIMIT SET SENSOR DATA SET 00001111 00010000 00010001 00010010 00010011 00010100 EEFE EPEE EREEREER JOG INCREMENTAL INDEX A 00010101 21 5 21 21 2 21 ABSOLUTE INDEX 00011000 00011001 00011010 L1 E OFFSET PULSE SET 00011100 00011101 D 00011110 00011111 00100000 ORIGIN DELAY SET SPEC INITIALIZE3 00100001 00100010 00100011 00100100 00100101 RESOLUTION SET PART HSPD BUFFER SET PART HSPD SET INCREMENTAL DATA SET ABSOLUTE DATA SET 00100111 00101000 00101001 00101010 00101011 PART PULSE SET SERIAL INDEX CHECK PART RATE SET SPECIAL SERIAL INDEX CHECK MARGIN TIME SET PEAK PULSE SET 00101101 00101110 00101111 L1 E3 E E3 E E3 JJ L1 E E E rJ SEND PULSE SET SESPD SET SPEC INITIALIZE4 99 00110000 00110001 SPECIAL SCAN1 SPECIAL SCAN1 C 823v1 00110010 L1 L3 L3 SPECIAL SCAN2 SPECIAL SCAN2 SPECIAL INCREMENTAL INDEX1 SPECIAL ABSOLUTE INDE
92. 1 5 2 DRIVE DATA1 2 3 PORT WRITE 31 5 3 DRIVE DATA1 2 3 PORT READ 31 5 4 COUNTER COMMAND PORT 31 5 5 COUNTER DATA1 2 3 PORT WRITE 31 5 6 STATUS1 PORT 32 5 7 STATUS2 PORT 33 5 8 STATUS3 PORT 33 5 9 STATUS4 PORT 34 5 10 STATUS5 PORT 34 C 823v1 C 823v1 PAGE 5 11 0 0 UO PORT 35 GU SPORT T 1585358553502 0083009 T 35 2 PORTI 35 6 1 COMMAND 36 1 0000 DRIVE COMMAND
93. 2000 210 D 220 D 23D D c O O 0000 X2CWP X2CCWP 0 00 5V ew n 0000000 cw 0 0000000 ccw 0 0000000 ccw 0 0000000 X2 X2 X2 X2 o o o Oo o N A 5 S z O o c e D c N N N IN 8 S 1 I 35 2 2 UO N N Q O E U Daun 2000 0000 2100 Daun 2200 Daun 2300 D 00000000 GND 0 2 Z2CWP Z2CCWP O 0 0 0 5V 220 cw 0 000000000 220 cw 0 000000000 220 ccw g0 000000000 ccw 0 000000000 N X2DRSTCOM X2DRST I OU J 24v N Z2CCWP Z2DRSTCOM 2 2 5 24V ER 2 g O EI X2 gt X2 X2 N ev N X2DEND X2PO x X2EB X2 X2 Z J G Im Im Ej E Ira a C jo n lao I r3 jo X2 Y2CWP Y2CCWP O 0 00 5V A2CWP A2CCWP 0 0 0 0 5V ev
94. 3 EQU OFFOO3FH CANIER DATA3 PORT 1 5 1 OFF0031H STATUS1 PORT 1 5 2 OFF0039H STATUS2 PORT ALAXSST3 STATUS3 PORT 1 5 4 OFFOO3EH STATUSA PORT 1 5 5 OFFOO3FH STATUS5 PCRT 93 C 823v1 READY U 0 SUBROUTINE 0 O KKK KK 2K 2K 5K 5 kok kok kok kok 3K 5K 5K 2K 3K 2K 3K 3K 2K 2K 2K 2K KK READY WT AREREEREREEEEEEEEEEEEEEEEEEEEFEE X1RDY MOV E B XIAXSST1 DO Xl READY 01H DO BNE XIRDY NOA BUSY TEN LOP RTS Y1RDY MVE B 1 55 1 DO Yl READY ANJ B 19 DO BNE NOA BUSY TEN LOP RTS Z1RDY MVE B ZIAXSST1 DO Zl READY ANJ B 19 DO ZIRDY NOA BUSY THEN LOP RTS A1RDY MOV E B AASST1 DO Al READY ANJ B 01H DO BNE B ARDY NOQ BUSY THEN LOP RTS U DRIVE DATA10 0 SUBROUTINEI 00006060 0000 4BYTE 0 000 REGISTER SETO I 2 1 KKK FF 2K 2K 2K 5 kok 5K 5K kok kok 2K 5K kok 2K 2K 3K kkk 2K 2K KK E 3BYTE DATA OUT KKK FF 2K 2K 2K 5K 5K 5K 5K 5K 5K 2K 2K 2F 2K 5K 5K 2K 3K 2K 3K ok 2K 2K 2K KK X1DOLT MME DO XIAXSDI3 DATA LSB QUT LSRL 8 DO MME DO XIAXSDI2 LSRL 8 DO MOV E B XIAXSDT1 DATA MB QUT RTS Y1DOUT
95. 4 5 DRIVE DATA1 2 3 PORTO 0 DRIVE J J 5 00000 SPEEDO DU D D U C 7 E D U U 160 000 000 0 0 SPEED Hz VE READ 30000000 9 5 2 833 000 0 x SPEED ID D D U LU U DRIVE DATA1 2 3 PORT O 0 PULSE COUNTER PORTE H D D 00000 SPEED READ 00000 U PORTO SPEED DATA B HH B D U UU D DE DI 000000000000 SPEED PORT SELECT COMMAND I OOO OO 5 D S ATA SPEC INITIALIZE DATA SET DATA READ COMMANDE I HB HB DU D UU 6 0000000000 ADDRESS READ COMMAND I 000000000 DATA D D O 8 388 607 8 388 607 PULSE I 00 00000 POWER ON RESET O 0 U uuu ADDRESS INITIALIZE 7 Uit e COMMAND 0 0 0 0 DRIVE COMMAND 0 O O FSSTOP STOP LIMIT O O O J O O O COMMAND O O 9 8
96. 7 3 O O ORG 0 1 2 3 4 5 10 11 120 00000000 X10 2 Y20 Z20 6 0 5 11 12 J OFFSET PULSE 9 FLAGO OFF O O O O ABSOLUTE INDEX DRIVE QD O000000 000 FLAG ON l0 000 FLAG OFF POWER ON RESET D DRIVE J O O O FSSTOP J DRIVE 0 DRIVE 0O00 ORG DRIVE 000 ORG DRIVE O O O ORG DRIVE I U UD DD ADDRESS 8 388 607 8 388 607 0 00000000 ORIGIN FLAG RESET COMMAND J D SPEC 4 000 ADDRESS USER I U l L 00000000000 O O ADDRESS INITIALIZE COMMAND 5
97. ASENSORI I O O O 1 0 HIGH 1 LOW O LOW 1 HIGH X1EB0 000 10 HIGH HIGH 1 J LOW utu U 1 9 0 0 0 2 U 50 0000000000000 00 5 10 STATUS5 PORT 00000 SOFT LMIT 0 0 0 SPEED CHANGE IH LOD D DD 1000000 CCW SOFT LIMIT BIT CW SOFT LIMIT BIT 0 D utu D ut D ut SPEED CHANGE BUSY BIT RATE CHANGE BUSY 0 INDEX CHANGE BUSY 34 C 823v1 5 11 0 VO PORT 40 11300 40 oureogn OUT 300001000 von 2000000000 0000000000000 000000 1800000000000 2 1 PORT 1 2 20 1000000 OUT11 OUT12 D D
98. ATA3 PORT READ OE DFL DIVISION DATA SET DEND TIME SET 185 END PULSE SET EXTEND ORIGIN SPEC SET 19 ESPD SET 1 5 CSPD SET SRATE SET 1B o OFFSET PULSE SET SLSPD SET 1C ORIGIN DELAY SET SHSPD SET 20 21 SPEC INITIALIZE3 ii SSRATE ADJUST CLOCK FREQUENCY SET 64g SERATE ADJUST RESOLUTION SET 65 SCSPD1 ADJUST PART HSPD SET 3 66 SCSPD2 ADJUST INCREMENTAL DATA SET j COMMAND 000000 U 0 0 0 1 00000000 00000 0 0 DATA PORTO 0 0 DATA PORT 0000000 DRIVE DATA3 PORT READ 0 2 COMMANDE MODE J URATE DRATE J B DRIVE DATA1 PORT WRITE J U 3 COMMAND PART No DRIVE DATA1 4 5 POWER A7 C 823v1 12 JOG COMMAND COMMAND CW 0 DRIVE 10 CCW DRIVE 115 000 JOGDRVEI JI IU L 13 5 COMMAND COMMAND cw ng DRIVE J 122 DRIVEN 136
99. C 823v1 26 SCSPD1 ADJUST COMMAND COMMAND 655 S RATE DRIVE CSPD1 RATE Hl 00 5 DRIVE DATA1 2 3 PORTO SCSPD1 j HzO OO 3000 DATA DRIVE 1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D DATA1 PORT WRITE 2 L 2 111221 12 E EA EINE a SCSPD1 DATA SCSPD1 J 0 SLSPD SET SHSPD SCSPD1 SLSPD SHSPD SLSPD x i 0 1 SLSPD SETO O0 SHSPD 805 1 00 SPEC COMMANDE 0 2 99 SLSPD s SCSPD1 s SCSPD2 SCSPD1 SCSPD1 SLSPDI SCSPD1 SCSPD2 0 O0 0 O0 O SCSPD1 2 2 27 SCSPD2 ADJUST COMMAND COMMAND 66 5 S RATE DRIVE SPEED 0000 5 5 2 0 0 DRIVE DATA1 2 3 PORT SCSPD2 HzO OO 3000 DATA DRIVE DATA1 2 3 PORTO O0D000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D DATA1PORT o 23 Te eR
100. CEA WRITE D 0 0 SCSPD2 DATA WRITE 0 SCSPD2 RESET SLSPD SET SHSPD SET COMMAND U I WRITE 000 COMMAND 2 66 WRITE SCSPD2 SLSPD SHSPD SLSPD x 0 1 SLSPD SET SHSPD 2 SPEC INITIALIZE1 COMMAND 0 2ScsPD2 0 0 0 0 0 SCSPD1 s SCSPD2 s SHSPD SCSPD2 SCSPD1 0 0 O U 0 0 SCSPD2 ScsPD10 SCSPD2 SHSPD 00000 O SCSPD2 54 C 823v1 28 S RATE SCAN COMMAND COMMAND CW I DRIVE cew n DRIVEN 71 S RATE SCAN DRIVE 1 O COMMAND 70 710 WRITE 29 S RATE INCREMENTAL INDEX COMMAND COMMAND 72 000 DRIVE DATA1 2 3 PORTO O O DRIVE DATA1 2 3 PORTU 0 0000000600 DATA1 PORT DATA2 PORT DATA3 PORT D D D D 3 25 25 28 2 28 DATA1 PORT WRITE D 22 NENNEN 56 PULSE 00 FFFFFF o ccw 0O 0000000 20000000000 000 PuLsEJ D D D D 00 0 O LET 72g WRITE
101. COMPARATOR COMPARATOR2 STATUS UU 00 5 U 5 0 0 STATUS8 PORTO RESET 0 00000000 O COUNTER O 0 COUNTER REGISTER2 RESET 000000 7 4 5 0 COMPARATOR l X1DFLNT O O U O O gt REGISTER1 O COUNTER s REGISTER2 0 O Cc 1 1 aaz m a 9 FSENDBITI UUDUUDUDUDUDUUBDBUDSSENDBITIJ 1000000 d 0 COUNT COMPARE CONTROL O DFL COUNTER COMPARE REGISTER 0 DATA O 0 O COUNTER PORT O O O O O O 0 COUNTER PORT DRIVE E rpm 79 C 823v1 5 PULSE COUNTER 0 COMPARATOR 0 COUNTER COMPARATOR
102. COMPARE REGISTER 2 10 7 X9 10 DSO n 1 STATUS COMP1 5 STATUS3 COMP1 5 COMPARE REGISTER 5 0 0000000000000000 58 53 COMPARE 5 00000000000 0 0 0 STATUS3 PORTO READ I 0 LE Lc PULSE COUNTER INITIALIZE COMMAND CNTINT OUTPUT TYPE 10 0000 0000600 PLS COMPARE REGISTER 2 xU 7 X8 X9 X AO X 12 5 CNTINT D 0 is m amp STATUSS COMP1 5 COMPARE REGISTER SET COMMAND I 0 CNTINT 0000000 D XTCNTINT 1 D 00000 000000000000 CNTINT D D B D D B DO STATUS PORT I LI D HL B ELO O U V UI IRQn J D D uuu U U U CNTINT OUTPUT TYPE O 0000 2D 000000 0000000000000000 0 CW I 0 C 823v10 X10 X1CWP 080 IRQn X1CNTINT t1 200ns t2 200ns t3 0 100ns 87 C 823v1 8 13 IRQn DFLINT DFL comP10 0 0000000 COUNTER gt COMPARE REGISTER1
103. COUNTER COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 STATUS1 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 1 R W C 823v1 U uuu CEPR U U a 2 3 5 ON 0 OFF 1 23 C 823v1 3 2 0000000 82 1 ARDYINT X2RDYINT Y2RDYINT Z2RDYINT A2RDYINT PULSE X4CNTINT Y1CNTINT ATCNTINT X2CNTINT Y2CNTINT Z2CNTINT A2CNTINT 000 X4DFLINT Y1DFLINT
104. DD UO U U DATA COMPARE REGISTERt O U U U 78 C 823v1 4 COUNTER COUNT D a0 0 COUNTERD 0 0 Mccosvzp o00000000000000000000 b COUNT DATA DRIVE 29 COUNTER PORT DATA OU 8 388 607 8 388 607 PULSE AREA c COUNTER POWER ON RESET COUNTER COMMAND COUNTER PRESET COMMAN 9 9 DFL COUNTER INITIALIZE POWER e D COUNT COMPARE U a COUNTER O O 0 0 0 COMPARE REGISTER COMPARATOR 1 D D D H1 Hl D COUNT 1 D D D REGISTER I D D H1 HH D 0 0 O PULSE COUNTER COMPARE REGISTER O U COMPARATOR10 0 COUNT I REGISTERT D I D D 2D D COMPARATOR2 COUNT s REGISTER2 0O00000 0 00000000000 REGISTER1 UE REGISTER2 GE eee U z REGISTER2 REGISTER mE pieds bo
105. EED T HZ READ DATA 0 READ DATA 48 30 0 0 PULSE SPEED _ 3 3 MHz 0 DRIVE SPEED DATA 0 2 DATA READ DRIVE 1 2 3 PORTO 0000000000 60 C 823v1 6 5 COUNTER COMMAND 1 PULSE COUNTER PRESET COMMAND COMMAND 00 n 000 PULSE COUNTER COUNT 1 I HH B0 600 INITIALIZE COUNTER DATA1 2 3 PORT PRESET DATA UO U U U U COUNTER DATA1 2 3 PORT 00000000000 COUNTER DATA2 PORT WRITE DATA1 PORT DATA2 PORT DATA3 PORT D D D D COUNTER DATAS 2 spa Zero u PORT WRITE COUNTER COMMAND PRESET DATA 0 FFFFFF 00 WRITE POWER ON RESET 00 a oA PRESET DATA PRESET DATA 10 0 8 388 607 FF p 10 O0 n 0 00 00 n 00 n 10 FF FF F6 8 388 607 80 1 00 5 01 O DATA 0 COMMAND PORT COUNTER O PORT 1 000 DRIVE PORT 0 PORT 55 0 000000000000 DDRESS 00000 3 10 0000000 A g gt 61 2 4 6 C 823v1 PULSE COUNTER COMPARE REGIST
106. ER1 SET COMMAND COMMAND 015 000 SETH B D Hl COUNTER DATA1 2 3 PORT COMPARE DATA O00000 COUNTER DATA1 PORT WRITE COUNTER DATA1 2 3 PORTO H Bi BH E B HH H U DI LI D DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 25 215 28 27 20 COUNTER COMMAND E EE COMPARE DATA 0 0 010 WRITE COMPARE DATA j DGD Go D 20 000000000 POWER ON RESET J 800000 00000 COUNTER DATA2 PORT WRITE EJ 0 DATA I COMMAND PORT COUNTER PORT U U D DRIVE PORT 5 0 0 PORT ADDRESS 00000 3 19 0000000 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 02 000 COMPARE REGISTER 00000000 SETH BL D HI 0 COMPARE REGISTER1 SET COMMAND 00000 PULSE COUNTER COMPARE REGISTER3 SET COMMAND COMMAND 03 0 000 COMPARE 0 000000 REGISTER1 SET COMMAND LH DH D E U PULSE COUNTER COMPARE REGISTER4 SET COMMAND COMMAND 04 000 COMPARE REGISTER4 00000000 SETH BL OD 0 COMPARE REGISTER1 SET COMMAND 00000 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 055 000 COMPARE REGISTERS 00 000000 SETH C HI 0
107. G DRIVE DATA 1 I D BH 2 SCAN DRIVE SCAN COMMAND 0 0 0000 7 Hz HSPD LSPD SCAN COMMAND j X1CWP iplis X1CCWP SCAN COMMAND X1CWP xew AMT SCAN DRIVE 0 0 0 DATA J 0 0 COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET RATE SET 0 0000 0 JLSPD 64 C 823v1 3 INDEX DRIVE INCREMENTAL INDEX COMMAND 0 0 ABSOLUTE INDEX 0 0 0 0 PULSE 1 OO 00 ADDRESS 0 O0 0 0 0 HSPD u PULSED ADDRESS LSPD emis P3 mne nm X1CCWP e CCW 1 U LI U X1CWP mw TAIN DATA D COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET RATE SET RATE SET PULSE ADDRESS INDEX DRIVE 1 U 0 2 LSPD HSPD URATE URATE 0000006080 8 300000
108. IN DELAY SET 6 LIMIT SENSOR 0000000060 7 S RATE SCAN DRIVE S RATE SCAN COMMAND 0 0000000 00000 DRIVE 515 5 5 SRATELD D D 000 720 0800000000000 0000 Hz SHSPD HS SLSPD SRATE SRATE S RATE SCAN O _ 0 000 00 DATA COMMAND SHSPD S RATE DRIVE HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD SET SRATE S RATE DRIVE HH U D H D DU SRATE SET 0 SLSPD 5 66 C 823v1 8 S RATE INDEX DRIVE S RATE INCREMENTAL INDEX COMMAND S RATE ABSOLUTE INDEX COMMAND 0 0 S RATE SHSPD EST PULSE ADDRESS SLSPD SRATE SRATE S RATE INDEX DRIVE 0 DATA COMMAND SHSPD S RATE DRIVE 0 D HIGH SPEED SHSPD SET SLSPD S RATE DRIVE 0
109. INDEX COMMAND 55 30 S SRATE ABSOLUTE INDEX COMMAND 55 31 ERROR STATUS READ COMMAND 56 6 3 D COMMAND 57 1 SPEED CHANGE COMMAND 57 2 INT MASK COMMAND 57 3 PORT SELECT COMMAND 58 4 SLOW STOP COMMAND 59 5 FAST STOP COMMAND 59 60 1 COUNTER READ 60 2 SPEED READ 60 6 5 COUNTER COMMNAD 61 1 PULSE COUNTER PRESET COMMNAD 61 2 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 62 3 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 62 4 PULSE COUNTER COMPARE REGISTER3 SET COMMAND
110. ON 000 URATE H 0000 DRATE 0 0000 0000000 DRIVE DATA2 PORT URATE DRIVE DATA3 PORT DRATE DATA 0 Ne D D UO U D D L DRIVE DATA2 3 PORT H B Hl H B B d D d D DATA2 PORT DATA3 PORT DP DE D DP 21 20 21 20 DRATE URATE 0000000 POWER ON RESET URATE DRAT 100ms 1000Hz 0000000 RATE SET COMMAND 00000000000 DRATE 0 No 9 O U DRIVE U O LSPD LOW DRIVE DATA1 2 3 PORT LSPD Hz 00 300 0 DRIVE DATA1 2 3 PORTO 000000000600 DATA1 PORT DATA2 PORT PORT D 128 28 l Dip m LSPD DATA LSPD DATA 000000 10 0 3 333 333 320 05 0 00 0 0000000 O POWER ON RESET O D LSPD 300920 00 7 5 3 0 0 0 0 5 43 C 823v1 9 HSPD SET COMMAND COMMAND 08 000 DRIVE O O O HSPD HIGH SPEED 000000 DRIVE DATA1 2 3 PORT 3 DRIVE 1 2 3 PORTO 000000000600 DATA1 PORT DATA2 PORT PORT D D D D D 2 E 328
111. RT SCAN DELAY TIME 50ms 0A CONSTANT SCAN SCAN DRIVE O I D H D D DELAY TIME DATA3 PORT JOG DELAY TIME 20ms 04 JOG DRIVE D 0 1PULSE J 0 DELAY TIME POWER E DATA3 PORT U DATA 00 0 FF 0 00 0 Sms B D B U O0 D U WRITE DELAY TIME 50ms FS 1 275s ORIGIN DELAY SET COMMAND I 000000000000 OMMAND 102 000 FLAGO RESET J D uuu D uuu DRIVE l ABSOLUTE INDEX DRIVE I D O D 7 30 0000000 COMMAND 1Ds WRITE COMMAND O 0 0 ORIGIN COMMAND I O 50 C 823v1 I 20 ORIGIN COMMAND COMMAND LIE uu DRIVE ORG 00 ORG 1 01 2 02 3 03 DATA1 PORT ORGA 04 WRITE 5 05 ORG 10 COMMAND ORG 11 OB o 1E WRITE ORG 12 OC a ERRORTI I l Dui DRIVE 0 0 STAT
112. TO 000000000600 DATA3 PORT D D 2 L 12 Es SSRATE No DATA3 PORT WRITE COMMAND 63 WRITE SSRATE SRATE SET SRATE J COMMAND 8 0 0 0 1 SET COMMAND 000000000000 0 SSRATE SPEC 1 COMMAND DRIVE TYPE L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 ET L3 r3 og L3 r3 0 2 000 B 0 SSRATE gt SRATE 1 Li SSRATE SSRATE SRATE I H d U U 25 SERATE ADJUST COMMAND COMMAND 645 S RATE DRIVE O O J O SERATE D 0000000 DRIVE DATA3 PORT SERATE DATA OD No H 000000 DRIVE PORTO 000000000600 DATA3 PORT D Z L 12 SERATE DATA3 PORT WRITE COMMAND 64 WRITE SERATE J SRATE SET COMMAND J 0 0 SRATE 000000000 0 0 00 7 1 9 06 000000 8000000000 0000 D uggggggaputu 0 1 5 SERATEI D D Ul D UI D UD L DD UU O O SPEC COMMAND 0 2 000 B SERATE gt SRATE 1 SERATE SRATE 0 0 0 U O SERATE 21532
113. US sexes ever eruere BUSY 8 16 BUS TIMING READ C 823v1 c h 5ms 2 5H s t4 10 6ms t2 gt 5ms 3 0H s t50 5u s t30 5ms 0 300p s SYSRESET OU U A01 A15 AMO lt __ LWORD IACK AS 0810 080 WRITE DTACK D00 D07 t1 t5 lt 2 t1 290ns t4 0 t2 0 t5 400ns t3 110ns t6 160ns 90 WRITE A15 AM0 LWORD IACK 5 DS1 1 080 WRITE DTACK DOO D07 INTERRUPT A01 A15 AM0 AM5 LWORD IACK As DS1 DSO WRITE DTACK D00 D07 IACKIN IACKOUT t5 160ns C 823v1 1 gt 60ns t3 0 t2 0 t4 390ns EE t7 t8 t1 t2 t5 t1 lt 340ns t 0 t 2 0 t5 390ns t3 110s te 150ns t x 200n t8 lt 20ns 0 7 5 0 O 5 91 C 823v1 9 1 RATE 1 RATE DATA e L TYPE e M TYPE e H TYPE ms 1000Hz No ms 1000Hz 50 ms 1000Hz 0 5 0 1 2 0 5 5 0 6 3 0 7 1 5 ms 1000Hz 1000 100 2
114. US1 DREND BITO 10 LSEND SSEND FSEND J BIT 04 ERROR LSEND SSEND FSEND 00000 1 bRIVE 0 00 STATUS10 00 BITO 00000 0032 21 SRATE SET COMMAND COMMAND 60 000 S RATE DRIVE J 0 0 SRATE EH 00000 0 000000 DRIVE DATA3 PORT SRATE DRIVE DATA3 PORT 000000000600 Y DATA3 PORT DATA3 PORT D D WRITE C COMMAND 60 WRITE SRATE No POWER ON RESET No 9 100ms 1000Hz 600000000 COMMAND 0 0 SSRATE SERATE D uggggggagppDuu 51 C 823v1 22 SLSPD SET COMMAND COMMAND 615 O S RATE DRIVE D 0 J SESPD LOW SPEED H OOOO D DRIVE DATA1 2 3 PORTO SLSPD j 3000 DATA DRIVE 23 DATA1 PORT DATA2 PORT DATA3 PORT D D p D p DATA1 PORT i L 1I2 2 L 1 WRITE D 0 0 MEM 0 SLSPD 10 0A 0 3 333 333 320 05 0 00 WRITE 1 SLSPD
115. X1 SPECIAL INCREMENTAL INDEX2 SPECIAL ABSOLUTE INDEX2 00110111 00111000 00111001 00111010 00111011 SERIAL INDEX SERIAL INDEX SPECIAL SERIAL INDEX SPECIAL SERIAL INDEX SENSOR INDEX1 00111100 00111101 00111110 01010000 01010001 ET EEA L1 L3 L1 L1 E 5 SENSOR 2 SENSOR EJ 01010010 01100000 01100001 01100010 01100011 SLSPD SET SHSPD SET SSRATE ADJUST 01100100 SERATE ADJUST 01100101 01100110 0101110000 L1 E L1 E E E E E3 E L1 L1 SCSPD1 ADJUST SCSPD2 ADJUST S RATE SCAN 6 2 28 01110001 01110010 01110011 11100010 L1 L3 E L3 L1 L1 28 S RATE SCAN 6 2 28 S RATE INCREMENTAL INDEX 6 2 29 ERROR STATUS READ 2 COMMAND J COMMAND 4 500 00 11110011 11110100 COMMAND SIGNAL OUT INDEX CHANGE 6 2 31 11110101 RATE CHANGE 11110110 DRST OUT 100 C 823v1
116. XSDI3 MOVE 1CH XIAXSQOM CR G N ER JSR MOVE CRGNQ XIAXSDT1 MOVE X1AXSQOM ROY VAT CFFSET PULSE DATA OUT CFFSET PUSE SET COMAND CUT ROY VAT DELAY TI ME DATA OUT SCAN DELAY TI ME DATA OUT J GG DELAY TI DATA OUT COR GN DELAY SET ROY VAT CRI G N TYPE OUT 97 C 823v1 9 3 C 823v1 O00000 POWER JP1X12 X1 2 JP1Y1 2 Y1 2 JP1Z1 2 Z1 2 JP1A1 2 1 2 0 000 20 0 COMMAND TREAT ERE RATE SET SRATE RATE DATA TABLE No No 9 100ms 1000Hz No 12 30ms 1000Hz ion SPEC INITIALIZE1 mscowipssuemams COMP STOP TYPE L 0000 5 OUTPUT COMPARATOR I 000000000000 CNTINT LATCH TRIGGER TYPE 0000
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