MPL-34-02V1.00/AL2W32 MPL-35
Contents
1.2. 58 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7U D LL D U 2 20 00000000000000600 una CIRCULAR X POSITION SET 000 CIRCULAR Y POSITION SET CIRCULAR PULSE SET 000 20 00000000000 CP SPEC 0
3. 0000000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI D000000000000000000000 laon
4. INDEX CHANGE SPEC m H12 SCAN 0 0 0 5 H13 60 Pi U 5 H14 INC INDEX 15 ABS INDEX INDEX CBUSY 00 00000 INDEX 00000 INDEX CHANGE 000000 0 0 INDEX CBUSY 10 INDEX CSET 10 00000 INDEX CHANGE 0 D D 000 00 INDEX CBUSY 00 INDEX CSET 00 00000 INDEX CBUSY 1 INDEX CSET 0000000 0 0 0 INDEX CBUSY 10 INDEX CSET 0 0000000000 LSEND 1 SSE 10 FSEND 10 ERROR 1000 INDEX 000000 o m Zo r3 1 2 110 M
5. URL http www melec inc com c1503
6. un a IEEE 7 0000 p000000000000 00 ELSPD 12 10000 ELSPD 1 2 10006060 0000 s 0000 ELSPD DE am 0000000 91 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 MEINE ALI 0000 MCCO7D D D D pg t datu dott uttter HSPD PR 00000000000 5000000000000 SDAREA HSPD ELSPD 1 20 0000 SDAREA HSPD ELSPD 1 20 080000 0000 ESPBY e 0000 ELSPD 92 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 MEINE ALI 0000 MCCO7D D D D 5 000000 DD DDDD HPD 0000 ELSPD LSPD DD 5 000000000 6 000000 0000 ELSPD
7. CP SPEC CPPOUT D CIRCULAR XPOSITION CIRCULAR YPOSITION CIRCULAR PULSE CP SPEC CPPOUT D CIRCULAR XPOSITION 000000 X000000 CIRCULAR YPOSITION CIRCULAR PULSE Y TET 090004 UDUD X 101 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI MCCO7 0000 00000 00000 0 0 1 2 5 6000 X0000000 0 3 4 7000 gt x
8. N CCW X 00000 0 102 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI KO int R V 2 1 0 000 0000 1 0 00000 1 K 1 2 2 0 1 DDD 9 mig K0 U 9 6 1 K0 1 0 00 000 KO 1 2 000000 Pg 0 0000000 000 10000000000 000 80 0 0 00 10 000000000000 5 10 5 RO 10 5 0 v 125 KO 2 D int 7 9 0 7
9. 64 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI DB DU MCCO7D D D D 5 MAIN CIRCULAR CP 41000000 gt COMMAND 8 MAIN CIRCULAR CP COMMAND YSTATUS1 PORT NN ERROR 0 gt gt DRIVE STATUS1 PORTO Y LN YSTATUSI PORT N DRIVE STATUSI PORTO BUSY 0 Y gt 0 0 07 BRStatust 0 XSTATUS1 PORT ERROR 0 000 DRIVE STATUS1 0 000000000060 Y LN P gt DDD DRIVE PORTO 000000000000 gt 0 0 MCO7 BRStatus 0 Y 0o00 DATA1 PORT DDD DRIVE DATA1 PORTDO000000000000 WRITE EI DRIVE COMMAND PORTO gt 07 LWDrive DATA2 PORT 0 0 Hooo0on D 00 DRIVE DATA1 PORT I UU 00 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO PULSE CPP STOP CONST CP DRIVE SEL ENABLE ENABLE MODE DRIVE MODE 1000000000000 INDEXO 000 01 CONST CP ENABLE
10. 00000000000415 000000 4 0 PUSH D 2 147 483 6480 147 483 6470 00000000 ai 7 Get Gi rShortPul WRD Or 07 S XY TI ON pscenterPosi t on 7 S TI CN os7 rget Posi ti on LONG pshortPulse 7 S RESU T gshResult VB Functi on M07 rShortPul se ByVal Zr As I nteger ByRef osCenter Posi t on As 07 S XY PCBI TI ByRef psTarget Posi t on As M07 S XY PCBI TI ByRef pShortPul se As Long ByRef osResu t As 7 S RESULT As Bool ean Functi on 07 rShortPul se ByVal Zr As Short ByRef osCenter Posi t on As 07 S XY PCBI TI ByRef psTarget Posi t on As M07 S XY PCBI TI ByRef pShortPul se As Integer ByRef osResu t As 7 S RESULT As Bool ean C bool 7 Get G rShort Pul se ushort Zr ref M07 S XY PCBI TI CN pscenter Posi t on ref 7 S XY TI CN gsTarget Posi t on ref int pShortPul se ref 7 S RESULT t Dr 000000000600 M07 Gon D M07 ON x e n pscmterPosition
11. 0000 49 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 2 0000 200000000000000000 000 0000 000 LONG POSITION 000 SHORT POSITION 000 LONG POSITION 000 SHORT POSITION eue es 0000000000000000000000000000 000 2000000000000 0
12. RIGIN SPEC SET 0 5 000 ORIGIN SPEC SET I J gt ORG 0000 20800000 7 9 DEND PO L D gt SPEC INITIALIZES 0 000000000000 00000000 ORIGIN SCAND 000 0 ORIGIN CONSTANT 5 0 0000000000 ORG DETECT EDGE 0 ORIGIN ORIGIN 5 5 DD HSPD 00000 No000 0000 j younn 1 ELSPD M oRG I LU U f E 95 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D ORIGIN CONSTANT SCAN 00
13. ANOD D XD D 55000 IN1 J SS0 ugauggaguuggaugagaugagauagaguu 6 8 16 0 0 d UO x Ae 3 0000 000000 I I 3 0000000000 R 0000000 00000 moxoonooo COUNTER INITIALIZE2 0 0 0 0 00 m U 000 x0 0 890 0 D 0 STOP coveipnp X COUNT LATCH SPEC SET 0 0000 i
14. 5 0 0 00000 5 CPPINOOO000000000OO0000000000000000 0000000000000 99 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 5 LSB0 D 147 483 047 320 000000 000000 0 5 0 2 0 u 0 0 648 mum 0 POSITION nnennnnnnnnnnnnnnn O XSHORT POSITION YSHORT POSITION YLONG POSITION 3 00000000 900 20 DD 100 15 10 U CPPOUT C
15. 0 1000000 79 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0000 MCCO7D D D D 3 2 4 4000000 gt DRIVE COMMAND PORT DATA1 2 PORT 0 0 H 0000 COMMANDO 0000 e DRIVE D15 D00 0000000 DRIVE DATA PORT 0 00000000 031 0160 0 000000 gt MC07 LWRDrive 0 0 DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 D7 56 D3 D2 D1 DO ADDRESS LATCH DATAREAD DI D 00 0 O PULSE LATCH DATA READO 0000000000 000000000000 DRIVE DATA1 2 PORTO DFL LATCH DRIVE DATA1 PORT 0 READ 0000000 1 ADDRESS LATCH DATA READ 000000000 0 DRIVE STATUS PORTO BUSY 1 p 00000 0 D COMMAND H DC ADDRESS LATCH DATA READ COMMAND 2 PULSE LATCH DATA READ 0000000000 DRIVESTATUS PORTO 1 0000000 COMMAND H DD PULSE LATCH DATA READ COMMAND 3 DFL LATCH DATA READ 0000000000
16. MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 D IL ALI DD DU MCCO7D D D D AL2A 2C 771v1 2 776Av1 2CD 7710v1 2CD 7713v1 DATAL PORTH ER VE DAT ai typedef struct 7 S DATA WIRD M27 otal 4 07 5 DATA VB Type 07 S DATA M7 L3ta 1 To 4 As nteger End Type Structure M7 S DATA Mar shal As UnnanagedType ByVal Array Si zeConst 54 gt Public 7 Deta As Short Publ ic Sub Initial ize m A 07 Lat a 3 End Sub End Structure GENET struct 207 S DATA t Marshal As UnnanagedType ByVal Array Si zeConst 1 public ushort 7 Data M97 S DATA ushort dummy t Data new ushort 4 000 petarolD 07 310 Visual Basic D 207 Deta 1 M7 Data 4 0 sual Basi c NEI 07 Data 0 0 7 Deta 3 0 0 M37 0 M07_Data 0 n 00000 MOZ Dhata 0 ERI DATAL PRI 0000 MOZ tal 1 DATA2 0000 MOZ ta 2 1 000000000 MOZ M 000000000 00000 00000 DH lnitialize1 D MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI
17. 000000 CPPNO00O000000000000000000000000000000 51 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL AL I 0000 MCCO7D D D D 1 LONG POSITION SET 4 gt COMMAND H 22 LONG POSITION SET COMMAND STATUS1 PORT NN DRIVE STATUSI PORTO ERRORDDUD 0 000000000000 Y gt DRIVE STATUS1 PORT 000000000000 E gt 07 BRStatus 0 0 Mr DRVEDATA e DRIVE 2 DATA2 PORT 000000 WRITE 2 147 483 648 2 147 483 647 H 8000_0000 H 7FFF FFFF 000 2 DRIVE COMMAND PORTO gt 07 LWDrive DRIVE DATA1 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 15 lt gt A0 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D1 DO A31 lt uuuuununnnnunnun gt A16 0000 0
18. on m oo 800 oo m oo oo 200 0000000000000 0000000000 DDD MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI CPP MASK ENABLE 0000 00000 5 00000 CPP MASK ENABLE 18 000000000000 DRIVE STATUS1 PORT ERROR 1 cPPOUTSEL j D CPPINJ UID UU O U DRIVE STATUSS5 PORT j CPP MASK 1000000 10 00 0 MASK 10 0 DRIVE STATUS1 ERROR 1 gt 00 MASK O 00000 200 cPPIN CPPIND LI
19. FELTZ 000000600 0 0 0 50 0 0 50 us 0 1 0 100 us 200 us 1 0 0 500 us 1 0 1 1 0 ms 1 1 0 5 0 ms 1 1 1 10 0 ms U D 10 0 us 30 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 HARD INITIALIZE5 2 0000000000 DRIVE STATUSI PORTO BUSY 1000000000 H000000 gt COMMAND HF5 HARD 5 COMMAND DATA1 PORT WARE COMMAND PORT DRIVE COMMAND PORTO WRITE gt 07 LWDrive DATA2 PORT 0 H 0000 J 0000 DRIVE DATA1 PORTIO 0 0D D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO _ zPO ZPO ZPO _ ORIGIN ORIGIN ORIGIN FILTER2 FILTER1 FILTER0 FILTER2 FILTER1 FILTER0 H oooo 00000000 000 2 ORIGIN FILTER2 0 ORG NORG 0 0 D10 D8 0 14 012 FLT2 FLT1 FLTO 1 H E E E E E H 0 0 0 50ns 0 0 1 50 us 0 1 0 100 us aT 200 1 0 0 500 us 1 0 1 1 0 ms 1 1 0 5 0 ms 1 1 1 10 0 ms U D 10 0 us
20. 120 000 0 0 4 000000000000000 COUNTER COUNT 0000000 unm 114 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI MCCO7 0000 4 2 2 UUDUDUDDDDUDDDUDDUDUDUDDDDBDUDUUDDUDUDUDDDUDUDUDUUDUDUDUDUUDUDUDUUDUDU 40000 gt 000000 LATCH 000000000000 580 505 1 ORIGIN SPEC SETO 0000 COUNT LATCH 5 5 D 5500 0 0 5 1 2 2 0 550 2
21. 7 0000000 DD DDDD 0000 ELSPD DD 000000000 93 8 000000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI DD DU MCCO7D D D D ELSPD SCAN INDEX J 9 HSPD LSPD S SCAN INDEX 0000 ELSPD HSPD LSPD SCAN INDEX 0000 ELSPD 94 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 4 1 4 ORIGINO O00 00000 DUDDDDORGDD
22. 00000 p DRIVE 000000000000 MCO7 IWDrive p DRIVE _ 00000000000 MC07_IWData DRIVE DATA 320 00000000 MC07 LWbData DRIVE DATA1 PORT J 0 0 0 00 MC07 BWDriveDatat D DRIVE DATA2 PORT 0 0 0 0 0 MC07 BWDriveData2 uat DRIVE COMMAND 320 0 0 0 0 0 0 0 MCO7 LWDrive 0 DRIVE DATA 0 0 00000000 0 0 MC07_IRDrive DRIVE DATA 320 0 D D 0 0 D MC07_LRDrive D DRIVE DATA1 PORT 0 D 0000 MCO7 BRDriveDatat DRIVE 2 PORTO 0 0000 7 BRDriveData2 D DRIVE COMMAND 320 00000000000000 0 MC07_LWRDrive MCC07 0 O DRIVE COMMAND PORTO0O0000000 00 MC07_BWRDrive MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIT ALI DO MCCO7 D L1 D L1 2 2 000000 2 2 1 MCC PORT 00000 ER VE DATA 32000000000 AL2A 2C 771v1 2 776Av1 2CD 7710v1 240 7713v1 0000000000 OA DTA PR IR DTA nen BOL M97 1 DERD ADev DERD pata 07 5 RESULT psResult VB Function 07 LVPata ByVal Av As Long ByRef poata As Long ByRef As 07 S RESULT As Bool ean Function M07 LVPeta ByVal As Integer ByRef As Integer ByRef asResult As 07 S RESULT As Bool
23. r 74 EJ L3 cii mn i Ca 1 o ca E 8 CHANGE HC 75 eim d O EJ Ez rj C E E El zl 155 2d lig 61 5 6 157 158 187 187 187 80 E I H 80 55 E I g 80 ac BT I M CANT LATCH SPEC SET H E8 78 126 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 000 0000 00000 0000000 000 unn 000 ld c NE MR T nanara S pu LT 28 5 PERDINTA aa asa exce pio Mee er en HERR 30 PERDINTA A RI LU
24. unnnnn m r 530g8008080 ggggggauggagauugaggaagagaaadgdumedtctetl 1 200 300 400 2C 771v1 2C 776Av1 XD 2 0 7710 1 5 0 1 XD 2CD 7713v1 GDB5F40 1 YD MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 D IL ALI DD DU MCCO7D D D D 0000 Uu Bg EE 7 2 1 8 22 000000 l 9 2 2 1 MGC PORT D OH DDI 9 DRIVE DATA 32000000000 9 DRIVE DATA1 10 DRIVE DATA2 PORTE DL DDOD 11 DRIVE
25. H12 SCAN 0 0 0 5 H13 SCAN Pl U 5 H14 INC INDEX INDEXU UU U DD D 15 ABS INDEX H 18 ORIGIN SCAN P ORIGIN SCAN I 000000 2 MAIN XY STRAIGHT CP 2000000000000 MAIN XY CIRCULAR CP 2000000000000 H 30 STRAIGHT H38 CIRCULAR CP 5 1 SPEED CBUSY 00 00000 SPEED 10 00000 0 CHANGE D 000000 RATE 10 DD OD D CSET 10 0 CHANGED 0000000000000 0000000 0000000 0 000 0 0 0 SPEED CBUSY 10 SPEED 18 00D DU DU 0000000 CHANGE 0 00 00000 0000000 0 SPEED 00 SPEED 00 00000 000 000000000 SPEED CBUSY 10 00 0000000000 0 ORIGIN 00000000000 LSEND 10 SSEND 10 RATE RATE 0 00000000 109 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 OOOD AL I 4 IN
26. 000 End UAE DNI EASQUE AER arc ai EUR 70 00 0 URL CRI HB TIO eese disc 71 0 cin OPRA DDD xoc 72 0 00 A o EET B cin c kae Em c MER AME l na up US OSE NITE MIR UTD UE 76 PRI VE COMAND 43 RVE pir VE 3 E E 3 3 207 veConmand 80 5 F a8 3s 3 BRStatusl 81 s iE B BRStatus2 85 mo 18 B BRStatus3 87 fm ac aW as 3 BRStatus4 88 5 3 cg 5 5 3 BRStatus5 90 5 gt g 5 3 8 E MC07 BRSt at usBuf 93 STATUS3 STATUSA STATUS5 PORT CRI G N STATUS 0000 5
27. 55 5 SUB STRAIGHT 56 57 1 CIRCULAR XPOSITION SET 61 2 CIRCULAR YPOSITION SET 62 8 CIRCULAR PULSE SET 63 4 MAIN XY CIRCULAR 64 5 MAIN CIRCULAR 65 6 SUB CIRCULAR 66 3 1 7 UP DOWN CONST 0 CHANGER D 0000 67 1 UDC SPEC SET 67 2 UPDRIVE 68 3 DOWN DRIVE 68 4 CONST DRIVE 68 3 1 8 SPEED C mme Y 69 1 SPEED CHANGE SPEC SET 69 2 SPEED CHANGE 70 3 1 9 RATE CHANGE D O 0000 mem 71 1 RATE CHANGE
28. 0000000000 X 0 000 0000 8 388 6070 18 388 607 00 000 0000000000 000 9090 0000000600 psTargetPosition 777 214 16 777 2140 0 1 pshort Pul se psResul t 23 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0000 MCCO7 0000 2 2 4 000000 161 0 00000000 AL2A u 1608 0000000000 1603 0000000000000000 VERD M97 Unsi gned16 SHORT za VB A Functi on 7 Unsi gned16 ByVal Pasta As Short As UShort C NET ushort 7 Unsi gned16 short Mta Data 6 u 161 24 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D CD D D 161 AL2A TRI 160 0000000000 1603 0 0000000000000600 NBI SHORT 07 Si gned16 VERD ta VB Functi 7 Si gned16 ByVal sta As WShort A
29. 33 3 12 35 A ESPD SET e e 35 2 HIGH SPEED SET 36 3 LOW SPEED SET 37 1 RATE 38 5 SCAREA SET 39 6 DOWN PULSE ADJUST 40 3 1 3 ORIGIN T LO HII emm Mm Df1Deel 41 1 ORIGIN SPEC SET 41 2 ORIGIN SCAN 44 3 ORIGIN CONSTANT SCAN 45 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D D D D B PAGE aaa aaa aaa aa aaa aaa aaa aaa as 46 1 CP SPEC SET 46 sis B 48 1 LONG POSITION SET 52 2 SHORT POSITION SET 53 3 MAIN XY STRAIGHT CP 54 4 MAIN STRAIGHT
30. 0000 DRIVE MODE 00000 CONST CP ENABLE 200 00000000000000000000000000 NND 1414000000 9 CPP STOP ENABLE 2 00000 5 STOP ENABLE 10 00000000 5 MHz 00000 mr mo 200 U Z U EE Ln zz 2 50 05 E CTP ES L3 rc
31. 0000 0000 H 0000 0000 0000 0000 H 0000 0000 LONG SHORT POSITION CIRCULAR XPOSITION SET D D CIRCULAR YPOSITION SET 000 CIRCULAR PULSE SET D INDEX CHANGE UP DRIVE CHANGE DL LO 0 D D DOWN DRIVE CONST DRIVE CHANGE Q 00000 SPEED CHANGE 00000 INDEX CHANGE 000000 118 UDC SPEC SPEED CHANGE SPEC INDEX CHANGE SPEC SET 000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0000 5 2 0 0 00 E r3 E 1 1 z 3 5 000060 0000 207 S STATUS DATA 36 g E g 5 a E g 5 7 S SLAVE I FO 37 A 1 0000 39 t 40 Angono 4 A DOUnDU 42 A IDDDD ca cn EMT 2 c ca ONNO Ue T e ea uto
32. gt MC07 LWDrive DATA2 PORT 0 0 Hoooon DO D DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 DFL DFL DFL DFL CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPEO D7 D6 D5 D4 D3 D2 D1 DO PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPEO ENABLE TYPE2 TYPE1 TYPEO 00000000 000 ADDRESS LATCH TYPEO D1 ADDRESS LATCH TYPE1 D2 ADDRESS LATCH TYPE2 uguggaggdgg 401000 gt ADDRESS LATCH DATA READ 00000000000 STATUS5 PORT 550 0 gt 1000000 ORIGIN SPEC SETO II 00 TYPE2 TYPE1 TYPEO e o E D 5500 0 0 5 wes cho L3 du 0 5 ANOD XD 350 IN1 D 55000 78 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D D3 ADDRESS CLR ENABLE 1000000 D4 PULSE LATCH TYPEO D5 PULSE LAT
33. 1 ORIGIN SPEC SET 000000 gt COMMAND ORIGIN SPEC SET COMMAND STATUSIT FORT NN DRIVE STATUS1 PORTO ERROR 0 Y LN iurc 2 DRIVE STATUS1 PORT J BUSY J JU Y gt MCO7 BRStatusi DATA1 PORT WRITE DRIVE DATA1 PORTO COMMAND PORT Wed DRIVE COMMAND PORTO COMMANDO 0000000 gt 7 LWDrive DATA2 PORT 0 Hoo000 0000 zT MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 TTL T AL i 0000 DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 AUTO ORG ORG ORG ORG DRST COUNT COUNT COUNT COUNT ENABLE D3 D2 D1 DO D7 D6 D5 D4 D3 D2 D1 DO ORIGIN ORG ORG ORG ORG ORG _ _ START DETECT SIGNAL SIGNAL SIGNAL SIGNAL DIRECTION EDGE TYPES TYPE2 TYPE1 TYPEO 10000000 000 D3 DO ORG SIGNAL 0 TYPE2 1 TYPEO ORGI UU 0 0 0 0 oRG 0 0 0 1 ZORG 0 0 0 1 0 2080000 AND 000 1 9RGnnnezomennn 0 1 0 0 ORG
34. 89 93 JN 93 93 94 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D D D D PAGE 414 ORIGINL IDE 7 95 97 1 0020000000 97 2 000000000 98 3 E a a o 100 4 DO0000000 101 5 104 106 1 UP DOWN CONST D 0 c8 106 2 SPEED 108 109 INDEXOHANGEILH 110 4 17 M MM MM 113 1 vv 113 114 EEE EEEE A AST 114 422 E eaae 115 Me EE Et 118 4 3 4 0 000 VOPORT 116 CES M Oo
35. 83 5 Ps 0000000000000 00000000 02 4600000000 Ps 0000000000000 1 3 5 700000000 103 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 5 000000 2 144000000 000000000000 1 1 414 1 1 414 1 lt i gt 0 5 0 5 0 914 30 5 L 10 0 1000 4 0000000000 gt 4 0000000000 gt un 107 d jp 2x 1000 Hz 00 1000 Hz P gt gt 0000000 1000 Hz 10 1000 Hz 10
36. gt 117 1 0000 117 5 III II IH ss 118 5 2 0000 a a o 119 5 3 0000000000 123 EEEE 123 2 125 MPL 35 02v1 VO c3 L3 ooog EXE E3 EJ Oo oroo LILILILILIELEI 1 L3 G C3 C3 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 1 e 1 1 1 e DD OD D ALI 20Mbps som 0 0 0 10Mbpsoom 0 00000000000000 000000 000000000000 000 00000000000000000000 Windows 0 C VX8700 000 000000 0
37. 28 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 MCCO7D D D D 2C 776Av1 00000000 500 0 5 0 2 000000 SouTo 0 0 SOUT SOUT1 l SOUT 7 29 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI DD DU MCCO7D D D D 2 HARD 4 CWLM CCWLM 0 0 000 DALM TJ D DRIVE STATUS1 PORTO BUSY 1 4000000 gt COMMAND H F4 HARD 2 4 COMMAND DATA1 PORT WAGE DRIVE COMMAND PORT Wee DRIVE COMMAND PORTO gt MC07 LWDrive DATA2 PORT 0 Hoo000 0000 DRIVE DATA1 PORT I 1 UU 00 D15 D14 D13 D12 D11 D10 D9 D8 SERVO SERVO SERVO _ E FILTER2 FILTERI FILTERO D7 D6 D5 D4 D3 D2 D1 D0 B LIMIT LIMIT LIMIT 2 FILTER2 FILTERI FILTERO 0 00 000000 000 D6 D4 LIMIT FILTER2 0 CWLM ccwL Mp UD HD U D Di4 D12 SERVOFILTER2 0 DEND PO D2 D0 D10 D8
38. DO DRIVE MODE 01 CONST CP ENABLE Lr Lr Exp D2 CPP STOP ENABLE 5 0 5 1 5 04 PULSE SEL 0 1 0 55 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D T CP 1 COMMAND 91 SUB STRAIGHT COMMAND STATUS1 PORT yn S ERROR o7 DRIVE STATUS1 PORTO 000000000000 LN um DRIVE STATUS1 PORTO 0 gt MC07_BRStatus1 DRIVE DATA DRIVE COMMAND PORTO gt MC07 LWDrive DATA2 PORT 0 H 0000 J DO D DRIVE DATA
39. ER m 1OPORT ORI MO sica L Q J U L ndn ID 192 0 numumnnqinnnni opa 000000 a c MT 133 D e EN C LD PU 2 22 S UL Loc MEM D4 0 me IS MDICEREBECEME 5 0 emmnugggnunngnunnun 1 C ONE e isasi sisa 149 eet 00 I OPRIUDDDDDDDDDL cie BUTTER o 24 00 cie IU 23 00 32 EE bI MM 26 00 32 Dn E zi 122 53 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0000 1 000000 o 100000 V R NONN N A
40. 950 0 10 00000 000000 050000600 O000000000000000000 04 2 1 0000 2C 776Av1 2C 77101 202 7710 1 200 771301 MCCO07 115 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 DDD MCCO7 DL D DDD 4 3 VO 0 4 3 1 O VO PORT 1 SIGNAL 1 0 20 776 SIGNAL SOUTI IU DO D MCC MCC HI SOUTO 5 SOUTT YD D SOUT I D 5 D bRVESTATUSSPORT DLGBDBUHDUDUDUD UU B SOUT l HARD ARDINT STATUS1 CNTINT STATUS1 DOWN I DFLINT STATUS1 CONSTI 00 RDYINT STATUS1 EXT PULSE 00 STATUS1 STBYD D 0 STATUS2 PULSE
41. BOL M97 LRIri ve DVERD Av pData 5 RESULT psResul t VB Functi on 07 LRDri ve ByVal Av As Long ByRef pLsta As Long ByRef jpsResul t As 7 S RESU T As Bool ean Functi on 7 LRLri ve ByVal As Integer ByRef As Integer ByRef osResu t As 7 S RESULT As Bool ean bool MO ve ui nt Av ref uint ref 07 S RESULT psResul t D pata 2 1 0 R DTA PRM 0 160 0000000000 esRsut u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D ERI VE DATA1 PRT U D Ll AL2A 2C 771v1 2C 776Av1 2CD 7710v1 2 D 7713v1 0000000000 AE ATA BOL M97 BRO iveDatal DERD ADev M007 S RESULT psResul t VB Functi on M07 BRLri veDat al ByVal prev As Long ByRef orta As Integer ByRef osResu t As 7 S RESULT As Bool ean Functi on 7 BRLri veDat al ByVal ALev As Integer By
42. SPEED SPEED CHANGE SPEC SPEED CHANGE 0000000000 SCANI 00000000000 000000000000 000000000000 H12 180 0 0 0 5 H13 _ SCAN 5 H14 INC INDEX 15 ABS INDEX H 18 ORIGIN SCAN P ORIGIN SCAN I 000000 H 32 MAIN XY STRAIGHT CP P 0D0O 2000000000000 MAIN XY CIRCULAR CP 2 H 30 MAIN STRAIGHT CP H38 CIRCULAR CP 5 1 SPEED CBUSY 0n 0 D 000 0000000000000 0 0 SPEED SPEED CBUSY 10 SPEED CSET 108 00000 0 SPEED CHANGE 0 0000 0 0 0 SPEED CBUSY 00 SPEED CSET 000 0000 000000000000 0 SPEED CBUSY 10 SPEED 00 0000000000 INDEX 0 ORIGIN 5 LSEND 10 SSEND 10 FSEND 10 ERROR 100 D SPEED CSET 0 00 0000000000000000 108 3 RATE CHANGE D MPL 34 02v1 00 AL2W32 MPL 35
43. JSPD 96 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 4 1 5 0 00000 1 2 2C 771v1 2CD 7710v1 ADB5F30 2C 776Av1 2CD 7713v1 GDB5F40 2 2 vi kroon vu pm NEN FA e nun 20 000000000000 209 00000000000000 2000000000 MAIN XY STRAIGHT CP D D D 2000000000 MAIN XY CIRCULAR CP 0 0 0 D 2 20 000000000000000000000000000000000 20 0000000000600 00000000 5 000 00
44. COMMAND H I9 ORIGIN CONSTANT SCAN COMMAND gt lt STATUS PORT NN DRIVE STATUS1 PORTO ERROR 20 Y LN x vnd DRIVE STATUS PORTO ES gt MC07_BRStatus1 0 0 DRIVE COMMAND PORTO gt MC07 BWDriveCommand 0 ORIGIN CONSTANT SCAN I 0 0 0 5 AUTO DRST ENABLE 10 0000000000 45 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 MEINEN ALI DB DU 3 1 4 0000000 U MCCO7 CPP 00000 20 o0 o 1 CP SPEC SET 2JUUDDUDDDDUDDUDDUDUDUDDHB 5 0 0 2 10000 41000000 gt COMMAND H 20 CP SPEC SET COMMAND o DRIVE STATUS PORTO 9 000000000000 Y
45. D 5000 AIN1 85000 550 00000 D SPEC INITIALIZE2 0 58500 1 UP DRIVE DOWN DRIVE CONST DRIVE D 0000 550000000000 5 STBY 10 000000000000000 00000 0 5 100000 0 CHANGE 00000 CHANGED DD D D SPEED CBUSY 10 SPEED CSET 10 0000 SPEED 5 5 1 00000 CHANGED D D D HH D D D SPEED CBUSY 00 sPEEDCSET 0000000 SPEED CBUSY 00 SPEED CSET 00 00000 eHANGET I Hl U 00 SPEED CBUSY 10 SPEEDCSET 10 0D 0D 0000000 CHANGED HL DL DB BB D 0 0 SPEED CBUSY 1 SPEED CSET 00 0000000000
46. gt MC07_LWDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 pz pe ps D4 58 pe D1 po D15 lt INDEX CHANGE 0 gt DO DRIVE DATA2 PORT ut D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 DO 75 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 2 00000000 3 2 1 00000000000 1 ADDRESS COUNTER MAX COUNT SET 0000000000 DRIVE STATUS PORTO BUSY 1000000000 41000000 gt COMMAND H87 ADDRESS COUNTER COUNT SET COMMAND DRIVE 1 15 PORT DRIVE DATA2 0000000 A31 A160 0000000 E 00000010 4 294 967 295 H 0000 0001 HFFFF D Dn S DRIVE COMMAND PORTO gt MC07_LWDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D3 D1 DO A15 lt gt A0 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D3 D1 DO A31 lt gt 16 0
47. D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 DO 015 lt gt DO DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 031 lt D16 H FFFF_FFFF 0 0 D 00000000000 1 20 000 00 DRIVE STATUS4 PORT PULSE OVF 1000000 0 muunuundu DRIVE STATUS4 PORT j 1 9990 000 2 0000 0000000 0000000000 gt 15 999 1000 ADDRESS OVF 1 2 1001 gt 19992 0 0000000005 19992 1001 1000 ADDRESS OVF 1 gt 999 gt 1 0 2 0000 000 2 0010 00000000 0 15 10005 1001 1001 ADDRESS OVF 1 2000 gt 0 00000000 320002 1001 1000 10000 ADDRESS OVF 1 1 gt 0 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D ATCH SPEC SET DRIVE STATUS1 PORT B 00 USY 1 COMMAND H E8 COUNT LATCH SPEC SET COMMAND gt DATA1 PORT WRITE DRIVE COMMAND PORT WERE DRIVE COMMAND PORTO COMMAND 0000000
48. E3 E3 E3 02 ri I GI N OR Ip p i63 113 114 116 SET 0 7 Set O gM gi nPul se 119 207 Set Qr gDel ay 120 9 Q z 2 0 ege _ SetQrgErrorPul se 121 Set Qr gd f set Pul se 122 7 ReadQr gPar am 124 10 Reset Q gFl ag 125 M27 Gg 126 0 0 M007 t Conreghot Ful I 21 D LD STATUS1 OREG FUL 07 LWri veBuf 22 0 2 121 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0000 n 000 000 MO PORTTA O sus D aN O 127 POT COSE EP 129
49. eg 00000 DRIVE STATUS4 ADDRESS 18 00000 DRIVE STATUS4 PORT ADDR 1 9990 000 2 0000 0000000 0000000000 gt 15 999 1000 ADDRESS OVF 1 gt 1001 gt 1999 0 000000000 19992 1001 1000 ADDRESS OVF 1 gt 999 gt 12 0 2 0000 000 2 0010 00000000 005000000005 15 1000 1001 10010 000 ADDRESS OVF 1 2 2000 gt 0 00000000 0 320002 1001 1000 10000 0 ADDRESS OVF 1 1 gt 0 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 2 2 0000000000 1 PULSE COUNTER MAX COUNT SET 0000000000 DRIVE STATUS PORTO 5 1 4000000 gt COMMAND H 97 PULSE COUNTER MAX COUNT SET COMMAND DRIVE 1 DATAS PORT e DRIVE DATA2 PORT 0 000000 031 0160 0000000 WEE 00000010 4 2944967 295 0000_0001 0 DRIVE COMMAND PORTO COMMANDE D HH DD gt 07 LWDrive DRIVE DATA1
50. a oo 2 o0 200p ao 2 c 205 200p ug Daum 5 u U 0 2 oo om mn a oo 800 oo 2000 L3 c Lc L3 crt oa r3 57 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI CPP MASK ENABLE 00000 00000 MASK ENABLE 108 000000000000 DRIVE STATUS1 PORTO ERROR 10 cPPOUTSEL 0 DRIVE STATUS5 PORTO 1 CPP MASK 10 0 DRIVE STATUS1 PORT ERROR 15 00
51. 50 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7U D LL D U 0000000000000000000000000 ee o 0000000000 SEL 000000 0000000 i 0000000000 CPPOUTO 00000000 LONG POSITION SHORTPOSITON 0000 0000 00000000 LONG POSITION Uu utut SHORT 5 0000 anae Dc Dar 0000 At Re NS TX SR Smp u a
52. u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D ERI VE DATA2 PRT U DL LI AL2A 2C 771v1 2C 776Av1 2CD 7710v1 2 D 7713v1 0000000000 pe BOL M97 BWN i veData2 D CRD Av M07 5 RESULT pshResul t VB Functi on 7 BWri veData2 ByVal Av As Long ByRef pLsta As Integer ByRef osResu t As 7 S RESULT As Bool ean Functi on M07 BWri veDat a2 ByVal ALev As Integer ByRef pata As Short ByRef osResu t As 7 S RESULT As Bool ean C NET bool MO veData2 ui nt Av ref ushort poata ref M07 S RESULT t pata esRsut 000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D VE DATA 320 00000000 AL2A 2C 771v1 2 776Av1 2CD 7710v1 2CD 7713v1 0000000000 AVE DTA PRI ER VE DTA
53. 59 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7U D LL D U 2 2 2 HHBHH CB SBEC SET 000000000 CPPOovT000000000 n 521 DUUD CPPOUT SEL CPPIND ODO 000000 0000000 DH BUDHUU rom 1000 0 0 0 0 0 0 0000000 0000000 00000 XPOSITION SET Uum YPOSITION SET uuu 00000 CIRCULAR PULSE SET DD D XPOSITION SET uuu YPOSITION SET uuu CIRCULAR PULSE uut ARMES UE E s 9 000000 ORAN E
54. r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 D2 CPP STOP ENABLE 5 0 5 04 PULSE SEL r3 r3 r3 Eje r3 r3 65 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 MEINEN ALI DB DU MCCO7D D D D 6 SUB CIRCULAR CP 2 BUSY 0 ERROR 00 00000000000000 1 4000000 gt COMMAND H39 SUB CIRCULAR CP COMMAND 3 YSTATUST PORT NN DRIVESTATUS PORTO nggunangnnnnn ERROR 0 Y LNK YSTATUSI PORT N o DRIVESTATUS PORTU 000000000000 BUSY 0 Y gt 0 0 07 BRStatust 0 XSTATUS1 PORT ERROR 0 000 DRIVE STATUS1 0 000000000060 Y LN P gt DDD DRIVE PORTO 000000000000 gt 0 0 MCO7 BRStatus 0 Y 0o00 DATA1 PORT DDD DRIVE DATA1 PORTDO000000000000 WRITE EI DRIVE COMMAND PORTO gt 07 LWDrive DATA2 PORT 0 0 H oooop D 00
55. 1eoogmz 0000 10ooHz J 00 2 2 2x 1000Hz0 00000000 1000z0 00000 FSPD 104 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI MCCO7 UID D 0 00 og 0 90 180 270 0 45 135 225 315 L 7 m EIE es T m oo 5 0 0 0 CIRCULAR XPOSITION S 0 H8 0 H 00_0000 J J CIRCULAR YPOSITION SET 00 00 H 29 J H 00_0000 J J O CIRCULAR PULSE SET DO 00 2 J 0000 0000000 MAIN CIRCULAR 00 H 38 DATA1 H 0001 m m CL PETERNEL LJ 105 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 A
56. FSPD RESOL HSPD LSPD ELSPD JSPD UCYCLE DCYCLE SUAREA SDAREA DOWN PULSE LC ied st N Ses L3 c3 C3 40 0 ITI L3 L3 c3 c3 c3 L3 c3 c3 C3 LALILCIL Ll W es p LIII L3 rc L3 rc L3 Lr LL L3 rc L3 GPE Er GI L3 L3 C3 C3 L3 rc Oo gt 2 9 purum 1 07 PET LIILI L3 c L3 L3 c3 ELGA L3 c3 c3 L3 c L3 c3 c3 L3 c LIJTII I MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 00000 00000000 0000000000000 ADJUST 00 00000000000000000 000 00000
57. D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 _ PULSE M CPP MASK DRIVE SEL ENABLE MODE DO DRIVE MODE 1000000000000 INDEXO 000 D2 CPP MASK ENABLE 0 04 PULSE SEL 0 1 0 56 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 3 1 6 00000000000000 00000 XY000000000000000000000000000000000000000 002000000000 000 00 209000000000000000 D CUDDDDO CCWIDDDDD 200000000000000000000 20000000000
58. HSPD 0000 asp T s j 0000 f ELSPD X i 0000000 00000000 _ INDEX CHANGE 0 112 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI MCCO7 0000 4 1 7 000000 87 DRIVE COMMAND 28 0000000000000 1 7 113 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 1 9990 00 2 0000 0000 STATUS4 PORT OVF 1 v 02 gt 39995 100025 1001 1999 gt 0 02 199925 100012 10005 99 gt gt 12 0 STATUS4 PORT OVF 1 2 0000 00 2 0010 0000 100 STATUS4 PORT OVF 1 02 12 100025 10012 2000 0 gt 20002 o 1001 gt 10002 gt 1 gt 0 STATUS4 PORT OVF 1
59. ERROR 1000000 DEND POQ 0000 0000 0000000000000 4 0000 0000 000000 Busy 00p00000 97 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 2 000000000 4 CPPOUTII I SUB STRAIGHT CP 0 0 00 002000000000 MAIN CIRCULAR CP 0O 000 SUB CIRCULAR CP 0 0 0 D L3 L3 C3 C3 L3 rc L3 rc L3 rc L3 rc L3 Lc r EE r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 EI r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 r3 L3 rc LE r3 r3 r3 c c L3 rc LL rc c3 ERE c3 ILE r3 r3 ma r3 r3 r3 r3 r3 r3 r3
60. D6 D4 ZPO FILTER2 0 208000 FLT2 FLT1 FLTO HD H0 HH HH 0 0 0 50 ns 0 0 1 5 us 0 1 0 10 us ti 20us 1 0 0 50 us 1 0 1 100 us 1 1 0 500 us 1 1 1 1 0 ms 0 00 1 0 us 91 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI DD DU 4 HARD INITIALIZEG 0000000000 DRIVE STATUS PORTO BUsY 1000000000 4000000 gt COMMAND H F6 HARD 6 COMMAND RE DRIVE 1 00000000 2550 DRIVE COMMAND PORTO COMMANDE DI HL DD D D D gt MC07_LWDrive DATA2 PORT 0 Hoooon 0000 DRIVE DATA1 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 04 D3 D2 D1 I e D7 lt 000000000000 bo 0 50 000 EA EB 00 0 50 0 00 12 75 us 0 00 0 D D 50 0 n 32 MPL 34 02v1 00 AL2W32 MPL 35 02v1
61. ER Ve DATAL POTI BOL MD7_LVIri veBif DV RD Av 5 COMMAND CnalPataBuf NOPD Count 7 S RESULT psResul t VB Functi on M07 LWri veBuf ByVal ADev As Long ByRef ChalbstaBuf As 7 5 COMMNND DATA ByVal Count As nteger ByRef psResu lt As 7 S RESULT As Bool ean Functi on 07 LWri veBuf ByVal Av As Integer ByVal As 7 5 COMAND DATA ByVal Count As Short ByRef psResu t As 007 S RESULT As Bool ean C bool M307 LWr i veBuf ui nt Dev 7 5 CalPstaBuf ushort Count ref 7 S RESU T psResul t hDev CmDRt 0 1 um CmDRt 7 80 00000000000000000000000 CnaPataBuf 8 GwdDetaBuf 15 000000000 Count 0 0 80 0000000 esRsut mpupnbpagnpnagonbpapbpagbDpu Rsumppunbp unDndBDDHuD 000 22 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7 D L1 D L1 2 2 3 000000000 Da ggnmgPusginuunt AL2A 2C 771v1 2 776Av1 2CD 7710v1 240 7713v1
62. STATUS1 STATUS2 ORG SIGNAL 0 0 0 STATUS5 SPEED CBUSY STATUS5 0 INDEX CBUSY 0 0 STATUS4 PULSE OVF 00 0 D 5 HARD INITIALIZE 0 0000 000000 000 PULSE COUNTER INITIALIZE2 0 O 0 0 0 12 5 1000 0000000000 COMP1 0 100 aia 0000 Puse 9 55 59 000000 200 5 0 00 10 5 100 5 1000 s AUTO CLEAR I 0000000 0 el COMPARE REGISTER1 COMPARE REGISTER1 116 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0000 MCCO7D D D D 51000000 1 0000 EX SS ES CWLM CCWLM 1 0
63. YSTATUSTPORTS DRIVE STATUSI PORTO BUSY 0 Y gt 0 0 07 BRStatust J 0 XSTATUS1 PORT NN M ERROR 0 gt 8 DRIVE STATUS1 PORT ERROR JI Y XSTATUSI PORT N DRIVE STATUS1 PORTO BUSY 0 v gt MC07_BRStatus1 0 DATA1 PORT We 000 nidi DRIVE COMMAND PORTO gt 07 LWDrive DATA2 PORT 0 0 Hoooon D 00 DRIVE DATA1 PORTH DDD D D D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 5 B CPPOUT CPPOUT CPPOUT SEL2 SEL1 SELO 000 46 CPPOUT SELO D1 CPPOUT SEL1 D2 CPPOUT SEL2 SEL2 SEL1 SELO O x x e 1 VAS k CPPIN XOP voe D4 D 0 EAT 1 5 oon E rc m 6 rr L3 rc oaod
64. ENABLE 144000000 NABLE STOP ENABLE 10 00000 2000000 CPP STOP I CPP STOP ENABLE 1 CPP STOP CPP STOP 0 B LIXI Ld LI C4 LI pI EST EI L3 c un um 0 L3 rc L3 rc 0 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 0000 ALI MCCO7U 0000 L3 c L3 r3 LET L3 r3 L3 rc Lr LII L3 r3 Lr LT LI DL 1 11 Ft Zt IT LL Ll LILI LJ ET L tj t3 LC LC LL LC LC oog D oo of 200 nd ru o 2 5 5 2 5
65. eau COREG NOI FULL WA TO O AL2A 2C 771v1 2C 776AV1 2CD 7710v1 2CD 7713v1 5 PRT OREG FUL 00 ER STATUSI L3 r3 r3 r3 000 000 000 000 B i BOL 7 BVdi tConnegNot Ful VERD Av VERD Wit Tine M37 S RESULT gsResul t Functi on M07 BV i t ConregNot Ful ByVal Prev As Long ByVal 77 As Integer ByRef osResu t As 7 S RESULT As Bool ean Functi on 7 BV i t ConregNotFul ByVal Av As Integer ByVal VWtTine s Short ByRef osResu t As 7 S RESULT As Bool ean bool 7 BV i t ConnregNot Ful ui nt Av ushort M i 77 ref 7 S RESU T pshResul t hDev esRsut 000 21 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 MCCO7D D D D AL2A 2C 771v1 2 776Av1 2CD 7710v1 240 7713v1 B D uU
66. YSS0000 0000000000000 0000000000000000 MPL 34 02v1 00 AL2W320 0 MPL 35 02v1 00 AL2W64 Windows 1 00 000 000 00 PCI 0000000 000000000000 0000000 UDDDDDL 09 2 776 0000 0 O Windows 320 J 0 0 MPL 34 02v1 00 AL2W32 O Windows 64 0 0 MPL 35 02v1 00 AL2W64 0 0 2w64000000000000000000 640 0000000000000 0 EG LL o C3 C3 y GAHA MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALII DD DU MCCO7D D D D 7 von t 0 0 0O MCC07 2 1 PORT c HL DD D D HH U DI D DE D
67. x 0 0 FERD PENNE QU FARD IN TE p B 0 FSSTP oo DU U NE 122 ISP E UU RI EM 153 pm 1000 00000000000 A p c Eee feld 127 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI LO MCCO7 D L D L1 128 D 1 2 TEL 042 664 5382 FAX 042 666 5664 E nail s support el ec i nc com TEL 042 664 5384 FAX 042 666 2031 anar 3Lov2 193 0834 0 Lar D D D 516 10
68. 5 LSEND 10 SSEND 10 FSEND 10 ERROR 10 D D SPEED CHANGER HD UBDUDUDUDU 107 2 SPEED CHANGE MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI SPEED CHANGE 0 0 O0 STBY 10 000000000 5 SPEED STBY 10 5 SPEED SPEED SU SPEED SPEED
69. D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 15 lt gt A0 DRIVE DATA2 PORT j B t 015 D14 D13 D12 D11 D10 D9 pz pe 56 D4 D2 D1 F H E lt x 23 lt 00000 00000 6 Hoo 00000 62 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 CIRCULAR PULSE SET 41000000 gt COMMAND H A CIRCULAR PULSE SET COMMAND N STATUS1 PORT nn C Ada PORT S gt DRIVE STATUS1 PORTO ERROROD DU Y LN e DRIVESTATUS1PORTU BUSYU IDD 0 000000000000 3 gt MC07_BRStatus1 DATA1 PORT DRIVE WRITE DRIVE DATA2 PORTOO0 0000000000000000 000000 DATA2 PORT WRITE 2 147 483 648 2 147 483 647 H 8000 0000 7 000 20 000000000 DRIVE COMMAND PORTO gt
70. DRIVE DATA1 D15 014 013 012 011 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO PULSE CPP MASK DRIVE SEL ENABLE MODE DO DRIVE MODE 5 5 1000000000000 D2 CPP MASK ENABLE CPPINI DL DD D 1 0 L3 r3 r3 L3 r3 r3 L3 r3 r3 r3 r3 L3 r3 r3 L3 r3 r3 r3 r3 L3 r3 r3 66 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 3 1 7 UPIDOWN CONST CHANGER I H BHL DI 000000000 0 0 UP DOWN CONSTO 000 CHANGED DDD D D D 1 UDC SPEC SET UP DOWN CONST 0 0 0 0 410000600 gt COMMAND H CO UDC SPEC SET COMMAND N STATUS5 PORT 1 SPEED CSET 0 DRIVE STATUS5 PORT SPEED CSET 000 gt MCO7 BRStatus5 0 DATA1 PORT WEITE DRIVE COMMAND PORT G DRIVE COMMAND PORTO WRITE gt 7 LWDrive DATA2 PORT DRIVE DATA1 PORT 1 00000 D15 D14 D13
71. M 0 D L sas sassa sn EC D DE E 4 0 D ____ 7 U ExUni t 46 _______ d 0 5 D m D 52 54 joooo00000000000000 cGgDODOODDUUD _ 28 o Jog PRD wawas SER 58 DD POR HD END ED 6l 63 g 1 C3 1 65 0000000000000 DSA U 5 7900000 66 0000000000000 STATUS PORT O PRT 00 nonu 68 5 H 3 gt 119 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 000 0000 00
72. Q DRIVE COMMAND gt 0 MC07 BWDriveCommand 0 3 DOWN DRIVE 4 000000 gt COMMAND H C5 DOWN DRIVE COMMAND I N STATUS5 PORT A SPEED CBUSY 0 2 DRIVE STATUS5 SPEED CBUSY J 9 900000000000 Y gt MCO07 BRStatus5 0 EDU DRIVE COMMAND PORT COMMAND HL LH BE D D 07 BWDriveCommand 0 4 CONST DRIVE 4 000000 gt COMMAND H C6 CONST DRIVE COMMAND I N STATUS5 PORT m pr DRIVE STATUS5 PORT 0 SPEED CBUSY J J 900000000000 y gt MCO7 BRStatus5 0 0 COMMAND PORT WRITE Q DRIVE COMMAND gt 0 MC07 BWDriveCommand 0 68 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 3 1 8 SPEED 0 0 SPEED CHANGE o 5 5 1 SPEED CHANGE SPEC SET SPEED 410000600 gt COMMAND H C1 SPEED CHANGE SPEC SET COMMAND N STATUS5 PORT SPEED CSET 02 DRIVE STATUS5 PORT SPEED CSET 000 9 00000000000 y gt MCO7 BRStatus
73. 5 gt 3 gt B 7 ve 94 ERI VE DATA COMAND PORO O 0 0 0 B U ED r D D C DERI VE DATA PARTI 0000 5 5 07 LWDATA 9 I E 5 3 3 5 7 BWO i veDatal 10 dlg 8 E 7 veDat a2 11 5 f z L VE M07 LRO ve 12 VE 3 5 3 E 7 veDatal 13 0000000 AvE DTA POTE DDR D B DNA2 _________________________ _ MO7 BRIiveData2 14 UDDDDD M07 S DA AE REERENEEREREREEES E 15 DRI VE DATAI PORTO ERI VE PRI DO LO DO OO DD omo ogoogo MO7 WRVE _____________________ 16 0000000 RVE pam 17 0000000000 DTA PORT ER VE DATA _________________________ ME7IRYive 00002111 18 0000000000 WA PORTER DOTA O U P
74. D3 D1 DO RESOLNe HS 10 000 5 00000 HSPDO 5 15 000000000 Hz0 0 HSPD x RESOL 1 5 10000600 2000000 RESOL REsOL REsOL REsOL REsOL No RESOL No RESOL No RESOL No RESOL H O 0 1 H 4 2 H 8 50 H C 200 0 2 H 5 5 H9 100 H D 200 H 2 0 5 H 6 10 H A 200 H E 200 H 3 1 H7 20 H B 200 H F 200 B x 00000 RESOLD 0 1 6 553 400 Hz 36 3 LOW SPEED SET 41000 S1 PORT N STATU ERROR 0 gt gt DRIVE STATUS1 PORTO Y gt MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D LSPD H 000000 COMMAND H 07 LOW SPEED SET COMMAND LN STATUS1 PORT BUSY 0 m Y DATA1 PORT WRITE DATA2 PORT WRITE COMMAND PORT WRITE DRIVE DATA1 PORT I UU LU D15
75. DRIVE STATUSS SPEED 0 00000000000 Y gt MCO7 BRStatus5 0 DATA1 PORT Wale DRIVE DATA1 PORTO 000000000000000 00000010 32 7670 H0001 0 7 D D AE T DRIVE COMMAND PORTO gt 07 LWDrive 0 DATA2 PORT 0 H 0000 J DO D DRIVE DATA D15 SPEED CHANGE SPEED CHANGE r3 r3 1 r3 r3 SPEED 70 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 MCCO7D D D D 3 1 9 RATE DDD RATE 000 1 0000 410000600 gt COMMAND RATE CHANGE COMMAND IVT N STATUS5 PORT n C BUSY p DRIVE STATUS5 SPEED CBUSY J 900000000000 gt MCO7 BRStatus5 0 Y DATA1 PORT WRITE 00000010 16 3830 00000 H 3FFFO DATA2 PORT 2 WRITE 00000010 16 3830 00000 HaFFF D amp DRIVE COMMAND PORTO gt MC07_L
76. gt DRIVE STATUS1 PORT 5 900000000000 MC07_BRStatus1 DRIVE DATA1 FF 0 00000010 32 7670 H 0001 0 H7FFF D 0 DRIVE 2 00000000 32 7670 H 0000 7 000 000 DRIVE COMMAND COMMAND 0000000 MC07 LWbDrive 0 en D15 DRIVE DATA2 P ORT I D14 D13 012 011 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 014 lt LSPD gt 00000000 2 3000 300 000 000 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 014 lt ELSPD gt D UU LSP ELS 1 0 0 LSPD RESOL 00000 ELSPD 15 0 000000 E LSPD RESOL 5 1000000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 4 RATE SET 4000000 gt COMMAND H08 SET COMMAND STATUS
77. 125 K O 1 113 1 1 R 12 1 0 n mig 3000 9 1 0 2 6 1 8 000000 000000 0 00 1 2 300000 0 00400000 U 8 5 80 80 8 0 5 32 CCWJDDDDDBUDDDUDDDD CIRCULAR PULSE 320 FFEO 2 44 00 00000000000 1 3 5 700000000 2 4 6 1 3 5 700000000 0000000000000 00009 00 00000000000 20 50 000000 20 200 5 v 425 2 int 146 14 425 1 421 0o00 Kp 1 RIO 4 Kg 1D 1 25 000 1 1 6 KO 1 20 145 000000 000000 00 7 6 500000 0 00400000 D 50 14 50 14 50 14 5 14 5 5 0 58 58 0 H 0000 003A 224
78. 5 H 14 INC INDEX H15 ABS INDEX 18 ORIGIN SCAN P ORIGIN SCAN I 000000 H 32 MAIN XY STRAIGHT CP XY CIRCULAR CP 2 H 30 MAIN STRAIGHT CP PUDDUDDDDDUDDDDUDDDDDDBD H 38 MAIN CIRCULAR CP SPEED CBUSY 00 00000 5 1 00000 00000 SPEED 10 SPEED 108 00000 00000 U U U D 0 0 0 SPEED 00 SPEDOCSET 0000D D D SPEED CBUSY 10 SPEED CSET 0 0000000000 000 0 ORIGIN LSEND 10 SSEND 10 FSEND 10 ERROR 100 D SPEED CSET0 0000000000000 00000 106 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI UP IDOWN CONST CHANGE 0 880000000 0 UP DowN CONSTH 0 0 5500000000 SSO 0000 0 0 CHANGE D 0 SPEC
79. 71 3 1 10 INDEX CHANGE Q O0 00O mele 72 1 INDEX CHANGE SPEC SET 72 2 INC INDEX CHANGE 73 3 ABS INDEX CHANGE 74 4 PLS INDEX CHANGE 75 E nga naa 22 76 ccm 76 1 ADDRESS COUNTER MAX COUNT SET 76 ETT MM 7 1 PULSE COUNTER MAX COUNT SET 77 S EPI PI 78 1 COUNT LATCH SPEC SET 78 b24 80 1 ADDRESS LATCH DATA READ 80 2 PULSE LATCH DATA READ 80 3 DFL LATCH DATA READ 80 151 LLL LL 0000000000000 00 00000000 000000000 00 00 00 81 mosccerec 8Be8e0OPOPOPPPPCPOPOPOPOPPPCPPOPOPOPOPERCRCEECROROIEEOEUE UE 81 aT H M s 83 COLE B D HD HEDI WB H eum 83 84 85 E 85 2 86 88 g e
80. DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 INDEX INDEX INDEX CHANGE CHANGE CHANGE 2 TYPE TYPEO 02 00 J INDEX CHANGE TYPE2 0 2 TYPE1 TYPEO 0000 gt 0 0 0 INDEX 0 0 1 0000 0 1 0 5 PORTO 50 100000 n METER 1 0 0 1 0 1 1 1 0 1 1 1 D 55000 0 5 0 500 0000000000000 0040000 000000000000 5000 8000 D15 D3 10 00000 72 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 2 INC INDEX CHANGE 0000000000 COMMAND HOC INC INDEX CHANGE COMMAND N STATUS5 PORT xc DRIVE STATUSS INDEX 000000000000 Y gt MCO7 BRS
81. UUDUDDDUDUDUDUDDDBDDUDUDDUDUDUDDDO0OSJUDDUDDUDDUDDUDUDUDU Lc 52 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL AL I 0000 MCCO7D D D D 2 SHORT POSITION SET 4 gt COMMAND H 23 SHORT POSITION SET COMMAND N STATUS1 PORT DRIVE STATUSI PORTO ERRORDDUD 0 000000000000 Y gt DRIVE STATUS1 PORT 0000000000060 E gt 07 BRStatus 0 0 Mr DRVEDATA e DRIVE 2 DATA2 PORT 000000 WRITE 2 147 483 648 2 147 483 647 H 8000_0000 H 7FFF FFFF 000 20000000000 oM DRIVE COMMAND PORTO gt MCO7 LWDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 DO 15 lt gt A0 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 A81 lt gt A16 Ho00
82. 1 gl I 5 124 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0000 2 000000 Su S S u m S m iS POMPIERS E au c3 ADDRESS CANTER PRESET 166 ATRESS CANTER IN TAL ZEL 8 161 55 CANTER IN TALI 2 815 164 ADDRESS CANTER COUNT SET H87 76 ADRI COMPARE RE 167 AR NIE D C D UO D ADRI COMPARE RE 167 AR NIJ B 1 D ADRI COMPARE RE 167 NT COMPL ADD DAT 168 ADRI PULSE GOUNTER PRESE 1 4 PULSE GOUNTER 169 PUSE GOUNTER IN 172 PULSE CONTER 77 COMPARE RE 175 RE 175 175 176 184 177 1
83. 8 388 607 6 666 667 Hz 50 50ns 10 000 000 Hz 6 666 666 5 000 001 Hz 50 100 6 666 666 Hz 5 000 000 4 000 001 Hz 100 100 ns 5 000 000 HzO 4 000 000 3 333 334 Hz 3 333 333 2 857 143 Hz OFF 100 6 150 ns 4 000 000 Hz OFF 150 150 ns 3 333 333 Hz 1114111 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 2 HIGH SPEED SET 5 COMMAND H 06 HIGH SPEED SET COMMAND STATUS1 PORT NN Ls mnmon o 2 9 DRIVE STATUS1 PORTO Y LN DRIVE STATUS1 5 000000000000 gt MC07_BRStatus1 Y DATA1 PORT DRIVE WRITE 00000000 32 7670 00000 7 D LED amp DRIVE DATA2 PORTO 0 0000 RESOLNo 00000000 COMMAND PORT WRITE DRIVE COMMAND PORT 0 COMMAND 0000000 gt 07 LWDrive 0 0 DRIVE DATA1 PORT I UU 00 HoBBe 3 0000 3 000 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5
84. RESOL SDAREA 0000 0 00000 0 0000000000000 0000 HSPD ELSPD 2 0000 500000000000 0000 HSPD ELSPD 2 0000000000000 00 006060 000000000000 0 0 SDAREAQ HSPD ESPD 20000000 SDAREAD 0 0000 HzD SDAREA RESOL O HSPD ELSPD x RESOL 2 Hz 5000000000000 D SDAREA x RESOL 5000000000000 0 SDAREA x RESOL MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 6 DOWN PULSE ADJUST 7 000000 gt COMMAND DOWN PULSE ADJUST COMMAND DRIVE STATUS1 ERRORG DG 0 9 000000000 00 LN gt DRIVE STATUS1 PORT BUSY J JU 0000000 000 gt MC07_BRStatus1 Y DATA1 PORT DRIVE DATA1 WRITE 000000 32 768 0 32 7670 H 8000 0 H 7FFF D L 209 000000000 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 0000000 gt J 0 07 LWDrive DATA2 PORT 0 DRIVE DATA1 PORT I UU 00 n 000
85. STEPPING SERVO MOTOR CONTROLLER S OPTION MPL 34 02751 00 AL2W32 MPL 35 ut 00 AL2W64A mmm 0008 AL i 0 000 MN0279 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 000 MCco7z nnn 0000 oo AL i 0000000 0 00000000000000000 00000
86. r3 p r3 r3 r3 r3 r3 r3 L3 r3 E r3 SPEC 000 0 5 9 CPPIN u 98 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI
87. unn INDEX 0 HD D oa EE 01 CONST CP ENABLE 5 oa D4 XPULSE SEL 0D XD D LONG POSITION 1 0X00 SHORT POSITION EIE D5 YPULSE SEL 0D YD D LONG POSITION 1 0 YD DU SHORT POSITION r3 r3 r3 54 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 4 MAIN STRAIGHT CP 1 4ngmnnn COMMAND H 30 MAIN STRAIGHT CP COMMAND STATUS1 PORT ERR 07 DRIVE STATUS1 PORTO 0000000000600 LN un Hi DRIVE STATUS1 PORTO gt MCO7 BRStatus 0 DATA1 PORT DRIVE 1 DRIVE COMMAND PORTO gt MC07 LWDrive DATA2 PORT 0 H 0000 J DU D DRIVE DATA1 PORTU 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO PULSE CPP STOP CONST DRIVE gt SEL g ENABLE ENABLE MODE
88. DRIVE COMMAND PORT DRIVE COMMAND PORTO WRITE gt 00 07 LWDrive DATA PORT 0 H 0000 n D 1 l DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 1 1 1 0 1 1 1 0 D7 D6 D5 D4 D3 D2 D1 DO d i SOUT SOUT SOUT SOUT TYPES TYPE2 TYPE1 TYPEO 21 010000000 000 D3 DO SOUT 0 000 TYPE2 TYPE1 TYPEO 5 0 0 0 ADRINT 00000000000 ADRINT 0 0 0 1 CNTINT 00000000000 CNTINT 0 0 1 0 DFLINT 00000000000 DFLINT Me Hopes ce PE RDYINT RbYNT 0 1 0 0 STBY STATUS1 STBY D D 0 1 0 1 nDRIVE STATUS 0 0 1 1 0 nSPEED CBUSY STATUS5 SPEED CBUSY 0 D D D D 0 1 1 1 nINDEX CBUSY STATUS5 INDEX CBUSY O00000 1 0 0 0 UP STATUS 0 UPD LL D 1 0 0 1 DOWN STATUS1 0 DOWN I 1 0 1 0 CONST STATUS CONST 1 0 1 1 EXT PULSE STATUS1 EXT PULSE D 1 0 1 nPULSE MASK 2 0 PULSE 00000 1 1 0 1 ORG SIGNAL STATUS2 ORG SIGNAL 0 0 1 1 1 0 1 1 1 1 PULSE OVF STATUS4 PULSE OVF 0 0
89. HSPD x RESOL LSPDx RESOL Hz0 ELSPD RESOL LI 00000 Hz0 0 SPEED CHANGE RESOL 00000 Hz0 0 SUAREA x RESOL 00000 Hz0 0 SUAREA x RESOL 00000 Hz0 0 SDAREA x RESOL 00000 Hz0 0 SDAREA x RESOL 85 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 1kHzD D 7 1 00000 00000000600 m UU 000000 RESOLD D 00000 e 0000000000 TY UDDDDDDDDD ms UCYOLE 00000 RATE mshz 0 kHz RESOL 2 ms O UCYCLE 0 5 10 3 kHz 0 RESOL 10 3 RATED UT U um 0000000000 ms DCYCLE RATE kH SR mskH2 TD DDDDDDDUDDU kHz ms DCYCLE 0 5 10 3 kHz 0 RESOL
90. L3 r3 r3 r3 r3 r3 r3 L3 r3 r3 L3 r r3 r3 L3 rr c L3 r3 r3 L3 r3 r3 L3 ccc EE 00000000 40 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 3 1 3 ORIGINO O0 0000000 ORGNOO0O00000000000 ORICNO0000000000 m ORIGIN SCAND 0 ORIGIN CONSTANT 5 ORIGIN 5 ORIGIN CONSTANT SCAN D 5 000 0000 0000000 DO gH moa 000 ORIGIN SPEC pas SEDDDD 000000 221232
91. SUAREA 0000000 e jomu SCAREA SET 0 0 0 0 0 SDAREA 0 0000000 m 00000000000 TH T 0908 HSPD LSPD FSPD MEER E Fr 0000 ELSPD j Tormann M ms 105 00000000 0 5 10 3 HSPD LSPD 1 0 00000 00 ms ms 0 00000000 0 5 10 3 HSPD ELSPD 1 TD 0 88 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 4 5 5000000000000 500000000000 5000000000000 5000000000000000 SCAREA SET 0 0 0 O0 0 SUAREAQ 0000000000000000 50 00000000000 5000000000 5 0000
92. ref M07 S DATA posata Data 3 psLata u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D AL2A 3 0000 32200000 D31 D29 D28 D27 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16 psta 0000000000000 Mo ptar1 q U D D par 015 DO D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 5 07 taloq 000 D p DTA PROD DO 0 07 Get Data M07 S DATA psDxta VB Functi on 07 Get Data ByRef posata As 7 S DATA As Long Function M07 Get Dsta ByRef posata s 07 S DATA As Integer GENET Unt 7 GetData ref M7 S DATA psEata psLata 000 321 20 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 O00000 AL i 0 000 2 2 2 000000 COMREG FL BIT 0 0 COMREG NOT FULL WAI 0 nap
93. D13 D12 D11 D10 D9 D8 D7 D6 D5 D3 D1 DO A15 lt gt A0 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D3 D1 DO _ _ _ _ _ _ _ A233 lt 00000 00000 16 00000 0 0 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D D D D 2 CIRCULAR YPOSITION SET 00000000009 00 00000000 0 0000000000600 4000000 gt COMMAND H 29 CIRCULAR YPOSITION SET COMMAND N STATUS1 PORT PORT DRIVE STATUS1 PORTO ERROROD DU gt O00000000000 Y LN pod e DRIVESTATUS PORTO 0 000000000000 EU gt 07 BRStatust 0 0 DATA PORT DRIVEDATAi 0000 0000000000000 WRITE DRIVE DATA2 PORT WRITE 8 388 608 8 388 607 H 80 0000 7 DRIVE COMMAND PORTO gt MC07_LWDrive DRIVE DATA1
94. DATA 520 00000000 9 m m 12 DRIVE 1 13 DRIVE DATAS PORT DO DDOI 14 15 DRIVE COMMAND 00000000000 16 ee 17 ee 18 00000000 mmm 19 00000000 20 22041 NE 21 COMREG NOT FULL 21 DRIVE COMMAND 0 0000000000 M 22 ce ner oT NM 23 000000 PULSEDOOOOO EE 23 2 2 4 0 00000 24 24 25 26 32 see nnne nenne nenne nenne nne nens 27 1 M 28 3 1 1 28 1 HARD INITIALIZET1 28 2 HARD INITIALIZEA 30 3 HARD INITIALIZEB 81 4 HARD INITIALIZEG 32 5 HARD INITIALIZE7
95. DD DU MCCO7D CD D D RE AL2A 2C 771v1 2 776Av1 2CD 7710v1 2CD 7713v1 000000000 AVE DTA PR DAT 4 BOL 07 ADev VERD 207 S DATA psEata 7 S RESULT pshResul 8 VB Functi 07 I Wyi ve ByVal Av As Long ByVal Cw s Integer ByRef osata As M07 S DATA ByRef josResult As 07 S RESULT As Bool ean Function 7 I Wi ve ByVal Av As nteger ByVal Gmm As Short ByRef psLPasta As 7 S DATA ByRef osResu t As 7 S RESULT As Bool ean C bool 7 1 Wri ve ui nt AZev ushort ref 07 S DATA osata ref 7 S RESU T pshAesu t hDev psLata esRsut Hun MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D RE AL2A 2C 771v1 2 776Av1 2CD 7710v1 2CD 7713v1 000000000
96. DRIVE STATUS1 PORTO BusY 1000000000 COMMAND H DE DFL LATCH DATA READ COMMAND 80 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 4 1 000000 413 0000000 00000000 D DRIVE 000 L3 C3 c3 DRIVE STATUS PORTO COMREG COMREG FL 000000000 BUSY 1 0 COMREG FL 0 0 1 0 DRIVE COMMAND PORT J DRIVE 2 000 ug 20 00000000 2000000000000 200 00 000000000000000 2000000000000000000000000 20000000000000000000000000000000 2089 000 0000000000000000000000000 00000 10 000000000000000000000000 00000000000000000 208 00000000000200000000000000 500000 pununu 0000000 000000
97. GEA oon L3 Lr 6 oon GAA L3 rc rr GEA 6 GG L3 rc MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 000000 20 00000000000 CPP STOP 0000000 ES ES EP ES ER N ES W zat 9 sz T zz cr Cic 1 ET TT rc L3 Lr LILILITILI L3 rc L3 Lr T T L3 rc LIL CILILI LI Cr 2 Qo OGA EJr3 O U GEGEN P p U Lr LECLILI GOG mo OC g U 2 5 00 12 nO 2 2 ol D U 2000 Ogy D4 L cr o L3 LI LLILILILI OLILJ LE LIII pic o Orcr3 E
98. N A E M PU M E 000 E NO PERMON 160 0000 c SPEC INTAJ ZEI sss 136 SPEC IN TI ALI ZE2 H 02 139 o C C CUCU C C C C C C CCC C CCC C CCC s SPEC IN TI ALI ZE3 H 03 141 DSE ENPO AM UU Lor 55222 a i I MEME 35 000 000 H GH SPEED SET NET 36 LONSPEED SET 0 37 5 uc warwa 38 UUDDDDDUDDDDU UYGETII D D D UD II DU UU D D rasp SORA a a 39 00000 930000000 SDAREA DONPUSEAQUST 1 NEN 40 Tora m JOJ U 165 PUSE SET H OD 145 9 41 146 JG arean aeee 1 7 DJegi 000000 IO e aaa Il M 148 1 SCANT I l C C i EI 5 18 0 0 l INLINEC ARA ssl 9 ABS INEX a
99. ean C NET bool MO 7 LVPeta uint ref uint ref 07 S RESULT ps Aesult hDev pata 0000001600000 DTA esRsut u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D ERI VE DATA1 PRT U D AL2A 2C 771v1 2C 776Av1 2CD 7710v1 2 D 7713v1 0000000000 A AA BOL M97 veDatal D CRD ADev 7 S RESULT psResul 8 VB Functi on 07 BWri veDetal ByVal Av As Long ByRef poata As Integer ByRef osResu t As 7 S RESULT As Bool ean Function 07 BWri veDatal ByVal Av As Integer ByRef As Short ByRef osResu t As 7 S RESULT As Bool ean bool MO veDatal ui nt Av ref ushort poata ref M07 S RESULT psResul t hDev pata esRsut
100. i rss 10 25 GN SCAN 0000060 CRI G N CONSTANT SCAN H 19 46 123 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0 000 UJU D D EJ D du oog Q L u a I S Jim Ex 53 3 Mul I ol 3 amp ia zr ds I 61 gl 02 9 5 I 62 3 m 65 Qa I UJ 55 1 EI 1 1 SE c eS 56 r3 C C 1 5 xja 2 9 x Qo I 65 C Ez 1 mn I ET 51 Dom 9 I 66 1 1 1 1 r3 1 bz C 1 EJ
101. 0 00 SDAREAA0000000 4nn nn COMMAND H 09 SCAREA SET COMMAND STATUS1 PORT NN n lt mnmmon o 9 DRIVE PORTO ERROR lID Y LN gt DRIVE STATUS1 PORT BUSY J JU 0000000 000 gt MC07_BRStatus1 Y DATA1 PORT DRIVE 1 S0000000000000000 WRITE 0000000000000000 16 3830 00000 D PORT DRIVE PORTO nn BH HH S0000000000000000 WRITE 0000000000000000 16 3830 Hoooor DRIVE COMMAND PORTO COMMAND I I D DD D D gt MC07_LWDrive DRIVE DATA D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 DO _ _ 013 lt SUAREA gt DO 00000 SUAREA 2000000 000 DRIVE DATA PORTO 00000 D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 DO _ _ 013 lt SDAREA gt 0000 DDD SUAREA 0000 0 00000 RESOL 0000000000000 0000 HSPD 5 0 2 00005000000 0000000 00 HSPD LSPD 2 0000000000000 0000000 00 SUAREAD D 00 00 HzD SUAREA RESOL 00 LSPD 2 Hz 0 0000000000000 SUAREA RESOL 5000000000000 0 SUAREA
102. 0 0000 Lc Lc 53 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DB DU MCCO7D D D D 3 MAIN XY STRAIGHT CP L3 r3 41000000 gt COMMAND H 32 MAIN XY STRAIGHT CP COMMAND o 0 00O DRIVE STATUS1 PORTO ERROR 00O 9 000000000000 Y YSTATUSTPORTS Q00 DRIVE STATUSI PORTO BUSY 0 X gt MCO7 BRStatust 0 p 39 rele piu 8 0 DRIVE STATUS PORTO 9 900000000000 Y LN XSTATUSTPORT DRIVE STATUSI PORTO BUSY 0 Y gt 07 BRStatus 000 DATA1 PORT 000 DRIVEDATAi PORTDO0000000000000 WRITE 000 DRIVE COMMAND PORTO COMMANDE D D DDD D D gt 07 LWDrive DATA2 PORT 0 0 H 0000 J D 0D DRIVE DATA D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 DO YPULSE XPULSE 0 CONST CP DRIVE SEL SEL ENABLE MODE DRIVE MODE 5
103. 0 1 0 1 DEND PO 0 1 1 0 0 AND 000 duo os o PPY INA 1 DENDPOU D E OR U ID _ NC ERSTE 0 LONE Dein NoRGH U ORIGIN SPEC SET I 000 oRG D I ZORG U E 0000 r oRe un NORG D D D 5 SPEC D4 ORG DETECT EDGE 0 ORG 0 Il ll l BU l 1 1 gt 00 OFFO D 05 ORIGIN START DIRECTION ORIGIN 000000000 op cow 00000 0 L3 2 r3 42 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI D11 D8 ORG COUNT D3 DO ORG COUNT D3 D0 H 0 ORG C
104. 0 OA DTA PRT ER VE DAT m i BOL MD7_I VIpta DRD hv 7 S DATA posData 7 S RESULT gsResul t VB Functi 07 I W t a ByVal ADev As Long ByRef posata As 07 S DATA ByRef josResu t As 7 S RESULT As Bool ean Function 07 I VPsta ByVal Av As nteger ByRef psta As 07 S DATA ByRef osResu t As 7 S RESULT As Bool ean C bool MO I Wata ui nt Dev ref 7 S DATA psLata ref 7 S RESU T pshAesu t hDev esRsut 000 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D CD D D AL2A 2C 771v1 2 776Av1 2CD 7710v1 2CD 7713v1 0000000000 AVE DTA PRH ER VE DTA BOL M97 Rri ve DERD 207 S psEata 7 5 RESULT psResul t VB Functi on 07 ve ByVal Av As Long ByRef osrhta As 7 S DATA ByRef jsResul t As 7 S RESU T As Bool ean Functi 07 I RDri ve ByVal Av As Integer ByRef osata As 07 S DATA ByRef osResu
105. 00 000000 000 20000000000000000000000000000000000000000 D MAIN XY STRAIGHT CP I I D MAIN XY CIRCULAR CP 0 1 0 D 2C 771v1 2CD 7710v1 ADB5F30 2C 776Av1 2CD 7713v1 GDB5F40 uc mec CG c 000 CG YD k uuu 21 MCC e 000 e00000000000000000000 DRIVE STATUS PORTO ERROR 10000000000000000000000 0000000000000000 00000 0 00 ERROR STATUSO COMREG CLR ERROR 10 0000 2000000000000000000ERROR 10 0000000000000 COMREG CLR ERROR 10 0 ERROR 10 00000 ERROR 10 0 D D COMREG FL 10 COMREG 10 00000000000000000000000 ERROR 00 0000000 0 81 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI DB DU MCCO7D D D D STATUS1 PORT N lt ennon o 27 9 DRIVE STATUSI PORTO ERROR 0 O00000000000 STATUS1 PORT lt comRrea FL 022 2 DRIVESTATUS PORTO 000000000000 dire DRIVE DATA1 2 0000000 COMMAND PORT WEITE DRIVE COMMAND PORT COMMANDO 00
106. 00 AL2W64 ALI 0000 MCCO7D D D D 5 HARD INITIALIZE7 CWLM CCWLM 0000000000 DRIVE STATUS PORT BUSY 1 H000000 gt COMMAND HARD INITIALIZE7 COMMAND DRIVE DATA PORT I 000000000000 P DRIVE COMMAND PORT gt 07 LWDrive DATA2 PORT Hoooon DO 1 DRIVE DATA D15 D14 D13 D12 D11 D10 D9 D8 PAUSE 1 ORG NORG i FSSTOP ACTIVE 1 ACTIVE 1 ACTIVE 1 ACTIVE 0 D7 D6 D5 D4 D3 D2 D1 DO 4 DALM 1 1 CCWLM CWLM FSSTOP i ACTIVE 0 ACTIVE 0 ACTIVE 0 ACTIVE 0 e 00000 0 0 uuu 0000 D1 D8 FSSTOP ACTIVE 55 D2 CWLM ACTIVE EN Ez ET y m 33 D10 NORG AC
107. 00000 e jommi SCAREA SET 0 0 0 5 5 SDAREAQ 0000000000000000 50 00000000000 5000000000 5 0000f 2 ss V E HSPD unnnnnn BDnannn zv SUAREA EA SDAREA nnnnuun TN 00000 1J SUAREA SDAREA ov 0000 LSPD FsPD ELSPD 1 INDEX D 89 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 500 0000000000000000 500000000000 ms 0 0005 LSPD 10 SUAREAx2 0 00000000 ms TU gos 00000000 SUAREA j HSPD LSPD ms DCYCLE x 0 0005 x HSPD ELSPD 10 SDAREA x2 TD oos 000000600 SDAREA 0 HSPD ELSPD E 20 000000000000000000000000 90 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D CD D D 500000
108. 00000 gt 1 0000 Her 000 1 sTBeY 10000000000000000 FSPD 0 0 0 DELAY TIME BO HU D e aset HARD INITIALIZE70 00 0000000000000000 PAuse 0 on nn STBY 00 0 gt JSPD FsPD 0 8 i 100 00 FSPD 0 DELAY TIME Pause 000 0000000 FsPD0 1 0000000 ocpnpnauna 82 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 4 1 2 00000 1 000000000000000 0000 CWLM CCWLM 0 DALMA 00 10 HARD 4 ORG NORG
109. 02v1 00 AL2W64 ALI RATE CHANGE 0 0 O STBY 10 000000000 RATE CHANGE 0000000000 UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE 00 RATE CHANGE 0 0000000 RATE CHANCE 000000000000 RATE H D RATE CHANGED RATE RATE m 56
110. 07 LWDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 015 lt gt DO DRIVE DATA2 PORT U U l D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D4 D3 D1 DO D31 lt gt 016 H000 0000 0000 000 4 1 5 40 63 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7 0000 4 MAIN XY CIRCULAR CP 20000000 41000000 gt COMMAND MAIN XY CIRCULAR CP COMMAND YSTATUS1 PORT NN E un ERROR 0 gt gt DRIVE STATUS1 PORTO 000000000000 Y YSTATUSTPORT S DRIVE STATUSI PORTO BUSY 0 y 0 07 BR
111. 1 PORT N PORT S DRIVE STATUS1 PORTO ERRORD DDD Y LN gt e DRIVESTATUS PORTO ES gt 0 07 BRStatust 0 DATA1 PORT WRITE 0000000000000010 16 3830 Hooot H3FFFD PORT DRIVE 2 WRITE 0000000000000010 16 3830 H 00010 3 poca DRIVE COMMAND PORTO COMMANDE DHL HDD gt MCO7 LWDrive DRIVE DATA1 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D3 D1 DO 013 Hooce 2000 100 5000 000 DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D DO FS 5 013 DCYCLE Hooceg 2000 1000s D 000 9 00000 1 00000 us 0 UCYCLE x 0 5us 0 5 us 8 1915 ms 9 00000 1 0000000 00000 us 0 DCYCLE x 0 5us 0 5 us 8 1915 ms MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL AL I 0000 MCCO7D D D D 5 SCAREA SET 50 0000000 5 S00000
112. 10 3 86 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0 000 LO D D E RATE DATA TABLE RATE RESOL 1 RESOL 5 RESOL 10 RESOL 20 RESOL 50 RESOL 200 ms kHz U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE 5 000 10 000 3 000 6 000 2 000 4 000 1000 2 2000 500 1 000 5 000 10 000 300 600 3 000 6 000 12 000 200 400 2 000 4 000 8 000 20 1000 2000 4000 1 1755 50 100 500 1 000 2 000 5 000 30 60 300 600 1 200 3 000 12 000 20 40 200 400 800 2 000 8 000 TE mae 200 40 1000 400 5 10 50 100 200 500 2 000 3 6 30 60 120 300 1 200 2 4 20 40 80 200 800 ENS NC RUNE _ 0 5 1 5 10 20 50 200 0 3 3 6 12 30 120 0 2 2 4 8 20 80 E L AU RN ENSE E 0 05 1 2 5 20 0 03 3 12 0 02 2 8 sss 0 005 2 0 0025 1 87 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 3 000000000
113. 47 483 647 H 8000 00000 7 FFFF 0 0 0 20 08000000600 amp DRIVE COMMAND PORTO COMMAND 000000 gt 07 LWDrive 0 DRIVE DATA1 PORT I 0000 015 D14 D13 D12 D11 D10 D9 pz pe ps D4 58 pe pt po A15 lt INDEX CHANGE 0 gt A0 DRIVE DATA2 PORT LH ul D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 lt INDEX CHANGE 0 0 gt A16 74 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI DB DU MCCO7D D D D 4 PLS INDEX CHANGE 4nnun ns COMMAND HCE PLS INDEX CHANGE COMMAND gt N STATUS5 PORT xc DRIVE STATUSS PORT INDEX CBUSYI 000 0 000000000000 Y gt MCO7 BRStatus5 0 0 DATA1 PORT DRIVE DATA1 PORTO 0000000000 5 WRITE DRIVE DATA2 PORT 0000000000 581 uaa net 2 147 483 648 2 147 483 647 H 8000 00000 7 FFFF 0 0 0 000 20 000000000 amp DRIVE COMMAND PORTO
114. 5 0 DATA1 PORT WRITE DRIVE COMMAND PORT WRITE DRIVE COMMAND PORTO COMMANDO 0000000 MC07_LWDrive O DATA2 PORT 0 p Hoooon J U 00 DRIVE DATA1 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 SPEED SPEED SPEED _ rz _ m CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPEO D2 DO SPEED CHANGE 2 0 SPEED TYPE2 TYPE1 TYPEO SPEED 40000 gt 0 0 0 SPEED 0 0 1 0 1 0 STATUS5 PORTO 50 100000 0 MO NEN Tel dr oov S Deus 1 0 0 1 0 1 1 1 0 1 1 1 D 5500 0 0 5 500 0000000000000 0040000 000000000000 ANODO SSO D IN1 SS0 D 69 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 MEINEN ALI DB DU MCCO7D D D D 2 SPEED CHANGE 4nnnna n COMMAND H8 SPEED CHANGE COMMAND 3 N STATUS5 PORT
115. 50ns DEND PO DALM 0 O 50ns ORG NORG 0 50ns l 50ns EBD D 00 50ns HARD INITIALIZE6 00 0 FSSTOP HARD 4 HARD INITIALIZES 0 0 0 HARD INITIALIZE7 0 0 0 ADDRESS COUNTER MAX COUNT SET 1 1 0 0 PULSE COUNTER MAX COUNT SET 0 0 0 COUNT LATCH SPEC SETO 000 SPEC INITIALIZE2 0 D 5 HARD INITIALIZE1 0 0 00 0 5 117 2 FSPD MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL I 0 0 0 0 Mccozn nnn 5 000Hz 200 s100 FSPD SETO 000 RESOL HSPD LSPD ELSPD UCYCLE DCYCLE SUAREA SDAREA 1 1 1E 102 102 1 No 3 3 000 300 300 200 200 1000 HIGH SPEED SET 000 LOW SPEED SETO 000 DOWN PULSE ADJUST 1 0 o B nia i iia 2080000 CCW D 0 1 ORIGIN SPEC SETO 000 00000
116. 80 183 185 185 185 186 125 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 000 0000 uu du UP DOW CONSTI SPEED CHANGE SI SPEED CHANGE UND INEX OPNE 5 ES HO X E NEX CHANE UP DRI VE H 68 mm 1 1 Eii mn DOW DRI VE HC 68 sd EJ 1 C mn CONST R VE H C5 68 E t1 C 70 1 n mp m I 8 t1 1 O Ll 1 LJ I 9 71 CHANGE HC 73 1 mn mn mn
117. CH TYPE1 D6 PULSE LATCH TYPE2 TYPE2 TYPE1 TYPEO 0000 gt 0 0 0 PULSE LATCH 0 0 0 1 0 STATUS5 PORTO 80 0 gt 1000000 01 1 4 ORIGIN SPEC SETO 0000 ORe Dn Ug OD DLL O LB D D CE 1 0 0 1 0 1 1 1 0 1 1 1 aae D 5500 0 0 5 1 2 2 0 5800 00000000 000000040000 0 000000000600 INO 550 IN1 B yoo 8000 07 PULSE CLR ENABLE 0 1000000 D8 DFL LATCH TYPEO D9 DFL LATCH TYPE1 D10 DFL LATCH TYPE2 TYPE2 TYPE1 TYPEO gt 0 0 0 DFL LATCH 0 0 1 0 1 0 STATUS5 PORTO 80 0 gt 1000000 1 1 1 ORIGIN SPEC SETO 0000 1 0 0 1 0 1 0000 1 1 0 0000 1 1 1 a D 5500 0 0 3 2 0 5800 0000000000000 0040000 0000000000600 INO 5000 IN1 D 8000 D11 DFL CLR ENABLE
118. D12 D11 D10 D9 D8 _ _ p CONST CONST CONST TYPE2 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO DOWN DOWN DOWN UP UP UP TYPE2 TYPE1 TYPEO TYPE2 TYPE1 TYPEO 00000000 000 D2 DO UP 2 0 D6 D4 DOWN TYPE2 0 DOWN D10 D8 CONST TYPE2 0 CONST DRIVEQ 00000000 2 TYPE1 TYPEO 0000 cHANGEnugggggggg 0000 gt 0 0 0 0 0 1 0 1 0 STATUS5 PORTO 50 100000 0 dos ORDD ec 1 0 0 0000 1 0 1 1 1 0 1 1 1 D 5500 0 0 5 500 0000000000000 0040000 000000000000 ANODO 55000 8000 67 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL AL I 0000 MCCO7D D D D 2 UP DRIVE 4 000000 gt COMMAND H C4 UP DRIVE COMMAND N STATUS5 PORT MT DRIVE STATUS5 PORT SPEED CBUSY J 9 900000000000 gt MCO7 BRStatus5 0 WRITE COMMAND PORT
119. DEX CHANGE 0 INDEX CHANGE 0 0 0 18 600000000 ERROR STATUS CHANGE CLR ERROR 10 DD D 0 INDEX CHANGE 1 INDEX CHANGE 0 8 D UU B U D INC INDEX D D D
120. J 00 10ms HARD INITIALIZES 0 0 ZORG D ims HARD INITIALIZES 0 0 0 EA 00 12 75 us HARD INITIALIZE6 0 0 0 aonn foun L UU U J L L j 11 0000000 i i i SENS 0000 0000 0000 0 0 0 0000 neppe o 10 00060 00000000 M 0000000 5 5 83 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D D D D 2 0000000000000 0 FSSTOP J 0 CWLM 1 D COWLM l HARD INITIALIZE7 0 0 0 ORG NORG 0 PAUSE 1 0 joa FER E 84 L3 c3 c3 C3 o ri e ric 0 He LC LIIL LICLILILI e EPEE L3 L3 L3 c3 C3 L3 c3 c3 C3
121. L2W64 IL ALI 4 1 6 0 CHANGE 0 0 1 UP DOWN CONST CHANGE 0 UP DOWN CONST 0 0 0 0 O CHANGE 0 0 0 5 18 000 000000 00000000 00 5 CHANGER ODD UU DU D DOWN UP DOWN CONST 0 0 0 0 0 UDC SPEC UP DOWN CONST 0 0 0 0 m UP DOWN CONSTO O0 0000000000000 ORIGINO 0000000000 5 COMAND CODE 00 H12 18 H13 SCAN
122. OUNT D3 D0 ORG COUNT D3 D0 H 2 ORG COUNT 03 0 D12 AUTO DRST ENABLE SERVO SPEC SET 0 0 0 D 0 DRSTD D D 8 DD D C ORIGINI II IDD U 5 0 DRST 1 0 43 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 2 ORIGIN SCAN ORIGIN SCAN 0000000000 4 gt COMMAND H 18 ORIGIN SCAN COMMAND ed gt N DRIVE STATUS1 PORT 0 000000000080 Y LN x vnd gt DRIVE STATUS1 PORTO 5 0 000000000000 ES gt 0 MC07 BRStatus 0 8 DRIVE COMMAND gt 07 BWDriveCommand J ORIGIN SCAN 0 5 AUTO DRST ENABLE 1 J 44 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0000 3 ORIGIN CONSTANT SCAN ORIGIN CONSTANT
123. P SPEC LONG POSITION SHORT POSITION LONG POSITION SHORT POSITION 20 00 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 4 00000000 8 8 388 608 8 388 6070 240000000 2 147 483 648 2 147 483 6470 320000000 00 2 2 CIRCULAR XPOSITION 000000 X000000 CIRCULAR YPOSITION CIRCULAR PULSE
124. PL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 MCCO7D D D D E INC INDEX CHANGE 1 00000000000000000000000000000000000 yaa HSPD em PEE D D ELSPD uuuuunnn INC INDEX CHANGE I 0000000 gt 000000 INC INDEX CHANGE E ABS INDEX D000000000000000000000000000000000000000 HSPD Pn an E D DDD ELsPD E uuuuun ABS INDEX CHANGE ll PLS INDEX CHANGE 00 HSPD 0000 8 0 1 B D ELSPD 00000000 00 PLS INDEX CHANGE 0000000 PLS INDEX CHANGE 0 f 111 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0000 MCCO7 LO D INDEX CHANGE INDEX CHANGE 000000 og E E SPD ELSPD X i 0000000 00000000 _ INDEX CHANGE 0 0 500 0 00 INDEX CHANGE
125. Ref pata As Short ByRef josResu t As 7 S RESULT As Bool ean C bool M97 BRO i veDetal ui ALev ref ushort poata ref M97 S RESUT psResul t pata psResu t u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI 0000 MCCO7D D D D ERI VE DATA2 PRT U DL LH AL2A 2C 771v1 2C 776Av1 2CD 7710v1 2 D 7713v1 0000000000 AvE 2 BOL M97 veData2 DERD Av porbta 7 S RESULT pshResul 8 VB Functi on 07 BRDri veet a2 ByVal ADev As Long ByRef poata As Integer ByRef osResu t As 7 S RESULT As Bool ean Functi 07 BRLri veDat a2 ByVal Av As Integer ByRef pata As Short ByRef osResu t As 7 S RESULT As Bool ean NET bool 07 veData2 ui nt ev ref ushort poata ref M07 S RESULT t hDev pata esRsut u
126. Statust 0 0 XSTATUS1 PORT NN E P ERROR 0 gt 8 DRIVE STATUS1 PORTO 000000000000 LN vd gt 000 DRIVESTATUS PORTO 000000000000 zs gt D D MC07 BRStatust 0 0 000 DATA1 PORT 000 WRITE DRIVE COMMAND PORTO COMMANDE D D D HD D D gt 0 0 07 LWDrive DATA2 PORT 0O DRIVE DATA1 PORTE D DD D D D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO YPULSE XPULSE 0 CONST CP DRIVE SEL SEL ENABLE MODE DRIVE MODE D1 CONST CP ENABLE 1 D4 XPULSE SEL 1 05 YPULSE SEL
127. TIVE NORG Hl lI 1 3 D13 ORG ACTIVE D15 PAUSE ACTIVE 0p PAUSE 10 1 5 D150 PAUSE J MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI MCCO7U D LL D U HARD n n c L3 rc 34 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 1 2 0000 00000000 1 FSPD SET 41000000 gt COMMAND HOS FSPD SET COMMAND y STATUS PORT NN C STAS PORT gt DRVESTATUS PORTO ERROROD DU 000000000000 Y cx cde e DRIVE STAT
128. US1 000000000000 ES gt MC07 BRStatus 0 0 DATA1 PORT DRIVE DATA D15 D00 0000000 WRITE DRIVE DATA2 PORTE I D D D22 D160 0000000 DATA2 PORT 00000000 8388 07 0000 7 FFFFD D D 0 WRITE 1 2 DRIVE COMMAND PORT gt 07 LWDrive DRIVE DATA1 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D3 D1 DO D15 lt FSPD gt DRIVE DATA2 PORT 00000 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO ase p2 FSPD gt D16 Hoo 1388 5 000 Hz 000 200 us 000 000 200 0 0000000000 10000000 00000000 00000000000600 5 10 000 000 000 B gt 250 10 000 000 0 gt ONDO Cx50ns FSPD 000
129. WDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D DO 013 DRIVE DATA2 PORT I 1 UU 00 D15 014 013 D12 D11 010 09 D8 D7 De D5 D4 D3 D2 D1 DO E D13 lt DCYCLE DO RATE 0 0000 1 0000000 00000000000 us 0 UCYCLExO 5ygs 0 5 8 1915 ms 00000000000 us O DCYCLE x 0 5us 0 5 us 8 1915 ms RATE MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 3 1 10 INDEX 000000000 INDEX CHANGED 0 00000 1 INDEX CHANGE SPEC SET COMMAND H C3 INDEX CHANGE SPEC SET COMMAND LN DRIVE STATUS5 000000000000 gt MCO7 BRStatus5 0 D DATA1 PORT WRITE DRIVE 1 COMMAND PORT DRIVE COMMAND PORTO 0 0000000 WRITE gt MC07_LWDrive 0 DATA2 PORT 0
130. Y Eqs en p ed FEE Y An Fieri 000000 0 0000000000000000 000000000 en gi 60 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI 0000 MCCO7D D D D 1 CIRCULAR XPOSITION SET 4nnnna n COMMAND H28 CIRCULAR XPOSITION SET COMMAND N STATUS1 PORT DRIVESTATUS PORTO ERRORD D D 0 000000000000 Y LN gt DRIVE STATUS1 PORTO 0 gt 07 BRStatus 0 0 DATA1 PORT DRIVEDATAi X00000000000000 WRITE DRIVE DATA2 PORT WRITE 8 388 608 8 388 607 H 80 00000 7 000 20 000000000 DRIVE COMMAND PORTO COMMAND DH 00000 gt 07 LWDrive DRIVE DATA1 PORT U U UU TU D15 D14
131. l L l 7 SetData 19 32 Dnnn esszuaiuuugnnpnnonnnun 20 2 120 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0 000 0000 READY STATUS1 BY B T 0 D 00000 000000000000 000600 WA mam 207 BI sWi t 96 VALTD D 07 BBreakV i t 97 D DDDnDrnrn READ VA T p D D NOT FULL W TDI U 7L 7 7 7 7 l 207 S SPEED RATE 98 7 Set SpeedRat e 100 000000 RAT DDD D SPEED 207 ReadSpeedRat e 101 OSPEEDIRATED O 000000 7 S CN 102 0000060 2010 mE LUN In E 198 000000000000 ico sl 1 MOZ 17 2 j MO7 MInGrp 109 1 ES 1 1 D 1 mm EJ EJ 7 Get Gi rCenterPosi ti 111 M97 I ncFronftos 112 23
132. s Short C NET short M07 Si 16 ushort Mta Bg Data 1610 000000000000000 u 161 25 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D CD D D 320 0000000000 AL2A u q DWPRD M207 Unsi gned32 LONG Mta VB ss Functi 7 Unsi gned32 ByVal M ta As Integer As U nteger C NET uint MO Unsi gned32 int Pasta Data 341 321 26 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 DIL ALI DD DU MCCO7D CD D D 320 0000000000 AL2A u BI LONG 07 Si gned32 VB Functi 7 Si gned32 ByVal sta As U nteger As I nteger NET int M97 Si gned32 uint ta Data 341 321 27 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 AL i 0000 5 DRIVE PORTO 1 41000000 gt COMMAND H F1 HARD 2 1 COMMAND DATA1 PORT WRITE
133. t As 7 S RESULT As Bool ean C bool 7 1 Rri ve ui nt ref M07 S DATA poslata ref 07 S RESU T psResul t hDev esRsut u MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 IL ALI DB DU AL2A 321 ps atag 0000000000000 0O AC7 mata 0 Q 0 DIO 0 DATA1 PRT D15 D14 013 D12 D11 D10 D9 D7 D5 D4 08 Dt DO D15 lt 16000 015 Do 5 0 0 psta 00 00000000000 AC erar g 41 D DATA PRH D15 D14 D13 D12 D11 D10 D9 D7 D5 D4 D3 D1 DO 531 lt Data I 16000 0310 016 D16 M97 SetData DIWRD Mata 7 5 DATA VB Sub 7 SetData ByVal Mta As Long ByRef As 207 5 DATA VB NET Sub M37 SetData ByVal 25 As Integer ByRef osrhta As 7 S DATA NET voi d MOJ7 Set ta uint Zata
134. tatus5 0 0 DATA1 PORT DRIVE DATA1 PORTO 0000000000 5 WRITE DRIVE DATA2 PORT 0000000000 81 uaa net 2 147 483 648 2 147 483 647 H 8000 00000 7 20 000000000 amp DRIVE COMMAND PORTO gt 07 LWDrive DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 pz pe ps D4 58 pe D1 po D15 lt INDEX CHANGE 0 gt DO DRIVE DATA2 PORT ut D15 D14 D13 D12 D11 D10 09 D8 D7 D6 D5 D4 D3 D2 D1 DO 73 MPL 34 02v1 00 AL2W32 MPL 35 02v1 00 AL2W64 ALI 0000 MCCO7D D D D 3 ABS INDEX CHANGE 000000000 0 5 5 41000000 gt COMMAND H CD ABS INDEX CHANGE COMMAND N STATUS5 PORT 1 INDEX CBUSY 0 DRIVE STATUS5 PORT j 9 000000000000 gt MCO7 BRStatus5 Y DATA1 PORT DRIVE DATA1 15 WRITE DRIVE DATA2 PORT 0000000000 1 16 uaa net 2 147 483 648 2 1
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