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C-772A 取扱説明書(コマンド編)

Contents

1. A
2. 131 3 IO PORT 54 n O PORT IO PORT O OUT11 OUT17 ON 1 OUT10 OUT12 OUT13 OUT14 OUT15 OUT16 OFF 0 IO PORT 82 ECIEIETIETIP _ PORT PORT 00 n I O PORT 02 n IOPORT lot nloo
3. PLS INDEX CHANGE END PULSE 116 6 14 AUTO CHANGE 1 CHANGE POINT SET lt gt COMMAND H 00B0 CHANGE POINT SET COMMAND DATA1 PORT DRIVE DATA2 PORT D15 D8 WRITE D7 DO0 No DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 DO N STATUS1 PORT SS S 4 39 gt STATUS1 PORT BUSY 0 Y IN DRIVE COMMAND PORT COMMAND
4. A PAGE PORT 9 1 2 MCC06 PORT 9 1 DRIVE COMMAND PORT 9 2 DRIVE DATA1 2 3 PORT 9 3 COUNTER COMMAND PORT 9 4 COUNTER DATA1 2 3 PORT 9 9 MCCOE PORT 1 3 A RE EGGERS EEE CEN EE ER RCs 10 A STATU
5. DRIVE DATA1 2 3 PORT READ 0 1 COUNTER LATCH SPEC SET COMMAND HF028 lt gt COUNTER LATCH SPEC SET COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND
6. 2 X Y 1 2 2 COMMAND H 0110 ABS STRAIGHT CP COMMAND 2 SRATE 2 S 2 COMMAND H 0111 ABS SRATE STRAIGHT CP COMMAND 3 CONST 2 2 COMMAND H 0112 ABS STRAIGHT CONST CP COMMAND 4
7. 125 3 COUNTER DATA1 PORT 22 MCC06 COUNTER DATA1 PORT DATA X MCC06 COUNTER DATA1 PORT 00AB loe lo1 nloz nl22nloo loo AB L COUNTER DATA1 PORT DATA 00 nm X 01a Y 01 loon 4 COUNTER DATA2 PORT 23 MCC06 COUNTER DATA2 PORT DATA COUNTER DATA2 PORT AB 06 uot no2n 23 00 00 AB COUNTER DATA2 PORT
8. INC INDEX CHANGE INC INDEX CHANGE END PULSE 114 3 ABS INDEX CHANGE ABS INDEX lt gt COMMAND HF03D ABS INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 MAN DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT _ WOW c3 a STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAN
9. 1 PORT po PORT 05 uot alo2 lpo oonlotn PORT DATA 00 01 00a X 01n Y 2 PORT D1n PORT
10. LSPD HSPD URATE DRATE ENDPULSE END PULSE END PULSE END PULSE ESPD END PULSE ESPD DELAY TIME END PULSE DELAY TIME 1 LSPD SET lt gt COMMAND H0010 LSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 TAS PORT DRIVE DATA3 PORT D15 D0 NE
11. 1 DFL COUNTER PRESET lt gt COMMAND H0020 DFL COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT D31 D16 WRITE COUNTER DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 D4 D3 p2 p1 po D31 D16 COUNTER DATA3 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO H 0000_0000 H 8000_0000
12. 0O 0 X Y X Y CW CCW X Y X Y X X X CENTER POSITION X SET X X Y
13. D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 CNTINT COMP1 2 3 TYPE1 TYPE0 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR AND D10 COMP STOP TYPE COMP1 2 3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 CNTINT 0 COMP1 CNTINT 1 COMP1 CNTINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1
14. SPDINT PULSE TYPE D6 SPDINT PULSE TYPE0 D7 SPDINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPE0 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 SPDINT COMP1 2 3 TYPE1 TYPE0 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR AND 0 0 0 1 1 0 1 1 D10 COMP STOP TYPE COMP1 COMP2 COMP3 0 1 D11 1 1
15. 1 1 ZN 00n 1 1 00 EE 02H 03 1 04H
16. 03 n oo nloo nloan DRIVE DATA1 PORT 127 3 DRIVE DATA2 PORT 32 p MCC06 DRIVE DATA2 PORT 000A un oa ot un o2 un 32 woo nl 00 n X 01n Y 03 n oo n oo n oan DRIVE DATA2 PORT 4 DRIVE DATA3 PORT 33 n MCC06 DRIVE DATA3 PORT 000A
17. 1 COUNT PULSE SEL2 1 D11 0 0 D12 COUNT PULSE SEL2 0 1 1 D13 COMP2 TYPE2 COMP2 0
18. Y 2 X Y 1 2 2 COMMAND H0150 INC STRAIGHT CP COMMAND 2 SRATE 2 S 2 COMMAND H 0151 INC SRATE STRAIGHT CP COMMAND 3 CONST 2 2
19. 1 ADDRESS COUNTER PRESET lt gt COMMAND H0000 ADDRESS COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT A31 A16 WRITE COUNTER DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF SO 0 2 BUSY 0 STATUS1 PORT BUSY 0 Y RN COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A31 gt A16 COUNTER DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO A0 A15 H 0000_0000 H 8000_0000
20. 1 5 000 000 HI0000_ 0001 H004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0 117 2 CHANGE DATA SET lt gt COMMAND H 00B1 CHANGE DATA SET COMMAND DATA1 PORT DRIVE DATA2 PORT D15 D8 WRITE D7 DO0 No i DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 D0 CN STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 pO D7 lt
21. ORIGIN SPEC ORIGIN SET ORISN CSPD CONSTANT SCAN SET ORIGIN DELAY DELAY TIME SET MARGIN ORIGIN ORIGI IN SPEC ORIGIN SPEC ORIGIN SET ON CONSTANT SCAN SET ORIGIN DELAY DELAY TIME SET MARGIN EE PRESETORIGIN PRESET SET PRESET ORIGIN
22. 123 2 DRIVE COMMAND PORT 123 3 DRIVE DATA1 PORT 124 4 DRIVE DATAZ2 PORT neelhnnnehnnanhnnnnfnnnennne 124 5 DRIVE DATA3 PORT i 124 7 4 MCC06 st hi 125 1 COUNTER COMMAND 125 2 COUNTER COMMAND PORT 125 3 COUNTER DATA1 PORT 126 4 COUNTER DATA2 PORT 126 5 COUNTER DATA3 PORT 126 7 5 MCC06 127 1 DRIVE DATA POR
23. Y HFFFF_FFFF 92 1 CENTER POSITION SET X 2 X Y lt gt COMMAND H0100 CENTER POSITION SET COMMAND Y DATA2 PORT Y DRIVE DATA2 PORT Y Aa Y DRIVE DATA3 PORT Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X
24. STATUS1 PORT DRIVE 0 STATUS1 PORT EXT PULSE 1 A 6 2 DATA READ PORT SELECT DRIVE DATA1 2 3 PORT READ PORT DATA READ PORT SELECT COMMAND PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT ERROR STATUS READ SET DATA READ 48 3 ERROR STATUS READ STATUS1 PORT ERROR 1 gt COMMAND H0088 ERROR STATUS READ COMMAND N STATUS1 PO
25. END PULSE DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME 0 LSPD SLSPD DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 A 6 18 3 3 SCAN INDEX
26. 101 0 0 X Y 1 CW CW COMMAND H0160 INC CIRCULAR CP COMMAND 2 CCW CCW COMMAND H 0161 INC CIRCULAR CP COMMAND 3 SRATE CW S
27. 98 6 8 2 X S X 0 0 X Y X Y CW CCW X Y 2 X X 0 X
28. x50ns 0 3 277 us 0 50 ns 5MHz 2 HARD INITIALIZE7 lt gt COMMAND HF007 HARD INITIALIZE7 COMMAND DATA3 PORT a DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE DATA3 PORT D13 D12 D11 D9 D8 4 DALM DEND ACTIVE ACTIVE D7 D6 D5 D4 D3 D2 D1 DO Z PO NORG ORG CCWLM CWLM FSSTOP ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HFFFF DRIVE COMMAND PORT COMMAND D15 DO0 0 1 DATA3 HPFFFF C 772A D1 FSSTOP D8
29. gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 DO H 0000_0000 PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 4 4 294 967 294 HI0000_ 0004 HFFFF_FFFE H 0000 0000 HFFFF_FFFF 69 4 11
30. 1 0 100 us 1 1 1 000 ps D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 DFLINT COMP1 2 3 TYPE1 TYPE0 0 0 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 1 0 COMP1 AND COMP2 OR COMP3 1 1 COMP1 _ AND COMP2 __ AND _ COMP3 OR AND D10 COMP STOP TYPE COMP1 2 3 0 1 D11 COMP DETECT TYPE COMP1 2 3 0 1 D12 COMP1 INT ENABLE COMP1 DFLINT 0 COMP1 DFLINT 1 COMP1 DFLINT D13 COMP1 STOP ENABLE COMP1 0 COMP1
31. 13 COMMAND H0178 INC CIRCULAR3 CP COMMAND 14 SRATE S COMMAND H0179 INC SRATE CIRCULAR3 CP COMMAND 15 CONST INC CIRCULAR3 CONST CP COMMAND 16 SRATE CONST S INC SRATE CIRCULAR3 CONST CP COMMAND 106 lt gt Y DATA1 PORT WRITE Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA1 PORT WRITE X DATA2 PORT WRITE N Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE X
32. 5 DRIVE DATA3 PORT 14 np MCC06 DRIVE DATA3 PORT DATA DRIVE DATA3 PORT 00AB 14 l00 00 AB DRIVE DATA3 PORT DATA 00n X 01a Y lo1 oo 2 124 7 4 MCC06 1 COUNTER COMMAND 2o MCC06 COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT COUNTER COMMAND PORT COMMAND DATA MCC06
33. 1 X Y 625000bps PORT AL 0 49ms PORT DO 0 SEL2 SEL1 SELO PORT Do 0 0 SEL2 SEL1 SELO 2 MCC06 C 772A MCC06 X Y 625000bps AL PORT MCC06 POR
34. 132 7 8 IO PORT 1 IO PORT IO PORT I O PORT IO PORT JO PORT 12 DATA Y YOUTO ON X DALM ON I O PORT 45 IO DATA IN10 IN12 IN16 ON I O PORT 03 I O DATA OUT10 OUT11 ON 03 n ot1 no2 ne0 I O PORT
35. gt Y DATA1 PORT WRITE Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA1 PORT WRITE X DATA2 PORT WRITE X DATA3 PORT WRITE N Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT WRITE Y DRIVE DATA1 PORT Y DRIVE DATA1 PORT Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA1 PORT X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X 8 388 607 8 388 607 H 80_0001 H7F_FFFF CW CCW 2 Y Y X X Y STATUS1 PORT BUSY 0
36. 11 COMMAND H0130 ABS CIRCULAR2 CP COMMAND 12 SRATE S ABS SRATE CIRCULAR2 CP COMMAND 13 CONST ABS CIRCULAR2 CONST CP COMMAND 14 SRATE CONST S ABS SRATE CIRCULAR2 CONST CP COMMAND gt Y DATA2 PORT Y DRIVE DATA2 PORT Y MANI Y DRIVE DATA3 PORT Y Y DATA3 PORT ia X DRIVE DATA2 PORT
37. COUNT TYPE D15 D8 0 0 58 4 8 1 DFL COUNTER INITIALIZE1 lt gt COMMAND H F018 DFL COUNTER INITIALIZE1 COMMAND a DRIVE DATA3 PORT NT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 RELOAD AUTO COMP1 COMP1 COMP COMP COMP COMP ENABLE CLEAR STOP INT DETECT STOP GATE GATE ENABLE ENABLE ENABLE TYPE TYPE TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO Eh a DFLINT DFLINT COUNT COUNT 0 0 ke TYPE1 TYPE0 TYPE1 TYPE0 a tS TYPE1 TYPE0 SEL 1 SELO0 D0 COUNT PULSE SEL0 D1 COUNT PULSE SEL1 COUNT PULSE SEL2 0 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 0 X SEL1 SELO
38. 1 2 3 4 5 1 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc com TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com c1105
39. END PULSE END PULSE INDEX END PULSE END PULSE 0 END PULSE 2 ESPD SET END PULSE lt gt COMMAND H0019 ESPD SET COMMAND 00 0 DRIVE DATA2 PORT D15 D8 0 D7 DO D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0 WRITE 1 5 000 000 HI0000_ 0001 H004C_4B40 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 21 DRIVE DATA2 PORT
40. lt gt COMMAND H F01D SPEED COUNTER INITIALIZE2 COMMAND DATA3 PORT R WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 COMP3 COMP3 COMP3 COMP3 COMP2 COMP2 COMP2 COMP2 TYPE1 TYPE0 2 0 TYPE1 TYPE0 MM 0 ENABLE ENABLE ENABLE ENABLE D0 COMP2 INT ENABLE COMP2 SPDINT 0 COMP2 SPDINT 1 COMP2 SPDINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 TYPE1 TYPE0 COMP2 COMPARE REGISTER2 COMPARE REGISTER2 COMPARE REGI
41. 03n 00n 00 H 20 H STATUS3 PORT 129 4 STATUS4 PORT 43 wu MCC06 STATUS4 PORT 1 0010 oa nlo1 lo2 nl43 oo L 00a X 01u Y STATUS4 PORT 5 STATUS5 PORT 44 n MCC06 STATUS5 PORT XEA ON XEB OFF YEA YEB OFF EA EB
42. 2 1 1 1 1 1 1 n 01 OF 00m UMF C 772A 02 C 772A MCC06 IO C 772A MCC06 I O 2
43. 11 2 12 oes eS ee 12 OM Wel 0 NN 0 9 OM 0 NM hu ON 9 12 20 NSR 12 292 UN NNNNNNNNN NN NNNNNNMN NNNNMNNNNSNWNNN NN 13 1 13 29MWO606 NN NONHMNRRRRNSBHNR00HHeHSRRNBRRSRSSSER 13 3 UO 14 4 14 DRIVE 3 1 15 1 SPEC INITIALIZE1
44. MCC06 SERVO SPEC DNED DRST DALM C 772A MCCO06 SPEC INITIALIZE1 RATE MCCO06 SPEC INITIALIZE2 MCCO06 SS0 SS1 MCC06 HARD INITIALIZE1 MCC06 SIGOUT COUNTER INITIALIZE1 INT COMP1 COUNTER INITIALIZE2 COMP2 COMP3 COUNTER INITIALIZE3 ADDRESS COUNTER PRESET PULSE COUNTER PRESET DFL COUNTER PRESET LSPD HSPD ORG SPEC SET ORIGIN DRIVE ORG CSPD SET ORIGIN
45. DOWN POINT SET a DOWN POINT SET S S SELSPD SET S SRATE DOWN S POINT SET S J 1 S SRATE DOWN POINT SET
46. ORIGIN ORIGIN COMMAND 2 SRATE ORIGIN S ORIGIN SRATE ORIGIN COMMAND lt ORIGIN gt DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 1D1 DO DRIVE DATA3 PORT D15 D8 0 D7 DO0 ORIGIN STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 0 0 0 0 0 0 0 0 D7 ORIGIN gt DO ORIGIN PRESET ORIGIN ORIGIN ORIGIN FLG 1 PRESET INDEX PRESET
47. DRIVE 1 SESPD DELAY TIME 0 END PULSE END PULSE DRIVE 1 A 6 3 8 S 1 SRATE SCAN CW lt gt COMMAND H0042 SRATE SCAN COMMAND N STATUS1 PORT _ BUSY 0 STATUS1 PORT BUSY 0 Y RR DRIVE COMMAND PORT COMMAND 2 SRATE SCAN CCW
48. END PULSE lt gt COMMAND H0018 END PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 D0 DATA3 PORT sn 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y NS DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO END PULSE DRIVE DATA3 PORT D31 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 END PULSE gt DO H 0000 0000 0 END PULSE END PULSE
49. H8000_0000 STATUS4 PORT DFL OVF 1 2 DFL COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0021 DFL COUNTER COMPARE REGISTER1 SET COMMAND 3 DFL COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 coMMANp H 0022 DFL COUNTER COMPARE REGISTER2 SET COMMAND 4 DFL COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0023 DFL COUNTER COMPARE REGISTER3 SET COMMAND 77 lt gt DATA2 PORT i COUNTER DATA2 PORT D31 D16 2 COUNTER DATA3 PORT D15 D0 NMR COUNTER COMMAND PORT COMMAND WRI
50. 52 2 ADDRESS COUNTER INITIALIZE2 lt gt COMMAND HF011 ADDRESS COUNTER INITIALIZE2 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO eoups coupes 1 cowpz cowez TYPE1 TYPEo TvPE1 TypEo ENABLE ENABLE ERNA BE RD DO COMP2 INT ENABLE COMP2 ADRINT 0 COMP2 ADRINT 1 COMP2 ADRINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1
51. COMMAND H 0138 ABS CIRCULAR3 CP COMMAND 16 SRATE S ABS SRATE CIRCULAR3 CP COMMAND 17 CONST ABS CIRCULAR3 CONST CP COMMAND 18 SRATE CONST S ABS SRATE CIRCULAR3 CONST CP COMMAND gt Y DRIVE DATA2 PORT 2 Y WRITE Y DRIVE DATA3 PORT 2 Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT 2 X X NE X DRIVE DATA3 PORT 2 X X DATA3 PORT WRITE
52. 7 1 C 772A AL AL ORIGIN C 772A AL MCC06 11 1 AL IF C 772A AL
53. DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 CWP CCWP X X Y XEA XEB YEA YEB Y Y X XEA XEB YEA YEB X Y 01 10 11 STATUS1 PORT BUSY 0 01 10 11
54. 0000 0000 X DRIVE DATA2 PORT A31 lt X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 De D7 De Ds D4 D3 D2 D1 DO A15 lt X gt AO H 0000 0000 X Y 96 X Y
55. 1 ELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 lt gt COMMAND H0012 ELSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0 WRITE 1 5 000 000 H0000_0001 004C_4B40 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 AE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 pz D1IDOl 0 0 0 0 0 0 D23 ELSPp gt D16 DRIVE DATA3 PORT D14 D13 D12 D11 D10 D9 ps D7 De D5 D4 D3 D2 D1 DO D15 lt ELSPD gt DO H0000 012C 300 Hz ELSPD 1 Hz 5 MHz 1 Hz
56. COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR AND O D10 COMP STOP TYPE COMP1 2 3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 ADRINT 0 COMP1 ADRINT 1 COMP1 ADRINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 0 0 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1
57. H xx51 ORIGIN ERROR H xx52 CPP STOP Hxx53 INDEX CHANGE H xx55 lt gt DEND ERROR H xx80 EXT PULSE 1 A 6 49 4 SET DATA READ lt gt COMMAND H 0089 SET DATA READ COMMAND N STATUS1 PORT SS SS STATUS1 PORT BUSY 0 Y es 4 o Was DRIVE DATA1 PORT No No WRITE DATA3 PORT DRIVE DATA3 PORT
58. STATUS1 PORT EXT PULSE 1 D15 D10 0 0 17 3 2 1 DRIVE DELAY SET DELAY TIME DRIVE DELAY TIME ORIGIN lt gt COMMAND H0007 DRIVE DELAY SET COMMAND DRIVE DATA3 PORT DRIVE DELAY TIME AE 0 65 535 H 0000 HFFFF DRIVE DELAY TIME 2 1 310 7 N TATUS1 PORT x 20 us 0 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y RN DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D15 DRIVE DELAY TIME gt DO H 09C4 50 ms DRIVE DELAY TIME
59. LIMIT 0 1 LIMIT LIMIT 1 0 LIMIT 1 1 LIMIT ORIGIN SCAN CONSTANT SCAN JOG LIMIT ORG 11 ORG 12 CCW LIMIT D7 D4 0 1 D8 RDYINT TYPE0 D9 RDYINT TYPE1 RDYINT CCW TYPE1 TYPEO RDYINT 0 0 STATUS1 PORT DRVEND 1 0 1 STATUS1 PORT BUSY 0 1 0 1 1 RDYINT RDYINT STATUS1 PORT ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET
60. oa n otn o2 n 33 noo nl 00 nm X 01m Y 03n 00n 00 H 0AH DRIVE DATA3 PORT 128 7 6 MCC06 STATUS PORT 1 STATUS1 PORT 40 a MCC06 STATUS1 PORT DRIVE 0008 04 nlo1 nlo2 na0 n oo nm 00n X 01u Y STATUS1 PORT
61. 0 1 Hz 5 M 5 MHz 86 4 SRATE DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1 SRATE DRIVE TYPE 1 SRATE INDEX MODE 1 SRATE STOP MODE 1 S lt gt COMMAND H003F SRATE DOWN POINT SET COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND SRATE DOWN POINT SET SRATE DOWN POINT SET SRATE DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3 CP SPEC SET SLSPD SHSPD SELSPD SRATE SCAREA12 SCAREA3
62. 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 60 2 DFL COUNTER INITIALIZE2 lt gt COMMAND HF019 DFL COUNTER INITIALIZE2 COMMAND DATA3 PORT RE DRIVE DATA3 PORT COMMAND PORT IE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 COMP3 COMP3 COMP3 COMP
63. 2 STATUS2 PORT 41 MCC06 STATUS2 PORT OFF 0000 lo4 lo lo2 nat nl 00n X 01na Y 00H STATUS2 PORT 3 STATUS3 PORT 42 7 MCC06 STATUS3 PORT SIGOUT ON 0020 lo4 un ot un o2 nu 42 n oo nl 00aX 01a Y
64. H 02 H 03 No 1 5 000 000 H0000 0001 H004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0 RATE RATE DATA TABLE No DRIVE DATA2 PORT D15 DO0 0 DRIVE DATA3 PORT D15 D8 URATE No DRIVE DATA3 PORT D7 DO DRATE No SPEED CHANGE RATE RATE CHANGE RATE SPEC INITIALIZE1 RATE TYPE RATE 118
65. I O PORT I O PORT 2 IO PORT sein JO PORT I O PORT I O PORT Y DALM YDALM PORT VO PORT O 03 n YOUT1 02 n XOUT1 01 YOUTO 00 XOUTO 05 n YDALM 04 n XDALM 17 n IN17 16 n IN16 15 n IN15 14 n IN14 13 n IN13 12 n IN12 11 IN11 10 n IN10 27 n OUT17 26 nm OUT16 25 na OUT15 24 n OUT14 PORT 23 n OUT13 22 na OUT12 121 nm OUT11 20 na OUT10 L 02ulo0nlo1n IO PORT 01
66. 65 n J O PORT I PORT O PORT PORT 45 u IO DATA IN10 IN12 IN16 ON PORT 12 IO DATA OUT14 OUT11 ON otn ot un o2 ules oo nl IO PORT 00 n I O PORT 01 n JO PORT 03 n oo n 45 n 12 1 I O PORT 1 1 O PORT 1 1 00 I O PORT I O PORT 01 NC 00 nr IOPORT
67. DO0 COMP2 INT ENABLE COMP2 CNTINT 0 COMP2 CNTINT 1 COMP2 CNTINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 TYPE1 TYPEO COMP2 0 0 COMPARE REGISTER2 0 1 gt COMPARE REGISTER2 1 0 COMPARE REGISTER2 1 1 D4 COMP3 INT ENABLE COMP3 CNTINT 0 COMP3 CNTINT 1 COMP3 CNTINT D5 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3
68. D15 D0 ITE WR 2 1 2 147 483 647 H 0000_0001 H7FFF_FFFF N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 gt DO H7FFF FFFF 0 1 39 7 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET ORIGIN PRESET lt gt COMMAND H0068 ORIGIN PRESET PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT PRESET
69. 0 0 0 SPEED LATCH DATA PORT SELECT CNTINT 1 DFLINT 1 SPDINT 1 CO D15 SPEED CLR ENABLE 0 1 71 4 12 1 ADDRESS LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04C ADDRESS LATCH DATA PORT SELECT COMMAND 2 PULSE LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04D PULSE LATCH DATA
70. PORT 01 oa nlotn lo2nlpin oonl 00 nm X 01n Y PORT 122 7 3 MCC06 1 DRIVE COMMAND 1o MCC06 DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DATA MCC06 00002710 10000 INCREMENTAL INDEX COMMAND DRIVE DATA1 PORT 0000 DRIVE DATA2 PORT 0000 DRIVE DATA3 PORT 2710 p DRIVE COMMAND PORT 0024 loc ot lo2 o oo oo 24 oo loo loo loo 27 hon C
71. 3 DRIVE 3 1 1 SPEC INITIALIZE1 RATE lt gt COMMAND H 0001 SPEC INITIALIZE1 COMMAND DATA3 PORT i DRIVE DATA3 PORT STATUS1 PORT Pa 0 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D13 PD12 D11 DO PD9 PD8 a a 9 1 12 i a OUTPUT OUTPUT TYPE1 TYPE0 DO PULSE OUTPUT TYPE0 D1 PULSE OUTPUT TYPE1 CWP CCWP Ne CWP CCWP 0 0 0 1 a MR ER ME EE RE NR 1 0 A B i 4 1 1 A B 0 6 77 D2 FIRST PULSE TYPE0 D3 FIRST
72. AUTO CHANGE DRIVE SET AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE CENTER POSITION SET 2 PASS POSITOIN SET 2 CP SPEC SET ABS STRAIGHT CP 2 3 2 2 4 S 2 4 ABS CIRCULAR CP CW ABS CIRCULAR CP CCW ABS SRATE CIRCULAR CP S CW 0123 ABS SRATE CIRCULAR CP S CCW 0124 ABS CIRCULAR CONST CP CW ABS C
73. DO D7 No gt DO H00 H 7F H00 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 lt gt Do H00 H7F H 0000_0000 D7 DO RATE H02 H03 HOF
74. X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 lt X A0 X Y 97 X Y 1 X Y 2 1 2 1 2 X Y 15
75. COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 56 2 PULSE COUNTER INITIALIZE2 lt gt COMMAND HF015 PULSE COUNTER INITIALIZE2 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 po coMPs cowmps OM ON SOMES GOMES ON FROME TypPE1 TvpEOo 5 20 DXBE0SISA MM ENABLE ENABLE ENABLE ENABLE
76. 3 AUTO CHANGE DRIVE SET AUTO CHANGE lt gt COMMAND HO00B7 AUTO CHANGE DRIVE SET COMMAND h SUN gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET CHANGE POINT SET CHANGE DATA SET AUTO CHANGE SCAN 4 AUTO CHANGE SCAN CW SCAN AUTO CHANGE COMMAND H 00B8 AUTO CHANGE SCAN COMMAND 5 AUTO CHANGE SCAN CCW SCAN AUTO CHANGE COMMAND H O0B9 AUTO CHANGE SCAN COMMAND AUTO CHANGE SCAN gt SN gt STATUS1 PORT B
77. 1 DRIVE DATA PORT 30 1 MCC06 DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT 0000 0001 020A oa no1 n o2 n 30 noo nl 00u X 01u Y or noo nloo n oo soo njot nlo2 nloan DATA1 DATA2 DATA3 DRIVE DATA1 PORT 2 DRIVE DATA1 PORT 31 MCC06 DRIVE DATA1 PORT 000A nu oa ot un o2 ust un oon 00 n X 01n Y
78. 256 255 254 gt 4 3 2 1 COUNT TYPE PULSE COUNTER INITIALIZE3 D8 DIVISION TYPE 0 1 1 2 D11 D9 0 0 D12 COUNT PULSE SEL2 0 1 D15 D13 0 0 62 4 9 1 SPEED COUNTER INITIALIZE1 lt gt COMMAND H F01C SPEED COUNTER INITIALIZE1 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE
79. 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND DATA3 PORT WRITE COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D31 D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 lt gt DO H0000 0000 H 8000_0000 H 8000_0000 STATUS4 PORT PULSE OVF 1 2 PULSE COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0011 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 3 PULSE COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2
80. lt gt COMMAND HF033 INDEX CHANGE SPEC SET COMMAND DRIVE DATA3 PORT N STATUS1 PORT WANW INDEX CBUSY 0 STATUS1 PORT INDEX CBUSY 0 Y 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO INDEX INDEX INDEX 0 0 0 0 0 CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO INDEX CHANGE TYPE0 D1 INDEX CHANGE TYPE1 D2 INDEX CHANGE TYPE2 INDEX CHANGE D15 D3 0 0 0 0 0 INDEX CHANGE 0 0 1 CNTINT 1 0 1 0 DFLINT 1 aaa el 1 SPDINT 1 1 0 0 1 0 1 1 1 0 1 1 1 113 2 INC INDEX CHANGE
81. 0173 INC SRATE CIRCULAR2 CONST CP S INC CIRCULAR3 CP INC SRATE CIRCULAR3 CP S INC CIRCULAR3 CONST CP INC SRATE CIRCULAR3 CONST CP S 2 MCC06 DRIVE COMMAND HEX CODE COMMAND NAME F001 HARD INITIALIZE1 SIG OUT F006 F007 HARD INITIALIZE7 F00C F00D DRST OUT DRST 10ms ON FOOE FOOF F010 ADDRESS COUNTER INITIALIZE1 1 F011 ADDRESS COUNTER INITIALIZE2 2 F012 ADDRESS COUNTER INITIALIZE3 3 F014 PULSE COUNTER INITIALIZE1 1 F015 PULSE COUNTER INITIALIZE2 2
82. 41 3 11 1 SLOW STOP STATUS1 PORT STBY 1 DRIVE 1 lt gt COMMAND H FOOE SLOW STOP COMMAND COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND STATUS1 PORT EXT PULSE 1 2 FAST STOP STATUS1 PORT STBY 1 DRIVE 1 gt COMMAND H FOOF FAST STOP COMMAND COMMAND PORT DRIVE COMMAND PORT COMMAND STATUS1 PORT EXT PULSE 1 3 12 1 NO OPERATION STATUS STATUS1 PORT DRVEND STATUS1 PO
83. O PORT 2 MO PORT sf O PORT IO PORT I O YOUT0 ON 1 YOUT0 OFF 0 ON 1 05 nlot nlo2 51 01 nlo1 JO 01 n ACTIVE Low 00 n NOT ACTIVE High IO PORT O PORT 03 n YOUT1 02 nm XOUT1 01 n YOUTO 00 n XOUTO 17 n OUT17 16 nm OUT16 15 na OUT15 14 n OUT14 13 n OUT13 12 nm OUT12 11 nm OUT11 10 n OUT10 YOUT0 OFF 0 ON 1 ON 1
84. X Y X Y X Y X Y X X CENTER POSITION X X X _X X X PASS POSITION X X X
85. DRST lt gt DRST ORIGIN ORIGIN SPEC SET ORIGIN SPEC SET SENSOR ERROR ORIGIN SPEC SET ERROR PULSE SERVO SPEC SET DEND ERROR ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET HFFFF_FFFF ERROR PULSE ENABLE ERROR 0 ERROR 1 ERROR ERROR CONSTANT SCAN JOG ORIGIN STATUS1 PORT ERROR 1 CONSTANT SCAN ORIGIN CSCAN ERROR PULSE SET J
86. 134 8 C 772A MCC06 STATUS1 PORT BUSY 0 MCC06 DRIVE COMMAND MCC06 COUNTER COMMAND a MCC06 DRIVE COMMAND MCC06 COUNTER COMMAND 8 1 MCC06 1 MCC06 DRIVE COMMAND PULSE COMMAND NAME 0001 SPEC INITIALIZE1 RATE LIMIT RDYINT 0007 DRIVE DELAY SET 0008 CW SOFT LIMIT SET CW 0009 CCW SOFT LIMIT SET CCW LSPD SET RATE SET END PULSE SET END PULSE
87. INDEX PLS INDEX CHANGE INDEX READ PORT DATA READ PORT SELECT READ PORT ADDRESS COUNTER PORT SELECT READ PORT PULSE COUNTER PORT SELECT READ PORT DFL COUNTER PORT SELECT READ PORT READ POR ADDRESS LATCH DATA PORT SELECT READ PORT PULSE LATCH DATA PORT SELECT READ PORT DFL LATCH DATA PORT SELECT READ PORT SPEED LATCH DATA PORT SELECT READ PORT O O O O O O O O O _0 _ 137 3 MCC06 COUNTER COMMAND 0000 ADDRESS COUNTER PRESET O ADDRESS COUNTER MAX COUNT SET 0 4 MCC06
88. X STATUS1 PORT BUSY 0 X DRIVE COMMAND PORT COMMAND A23 lt Y D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A8 Y DRIVE DATA2 PORT D13 D12 D11 D10 D9 Y gt Y DRIVE DATA3 PORT D8 D7 D D5 D4 D3 D2 D1 Do a23 Y gt A16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D 6 D5 D4 1D3 D21D1 Do A15 Y AO X DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 1D7 D6 D5 D4 D3 D2 D1 po A23 lt X gt A8 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps pr De ps D4 ps D2 pt DO A7 X AO A23 X A16 X DRIVE DATA3 PORT D4 D3 D2 D1 po D15
89. 10 ms lt gt DRST OUT Oo 1 SIGNAL OUT 00 10 11 DRST OUT DRST 46 D2 DEND TYPE0 D3 DEND TYPE1 DEND TYPE1 TYPE0 DEND 0 0 DEND lt gt DNS NE MEI IRO SRPM DEND ERROR END DEND ERROR ed MD 5 1 1 D4 DALM TYPE0 D5 DALM TYPE1 DALM TYPE1 TYPE0 DALM 0 0 0 1
90. H8000_0000 STATUS4 PORT ADDRESS OVF 1 2 ADDRESS COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND HO001 ADDRESS COUNTER COMPARE REGISTER1 SET COMMAND 3 ADDRESS COUNTER COMPARE REGISTER2 SET COMPARE REISTER2 COMMAND H0002 ADDRESS COUNTER COMPARE REGISTER2 SET COMMAND 4 ADDRESS COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0003 ADDRESS COUNTER COMPARE REGISTER3 SET COMMAND Py 2 lt gt DATA2 PORT COUNTER DATA2 PORT A31 A16 SE COUNTER DATA3 PORT A15 A0 DATA3 PORT
91. coMMANp H 0012 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 4 PULSE COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0013 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 75 lt gt DATA2 PORT COUNTER DATA2 PORT D31 D16 WRITE COUNTER DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 gt DO H 8000 0000
92. lt gt COMMAND H0043 SRATE SCAN COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y ee DRIVE COMMAND PORT COMMAND 3 SRATE INDEX CW CCW lt gt COMMAND H0044 INC SRATE INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT
93. INC INDEX lt gt COMMAND HF03C INC INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 MAN DRIVE DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT Ss _ WW lt NpEx CBUsy 9 STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 INDEX CHANGE gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO D15 NDEX CHANGE
94. 0 1 0 END PULSE 1 DRIVE DELAY TIME END PULSE 0 108 6 11 UP DOWN CONST CHANGE 1 UDC SPEC SET UP DOWNCONST CHANGE lt gt COMMAND HF030 UDC SPEC SET COMMAND DRIVE DATA3 PORT N STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE
95. 00002710 n 10000 PULSE COUNTER PRESET COMMAND COUNTER DATA1 PORT 0000 n COUNTER DATA2 PORT 0000 n COUNTER DATA3 PORT 2710 COUNTER COMMAND PORT 0000 loc otufo2n 20n oonloonloon oon oonloonloon 27n lon COMMAND DATA1 DATA2 DATA3 COUNTER DATA PORT DATA COUNTER COMMAND PORT COMMAND 00n X 01n Y 2 COUNTER COMMAND PORT 21 MCC06 COUNTER COMMAND PORT COMMAND PULSE COUNTER COMPARE REGISTER1 SET COMMAND DATA1 3 PORT COUNTER COMMAND PORT 0001 llotulozul2tnloon COUNTER COMMAND PORT COMMAND 00n X 01a Y
96. 3 ORIGIN ERROR PULSE SET ORIGIN SPEC SET ORIGIN FLG ENABLE 1 OFFSET ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG 1 ORIGIN SPEC SET ORIGIN lt gt ORIGIN SPEC SET COMMAND COMMAND H0060 DATA3 PORT WRITE S DRIVE DATA3 PORT u s gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 ORG ORG NORG NORG ORG ORG 0 0 DETECT DETECT DETECT DETECT TYPE1 TYPE
97. D12 COMP1 INT ENABLE COMP1 SPDINT 0 COMP1 SPDINT 1 COMP1 SPDINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 64 2 SPEED COUNTER INITIALIZE2
98. DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 RDYINT RDYINT TYPE1 TYPE0 CCWLM CCWLM CWLM CWLM 1 1 1 1 TYPE1 TYPEO TYPE1 TYPE0 DO CWLM TYPE0 1 CWLM TYPE1 CWLM TYPE1 TYPE0 CWLM ORIGIN LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT ORIGIN SCAN CONSTANT SCAN JOG CW LIMIT ORG 11 ORG 12 CW LIMIT D2 CCWLM TYPE0 D3 CCWLM TYPE1 CCWLM 622 E ORIGIN 0 LIMIT
99. 1 H80 H81 1 STBY 1 0 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 0 65 535 H 0000 HFFFF 1 ms DRIVE DATA2 PORT D15 DO0 0
100. 15 2 SPEC INITIALIZE2 17 3 2 18 1 DRIVE DELAY SET 18 3 3 NNNONNRPNINRORHNSNBmONDAKNOROa0RNn0Rae9Kaceedesss 19 1 LSPD SET 19 2 HSPD SET 20 3 RATE SET 20 3 4 END PULSE 21 1 END PULSE SET HH 21 2 ESPD SET 21 3 ESPD DELAY SET 22 3 5 maesaooss ne eo oto 23 1 JOG 23 2 JOG 23 3 SCAN 23 NS SCAN EE RE CE EE 23 5 INEDX AbeNeNNeeeMN ae 24 6 IINEBX
101. lettrrettteetstrehesereslsedihetsereselsfesnsrss 99 SRATE 2 99 3 CONST 2 99 4 SRATE CONST 2 99 6 9 2 101 3 CW noevoerteetaeerheofaoatancoantaeewepskaveeeesrsrenaec 102 CCW 102 3 SRATE CW 102 4 SRATE CCW 102 5 CONSYCW MODAUS SADPDEUS Ya 102 6 CONST CCW 102 7 SRATE CONST CW 102 8 SRATE CONST CCW 102 9 1
102. 3 SELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 S lt gt COMMAND H0032 SELSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 Rl A BR DRIVE DATA3 PORT D15 D0 WRITE 1 5 000 000 HI0000_0001 H004C_4B40 N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 pt L po 0 0 0 0 0 0 0 0 a Ia ad DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do SELSPD H0000 012C 300 Hz SELSPD 1 Hz 5 MHz 1 Hz
103. 1 1 0 0 COMP2 D14 COMP3 TYPE2 COMP3 0 1 1 0 0 COMP3 D15 0 0 67 4 10 1 ADDRESS COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F048 ADDRESS COUNTER PORT SELECT COMMAND 2 PULSE COUNTER PORT SELECT DRIVE DA
104. 1 1 1 1 SIGOUT INT TYPE SIGNAL OUT 43 2 SIGNAL OUT SIGNAL OUT TIALIZE1 SIGOUT HARD INI DRST SERVO SPEC SET lt gt COMMAND H F00C SIGNAL OUT COMMAND DATA3 PORT R S 0 DRIVE DATA3 PORT PRD DRIVE COMMAND PORT COMMAND
105. SCAN DELAY TIME INDEX SCAN DELAY TIME PRESET INDEX SCAN DELAY TIME CONSTANT SCAN DRST lt gt CONSTANT SCAN DEND ORIGIN CSPD JOG DELAY TIME JOG DELAY TIME x5ms 0 1 275 ms JOG 1 JOG DELAY TIME JOG JOG DELAY TIME JOG JOG DELAY TIME 297 4 ORIGIN OFFSET PULSE SET ORIGIN SPEC SET ORIGIN FLG ENABLE 1 OFFSET lt gt COMMAND H0063 ORIGIN OFFSET PULSE SET COMMAND
106. amp C 772A MNO0186 AL 2 C 772A C 772A A
107. 4 PLS INDEX CHANGE INC INDEX lt gt COMMAND HF03E PLS INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 MAN DRIVE DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT Ss _ WOW lt a STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 INDEX CHANGE gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO D15 INDEX CHANGE
108. H 0000_0BB8 3 000 Hz SHSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 SRATE SET S SURATE SDRATE lt gt COMMAND H0033 SRATE SET COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 SURATE No WRITE DRIVE DATA3 PORT D7 D0 SDRATE No I A STATUS1 PORT BUSY 0 Y 2 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D7 SURATE No DO D7 lt SDRATE No DO SURATE No 18 100 ms kHz SDRATE No 18 100 ms kHz SURATE SDRATE 1 000 ms kHz 0 016 ms kHz SPEC INITIALIZE1 RATE TYPE RATE
109. 0 1 Hz 5 M 5 MHz 85 2 DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1 lt gt COMMAND HO001F DOWN POINT SET COMMAND N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DOWN POINT SET DOWN POINT SET DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3 CP SPEC SET LSPD HSPD ELSPD RATE DOWN POINT SET
110. 2 1 X XEA XEB X YEA YEB X Y XEA XEB YEA YEB Y SEL2 SEL1 SELO 2 1 0 0 0 Y YEA YEB 0 0 1 Y XEA XEB 0 1 0 Y X 0 1 1 YEA YEB XEA XEB X Y 2 1 DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 COUNT PULSE SEL2 1 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 1 X SEL2
111. D15 D0 WRITE 1 2 147 483 647 H 0000_0001 H7FFF_FFFF STATUS1 PORT BUSY 0 N STATUS1 PORT BUSY 0 Y COMMAND PORT RE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pe ps p7 pe Ds D4 D3 D2 D1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 D4 D3 D2 D1 po DO D15 H 7FFF FFFF 0 1 6 ORIGIN JOG ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG lt gt COMMAND H0065 ORIGIN JOG ERROR PULSE SET COMMAND MA KOU DRIVE DATA2 PORT D31 D16 WRITE DATA3 PORT DRIVE DATA3 PORT
112. ORIGIN SPEC SET ORIGIN START DIRECTION 1 OFFSET ORIGIN ORG 0 3 ORIGIN SPEC SET ORG DETECT TYPE ORG ORG 4 5 ORIGIN SPEC SET NORG DETECT TYPE NORG ORG 11 12 CCWLM CWLM ORG 10 INDEX 38 5 ORIGIN CSCAN ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN lt gt COMMAND H0064 ORIGIN CSCAN ERROR PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE BR DRIVE DATA3 PORT
113. SPDINT 1 70 D7 PULSE CLR ENABLE 0 1 D10 D8 DFL LATCH TYPE2 0 TYPE2 TYPE1 TYPE0 0 0 0 DFL LATCH DATA PORT SELECT 0 0 1 CNTINT 1 0 1 0 DFLINT 1 Jl si 88 0 SPDINT 1 1 0 0 1 0 1 1 1 0 1 1 1 D11 DFL CLR ENABLE 0 1 D14 D12 SPEED LATCH TYPE2 0
114. 200 S SCAREA1 4 SURATE SDRATE 8 RATE RATE RATE DATA 65 535 82 6 2 1 SPEC INITIALIZE3 END PULSE SOFT LIMIT S lt gt COMMAND H0003 SPEC INITIALIZE3 COMMAND DATA3 PORT gt 2 DRIVE DATA3 PORT N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 Do SRATE SRATE SRATE SoFT LIMIT END LSPD END PULSE END PULSE 0 STOP INDEX DRIVE EE STOP Ei MODE MODE TYPE MODE DO END PULSE TYPE END PULSE
115. D15 D14 D13 p12 D11 D10 D9 Ds D7 pe D5 D4 ps D2 p1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do 0000 0000 PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 0 65 535 H 0000 H FFFF 65 535 0 COUNTER LATCH SPEC SET 0 72 5 COUNTER 5 1 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT
116. 3 9 ORIGIN ORIGIN SCAN ORIGIN INDEX PRESET INDEX ORIGIN ORIGIN ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT SCAN ORIGIN DELAY DELAY TIME MARGIN OFFSET PULSE OFFSET CSCAN ERROR PULSE CONSTANT SCAN JOG ERROR PULSE JOG PRESET PULSE PRESET ORIGIN PRESET ORIGIN
117. COMMAND CODE WRITE SM DRIVE COMMAND PORT COMMAND H 0089 2 SEATDSTEO RE STATUS1 PORT BUSY 0 BUSY 0 lt DATA READ PORT SELECT H F041 gt COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND H F041 DATA1 PORT DRIVE DATA1 PORT COMMAND CODE DATA1 PORT READ DATA2 PORT DRIVE DATA2 PORT COMMAND CODE DATA2 PORT READ DATA3 PORT DRIVE DATA3 PORT COMMAND CODE DATA3 PORT READ DATA PORT 0 COMMAND CODE COMMAND DRIVE COMMAND COMMAND DRIVE COMMAND CODE CODE H 0001 SPEC INITIALIZE1 H 0060 ORIGIN SPEC SET SPEC INITIALIZE2 ORIGIN CSPD SET SPEC INITIALIZE3 ORIGIN DELAY SET DRIVE DELAY SET ORIGIN OFFSET PULSE SET CW SOFT LI
118. CONSTANT SCAN SCAN 1 Z ORIGIN ORG 0 5 ORG DETECT TYPE ORG ORG 11 12 CWLM CCWLM ORG 10 ORIGIN FLG ENABLE INDEX 0 INDEX 1 INDEX ORIGIN STATUS2 PORT ORIGIN FLG 1 O
119. RESOLUTION 1 255 H01 HFF 0 1 81 2 RATE DATA SET SPEC INITIALIZE1 RATE TYPE URATE DATA DRATE DATA lt gt COMMAND H 001E RATE DATA SET COMMAND DATA2 PORT DRIVE DATA2 PORT URATE RATE DATA WRITE BR DRIVE DATA3 PORT DRATE RATE DATA WRITE 200 65 535 H 00C8 H FFFF S lt 5 ei gt STATUS1 PORT BUSY 0 0 Y RT DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 URATE DATA gt DO H 186A DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO DRATE DATA H 18
120. X S X X Y X Y X Y 2 X X 0 X Y HFFFF_FFFF
121. DATA 00a X 01m Y 2 00H 5 COUNTER DATA3 PORT 24 MCC06 COUNTER DATA3 PORT DATA COUNTER DATA3 PORT AB n oe o1 no2n 24 noo nloon Tags COUNTER DATA3 PORT DATA 00n X 01n Y 126 7 5 MCC06
122. H xx11 Hxx12 H xx20 3 2 H xx21 2 759 250 124 Hxx22 H xx30 H xx31 END PULSE H xx32 END PULSE HFFFF_FFFF END PULSE H xx33 END PULSE H xx50 ORIGIN
123. X DATA2 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y 4 STATUS1 PORT Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE BUSY 0 Y X STATUS1 PORT X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do Y Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 D Ds D4 D3 D2 D1 DO A15 Y gt AO H 0000_0000 X DRIVE DATA2 PORT A31 X A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 De Ds D4 D3 D2 D1 DO
124. 0 EA EB 1 EA EB 2 EA EB 4 EA EB ol 55 D4 CNTINT TYPE0 D5 CNTINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT CNTINT COMP1 2 3 TYPE1 TYPE0 COMP1 2 3 lt INT FACTOR CLR NT 1 CNTINT PULSE TYPE D6 CNTINT PULSE TYPE0 D7 CNTINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPEO 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs
125. 123 3 DRIVE DATA1 PORT MCC06 DRIVE DATA1 PORT DATA DRIVE DATA1 PORT 00AB le ot nlo2n 12n oonjoon asw L DRIVE DATA1 PORT DATA 00n X 01a Y les oo 4 DRIVE DATA2 PORT 13 n MCC06 DRIVE DATA2 PORT DATA DRIVE DATA2 PORT 00AB oe uot slo2n 13uloonjoon asw L DRIVE DATA2 PORT DATA 00aX 01n Y
126. ORG DELAY SET DELAY TIME MARGIN ORG OFFSET PULSE SET CSCAN ERROR PULSE SET CONSTANT SCAN JOG ERROR PULSE SET JOG ORIGIN 121 01 X 7 2 C 772A AL PORT
127. PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 68 4 SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT lt gt COMMAND H F04B SPEED COUNTER PORT SELECT COMMAND COMMAND PORT ware DRIVE COMMAND PORT COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 i DRIVE DATA3 PORT D15 D0 PORT PORT DRIVE DATA2 PORT D15 D14 D13 D12 p11 p1o D9 pslp7 pe lps p4 pslpzlp1 DO D31 lt
128. 1 SRATE INDEX 1 SRATE DRIVE TYPE 1 S SRATE DOWN POINT SET D6 SRATE STOP MODE S 0 1 1 SRATE DRIVE TYPE SRATE INDEX MODE 1 S SRATE DOWN POINT SET D15 D7 0 0 84 6 3 ELSPD SET
129. CNTINT 1 0 1 0 DFLINT 1 0 1 1 SPEED COUNTER INITIALIZE3 1 0 0 1 0 1 1 1 0 1 1 1 000 SPEED OVF 000 SPEED COUNTER INITIALIZE3 COUNT PULSE SEL2 66 COUNT PULSE SEL2 0 1
130. ITE 1 5 000 000 H0000 0001 H004C_4B40 WR wsrrom STATUS1 PORT BUSY 0 Y we DRIVECOMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 ps D7 De D5 p4 ps D2 pt L po 0 0 0 0 0 0 0 0 D23 HSPD D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do HSPD H 0000_0BB8 3 000 Hz HSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 RATE SET URATE DRATE lt gt COMMAND H0013 RATE SET COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 URATE No WRITE DRIVE DATA3 PORT D7 D0 DRATE No N STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND DR
131. X X DATA2 PORT X DRIVE DATA3 PORT X WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y X 4 STATUS1 PORT gt X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 Y A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 pe Ds D4 D3 D2 Dt DO A15 Y A0 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A31 X A16
132. X WRITE X X DATA2 PORT X DRIVE DATA3 PORT X 8 388 607 8 388 607 H 80_0001 H7F_FFFF X DATA3 PORT CW CCW 2 WRITE Y STATUS1 PORT BUSY 0 N STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 NN STATUS1 PORT BUSY 0 X X DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE Y DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 Y A8 Y DRIVE DATA2 PORT D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D21D1 DO A7 lt Y AO A23 Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 TTP A15 lt Y A0
133. SET S SRATE SET SRATE DATA SET 1 SPEC INITIALIZE1 RATE TYPE RATE TYPE RESOL D7 0 RESOLUTION lt gt COMMAND H 0001 SPEC INITIALIZE1 COMMAND NN DRIVE DATA3 PORT u swes CS 2 STATUS1 PORT BUSY 0 BUSY 0 Y A DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D13 D12 D11 DO D9 PD8 9 Be Ne PT OUTPUT OUTPUT TYPE1 TYPE0 D6 D4 RATE TYPE2 0 L1 TYPE RATE TYPE RATE TYPE2 0 110 D15 D8 RESOL D7 D0 RESOL 1 RESOLUTION RATE TYPE
134. STATUS1 PORT EXT PULSE 1 BUSY 1 EXT PULSE 1 00 01 10 11 00 EXT PULSE 0 BUSY 0 COUNT PULSE SEL 00 10 11 ADDRESS COUNTER INITIALIZE3 EXT PULSE TYPE D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB 0 0 EA EB 1 0 1 EA EB 2 1 0 EA EB 4 EA EB 51 D4 ADRINT TYPE0 D5 ADRINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT ADRINT COMP1
135. WRITE D7 DO0 D23 D16 DRIVE DATA3 PORT D15 DO0 DATA3 PORT WRITE 1 5 000 000 H0000_0001 004C_4B40 N STATUS1 PORT i WW 3 SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 p1 L po 0 0 0 0 0 0 0 0 D23 SPEED CHANGE gt D16 DRIVE DATA3 PORT D15 lt SPEED CHANGE gt DO SPEED CHANGE SPEED CHANGE 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 RATE CHANGE RATE URATE DRATE RATE
136. lt gt COMMAND H0039 SESPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 O et 2 Ts DRIVE DATA3 PORT D15 D0 1 5 000 000 H0000_0001 H 004C_4B40 OT STATUS1 PORT BUSY 0 Y 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 RR A ET Rd DRIVE DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 SESPD DO 0000 012C 300 Hz SESPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 SESPD DELAY SET
137. 1 0 1 1 DALM SIGOUT D15 D6 0 0 2 DEND TIME SET SERVO SPEC SET DEND TYPE 01 DEND ERROR DEND lt gt COMMAND H0083 DEND TIME SET COMMAND DATA3 PORT DRIVE DATA3 PORT DEND TIME WRITE 1 65 535 H 0001 HFFFF N STATUS1 PORT gt DEND TIME x5ms 5ms 327 675 ms 4 BUSY 0 STATUS1 PORT BUSY 0 Y PS DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 Do D15 DEND TIME gt DO H FFFF 0 DEND TIME 5 ms 3 DRST OUT SERVO SPEC SET
138. CW COMMAND H 0162 INC SRATE CIRCULAR CP COMMAND 4 SRATE CCW S CCW COMMAND H 0163 INC SRATE CIRCULAR CP COMMAND 5 CONST CW CW COMMAND H0164 INC CIRCULAR CONST CP COMMAND 6 CONST CCW CCW COMMAND H 0165 INC CIRCULAR CONST CP COMMAND 7 SRATE CONST CW S CW COMMAND H0166 INC SRATE CIRCULAR CONST CP COMMAND 8 SRATE CONST CCW S CCW COMMAND H 0167 INC SRATE CIRCULAR CONST CP COMMAND 102 lt
139. DRIVE DATA3 PORT D12 D11 D10 D9 D8 D15 0 D7 D14 0 D6 0 0 D13 SIGOUT 0 0 0 D3 D2 0 0 0 DO 0 D1 0 0 H0000 SIGOUT SIGOUT 0 1 CNTINT HARD INITIALIZE1 D9 DRST OUT DRST 0 1 DRST D12 D15 D13 D11 D10 D8 DO 0 3 INT FACTOR CLR SIGOUT COMMA
140. Hz D 1 D x 100 F 20 000 000 Hz 50 ns 50 ns T Dx 1 T 3 D S 1F 50 ns F 20 000 000 Hz 4 4 SPEED OVF COUNT SET lt gt COMMAND H 003A SPEED OVF COUNT SET COMMAND CS COUNTER DATA2 PORT OVF D31 D16 gt 3 oN 6 SD COUNTER DATA3 PORT OVF D15 D0 WRITE 4 4 294 967 295 HI0000_0004 HFFFF_FFFF COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do
141. LIMIT END ENABLE 1 ORIGIN LIMIT END ENABLE 0 LSEND 0 SCAN D8 ORG TYPE0 D9 ORG TYPE1 ORG TYPE1 TYPEO ORG 0 0 ORG 0 1 Z PO 1 0 ORG PO Z AND PO 1 1 ORG PO Z OR ORG Z ORG Z OR ORG Z Z ORG ORG PO OR ORG PO AND D10 11 NORG DETECT TYPE0 1 0 NORG D12 13 ORG DETECT TYPE0 1 0
142. S END PULSE DELAY TIME lt gt COMMAND H 003A SESPD DELAY SET COMMAND DATA3 PORT DRIVE DATA3 PORT SESPD DELAY TIME NE 0 65 535 H 0000 HFFFF SN rs SESPD DELAY TIME x20ps 0 1 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 Do SESPD DELAY TIME H 0000 SESPD DELAY TIME S END PULSE SESPD DELAY TIME END PULSE DELAY TIME END PULSE DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2
143. 7 RATE DATA TABLE RATE A 6 D7 0 0 D15 D8 RESOL D7 DO RESOL 1 RATE TYPE RATE TYPE RESOLUTION A 6 16 2 SPEC INITIALIZE2 CWLM CCWLM RDYINT lt gt SPEC INITIALIZE2 COMMAND RU DRIVE DATA3 PORT WRITE N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND
144. D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D23 ESPD gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 ESPD gt DO 0000 012C 300 Hz ESPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 ESPD DELAY SET END PULSE DELAY TIME lt gt COMMAND H 001A ESPD DELAY SET COMMAND DATA3 PORT DRIVE DATA3 PORT ESPD DELAY TIME 0 65 535 H 0000 H FFFF WR NOT gt ESPD DELAY TIME x 20 us 0 1 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y ME DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO
145. N STATUS1 PORT mn SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y ME DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO SPEED SPEED SPEED 0 0 0 0 0 CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO SPEED CHANGE TYPE0 D1 SPEED CHANGE TYPE1 D2 SPEED CHANGE TYPE2 SPEED CHANGE D15 D3 0 0 0 0 0 SPEED CHANGE 0 0 1 CNTINT 1 0 1 0 DFLINT 1 5 1 1 SPDINT 1 1 0 0 1 0 1 1 1 0 1 1 1 111 2 SPEED CHANGE lt gt COMMAND HF038 SPEED CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0
146. 1 JOG CW 1 lt gt COMMAND H 0020 JOG COMMAND N STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND 2 JOG CCW 1 lt gt COMMAND H 0021 JOG COMMAND u s SGS gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 3 SCAN CW lt gt COMMAND H0022 SCAN COMMAND N STATUS1 PORT ES BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 4 SCAN
147. A15 lt X gt AO H0000 0000 X Y 93 2 PASS POSITION SET X 2 X Y lt gt COMMAND H0101 PASS POSITION SET COMMAND Y DATA2 PORT Y DRIVE DATA2 PORT Y IE Y DRIVE DATA3 PORT Y Y DATA3 PORT X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X WRITE X DATA3 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF WRITE 2 Y NA N a Y STATUS1 PORT BUSY
148. CCW lt gt COMMAND H0023 SCAN COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 6 5 INDEX CW CCW lt gt COMMAND H 0024 INC INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF a CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y PG DRIVE COMMAND PORT COMM
149. WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO a D31 SEND PULSE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D15 lt SEND PULSE Pf DO H 0000 0000 0 END PULSE END PULSE END PULSE SEND PULSE SRATE INDEX END PULSE SEND PULSE 0 S END PULSE mh 2 SESPD SET S END PULSE
150. 05n MCC06 OFF 03 14 IF 12 2 2 AL 625000bps I F I F
151. DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 SPEED SPEED SPEED SPEED DFL DFL DFL DFL CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ENABLE TYPE2 TYPE1 TYPE0 PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH 0 LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 ADDRESS LATCH TYPE2 0 0 0 0 ADDRESS LATCH DATA PORT SELECT 0 0 CNTINT 1 0 1 0 DFLINT 1 URI SS ls SPDINT 1 1 0 0 1 0 1 1 1 0 1 1 1 D3 0 0 D6 D4 PULSE LATCH TYPE2 0 TYPE1 TYPE0 PULSE LATCH DATA PORT SELECT CNTINT 1 DFLINT 1
152. gt COMMAND H F012 ADDRESS COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 EXT EXT EXT 0 0 0 0 0 PULSE PULSE PULSE TYPE2 TYPE1 TYPE0 EXT EXT EXT DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 DO D7 D0 EXT DIVISION D7 D0 XEA XEB YEA YEB D7 D0 HFF HFE HFD H 03 H 02 H01 H 00 COUNT TYPE D8 EXT PULSE TYPE0 D9 EXT PULSE TYPE1 D10 EXT PULSE TYPE2 TYPE0 TYPE2
153. 0 ON 00B0 oa n ot no2 n a4 noo 00 rn X 01n Y lnloonloon STATUS5 PORT 130 7 7 IO PORT 1 IO PORT 50 a JO PORT I O PORT Y YOUTO MF ON 1 O OFF 0 I JO PORT 02 n O OUT11 OUT17 ON 1 OUT10 OUT12 OUT13 OUT14 OUT15 OUT16 OFF 0 IO PORT 82 n lo5 njo1 un o2n s0 no2 nla2 nl IO PORT
154. DRIVE DATA1 PORT D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 p2 p1lDpol D7 lt gt DO D7 lt No gt DO H 00 H7F H00 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 lt gt DO H 00 H7F H 0000_0000 D7 DO H00 No H02 1 ms
155. WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 COMMAND PORT COUNTER COMMAND PORT COMMAND WRITE COUNTER DATA2 PORT D15 D14 D11 D8 A31 D13 D12 D10 D9 D7 De D5 D4 ps D2 D1 L po gt A16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO H 8000 0000 H 8000_0000 5 ADDRESS COUNTER MAX COUNT SET lt gt COMMAND H 000A ADDRESS COUNTER MAX COUNT SET COMMAND DATA2 PORT 2 R IN COUNTER DATA2 PORT A31 A16 5 SR COUNTER DATA3 PORT A15 A0 WRITE N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE 1 4 294 967 295 H 0000_ 0001 HFFFF_FFFF STATUS1 PORT BUSY
156. _0 1 CW CCW 0 0 INDEX END PULSE 1 0 INDEX END PULSE 0 INDEX END PULSE END PULSE END PULSE TYPE 1 D1 END PULSE STOP MODE END PULSE 0 END PULSE 1 END PULSE 1 SCAN END PULSE D2 ENDLSPD ENABLE END LSPD 0 END LSP
157. DATA2 PORT DRIVE DATA2 PORT OFFSET D31 D16 WRITE DRIVE DATA3 PORT OFFSET D15 D0 DATA3 PORT 0 2 147 483 647 H 0000_0000 H7FFF_FFFF WRITE Eee STATUS1 PORT BUSY 0 Y 1 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D31 OFFSET gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO OFFSET H 0000_0064 100 D15 OFFSET ORIGIN OFFSET ORIGIN SPEC SET ORIGIN START DIRECTION 0 OFFSET
158. N a STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 D4 D3 p2 p1 po A31 A16 N DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De Ds D4 D3 A15 lt gt AO HFFFF_FFFF AUTO CHANGE DRIVE SET 120
159. RATE SURATE SDRATE 8 RATE RATE SURATE SDRATE 8 gt SURATE SDRATE RATE RATE DATA TABLE No SURATE SDRATE RATE No RATE TYPE RATE RATE 4 SCAREA12 SET S SCAREA1 SCAREA2 lt gt COMMAND H0034 SCAREA12 SET COMMAND DATA2 PORT DRIVE DATA2 PORT SCAREA2 WRITE DRIVE DATA3 PORT SCAREA1 DATA3 PORT 0 65 535 H 0000 HFFFF WRITE Hz x 50 Hz 0 3 276 750 Hz SS STATUS1 PORT BUSY 0 Y Mi DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D
160. H8000_0000 5 PULSE COUNTER MAX COUNT SET lt gt COMMAND H 001A PULSE COUNTER MAX COUNT SET COMMAND DATA2 PORT R RTE COUNTER DATA2 PORT D31 D16 io o TE COUNTER DATA3 PORT D15 D0 WRITE 1 4 294 967 295 H 0000_0001 HFFFF_FFFF COMMAND PORT ONE COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D16 COUNTER DATA3 PORT D15 D14 D13 p12 D11 D10 pg ps D7 pe D5 D4 D3 D2 Dt DO D31 D15 gt DO HFFFF_FFFF 76 5 3 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT
161. X DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 lt X A8 X DRIVE DATA2 PORT Ra D14 D13 D12 D11 D10 pg pe pz pe ps D4 ps D2 pt DO A7 X AO IIA23 lt X gt A16 X DRIVE DATA3 PORT D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 lt X gt AO O 0 105 1 2 1 2 X Y
162. DALM ON High 00 DALM OFF Low 01 IN10 IN17 ACTIVE Low 133 00 n IN10 IN17 NOT ACTIVE High 01 OUT10 OUT17 ACTIVE Low 00 n OUT10 OUT17 NOT ACTIVE High 3 MO PORT 64 n O PORT O PORT IO PORT PORT 45 uh IO DATA IN10 IN12 IN16 ON PORT 00 n JO PORT 01 n IO PORT 02 n OPORT PORT IS 8 gt 4 IO PORT
163. S COMMAND H 0171 INC SRATE CIRCULAR2 CP COMMAND 11 CONST INC CIRCULAR2 CONST CP COMMAND 12 SRATE CONST S INC SRATE CIRCULAR2 CONST CP COMMAND 104 lt gt Y DATA1 PORT Y DRIVE DATA1 PORT Y Ai Y DRIVE DATA2 PORT Y Y DATA2 PORT Y WRITE Y DATA3 PORT Y DRIVE DATA3 PORT Y Al X DRIVE DATA1 PORT X X DATA1 PORT X DRIVE DATA2 PORT
164. 0 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D8 D10 pe D7 De D5 D4 D3 D2 D1 po A31 gt A16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A15 A0 HFFFF FFFF 74 5 2 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 1 PULSE COUNTER PRESET lt gt COMMAND H0010 PULSE COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT D31 D16 WRITE COUNTER DATA3 PORT D15 D0
165. A DRIVE DATA3 PORT D15 D0 a 1 5 000 000 H 0000_ 0001 H 004C_4B40 Li SS gt STATUS1 PORT BUSY 0 Y MM DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 D23 EER gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO H 0000_012C 300 Hz CSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5 M 5 MHz 3 ORIGIN DELAY SET DELAY TIME MARGIN lt gt COMMAND H0062 ORIGIN DELAY SET COMMAND DATA1 PORT DRIVE DATA1 PORT MARGIN 0E MARGIN 0 65 535 HO0000 HFFFF DATA2 PORT DRIVE DATA2 P
166. DRIVE COMMAND PORT COMMAND DATA2 PORT NS ES DRIVE DATA2 PORT D23 D16 DATA3 PORT Se 8 a DRIVE DATA3 PORT D15 D0 ee PORT PORT D23 gt D16 DRIVE DATA3 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO 1 Hz PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT X
167. INC STRAIGHT CONST CP COMMAND 4 SRATE CONST 2 S 2 COMMAND H 0153 INC SRATE STRAIGHT CONST CP COMMAND 99 lt 2 gt Y DATA2 PORT Y DRIVE DATA2 PORT Y Aa Y DRIVE DATA3 PORT Y Y DATA3 PORT AI X DRIVE DATA2 PORT X X DATA2 PORT WRITE X DRIVE DATA3 PORT X Ao 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 Y X STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT
168. RRNA RNN RN RR ER 24 PAGE 9 6 28 et SS sa 25 CSSPD SE NSE 25 SNS SE RS NS SR 26 SRATE SE RR EE 26 4 SCAREAG SER SR SE 27 SCAREASA GET TR NIAAA NIA NNE RNR NIN SSR 27 3 7 S END PULSE 28 CD SEND PUESE SET SS ER NS 28 ESPD SE RS SS 28 SSESPD DE CS 29 8 38 SesRtMGHeE EE GE ESC Rite tee 30 YSRAOTEISGAN RS NR SSID RID SR RIS SR RIE 30 SFSRATESCAN RS TR ee 30 3 SRATEIINED Si ER i tete 30 C6 SRATE ND RR 9ESRWBESSIeBBSERBSSPWBSSSPHSSBRMEESSSYSRKEESHI 31 3 9 ORIGIN RR 32 ORIGINIG 8 2 CR 33 ORIGIN CSPE SE Bk 2 9 36 3 ORIGINPDEEAYWAG SER 36 A ORGIN GFFSETPULSE SET SS SSN RR 38 BORIGIN CSCAN ERROR PULSE SET RR CE EE ER 39 0 ORIGINIOS ERRORPULSSSETRE SR RN SS 39 DORICIN PRESET FUSESSET SR SR 40 3 10 ORIGIN 41 DORIS AT DT SS SS 41 SRATE ORICINES RD 95EESSSBESSRHGGBSG8RSGSBGG8RSEGRGSSR3EGNG3SHN3EGNE3CNEGGSEBSRGSG6c 41 DPRESET ORIGIN RS TS RR 41 A SRATEERESET ORIGIN RS TR 41 uc RN 42 SON SOR SR RE 42 2
169. DRIVE DATA2 POR D13 D12 D11 D10 D9 lt 1 Y gt T Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 D1 Do ss 2 Y gt A16 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 X DRIVE DATA1 POR T 2 Y AO D14 D11 D10 pg D8 D7 pe Ds D15 A23 D13 D12 D4 D3 D2 D1 po 1 X AS8 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps pr De ps D4 ps D2 pt DO A7 1 X gt AO A23 2 X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg D8 D7 pe D5 D4 D3 D2 D1 po A15 lt 2 X gt AO
170. END PULSE DELAY TIME 1 SLSPD SET S lt gt COMMAND H0030 SLSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 D7 DO0 D23 D16 WRITE DATA3 PORT DRIVE DATA3 PORT D15 D0 WRITE 1 5 000 000 HI0000_0001 H004C_4B40 Ln A RR STATUS1 PORT BUSY 0 BUSY 0 Y 1 32 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po 0 0 0 0 0 0 0 0 D23 SLSPD gt D16 DRIVE DATA3 PORT DO D15 SLSPD H 0000_
171. ORG ORG D15 D14 0 0O ORG NORG PR ORIGIN SPEC SET RR RN ETECT NoRe gt pENpyPo PO DEND NORG NORG ORG DETECT Z PO ORG TYPE ORG ORG ORG Z OR ORG gt Z Z ORG PO ORIGIN SPEC SET COMMAND OR AND 35 2 ORIGIN CSPD SET CONSTANT SCAN gt COMMAND H 0061 ORIGIN CSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16
172. STATUS1 PORT SPEED CBUSY 0 SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 3 DOWN DRIVE lt gt COMMAND HF035 DOWN DRIVE COMMAND S N TATUS1 PORT ST WW SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y te DRIVE COMMAND PORT COMMAND 4 CONST DRIVE lt gt COMMAND HF036 CONST DRIVE COMMAND N STATUS1 PORT Sh WW 3 SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 110 6 12 SPEED CHANGE 1 SPEED CHANGE SPEC SET SPEED CHANGE lt gt COMMAND HF031 SPEED CHANGE SPEC SET COMMAND DRIVE DATA3 PORT
173. 0 BUSY 0 X STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do Y Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 lt Y gt AO H 0000_0000 X DRIVE DATA2 PORT A31 lt X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 D Ds D4 D3 D2 D1 DO A15 X AO 0000 0000 X Y
174. 77 4 DFL COUNTER COMPARE REGISTER3 SET 77 5 DFL COUNTER MAX COUNT SET 78 54 20 AE yp20020 2900020008R200260DNo26 79 1 SPEED COUNTER COMPARE REGISTER1 SET 79 2 SPEED COUNTER COMPARE REGISTER2 SET 79 3 SPEED COUNTER COMPARE REGISTER3 SET 79 4 SPEEDGVF GOUNT SET RR 02 da Ne Reg RTRs 80 6 RAT NHNNNHYHRP RON Pete 81 SPECGINITIALIZET 81 20 RATE DATA SE TR RA 82 3 SRATE DATA SBF 3 SS ddA GAs 82 62 nn 83 DSBECIINITIAHIZE9 BN RENT SN TNH 83 6 3 85 IGGPHINS 6082 SSSA 85 DBOWN ROINT SET A CNA 86 9 SEESPD SETAR RS NS SR GS SSS 86 4 SRAU
175. COUNTER COMMAND HEX CODE 1 0003 0011 PULSE COUNTER COMPARE REGISTER1 SET 0012 PULSE COUNTER COMPARE REGISTER2 SET 0013 PULSE COUNTER COMPARE REGISTER3 SET 3 001A PULSE COUNTER MAX COUNT SET 0020 DFL COUNTER PRESET 2 3 0031 SPEED COUNTER COMPARE REGISTER1 SET 3 003A SPEED OVF COUNT SET QO 138 139 1
176. D16 OVF COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 D15 OVF gt DO HFFFF_FFFF STATUS4 PORT SPEED OVF 1 80 6 6 1 RATE 7 6 SPEC INITIALIZE1 RATE DATA RATE DATA SET URATE DRATE SET RATE SET RATE DATA SET S eo SPEC INITIALIZE1 SRATE DATA SRATE DATA SET SURATE SDRATE
177. DRIVE TYPE 000 2 H xx05 H xx06 Hxx07 RATE TYPE Hxx08 RATE TYPE H xx09 SOFT LIMIT SOFT LIMIT H xx0A H xx0B HFFFF_FFFF H xx0C ADDRESS OVF 1 H x0D OFFSET ORIGIN FLG ENABLE 1 ORIGIN Hxx10
178. DRST 10 ms ON lt gt COMMAND HF00D DRST OUT COMMAND COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRST 10 ms ON DRST 10 ms DRST ON 10 ms ON DRST FSSTOP LIMIT DRST 10ms ON 47 4 5 1 MCC SPEED PORT SELECT DRIVE DATA1 2 3 PORT READ MCC06 PORT lt gt COMMAND H F040 MCC SPEED PORT SELECT COMMAND COMMAND PORT VRE
179. OR D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB TYPE1 TYPEO 0 0 EA EB 1 0 1 EA EB 2 1 0 EA EB 4 EA EB a 63 D4 SPDINT TYPE0 D5 SPDINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT SPDINT COMP1 2 3 TYPE1 TYPE0 COMP1 2 3 a 0 1 STATUS4 PORT 1 0 INT FACTOR CLR 1 1 gt LT SPDINT 1
180. S S SRATE SCAN SRATE INDEX S S SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S SCAREA2 SURATE S SCAREA3 SDRATE S SCAREA4 SDRATE S ENDPULSE S END PULSE SEND PULSE END PULSE SESPD END PULSE SESPD DELAYTIME
181. 0 65 535 SCAN CONSTANT SCAN MARGIN CONSTANT SCAN MARGIN SCAN MARGIN MARGIN NORG ORIGIN MARGIN DELAY TIME DELAY TIME 0 DELAY TIME DEND DELAY TIME LIMIT DELAY TIME LIMIT DELAY TIME x5ms 0 1 275 ms LIMIT LIMIT DELAY TIME DRST LIMIT DELAY TIME SCAN DELAY TIME SCAN DELAY TIME x5ms 0 1 275 ms SCAN SCAN DELAY TIME CONSTANT SCAN
182. DEND D2 CWLM D9 DALM D3 CCWLM D4 ORG D5 NORG D0 D7 D10 D11 D12 D13 D14 D15 1 D6 Z PO HARD INITIALIZE7 100 s 88 6 5 SOFT LIMIT 1 CW SOFT LIMIT SET SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CW SOFT LIMIT COMMAND H0008 CW SOFT LIMIT SET COMMAND H7FFF FFFF 2 CCW SOFT LIMIT SET SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CCW SOFT LIMIT COMMAND H0009 CCW SOFT LIMIT SET COMMAND 8000 0001 lt gt DATA
183. MO PORT IO PORT 0 24ms DO IO PORT 0 24ms 0 YOUT1 XOUT1 YOUTO XOUTO IO PORT D7 Do OUT17 OUT16 OUT15 OUT14 OUT13 OUT12 OUT11 OUT10 625000bps PORT IO PORT IO PORT D7 Do IO PORT 0 0 YDALM XDALM YOUT1 XOUT1 YOUTO XOUTO IO PORT RM AA J PORT OUT17 OUT16 OUT15 OUT14 OUT13 9UT12 OUT11 OUT10 IO PORT D7 IN17 IN16 IN15 IN14 IN13 IN12 IN11 IN10 4 IF EOn E1 I F IF 14
184. O 0 107 6 10 1 CP SPEC SET X Y 4 X STATUS1 PORT CP SPEC SET COMMAND COMMAND HO010F lt gt X DATA3 PORT WRITE X DRIVE DATA3 PORT Y STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 BUSY 0 Y X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO CIRCULAR 0 0 0 CP MODE 0 0 0 0 D3 D0 D4 D15 D5 0 CIRCULAR CP MODE 2
185. SEL1 SELO 1 1 0 0 X 1 0 1 Y 1 1 0 XEA XEB 1 1 1 YEA YEB Y X XEA XEB YEA YEB X Y 59 D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB TYPE1 TYPE0 0 0 EA EB 1 0 1 EA EB 2 SA EPR EA EB 4 0 1 1 EA EB D
186. SERVO 8 00n 4 4 1 SERVO SPEC SET HUD0 DRST DEND DALM DRST DEND DALM lt gt COMMAND H0082 SERVO SPEC SET COMMAND Mt DRIVE DATA3 PORT STATUS1 PORT BUSY 0 Y NSR DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 0 0 DALM DALM DEND DEND DRST DRST TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 DO DRST TYPE0 D1 DRST TYPE1 DRST DRST 0
187. 2 3 TYPE1 TYPE0 COMP1 2 3 5 0 1 STATUS4 PORT 1 0 1 1 TFASTOR CR INT2 ADRINT 1 ADRINT PULSE TYPE D6 ADRINT PULSE TYPE0 D7 ADRINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPE0 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 ADRINT COMP1 2 3
188. D15 ESPD DELAY TIME gt DO H 0000 ESPD DELAY TIME END PULSE ESPD DELAY TIME END PULSE DELAY TIME END PULSE DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 ESPD DELAY TIME 0 END PULSE END PULSE DRIVE 1 A 6 3 5
189. D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D16 D31 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 gt DO 30 4 SRATE INDEX CW CCW lt gt COMMAND H0045 ABS SRATE INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 WRITE DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_000
190. D3 D2 D1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 p1o pe ps p7 pe D5 D4 D3 D2 D1 po D15 lt DO AUTO CHANGE DRIVE SET 7 AUTO CHANGE ABS INDEX ABS INDEX AUTO CHANGE lt gt COMMAND H 00BB AUTO CHANGE ABS INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 ASS DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2
191. D31 D16 WRITE DRIVE DATA3 PORT PRESET D15 D0 DATAS PORT IE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF R NZ SSDGHBRE CW CCW 2 STATUS1 PORT BUSY 0 BUSY 0 Y RI DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D16 PRESET DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 D15 PRESET gt DO H 0000 0000 0 40 3 10 ORIGIN ORIGIN ORIGIN 0 5 10 11 12 H 00 H 05 HOA HOB HOC 9 1 ORIGIN
192. DO27 2D EBIOT OO il TB9 oo INDEX SPEED 0 X 0 CSET 0 0 0 0 1 D7 D6 D5 YEB YEA XEB 0 0 0 0 1 4 DRIVE DATA1 2 3 PORT PORT PORT 10 1 5 JO PORT 1 IO PORT I O PORT O PORT D DATA DATA D 9 o o Yoxuw xoaw Yoomt xoort Youro xoum 1 O PORT O PORT D 7 D o o o o Yeomi Xertlyoure IXour 1 ON 2 UO PORT O PORT RRORE oe IO DATA IO DATA D7 Do D7 D 1 IO PORT O PORT D D 1 ON 11 2
193. EAST STOP PIE OPD in 42 BOBO SN 42 NOORERSNONS RT SR SE 42 1 63033ReeaHSSnaaNRNsndte hantetenetns es 43 RIOKINIIIAIZ EE 43 CSIGNALOUE TR DE SR 44 NETRAOTOR CR TS ee SS SSR 00 SE 5SSEEESSEgSB SE 44 22 Sd 45 COUNTER COMR MASK TS oF RS 45 46 4 1 EE SSS NGRS OR CORRES LARS 73333 Pas 46 SERUO SPEGRET EE RN RG EE 46 DENDMIMESET SR SR BSBESSPBSEG5 SG SS 47 9 DRSI2OUI 22 0998SYSSS3SS9 8 SS 8 47 9 0 GASbd nando hss 48 DMCCESPEED PORT SEECT SR SS 48 2 DATRREAD PORTSELECT SR SSE GE 48 SERROR SDTUS READ TE EC Se 49 A SET DATA READ 2 RC ond RR AD 50 6 6 RE 51 13 RAPDRESS COUNTER INITIALIZEC SS RS 51 ADBRESS GOUNTERR INIIAIZE IE SS 53 ADDRESS COUNTER INITIALIZES TR Ri 54 EE RIE TIR EE 55 1 PUESE CGUNTERINITIALIZET SR EN 55 ORDUESE COUNTERINITIALZES TR 57 PULSECOLUNTERINITIALES I RA 58 PAGE 4 8 59 1 DEL COUNTERINITIALIZET A RR a NThHDRHRNNNR ht 59 2 BFL COUNTER INITIALIZE a SR eeenad on alannl oedema aoi eR 61 DRE COUNTERINITIACIZE SG iR Sosa GR RD Se dE
194. RE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 lt Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A15 Y gt AO X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A31 lt X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A15 X A0 0 0 100 6 9 2 X S X
195. 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 Y X Re X STATUS1 PORT BUSY 0 Y X COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do 2 Y Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO 2 Y X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 2 X A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 2 X gt 40 X Y
196. 6 SRATE CCW S CCW COMMAND H0123 ABS SRATE CIRCULAR CP COMMAND 7 CONST CW CW ABS CIRCULAR CONST CP COMMAND 8 CONST CCW CCW ABS CIRCULAR CONST CP COMMAND 9 SRATE CONST CW S CW ABS SRATE CIRCULAR CONST CP COMMAND 10 SRATE CONST CCW S CCW ABS SRATE CIRCULAR CONST CP COMMAND 95 gt Y DATA2 PORT Y DRIVE DAT
197. 62 49 63 1 SPEED COUNTER INITIALIZE1 63 2 SPEEDGOONTERIINIRIALIZE2 Er SeeMISASNIEMIIRNIAMRSSIRSINSSRIRSSMSI 65 9 SP DGGBNIT ININIALIZE8 IN GG 66 I OO FR oC dS SI 68 1 ADDRESS COUNTER PORT SELECT 68 2 PULSE COUNTER PORT SEEECT SS Ss 3 NS da Rss 68 3DEECOUNTER PORT SBECGT PIEDRA EE ESE EI 68 4 SEREDICOUNTER PGRTUSEEECGTS SR SR RE EE 69 4 11 70 1 GOUNTERILATGH SPEGSET me 70 4 12 72 1 ADDRESS LATCH DATA PORT SELECT 72 2 PULSE LATCH DATA PORT SELECT 72 3 IDEELAKCHIDAEAPORTSEEEGE RS PP th 72 2 SPEED EAICHIDATAIPBORT SEEECT ntenataanenadanmnaranenasarananaaauanavossne 72 COUNTER is DR CS 73 ABBRESS COUNTER PRESET 3 SN SAA Ss 73
198. CNTINT CNTINT COUNT COUNT PULSE PULSE PULSE TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 X SEL1 SELO 0 0 X 0 Y mh 1 0 XEA XEB 1 YEA Y EB Y Y X XEA XEB YEA YEB X Y D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB TYPE1 TypEo
199. D14 D13 D12 D11 D10 De De Dr De Ds A15 lt X gt AO 0O 0 103 0 0 X Y 9 COMMAND H0170 INC CIRCULAR2 CP COMMAND 10 SRATE
200. D4 SIGOUT TYPE3 0 CNTINT D11 D8 D15 D12 SIGOUT TYPEO SIGOUT 0 0 0 0 ADRINT ADRINT RDYINT 0 0 0 1 CNTINT CNTINT 0 0 1 0 DFLINT DFLINT el ll 1 _ SPDINT SPDINT 0 1 0 0 RDYINT RDYINT 0 1 0 1 STBY STATUS1 STBY 0 1 1 0 DRIVE STATUS1 DRIVE 0 1 1 1 ERROR STATUS1 ERROR 1 0 0 0 UP STATUS1 UP 1 0 0 1 DOWN STATUS1 DOWN 1 0 1 0 CONST STATUS1 CONST li 0 1 1 1 EXTPULSE __ STATUS1 EXT PULSE 1 1 0 0 1 1 0 1 DALM STATUS2 DALM 1 1 1 0
201. D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 TYPE1 TYPEO COMP3 0 0 COMPARE REGISTER3 0 1 gt COMPARE REGISTER3 1 0 COMPARE REGISTER3 1 1 D15 D8 0 0 57 3 PULSE COUNTER INITIALIZE3 lt gt COMMAND H F016 PULSE COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 D5 D4 D3 D2 D1 DO D7 D0 DIVISION D7 D0 256 255 254 4 3 2 1
202. F016 PULSE COUNTER INITIALIZE3 3 F018 DFL COUNTER INITIALIZE1 1 F019 DFL COUNTER INITIALIZE2 2 F01A DFL COUNTER INITIALIZE3 3 F01C 1 F01D 2 F01E SPEED COUNTER INITIALIZE3 3 F023 COUNTER COMP MASK UP DOWN CONST CHANGE SPEED CHANGE SPEC SET SPEED CHANGE INDEX CHANGE SPEC SET INDEX CHANGE UP DRIVE DOWN DRIVE SPEED CHANGE RATE CHANGE RATE CHANGE INC INDEX CHANGE INDEX ABS INDEX CHANGE
203. INDEX S ABS SRATE INDEX S ON _0 _ _0 _ O O O O _ 1 _ EE _0 _ O O O O _0 _ 1 135 ORIGIN SPEC SET ORIGIN ORIGIN CSPD SET CONSTANT SCAN ORIGIN DELAY SET MARGIN ORIGIN OFFSET PULSE SET OFFSET 0064 ORIGIN CSCAN ERROR PULSE SET CONSTANT SCAN 0065 ORIGIN JOG ERROR PULSE SET JOG 0068 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET 0070 ORIGIN ORIGIN 0071 SRATE ORIGIN S ORIGIN 0074 PRESET ORIGIN PRESET ORIGIN 0083 DEND TIME SET DEND 0089 SET DATA READ 00B0 CHANGE POINT SET 00B1 CHANGE DATA SET
204. INDEX SCAN DELAY TIME ORIGIN 0 5 10 11 12 H00 H 05 HOA HO0B HOC 9 3 PRESET ORIGIN PRESET ORIGIN COMMAND H0074 PRESET ORIGIN COMMAND 4 SRATE PRESET ORIGIN S PRESET ORIGIN SRATE PRESET ORIGIN COMMAND lt PRESET ORIGIN gt DRIVE DATA3 PORT D15 D8 0 D7 DO0 ORIGIN Eee STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po DATA3 PORT WRITE DRIVE COMMAND PORT COMMAND 0 0 0 0 0 0 0 0 D7 ORIGIN gt DO ORIGIN
205. ORR RR RR RR RR 112 6 13 INDEX CHANGE 113 1 INDEX CHANGE SBEC SEE SRS Becontree hetero 113 2 ING INDEX CHANGE ER Se SA A AA es 114 3 ABS INDEX CHANGE PR ee i i i i i i i i i 115 0 PESMNDBX CHANGE SR RR TR RD RE 8 116 6 14 AUTO CHANGE ere i 117 A HANGEROINT SET RR SR np ion DR aes 117 9 CHANGE DATA SET aR A Acsndicadepi adieas cE Rh iis once 118 3 AUTO CHANGEDRIVE SEER RN RNS SS RRS SS 119 4 AUTO CHANGE SCAN 119 5 AUTO CHANGE SCAN 119 6 AUTO CHANGE INC INDEX 120 7 AUTO CHANGE ABS INDEX Essence 120 7 2 7 2 9840 68666 568368eG83SeS36e3iE 121 2 EA RE tt 122 1 PORT 122 2 PORT 122 9 MCC06 IT 123 1 DRIVE COMMAND
206. PORT PORT DRIVE COMMAND 2 DRIVE DATA1 2 3 PORT DRIVE COMMAND PORT PORT 3 COUNTER COMMAND PORT PORT COUNTER COMMAND COUNTER COMMAND COUNTER COMMAND BUSY 0 ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET 4 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT PORT 1 3 MCC06 PORT 1 STATUS1 PORT PORT D15 D14 D13 D9 D8 AS 0 0 SreeD BT const pom up east CBUSY CBUSY PULSE D7 D6 D5 FSEND SSEND LSEND DRIVE 2 STATUS2 PORT ORIGIN POR
207. PORT SELECT COMMAND 3 DFL LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT DFL LATCH DATA PORT SELECT COMMAND 4 SPEED LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF04F SPEED LATCH DATA PORT SELECT COMMAND lt gt MD DRIVE COMMAND PORT COMMAND a 0 DRIVE DATA1 PORT D15 D0 SE DRIVE DATA2 PORT D31 D16 ZN DRIVE DATA3 PORT D15 DO PORT PORT DRIVE DATA1 PORT D12 D11ID10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DOl D15 DO H 0000 DRIVE DATA2 PORT
208. SRATE CONST 2 S 2 COMMAND H 0113 ABS SRATE STRAIGHT CONST CP COMMAND 90 lt 2 gt Y DATA2 PORT Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y Y DATA3 PORT AU X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 X DATA3 PORT WRITE Y STATUS1 PORT BUSY 0 N Y STATUS1 PORT BUSY 0 nnW lt CE X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE D
209. WRITE 1 4 294 967 295 H 0000_ 0001 HFFFF_FFFF COMMAND PORT BE COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po D31 gt D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D15 DO HFFFF_FFFF 78 5 4 20MHz COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 1 SPEED COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0031 SPEED COUNTER COMPARE REGISTER1 SET CO
210. 0 TYPE1 TYPE0 TYPE1 TYPE0 LIMIT END ENABLE AUTO DRST ENABLE D5 ERROR PULSE ENABLE D4 ORIGIN FLG ENABLE D3 SENSOR ERROR TYPE1 D2 SENSOR ERROR TYPE0 JOG SENSOR TYPE ORIGIN START DIRECTION DO ORIGIN START DIRECTION ORIGIN 0 CCW 1 CW D1 JOG SENSOR TYPE JOG 0 1 33 D2 D3 D4 D5 SENSOR ERROR TYPE0 SENSOR ERROR TYPE1 CONSTANT SCAN DELAY TIME 0 STATUS1 PORT ERROR 1 ORIGIN
211. 012C 300 Hz SLSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 5 2 SHSPD SET S lt gt COMMAND H 0031 SHSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 TA ORT DRIVE DATA3 PORT D15 DO WRITE 1 5 000 000 H0000 0001 H 004C_4B40 SS STATUS1 PORT BUSY 0 Y NN DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D23 SHSPD D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 SHSPD gt DO
212. 04 10 SRATE 104 11 CONST 104 12 SRATE CONST 104 13 106 14 SRATE 106 15 CONST 106 16 SRATE CONST 106 0 OR 108 CP SPEC SE TA SI 108 6 11 UP DOWN CONST CHANGE 109 UDC SPEGSET A TN RESIS EAS Se 109 UR DRIVE RS 193808025588Ea ae BallaesleedbaeasBeakasasaeesasasaes 110 BOWN DRE TR RE RR RE 110 A CONST DRIVE RA SE GG BR EE EER 110 PAGE 6 12 SPEED CHANGE 111 0 SPEEDICHANG SEEGSET 111 2 D GNANG 22 90RSRA2ReR94BRSEKS802RBRSMGGER292B62RORSR88SDAR2R8SCDSaga 112 RATECHANGE GS SR
213. 1 5 000 000 H 0000_0001 H 004C_4B40 Ln 3 STATUS1 PORT BUSY 0 BUSY 0 Y A DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D23 LSPD gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 LSPD gt DO H 0000 012C 300 Hz LSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 19 2 HSPD SET lt gt COMMAND H 0011 HSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0
214. 1 H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y NN DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 gt AO HFFFF_FFFF 31
215. 2 CW INC CIRCULAR CP CCW INC SRATE CIRCULAR CP S CW INC SRATE CIRCULAR CP S CCW INC CIRCULAR CONST CP CW 0165 INC CIRCULAR CONST CP CCW 0166 INC SRATE CIRCULAR CONST CP S CW INC SRATE CIRCULAR CONST CP S CCW ki 2 EE J J 3 2 EE J N 136 HEX CODE COMMAND NAME 0170 INC CIRCULAR2 CP 0171 INC SRATE CIRCULAR2 CP S 0172 INC CIRCULAR2 CONST CP
216. 2 ADDRESS COUNTER COMPARE REGISTER1 SET 73 3 ADDRESS COUNTER COMPARE REGISTER2 SET 73 4 ADDRESS COUNTER COMPARE REGISTER3 SET 73 5 ADDRESS COUNTER MAX COUNT SET 74 82 75 PULSE COUNTER PRESET dR SA i 75 PULSE COUNTER COMPARE REGISTER1 SET 75 3 PULSE COUNTER COMPARE REGISTER2 SET 75 4 PULSE COUNTER COMPARE REGISTER3 SET 75 5 PULSE COUNTER MAX COUNT SET 76 3 200D 2 9 2 9 002RREOiPBBRSePB3EBESesdPBdsEebdsdBs des 77 1 BEIIGOUNTERIPRESET 77 2 DFL COUNTER COMPARE REGISTER1 SET 77 3 DFL COUNTER COMPARE REGISTER2 SET
217. 2 D1 DO D15 SCAREA2 0014 1 000 Hz DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 ps D7 pe D5 D4 D3 D2 D1 L po D15 SCAREA1 gt DO H 0014 1 000 Hz 5 SCAREA34 SET S SCAREA3 SCAREA4 lt gt COMMAND H0035 SCAREA34 SET COMMAND DATA2 PORT DRIVE DATA2 PORT SCAREA3 WRITE DRIVE DATA3 PORT SCAREA4 DATA3 PORT 0 65 535 HI0000 HFFFF WRITE Hz x 50 Hz 0 3 276 750 Hz wsrrom STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 SCAREA3 gt DO
218. 2 PORT DRIVE DATA2 PORT SOFT LIMIT AS31 A16 WRITE SN ES DATA3 PORT PORT SOFT LIMIT A15 A0 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF ei 8 en 2 BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 ps D7 De D5 D4 D3 D2 D1 DO A31 SOFT LIMIT gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 De ps D7 De D5 D4 D3 D2 D1 DO A15 SOFT LIMIT AO SOFT LIMIT SOFT LIMIT 89 6 6 2
219. 3 COMP2 COMP2 COMP2 COMP2 TYPE1 TYPE0 2 TYPE1 TYPE0 MM 0 ENABLE ENABLE ENABLE ENABLE D0 COMP2 INT ENABLE COMP2 DFLINT 0 COMP2 DFLINT 1 COMP2 DFLINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 COMPARE REGISTER2 IO D4 COMP3 INT ENABLE COMP3 DFLINT 0 COMP3 DFLINT 1 COMP3 DFLINT D5 COMP3 STOP ENABLE COMP3 0 C
220. 4 S SRATE DOWN POINT SET 87 6 4 1 HARD INITIALIZE6 XEA XEB X HARD INITIALIZE6 YEA YEB Y HARD INITIALIZE6 lt gt COMMAND H F006 HARD INITIALIZE6 COMMAND DATA3 PORT DRIVE DATA3 PORT ME 0 65 535 H 0000 HFFFF COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 De Ds D4 D3 D2 D1 DO D15 lt gt DO 0000 0 50 ns XEA XEB YEA YEB
221. 4 DFLINT TYPE0 D5 DFLINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT DFLINT COMP1 2 3 COMP1 2 3 a 3 STATUS4 PORT 0 1 STATUS4 PORT 1 0 1 32200 ce 3 ea INT FACTOR CLR 1 1 INT2 DFLINT 1 DFLINT PULSE TYPE D6 DFLINT PULSE TYPE0 D7 DFLINT PULSE TYPE1 COMP1 2 3 0008 6 10 ps
222. 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y Rc DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO A31 lt gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A0 A15 HFFFF_FFFF 24 3 6 S
223. 5 6 SRATE CCW 95 GONSTi W HeitnttReeheetseteeteeetaseeeeisotise 95 8 CONST CCW 95 9 SRATE CONST CW 95 10 SRATE CONST CCW 95 11 97 12 SRATE 97 13 CONST 97 14 SRATE CONST 97 15 98 1 SRATE 98 17 CONST 98 18 SRATE CONST 98 8 2 i 0000DSPBPO PP PSP ne 99 01
224. 6A 200 200 3 SRATE DATA SET SPEC INITIALIZE1 RATE TYPE S SURATE DATA SDRATE DATA lt gt COMMAND H 003E SRATE DATA SET COMMAND DATA2 PORT DRIVE DATA2 PORT SURATE RATE DATA WRITE DRIVE DATA3 PORT SDRATE RATE DATA 200 65 535 0080 FFFF DK STATUS1 PORT BUSY 0 Y YS DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 D1 DO SURATE DATA H 186A DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 D15 SDRATE DATA DO 186A 200
225. 94 X Y 3 CW CW ABS CIRCULAR CP COMMAND 4 CCW CCW COMMAND H 0121 ABS CIRCULAR CP COMMAND 5 SRATE CW S OCW COMMAND H 0122 ABS SRATE CIRCULAR CP COMMAND
226. A2 PORT Y Y DRIVE DATA3 PORT Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X X DATA3 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF WRITE 2 Y hs I Y STATUS1 PORT BUSY 0 BUSY 0 Y N X STATUS1 PORT X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 p10 pg pe p7 pe ps p4 D3 D2 D1 DO A15 Y A0
227. AND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO 6 INDEX CW CCW COMMAND H0025 ABS INDEX COMMAND lt gt DATA2 PORT DRIVE DATA2 PORT A31 A16 WRITE DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147
228. ATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO A31 lt Y A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A15 Y gt AO X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A31 0 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A15 4 A0 X Y 91 6 7 2 X S X
229. CHANGE RATE lt gt COMMAND HF03A RATE CHANGE COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 URATE No MS DRIVE DATA3 PORT D7 D0 DRATE No RUNAT STATUS1 PORT SPEED CBUSY 0 SPEED CBUSY 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 p4 ps D2 pt L po D7 URATE No DO D7 DRATE No gt DO URATE DRATE RATE TYPE RATE RATE DATA TABLE No URATE DRATE RATE No RATE TYPE RATE RATE RATE CHANGE 112 6 13 INDEX CHANGE 1 INDEX CHANGE SPEC SET INDEX CHANGE
230. COMP2 TYPE1 TYPE0 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 COMPARE REGISTER2 Oo O D4 COMP3 INT ENABLE COMP3 ADRINT 0 COMP3 ADRINT 1 COMP3 ADRINT D5 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 COMP3 COMPARE REGISTER3 gt COMPARE REGISTER3 COMPARE REGISTER3 D15 D8 0 0 53 3 ADDRESS COUNTER INITIALIZE3 lt
231. D 1 END LSPD 1 ELSPD SET SELSPD SET 1 DOWN POINT SET SRATE DOWN POINT SET D3 SOFT LIMIT ENABLE SOFT LIMIT 0 SOFT LIMIT 1 SOFT LIMIT 1 CW SOFT LIMIT CCW SOFT LIMIT D4 SRATE DRIVE TYPE S 0 1 1 S SRATE DOWN POINT SET 83 D5 SRATE INDEX MODE SRATE INDEX 0 SRATE INDEX
232. D PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO A31 INDEX CHANGE gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A0 A15 INDEX CHANGE HFFFF_FFFF ABS INDEX CHANGE ABS INDEX CHANGE END PULSE 115
233. DATA3 PORT CONST CONST CONST 9 9 0 0 9 TYPE2 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO 0 DOWN DOWN DOWN 0 UP UP UP TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 UPTYPE2 0 UP DRIVE CHANGE D6 D4 DOWN TYPE2 0 DOWN DRIVE CHANGE D10 D8 CONST TYPE2 0 CONST DRIVE CHANGE D15 D11 D7 D3 0 0 TYPE2 TYPE1 TYPE0 CHANGE 0 0 0 CHANGE 0 0 1 CNTINT 1 0 1 0 DFLINT 1 0 ek 1 SPDINT 1 1 0 0 1 0 1 1 1 0 1 1 1 109 2 UP DRIVE lt gt COMMAND HF034 UP DRIVE COMMAND h RE
234. DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT RELOAD AUTO COMP1 COMP1 COMP COMP COMP ENABLE CLEAR STOP INT 1 STOP GATE GATE ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO RAN RIN SPDINT SPDINT COUNT COUNT RO 5 Ve SE TYPE1 TYPE0 TYPE1 TYPE0 1 8 TYPE1 TYPE0 SEL 1 SELO0 DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 X SEL1 SELO 0 0 X 0 1 Y 1 0 XEA XEB 1 1 YEA YEB Y SEL1 SELO 0 0 Y 0 1 X 1 0 XEA XEB 1 1 YEA YEB X Y COUNT PULSE SEL 1
235. EE RA ER 135 DMCCOS TE DRIVEGO MND RR 135 CMCC DRNECOMMAND CR I 137 MECCOEA COUNTER COMMAND 0 26nde A AAA RAGA SHEAR II 138 A NCCOE FCOUNTER COMMAND So SS SS SE SI IIS IAA ESN Es 138 1 PORT X Y X Y 1 1 PORT DO O MCC06 SERVO D 7 D 9 0O O jOI910 ee SELO SEL1 SEL2 0 i i EE CT TT A 2 1 2 MCC06 PORT 1 DRIVE COMMAND
236. EJDOWN EOINTSEK Rd 87 PAGE 6 4 88 3 NARDAINITIALIZEG A SE a i ee NRN Net te 88 2 HARD INITIALIZET 4 2 030RWARRRWSRSRBSWRMRSIARSRRNRAGRRMRGGRRRKRSRRGRBSRGe 88 665 3SOETMIMIK ddNOnRhondhhnutnutlineiiun 89 CW SOEFEIMITSET SS 89 6GMWISORNHIMIU SE RE EE 89 6 6 2 90 0 2 DD 90 2 SRATE 2 90 3 CONST 2 90 4 SRATE CONST 2 90 6 7 2 92 C1 CENTERSPOSITIONSET a SC 50 OO 93 2 PASS POSITIOGNLSET FR I RR AE GE OER ERAN Ei 94 3 CW ioe ene is 95 ER CC TES PT CC CE 95 5 SRATE CW 9
237. ESPD SET END PULSE ESPD DELAY SET END PULSE 0020 JOG CW 1 0021 JOG CCW 1 0022 SCAN CW CCW SLSPD SET S SHSPD SET S SELSPD SET S S SCAREA12 SET S 12 SCAREA34 SET S 34 SEND PULSE SET S END PULSE SESPD SET S END PULSE S END PULSE S S SRATE SCAN CW S SRATE SCAN CCW S INC SRATE
238. H 0014 1 000 Hz DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO SCAREA4 H 0014 1 000 Hz D15 27 3 7 S END PULSE S END PULSE END PULSE 1 SEND PULSE SET S END PULSE lt gt COMMAND H0038 SEND PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 D0 a 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 ar 8 Tr 2 BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND
239. IRCULAR CONST CP CCW ABS SRATE CIRCULAR CONST CP S CW ABS SRATE CIRCULAR CONST CP S CCW S 0133 ABS SRATE CIRCULAR2 CONST CP 8 0139 ABS SRATE CIRCULAR3 CP 8 S INC STRAIGHT CP 2 INC SRATE STRAIGHT CP S 2 INC STRAIGHT CONST CP 2 S
240. ITIALIZE3 COMMAND DATA3 PORT R WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 CoMP3 cowp gt COUNT COUNT COUNT COUNT 0 TYEE BE2 PULSE 0 ENABLE ENABLE ENABLE SEL2 TYPE2 TYPE1 TYPEO D7 D6 D5 D4 D3 D2 D1 Do DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 De D5 D4 D3 D2 D1 Do D7 D0 DIVISION D7 D0 COUNT PULSE SEL2 COUNT TYPE D8 COUNT ENABLE TYPE0 D9 COUNT ENABLE TYPE1 D10 COUNT ENABLE TYPE2 TYPE2 TYPE1 TYPE0 0 0 0 0 0 1
241. IVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 D6 D5 D4 ps D2 p1 L po STATUS1 PORT BUSY 0 D7 URATE No DO D7 DRATE No gt DO URATE No H 18 100 ms kHz DRATE No H 18 100 ms kHz URATE DRATE 1 000 ms kHz 0 016 ms kHz SPEC INITIALIZE1 RATE TYPE RATE RATE DATA TABLE No URATE DRATE RATE No RATE TYPE RATE RATE 6 3 4 END PULSE END PULSE END PULSE 1 END PULSE SET
242. MIT SET ORIGIN CSCAN ERROR PULSE SET ORIGIN JOG ERROR PULSE SET H 0010 LSPD SET ORIGIN PRESET PULSE SET HSPD SET SERVO SPEC SET ELSPD SET DEND TIME SET RATE SET CHANGE POINT SET CANGE DATA SET CP SPEC SET X ESPD DELAY SET RATE DATA SET SLSPD SET SHSPD SET H 0032 SELSPD SET H 0033 SRATE SET SCAREA12 SET SCAREA34 SET SEND PULSE SET H 0039 SESPD SET H 003A H 003E A 6 SESPD DELAY SET SRATE DATA SET 4 6 1 ADDRESS COUNTER INITIALIZE1 lt gt COMMAND H F010 ADDRESS COUNTER INITIALIZE1 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 OE ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 0 RA ADRINT ADRINT COUNT COUNT tt a SI TYPE1 TYPE0 TYPE1 TYPE0 2 0 TYPE1 TYPE0 SEL 1 SELO0
243. MMAND 2 SPEED COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 coMMANp H 0032 SPEED COUNTER COMPARE REGISTER2 SET COMMAND 3 SPEED COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0033 SPEED COUNTER COMPARE REGISTER3 SET COMMAND lt gt i COUNTER DATA2 PORT D31 D16 i RI COUNTER DATA3 PORT D15 D0 4 4 294 967 294 H 0000_0004 HFFFF_FFFE COMMAND PORT COUNTER COMMAND PORT COMMAND WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 Dpelpslp4 pslp2lp1lpol D31 lt gt D16 COUNTER DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 DO H FFFF_FFFF V F D V
244. ND H F020 DRIVE DATA3 PORT lt gt INT FACTOR CLR COMMAND DATA3 PORT WRITE ICE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 SPDINT DFLINT CNTINT ADRINT 0 0 0 0 Ka 2 SB D7 D6 D5 D4 D3 D2 DO DALM STBY RDYINT 0 0 is 0 0 0 a i D15 DO0 0 1 44 4 2 SG COUNTER INITIALIZE1 COMP1 STOP ENABLE COMP
245. OG ORIGIN JOG ERROR PULSE SET ORIGIN CSCAN ERROR PULSE ORIGIN JOG ERROR PULSE 2 147 483 647 34 D6 AUTO DRST ENABLE SERVO SPEC SET DRST lt gt DRST 0 DRST 1 DRST 10 ms DRST 1 DEND lt gt CONSTANT SCAN JOG DEND D7 LIMIT END ENABLE LIMIT CWLM CCWLM ORIGIN 0 LIMIT ORIGIN 1 LIMIT ORIGIN LIMIT ORIGIN STATUS1 PORT LSEND 1
246. OMMAND DATA2 DATA3 DRIVE DATA PORT DATA DRIVE COMMAND PORT COMMAND 00a X 01n Y 2 DRIVE COMMAND PORT 11 n MCC06 DRIVE COMMAND PORT COMMAND SCAN COMMAND DRIVE COMMAND PORT 0022 leex ot oz ltt kloo ool22 DRIVE COMMAND PORT COMMAND 00aX 01n Y
247. OMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 PPETLTPE9 COMP3 HH COMPARE REGISTER3 COMPARE REGISTER3 COMPARE REGISTER3 D15 D8 0 0 61 3 DFL COUNTER INITIALIZE3 lt gt COMMAND H F01A DFL COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT COUNT DIVISION 0 0 0 PULSE 0 0 0 NP SEL2 D7 D6 D5 D4 D3 D2 D1 DO DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 D5 D4 D3 D2 D1 DO D7 D0 DIVISION D7 D0 DIVISION TYPE
248. ORT D15 D8 0 WRITE D7 DO0 LIMIT DELAY TIME DATA3 PORT DRIVE DATA3 PORT D15 D8 SCAN DELAY TIME WRITE D7 DO0 JOG DELAY TIME a DELAY TIME 0 255 H 00 H FF 4 AR gt STATUS1 PORT BUSY 0 02 A DRIVE COMMAND PORT COMMAND 36 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 lt MARGIN gt DO H 0005 5 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 pO 0 0 0 0 0 0 0 0 D7 i LIMIT DELAY TIME gt DO H003C 300 ms DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D7 SCAN DELAY TIME gt DO D7 JOG DELAY TIME gt DO HO0A04 50 ms 20 ms MARGIN 1
249. PULSE TYPE1 1 1 0 0 100 us 0 1 20 ps 1 0 2 us 1 1 LSPD 15 D4 RATE TYPE0 D5 RATE TYPE1 D6 RATE TYPE2 RATE TYPE2 TYPE1 TYPEO RATE TYPE RATE ms kHz Hz RESOL 0 0 0 L1 TYPE 1 000 3 3 50 1 OO li L2 TYPE 200 0 68 250 5 0 1 0 M1 TYPE 100 0 33 500 10 0 13 LR 1 1 M2 TYPE 51 0 16 Mu 1000 20 1 0 0 H1 TYPE 20 0 068 2 500 50 ES 1 UNA H2 TYPE 51 0 016 10 000 200 1 1 0 1 048 56 0 0125 50 12 750 1 255 1 1 1 L1 TYPE RATE SET S SRATE SET RATE TYPE 1
250. RIGIN OFFSET PULSE SET OFFSET OFFSET ORIGIN FLG ENABLE 1 ORIGIN FLG 1 ORIGIN ORIGIN INDEX 2 ORIGIN FLG ENABLE 0 ORIGIN FLG 0 INDEX ORIGIN FLG ENABLE 0 ORG 10 ORIGIN INDEX ORG 10 SCAN ORIGIN STATUS2 PORT ORIGIN FLAG ORIGIN FLG 0 LIMIT
251. RT i STATUS1 PORT BUSY 0 BUSY 0 Y SS DRIVE COMMAND PORT COMMAND H 0088 N STATUS1 PORT STATUS1 PORT BUSY 0 BUSY 0 lt DATA READ PORT SELECT H F041 gt COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND H F041 DATA2 PORT DRIVE DATA2 PORT READ COMMAND CODE DATA3 PORT DRIVE DATA3 PORT ERROR CODE READ ERROR CODE STATUS1 PORT ERROR 0 STATUS1 PORT ERROR DRIVE DATA3 PORT ERROR CODE ERROR CODE H xx00 H xx01 H xx02 H xx03 X Y H xx04
252. RT ERROR lt gt COMMAND H0000 NO OPERATION COMMAND N STATUS1 PORT 4 gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 42 4 4 1 1 HARD INITIALIZE1 J13 SIGOUT lt gt COMMAND HF001 HARD INITIALIZE1 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT i DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 SIGOUT SIGOUT SIGOUT SIGOUT TYPE3 TYPE2 TYPE1 TYPE0 D3 D0 0 D7
253. ST PORT NNNRRNNOHNRYRSRIANRRNNNIHRRIHNNHNRINNNSHNRINNANIRNOnnnndnnh 10 2 STATUS2 PORT 10 3 STATUS3 PORT 10 4 STATUSA4 PORT RN NTTNTTNN THeTS NN NT RY ren 10 5 SAIUSSUBORT OSS ER EE EE Sn 10 1 4 DRIVE DATA1 2 3 PORT sdFSSet SSH ESc EB BE SSePg ES 10 1 5 MO PORT 11 1 MO PORT 11 2 UO PORT
254. STATUS1 PORT BUSY 0 X COMMAND PORT WRITE Y DRIVE DATA1 PORT 1 Y Y DRIVE DATA2 PORT 1 Y 2 Y Y DRIVE DATA3 PORT 2 Y X DRIVE DATA1 PORT 1 X X DRIVE DATA2 PORT 1 X 2 X X DRIVE DATA3 PORT 1 X 8 388 607 8 388 607 H 80_0001 H 7F_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X DRIVE COMMAND PORT COMMAND Y DRIVE DATA1 PORT A23 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO 1 Y A8 Y
255. STER2 SPEED COUNTER INITIALIZE3 COMP2 TYPE2 D4 COMP3 INT ENABLE COMP3 SPDINT 0 COMP3 SPDINT 1 COMP3 SPDINT D5 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 TYPE1 TYPE0 COMP3 COMPARE REGISTER3 lt COMPARE REGISTER3 COMPARE REGISTER3 SPEED COUNTER INITIALIZE3 COMP3 TYPE2 D15 D8 0 0 65 3 SPEED COUNTER INITIALIZE3 lt gt COMMAND H F01E SPEED COUNTER IN
256. STOP TYPE COMP1 COUNTER COMP MASK INT PULSE TYPE 200ns k INT COMP1 1 MASK 1 INT TYPE STATUS4 COUNTER COMP MASK INT TYPE sTATUS4 PORT OR STATUS4 PORT gt COMP1 INT COMP GATE INT FACTOR CLR gt ENABLE TYPE 1 SIGNAL OUTA B COMP2 3 COMP2 DE Si ss COMP3 RR 1 COUNTER COMP MASK lt gt COUNTER COMP MASK COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND POR
257. T 127 2 DRIVEIDATAIIPORT GE SNSNLNNTNLNN 127 3 DRIVE DATA2 PORT ROE A I 128 4 DRIVE DATA3 PORT 128 7 6 MCCO06 STATUS PORT 129 1 SHATUSIPORE 2 129 2 SRAIOUS2IPORE MRL GT ERR 56R6B 98839MSR8B3RSHR85 38836034838B33RBRS5 129 3 STATUSSPORT RENSN MDI 129 4 STATUS4 PORT 130 50248EADUSSIBORE REL GER EC 130 EE PGR ES RE ONO 131 0 CPORT ES G ER ERE 131 GO PORT SN 131 9 MONPBORIS 2 288Re SSR 132 TG PORE SNE ONE SR 133 1 IMO PORT 133 2 OBORT NEE REL OE GAG 133 3 MO PORT 8a dd sd dia 134 4 MO PORT SS SEE 134 PAGE 8 MOC
258. T D5 D14 p3 59 DEND ORIGIN BUSY DALM DEND DRST Z PO NORG p7 pe ps Di CCW CW sOFT LIMIT soOFT LIMT 0 0 CCWLM CWLM FSSTOP 3 STATUS3 PORT D ORG DO SIGOUT PORT D15 D14 D13 D9 0 0 0 0 0 0 0 D1 0 0 SIGOUT 0 0 0 0 4 STATUS4 PORT PORT lg Oo Q 0 1 0 1 0 D15 D14 D13 D12 D1 D0 SPEED SPDINT SPDINT DFLINT DFLINT DFLINT NE OVF COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 D1 DO PULSE CNTINT CNTINT ADRINT ADRINT ADRINT OVF COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 5 STATUS5 PORT PORT D15 D14 GS
259. T DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT Ki AL COUNTER COMMAND COUNTER COMMAND PORT 0 25ms COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT MCC06 PORT COUNTER COMMAND PORT COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT KU AL DRIVE DATA PORT 0 49ms 31 n DRIVE DATA1 PORT 0 46ms 046ms lt 046ms lt MCC06 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT AL 41 STATUS2 PORT 0 46ms STATUS2 PORT STATUS5 PORT 0 46ms STATUS5 PORT MCC06 PORT 13 3 IO C 772A O IO MO X Y 625000bps PORT AL
260. T COMMAND DRIVE DATA3 PORT SPDINT SPDINT SPDINT DFLINT DFLINT DFLINT 1 COMP3 COMP2 COMP1 1 COMP3 COMP2 COMP1 MASK MASK MASK MASK MASK MASK D7 D6 D5 D4 D3 D2 D1 DO CNTINT CNTINT CNTINT ADRINT ADRINT ADRINT 1 COMP3 COMP2 COMP1 1 COMP3 COMP2 COMP1 MASK MASK MASK MASK MASK MASK HFFFF D15 DO0 0 1 STATUS4 PORT COUNTER COMP MASK 45 4 3 HD0 MCC06
261. TA1 2 3 PORT READ PORT COMMAND HF049 PULSE COUNTER PORT SELECT COMMAND 3 DFL COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04A DFL COUNTER PORT SELECT COMMAND COMMAND PORT IE DRIVE COMMAND PORT COMMAND DATA2 PORT 8 DRIVE DATA2 PORT D31 D16 DATA3 PORT NR DRIVE DATA3 PORT D15 D0 Me PORT PORT DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 D9 Ds D7 pe D5 D4 ps D2 Dt Do D31 gt D16 DRIVE DATA3 PORT D15 0000 0000 DO
262. TE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D31 lt gt D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO gt 8000 0000 DFL COUNTER INITIALIZE1 COMP DETECT TYPE COMP DETECT TYPE 0 0 2 147 483 647 H 0000_0000 H7FFF_FFFF COMP DETECT TYPE 1 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 H 8000_0000 5 DFL COUNTER MAX COUNT SET lt gt COMMAND H 002A DFL COUNTER MAX COUNT SET COMMAND DATA2 PORT BE COUNTER DATA2 PORT D31 D16 BOD COUNTER DATA3 PORT D15 D0
263. TYPE0 0 100 ns 1 0 2 0 ps 200 ns 1 1 5 0 us 0 500 ns 1 0 10 us 1 1 0 us 1 1 20 us COUNT PULSE SEL CWP CCWP D15 D11 0 0O 54 4 7 1 PULSE COUNTER INITIALIZE1 lt gt PULSE COUNTER INITIALIZE1 COMMAND DATA3 PORT IE DRIVE DATA3 PORT COMMAND PORT NS DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D13 D12 D11 D9 D8 ip UTO COMP1 COMP1 COMP COMP COMP CLEAR STOP INT 1 STOP GATE GATE ENABLE ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 PD2 ST CNTINT CNTINT COUNT
264. USY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND AUTO CHANGE DRIVE SET 119 6 AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE lt gt COMMAND H 00BA AUTO CHANGE INC INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO DATA3 PORT Oi 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y TS DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4

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