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MCC09 取扱説明書

Contents

1.
2. 32 3 ADR
3. RoHS MCC09 1 10 LT ET ECC 15 2 15 2 2
4. OFF 65 MCC09 CPPIN CPPIN STBY 1 CPPIN STBY 0 DRIVE 1
5. ERROR 1 17 MCC09 INC INDEX CHANGE PLS INDEX CHANGE INC INDEX CHANGE NC INDEX INC INDEX CHANGE jl ABS INDEX CHANGE
6. DO DRIVE SCAN INDEX D1 CONST CP ENABLE
7. X X ADDRESS COUNTER INITIALIZE1 X COUNT PULSE SEL EA1 EB1 X EA1 EB1 CPPOUT EA1 EB1 Y Y ADDRESS COUNTER INITIALIZE1 Y COUNT PULSE SEL EA1 EB1 Y YOP EAO EBO EA1 EB1 CPPOUT CPPIN SEL MCC09
8. OFF 67 MCC09 CPPIN CPPIN STBY 1 CPPIN STBY 0 DRIVE 1 OFF
9. 100 ms 100 ms 0 9VDD 0 1VDD 0 1VDD GND 24 MCC09 3 4 3 4 1 nRST nRESET L nRST L nRESET L CLK 5 nRST 3 4 2 BSEL0 1 16 8 BSEL0 1 nRST MCC09 BSEL0 3 16 0 1 3
10. EXT PULSE 0 BUSY 0 ERROR 0 COUNT PULSE SEL 01 10 11 EXT PULSE 1 BUSY 1 STBY 1 DRIVE 0 EXT PULSE 0 BUSY 1 COUNT PULSE SEL 01 10 11 BUSY 1 EXT PULSE 1 BUSY 1 EXT PULSE 1 STBY 1 EXT PULSE 1 BUSY 1 STBY 0 DRIVE 1 EXT PULSE 1 1 EXT PULSE 1 COUNT PULSE SEL 00 EXT PULSE 0 BUSY 0 EXT PULSE 0 STBY 1
11. 157 MCC09 8 8 1 HARD INITIALIZE4 gt COMMAND 4 HARD INITIALIZE4 COMMAND DRVE DATAT PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT pe 1 BU PO pe CCWMS CWMS NORG sis FILTER FILTER FILTER s mam mm ma mnm ag FILTER FILTER FILTER FILTER FILTER FILTER H 0000 0 1us D15 D0 0 0 1ps 1 5 0 us 50 0 ns 158 MCC09 8 8 2 HARD INITIALIZE5
12. R 1 Ps K int R Y2 int 1 K K 1 K 1 2 R gt 2 Ps K K 1 R lt R Ps K 1 2 2 R gt K 1 K 12 R gt K 1 K 12 R Ps K 1 K 1 2 R lt K 1 2 K 1 Ps K 1 2 P int 1 8 Ps 8 1 70 MCC09 1 CCW 0 0 10 10 5 CCW P 10 5 125 K in
13. STATUS1 PORT DRIVE 0 STATUS1 PORT EXT PULSE 1 150 MCC09 8 4 8 4 1 SET DATA READ gt COMMAND H D5 SET DATA READ COMMAND DATA1 PORT DRIVE DATA1 PORT D7 D0 WRITE COMMAND CODE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT COMMAND CODE READ DATA1 PORT DRIVE DATA2 PORT COMMAND CODE READ DATA2 PORT MCCO09
14. lt gt COMMAND H 30 MAIN STRAIGHT CP COMMAND DATA1 PORT WRITE STATUS1 PORT BUSY 0 DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 ERROR 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT sasi SEL ENABLE ENABLE MODE DO DRIVE 0 SCAN 1 INDEX D1 CONST CP ENABLE 0 1 D2 CPP STOP ENABLE CPP STOP
15. MCC09 CPPIN CPPOUT CPPIN 126 MCC09 7 6 1 CIRCULAR XPOSITION SET X lt gt COMMAND H 28 CIRCULAR XPOSITION SET COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT X X 06 DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y 8 388 608 8 388 607 80 0000 H7F_FFFF G CW CCW
16. STBY 10 MCC09 SCAN 1 Hz 10 MHz 8 191 5 ms kHz 0 00125 ms kHz JSPD SCAN JSPD INDEX
17. OFF OFF OFF OFF CPP STOP CPPIN CPPIN CPPOUT CPP STOP CPPIN
18. 4 5 2 NOP DATA PORT NO OPERATION PORT NOP DATA PORT 16 A3 1 010 PORT 1 010 PORT 8 A3 0 0100 PORT A3 0 0101 PORT 280 MCC09 4 5 3 STATUS1 PORT PORT D15 D14 COMREG pse En ina mayas BUSY
19. LIMTT 5 7 1 SLOW STOP STOP SS0 SS1 DEND DALM STATUS1 PORT STBY 1 DRIVE 1 STBY 1
20. ADDRESS COUNTER INITIALIZE1I COUNT PULSE SEL EXT COUNT TYPE EXT COUNT DIRECTION EXT PULSE TYPE EXT PULSE TYPE 2 ERROR STATUS EXT PULSE ERROR 1 LIMIT STBY ORGEND 1 ERROR 1 STATUS1 PORT EXT PULSE 1
21. X Y CPPIN 125 MCC09 2 XPOSITION SET 2 SET 2 Bl CIRCULAR PULSE SET XPOSITION SET 1 83
22. ABS INDEX PLS INDEX CHANGE INC INDEX PLS INDEX CHANGE INC INDEX PLS INDEX CHANGE INC INDEX CHANGE PLS INDEX CHANGE INC INDEX INDEX CHANGE 75 MCC09 INDEX CHANGE H12 H15 ABS INDEX P DRIVE 1 INDEX CHANGE
23. STATUS1 PORT SSEND 1 5 7 2 FAST STOP STOP SS0 SS1 DEND DALM CWLM CCWLM MANUAL MAN OFF STATUS1 PORT BUSY 1 BUSY 0 DEND BUSY 1 DEND lt gt DEND BUSY 0 DRST lt
24. 145 MCC09 8 2 2 ERROR STATUS MASK ERROR ERROR STATUS COMMAND HE5 ERROR STATUS MASK COMMAND DRIVE DATA1 PORT ORGEND ERROR ERROR ORIGIN SLSTOP FSSTOP COMMAND ERROR ERROR ERROR ERROR MASK MASK MASK HFE1E D15 DO ERROR ERROR STATUS 0 1 STATUS1 PORT ERROR 16 ERROR STATUS OR ERROR STATUS OR 0 ERROR STATUS ERROR STATUS BERROR STATUS CLR DS ERROR STATUS INDEX ERROR 146 MCC09 8 2 3 ERRINT STATUS MASK ERRINT ERROR STATUS
25. 2 EXT COUNT TYPE EXT COUNT DIRECTION COUNT START TYPE COUNT STOP TYPE 1 2 1 MHz ORG 16 1MHz 32 767 32 767 H 8001 H 7FFF 2 DFL COUNTER READ
26. CPP STOP ERROR STATUS CPP STOP ERROR 1 CPP STOP STOP CPP MASK ENABLE CPPIN CPPIN CPPIN ERROR 1 MCC09 CPPIN OFF ERROR 1 100 ps OFF
27. 228 MCC09 16 2 X Y X Y 16 2 1 SPEC INITIALIZE1 o 0 SPEC INITIALIZE2 CWLM LIMIT 00 CCWLM LIMIT 00 DRVEND 1 RDYINT 1 00 11 STOP 0 SPEC INITIALIZES CP SPEC SET ORIGIN SPEC SET ORG O 00 AUTO DRST DRST 0 ORG DIVISION D7 D0 1 16 2 2 FSPD 1 RESOL
28. INT FACTOR CLR 142 MCC09 8 1 3 INT FACTOR READ INT gt COMMAND H D0 INT FACTOR READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT INT FACTOR DRIVE DATA1 PORT INT FACTOR ii ii GPIO1 GPIO0 OUT3 OUT2 ERRINT DFLINT CNTINT ADRINT INT INT INT INT INT INT INT INT nCOMREG FL COMREG EP STBY RDYINT INT INT INT 1 INT FACTOR READ DRIVE DATA1 PORT READ 243 MCC09 8 2 ERROR ERRINT ERROR STATUS1 PORT ERROR 16 ERROR STATUS OR ERROR STATUS 1
29. STATUs4 L PORT STATUS4 L PORT INT FACTOR CLR ADRINT INT CLR 1 10 COMP PULSE TYPE D10 COMP PULSE TYPE0 011 COMP PULSE TYPE1 ADRINT TYPE 10 COMP1 2 3 0 0 1 1 012 COMP GATE TYPE0 D13 COMP TYPE1 COMP1 2 3
30. 2 MANUAL SCAN JOG 32 3 32 3 16 3 SPEED CHANGE INDEX CHANGE PAUSE STOP LIMIT CWLM CCWLM ORIGIN SS0 SS1 DRST DEND DALM nINT OUT3 0 COMP GPIO3 0 EA1 EB1
31. X Y
32. SCAN INDEX MCC09 5 4 6 SCAN INDEX gt SCAN INDEX 63 MCC09 5 5 1 1 2 6 3 MCC09 CPPIN CPPOUT
33. 2 147 483 648 2 147 483 647 8000 0000 H7FFF_FFFF 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 1D15 D14 D13 D12 D11 D10 De 5 A15 0 DRIVE DATA2 PORT 015 D14 013 012 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 A31 gt At H8000 0000 198 MCC09 10 1 4 COMP1 ADD COMP1 lt gt COMMAND H 8C ADRINT COMP1 ADD DATA SET COMMAND DRIVE DATA1 PORT COMP1 ADD 15 RE DRIVE DATA2 PORT COMP1 ADD A31 A16 2 147 483 648 2 147 483 647 H 8000_0000 H7FFF_FFFF
34. SUAREA 0 SDAREA 0 CHANGE S CHANGE S SPEED FL 1 S INDEX CHANGE RATE SET UCYCLE
35. 188 MCC09 9 3 2 DFL COUNTER INITIALIZE2 lt gt COMMAND 2 DFL COUNTER INITIALIZE2 COMMAND DRIVE DATA1 PORT 5 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT II SOMBSz 306MBS 66MB NO Cos DETECT STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE 6 COMP2 COMP2 COMP2 COMP2 COMP1 COMP1 COMP1 COMP1 DETECT STOP STOP INT DETECT STOP STOP INT TYPE TYPE ENABLE ENABLE TYPE TYPE ENABLE ENABLE HH9000 DO COMP1 INT ENABLE COMP1 DFLINT 0 COMP1 DFLINT 1 COMP1 DFLINT D1 COMP1 STOP ENABLE COMP1 0 COMP1
36. CCW CCW 182 MCC09 012 COMP2 TYPE0 D13 COMP2 TYPE1 COMP2 TYPE1 TYPE0 COMP2 0 COMPARE REGISTER2 0 2 COMPARE REGISTER2 1 1 COMPARE REGISTER2 014 COMP3 TYPE0 015 COMP3 TYPE1 COMP3 TYPE1 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 183 MCC09 9 3 2 16 1 2 1
37. MANUAL OFF LIMIT LIMIT CCWLM LIMIT D2 DEND TYPE0 D3 DEND TYPE1 DEND TYPE1 DEND DEND lt gt 00 DEND lt DEND DEND STATUS2 PORT DEND BUSY 1 DEND BUSY 1 STATUS1 PORT BUSY 1 DEND DEND BUSY 0 DEND lt gt
38. SS0 51 DALM LIMIT CWLM CCWLM CWLM CCWLM ORIGIN ORG 1 MCC09 ORG ZPO NORG CWLM CCWLM 10 80 SS1 EA EB
39. OFF OFF OFF CPP STOP CPPIN CPPIN CPPOUT STOP CPPIN CPPIN CPPOUT OFF
40. ORG amaya 256 25 24 4 3 2 1 DIVISION H00 1 ORG DIVISION 01 2 ORG ORG DIVISION HFF 256 ORG ORIGIN SPEC SET ORG STOP 01 10 11 DRIVE 0 99 MCC09 7 X Y X Y 7 1 1 7 1 1 FSPD SET 1 gt COMMAND H 05 FSPD SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR COMMAND PORT WRITE DRIVE DATA1 PORT DR
41. STATUS4 PORT DFL OVF 1 DFLOVF 1 3 COMPARE REGISTER1 2 3 1 STATUS4 PORT MCC09 COMP1 I NO OPERATION 8001 HFFFF 32 767 1 0000 H7FFF 0 32 767
42. 0 CONST DRIVE INDEX CHANGE 1 INDEX CHANGE INDEX CHANGE SCAN INDEX INC INDEX CHANGE INC INDEX ABS INDEX CHANGE ABS INDEX PLS INDEX CHANGE INC INDEX STOP
43. 2 X Y 2 2 1 414 122 D2 D2 MCC09 CPP STOP ENABLE CPP STOP CPP STOP CPP STOP CPPIN CPPIN 2 CPP STOP
44. Y ABS INDEX CHANGE L ABS INDEX CHANGE PLS INDEX CHANGE 1 INC INDEX PLS INDEX CHANGE 78 MCC09 INDEX CHANGE INDEX CHANGE INDEX CHANGE e INDEX CHANGE S INDEX CHANGE
45. 0 COMP2 1 COMP2 D6 COMP2 STOP TYPE0 D7 COMP2 STOP TYPE1 COMP2 TYPE1 COMP2 CW CW D8 COMP3 INT ENABLE COMP3 CNTINT 0 COMP3 CNTINT 1 COMP3 CNTINT D9 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D10 COMP3 STOP TYPE0 D11 COMP3 STOP TYPE1 COMP3 1 COMP3
46. 1 0 UP DOWN CONST D11 EXT PULSE ADDRESS COUNTER INITIALIZEI1 COUNT PULSE SEL 1 COUNT PULSE SEL 01 10 11 0 COUNT PULSE SEL 00 COUNT PULSE SEL CWP CCWP EXT PULSE 1 EXT PULSE 0 D12 MAN MANUAL 1 MANUAL E 0 MANUAL BUSY 0 MAN MAN 1 MAN 1 CWMS CCWMS MANUAL
47. 159 89 EARDIINIT ALIZE6G sapantaita pasanan asam aaa 160 p NOOO SSNS TO 161 BIT HARD IINITIAEIZE PRR SR asna 161 8 9 2 HARD INITIALIZE9 162 163 ARBDNINIEIAEIZES JR AAAI TID 163 164 SIGNAL OUT aZ oa 164 SS 165 8124 SSERVO RESET S RIO AS 165 Z S SS CS OS S US S S SSO S SS GS S s 166 NO OPERATION CT ARIST 166 8 43 2 RESET ag yr 2 samasaa 166 MCC09 l SP KS Sa KK KSKKSSSIA 167 94 167 9 1 1 ADDRESS COUNTER INITIALIZE1 169 9 1 2 ADDRESS COUNTER INITIALIZE2 173 9 2 0 IE 176 9 2 1 PULSE COUNTER INITIALIZE1 178 9 2 2 PULSE COUNTER INITIALIZE2 S35 181 93
48. CCWP G 163 MCC09 8 11 8 11 1 SIGNAL OUT lt gt COMMAND HFC SIGNAL OUT COMMAND DRIVE DATA1 PORT iarra OUT OUT OUT OUT mas sss OUT OUT OUT OUT OUT H000 OFF D15 D0 0 1 HARD INITIALIZE8 SIGNAL OUT DRST SPEC INITIALIZE3 OUT3 0 HARD INITIALIZE1
49. CP SPEC CPPOUT CPPIN LONG POSITION SHORT POSITION
50. 172 MCC09 9 1 2 ADDRESS COUNTER INITIALIZE2 lt gt COMMAND H 82 ADDRESS COUNTER INITIALIZE2 COMMAND DRIVE DATA1 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT II ii si SOMBSz 266MBS COMER EVM STOP STOP STOP INT TYPE1 TYPE1 TYPE1 TYPE0 ENABLE ENABLE 6 COMP2 COMP2 COMP2 a 1 STOP STOP STOP INT STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE TYPE ENABLE ENABLE 0000 DO COMP1 INT ENABLE COMP1 ADRINT 0 COMP1 ADRINT 1 COMP1 ADRINT D1 COMP1 STOP ENABLE 1 0 COMP1 1
51. 0 1 HARD INITIALIZE9 162 MCC09 8 10 8 10 1 HARD INITIALIZE8 gt COMMAND H F8 HARD INITIALIZE8 COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 1 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HOF3F D15 DO 0 1 HARD INITIALIZE8
52. COMP2 COMP3 0 OR 0 COMP2 COMP3 1 COMP2 COMP3 1 COMP2 COMP3 OR AND 014 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1 0 COMP1 D15 AUTO ADD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMP1 ADD COMPARE REGISTER1 COMPARE REGISTER1 COMPARE REGISTER1 lt COMPARE REGISTER1 COMP1 ADD COMP1
53. 0 Ek esse sac SCAN _______ lt SCAN 1 53 MCC09 5 3 2 INDEX INC INDEX ABSINDEX f lt
54. 0 1 D4 PULSE LATCH TYPE0 D5 PULSE LATCH TYPE1 D6 PULSE LATCH TYPE2 lt gt PULSE LATCH DATA READ STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO2 0 1 ORIGIN ORG STATUS3 PORT OUT2 0 1 STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO0 0 1 1 STATUS3 PORT GPIO1 0 1 0 0 0 0 0 1 0 1 gt O D7 PULSE CLR ENABLE 0 1 D8 DFL LATCH TYPE0 D9 DFL LATCH TYPE1 D10 DFL LATCH TYPE2 lt gt DFL LATCH DATA READ
55. 2 2 1 414 2 X YY 2 INDEX 2 OFF 1 1 414 1 1 414 1 P 05 0 5 5 0 914 1 0 5 1 L MCC09 5 CHANGE CHANGE SPEED CHANGE INDEX CHAN
56. HSPD x RESOL ERROR 1 S S INDEX 1 INDEX CHANGE D14 0 0 95 MCC09 6 4 CP SPEC SET X Y X Y
57. ABS INDEX 109 MCC09 7 4 JOG JOG JSPD SCAN JOG JSPD JOG JSPD SCAN JOG PULSE JOG 7 4 1 JSPD SET JOG JSPD SCAN gt COMMAND H 0C JSPD SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D22 D16 BX 1 8 388 607 H 00 0001 H7F_FFFF 1 Hz BX STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 D14
58. ABS INDEX l STATUS2 PORT PULSE MASK 1 89 MCC09 D4 MANUAL DRIVE MANUAL 0 SCAN 1 JOG CCWP gt lt gt cwPp p Lp cwp EE i CO CCWP cwP TP q s n t 1
59. COMP1 COMP2 COMP3 CNTINT COMP1 COUNT LATCH SPEC SET PULSE LATCH DATA READ 176 MCC09 INITIALIZE H 91 PULSE COUNTER INITIALIZE1 AUTO ADD ENABLE COMP1 AUTO CLEAR ENABLE COMP1
60. 5 MHz 1 LSB 8 388 608 8 388 607 24 2 147 483 647 2 147 483 647 32 2 1 H39 CP SPEC CPPOUT CPPIN CIRCULAR XPOSITION X CIRCULAR YPOSITION Y CIRCULAR PULSE CP SPEC CPPOUT CPPIN CIRCULAR XPOSITION X CIRCULAR YPOSITION Y CIRCULAR PULSE m
61. gt DO DRIVE DATA2 PORT D31 F 116 0000 0000 108 MCC09 7 3 3 INDEX CW CCW lt gt COMMAND H 15 ABS INDEX COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT A15 A0 DRIVE DATA2 PORT A31 A16 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND
62. COMMAND H E6 ERRINT STATUS MASK COMMAND DRIVE DATA1 PORT ORGEND ERROR OVF ERROR ORIGIN SLSTOP FSSTOP COMMAND ERROR ERROR ERROR ERROR MASK MASK MASK HFFFF 015 00 ERRINT ERROR STATUS 0 1 ERRINT 16 ERROR STATUS OR ERROR STATUS OR 0 ERROR STATUS ERROR STATUS BERROR STATUS CLR MCC09 8 2 4 ERROR STATUS READ ERROR STATUS gt COMMAND H D1 ERROR STATUS READ COMMAND DRIVE COMMAND PORT COMMAND DATA1 PORT DRIVE DATA1 PORT ERROR STATUS DRIVE DATA1 PORT ERROR STATUS Berpuasa
63. 1 0 ADDRESS COUNTER PRESET D4 CNTINT COMP1 COMPARE REGISTER1 D5 CNTINT COMP2 COMPARE REGISTER2 D6 CNTINT COMP3 COMPARE REGISTER3 1 0 PULSE COUNTER INITIALIZE1 2 D7 PULSE OVF 1 0 PULSE COUNTER PRESET 41 MCC09 D8 DFLINT COMP1 COMPARE REGISTER1 D9 DFLINT COMP2
64. LSPD ELSPD gt COMMAND H 07 LOW SPEED SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT DRIVE DATA2 PORT 0 32 767 H0000 H7FFF 400 0 25 000 0000 H61A8 STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 15 D14 D13 D12 D11 D10 pg De De p5 D2 D14 LSPD DO H012C 300 300 Hz DRIVE DATA2 PORT 015 p12 pg ps 06 05 D14 ELSPD 0
65. DO DRIVE DATA2 PORT 015 D14 013 012 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D31 16 H8000 0000 202 MCC09 10 2 4 COMP1 ADD COMP1 lt gt COMMAND H9C CNTINT COMP1 ADD DATA SET COMMAND DRIVE DATA1 PORT COMP1 ADD 015 00 RE DRIVE DATA2 PORT COMP1 ADD 031 016 2 147 483 648 2 147 483 647 H 8000_0000 H7FFF_FFFF 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11 p1O 1 05 015 COMP1 ADD 0 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D7 De D31 COMP1 ADD n n D H0000 0000 203 MC
66. EXT COUNT TYPE EXT PULSE COUNT PULSE SEL CWP CCWP D7 EXT COUNT DIRECTION EA0 EB0 EBI 0 1 170 MCC09 D8 ADRINT TYPE0 D9 ADRINT TYPE1 COMP1 2 3 1 2 3
67. 2 147 483 647 2 147 483 647 32 2 147 483 647 2 147 483 647 32 0 2 147 483 647 31 SCAN JOG JSPD INDEX 1 5 MHz 0 5 LSB
68. H 8001 H7FFF 32 767 32 767 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 DFLINT COMP1 COUNT LATCH SPEC SET
69. D15 COMREG FL 1 20 FULL STATUS1 PORT ERROR 1 0 19 COMREG COMREG FL COMREG FL COMREG EP 1 19 EMPTY 20 FULL ERROR 1 36 4 5 4 MCC09 STATUS2 PORT ORIGIN PORT DEND ORG PULSE ORGEND SIGNAL MASK CCWLM CWLM STOP D1 STOP STOP 1 CWLM CWLM 1 CCWLM CCWLM 1
70. STBY 1 MANUAL STBY 1 STBY 1 PAUSE STBY STBY CPPIN STBY 0 DRIVE 1 PAUSE STBY STBY STBY 0 DRIVE 1 49 MCC09 1 SPEC INITIALIZE3 STBY TYPE X STBY PAUSE 0 STBY 0 Y STBY TYPE PAUSE 0 STBY 0 X X Y Y sl Emaan ii XPAUSE XSTBY YPAUSE YSTBY ku a X Y PAUSE
71. 0 32 767 H 0000 H7FFF DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p12 p11 p10 pg ps 05 04 014 SUAREA gt DO H0000 0 SUAREA DRIVE DATA2 PORT 015 p12 pg ps 06 05 014 lt SDAREA DO H0000 0 SDAREA SUAREA 0 UCYCLE RESOL S Hz SUAREA RESOL S Hz SUAREA x RESOL SDAREA 0 DCYCLE RESOL S Hz SDAREA RESOL S Hz SDAREA RESOL
72. PORT PORT 4 4 2 DRIVE COMMAND PORT 8 DRIVE COMMAND PORT 16 8 8 PORT DRIVE COMMAND DRIVE COMMAND H 3F STATUS1 PORT ERROR 0 BUSY 0 BUSY 1 STATUS1 PORT COMREG FL 0 20 ERROR 1 COMREG FL 1 COMREG EP 1
73. S i 8 SURE SDAREA 7 S S N sassa s 022 SUAREA SDAREA j gt m gt 1 INDEX S S S ms 0 lt TU lt 1 UCYCLE 0 5 107 3 HSPD LSPD 1 SUAREA 2 TU 1 ms SUAREA HSPD LSPD 2 S ms 0 lt TD lt 1 DCYCLE 0 5 10 3 HSPD ELSPD 1 SDAREA 2 TD SDAREA lt HSPD ELSPD 2 INDEX 1 60 MCC09 S INDEX
74. 1 RFSPD INC INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE ABS INDEX CHANGE PLS INDEX CHANGE PLS INDEX CHANGE INDEX CHANGE STATUSS PORT INDEX EP INDEX FL INDEX FL 0 INDEX CHANGE INDEX CHANGE SPEC SET INDEX FL 0 INDEX CHANGE INDEX CHANGE INDEX FL 1 INDEX EP 0 DRIVE 1 INDEX CHANGE INDEX FL 0 INDEX EP 1 INDEX CHANGE INC INDEX CHANGE INC INDEX ABS INDEX CHANGE
75. D8 INT ENABLE COMP3 CNTINT COMP2 STOP TYPE1 MP2 s D6 COMP2 STOP TYPE0 CO 0 COMP2 STOP ENABLE COMP2 COMP2 INT ENABLE COMP2 CNTINT COMP1 STOP COMP1 COMP1 STOP ENABLE COMP1 DO 1 ENABLE COMP1 CNTINT 177 MCC09 9 2 1 PULSE COUNTER INITIALIZE1 gt COMMAND H 91 PULSE COUNTER INITIALIZE1 COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT Dis 1 02 pe ps AUTO AUTO COMP COMP COMP COMP ADD CLE
76. SERVO RESET MANUAL MAN 1 EXT PULSE 1 0 BUSY 0 1 BUSY 0 DRVEND 1 BUSY 1 DRVEND BUSY 0 DRVEND 1 MCC09 04 ERROR 1 ERROR STATUS 1 0 ERROR STATUS 0 ERROR STATUS ERROR STATUS CLR D15 D8 D2 D1 ERROR STATUS ERROR 16 ERROR STATUS OR ERROR STATUS ERROR STATUS MASK ERROR STATUS ERROR STATUS READ
77. ABS INDEX D6 CPP STOP ERROR CPP STOP D7 EXT PULSE ERROR 2 D8 FSEND ERROR BUSY 1 STATUS1 PORT FSEND 1 D9 LSEND ERROR BUSY 1 STATUS1 PORT LSEND 1 D10 SSEND ERROR BUSY 1 STATUS1 PORT SSEND 1 D11 ORGEND ERROR BUSY 1 STATUS2 PORT ORGEND 1 D12 ADDRESS OVF ERROR BUSY 1 STATUS4 PORT ADDRESS OVF 1 D13 DALM ERROR STATUS2 PORT DALM 1 D14 DRST ERROR STATUS2 PORT DRST 1 D15 GPIO0 ERROR STATUS3 PORT GPI
78. D7 COMP2 DETECT TYPE COMP2 0 1 D8 COMP3 INT ENABLE COMP3 DFLINT 0 COMP3 DFLINT 1 COMP3 DFLINT D9 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D10 COMP3 STOP TYPE COMP3 0 1 D11 COMP3 DETECT TYPE COMP3 0 1 190 MCC09 012 COMP2 TYPE0 D13 COMP2 TYPE1 COMP2
79. 16 2 3 2 RM 17 2 3 1 _ 17 2 3 2 18 2 3 3 18 2 3 4 19 2 3 5 20 21 21 3 2 0 22 w 5 24 aa uit 25 4 PORT 28 4 1 USER CPU MCC09 28 42 16 PORT 29 407 iO ORT NN RS 30 4 4 PORT RS 31 4 4 1 DRIVE DATA1 2 PORT WRITE
80. ORG gt ORG 3 ORG DETECT EDGE 0 ORG 0 1 ORG STOP 01 ORG ORG DIVISION H 02 3 ORG ORIGIN SCAN SCAN INDEX ORIGIN ORG SCAN SCAN 9999 ORG f 1 2 3 ORG _ 1 N S 9 ORIGIN CONSTANT SCAN JSPD SCAN JOG SCAN INDEX ORIGIN ORG 83 MCC09
81. us RATE CHANGE UCYCLE x 0 5 us us RATE CHANGE DCYCLE x 0 5 us 133 MCC09 7 8 INDEX CHANGE 7 8 1 INDEX CHANGE SPEC SET INDEX CHANGE RFSPD lt gt COMMAND INDEX CHANGE SPEC SET COMMAND DATA1 PORT WRITE INDEX 0 WRITE DRIVE DATA1 PORT STATUS5 PORT INDEX FL 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT WW ii k i RFSPD L D1 D1 kasa INDEX INDEX CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 H 1400 D2 D0 INDEX CHANGE TYPE2 0 INDEX CHANGE INDEX CHANGE STATUS1 PORT DRIVE 1 DRIVE 1 STATUS3 PORT OUT3 0 gt 1 DRIVE 1 STATUS3 PORT GPIO2 0 gt 1
82. X Y X Y STATUS1 PORT STBY 1 X Y PAUSE OFF X XPAUSE 0 Y YPAUSE 0 50 MCC09 2 SPEC INITIALIZE3 STBY TYPE X STBY TYPE PAUSE 0 STBY 0 Y STBY TYPE PAUSE 0 GPIOO 1 STBY 0 X Ezasam XPAUSE XSTBY _ Ot YGPIO0 YPAUSE J Y PAUSE X Y PAUSE X Y X Y STATUS1PORT STBY 1 X Y PAUSE OFF X XPAUSE 0 Y
83. 0 COMP3 ADRINT 1 COMP3 ADRINT D9 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D10 COMP3 STOP TYPE0 D11 COMP3 STOP TYPE1 COMP3 1 COMP3 CCW CCW 174 MCC09 012 COMP2 TYPE0 D13 COMP2 TYPE1 COMP2 TYPE1 TYPE0 COMP2 0 COMPARE REGISTER2 0 2 COMPARE REGISTER2 1 1 COMPARE REGISTER2 014 COMP3 TYPE0 015 COMP3 TYPE1 COMP3 TYPE1 COMP3 COMPARE REG
84. 100 ps OFF CPP STOP CPPOUT 68 MCC09 CCW m n sss ss sim emsa 8 E mm l 6 s NR mi 2 ms Fa mm 2 1 I x
85. 10 COMP PULSE 179 MCC09 010 COMP PULSE TYPE0 011 COMP PULSE TYPE1 CNTINT TYPE 10 COMP1 2 3 0 0 1 1 012 COMP GATE TYPE0 013 COMP TYPE1 COMP1 2 3 COMP2 COMP3 0 OR 0 COMP2 COMP3 1 COMP2 COMP3 1 COMP2 COMP3 OR AND 014 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1 0 COM
86. ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL CCWP 5 10 167 MCC09 INITIALIZE H 81 ADDRESS COUNTER INITIALIZE1 D1 AUTO ADD ENABLE COMP1 AUTO CLEAR ENABLE COMP1 COMP GATE TYPE1 COMP1 2 3 ADRINT MP1 2 CoMP TYPE1 COMP1 2 3 COMP PULSE TYPE1 COMP1 2 0 38 2 5e ET PULSETYPE2 EXT COUNT
87. DRIVE COMMAND PORT COMMAND epo OUT3 TYPE2 OUT3 TYPE3 OUT3 OUT3 OUT2 OUT2 TYPE1 TYPE0 TYPE3 TYPE2 OUT2 TYPE0 OUT2 TYPE1 iT OUT1 TYPE3 OUT1 TYPE2 OUT1 TYPE1 OUT1 TYPE0 OUTO TYPE3 OUTO TYPE0 OUTO TYPE2 OUTO TYPE1 HEE31 D3 D0 OUT0 TYPE3 0 CNTINT D7 D4 OUT1 TYPE3 0 RDYINT 011 08 2 0 D15 D12 OUT3 TYPE3 0 OUT3 0 0 0 ADRINT CNTINT DFLINT RDYINT STBY DRIVE nSPEED FL nINDEX FL UP DOWN CONST EXT PULSE nPULSE MASK ORG SIGNAL 0 0 0 0 1 1 1 1 OO OO Ol a CE a gt O gt O O A gt OUT3 0 ADRINT CNTINT DFLINT RDYINT STATUS1 STBY STATUS1 DRIVE STATUS5 SPEED FL
88. ERROR STATUS CPP STOP ERROR 1 CPP STOP STOP CPP MASK ENABLE CPPIN CPPIN CPPIN ERROR 1 MCC09 CPPIN OFF ERROR 1 100 ps OFF CPPOUT SEL CPPOUT CPPIN CPPIN CPPOUT
89. D15 INDEX FL INDEX CHANGE 1 INDEX CHANGE FULL INDEX CHANGE 0 INDEX CHANGE INDEX CHANGE INDEX CHANGE SPEC SET INC INDEX CHANGE d ABS INDEX CHANGE PLS INDEX CHANGE INDEX EP INDEX FL INDEX FL INDEX EP INDEX CHANGE EMPTY INDEX CHANGE INDEX CHANGE 45 4 5 8 PORT STATUS1 PORT STATUS2 PORT STATUS3 PORT STATUS4 PORT STATUS5 PORT PORT COMREG FL COMREG EP PAUSE MAN EXT PULSE CONST DOWN UP ORIGIN PORT DEND DEND BUSY DALM DEND DRST 0 NORG ZPO ORG PORT
90. DFL LATCH DATA READ 184 MCC09 INITIALIZE HIA1 DFL COUNTER INITIALIZE1 D15 AUTO ADD ENABLE COMP1 AUTO CLEAR ENABLE COMP1 COMP GATE TYPE1 COMP1 2 3 15 DFLINT COMP1 2 3 OR 1 COMP PULSE TYPE1 1 2 g 2 iO COMO CO 2 3 00 ns DFLINT TYPE1 DFLINT COMP1 2 3 g COUNT STOP TYPE D6 COUNT START TYPE2 COUNT START TYPE1
91. lt gt COMMAND H 13 SCAN COMMAND 7 STATUS1 PORT BUSY 0 ERROR 0 Y STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 107 MCC09 7 3 2 INDEX CW CCW lt gt COMMAND 14 INC INDEX COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT 15 0 DRIVE DATA2 PORT D31 D16 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11 p10 pe ps p7 pelps p4 ps pz p1lpol D15
92. X 5 Y 1 X 2 Y 3 X 4 Y CPPOUT CPPIN CPPOUT 1 2 1 1 CPPOUT
93. CODE INDEX CHANGE INDEX CHANGE INDEX FL 1 INDEX EP 1 INDEX CHANGE SPEC INITIALIZE3 DOWN PULSE MASK 1 STATUS1 PORT ERROR 1 DRIVE 1 LSEND 1 SSEND 1 FSEND 1 ORGEND 1 DRIVE 1 0 SERVO RESET DOWN PULSE MASK 0 ERROR 0 DRIVE 0 INDEX FL 0 INDEX EP 1 INDEX CHANGE INDEX CHANGE 2 147 483 647 2 147 483 647 32 0 2 147 483 647 31 INDEX CHANGE 2 147 483 647 ERROR STA
94. 12 1 nRESET VDD33 0015 VDD15 nRESET nRST Busy _ N DRST LOW 1 nINT CWP ccwp 10 ms 200 250 ns 50ns K gt 12 2 CHIP RESET CHIP RESET nRST 200 ns 125 t1 lt 175 nW li ns lt lt ns CHIP RESET 5 50 ns BUSY nRST s S U C 1 200 ns 5 12 3 75 ns lt 11 lt 125 ns W 1 2 100 ns x H 81 H F0 _ 0 BUSY q 5 t T lt T 211 MCC09 12 4 75 ns lt lt 125 ns W 2 2 100 ns 3 50 ns BUSY t4 100 ns 5 50 ns 000 PAUSE 0 ST1 STBY 1 i ST1 DRIVE gt r C je 1 CCWP 11 12 113 41 FSPD 5 12 5 BUSY 2 100 ns BUSY LOAD BUSY 1 12 6
95. 12 15 D4 COUNT START TYPE0 D5 COUNT START TYPE1 06 COUNT START TYPE2 STATUS3 PORT OUT3 1 ORIGIN ORG STATUS3 PORT OUT2 1 STATUS3 PORT OUT3 1 STATUS3 PORT GPIO0 1 STATUS3 PORT GPIO1 1 EC gt O D7 COUNT STOP A y 0 1 STATUS4 PORT DFL OVF 1 lt gt DFL OVF 1 DFL OVF 0 COUNT START D8 DFLINT TYPE0 D9 DFLINT T
96. 156 MCC09 8 8 HARD INITIALIZE4 5 HARD INITIALIZE6 EB0 X HARD INITIALIZE6 EA1 EB1 Y HARD INITIALIZE6 1 zz UU O r 5 I 0 Ro 2 E 0 amp h 0 0 Ei L H HH L
97. CCWP nlNT STATUS3 PORT XINT YINT O NOR INT RDYINT 13 15 OUT3 0 RDYINT OUT2 3 MCC09 COMP GPIO3 0 COMP GPIO0 1 2 MCC09
98. X Y STATUS1 PORT STBY 1 X Y PAUSE OFF X XPAUSE 0 XOUT3 1 Y YPAUSE 0 XOUT3 1 X Y PAUSE X Y STBY 1 PAUSE XPAUSE 0 YPAUSE 0 Y X X XOUT3 1 Y XOUT3 1 52 MCC09 5 3 5 3 1 SCAN SCAN
99. BUSY 1 2 100 ns BUSY UI 4 100 ns LOAD BUSY STBY TYPE 000 PAUSE 0 ST1 STBY ST1 DRIVE CWP h CCWP 2 31 _ FSPD 212 MCC09 12 7 STBY PAUSE SSS C 75 ns lt 11 lt 125 ns n t2 100 ns 75 ns lt t3 lt 125 ns PAUSE PAUSE 4 100 OFF BUSY 1STBY 000 ST1 STBY ST1 DRIVE CWP CCWP x lt 12 t3 FSPD 12 8 DRST DRST _ s 5 100 ns CWP _ _ _ CCWP 12 9 DEND 0 1 t5 50 ns 225 ns lt 17 lt 275 ns BUSY ST3 DEND BUSY T ss ST1 DRIVE i CWP _ CCWP x 6 7 t6 213 12 10 SPEED RATE CHANGE nW SPEED RATE CHANGE s S
100. 015 0 0 1 HARD INITIALIZE7 PAUSE 161 MCC09 8 9 2 HARD INITIALIZE9 lt gt COMMAND H F9 HARD INITIALIZE9 COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT De ACTIVE ACTIVE ACTIVE ACTIVE HF D15 D0
101. 0 0 LIMIT 1 1 91 MCC09 D4 RDYINT TYPE0 D5 RDYINT TYPE1 RDYINT RDYINT INT OUT3 0 TYPE1 RDYINT lt gt RDYINT RDYINT 0 STATUS1 PORT DRVEND 0 1 STATUS1 L PORT RDYINT 1 BUSY 0 1 STATUS1 PORT BUSY 1 0 RDYINT 1 STATUS1 PORT DRIVE 1 gt 0 RDYINT 1 D8 80 D9 550 TYPE1 880 TYPE1 CWP CCWP 00 SSO0 CCWP SS0
102. 39 MCC09 D8 GPIOO D9 GPIO1 GPIO1 1 40 MCC09 4 5 6 STATUS4 PORT PORT papi DFLINT OVF COMP3 COMP2 COMP1 CNTINT CNTINT ADDRESS ADRINT ADRINT ma OVF COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 DO ADRINT COMP1 COMPARE REGISTER1 D1 ADRINT COMP2 COMPARE REGISTER2 D2 ADRINT COMP3 COMPARE REGISTER3 1 0 ADDRESS COUNTER INITIALIZE1 2 D3 ADDRESS OVF
103. GPIO0 DRST DALM ORGEND SSEND LSEND FSEND ERROR ERROR ERROR ERROR ERROR ERROR ERROR EXT PULSE CPP STOP INDEX ORIGIN SLSTOP FSSTOP COMMAND ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR STATUS 1 ERROR STATUS READ ERROR STATUS 2 DRIVE DATA1 PORT READ D11 D8 STATUS 1 BUSY 0 1 BUSY 0 1 FSEND LSEND SSEND ORGEND 1 gt 0 DO COMMAND ERROR COMREG FL 1 SPEEDFL 1 SPEED CHANGE INDEXFL 1 INDEX CHANGE D1 FSSTOP ERROR FAST STOP
104. STBY MANUAL ORIGIN ORIGIN ORIGIN 0 0 0 0 DFL OVF DFLINT COMP3 DFLINT COMP2 DFLINT COMP1 CHANGE PORT INDEX FL INDEX EP SPEED FL SPEED EP 0 CPP MASK CPPOUT CPPIN CHANGE CHANGE CHANGE CHANGE CPPIN 46 FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY 0 ORGEND ORG SIGNAL PULSE MASK CCWLM CWLM STOP 0 PORT PULSE OVF CNTINT COMP3 CNTINT COMP2 CNTINT COMP1 ADDRESS OVF ADRINT COMP3 ADRINT COMP2 ADRINT COMP1 MCC09 LIMIT
105. CPPIN CPPIN STATUS5 PORT CPP MASK 1 ERROR 0 CPP MASK 0 123 MCC09 CP SPEC SET XPOSITION SET YPOSITION SET CIRCULAR PULSE SET CP SPEC SET XPOSITION SET YPOSITION SET CIRCULAR PULSE SET CPPOUT CPPIN X Y CPPOUT CPPIN
106. D7 FSEND 1 0 BUSY 0 1 FSEND 1 BUSY 0 34 MCC09 FAST STOP STOP CWLM CCWLM SS0 551 DEND DALM MANUAL OFF D8 UP 1 0 D9 DOWN 1 0 D10 CONST
107. O eeoeoeeoeeoeouuouuunmu nttetee 184 9 3 1 DFL COUNTER INITIALIZE1 186 9 3 2 DFE COUNTER INITIAEIZE2 SS F pai 189 93 8 DEECOUNTER INITIALIZES FT 192 94 194 94 1 COUNT LATCH SPEG Z 2 F 194 S ZE u sssseuwacasacasucesqasassssqaqaqaqaqsssqasaqasc 196 4 20 saa aaa aaa aaa a usa aaas 196 10 45 S On Ss 196 a A EQ tipe sest sest SRS te SEE 197 103123 BR E RS RR 198 102124 COMP1 ADD 9 10 199 10 2 SE EE HE 200 10524 200 10 2 2 201 10 2 3 202 10 2 4 COMP1 ADD 203 10 3 204 10 3 1 204 102322 y SR yE 205 10 3 3 COMP1 ADD
108. SPEC INITIALIZE3 STBY TYPE STBY PAUSE STBY STBY STATUS1 PORT STBY STBY 1 STATUS1 PORT PAUSE 0 STBY STBY 0 PAUSE PAUSE STATUS1 PORT PAUSE 1 PAUSE OFF PAUSE 0 PAUSE 1 STBY 1 PAUSE STBY STBY 1 STBY 1 PAUSE STBY STBY 1 STBY 1
109. H80 HFF SPEED CHANGE d HC1 HC8 STATUS5 PORT SPEED FL 0 INDEX CHANGE HCD STATUS5 PORT INDEX FL 0 ERROR 1 2 9 us MCC09 4 5 PORT X Y X Y 4 5 1 DRIVE DATA1 PORT DRIVE DATA2 PORT READ PORT READ DRIVE COMMAND PORT DRIVE DATA1 2 PORT READ DRIVE DATA1 2 PORT READ READ READ HD3 HO C EE
110. MCC09 106 MCC09 7 3 SCAN INDEX 7 3 1 SCAN CW gt COMMAND 12 SCAN COMMAND 7 STATUS1 PORT BUSY 0 ERROR 0 Y STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND CCW
111. STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO2 0 1 1 ORIGIN ORG STATUS3 PORT OUT2 0 1 STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIOO 0 1 STATUS3 PORT GPIO1 0 gt 1 NN ES ES gt O O D11 DFL CLR ENABLE 0 1 195 MCC09 10 X Y X Y 10 1 10 1 1 gt COMMAND H 80 ADDRESS COUNTER PRESET COMMAND DRIVE DATA1 PORT WRITE DATA2 PORT WRITE A15 A0 A31 A16 06 DRIVE DATA2 PORT
112. 2 147 483 648 2 147 483 647 8000 0000 H7FFF_FFFF 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 D14 D12 D11 D10 De ps 0 DRIVE DATA2 PORT 015 D14 D13 D12 D10 Ds pe 05 p2 p1 po A31 16 H0000 0000 H8000 0000 H8000 0000 STATUS4 PORT ADDRESS OVF 1 196 MCC09 10 1 2 lt gt COMMAND H 87 ADDRESS COUNTER MAX COUNT SET COMMAND DRIVE DATA1 PORT A15 A0 DRIVE DATA2 PORT A31 A16 WRITE 1 4 294 967 295 0000 0001 H FFFF_FFFF G DRIVE COMMAND PORT COMMAND
113. FSPD RFSPD JSPD RSPD RSPD H 012C 300 UCYCLE DCYCLE SUAREA SDAREA DOWN PULSE ADJUST S Hz xRESOL Hz LSPD xRESOL Hz ELSPD xRESOL SPEED RATE CHANGE Hz SPEED CHANGE x RESOL S S S Hz SUAREA x RESOL S Hz SUAREA RESOL S Hz SDAREA RESOL S Hz SDAREA
114. INT FACTOR MASK INT FACTOR READ OUT3 0 OUT3 0 HARD INITIALIZE1 RDYINT ADRINT CNTINT DFLINT ADRINT CNTINT DFLINT 3 COUNTER INITIALIZE2 INT 15 lt gt RDYINT RDYINT 0 1 STBY STATUS1 PORT STBY 0 1 COMREG EP STATUS1 PORT COMREG EP 0 1 nCOMREG FL STATUS1 PORT COMREG FL 1 0 MAN STATUS1 PORT 0 1 ERROR STATUS1 PORT ERROR 0 1 ORG EDGE ORIGIN ORG ADRINT ADRINT 0 1 CNTINT CNTINT 0 1 DFLINT DFLINT 0
115. gt r j CLR COUNTLATCH SPEC SET ENABLE 16BIT DRIVE DATA1 PORT AUTO CLEAR ENABLE DRIVE DATA1 PORT NO OPERATION gt COMP1 COMP1 TYPE DFLINT COMPARE REGISTER1 AUTO ADD ENABLE gt COMP2 DETECT TYPE COMP2 COMP2 TYPE DFLINT COMPARE REGISTER2 gt COMP3 DETECT TYPE COMP3 COMP3 TYPE DFLINT COMPARE REGISTER3 DRIVE 1 19 MCC09 2 3 5 COMP1 STOP ENABLE CoMP1 STOP COMP1 INT ENABLE STATUS4 INT FACTOR CLR COMP2 STOP ENABLE CoOMP2 STOP COMP2 INT ENABLE STATUS4 INT FACTOR CLR ADRINT COMP3 L COMP3 STOP STOP ENABLE COMP3 INT ENABLE STATUS4 INT FACT
116. 3 DFLINT COMP1 2 3 COMP1 2 3 MCC09 COMP1 NO OPERATION BSEL1 16 8 BSELO PORT 14 2 2 1
117. HSPD LSPD lt 2 SUAREA HSPD ELSPD lt 2 SDAREA SDAREA HSPD ELSPD 1 2 105 MCC09 7 2 5 DOWN PULSE ADJUST INDEX MCC09 gt COMMAND H 0A DOWN PULSE ADJUST COMMAND WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE D DRIVE DATA1 PORT D15 D0 32 768 32 767 8000 H7FFF G 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11 p10 ps 05 015 lt 0 H0001 1 INDEX
118. o Io DRIVE 1 ORIGIN ORG DRIVE 1 STATUS3 PORT OUT2 0 1 DRIVE 1 STATUS3 PORT OUT3 0 gt 1 DRIVE 1 STATUS3 PORT GPIOO 0 gt 1 DRIVE 1 STATUS3 PORT GPIO1 0 gt 1 O O D15 D8 RFSPD D7 D0 1 0 255 H 00 1 Hz RFSPD 20 Hz H 14 G REFSPD 0 REFSPD RFSPD RSPD x RESOL 134 MCC09 INDEX CHANGE INDEX CHANGE 1 INDEX CHANGE 7 8 2 INC INDEX CHANGE
119. 0000 LSPD LSPD 0 LSPD LSPD RSPD Hz LSPD x RESOL ELSPD 0 ELSPD ELSPD LSPD Hz ELSPD x RESOL 1 FSPD 1 2 LSPD RESOL 1 FSPD 1 2 HSPD x RESOL 103 MCC09 7 2 3 RATE SET UCYCLE DCYCLE lt gt COMMAND H 08 RATE SET COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT 1 16 383 0001 H3FFF DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y STATUS1 PORT BUSY ERROR 0
120. MAN 1 MAN OFF MAN 0 MANUAL MAN 0 35 MCC09 D13 PAUSE PAUSE STBY 1 1 STBY 1 PAUSE PAUSE 1 PAUSE OFF PAUSE 0 PAUSE 1 STBY 1 PAUSE STBY 1 STBY 1 STBY 1 MANUAL STBY 1 STBY 1 D14 COMREG EP 1 EMPTY STATUS1 PORT ERROR 1 0 1
121. 0000 0000 0 0 PULSE SEL 118 MCC09 7 5 2 SHORT POSITION SET lt gt COMMAND H 23 SHORT POSITION SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT 2 DRIVE DATA2 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY ERROR 0
122. lt gt COMMAND H 20 CP SPEC SET COMMAND DRIVE DATA1 PORT STATUS1 PORT BUSY 0 ERROR STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND TT im pisi Til ED SEL SEL2 SEL1 SELO H 01 D0 CPPOUT SELO D1 CPPOUT SEL1 D2 CPPOUT SEL2 CPPOUT CPPIN X Y YOP EA1 EB1 X Y 0 0 0 0 O O MCC09 CPPIN CPPIN CPPOUT CPPOUT SEL 96 D4 2 MCC09
123. 218 gt 219 14 220 1451 222 14 2 SOCAN mmm 223 224 1424 225 14 5 ADDRESS COUNTER 226 15 227 16 228 ua Sau A i i SSSR Ka 228 16 2 co 229 16 3 DRIVE COMMAND HI00 H3F 231 16 4 DRIVE COMMAND HH80 233 MCC09 MCC09 Melec Chip Controller 09 I C 15 V 3 3 V 20 MHz 1
124. 32 CCW EXT COUNT TYPE EXT COUNT DIRECTION 2 147 483 647 2 147 483 647 H 8000 0001 H 7FFF FFFF 2 ADDRESS COUNTER READ STATUS4 PORT ADDRESS OVF 1 3 COMPARE REGISTER1 2 3 1 STATUS4 PORT COMP1
125. H L 26 MCC09 X Y X Y MANUAL Rdown BUSY H L STATUS1 BUSY Ol CWP H HH L O CCWP HHA2 L OUTO L j L cNTNT ol OUT1 L L RDYNT ol DRST L Ol DEND H 048 O Rdown DALM H 041 C IRdown H ORIGN O Rdown ORIGIN MANUAL ORIGIN MANUAL X2 H ote 2 O GPIO1 Rdown SSO H 0O1ps O Rdown SS1 H 0O1ps
126. D1 CONST CP ENABLE 2 2 2 1 414 113 D2 D2 MCC09 CPP STOP ENABLE CPP STOP CPP STOP CPP STOP CPPIN CPPIN 2
127. SET DATA READ DRIVE DATA1 2 PORT READ COMMAND CODE MANUAL LIMIT RDYINT SS0 SS1 STOP STBY JOG ORIGIN SPEC SET ORIGIN X Y H2A 151 MCC09 CODE
128. SET SHORT POSITION SET 2 8 LONG POSITION SET SHORT POSITION SET gt 1 78 MCC09 CPPIN CPPOUT CPPIN
129. INC INDEX CHANGE INC INDEX lt gt COMMAND H CC INC INDEX CHANGE COMMAND WRITE WRITE m STATUS5 PORT INDEX FL 0 Y COMMAND PORT WRITE DRIVE DATA1 PORT 15 0 DRIVE DATA2 PORT D31 D16 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS5 PORT INDEX FL 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 1D15 D14 D13 D12 p11 De 05 D3 D1 po D15 INDEX CHANGE DO DRIVE DATA2 PORT 1D15 D14 D13 D12 D11 pe 05 p2 po D31
130. INDEX PULSE SEL DRIVE MODE D2 CPP MASK ENABLE CPPIN 0 CPPIN 1 CPPIN D4 PULSE SEL 0 X 1 Y 131 MCC09 7 7 SPEED CHANGE 7 7 1 SPEED CHANGE SPEC SET SPEED CHANGE lt gt COMMAND 1 SPEED CHANGE SPEC SET COMMAND DATA1 PORT WRITE SPEED FL 0 Y DRIVE DATA1 PORT STATUS5 PORT SPEED FL 0 SPEED SPEED SPEED CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 HO0 D2 D0 SPEED CHANGE TYPE2 0 SPEED CHANGE SPEED CHANGE STATUS1 PORT DRIVE 1
131. lt gt 1 STATUS1 PORT 0 gt 1 EXT PULSE 0 1 0 DEND DRST lt gt STATUS1 PORT 1 gt 0 EXT PULSE 1 0 D1 STBY 1 0 SPEC INITIALIZE3 STBY TYPE STBY D2 DRIVE 1 0 STATUS2 PORT PULSE MASK 1 OFF D3 DRVEND lt gt 1 BUSY 1 0
132. COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 012 011 pg 05 00 013 555520 HO00C8 200 100 us DRIVE DATA2 PORT p15 p14 pg ps 06 05 013 DCYCLE DO H 0000 UCYCLE UCYCLE 0 1 us UCYCLE x 0 5 us 0 5 us 8 1915 ms DCYCLE 0 DCYCLE DCYCLE UCYCLE us DCYCLE 0 5 us 0 5 us 8 1915 ms 104 7 2 4 SCAREA SET MCC09 SUAREA SDAREA S S lt gt COMMAND H 09 SCAREA SET COMMAND DRIVE DATA1 PORT RE DRIVE DATA2 PORT S
133. 56 Di I IM m EI C 59 R E sas u u aa sss 60 5 453 6 62 62 O Q S S 62 5 46 SS SE 63 RO SDSS DR 64 CC puasa TSE 65 IGE 67 72 POHANGE Sasan 73 5 6 1 6 3 lt 33 73 5 6525 i 75 5 7 ROSS SS 81 c p SUS S 81 7057 iS gt NN NN NT 81 5 7 3 penan unupa 82 5 8 ORIGIN 83 5 9 MANUAL CWMS CCWMS 84 5 10 NTT 86 6 MCC09 0 eeme mm 0 88 1
134. D1 27570888 PULSE PULSE DRIVE OUTPUT OUTPUT OUTPUT MODE MASK TYPE1 TYPE0 10 PULSE OUTPUT TYPE0 D1 PULSE OUTPUT TYPE1 CCWP L 2 A B 4 A B CWP CCWP D2 PULSE OUTPUT MASK CCWP _0 1 CWP CCWP OFF OP
135. gt COMMAND H E8 COUNT LATCH SPEC SET COMMAND DRIVE DATA1 PORT Biasi 27 80889 011 DFL DFL DFL DFL CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ipe i DR PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ENABLE TYPE2 TYPE1 TYPE0 HH000 DO ADDRESS LATCH TYPE0 D1 ADDRESS LATCH TYPE1 D2 ADDRESS LATCH TYPE2 lt gt ADDRESS LATCH DATA READ STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO2 0 1 ORIGIN ORG STATUS3 PORT OUT2 0 1 STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO0 0 1 1 STATUS3 PORT GPIO1 0 1 0 0 0 0 0 1 0 1 O O 194 MCC09 D3 ADDRESS CLR ENABLE
136. u O COMP2 e COMP3TYPE1 COMP3TYPEO CoMP2TYPE1 COMP2TYPEO COMP3 010 COMP3STOPTYPE D9 COMP3 STOP ENABLE D8 COMP3INTENABLE D7 COMP2DETECTTYPE D6 COMP2STOPTYPE D5 COMP2 STOP ENABLE D4 COMP2INTENABLE D3 COMP1DETECTTYPE D2 COMP1STOPTYPE D1 COMP1 STOP ENABLE DO COMP1INTENABLE HIA3 DFL COUNTER INITIALIZE3 COMP1 TYPE1 2 14 COMP1 TYPE0 COMP1 COMP1 COUNT2 MASK 2 12 COUNT1 MASK 1 8 4 1 D7 DIVISION TYPE H 00 DO _ DVSIONDO 185 MCC09 9 3 1 DFL COUNTER INITIALIZE1 lt gt COMMAND 1 DFL COUNTER INITIALIZE1 COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND
137. 2 1 1 2 012 COUNT1 MASK 1 0 1 1 1 nn 1 192 MCC09 013 COUNT2 MASK 2 0 2 1 2 1 2 D14 COMP1 TYPE0 D15 COMP1 TYPE1 COMP1 TYPE1 COMP1
138. ______ _ _ MAIN STRAIGHT CP P SUB STRAIGHT CP P HH37 HA P 232 MCC09 16 4 DRIVE COMMAND HI80 HFF aa CODE PAGE 7 H 80 H 81 H 82 2 th P gt H87 H 88 ADRINT 1 H89 ADRINT 2 H 8A ADRINT 3 198 H8B H 8C ADRINT COMP1 ADD 19 H8D H 8E H 8F H 90 PULSE COUNTER PRESET 200 H 91 PULSE COUNTER INITIALIZE1 H 92 PULSE COUNTER INITIALIZE2
139. 1 5V 3 3V CLK gt CKIO 20 MHz nRESET gt nRST lt amp 71 XOP XE0P YOP YINP YE1P BSEL0 gt BSEL1 gt D15 8 D7 0 CPP A3 0 gt YOP nW nR K E1P nXCS nYCS nINT CPP 1 EA0 gt gt 1 gt EB1 gt 15 MCC09 20 MHz CPP CPP Y CPPOUT lt CPPIN X X Y Y MCC09 2 2 X Y XCWP x XE0P XE0P XSTOP gt lt XCWLM XCCWLM XSS0 gt XINP XINP XSS1 gt lt XGPIO3 0 XZPO gt XNORG gt INDEX
140. ERROR STATUS ERROR STATUS READ ERROR STATUS ERROR STATUS CLR ERROR ERROR STATUS ERROR STATUS MASK STATUS1 PORT ERROR 1 STATUS1 PORT ERROR 0 SPEED CHANGE INDEX CHANGE STATUS1 PORT ERROR 1 STBY 1 ERROR 1 ERROR 1 ERROR 1 ERRINT ERRINT 16 ERROR STATUS OR ERRINT ERROR STATUS ERRINT STATUS MASK ERRINT
141. A A2 _ GNDorVDD33 ll gt PR CZ s 6S 0 X nYCS Y nINT CLK CPPIN CPPOUT EA0 Ons 1 Rup Ons 1 Rup EA1 Ons 1 Rup EB1 ons 1 8 nRESET NANA nRST L H L Z 8 Rdown BSELO Zz Rdown D15 D8 gt D7 D0 Z _ A3 A1 SA AS Z
142. CWP CCWP OP OP 010 SS1 TYPE0 D11 SS1 TYPE1 SS1 TYPE1 TYPEO SS1 EA EB XSS1 EA0 EBO YSS1 EA1 EB1 00 SS1 EB SS1 012 STOP STOP 0 1 92 MCC09 6 3 SPEC INITIALIZE3 DRST DEND
143. DRIVE DATA1 PORT 015 p14 p13 p12 p11 p1o ps p7 pelps p4 ps3 pz p1lpol A15 AO DRIVE DATA2 PORT 015 D14 D13 D12 Dp10 pe 05 p2 p1 po 1 Ax H FFFF_FFFF 1 2 STATUS4 PORT ADDRESS OVF 1 STATUS4 PORT ADDRESS OVF 1 999 2 000 1 0 1 999 1000 ADDRESS OVF 1 1001 1999 0 0 1999
144. X COUNT PULSE SEL YOP Y COUNT PULSE SEL YOP 1 2 DFL COUNTER INITIALIZE3 EXT COUNT DIRECTION XOP YOP 1 2 1 186 MCC09 D2 EXT COUNT TYPE0 03 EXT COUNT TYPE1 EA0 EAI EB1 EA EB 1 G p 2 gt F 5 EA 2 EA EB 4 EA EB
145. 117 MCC09 7 5 1 LONG POSITION SET lt gt COMMAND H 22 LONG POSITION SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT DRIVE DATA2 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11lp1o pe ps 1 05 15 gt 0 DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 De pe D5 D3 p2 p1 A31 16
146. D5 LSEND LIMIT LIMIT 1 LIMIT LIMIT 0 BUSY 0 1 NO OPERATION EXT PULSE 1 LIMIT LIMIT CWLM CCWLM LIMIT LIMIT LIMIT CWLM CCWLM LIMIT D6 SSEND 1 0 BUSY 0 1 NO OPERATION SLOW STOP STOP SS0 SS1 DEND DALM
147. D13 DEND DEND 1 D14 DALM DALM 1 D15 DEND BUSY SPEC INITIALIZE3 DEND lt gt DEND 1 DRIVE 1 0 DEND 0 DEND 38 4 5 5 9 STATUS3 PORT PORT D0 D2 D3 D4 D5 D6 D7 OUT3 OUT2 OUT1 OUTO GPIO3 GPIO2 INT X XINT H JJ Y YINT 1 0
148. PULSE MASK SPEC INITIALIZEI1 PULSE OUTPUT MASK 1 1 PULSE OUTPUT MASK 1 ORG SIGNAL ORIGIN SPEC SET ORG SIGNAL TYPE ORG ORG 1 ORGEND ORIGIN SPEC SET STOP TYPE 01 10 11 ORG 1 ORG 1 0 BUSY 0 1 NO OPERATION 53 MCC09 D8 ORG ORG 1 D9 2ZPO ZPO 1 D10 NORG NORG 1 D12 DRST DRST 1
149. 16 1 0 4 8 1 1 4 8 BSEL1 XOUT3 XGPIO2 XGPIO3 YOUT2 YOUT3 D9 YGPIO2 D9 YePlO2 D8 YGPIO3 YePo3 STATUS1 PORT MAN XORG XCCWMS YORG YCCWMS 25 MCC09 3 4 3 nRST 16 Ep nRESET L 1857 Hip L BSEL1 L zZ 16 BSELO Z D15 D8 z D7 DO gt A3 A1
150. 3 mA X RDYINT LVTTL 3 mA X LVTTL 3 mA X LVTTL Rdown X LVTTL Rdown LVTTL Rup LVTTL Rup X ORIGIN LVTTL Rdown XNORG XCWMS X ORIGIN MANUAL LVTTL Rdown XORG XCCWMS X ORIGIN MANUAL LVTTL Rdown XGPIO0 X COMP Rdown XGPIO1 COMP Rdown XSS0 LVTTL Rdown XSS1 LVTTL Rdown XCWLM LIMIT LVTTL Rdown XCCWLM LIMIT LVTTL Rdown XSTOP X LVTTL XPAUSE X STBY
151. DRIVE DATA1 2 PORT 1 COMREG FL 1 COMREG EP 1 STATUS1 PORT ERROR 1 ERROR 0 COMREG FL 0 EP 1 BUSY 0 COMREG FL 0 BUSY 0 INDEX DATA1 PORT WRITE DATA2 PORT WRITE STATUS1 PORT COMREG FL 0 Y COMMAND PORT WRITE DRIVE DATA1 PORT
152. RESOL UCYCLE RATE RESOL DCYCLE RATE RATE _ ms _ UCYCLE RATE ms kHz kHz RESOLr2 ms UCYCLE 0 5 107 3 kHz RESOL 107 3 RATE ms DCYCLE 18 28 RATE ms kHz kHz RESOL 2 ms DCYCLE 0 5 107 3 kHz RESOL 107 3 57 MCC09 DATA TABLE RATE RESOL 1 RESOL 5 RESOL 10 RESOL 20 RESOL 50 RESOL 200 RESOL 400 ms kHz U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE 10 000 5 000 3 000 2 000 1 000 500 300 200 100 0 05 0 03 0 02 0 01 0 005 0 0025 0 00125 58 MCC09 5 4 1 S
153. _ lt gt COMMAND H16 JSPD SCAN COMMAND STATUS1 PORT BUSY ERROR 0 zz ERROR 0 DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE _ JSPD CCW lt gt COMMAND 17 JSPD SCAN COMMAND STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 112 MCC09 7 5 6 0 CW
154. COMPARE REGISTER2 D10 DFLINT COMP3 COMPARE REGISTER3 1 0 DFL COUNTER INITIALIZE1 2 3 D11 DFL OVF 1 0 DFL COUNTER PRESET 42 MCC09 4 5 7 STATUS5 PORT CHANGE PORT INDEX FL INDEX EP SPEED FL SPEED EP o ee CPPOUT CPPIN DO 550 SS0 1 D1 SS1 SS1 1 D2 CWMS CWMS
155. STATUS5 INDEX FL STATUS1 UP STATUS1 DOWN STATUS1 CONST STATUS1 EXT PULSE STATUS2 PULSE MASK STATUS2 SIGNAL SIGNAL OUT 154 MCC09 8 7 8 7 1 HARD INITIALIZE2 GPIO0 2 GPIO0 2 gt COMMAND HF2 HARD INITIALIZE2 COMMAND DRIVE DATA1 PORT gy 7718 SRIO0 718 2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 HFF D3 D0 GPIOOTYPE3 0 D7 D4 GPIO2 TYPE3 0 GPIO0 2 GPIO0 2 ADRINT COMP1 STATUS4 ADRINT COMP1 ADRINT COMP2 STATUS4 ADRINT COMP2 ADRINT COMP3 STATUS4 ADRINT COMP3
156. lt gt COMMAND H F5 HARD INITIALIZE5 COMMAND DRIVE DATA1 PORT a n isi FILTER FILTER FILTER FILTER 0 0 1 us D15 DO 0 0 1ps 1 5 0 us 50 0 ns 159 MCC09 8 8 3 HARD INITIALIZE6 EA0 X HARD INITIALIZE6 EA1 EB1 Y HARD INITIALIZE6 gt COMMAND H F6 HARD INITIALIZE6 COMMAND DRIVE DATA1 PORT 0 15 HO R DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p15 p14 p13 p12 p11 p1O pe ps pe 05
157. 0 0 50 ns X HARD INITIALIZE6 D3 DO0 EBO x 50 ns 10 750 50 0 ns Y HARD INITIALIZE6 D3 DO0 EBI x 50 ns 10 750 50 0 ns 160 MCC09 8 9 8 9 1 HARD INITIALIZE7 lt gt COMMAND 7 HARD INITIALIZE7 COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 7 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE 0 sss mai 502720 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HF7FE
158. 17 MCC09 2 3 2 ADDRESS lt gt CLR COUNT LATCH SPEC SET 32BIT ENABLE DRIVE 2 PORT I re AUTO CLEAR ENABLE DRIVE DATA1 2 PORT gt COMP1 COMP1 ADRINT COMPARE REGISTER1 AUTO ADD COMP1 ADD DATA AE gt ADRINT COMP2 COMP2 COMPARE REGISTER2 TYPE gt ADRINT COMP3 COMP3 COMPARE REGISTER3 TYPE 2 3 3 PULSE lt gt CLR COUNTLATCH SPEC SET COUNT START TYPE 32BIT ENABLE gt DRIVE x 2 AUTO CLEAR ENABLE DRIVE DATA1 2 PORT gt COMP1 COMP1 CNTINT REGISTER1 AUTO ADD COMP1 ADD DATA gt CNTINT COMP2 COMP2 COMPARE REGISTER2 TYPE gt CNTINT COMP3 COMP3 TYPE COMPARE REGISTER3 18 MCC09 2 3 4 DFL lt
159. 2 h CPPIN 116 MCC09 CPPOUT CPPIN CPSPECSET CPPOUT SEL CPPIN CPPIN SEL CPPIN CPPOUT CPPIN CPSPECSET CPPOUT SEL CPPIN SEL CPPIN LONG POSITION
160. EA1 EB1 EXT COUNT DIRECTION XINP XCP X YINP YCP Y XOP COUNT PULSE SEL X YOP COUNT PULSE SEL Y STATUS1 PORT MAN 1 COUNT PULSE SEL 00 169 MCC09 D2 EXT COUNT TYPE0 D3 EXT COUNT TYPE1 EA0 EA1 EBI EA EB 1 G p 2 gt F 5 EA 2 EA EB 4 EA EB 12 15 D4 EXT PULSE TYPE0 D5 EXT PULSE TYPE1 D6 EXT PULSE TYPE2
161. 2 STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 ps p7 pelps p4 ps pz p1lpol A15 X A DRIVE DATA2 PORT 015 p14 012 pg ps p7 pelpslp4lpslpzlptlpol SS 22 H00 0000 0 0 XX 127 MCC09 7 6 2 CIRCULAR YPOSITION SET Y lt gt COMMAND 29 CIRCULAR YPOSITION SET COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT g g 06 DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y 8 388 608 8 388 607 80 0000 H7F_FFFF G CW CCW
162. DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 D14 D13 D12 D11 pe 05 p2 p1 po D15 DO H8000 DFL COUNTER INITIALIZE2 COMP DETECT COMP DETECT TYPE 0 8001 HFFFF 32 767 1 0000 H7FFF 0 32 767 COMP DETECT TYPE 1 H 8001 H7FFF 32 767 32 767 205 MCC09 10 3 3 COMP1 ADD COMP1 lt gt COMMAND DFLINT COMP1 ADD DATA SET COMMAND DATA1 PORT DRIVE DATA1 PORT
163. 97 6 5 ORIGIN SPEC SET CORIGIN ERS 98 D0 ORG hias Ei nh 98 D4 Fl io eS A ee 99 D5 09 NR 3 99 D7 AUTO DRST 99 D8 Fe Bia Oo 99 99 MCC09 7 100 7 1 1 100 7 1 1 FSPD 100 722 ESS RR 102 2 1 HIGH SPEED SET S 7 F 102 7 2 2 3 GLOW SPEED SE SE 103 7 2 3 SET 104 7 2 4 SCAREA SET 105 7 2 5 DOWN PULSE ADJUST 106 7 3 107 7 3 1 SCAN 107 7 3 2 INDEX 108 7 3 3
164. COMP GATE TYPE1 COMP1 2 3 NTINT 1 2 3 COMP GATE TYPE0 C CO 2 3 OR COMP PULSE TYPE1 COMP1 2 3 2 RE COMP1 2 3 00 ns CNTINT TYPE1 3 TYPE0 CNTINT COMP1 2 3 D7 EXT COUNT DIRECTION COUNT PULSE SEL2 COUNT START TYPE1 N COUNT START TYPE0 P EXT COUNT TYPE1 n EXT COUNT TYPE0 COUNT PULSE SEL1 gt i COUNT PULSE SELO H 92 PULSE COUNTER INITIALIZE2 COMP3 TYPE1 COMP3 TYPE0 COMP3 COMP3 COMP2 TYPE1 COMP2 COMP2 COMP3 STOP TYPE1 MP3 02 f COMP3 STOP TYPE0 CO 3 Dg COMP3 STOP ENABLE COMP3
165. DRIVE DATA1 PORT 015 D14 013 012 D11 D10 D9 D8 D7 D15 lt DO DRIVE DATA2 PORT D15 D14 D13 D12 D11 pio D7 D5 p2 pt po D31 916 H0000 0000 H8000 0000 H8000 0000 STATUS4 PORT PULSE OVF 1 200 MCC09 10 2 2 lt gt COMMAND 97 PULSE COUNTER MAX COUNT SET COMMAND DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D31 D16 WRITE 1 4 294 967 295 H 0000_ 0001 H FFFF_FFFF G DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11 p1O ps p7 pelps p4 ps pz p1lpol 015 gt DO DRIVE DATA2 PORT 015 D14 D13 D12 D10 pe 05
166. DRIVE 1 STATUS3 PORT OUT3 0 gt 1 DRIVE 1 STATUS3 PORT GPIO2 0 gt 1 DRIVE 1 ORIGIN ORG DRIVE 1 STATUS3 PORT OUT2 0 1 DRIVE 1 STATUS3 PORT OUT3 0 gt 1 DRIVE 1 STATUS3 PORT GPIOO 0 gt 1 DRIVE 1 STATUS3 PORT GPIO1 0 gt 1 0 9 0 0 0 1 0 1 O O 132 MCC09 SPEED CHANGE SPEED CHANGE SPEED RATE CHANGE 7 7 2 SPEED RATE CHANGE SPEED RATE CHANGE lt gt COMMAND 8 SPEED RATE CHANGE COMMAND DATA1 PORT WRITE WRITE STATUS5 PORT SPEED FL 0 Y COMMAND PORT WRITE DRIVE DATA1 P
167. O 1 HO08 S HOB lt gt HOE ORIGIN 100 ns 250 ns 250 ns 250 ns 111 P 250 ns 250 ns INDEX 250 ns 250 ns 250 ns i 2 j 2 C Ji f C S 22 150 ns P 231 MCC09 16 3 DRIVE COMMAND H00 PAGE H20 100ns ee Lee Y EE
168. SDAREA HSPD ELSPD 1 2 S INDEX S S INDEX 61 MCC09 5 4 3 Es SCAN INDEX 5 4 4 gt SCAN INDEX 5 4 5
169. 211 2 6GNIERES NES NN Ne i 211 124 2 BID meeteeeteteseeeeeeeeeeeeeeeeseeeeeeeeeee ee ee TE 212 D D l A an 212 22002 pi gt OE S ss EE EE 212 12 7 STBY PAUSE 213 12 82 DRST Sm 02 esa Ses 213 12 9 DEND CU 213 12 10 SPEED RATE CHANGE HRI TNT TNT TIT 0 214 12A ANDEX CHANGE SR 214 125125 a ola da oo iga cig la dg i aia a ahs 215 12 13 215 12 14 GPPIN A 1 CPPOUTL DSSS SR 216 12 15 EAO EB0O EA1 EB1 217 SSS u i 217 1215 2 0 RE 217 13 218 33 n 218 2
170. COUNT START TYPE0 EXT COUNT TYPE1 _ EXT COUNT TYPE0 1 f COUNT PULSE SEL1 x 1 EA EB 1 2 COUNT PULSE SEL0 2 OP H A2 DFL COUNTER INITIALIZE2 lt COMP3 N o _ gt _ TYPE1 COMP2 TYPE1 COMP2 TYPE0 gt COMP2 COMP3 DETECT TYPE COMP3 COMP3 STOP TYPE COMP3 COMP3 STOP ENABLE COMP3 INT ENABLE COMP2 DETECT TYPE COMP2 COMP2 STOP TYPE COMP2 COMP2 STOP ENABLE COMP2 COMP2 INT ENABLE COMP2 DFLINT COMP1 DETECT TYPE COMP1 COMP1 STOP TYPE COMP1 COMP1 STOP ENABLE COMP1 INT ENABLE COMP3
171. O O DOWN PULSE MASK INDEX MCC09 0 1 0 0 INDEX 1 INDEX HSPD x RESOL
172. DATA2 PORT DRIVE DATA2 PORT 031 016 READ DFL COUNTER READ DRIVE DATA1 PORT D15 D14 D13 012 011 D10 D9 D8 D7 D6 D5 D2 D1 D15 DRIVE DATA2 PORT 015 14 D12 05 D16 ADDRESS COUNTER READ DRIVE DATA1 2 PORT READ PULSE COUNTER READ DRIVE DATA1 2 PORT READ DFL COUNTER READ DRIVE DATA1 PORT READ 207 MCC09 10 5 10 5 1 ADDRESS LATCH DATA READ COMMAND H DC ADDRESS LATCH DATA READ COMMAND 10 5 2 PULSE LATCH
173. DEND BUSY 0 D4 DALM TYPE0 D5 DALM TYPE1 DALM DALM 0 94 D8 D9 D10 MCC09 STBY TYPE0 STBY TYPE1 STBY TYPE2 STATUS1 PORT STBY 0 STBY STBY 1 STBY 0 TYPE1 STBY lt gt 0 0 0 D12 PAUSE 0 STBY 0 PAUSE 0 STATUS3 PORT OUT3 1 STBY 0 PAUSE 0 STATUS3 PORT GPIO2 1 STBY 0 PAUSE 0 ORIGIN ORG STBY 0 PAUSE 0 STATUS3 PORT OUT2 1 STBY 0 PAUSE 0 STATUS3 PORT OUT3 1 STBY 0 PAUSE 0 STATUS3 PORT GPIO0 1 STBY 0 PAUSE 0 STATUS3 PORT GPIO1 1 STBY 0
174. 31 4 4 2 DRIVE COMMAND PORT 31 4 5 PORT 32 4 5 1 DRIVE DATA1 2 PORT READ 32 4 5 2 NOP DATA PORT 32 4 5 3 STATUS1 PORT 33 4 5 4 STATUS2 PORT 37 4 5 5 lt SITAT SSTPORT 39 4 5 6 STATUS4 PORT 41 4 5 7 STATUS5 PORT 43 4 5 6 PORT 46 MCC09 gt 47 P TLCOMREG 47 5 2 SNB PAUSEY su dd ddd ddd die 49 SS esa pu s upi EAD 53 5331 SCANIE GA 53 5325 INDEX ES SS ES EE 54 P A 7 7 J 2 2 54 5 534 MSRDISGANEN 55 Dd JO E S L
175. DEND lt gt BUSY 1 LSEND 0 SSEND 0 FSEND 0 ORGEND 0 ERROR 0 1 FSPD RFSPD RFSPD I INDEX CHANGE SPEC SET INC ABS INDEX DEND lt gt INDEX CHANGE STATUS1 PORT ERROR 1 LSEND 1 SSEND 1 FSEND 1 STATUS2 PORT ORGEND 1 80 MCC09 5 7
176. Mb 89 89 D2 89 D4 MANUAL 90 2 SPEC RE EE 91 D0 CWLM LIMIT 91 D2 CCWLM LIMIT 91 D4 RDYINT 92 D8 SS0 haku I 92 D10 551 oan 92 D12 STOP 92 6 35 SPECINITIACIZES 93 D0 DRST 93 D2 DEND 94 D4 DALM 94 D8 STBY Pla n s Qetasasaasacahas 95 12 assssasscspumassspssssssscssssscscsesei 95 6 4 SPEC SET tstetsrsdse 96 bade dc 96 D4
177. 0 0 COMP1 COMP2 OR COMP3 0 1 COMP1 OR COMP2 COMP3 1 0 COMP1 AND COMP2 OR COMP3 1 1 COMP1 AND COMP2 COMP3 OR AND 171 MCC09 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1 0 COMP1 D15 AUTO ADD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMP1 ADD COMPARE REGISTER1 COMPARE REGISTER1 COMPARE REGISTER1 lt COMPARE REGISTER1 COMP1 ADD COMP1
178. 1 s DRIVE 1 1 1 1 1 1 ORG INT FACTOR ORG EDGE 01 10 11 STATUS2 PORT ORGEND 1 D7 AUTO DRST ENABLE SPEC INITIALIZE3 DRST lt gt ORG ORGEND 1 DRST 0 DRST 1 DRST 10 ms D15 D8 ORG DIVISION D7 D0 ORG STOP TYPE
179. 2 147 483 647 2 147 483 647 32 2 5 MHz 1 LSB 8 388 608 8 388 607 24 2 147 483 647 2 147 483 647 32 2 2 1 414 11 MCC09 CHANGE SPEED CHANGE 1 SPEED RATE CHANGE SPEED RATE CHANGE SPEED RATE CHANGE
180. SCAN 9 CWMS OFF MAN OFF BUSY 0 MANUAL JOG SPEC INITIALIZEI MANUAL DRIVE 1 CWMS ON OFF ON OFF CCWMS CCWMS CCWMS OFF BUSY 0 MAN BUSY 1 CWMS JOG JOG PULSE JOG CWMS OFF MAN OFF BUSY 0 85 MCC09 5 10 EXT PULSE CCWP
181. 0 0 X Y 4 7 Xx Y 1 2 5 6 X 0 3 4 7 Y HH 5 6 69 MCC09 CCW mim amas la cow T 8 m sms ib ER mia amia mis mmn mm r 2618 mmumumuuma mumuwmmm maruri suni mm mima mim m m _ N m mis sis m ma m Bi El SEE Ens Nl ILLLLLLLN 518 0 s gt 3 s ji pi 602 _ mg l
182. 1 COMP1 D2 COMP1 STOP COMP1 0 1 D3 COMP1 DETECT TYPE COMP1 0 1 COMP1 DFL COUNTER INITIALIZE3 COMP1 TYPE COMPARE REGISTER1 189 MCC09 D4 COMP2 INT ENABLE COMP2 DFLINT 0 COMP2 DFLINT 1 COMP2 DFLINT D5 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D6 COMP2 STOP TYPE COMP2 0 1
183. D2 SLSTOP ERROR SLOW STOP 148 MCC09 D3 ORIGIN ERROR ORG DRIVE 1 0 STATUS2 PORT ORGEND 0 D4 DOWN PULSE ERROR INDEX STATUS1 PORT UP 1 STATUS1 PORT DOWN 1 D5 INDEX ERROR INDEX INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE ABS INDEX
184. S INDEX S S S S INDEX lt S gt SDAREA gt HSPD ELSPD 1 2 SDAREA HSPD ELSPD 1 2 INDEX S SUAREA S S S lt S SDAREA gt HSPD ELSPD 1 2
185. 15 0 DRIVE DATA2 PORT D31 D16 STATUS1 PORT COMREG FL 0 DRIVE COMMAND PORT INC INDEX COMMAND 47 MCC09 INDEX JOG PAUSE 1 STATUS1 PORT PAUSE 1 INDEX STBY 1 FSPD DELAY TIME JOG STATUS1 PORT PAUSE 0 STBY 0 INDEX JOG T JSPD FSPD JOG FSPD DELAY TIME PAUSE 0 FSPD JOG 48 MCC09 5 2 STBY PAUSE STBY
186. ADDRESS COUNTER INITIALIZE1 ADDRESS COUNTER PRESET CWLM CCWLM RDYINT DRST DEND DALM 88 MCC09 6 1 SPEC INITIALIZE1 MANUAL lt gt COMMAND 01 SPEC INITIALIZE1 COMMAND WRITE l STATUS1 PORT BUSY 0 ERROR 0 WRITE DRIVE DATA1 PORT DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND
187. INDEX l 1 ammauchmemmemi l amma 5 3 3 JOG JOG JSPD JOG PULSE USBD 3319 JOG 54 MCC09 5 3 4 JSPD SCAN JSPD SCAN JSPD _ JSPD SCAN h JS
188. ORG GPIO MCC09 DRST DEND MCC09 DALM MCC09 MANUAL CWMS CCWMS MANUAL MANUAL SCAN JOG EA0 EA1 EBI 2
189. lt gt _ HBD _ WW mm LHBF lt gt nW 234 MCC09 16 4 DRIVE COMMAND HI80 PPE CODE PAGE H LHCO SPEED CHANGE sns u cA HOB INC INDEX CHANGE INT FACTOR READ INT FACTOR ERROR STATUS READ ERROR STATUS eee HDB HDF nW 235 MCC09 16 4 DRIVE COMMAND H80 s CODE PAGE INTFACTORMASK INT INTFACTOR 175ns 142
190. LVTTL Rdown YSS1 LVTTL Rdown YCWLM LIMIT LVTTL Rdown YCCWLM Y LIMIT LVTTL YSTOP Y LVTTL YPAUSE Y STBY LVTTL VDD33 3 3V GND OV Rup Rdown 8 6 o N N N N IN O N 25 h p b 5 p p N N N N S O gt 5 O G O NO F F VDD15 BSEL0 BSEL 1 D15 XOUT2 D14 XOUT3 D13 XGPIO2 D12 XGPIO3 D11 YOUT2 D10 YOUT3 D9 YGPIO2 D8 YGPIO3 GND VDD33 D7 D6 D0 GND TST0 GND TST1 nINT GND TST2 CLK GND TST3 nRESET GND TST4 CPPIN CPPOUT XMAN 1 5V X
191. PULSE LATCH DATA READ DRIVE DATA1 2 PORT READ DFL LATCH DATA READ DRIVE DATA1 PORT READ 208 MCC09 11 11 1 VDD15 0 5 2 0 lt 05 v vo vO lt VvDD33 05 os lt ree v Ta 5_ C T s 11 2 DC Ta 40 85 C mn mx kus SsET iim 10015 1122 40 mA 0015 15 20 MHz gt IDD33 5 15 mA VDD33 3 3 V CLK 20 MHz VIH 20 Vpp33 v 200ns lt 200 ns 0 VoH 24 v ioHs 3 emA _ wm o v Em vn vopasorNo A 37 hA iL 1 2 4 A vin Vpp33 Rdown cw
192. 0 SCAREA SET SUAREA 0 UCYCLE SCAREA SET SDAREA 0 DCYCLE I Poh 1 INDEX ms 0 lt TU lt 1 UCYCLE 0 5 107 3 HSPD LSPD 1 TU 1 ms ms 0 lt TD lt 1 DCYCLE 0 5 107 3 HSPD
193. 1 141 MCC09 8 1 2 INT FACTOR MASK INT lt gt COMMAND HE1 INT FACTOR MASK COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT GPIO1 GPIO0 OUT3 OUT2 ERRINT DFLINT CNTINT ADRINT INT INT INT INT INT INT INT INT MASK MASK MASK MASK MASK MASK MASK MASK Papas pass ORG EDGE MAN nCOMREG FL COMREG EP RDYINT INT 1 INT INT INT MASK MASK MASK MASK MASK H EEFF D15 D7 D5 D0 0 1 D6 1 INT 13 OR OR 0
194. FSPD FSPD MCC09 1 FSPD 1 2 FSPD 30 ms 20 Hz DELAY TIME FSPD 20 Hz MCC09 1 FSPD
195. DEND DRST STATUS1 2 PORT BUSY STBY DRIVE DRVEND ERROR LSEND SSEND FSEND PAUSE COMREG EP COMREG FL ORGEND DEND BUSY EXT COUNT DIRECTION 0 lt gt 22150 EA 0 T 1 EB lt gt CWP HJ 027 f f CCWP i er 58 C CCWP 29180 CWP L CCWP tH 2 EXT PULSE 86 MCC09
196. SET 1 8 CIRCULAR PULSE SET 2 h CPPOUT CPPIN CPPOUT SEL CPPIN CPPIN SEL CPPIN CPPOUT CPPIN CPPOUT SEL CPPIN SEL CPPIN X Y X Y
197. STOP lt gt COMMAND H 02 SPEC INITIALIZE2 COMMAND WRITE STATUS1 PORT BUSY 0 ERROR COMMAND PORT WRITE DRIVE DATA1 PORT STOP 551 551 550 1 TYPE0 TYPE1 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 HOFO0O0 DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DO TYPE0 D1 TYPE1 CWLM CWLM LIMIT 0 0 LIMIT 1 1 D2 CCWLM TYPE0 D3 CCWLM TYPE1 CCWLM CCWLM LIMIT
198. s OUT3 0 STATUS3 PORT RDYINT SPEC INITIALIZE2 RDYINT lt gt COMP1 COMP2 STATUS4 L PORT COMP3 INT FACTOR CLR lt gt COMP1 COMP2 STATUS4 L PORT COMP3 INT FACTOR CLR lt gt COMP1 COMP2 STATUS4 H PORT COMP3 INT FACTOR CLR ADRINT CNTINT DFLINT INT COMP1 2 3 STATUS4 PORT INT COMP1 2 3
199. 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11 p10 pe ps p7 Dpelps p4 p3 A15 COMP1 ADD 0 DRIVE DATA2 PORT 1 D15 D14 D12 D11 De 5 2 COMP1 ADD nn u 16 H0000 0000 199 MCC09 10 2 10 2 1 gt COMMAND H 90 PULSE COUNTER PRESET COMMAND DRIVE DATA1 PORT D15 D0 ME DRIVE DATA2 PORT D31 D16 DATA2 PORT WRITE lt 0 2 147 483 648 2 147 483 647 H 8000_0000 H 7FFF_FFFF 2 DRIVE COMMAND PORT COMMAND
200. CCW DRIVE SCAN INDEX
201. DRIVE DATA1 PORT ii Io AUTO AUTO COMP COMP COMP COMP ADD CLEAR GATE GATE PULSE PULSE 3 ENABLE TYPE1 TYPE0 TYPE1 TYPE0 COUNT COUNT COUNT COUNT EXT EXT COUNT COUNT STOP START START START COUNT COUNT PULSE PULSE TYPE TYPE2 TYPE1 TYPE0 TYPE1 TYPE0 SEL1 SEL0 HH0000 DO COUNT PULSE SELO D1 COUNT PULSE SEL 1 X 2 0 0 X 0 1 EA1 EB1 X 1 0 EA1 EB1 EA0 1 1 1 MHz ORIGIN XORG Y SEL1 SELO EA1 EB1 Y YOP Y YOP EA1 EB1 1 MHz ORIGIN YORG
202. O Rdown CWLM H 0O1ps LIMIT Rdown CCWLM H 0O1ps LIMIT Rdown STOP H 0O1ps O Rdown PAUSE STBY O Rdown Rdown Rdown 6 X Y X Y GPIO2 3 GND VDD33 OUT2 _ On e _ _ Rdown Rup Rdown Rup o Z H L MCC09 4 PORT 4 1 USER CPU MCC09 BSEL0 1 16 8 BSEL0 1
203. SS0 SS1 CWLM CCWLM X Y EA1 X Y EB1 m E pk LC ORG EA1 EB1 0 0 0 1 1 0 1 1 0 0 0 1 1 0 1 1 gt DEND SS0 SS1 CWLM CCWLM ORG ORIGIN 98 MCC09 D4 DETECT EDGE ORG 0 ORG 0 1 1 ORG 1 0 OFF D5 STOP TYPE0 D6 STOP TYPE1 ORG TYPE1 ORG ORGEND 1 DRIVE 1 SSEND ORGEND 1 FSEND _ ae ORGEND 1 DRIVE 1
204. X X X Y Y Y Y 0V 3 3V GND GND or VDD33 0V 0V 3 3V 0V 1 5V X VDD33 Y VDD33 GND GND 20 MHz GND GND X MANUAL 0V
205. 0 CPP STOP 1 CPP STOP D4 PULSE SEL 0 LONG POSITION 1 SHORT POSITION 120 MCC09 7 5 4 1 CPPIN lt gt COMMAND H 31 SUB STRAIGHT CP COMMAND DATA1 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 15 ENABLE DO DRIVE 0 SCAN 1 INDEX DRIVE MODE PULSE SE
206. ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D13 D12 D11 D10 De 5 PU H 0001 1 JOG PULSE 0 JOG 7 4 3 JOG CW JOG gt COMMAND H 10 JOG COMMAND STATUS1 PORT BUSY 0 ERROR 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND CCW JOG lt gt COMMAND 11 JOG COMMAND STATUS1 PORT BUSY 0 ERROR 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 111 MCC09 7 4 4 JSPD SCAN JSPD CW
207. FACTOR CLR XINT YINT 16 OR 16 INT FACTOR MASK 16 INT FACTOR READ nINT STATUS3 PORT XINT YINT O YINT GPIO2 GPIO3 2 GPIO3 1 GPIO2 3 8 BUSSEL1 1 16 GPIO2 GPIO3 OUTO OUT1 OUT2 OUT3 OUT3 0 1 OUT2 3 8 BUSSEL1 1 16 OUT2 OUT3
208. Ops SS1 Oi DALM Ops DEND ZPO ORG NORG CWMS _ i MAN _ Oo HARD INITIALIZE5 GPIOO 01us GPIO1 GPIO2 GPIO3 HF 4 s HF HARD INITIALIZE8 CWP CCWP H OF3F OFF 230 MCC09 16 3 DRIVE COMMAND H00 H3F CODE PAGE STATUS 16 MANUAL 100ns gg LIMIT RDYINT 550 551 STOP STBY
209. CNTINT 1 CNTINT 2 CNTINT 3 H CNTINT COMP1 ADD EE C nW P 233 MCC09 16 4 DRIVE COMMAND H80 CODE PAGE H A0 HA1 2 _ H A4 H A5 H A6 H A7 H A9 H AA H AC H DFLINT COMPARE REGISTER1 SET DFLINT 1 205 DFLINT COMPARE REGISTER2 SET DFLINT 2 205 DFLINT COMPARE REGISTER3 SET DFLINT 3 205 DFLINT COMP1 ADD __ ES HB3 lt gt HB H A8 H AB HB8 i HB9 lt gt HBA
210. INDEX 109 R40OG 0 110 7451 JSPD SE 110 eS 111 74583 0 0 0 111 7 4 4 JSPD SCAN 112 f 5 0000030900090303030H03030366b030d0sbaRBpaegt 113 7 5 1 LONG POSITION SET 118 7 5 2 SHORT POSITION SET 119 7 5 3 120 7 5 4 2 121 7 6 301 122 7 6 1 CIRCULAR XPOSITION SET 127 7 6 2 CIRCULAR YPOSITION SET 128 7 6 3 CIRCULAR PULSE SET 129 130 055 ORR RR RR ERR RR 131 7 7 SPEED CHANGE
211. XADRINT AND YADRINT X Y ADRINT AND XADRINT OR YADRINT X Y ADRINT OR DFLINT COMP1 STATUS4 DFLINT COMP1 DFLINT COMP2 STATUS4 DFLINT COMP2 DFLINT COMP3 STATUS4 DFLINT COMP3 ERROR STATUS1 ERROR LSEND STATUS1 LSEND SSEND STATUS1 SSEND FSEND STATUS1 FSEND SS0 STATUS5 SS0 DRVEND STATUS1 DRVEND SIGNAL OUT gt 0 0 0 0 1 1 1 1 OO Ol O O O gt O gt O 155 MCC09 8 7 2 HARD INITIALIZE3 GPIO1 3 GPIO1 3 lt gt COMMAND HARD INITIALIZE3 COMMAND DRIVE DATA1 PORT ge ars n GPIO1 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TY
212. lt gt MAN 1 BUSY 1 MAN 1 BUSY 1 BUSY 1 1 MAN OFF BUSY 0 CWMS STATUS1 PORT MAN 1 CWMS MANUAL MAN 1 ERROR 0 DRIVE 0 CCWMS OFF CWMS MANUAL SCAN CWMS OFF CWMS CWMS OFF MANUAL MANUAL CWMS CCWMS P
213. 206 1034 L 207 10 4 1 ADDRESS COUNTER READ 207 1024 22 PULSE GOUNTERIREAD 3 TTYTTTT 207 10 4 3 DFEL COUNTER READ ee 207 105 0 Sb 208 10 5 1 ADDRESS LATCH READ 208 10 5 2 PULSE LATCH DATA READ 208 10 5 3 DFL LATCH DATA READ 208 11 209 EEE 209 939030349399939304940333949994331338933393344333933338 209 ES 209 G 210 8 MCC09 12 211 12 1 nRESET
214. CWMS MAN 1 1 D3 CCWMS CCWMS CCWMS MAN 1 1 D4 05 X Y EA0 1 06 EA1 D7 EB1 X Y EA1 EB1 1 43 MCC09 D8 CPPIN X Y CPPIN 1 D9 CPPOUT X Y CPPOUT 1 D10 CPP MASK CPPIN 1 MCC09 CPPIN ERROR 1 0 STATUS1 PORT ERROR 1 0 CPPIN CPP MASK 1
215. HSPD LSPD ELSPD 0 LSPD H 0000 UCYCLE 200 100 us H 00C8 DCYCLE 0 UCYCLE H 0000 SUAREA 0 S H 0000 SDAREA S 0 S H 0000 DOWN PULSE ADJUST 1 H 0001 JSPD JOG 300 Hz H 00_012C JOG PULSE JOG 1 H 0001 SPEED CHANGE TYPE DRIVE 1 INDEX CHANGE TYPE DRIVE 1 000 RFSPD 1 20 Hz 10 Mi 9 0 S _ HOOO 229 MCC09 16 2 3 D15 D0 ERROR STATUS D15 D9 04 01 HARD INITIALIZE1 OUT2 OUT3 HARD INITIALIZE2 GPIO2 HARD INITIALIZE3 HARD INITIALIZE4 STOP Ours CCWLM _ SSO
216. ORIGIN ORG LIMIT LIMIT MANUAL MANUAL MCC09 5 X H Y X Y 5 1 MCC09 20 DRIVE COMMAND DRIVE COMMAND STATUS1 PORT COMREG EP COMREG FL BUSY 1 FL 0 DRIVE COMMAND PORT
217. SIGNAL OUT DRST STBY 1 DRIVE 1 DEND BUSY 1 DRST 10 ms LIMIT ORIGIN SPEC SET AUTO DRST ENABLE 1 ORG ORGEND 1 DRST 10 ms SERVO RESET DRST 10 ms 93 MCC09 DRST gt STATUS1 PORT BUSY 1 DRST DEND lt gt FAST STOP STOP SS0 SS1 DEND DALM CWLM CCWLM
218. 2 STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 ps 05 15 Y 0 DRIVE DATA2 PORT 015 14 012 pg ps p7 pelpslp4lpslpzlptlpol H00 0000 0 0 Y 128 MCC09 7 6 3 CIRCULAR PULSE SET lt gt COMMAND 2 CIRCULAR PULSE SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT DRIVE DATA2 PORT 2 147 483 647 2 147 483 647 H 8000_0001
219. CPPIN CPPIN CPPOUT 97 MCC09 6 5 ORIGIN SPEC SET ORIGIN lt gt COMMAND HOF ORIGIN SPEC SET COMMAND WRITE l STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT son sn sn voN sn sn D1 AUTO ORG ORG ORG DRST STOP STOP DETECT TYPE1 TYPE0 EDGE TYPE3 TYPE2 TYPE1 TYPE0 H0003 D3 0 SIGNAL TYPE3 0 ORIGIN ORG ORG ZPO ORG ZPO AND ORG ZPO OR gt gt ORG DEND ORG DEND AND ORG DEND OR NORG NORG ZPO AND
220. CPPOUT SEL CPPOUT CPPIN CPPIN CPPOUT CPPIN CPPIN STATUS5 PORT CPP MASK 1 ERROR 0 CPP MASK 0 114 MCC09 CPSPECSET D CPPOUT CPPIN Ef LONG POSITION SET SHORT POSITION SET CPSPECSET D CPPOUT CPPIN LONG POSITION
221. INITIALIZE INT INT FACTOR lt gt MASK gt INT FACTOR lt lt gt INT FACTOR MASK INT FACTOR OR INT FACTOR READ INT INT FACTOR gt CLR lt gt STATUS4 OM 202 ENABLE gt 140 MCC09 8 1 1 INT FACTOR CLR INT gt COMMAND H E0 INT FACTOR CLR COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT ili ii GPIO1 GPIO0 OUT3 OUT2 ERRINT DFLINT CNTINT ADRINT INT INT INT INT INT INT INT INT CLR CLR CLR CLR CLR CLR CLR CLR cf nCOMREG FL RDYINT MM INT CLR CLR 015 07 D5 D0 0
222. rrrrrr 3 3 0 7 lt gt 1 1 4 1 2 DFL COUNTER INITIALIZE3 8 193 MCC09 9 4 DRIVE DATA1 2 PORT READ 0 9 4 1 COUNT LATCH SPEC SET
223. 7 9 2 FAST STOP STATUS1 PORT BUSY 1 lt gt COMMAND HFF FAST STOP COMMAND DRIVE COMMAND PORT COMMAND FAST STOP BUSY 0 138 MCC09 8 X H Y X Y 8 1 2 nINT OUT3 0 nINT nlNT STATUS3 PORT XINT YINT O NOR XINT 16 OR 1 INT FACTOR CLR
224. H 89 H 8A H 8C ADRINT COMP1 ADD _ HI H91 H92 H97 H98 H99 CNTINT 3 DFLINT 1 DFLINT 3 w _ u G SPEED CHANGE INDEX CHANGE RFSPD x j x COUNT LATCH SPEC SET OUT3 0 GPIO0 2 GPIO1 3 COMMAND CODE H 88 98 H A8 COMPARE REGISTER1 SET 152 MCC09 8 5 RSPD 8 5 1 RS
225. PORT PORT A3 A1 nXCS nYCS nR nW nR 0 nW 0 nW 0 nR 1 nW 0 BSEL1 0 BSELO 0 BSEL1 0 BSELO 1 DRIVE DATA2 PORT 015 DRIVE DATA1 PORT D15 D0 DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D15 D0 015 015 DRIVE COMMAND PORT D15 D0 _ DRIVE COMMAND PORT D15 D0 015 015 D15 D0 015 D15 DO D15 D0 015 D15 D0 nR 0 nW 1 BSEL1 0 BSELO 0 BSEL1 0 BSELO 1 DRIVE DATA2 PORT D15 D0 DRIVE DATA1 PORT D15 D0 DRIVE DATA1 PORT 015 DRIVE DATA2 PORT 015 00 015 D15 D0 STATUS1 PORT D15 D0 _ STATUS1 PORT D15 D0 STATUS2 PORT 015 STATUS2 PORT D15 D0 STATUS3 PORT D15 D0 STATUS3 PORT D15 D0 STATUS4 PORT D15 D0 STATUS4 PORT D15 D0 STATUS5 PORT D15 D0 STATUS5 PORT D15 D0 29 4 3 nXCS nYCS
226. 1 5V 0V 1 5V 0V MCC09 LVTTL Rdown LVTTL Rdown A A A LVTTL Rdown LVTTL LVTTL LVTTL LVTTL LVTTL LVTTL LVTTL LVTTL LVTTL Rdown LVTTL 3 mA LVTTL Rdown LVTTL LVTTL Rdown LVTTL LVTTL Rdown LVTTL Rup LVTTL 3 mA LVTTL Rdown nRST MCC09 A LVTTL LVTTL 6 mA B LVTTL LVTTL 3 mA EN MCC09 3 3 3 3 1 3 3 2 MCC09 0 1VDD 0 9VDD
227. 132 7 7 1 SPEED CHANGE SPEC SET 132 7 7 2 SPEED RATE CHANGE 133 7 8 INDEX CHANGE 134 7 8 1 INDEX CHANGE SPEC SET 134 7 8 2 INC INDEX CHANGE 135 7 8 3 ABS INDEX CHANGE 136 7 8 4 PLS INDEX CHANGE 137 SGSOBBSSGGSGSBESEGRGS9ES 138 7 9 1 SLOW STOP 138 7 9 2 FAST STOP 138 8 8 1 8 2 8 3 8 5 8 7 8 8 8 11 8 13 MCC09 139 139 8 1 1 INT RFACTOR 2 u u 2 2 a asss 141 8 1 2 INT FACTORMASK 142 821 31
228. 14 1 MCC09 X Y PULSE OUTPUT TYPE PULSE OUTPUT MASK MANUAL DRIVE MODE JOG COUNT PULSE SEL INP CP EXT COUNT EA EB 1 G Jp 2 gt F 5 EXT PULSE TYPE 1 0 ps EXT COUNT DIRECTION ADRINT ADRINT PULSE TYPE 200 ns COMP GATE TYPE COMP1 OR COMP2 OR COMP3 AUTO CLEAR ENABLE COMP1 AUTO ADD ENABLE COMP1 9 INITIALIZE VOID MCCO9Inz VOID X SPEC INITIALIZE1 COMMAND W_X_DRV_DT1_PORT 0x0010 READY_WAIT_XO W_X_DRV_CMD_PORT 0x0001 Y SPEC INITIALIZE1 COMMAND W_Y_DRV_DT1_PORT 0x0010 READY_WAIT_YO W_Y_DRV_CMD_PORT 0x0001 X
229. 20 Hz 1 2 DELAY TIME SPEC INITIALIZE1 PULSE OUTPUT MASK DELAY TIME 101 9 7 2 7 2 1 HIGH SPEED SET HSPD RESOL lt gt COMMAND H 06 HIGH SPEED SET COMMAND DRIVE DATA1 PORT WRITE 0 32 767 H0000 H7FFF 400 0 25 000 0000 H61A8 DRIVE DATA2 PORT RESOL No DATA2 PORT WRITE w STATUS1 PORT BUSY 0 ERROR 0 Y
230. 219 MCC09 14 MCC09 C define BYTE unsigned char define CHAR char define WORD unsigned short define SHORT short define DWORD unsigned long define LONG long define VOID Void typedef struct DRIVE_PARAM DWORD Fspd FSPD ResolNo RESOL No WORD Hspd HSPD WORD Lspd LSPD WORD Elspd ELSPD WORD Ucycle UCYCLE WORD Dcycle DCYCLE WORD Suarea SUAREA WORD Sdarea SDAREA SHORT OffsetPls OFFSET PULSE DWORD Jspd JSPD WORD JogPls JOG PULSE S_DRIVE_PARAM VOID MCCO9Inz VOID VOID X Scan S_DRIVE_PARAM psDriveParam VOID X_Inclndex S_DRIVE_PARAM psDriveParam LONG IncData VOID X Jog S_DRIVE_PARAM psDriveParam LONG XAddrCntRead VOID LONG YAddrCntRead VOID 220 MCC09 9 PORT READ WRITE 7 define MCC09_TOP_ADDRESS 0x2000 define W_X DRV_DT1_PORT data outpw MCCO9_TOP_ADDRESS 0x00 data define W_X DRV_DT2 PORT data outpw MCCO9_TOP_ADDRESS 0x0
231. 5 9 MANUAL MAN CWMS CCWMS MAN CWMS CCWMS MANUAL MANUAL SPEC INITIALIZE1 MANUAL DRIVE SCAN JOG JOG MANUAL MANUAL BUSY 0 MAN STATUS1 PORT MAN 1 BUSY 1 CCWMS MANUAL MAN 1 MAN OFF MAN 0 BUSY 0 CWMS CCWMS MANUAL MANUAL STBY 1 DRIVE 1 DEND BUSY 1 MAN OFF DRST lt gt DEND
232. 8 PORT MCC09 X PORT nYCS nXCS Y PORT PORT A3 A0 nXCS nYCS nR nW nR 0 nW 0 nW 0 PORT 16 8 D15 D8 8 7 nR 1 nW 0 BSEL1 1 BSELO 0 DRIVE DATA2 H PORT DRIVE DATA2 L PORT DRIVE DATA1 H PORT DRIVE DATA1 L PORT DRIVE COMMAND PORT DRIVE DATA2 H PORT DRIVE DATA2 L PORT DRIVE DATA1 H PORT DRIVE DATA1 L PORT NOP DATA H PORT NOP DATA L PORT STATUS1 H PORT STATUS1 L PORT STATUS2 H PORT STATUS2 L PORT STATUS3 H PORT STATUS3 L PORT STATUS4 H PORT STATUS4 L PORT STATUS5 H PORT STATUS5 L PORT 015 08 07 00 015 08 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 07 015 08 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 nR 0
233. CCWLM COMP3 LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT CWLM CCWLM LIMIT STATUS1 PORT STBY 1 DRIVE 1 STATUS1 PORT EXTPULSE 1 DRIVE 1 STATUS2 PORT BUSY 1 LIMTIT LIMIT STBY 1 DEND BUSY 1 LSEND 1 DEND BU
234. CP SPEC SET CPPOUT SEL CPPIN CPPIN MHz 64 MCC09 5 5 1 5 MHz 0 5 LSB 2 147 483 647 2 147 483 647 32 1 CODE PBTT TI CP SPEC CPPOUT CPPIN LONG POSITION SHORT POSITION
235. DRIVE 1 COUNT PULSE SEL 00 DEND lt gt lt gt EXT PULSE 1 LIMIT EXT PULSE 1 LIMIT EXT PULSE 1 BUSY 1 STBY 1 DRIVE 0 EXT PULSE 1 STBY 1 LIMIT LIMIT LIMIT DRIVE 1 DEND BUSY 1 LIMIT DRIVE 1 DEND BUSY 1 LSEND DEND lt gt lt gt STBY 0 DRIVE 0 G EXT PULSE 1 ORGEND 1 ERROR 1 EXT PULSE
236. DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 p11lp1o ps 1 05 15 lt 0 DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 De pe 05 p2 p1 A31 16 0000 0000 0 0 PULSE SEL 119 MCC09 7 5 3 1
237. INT GPIO1 3 ERROR ERROR STATUS lt gt MASK gt ERROR STATUS ERROR ERROR STATUS STATUS ERROR lt gt MASK OR lt gt ERRINT ERRINT STATUS STATUS ERRINT MASK OR gt ERROR STATUS lt gt CLR ERRINT STATUS lt gt MASK 144 MCC09 8 2 1 ERROR STATUS CLR ERROR STATUS gt COMMAND 4 ERROR STATUS CLR COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT ii DRST DALM ORGEND ERROR ERROR ERROR CLR CLR ORIGIN SLSTOP FSSTOP COMMAND ERROR ERROR ERROR CLR CLR CLR 015 0 ERROR STATUS 0 1 ERROR STATUS D15 D8 D2 D1 ERROR STATUS
238. P R 207 5 4425 K int R Y2 14 6 14 425 K 1 421 R gt K K 1 1 4 1 K 12 R 25 IKK K 1 2 R lt K 1 K 1 R Ps K 1 2 14 5 P int 0 7 6 5 4 5 14 5 14 5 14 5 14 5 5 58 CW CIRCULAR PULSE 58 H 0000 _003 CW 0 2 4 6 1 3 5 7 Ps CW 0 2 4 6 Ps 1 3 5 7 4 MCC09 5 5 3
239. TYPE1 TYPE1 TYPE0 ENABLE ENABLE 6 COMP2 COMP2 COMP2 a 1 STOP STOP STOP INT STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE TYPE ENABLE ENABLE 0000 DO COMP1 INT ENABLE COMP1 CNTINT 0 COMP1 CNTINT 1 COMP1 CNTINT D1 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 D2 COMP1 STOP TYPE COMP1 0 1 COMP1 COMPARE REGISTER1 181 MCC09 D4 COMP2 INT ENABLE COMP2 CNTINT 0 COMP2 CNTINT 1 COMP2 CNTINT D5 COMP2 STOP ENABLE COMP2
240. 1001 1000 ADDRESS OVF 1 999 1 0 2 000 2 001 1 0 1 1000 1001 1001 ADDRESS OVF 1 2000 0 0 2000 1001 1000 1000 ADDRESS OVF 1 gt 1 0 197 MCC09 10 1 3 1 ADRINT COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 88 ADRINT COMPARE REGISTER1 SET COMMAND 2 ADRINT COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND H 89 ADRINT COMPARE REGISTER2 SET COMMAND 3 ADRINT COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 8A ADRINT COMPARE REGISTER3 SET COMMAND lt gt DRIVE DATA1 PORT A15 A0 Mi DRIVE DATA2 PORT A31 A16
241. 10s 260 Z o 160 180 2 2 60 1205 s 218 MCC09 13 3 MCC09 5 30 C 7096 RH 7 125 C 10 72
242. 2 CPU USER CPU MCC09 CONTROL BUS USER 8 16 BIT CPU DATA BUS X li DRIVER ga 1 DRIVER MCC09 2 1 2 2 2 20 20
243. CMD_PORT 0x0005 JSPD SET COMMAND W_X_DRV_DT1_PORT WORD psDriveParam gt Jspd DRV_DT2_PORT WORD psDriveParam gt Jspd gt gt 16 READY_WAIT_XO DRV_ CMD_PORT 0x000c JOG PULSE SET COMMAND DRV_DT1_PORT psDriveParam gt JogPls READY_WAIT_X W_X_ DRV_ CMD_PORT 0x000d JO0G COMMAND READY_WAIT_XO W_X_DRV_CMD_PORT 0x0010 225 MCC09 14 5 ADDRESS COUNTER X ADDRESS COUNTER READ LONG XAddrCntRead VOID LONG ADDRESS COUNTER READ COMMAND W_X_DRV_CMD_PORT 0x00d8 ADDRESS COUNTER READ now_addr LONG R_X_DRV_DT2_PORT lt lt 16 now_addr LONG R_X_DRV_DT1_PORT amp 0x0000ffff return now_addr Y ADDRESS COUNTER READ LONG YAddrCntRead VOID LONG now_addr ADDRESS COUNTER READ COMMAND W_Y_DRV_CMD_PORT 0x00d8 ADDRESS COUNTER READ now_addr LONG R_Y_DRV_DT2_PORT lt lt 16 now_addr LONG R_Y_DRV_DT1_PORT amp 0x0000ffff return now_
244. COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP2 COMP3 COMP1 COMP2 COMP3 ADRINT COMP1 COUNT LATCH SPEC SET ADDRESS LATCH DATA READ
245. 1 TYPE0 COMP2 COMPARE REGISTER2 2 COMPARE REGISTER2 COMPARE REGISTER2 DRIVE 1 MCC09 COMPARE REGISTER2 014 COMP3 TYPE0 D15 COMP3 TYPE1 COMP3 COMP3 COMPARE REGISTER3 2 COMPARE REGISTER3 COMPARE REGISTER3 DRIVE 1 MCC09 COMPARE REGISTER3 11 MCC09 15 STATUS1 PORT DRIVE 1 FSPD JSPD 191 MCC09 9 3 3 DFL COUNTER INITIALIZE3 lt gt COMMAND HAS3 DFL COUNTER INITIALIZE3
246. 2 ST1 DRIVE 8 1 lt i 1 CCWP 6 I 5 1 1 5 lt 18 lt 1 5 gt 12 13 75 ns lt 11 lt 125 ns FAST STOP 100 ns lt t2 lt 175 ns t1 3 50 ns lt 5 0 1 ORS s STOP OFF BUSY ST1 DRIVE CWP CCWP 8 005 BUSY ST1 DRIVE s s CCWP 16 lt t6 215 MCC09 12 14 CPPIN CPPOUT CPPOUT 1 I 1 CPPOUT CWP CCWP 50 ns 1 50 ns gt lt gt lt CPPIN CPPOUT CPPIN CPPOUT Max 11 ns 11 I 75 125ns 75 125 I gt
247. D2 CPP STOP ENABLE CPP STOP 0 CPP STOP 1 CPP STOP D4 PULSE SEL 0 X 1 Y 130 MCC09 7 6 5 1 CPPIN lt gt COMMAND H 39 SUB CIRCULAR CP COMMAND DATA1 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 15 DO DRIVE E 24 2 R24 71351 0 SCAN 1
248. ERI CPPOUT OFF 100 us OFF CPP STOP CPPOUT CPPOUT 20 9 s Sims mis misi misma masma amsami mam 0 15 20 66 MCC09 5 5 2 2
249. GPIO0 2 HARD INITIALIZE2 GPIO1 HARD INITIALIZE3 DRST OUTO CNTINT OUT1 RDYINT OUT2 3 GPIO0 2 GPIO1 164 MCC09 8 12 DRST 8 12 1 SERVO RESET SPEC INITIALIZE3 DRST lt gt DRST 10 ms lt gt COMMAND 1 SERVO RESET COMMAND D STATUS1 PORT BUSY ERROR 0 A ERROR 0 DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE DRST 10 ms DRST STATUS1 PORT
250. HHHHHUHHHHHHUHHHHHHHHHHL MCC09 HHHHL 0000 HHHHHHHHHHH HHHHHHHHHHHH HHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHH HHHHHHHI MN0215 MCC09 MCC09 MCC09
251. INDEX CHANGE INDEX CHANGE d INDEX INDEX CHANGE INDEX F ERROR 1 INDEX CHANGE INDEX INDEX CHANGE DRIVE 0
252. INDEX CHANGE r 016 135 MCC09 7 8 3 ABS INDEX CHANGE ABS INDEX CHANGE ABS INDEX lt gt COMMAND H CD ABS INDEX CHANGE COMMAND DATA1 PORT WRITE WRITE STATUS5 PORT INDEX FL 0 Y COMMAND PORT WRITE DRIVE DATA1 PORT A15 A0 DRIVE DATA2 PORT A31 A16 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G 2 STATUS5 PORT INDEX FL 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 1D15 D14 D13 D12 D11 Dp10 D7 pe 05 p2 p1 po A15 INDEX CHAN
253. SCAN DRIVE 1 SPEED RATE CHANGE SPEED CHANGE SPEED CHANGE SPEED FL 1 SPEED EP 1 SPEED CHANGE STATUS1 PORT ERROR 1 DRIVE 1 LSEND 1 SSEND 1 FSEND 1 ORGEND 1 INDEX INDEX CHANGE MANUAL SCAN DRIVE 1 0 SERVO RESET ERROR 0 DRIVE 0 SPEED FL 0 SPEED EP 1 SPEED CHANGE 74 MCC09 5 6 2 INDEX CHANGE INDEX CHANGE INDEX CHANGE SPEC SET INDEX CHANGE
254. 1 BUSY 1 STBY 0 DRIVE 0 STBY 1 DRIVE 1 ORGEND 1 ERROR 1 BUSY 1 SSEND FSEND ORGEND lt gt SSEND 1 FSEND 1 ORGEND 1 ERROR 1 COUNT PULSE SEL 00 87 JL 6 MCC09 X Y X Y MCC09 SPEC INITIALIZE1 SPEC INITIALIZE2 SPEC INITIALIZE3
255. 1 ERRINT ERROR STATUS ERRINT 0 1 STATUS3 PORT 2 0 1 STATUS3 PORT OUT3 0 1 STATUS3 PORT GPIO0 0 1 STATUS3 PORT GPIO1 0 gt 1 INT FACTOR CLR INT FACTOR CLR INT FACTOR CLR INT FACTOR CLR INT STATUS3 PORT OFF 139 MCC09 OUT3 0 lt T gt STATUS1 PORT DRVEND 0 1 STATUS1 L PORT RDYINT STATUS1 PORT BUSY 1 gt 0 BUSY 0 1 STATUS1 PORT O DRIVE 1 gt 0 FE I 1 2 COMP3 iu COMP1 2 COMP3 lt EE I COMP1 COMP2 COMP3
256. 2 io pF 5 TE Cio 2 10 pF 11 3 amp VDD33 3 3 0 3 V Ta 40 85 C PI max iH 20 ns ae r 4 ns W 4 ns tye 495 ns 1 2 VDD33 CLK 1 2 VDD33 gt 1 209 MCC09 11 4 A3 A0 nXCS nYCS 15 00 DS tRD fAR tRR tRA D7 D0 tDW _ I 1 tCW WC gt tAW tWW i max AR 0 ns tRD e2 ns 0 1 RA ns LtReyc 692 ns STATUS PORT tRA tAR 51 ns tRcyc gt 113 ns COMMAND PORT 2 gt 126 ns COMMAND PORT PORT tAR 2 126 ns 210 MCC09 12 X Y X Y CLK 50 ns
257. BUSY 1 lt gt BUSY 1 0 STATUS1 PORT DRVEND 1 DRST gt STATUS1 PORT BUSY 1 DEND lt gt BUSY 1 0 STATUS1 PORT DRVEND 1 165 MCC09 8 13 8 13 1 NO OPERATION STATUS1 2 PORT LSEND SSEND ORGEND 16 lt gt COMMAND H 00 NO OPERATION COMMAND WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT DATA PORT STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p15
258. COMP1 D2 COMP1 STOP TYPE COMP1 0 1 COMP1 COMPARE REGISTER1 173 MCC09 D4 COMP2 INT ENABLE COMP2 ADRINT 0 COMP2 1 COMP2 ADRINT D5 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D6 COMP2 STOP TYPE0 D7 COMP2 STOP TYPE1 COMP2 TYPE1 COMP2 CW CW D8 COMP3 INT ENABLE COMP3 ADRINT
259. COMPARE REGISTER1 COMPARE REGISTER1 NO OPERATION COMPARE REGISTER1 DRIVE 1 MCC09 COMPARE REGISTER1 10 NO OPERATION 16 11 MCC09 15 STATUS1 PORT DRIVE 1 FSPD JSPD 4 COUNT PULSE SEL DFL COUNTER INITIALIZE3 lt gt BU U UU Z
260. CPPIN X Y CPP MASK OR D12 SPEED EP SPEED CHANGE 1 SPEED CHANGE EMPTY SPEED CHANGE 0 SPEED CHANGE D13 SPEED FL SPEED CHANGE 1 SPEED CHANGE FULL SPEED CHANGE 0 SPEED CHANGE SPEED CHANGE SPEED CHANGE SPEC SET SPEED RATE CHANGE SPEED EP SPEED FL SPEED FL SPEED EP SPEED CHANGE EMPTY SPEED CHANGE FULL SPEED CHANGE 44 MCC09 D14 INDEX EP INDEX CHANGE 1 INDEX CHANGE EMPTY INDEX CHANGE 0 INDEX CHANGE
261. H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 ps 05 015 lt gt Do DRIVE DATA2 PORT Pb isa D31 016 H 0000 0000 0 5 5 2 CW CCW 129 MCC09 7 6
262. INDEX CHANGE S S x INDEX CHANGE 79 MCC09 INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE DRIVE 0 STATUS1 PORT DRIVE 1 0 DRIVE 0
263. STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p14 p12 p11 p10 pg ps 05 0 4 D14 DO HOBB8 3 000 3 000 Hz DRIVE DATA2 PORT p15 p14 p13 p12 p11 p10 pg ps 05 H 3 1 HSPD 0 HSPD HSPD RSPD Hz HSPD x RESOL RESOL No RESOL RESOL RESOL RESOL H8 50 5 100 No H 8 H 9 100 H H B RESOL No RESOL 400 HC 40 H D 400 5 HB 400 x RESOL 1 10 000 000 Hz 400 0 25 000 H 0000 H 61A8 102 MCC09 7 2 2 LOW SPEED SET
264. a 1 1 a 1 LTLTT LTLTT LTLTT LTLTT a 2 1303 URL http www melec inc com s support ec i nc com TEL 042 664 5382 FAX 042 666 5664 E nai TEL 042 664 5384 FAX 042 666 2031 HHHHHHHHHHH HHHHHHHHHHHH
265. gt BUSY 1 lt gt BUSY 0 ORIGIN AUTO DRST lt gt DRST BUSY 0 DRST MAN 1 EXT PULSE 1 BUSY 1 MAN 1 MAN 0 BUSY 0 EXT PULSE 1 EXT PULSE 0 BUSY 0 STATUS1 PORT FSEND 1 81 MCC09 5 7 3 LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT CWLM COMP2 LIMIT LIMIT LIMIT
266. lt CWP CCWP 1 i 50 ns 50 ns 4 lt gt lt 216 MCC09 12 15 EA 0 COUNTER INITIALIZE1 EXT COUNT DIRECTION 0 12 15 1 SNR NN s 11 12 13 14 gt 50 ns 28800 t3 t4 gt 200 ns 4 11 12 13 14 gt 200 ns 1 12 t H 11 12 13 14 gt 50 ns lt gt lt gt EA ir ae EB LL S EA 4 f f 20 v f EBA 1 1 WE 2 4 amp 12 15 2 EA 11 12 13 gt 50 ns t1 t2 gt 200 ns t1 2 13 32 2 i i 11
267. nW 1 BSEL1 1 BSELO 0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 30 DRIVE DATA1 L PORT DRIVE DATA1 H PORT DRIVE DATA2 L PORT DRIVE DATA2 H PORT DRIVE COMMAND PORT D7 D0 DRIVE DATA1 L PORT DRIVE DATA1 H PORT DRIVE DATA2 L PORT DRIVE DATA2 H PORT NOP DATA L PORT NOP DATA H PORT STATUS1 L PORT STATUS1 H PORT STATUS2 L PORT STATUS2 H PORT STATUS3 L PORT STATUS3 H PORT STATUS4 L PORT STATUS4 H PORT STATUS5 L PORT STATUS5 H PORT BSEL1 1 BSELO 1 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D15 D8 D15 D8 BSEL1 1 BSELO 1 D7 D0 D15 D8 D7 D0 D15 D8 07 D15 D8 D7 D0 D15 D8 07 00 015 8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 MCC09 4 4 PORT X Y X Y 4 4 1 DRIVE DATA1 PORT DRIVE DATA2 PORT WRITE
268. p14 p13 p12 015 0 1971 No 1971 PORT NOP DATA PORT 8 13 2 CHIP RESET X Y MCC09 gt COMMAND HF0 CHIP RESET COMMAND DRIVE COMMAND PORT COMMAND CHIP RESET nRST 200 ns nRST BSEL1 BSEL0 166 9 1 MCC09 X Y X Y CWP CCWP
269. 1 1 ORIGIN ORG D7 EXT COUNT DIRECTION EA0 EA1 EBI 0 1 D8 CNTINT TYPE0 D9 CNTINT TYPE1 COMP1 2 3 COMP1 2 3 STATUS4 L PORT STATUS4 L PORT INT FACTOR CLR CNTINT INT CLR 1
270. 2 amp 4 A A C ccwp JOG INDEX JSPD SCAN STBY 1 STBY 1 MANUAL CWMS CCWMS STBY 1 CWP CCWP CWP CCWP 90 MCC09 6 2 SPEC INITIALIZE2 CWLM CCWLM RDYINT xl 50 SS1
271. 4 1 lt gt COMMAND H 38 MAIN CIRCULAR CP COMMAND DATA1 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT ET a SEL ENABLE ENABLE MODE DO DRIVE 0 SCAN 1 INDEX D1 CONST CP ENABLE 0 1
272. A x 50 ns 10 000 000 FSPD C D 8 50 100 MCC09 1 1 FSPD SET STATUS1 STBY STATUS1 DRIVE CWP Cl CCWP 1 J 2 OFF ON s FSPD 1 LSPD JSPD 1 FSPD 1 FSPD 1 8 388 607 6 666 667 Hz OFF 50ns ON 50ns 10 000 000 Hz 6 666 666 5 000 001 Hz OFF 50ns ON 100ns 6 666 666 Hz 5 000 000 4 000 001 Hz OFF 100ns ON 100ns 5 000 000 Hz 4 000 000 3 333 334 Hz OFF 100ns ON 150ns 4 000 000 Hz 3 333 333 2 857 143 Hz OFF 150ns ON 150ns 3 333 333 Hz 1 1 FSPD DELAY TIME FSPD 1 FSPD FSPD DELAY TIME
273. ADDRESS COUNTER_INITIALIZE1 COMMAND W_X_DRV_DT1_PORT 0x0030 W_X_DRV_CMD_PORT 0x0081 Y ADDRESS COUNTER INITIALIZE1 COMMAND W_Y_DRV_DT1_PORT 0x0030 W_Y_DRV_CMD_PORT 0x0081 222 MCC09 14 2 SCAN SCAN FSPD RESOL No HSPD LSPD ELSPD UCYCLE DCYCLE SUAREA SDAREA X RR k Rokok X SCAN DRIVE VOID X_Scan S_DRIVE_PARAM psDriveParam FSPD SET COMMAND W_X_DRV_DT1_PORT WORD psDriveParam gt Fspd W_X_DRV_DT2_PORT WORD psDriveParam gt Fspd gt gt 16 READY_WAIT_XO W_X DRV_CMD_PORT 0x0005 HIGH SPEED SET COMMAND W_X_ DRV_DT1_PORT psDriveParam gt Hspd W_X_ DRV_DT2_PORT WORD psDriveParam gt ResolNo READY_WAIT_X W_X_DRV_ CMD_PORT 0x0006 LOW SPEED SET COMMAND DRV_DT1_PORT psDriveParam gt Lspd W_X_DRV_DT2_PORT psDriveParam gt Elspd READY_WAIT_X DRV_CMD_PORT 0x0007 RATE SET COMMAND W_X_DRV_DT1_PORT psDriveParam gt Ucycle W_X DRV_DT2_PORT psDriveParam gt Dcycle READY_WAIT XO W_X DRV_CMD_PORT 0 0008 SCAREA SET COMMAND W_X_
274. COMMAND 0 DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT a aaa mi EXT COMP1 COMP1 COUNT2 COUNT1 COUNT DIVISION TYPE1 TYPE0 MASK MASK DIRECTION i II 5 D sao DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 D D4 D3 D2 D1 H0000 D7 D0 DIVISION D7 D0 DIVISION 0700 HEF HFE reo 256 255 254 COUNT D8 DIVISION TYPE 0 1 1 2 D9 EXT COUNT DIRECTION EA0 EA1 EBI 0 1
275. DALM STBY S lt gt COMMAND H 03 SPEC INITIALIZE3 COMMAND WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT ii STBY STBY STBY MASK TYPE2 TYPE1 TYPE0 DALM DALM DEND DEND DRST DRST TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 003F DRST TYPE0 D1 DRST TYPE1 DRST TYPE1 1TYPE0 DRST 10 ms lt gt ERROR STATUS ERRINT STATUS1 PORT ERROR 00 DRST lt 11
276. DCYCLE 0 CONST DRIVE CONST DRIVE CONST DRIVE S CONST DRIVE S SPEED RATE CHANGE 73 MCC09 SPEED CHANGE MANUAL SCAN CHANGE CODE INDEX MAIN STRAIGHT CP P MAIN CIRCULAR CP P P MANUAL
277. ELSPD 1 TD INDEX 1 59 MCC09 5 4 2 S S S S S S S S S S SCAREA SET SUAREA S SUAREA S S S UCYCLE SCAREA SET SDAREA S SDAREA 8 S S
278. FACTOR READ 0 2 RB 143 TD 144 8 2 1 ERROR STATUS CLR 145 8 2 2 ERROR STATUS a TR 0390000H00005009000006 9 146 8 2 3 ERRINT STATUS MASK 147 SR ERROR STATUSTSEAD Sy iZ I 148 rr s ii Persia am Sa K K s 150 SMCC SREED READ SR RR RR RRR 150 A A AAS 151 8 4 1 DATA READ 151 sasam um RE 153 BS RSRDIDATA READ SR 7 153 RNNRSNNNSSMNNNNSSN NNRSRRNNNS ER 154 8 6 1 HARD INITIALIZE1 OUT3 0 154 155 8 7 1 HARD INITIALIZE2 2 155 8 7 2 HARD INITIALIZE3 GPIO1 3 156 157 HARD INITIALIZ EA ESERIES 158 8 8 2 HARD INITIALIZE5
279. PORT COMMAND DRIVE DATA1 PORT 015 D14 D13 D12 D11 10 pe 05 p2 D1 po D15 INDEX CHANGE DO DRIVE DATA2 PORT 1p15 p14 p13 p12 ps 05 p4 p3 p2 p1lpol D31 INDEX CHANGE D16 137 MCC09 7 9 7 9 1 SLOW STOP STATUS1 PORT STBY 1 DRIVE 1 lt gt COMMAND SLOW STOP COMMAND DRIVE COMMAND PORT COMMAND
280. PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p11 p1O ps 1 5 15 lt 0 AO DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 De pe 05 D3 2 p1 A31 At 0 2 147 483 647 31 G 2 147 483 647 ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 ABS INDEX ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1
281. SET SHORT POSITION SET 115 MCC09 1 CPPOUT CPPIN CPSPECSET CPPOUT SEL i CPPIN SEL LONG POSITION SET il SHORT POSITION SET LONG POSITION SET 2 gt l SHORT POSITION SET 27 Bill
282. X Y 124 MCC09 1 2 CP SPEC SET XPOSITION SET 2 9 SET 2 Bl CIRCULAR PULSE SET XPOSITION SET YPOSITION SET 1 8 CIRCULAR PULSE SET 2 1 8 CPPOUT CPPIN CPPOUT SEL CPPIN SEL CPPOUT X Y
283. lt CPP YOP NN a lt xXCWMS XCCWMS XDEND XDALM gt XCP XDRST XOUT3 0 XBUSY XPAUSE gt lt a 16 MCC09 23 X Y X Y 2 3 1 X 1 1 EXT COUNT TYPE EXT PULSE TYPE OP XINP CP X YOP Y X 1 1 EXT COUNT TYPE X YOP Y 1 MHz XORG CPPIN X EA1 EB1 EXT COUNT DIVISION TYPE 1 2 1 MHz XORG
284. nRST MCC09 j mus S 0 3 16 0 1 3 16 1 0 4 8 1 4 8 4 1 1 16 BSEL1 GND AO GND VDD33 USER CPU 16 Bit Data Bus GND or VDD33 GND 4 1 2 8 BSEL1 VDD33 D15 D8 GPIO2 3 GND VDD33 USER CPU 8 Bit Data Bus GND or VDD33 VDD33 28 MCC09 4 2 16 PORT nXCS nYCS X PORT nYCS nXCS Y
285. 001 HFFFF 32 767 1 0000 H7FFF 0 32 767 COMP DETECT TYPE 1 8001 H7FFF 32 767 32 767 204 MCC09 10 3 2 1 DFLINT COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND 8 DFLINT COMPARE REGISTER1 SET COMMAND 2 DFLINT COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND 9 DFLINT COMPARE REGISTER2 SET COMMAND 3 DFLINT COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND DFLINT COMPARE REGISTER3 SET COMMAND lt gt DRIVE DATA1 PORT D15 D0 WRITE 32 767 32 767 H 8001 H7FFF G 2
286. 013 012 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 JSPD DO DRIVE DATA2 PORT D15 D14 D13 D12 Dit D10 D7 De 5 D4 D3 D2 D1 Do H00 012C 300 Hz JSPD 0 JSPD JSPD RSPD x RESOL RSPD RSPD HSPD LSPD ELSPD 15 DRIVE 1 gt 0 FSPD RFSPD JSPD RSPD RSPD H012C 300 JOG JSPD SCAN 1 FSPD 1 2 JSPD 110 MCC09 7 4 2 JOG PULSE SET JOG lt gt COMMAND H 0D JOG PULSE SET COMMAND WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE D DRIVE DATA1 PORT D15 D0 0 65 535 0000 HFFFF G STATUS1 PORT BUSY
287. 1 MCC09 10 2 3 1 CNTINT COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 98 CNTINT COMPARE REGISTER1 SET COMMAND 2 CNTINT COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND H 99 CNTINT COMPARE REGISTER2 SET COMMAND 3 CNTINT COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 9A CNTINT COMPARE REGISTER3 SET COMMAND lt gt DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D31 D16 DATA2 PORT 2 147 483 648 2 147 483 647 8000 0000 H 7FFF_FFFF 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 De 05 p4 D15
288. 12 13 gt 50 ns gt lt gt 217 MCC09 13 13 1 13 2 MCC09 350 Ch F 3 0 2 260 10 220 60 160 180 60 120 3 0 2
289. 2 data define W_X_DRV_CMD_PORT outpw MCCO9_TOP_ADDRESS 0 06 define R_X_DRV_DT1_PORTO inpw MCCO9_TOP_ADDRESS 0 00 define R _X DRV_DT2 PORT inpw MCCO9_TOP_ADDRESS 0 02 define R_X_ST1_PORTO inpw MCCO9_TOP_ADDRESS 0 06 define R X ST2 PORT O inpw MCCO9_TOP_ADDRESS 0 08 define R_X_ST3_PORTO inpw MCCO9_TOP_ADDRESS Ox0a define R_X_ST4_PORTO inpw MCCO9_TOP_ADDRESS Ox0c define R_X_ST5_PORTO inpw MCCO9_TOP_ADDRESS 0 define READY_WAIT_XO while R_X_ ST1_PORTO amp 0x0001 define W_Y_DRV_DT1_PORT data outpw MCCO9_TOP_ADDRESS 0 80 data define W_Y_DRV_DT2_PORT data outpw MCCO9_TOP_ADDRESS 0 82 data define WY_DRV_CMD_PORT outpw MCCO9_TOP_ADDRESS 0 86 define R_Y_DRV_DT1_PORTO inpw MCCO9_TOP_ADDRESS 0 80 define R_Y _DRV_DT2 PORT inpw MCCO9_TOP_ADDRESS 0 82 define R_Y_ST1_PORT O inpw MCCO9_TOP_ADDRESS 0 86 define R_Y_ST2_PORTO inpw MCCO9_TOP_ADDRESS 0 88 define R_Y_ST3_PORTO inpw MCCO9_TOP_ADDRESS 0x8a define R_Y_ST4_PORTO inpw MCCO9_TOP_ADDRESS 0x8c define R_Y_ST5_PORTO inpw MCCO9_TOP ADDRESS Ox8e define READY_WAIT_YO while R_Y_ST1_PORTO amp 0x0001 221
290. AR GATE GATE PULSE PULSE ENABLE ENABLE TYPE1 TYPE0 TYPE1 TYPE0 D pe p p p p p po EXT COUNT COUNT COUNT EXT EXT COUNT COUNT COUNT PULSE START START COUNT COUNT PULSE PULSE DIRECTION SEL2 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 SELO H 0000 DO COUNT PULSE SELO D1 COUNT PULSE SEL1 D6 COUNT PULSE SEL2 X 0 Y YOP EA1 EB1 1 MHz STATUS5 PORT CPPIN 0 1 ORIGIN XORG ORIGIN XORG EXT COUNT DIRECTION Y Y YOP X EA1 EB1 1 MHz STATUS5 PO
291. C09 10 3 10 3 1 lt gt COMMAND HA0 DFL COUNTER PRESET COMMAND DRIVE DATA1 PORT D15 D0 WRITE 32 767 32 767 H 8001 H7FFF G 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p13 p12 Epi ps 05 015 lt J gt H0000 H8000 H 8000 STATUS4 PORT DFL OVF 1 DFL COUNTER INITIALIZE2 COMP DETECT COMP DETECT TYPE 0 8
292. COMP1 ADD 015 00 WRITE 32 767 32 767 H 8001 H7FFF G 2 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 D14 D12 Dp11 D10 05 015 COMP1 ADD gt DO H0000 206 MCC09 10 4 10 4 1 ADDRESS COUNTER READ COMMAND H D8 ADDRESS COUNTER READ COMMAND 10 4 2 PULSE COUNTER READ COMMAND H D9 PULSE COUNTER READ COMMAND 10 4 3 DFL COUNTER READ COMMAND HUDA DFL COUNTER READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 00
293. DATA READ COMMAND H DD PULSE LATCH DATA READ COMMAND 10 5 3 DFL LATCH DATA READ COMMAND HUDE DFL LATCH DATA READ COMMAND lt gt DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 00 DATA2 PORT DRIVE DATA2 PORT D31 D16 READ DFL LATCH DATA READ DRIVE DATA1 PORT D15 D14 D13 D12 011 010 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 n Do DRIVE DATA2 PORT 015 D14 D12 D11 D10 05 DS ADDRESS LATCH DATA READ DRIVE DATA1 2 PORT READ
294. DRV_DT1_PORT psDriveParam gt Suarea W_X_DRV_DT2_PORT psDriveParam gt Sdarea W_X 0x0009 SCAN COMMAND READY_WAIT XO W_X_DRV_CMD_PORT 0x0012 223 MCC09 14 3 INC INDEX INDEX FSPD RESOL No HSPD LSPD ELSPD UCYCLE DCYCLE SUAREA SDAREA OFFSET PULSE INDEX X X INC INDEX DRIVE VOID X_Inclndex S_DRIVE_PARAM psDriveParam LONG IncData FSPD SET COMMAND W_X_DRV_DT1_PORT psDriveParam gt Fspd DRV_DT2_PORT WORD psDriveParam gt Fspd gt gt 16 READY_WAIT_XO W_X DRV_ CMD_PORT 0 0005 HIGH SPEED SET COMMAND DRV_DT1_PORT psDriveParam gt Hspd W_X_ DRV_DT2_PORT WORD psDriveParam gt ResolNo READY_WAIT_X W X DRV_CMD_PORT 0x0006 LOW SPEED SET COMMAND DRV_DT1_PORT psDriveParam gt Lspd DRV_DT2_PORT psDriveParam gt Elspd READY_WAIT_X W_X_ DRV_ CMD_PORT 0x0007 RATE SET COMMAND X DRV_DT1
295. GE CHANGE 5 6 1 SPEED CHANGE SPEED CHANGE SPEED CHANGE SPEC SET SPEED CHANGE SPEED RATE CHANGE SPEED amp RATE CHANGE SPEED CHANGE STATUSS PORT SPEED EP SPEED FL SPEED FL 0 SPEED RATE CHANGE SPEED CHANGE SPEC SET SPEED FL 0 SPEED RATE CHANGE SPEED CHANGE SPEED FL 1 SPEED EP 0 DRIVE 1 SPEED RATE CHANGE SPEED FL 0 SPEED EP 1 SPEED RATE CHANGE SPEED CHANGE RATE CHANGE
296. GE r 0 DRIVE DATA2 PORT 015 p14 p13 p12 p11 p1o pe ps 1 05 A31 INDEX CHANGE r 16 136 MCC09 7 8 4 PLS INDEX CHANGE PLS INDEX CHANGE INC INDEX lt gt COMMAND H CE PLS INDEX CHANGE COMMAND DATA1 PORT WRITE WRITE STATUS5 PORT INDEX FL 0 Y COMMAND PORT WRITE DRIVE DATA1 PORT 15 0 DRIVE DATA2 PORT D31 D16 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS5 PORT INDEX FL 0 DRIVE COMMAND
297. INT 13 MCC09 32 1 MHz ORG 3 CNTINT 2 16 1 MHz ORG 16 1 MHz
298. ISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 175 MCC09 9 2 BEA EB 32 EXT COUNT EXT COUNT DIRECTION COUNT START TYPE 1 MHz ORG 32 1MHz 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF 2 PULSE CO
299. IVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D22 D16 0 8 388 607 00 0000 H7F_FFFF G 1 Hz STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 015 014 D13 012 D11 D10 D D8 D7 D6 D5 D4 D3 D2 D1 DO D15 FSPD DO DRIVE DATA2 PORT p15 p14 D13 D12 D11 D10 pe pa 06 p5 p2 p gt 00 1388 5 000 Hz 1 200 us FSPD 0 FSPD FSPD RSPD RESOL RSPD RSPD HSPD LSPD ELSPD 15 DRIVE 1 0 RSPD FSPD RFSPD JSPD RSPD RSPD H012C 300 1 10 000 000 FSPD U OFF 9
300. L D2 CPP MASK ENABLE CPPIN 0 CPPIN 1 CPPIN D4 PULSE SEL 0 LONG POSITION 1 SHORT POSITION 121 MCC09 7 6 0 00 X Y X Y CW CCW X Y m
301. LVTTL YMAN Y MANUAL LVTTL GND 0V VDD15 1 5V 0 3 3V Y STATUS1 PORT BUSY LVTTL 3 mA Y A LVTTL 3 mA B LVTTL 3 mA CNTINT LVTTL 3 mA RDYINT LVTTL 3 mA LVTTL 3 mA LVTTL Rdown LVTTL Rdown EA1 LVTTL Rup EB1 LVTTL Rup YZPO Y ORIGIN LVTTL Rdown YNORG YCWMS Y ORIGIN MANUAL LVTTL Rdown YORG YCCWMS Y ORIGIN MANUAL LVTTL Rdown YGPIO0 COMP Rdown YGPIO1 COMP Rdown YSS0
302. OO 1 149 MCC09 8 3 8 3 1 MCC SPEED READ MCC09 lt gt COMMAND HUD4 MCC SPEED READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 00 DRIVE DATA2 PORT D23 D16 DRIVE DATA1 PORT 015 p14 p13 p12 ps 05 1 015 Do DRIVE DATA2 PORT 015 014 p12 p11 p10 pg pe 05 D23 D16 1 Hz Hz SPEED READ MCC09 DRIVE DATA1 2 PORT READ
303. OR CLR COMP GATE TYPE _ COMPGATETYPE P cowP1 ADRINT 2 coMPs 20 lt lt GND VDD33 GND VDD15 A2 A3 nW nR nXCS nYCS GND TST1 nINT GND TST2 CLK GND TST3 nRESET GND TST4 CPPIN CPPOUT XMAN GND VDD15 GND VDD15 GND VDD33 XBUSY XCWP XCCWP XOUT0 XOUT1 XDRST XDEND XDALM XZP0 XNORG XCWMS XO0RG XCCWMS GND XGPI00 D8 YGPI03 D9 YGPI02 XGPI01 0 YOUT3 1 YOUT2 2 XGPI03 3 XGPI02 4 X0UT3 5 X0UT2 BSEL1 BSEL0 VDD15 D D D D D D XSS0 XSS1 XCWLM XCCWLM XSTOP XPAUSE YMAN GND VDD15 MCC09 GND VDD33 YPAUSE YSTOP YCCWLM YCWLM YSS1 YSS0 YGPIO1 YGPI00 YORG YCCWMS YNORG YCWMS YZP0 EB1 EA YDALM YDEND YDRST YOUT1 YOUTO YCCWP YCWP YBUSY VDD33 GND MCC09 3 2 8 3 3V X STATUS1 PORT BUSY 3 mA X h A 3 mA X B 3 mA X CNTINT
304. ORT 0 32 767 H 0000 H 7FFF 400 0 25 000 H 0000 H 61A8 DRIVE DATA2 PORT 0 16 383 0000 H3FFF G STATUS5 PORT SPEED FL 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 p14 p12 p11 p10 pg ps 05 04 014 lt SPEED CHANGE DRIVE DATA2 PORT p15 p14 p11 p10 po ps 06 05 013 CHANGE Do SPEED CHANGE 0 CONST DRIVE SPEED CHANGE Hz SPEED CHANGE RESOL 1 10 000 000 Hz RATE CHANGE 0 RATE CHANGE RATE SET DCYCLE
305. ORT MAN 1 CCWMS MANUAL MAN 1 ERROR 0 DRIVE 0 CWMS OFF CCWMS MANUAL SCAN CCWMS OFF JOG CCWMS CCWMS OFF MANUAL MANUAL CCWMS 84 MCC09 MANUAL SCAN SPEC INITIALIZEI MANUAL DRIVE 0 SCAN CWMS ON OFF lt U CCWMS OFF CCWMS BUSY 0 MAN BUSY 1 CWMS
306. P1 D15 AUTO ADD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMP1 ADD COMPARE REGISTER1 COMPARE REGISTER1 COMPARE REGISTER1 lt COMPARE REGISTER1 COMP1 ADD COMP1 180 MCC09 9 2 2 PULSE COUNTER INITIALIZE2 lt gt COMMAND H 92 PULSE COUNTER INITIALIZE2 COMMAND DRIVE DATA1 PORT 5 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT II ii si SOMBSz 266MBS COMER EVM STOP STOP STOP INT TYPE1
307. PD 55 MCC09 S FSPD 1 Hz RFSPD INDEX CHANGE 1 Hz RESOL HSPD LSPD ELSPD JSPD JOG JSPD SCAN Hz RSPD RSPD HSPD LSPD ELSPD 15 1 gt 0 0 RSPD
308. PD DATA READ RSPD lt gt COMMAND HD6 RSPD DATA READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT RSPD D15 D0 15 RSPD DATA READ RSPD DRIVE DATA1 PORT READ RSPD RSPD HSPD LSPD ELSPD 15 STATUS1 PORT DRIVE 1 0 0 RSPD FSPD RFSPD JSPD RSPD RSPD H012C 300 153 8 6 8 6 1 HARD INITIALIZE1 OUT3 0 OUT3 0 COMMAND HF1 COMMAND PORT WRITE DRIVE DATA1 PORT MCC09 HARD INITIALIZE1 COMMAND DRIVE DATA1 PORT
309. PE0 HFF G D3 D0 GPIO1 TYPE3 0 D7 D4 GPIO3 TYPE3 0 GPIO1 3 GPIO1 3 CNTINT COMP1 STATUS4 CNTINT COMP1 CNTINT COMP2 STATUS4 CNTINT COMP2 CNTINT COMP3 STATUS4 CNTINT COMP3 XCNTINT AND YCNTINT X Y CNTINT AND XCNTINT OR YCNTINT X Y CNTINT OR DFLINT COMP1 STATUS4 DFLINT COMP1 DFLINT COMP2 STATUS4 DFLINT COMP2 DFLINT COMP3 STATUS4 DFLINT COMP3 ERRINT ERROR STATUS ERRINT ORGEND STATUS2 ORGEND COMREG EP STATUS1 COMREG EP COMREG FL STATUS1 COMREG FL SS1 STATUS5 SS1 nBUSY STATUS1 BUSY gt gt 0 0 0 0 1 1 1 1 Cy Law gt O O O SIGNAL OUT
310. RT CPPIN 0 1 ORIGIN YORG ORIGIN YORG IO EXT COUNT DIRECTION 0 0 1 XOP COUNT PULSE SEL X YOP COUNT PULSE SEL Y 178 MCC09 D2 EXT COUNT TYPE0 D3 EXT COUNT TYPE1 EA0 EA1 EBI EA EB 1 G p 2 gt F 5 EA 2 EA EB 4 EA EB 12 15 04 COUNT START TYPE0 D5 COUNT START TYPE1 lt gt 0 0 STATUS3 PORT OUT3 1 0 3 1 0 STATUS3 PORT OUT3 1
311. SY 1 LIMIT STATUS1 PORT LSEND 1 LIMIT LIMIT LIMIT LIMIT CWLM CCWLM LIMIT STATUS1 PORT STBY 1 DRIVE 1 STATUS1 PORT EXTPULSE 1 DRIVE 1 STATUS2 PORT BUSY 1 LIMTIT LIMIT STBY 1 DEND BUSY 1 LSEND 1 DEND BUSY 1 DEND lt gt BUSY 1 MAN 1 E
312. T1 DRIVE 1 t 2 gt 0 1 ps ST1 DRIVE 1 Ynh ST5 SPEED FL N 12 11 INDEX CHANGE nW INDEX CHANGE _ _ ST1 DRIVE 1 2 gt gt 0 1 ps ST1 DRIVE 1 ST5 INDEX FL N ST5 INDEX FL 1 ST5 SPEED FL MCC09 000 75 ns lt t1 lt 125 ns E rH 0 t2 lt 1 us 150 ns 12 x2 150 ns 000 50 ns lt 11 lt 175 ns t2 lt 1 us 100 ns 12 x2 100 ns 000 75 ns lt t1 lt 125 ns t2 1 150 ns 000 50 ns lt 11 lt 175 ns t2 1 100 ns MCC09 75 11 125 ili SLOW STOP 100 ns lt 12 lt 175 ns h u W t5 50 ns 0 1 STOP RR
313. TUS INDEX ERROR 1 STATUS1 PORT ERROR 1 INDEX CHANGE SCAN INC INDEX CHANGE ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 INC INDEX CHANGE SCAN ABS INDEX CHANGE ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 ABS INDEX CHANGE 76 MCC09
314. TYPE1 N i 1 EXT COUNT TYPE0 RN COUNT PULSE SEL1 COUNT PULSE SELO INP CP H 82 ADDRESS COUNTER INITIALIZE2 COMP3 TYPE1 2 gt 98 COMP3 COMP3 COMP2 TYPE1 2 gt 98 COMP2 COMP2 COMP3 STOP TYPE1 MP3 COMP3 STOP TYPE0 CO 3 9 CoMP3 STOP ENABLE COMP3 D8 INT ENABLE COMP3 ADRINT 2 STOP TYPE1 COMP2 COMP2 STOP ENABLE COMP2 INT ENABLE Lps __ _ COMP STOP TYPE COMP1 STOP ENABLE COVPI INT ENABLE laa N O O 168 MCC09 9 1 1 ADDRESS COUNTER INITIALIZE1 lt gt COMMAND H 81 ADDRESS COUNTER INITIALIZE1 COMMAND DRIVE DATA1 PORT DRI
315. UNTER READ STATUS4 PORT PULSE OVF 1 3 COMPARE REGISTER1 2 3 1 STATUS4 PORT COMP1 COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP2 COMP3
316. VE COMMAND PORT COMMAND DRIVE DATA1 PORT iii oo AUTO AUTO COMP COMP COMP COMP ADD CLEAR GATE GATE PULSE PULSE ENABLE ENABLE TYPE1 TYPE0 TYPE1 TYPE0 COUNT COUNT COUNT PULSE PULSE PULSE COUNT COUNT PULSE PULSE DIRECTION TYPE2 TYPE1 TYPE0 TYPE1 TYPE0 SEL1 SEL0 HH0030 DO COUNT PULSE SELO D1 COUNT PULSE SEL1 CWP CCWP X 0 XINP XCP Y YOP EXT COUNT DIRECTION EA1 EB1 Y 0 Y YINP YCP CX
317. XT PULSE 1 BUSY 1 DEND BUSY 0 LIMIT LIMIT STATUS1 PORT LSEND 1 21822 MCC09 5 8 ORIGIN ORG 1 MCC09 ORG ZPO CWLM CCWLM 10 ORG ORIGIN SPEC SET ORG STATUS1 PORT DRIVE 1 ORG STATUS2 PORT ORGEND 1 STATUS1 PORT SSEND FSEND ORG DIVISION STATUS2 ORG ORG SIGNAL TYPE ORG DETECT EDGE ORIGIN ORG ORIGIN
318. YPAUSB 0 YGPIO0 1 X Y PAUSE X Y STBY 1 PAUSE XPAUSE 0 YPAUSE 0 Y X X Y YGPIO0 1 51 MCC09 3 SPEC INITIALIZE3 STBY TYPE X STBY TYPE PAUSE 0 OUT3 1 STBY 0 Y STBY PAUSE 0 OUT3 1 STBY 0 X I XOUT3 XPAUSE 5 h X h Y HO YPAUSE Y PAUSE X Y PAUSE X Y
319. YPE1 COMP1 2 3 1 2 3 STATUS4 H PORT STATUS4 H PORT INT FACTOR CLR 10 COMP PULSE 187 MCC09 010 COMP PULSE TYPE0 011 COMP PULSE TYPE1 DFLINT 10 COMP1 2 3 0 0 1 1 012 COMP GATE TYPE0 013 COMP TYPE1 COMP1 2 3
320. _PORT psDriveParam gt Ucycle X DRV_DT2_PORT psDriveParam gt Dcycle READY_WAIT_X W_X_ DRV_CMD_PORT 0x0008 SCAREA SET COMMAND X DRV_DT1_PORT psDriveParam gt Suarea W_X_DRV_DT2_PORT psDriveParam gt Sdarea READY_WAIT_X W_X_ DRV_ CMD_PORT 0 0009 DOWN PULSE ADJUST COMMAND X DRV_DT1_PORT psDriveParam gt OffsetPls READY_WAIT_X W_X_ DRV_ CMD_PORT 0x000a 224 MCC09 INC INDEX COMMAND DRV_DT1_PORT WORD IncData W_X_DRV_DT2_PORT IncData gt gt 16 READY_WAIT_X W_X_ DRV_ CMD_PORT 0x0014 IncData 14 4 JOG JOG FSPD JSPD JOG PULSE X X 06 DRIVE kKokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokokkok VOID X_Jog S_DRIVE_PARAM psDriveParam FSPD SET COMMAND W_X_DRV_DT1_PORT psDriveParam gt Fspd W_X_DRV_DT2_PORT WORD psDriveParam gt Fspd gt gt 16 READY_WAIT_XO X
321. addr 226 MCC09 15 100 LQFP 16 0 0 2 14 0 0 2 76 90 9 1 60 9 010 005 1 0 0 221005 u 1 0 0 2 0 171003 0 5 0 2 mm 227 MCC09 16 16 1 100 LQFP 0 5 mm 16 0 x 16 0 x 1 6 65 150 40 85 C 15V 045V 40 mAmax 33V 03V 15 mA max 3 1 6 4 8 2 amp amp 4 1 Hz 10 MHz 8 191 5 0 00125 ms kHz 0 2 147 483 647 INDEX SCAN INDEX JOG JSPD SCAN
322. eo s s C jj C s j _ r 2 s C 2 C j s C 7 7 77 U U T i C _ _ C j i ee lt gt De C _ lt gt MCC09 OUT3 0 GPIO0 2 GPIO1 3 5 _ _ _ C j C HF FAST STOP nW 236 MCC09 0 a 237 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 E 1 1 1 1 1 a 1 1 1 a 1 1 1 a 1 1 a 1 1 1 a E 1 1 a 1 1 1 a 1 LIL a 1 LT 1 a 1
323. p2 p1 po D31 D16 HFFFF FFFF 1 2 STATUS4 PORT PULSE OVF 1 STATUS4 PORT PULSE OVF 1 999 2 000 1 0 gt 1 999 1000 PULSE OVF 1 1001 1999 0 0 1999 1001 1000 PULSE OVF 1 999 1 0 2 000 2 001 1 0 1 1000 1001 1001 PULSE OVF 1 2000 0 0 2000 1001 1000 1000 PULSE OVF 1 1 0 20
324. t R Y2 int 7 9 7 R 125 K 1 2 lt 113 R gt K K 1 K 1 2 R 12 K 1 2 K 1 2 3 K 1 2 R gt K 1 2 K 1 2 Ps lt K 1 8 int 0 1 2 3 4 8 5 8 8 8 5 32 CCW CIRCULAR PULSE 32 H FFFF_FFEO CCW 0 2 4 6 Ps 1 3 5 7 CCW 0 2 4 6 1 3 5 7 Ps 2 CW 0 0 20 5 20 CW
325. x RESOL 1 Hz FSPD 1 Hz JSPD JOG Hz 56 MCC09 1 kHz ms kHlz RATE 1 gt lt gt i RATE

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