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C-873 取扱説明書

1. G8731 0 BASE APDRESS UP No DON RATE No LOWSPEED DATA H SPEED DATA CONSTANT SPEED ADDRESS DATA FCR NX ERI VE CRG TYPE No CFFSET PUSE DATA UMT CELAY SCAN DELAY TI ME J OG PELAY TI ME HHHHHPROGRAMHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 16 1 INITIALIZE PROGRAMI RESET 000000000000000 HHHHHHHHHHHHHHHHHH 1 DRIVE TYPE L LIMIT STOP TYPEH O O O O TYPED STEPPING RDYINT 0000000 2 PULSE COUNTER COMPARATORH PULSE COUNTER MCC05nn DRIVE PULSEH O O OO O O 0 O COMPARE REGISTER1H O O CNTINTH 0 O COMPARE REGISTER1H O O O 10000 2710 0 0000 COMP STOP TYPEH Hl H d B B d dt 3 ADDRESSH MOTORH ADDRESSH 1000 3E8n PULSE COUNTER 1000 3E8n PRESET 0000 SS SS eie 1 AX S MOS IN TI ALI ZE CUR sa PV maa a voi d xlnacObi nz voi d 1 SPEC IN TI ALI COMAND x1nacr dy X1 S MOS VA T out p XIMXDI1 0x28 ERI VE SPEC DATA OUT out p XIMON 0x01 SPECINTI AI 1 COMAND OUT PULSE CANTER I N TI ALI ZE COMAND x1nccrdy XI AN S MOO5 ROY out p XLMX
2. IE loo E EA ET ES ES ga ESL DOO EE a ET Eri t E E NM HN AEE phi hi HHHHHHHHHHHHH PAGE WU MINUM C 00600 GEIR 3 1 E DD l l i i ii i HUH 4 1 VO PORT 42 PORTUS s s 4 3 DRIVE COMMAND PORT 4 4 DRIVE DATA1 2 3 PORT WRITE 4 5 DRIVE DATA1 2 3 PORT READ 4 6 COUNTER COMMAND PORT 4 7 COUNTER DATA1 2 3 PORT WRITE doc TATUS TIPS 4 9 STATUS2 PORT 4 10 STATUS3 PORT 4 11 STATUS4 PORT 4 12 STATUS5 PORT 000000000 5 1 JOG DRIVE 0
3. HHHHHHH 2 LIMIT STOP TYPE D CWLM CCWLMHHHHHLIMITHHHHHHHHHH BTO DI 0 100000 3 MOTOR D UB nd MOTOR D LU U D BITI H SERVO 1 STEPPING 4 RDYINT TYPE D D COMMANDH HH 0 0 00 U RDYINT HD U Cl B UO U C D U I UO BIO O U DU 00 o 0 1 000 COMMANDO O 000000000000 28 6 5 PULSE COUNTER INITIALIZE COMMAND COMMAND 02n PULSE COUNTERH DRIVE 2 3 PORTO PULSE COUNTH 00000000 mms DRIVE DATA1 PORTO 00000000000 BUSY 0 DATA1 PORT Y Di Di 0101000 COMP STOP TYPE CNTINT OUTPUT TYPE CNTINT LATCH TRIGGER TYPE 3 DRIVE DATA1 PORTO 0 BITHHHHHHHHHHHH POWER ON RESeTO O0 00000000000 1 COMP STOP D PULSE COUNTERI COMP STOP COMPARE REGISTER1H 50000000 0 2 CNTINT OUTPUT TYPE D PULSE COUNTER CNTINTHHHHHHHHH COMPARE REGISTER1H 5000000000000 00 COMPARATORHHHHHHHHHHHHH HHHHHHHHSTATUS3 READHHHHHH 10 COMPARATORHHHHHHHHHHHHHHHHH D 1 COMPARATORHHHHHHHHHHHHHHHHSTATUSS READ 000000 HHHHH
4. 5 1 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc com TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com CHR
5. c COMPARATORH O 0 O O PULSE HHHHHHPULSEHHHHHHH SSEND BITO 1000000 HHHHHHHH 0 0 PULSE COUNT COMPAREH 0 CONTROLO PULSE COUNTER INITIALIZE COMMANDO HHHHH COMPARE REGISTER DATA 0 COUNTER PORT PORTHHHHHHHHHHHHHH COMPARE DATAH 00000000 O COUNTER PORTO DRIVE HHHHHHHHHHHH COMPARE REGISTER1H COMPARE REGISTER1H 000 COMPARE REGISTER 0 HH HHHHHHHHHHHHHHHHHHH COMPARE REGISTER1H HHHHHHHHHHHHHHHHHHHHHHHHH ULSE MAND CONTROLH O O PULSE COUNTER INITIALIZE COMMANDHHHHHHHHH HUHHHHHHH COMPARE REGISTER1H 0 O O PULSE COUNTER OHHHHHHH HHHHHH COMPARE REGISTER1H O COUNTER DATA1 2 3 PORTO 0 OO O O DATADO COMPARE REGISTER1H HHHHHHH 58 8 4 1 a b C 2 a Q Hs ESTY E COUNTER COUNTH COUNTER MCCO5n 00 0 0 PULSE COUNTER O MCC05n n CW H PULSE DOWN COUNTH CCW H O PULSE UP COUNTH U ADDRESS 0 PULSE COUNTER COUNT DATA DRIVE DATA1 2 3 PORTO DFL COUNTER PORTO 0000000000 DATAH 8 388 6
6. 3 1 PCI 00 D I PCI Local Bus Specification Rev2 1 16 15 fset Devi ce 1 0 1070h Status Base Q ass 8 Base Address Regi sterg 00000 Base Address Regi ster C 873 Base Address Base Address Regi sterg e e 2 OC D eg Reser ved Car dbus S Poi nter Subsyst em 00h Expansi on RCM Base Address Reserved Reserved Interrupt n 01h 3m 4 U U U INTA STATUS PORT READH N CO Dh Bose Address Registe UI Base Address Register C873 Base Address dBaseAdresRegste DUD 18 GardbusQSPointer GJ GJ GJ NJ 2 2 25 5 D LU 00000 0000 t07mmx 175mmx 17mm 3 2 1 DRIVEH 0 JOG MMee 1PULSE DRIVE SCAN mene HHHHHHHHHHHHHHH DRIVE INDEX PULSED O O 0 0 O ADDRESSH 00 0 DRIVE ORIGIN HHHHHHHHHHHHDRIVE 9HHHHHH S RATE SCAN SCANHHHHHHHHHHHHHHHHHH DRIVE S RATE INDEX INDEXHHHHHHHHHHHHHHHHHH DRIVE HHHHHHHH SCAN DRIVE INDEX DRIVE H 10 D D D S RATE SCAN INDEX DRIVEN 2 DRIVE PULSEH JOG f 1PULSE DRIVE SCAN S RATE SCAN PULSE DRIVE INDEX S RATE INDEX 8 388 607 PULSE DRIVE 16 777 214 3 SPEED RATEH SPEED Ts 1Hz 3 3MHz
7. DATAI DRIVE HHHHHHHHHHHHHHHHHHHHHH hRATESPEED DATAHHHHHHHHHHHHH IIHHHHHHHHHHHHHHHHHHH aus 1 S SCAN VE ee voi d 1 voi d RATE SET COMAND xlnacr dy 1 S MCO5 VAT out p XIMXDI2 urate UP RATE No out p XIMXDI3 drate RATE OJ out p 1 0x06 RATE SET COMAND OJT LSPD SET COMANND x1nacr dy 1 S MCO5 VAT out p XIMXDI1 UC 8 spd 2 LONSPEED DATA MB SET UC amp spd 1 out p X1 UC amp spd LONSPEED DATA LSB SET E da 0x07 LSPD SET COMAND OUT HSPD SET COMMAND xlnacr dy X1 AXI 5 MOS WAT out p XIMXIDT1 UC amp hspd 2 H H SPEED DATA MB SET E MID UC amp hspd 1 out p X1 UC amp hspd GH SPEED DATA LSB SET 0x08 SET COMANND SCAN DRI VE COMAND xlnacr dy XI AX S MOOS ROY W T out p X1MOOOOM 0x12 4SCAN ERI VE COMAND 0 RAM AREA urate drate RATE DATA TABLE No 0 lspd hspd 0 0 0 SPEED 878 16 4 INDEX DRIVE PROGRAMI U U U U U INDEX DRIVE URATE DRATE LSPD HSPD O DATA
8. 5 2 SCAN DRIVE 5 3 INDEX DRIVE 5 4 DRIVE SPEED D JI JMpVq 55 ORIGIN DRIVE 5 6 LIMIT SENSORHHHHHHHHHH 8 5 7 S RATE SCAN DRIVE Dn 5 8 S RATE INDEX DRIVE MM 59 S RATE DRIVEHHHHHHHHH 5 5 12 LIMITHH HH 5 13 SERVO DRIVER HH sa arc h LI 5 16 SPEED O Dn 5 17 DRIVE TYPED 00000 918 SREED GL Run pU CCR 5 19 0 O0 DATADO O0 0 0 0O O HHHHHHHUH HHHUHHHHHHUHHHHUHHHHL 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13
9. HHHHHHHHHXICNTINTHHHHSTATUSSPORTHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHH STATUS3 PORTO READH HHHX1CNTINTHHHHHHHHH 2 PULSE COUNTER INITIALIZE COMMANDH CNTINT LATCH TRIGGER TYPEH 1HHHHHH PLS COMPARE REGISTER 2 HHHHH 7 X 8 X 9 A 10 IOR X1CNTINTH 0 STATUS3 COMP1H 5 COMPARE REGISTER SET COMMANDH O 000 HHHHHHH HHHHHHHHHH CNTINTH HH O STATUS3 PORTHHHHHHHH COMPARE REGISTERH HHHHHHHHHHHHHHH STAT XICNTINTO 00000000 S3 PORTH READH 3 PULSE COUNTER INITIALIZE COMMANDH CNTINT OUTPUT TYPEH PLS COMPARE REGISTER 10 8 X 9 X 12 X1CNTINTH D STATUS3 COMP1H 5 COMPARE REGISTER SET COMMANDO 0 0000000000000000 XICNTNTO 00000000 0 0000000 0 XICNTNTO 0000000 HHHHHHHHHHHHHX1CNTINTHHHHHHHHHSTATUS3 PORTHHHHHHHH CWHHDRIVEHHHHHHHHHHHC 873H X10 DRIVE PULSEHHHHHHHH X1CWP IOR 0 STATUSS O 0000000000 X1CNTINT t1 200ns t2 200ns t3 200ns 12 13 DFLINT TIMING INTAA DFL COMP100 000 0 0 0 COUNTER COMPARE REGISTER1 HHHHHHHH X1DFLINTH STATUSO O DFL COMP1 H TIMINGH I D H B B U B U U 1 DFL COUNTER INITIALIZE COMMANDH DFLINT LATCH TRIGGER TYPE OHHHHHH oL
10. DATA DRIVE HHHHHHHHHHHHHHHHHHHHHHHHHH RATE SPEED DATAHHHHHHHHHHHHH IIIHHHHHHHHHHHHHHHHHHH DRIVE ADDRESSH INDEX DRIVE DATA DRIVEH IIHHHHHHHHH Sau EN Sa m mus ot X1 5 ABSQLUTE NDEX ERI VE SEG voi d xlabsi ndex void RATE SET xlnacr dy 1 S MCO5 VAT out p XIMXDI2 urate UP RATE out p XIMXDI3 drate DOW RATE out p 1 0x06 RATE SET COMAND OUT LSPD SET x1nacr dy 1 S MCO5 VAT out p XIMXDI1 UC amp spd 2 LONSPEED DATA MB SET UC 8 spd 1 out p X1 UC amp spd LONSPEED DATA LSB SET 0 07 LSPD SET COMAND OUT HSPD SET x1nacr dy 1 S MCO5 VAT out p XIMXDI1 UC amp hspd 2 H GH SPEED DATA MB SET UC Shspd 1 out p X1 UC amp hspd H GH SPEED DATA LSB SET 0x08 HSPD SET COMAND OJT ABSQLUTE NDEX ERI VE COMAND xlnacr dy 5 MCO5 VAT out p XIMXDIT1 UC amp absdt 2 ABS DATA MB SET A MD UC amp absdt 1 out p X1 UC amp absdt ABS DATA LSB SET
11. COUNTERI O MCCO5n 5 CW H O PULSED DOWN COUNT CCW H O PULSED UP COUNTHHHHHHHHADDRESSH O PULSE COUNTERHHHHHHHHHH 2 COUNT PATTERN D D COUNTERHHHHHHHHHH 3 COMP1 INT ENABLE DI COUNTER COMPARATOR1H 0 O X1DFLINTHHHHHHH X1DFLINTH D LL DD D 10 X1DFLINTH HHHH COUNTHHHHHHHBITHHH HHHHHHHHBITHHH 4 COMP1 STOP ENABLE DI COUNTER COMPARATOR1H 0 0 H HHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH onnnnnmnmm 19 00000 DRIVE DATA3 PORTO 0000000000 DATA3 PORT D D 0 0 0 0 0 0 COMP2 INT ENABLE COMP2 STOP ENABLE 0 210 2 BITHHHHOHHHHHHH 1 COMP2 INT ENABLE D 0 0 COUNTER COMPARATOR2 0 0 X1DFLINTH HH BITH UO U X1DFLINT 10 X1DFLINTH U 2 COMP2 STOP ENABLE DI COUNTER COMPARATOR2H PUOLSEHHHHHHHHHHHHHHHHHHHBITHHH 1000000 36 6 13 SET DATA READ COMMAND COMMAND ues BUSY 0 Y DATAL PORT TE DATA3 PORT VRI OA VRI TE NP BUSY 0 0 2 3 000 HHHMCC0Sn SPEED DATAH DRIVE DATA3 PORT WRITE D O O 0 O 0000000 DATA COMMAND nHHHHHHHH SPEC DATA HHHHHHHHHHH DRIVE DATA1 PORT WRITE H 0 2 3 DRIVE DATAS PORT WRITE 0 O00 000000000 D
12. 16 5 ORIGIN DRIVE PROGRAMI 16 6 PULSE COUNTER DATA READ PROGRAM 0 HHHHHHHHHHHHHH n 00000000 18 1 L TYPE RATE DATA TABLE mm 0 18 2 M TYPE RATE DATA TABLE 0 18 3 H TYPE RATE DATA TABLE 0 18 4 RATE CURVE GRAPH JY 0 HHHHHHHHHHHHH m n ELEF BB SS ruan 20 1 DRIVE COMMANDO COMMANDH 20 2 COMMANDO COMMANDI 0 HHHHHPCIHHHHR2 1HHHHHPCIHHHHHHHHHHHHHHHHH 0 SERVO STEPPING 12H CONTROLLERI H B B B PCIE 5V SHORT CARDO O 107x1750 HHHHHHHHHHHHHHHH CHIP CONTROLLER MCCO5nnHHHHHHHHHHHHHHHHH MOTOR 0 0000 0 STEPPING MOTOR U O O SERVO 120 00000 HHHHHHHHHHHHHHHH HHHH12HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH U 2 1 X1 MCCO5nn HHHHHHHHHHHH 2 3 Y1 MCCO5nn HHHHHHHHHHHH 2 UUUUUUUU 3 Zi MCCO5nn 2 UUUUU
13. amp 873 WOW PRO771 2 5 Ed zig H d L3 r3 o 20 a Ey 20o o a 20 a r3 Ez L3 E coo o 20 oOo g 5 C Epig ooo dex E Ed 200 Goa Er EG ooo 20 O g cs HE Ha S BET coo 20 mnm a pO EE a GA EJ cepa Ey 20 Og DOO ao EIE EE coo 20 m O0 oa oo a oan coo 20 EE 254 ra a Eit a a Ei HERE BE uH N E
14. HHPULSEHHHHHHHHHHDRIVEHHHHHHHHHHHHHHHHH EDRIVEHHHHHHHHHH 21 SPEED RATE CHANGED SCAN DRIVE 0 0 0 CHANGE COMMANDHHHHHHHHHHHHHHHHHHHHHH 22 AUTO CHANGED HHHHHHHHHHPULSEH SPEEDHHHHHHHHHHHSPEEDH O RATEHHHHHHH 23 DRIVEH HH D PULSED U UO O O HH INDEX DRIVE 12 DRI VE 1 DRI E pe un Md B _HHnl _ HHn _ HHn _HHnl _ n _HHnl L Dj _HHnl n _HHnl Es 00 n Du lo lo _HHnl 00 _ HHn BERE _HHnl _ n _HHnl L 00 n _HHnl n _ HHn _HHnl n 2 _HHnl _HHnl n ln 2 EES _HHnl t ppc n _HHnl L Dj EI E LEM EJ Eg E E E23 ET ES EJ Ex qup Ex ES ES LE 1 1 1 m 1 mm r3 mm r3 r3 mm r3 3 E 3 nee L 1 STATUSS L 1 STATU55 ITILIHTIIHIII 207 DRIVE DANTAI HH DRI VE DATAZ n COUNTER 0 0 0 0 0 DR VE OMAND 0 0 0 0 0 0 LR g gas 3383 DIDID gt gt gt gt
15. EIE EZ ESTEE E93 E EE HHHHHHHHHHH 81 DD ILI m 8 2 ADDRESS COUNTERH 8 3 PULSE COUNTERH 8 4 COUNTER lt 8 5 COMPARATORH D e 00 HHHHH HHHHHHUHHHHHHHHHUHH 0000000060 9 1 COMMAND MM HH 9 2 PULSE COUNTER PRESET COMMAND HH 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND HH 9 4 PULSE COUNTER COMPARE REGISTER2 SET COMMAND HH 9 5 PULSE COUNTER COMPARE REGISTER3 SET COMMAND HH 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND HH 9 7 PULSE COUNTER COMPARE REGISTERS SET COMMAND HH 9 8 COUNTER PRESET COMMAND HH 9 9 COUNTER COMPARE REGISTER1 SET COMMAND HH 9 10 COUNTER COMPARE REGISTER2 SET COMMAND ELECEE E ELE ELE BU EE HHHHHHH 11 1 COMMANDO 0 0000000000 jener cobre reveren HH 11 2 PULSE COUNTERH 0 DFL COUNTER HHHHHHHHHH o HH 11 3 00000000 Mmmm HH E MIHI HH HHHHHHHH 12 1 JOG DRIVE TIMING MM HH 12 2 SCAN DRIVE S RATE SCAN DRIVE TIMING HH 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING HH 12 4 ORIGIN DRIVE TIMING
16. def i ne UC unsi gned char defi ne UL unsi ong def i ne US unsi gned short def i ne XIMXX i obased40x0 def i XIMXDI1 i obase40x1 def i ne XIMXDI2 iopase 0x2 def i ne XIMXDI3 i obase40x3 def i ne i obase40x4 def i ne XICONIDTI1 i obase40x5 def i ne X1QNIDT2 i obase40x6 def i ne XICONIDI3 i obase40x7 def i ne XIMXST1 i obase40x0 def i ne XIMXST2 i obase40x4 def i ne XIMCST3 i obased40x5 def i ne XIMXST4 i obase40x6 def i ne XIMXST5 i obase40x7 def i ne YIMXX OM i obaseQ40x10 def i ne Y1MXDI1 0 11 def i ne Y1MXDI2 i obase40x12 def i ne Y1MXDI3 i obase40x13 def i ne 1 i obase40x14 def i ne Y1QNIDT1 i obase40x15 def i ne Y1QNIDT2 i obase40x16 def i ne Y1QNIDT3 i obase40x17 def i ne Y1MXST1 i obase40x10 def i ne Y1MXST2 i obase40x14 def i ne Y1MXST3 i obase40x15 def i ne Y1MXST4 i obase40x16 def i ne Y1MXSTI5 i obase40x17 def i ne 21 0000 i obase40x20 def i ne ZIMXDI1 i obase40x21 def i ne ZIMXDI2 i obase40x22 def i ne ZIMXDI3 obase40x23 def i ne Z1CNICOM i obase40x24 def i ne Z1CNTDI1 i obase40x25 def i ne Z1CNIDI2 i obase40x26 def i ne ZIONTDT3 i obase40x27 def i ne 21 0 5 1 i obase40x20 def i 21 0 5 2 i obase40x24 def i ne MCST3 i obase40x25 def i ne Z1MXST4 i obase40x26 def i ne MCST5 i obase40x27 def ne A1MXX M obaseQ40x30 def i ne A1MXDI1 i obase40x31 def i ne A1MXDI2 i obase40x32 de
17. HHHHHHHHHHHHHHX1NORGH 00 CWIHHHH H HHHHHHH X1ORGH D D CW HHHH HH UHHHHHHHNORGHHHHHHHHHHHHH CCWHHHHHHHHHHORGHHH IIHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 7 ORG 5 0 NEAR ORCO 00000 ORG 0000000 1 NEAR ORGO CCW LIMIT CW LIMIT X1NORG HSPD HIGH SPEED 0000 CONSTANT SPEED br LD LIMIT DELAY TIME gn 13 SD SCAN DELAY TIME JD JOG DELAY TIME oO 000000 Oooog Laon 53 2 HHHHHHX1ORGH HICHO 0 U O UU OFF HHHHHHX1ORGH LOWHHH HHH ON X1NORG X1NORG NES FT l X1ORG X1ORG 0000 nnnn lun 000044 00 17 oo 42 je E HHHHHHHHHHHHHHX1NORGH D D CW D 000 H D U U U D D X1ORGH CCW HHHH HH HHHHHHHNORGHHHHHHHHHHHHH CCWHHHHHHHHHHORGHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 8 0RG 10 CCW LIMIT CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED LD LIMIT DELAY TIME nnnn SD SCAN DELAY TIME co m 9 A 010006060 i DELAY TIMEH 0 HHnnn 0 onnnn h U HHHHHHHHHHX1NORGH D D CWH HHHHHHHH CONSTANT SCAN HHHHX1ORGH CWHHHH 0 ORG ORGHHHHHHHHHH 0 0 o 54 7 9 ORG 11H LIMITHHHHHHHHHHHHHHH
18. J as 1030ms 1000Hz 0 004ms 1000Hz 4 SPEED DATA Hz tH O 0 PULSE SPEED 10 3 333 333 Hz 0000000000000 HHHHHHHH RATEDHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH O 0 O 5 SCAN S RATE INDEX 6 DRIVE SPEEDH D SCAN DRIVEH INDEX DRIVE SPEED 00000000000000 H INDEX DRIVE 0000000 U RAT 0000000 7 ADDRESS COUNTH ADDRESS COUNTERH 0 MCC05nn PULSEH 0 ADDRESS COUNTH 0 0 COUNT DATAH 0 0 HHHHHHHHHHHH 8 PULSE COUNTH PULSE COUNTER 0 PULSE COUNTER 0 HHHHHHHHHHHH PULSE COUNTH O O COUNT 5 000 O COMPARE REGISTERH 000000000 L3 mr L3 mn L3 mr LJ nr LJ n LJ r3 L3 mr O c z LIMITSTOPHHHHHHHHHHH LIMITHHHHHHHHHHHHHHHHHHH2HHHHHHUSER PROGRAMHHHHHHHHHH 10 SERVO DRIVER SERVODRIVERHHHHHHHHHHHHHHHHSERVO DRIVER ENDHHHHHHHHHHH 1 PCIHHHHHHHHHHHHHHH PCIHHHHHHHHHHHHHHHHHHHHHHHHH COMMANDO 00000 COMMANDO 0000000000000 RDYINT PULSE COUNTER PULSE COUNTER COUNT 0000000000 CNTINT COUNTER 000 COUNTER HHCOUNTHHHHHHHHHHHHHHHHHHHHH DFLINT 12 LIMIT SENSOR ORIGIN DRIVEN LIMIT SENSORH 0 ORIGIN DRIVEHHHHHH 13 SPEEDO 000600 DRIVE 0 0 0 0 00000000000 14 0 HSPD LSPD RATE SPEC INITIALIZEH USER PROGRAMHHHHHHHHPDATAHHHHHHHHHHHH 3 3
19. CGOWT LI M TT 000000 co X ONT 0 LI M DO CHHHHHHH 201 0000 A20 D D CHHHHH Z20NM Z2NORG A2NCRG C2NCRG GOW Ca CW CW corsu 000 6 IHHHIH 00000009 D 1 ORG D 1 2 DD 86 A2ZCRG Xa 0000 YA D D D B20 0000 C2OWM E Qi O Cd t Cj N lt N N N gt N e CN e ZA SENSCR I NCEX 0 3 AH SENSCR NPEX 0 3 X2CVP XOW 4OOWON 450 67 COM 2 CVW 22CCVWH CMN 45V X0 XWO OOOO PUSEIO O 68 zoe 20 PULSED x X0 69 D WP x 2 HKQWHHHHH PULSED D 2 XGwM xu cwn 0 UMT 52 cowM 20 GWD 0 UMT 10 B20 COWD 0 LI M TI D 60 CCUM cr GCWO 0 UMT 6 Y2owM 2 COWD D LIMTI D A2CCWM 16 NC HHHH Y2CWM Y2NGRG 8 YG 9 B2QWM BZNCRG B2CRG YO Y2H NCWHHHHH Puse 0 AO x AX COND D D O O PULSED 0
20. J HH Lom HH Hu r4 00010011 00 SCAN 00010100 HH INCREMENTAL INDEX 96 LT TFT EN 2333 SERRER 9 i rl peer 0 0 00110111 DD SPECIAL ABSOLUTE INDEX2 _ p oo111000 SERIALINDEX 0 111001 HH SERIALINDEX 00111010 SPECIALSERIALINDEX 00111011 SPECIAL SERIAL INDEX 00111100 SENSORINDEX1 00111101 SENSORINDEXA_ D 110 n o1000000 01000001 _ 2j HH ERROR STATUS READ Il 20 2 COMMANDO COMMANDH HHCOMMANDHHHHHHHHHHHHHHHHHHHHCOMMANDHHHH 4n 50 DOC D HHHHHHHHHH 11110011 SIGNALOUT WM 11110100 11110101 11110110 11110111 11111 1 01010000 01010001 01010010 01010011 01010100 01010101 1 1 LT Lr 1 01000000 01000001 01010000 01010001 01010010 01010011 01010100 101010101 t aman 5 r3 FF FF
21. TI L1 L1 E 2 O FF FF Fo ECS CECE L1 E IT ES 5 EX EE ES O j 2 58 O L3 L1 L1 LE J I 11010000 11010001 11100010 e mje mje F O O O rol O O O 97 R2 B 1 e D 2 3 4
22. 0x15 ABS ERI VE COMAND QUT RAM AREA urate drate RATE DATA No 0 lspd hspd J Hz 0 SPEED DATAH HHHHHHHHHHHHHHHabpsdtH HH ADDRESSHHHHHHHHHHHHHHH 88 16 5 DRIVE PROGRAMI ORIGIN DRIVE URATE DRATE LSPD HSPD CSPD OFFSET PULSE LDELAY SDELAY JDELAY DATA HHHHHHHHHHHHDATAHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH DATAH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHORIGINDRIVEHHHHHHHHHHHDRIVEHHHHHHHHHHHHHHDATAH DRIVEH 0000 HHHHHHHHHHHH xlorg void RATE SET x1nacrdy out p XIMXDI2 urate out p XIMXDI3 drat e out p 0x06 LSPD SET COMANND xlnacr dy HSPD SET COMMAND x1nacr dy CSPD SET xlnacr dy out p XIMXDI1 out p XIMXDI2 out p XIMXDI3 out p XIMON Ox1a UC amp 2 UC amp 1 UC amp cspd CFFSET PU SE SET COMAND xlnacr dy out p XIMXDI3 offset out p Ox1b DELAY SET COMMAND xlnacr dy out p XIMXDI1 del out p XIMXIDI2 sdel out p XIMXIDI3 j del out p XIMON Ox1c CRIG N ERI VE xlnacr dy out p XIMXDI1 or gno out p XIMON Ox16 1 5 MOS VA T UP RATE No DOW RAT
23. PLSD 0 lt GOW au orn maw lt B10 COW O 0 D O Paseo D 50 o aow town D Pusen o BIGOT BI COND D D PULSED ERSfHHHH em PeiHnnn em L 0 1 UD POJ D CIPO 000 BIZOG BIHHHHHH woo 96 azec anong n m00 RESTI Aaa NC lll INc nn 9 Nc jn C lmwl INc lan 159 C Tuna liol Nc DEND POH O O SERVOHHHHHHHHHHHHHHHSTEPPINGHHHHH HHHH HHHHHHH HHHH 56 PULSED AH PULSED 0 Y Yap CWD O O O O PULSED O 80 aoe ag COWO O O O Pusa YIO x Yin CW0 D D PULSED D Ai QWHHHHH PUSEI D PO G m00 0 00 9 Eu oque rem AJ N N I NO N Ns NI Ns F NIOJ UO JN F O O O U N F Oj O TF O j U 76 U 1 U 1 l 1 0 2 PUCSHT 24 D Ud SH 0 0 0 O p PU 5 TI 0 0 ZA X ONT LI M TII l 20 0000600 A20 K OJI O LI M TI l
24. 18 4 RATE CURVE GRAPH 90 0000 20 21191817 16 15 14 13 12 11 20K 10K 18 3 H TYPE RATE DATA TABLE 0 50 6 030 8 010 9 00 10 93 2 0 0000 f 141312 11 10 9 Hz In 100K 6 50K 5 4 3 D 1 0 50 100 150 200 ns 3 0 0000 141312 1 10 9 8 7 Hz In 1 0 6 0 5 5 50 100 150 200 ns 94 HHHHHHH HHHHHHHHHHHH HHHHHHHHHHUHHHHHHHHHHHHHH 1FSSTOP1 2H U MCCO5nn 4 LIMITH HHHHHHHHHHHPULSEHHHHHHHHHHHHHHHHHH HHHHHHHHHHH C 873H MCCO5nnHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH i HHHHHHHHHHHHHHHHHHHH RESET FSSTOP LIMIT HIHHHHHHHHHHHHHHHHHHH1HHHHHHHHHHHHHHHHHHHH 3 4H HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHzeHH 140 00000000 95 HHHHU HUHHUHHUHHUHHLH 20 1 DRIVE COMMAND COMMAND PULSED 0 COMMANDO O HH HHHHHHHHHHHHHHHHHHHHHHHHHH D D D D D D D D HEX CODE COMMAND NAME 00000000 00010101 ole IJ ETE Lr JH E HH HH Em HH HH HH HH HH
25. D 79 2 SERVO DRIVER 0 0 0 RESETHHH 24VHHHHHHHHHHHHHHH _ lt 424V JRESET w eNDD RESET Z GD n C 873 D D D CES 14 2 LIMITI D DD LL HL B D DL D UU 1 HMITHHHHHXIHHHH J1 EXTV X1CWLM X1CCWLM FSSTOP1 C 873H 0 FSSTOPLLIMITHHHHHACTIVEOFFHHHHHHHHHHHHHHHHHHHHACTIVEH HH PULSEHHHHHHHHHHHHHHHHH 2 LIMITO O O0 0O X10 0 00 HHHHHH HHHHH HHHON 0000 PM K53B EXTV PM L53B PM T53B X1CWLM HHHH EE SPX401 X1CCWLM EE SX670 ITI C 873 14 3 1 ORG 0 0RG 1 0RG 2 0RG 3 0 O X10 CCW H 0 HH HH O OFF PM K53 EXTV PM L53 PM T53 X1NORG X1ORG EE SPX301 EE SX670 THLTI HHHHHH X1ZORG X1ZORG 80 2 STEPPING DRIVER ORG 4 ORG 5 0 O X10 NORG jH U 00 OFF ORGO 00 D ON 0000 PMK53 0000 PM K53B EXTV PM L53 PM L53B X1NORG PM T53 PM T53B YORE 0000 EE SPX301 0000 401 EE SX670 TH 00 EE SX670 TH LT X1ZORG XZORG XZORGH 000000000000 X1ZORG C 873H 3 SERVO DRIVERH ORG 4 ORG 5H X10 CCW H 0 CW H D eU L LLL o L l _ _ _ _ _ _ __ _ __ DRI VER NORGLIT kd HHHHH J1 NORGHHH HHH OFF PMK53 Ps X1NORG PM T53 Los 0000 EE SPX301 o X1ORGHH
26. 6 14 6 15 6 16 6 17 6 18 6 19 6 20 6 21 6 22 6 23 6 24 6 25 6 26 6 27 6 28 6 29 6 30 6 31 6 32 6 33 6 34 6 35 6 36 6 37 6 38 6 39 6 40 DRIVE COMMANDO COMMAND COMMANDO COMMAND NO OPERATION COMMAND SPEC INITIALIZE1 COMMAND PULSE COUNTER INITIALIZE COMMAND ADDRESS INITIALIZE COMMAND ADDRESS READ COMMAND FqF Y SERVO RESET COMMAND RATE SET COMMAND LSPD SET COMMAND HSPD SET COMMAND DFL COUNTER INITIALIZE COMMAND SET DATA READ COMMAND HH JOG COMMAND SCAN COMMAND INCREMENTAL INDEX COMMAND ABSOLUTE INDEX COMMAND CSPD SET COMMAND OFFSET PULSE SET COMMAND ORIGIN DELAY SET COMMAND ORI
27. Oxff else UC 3 0x00 return 0 PULSE COUNTER PORT 0 0 O COUNTER PORTO SPEED PORT 00000000000 HHHHH PULSE COUNTER PORTHHHHHHHHHHHHHHHHHHHH 90 HH HHHHHC 873HHHH STATUSH BUSY BITO 00000 ll COMMAND STATUSH BUSY BITH PULSEH PULSEHHHHHHH STATUS DRIVE BIT B PULSEH PULSEHHHHHHHHH STATUS DRIVE BIT BUSY BIT PULSEHHHHHH STATUS BUSY ORG DRIVE H 0 0 D HE BE 20 0 I LOW LEVELH BASE ADDRESSHHHHHHHHHHHHHHHH 0 0 PULSED J INDEX DRIVEH D D 0000 ADDRESS 00000 STATUS ERROR LSEND FSENDH 0000000000 48000000060 SERVOH DENDH O O NOT ACTIVEHHHHHH HHHHHL SCAN ORIGIN SENSOR INDEX DRIVED 00000000 INDEX SENSOR INDEX DRIVEH 0 0 INCREMENTAL O J O HHHHHPULSEHHHH ABSOLUTE 000 HHHHH ADDRESSH 0 HHHHHHHHHHHHHHHHHHHHHH U 0 DEND NOT STATUS BUSY BITI HH HHHONHHHHHHHHOFFHHHH x OO OO HGNDHHH IHHHHHH 3HHHHHHUHHHHHHHH HHHHHHHHHHHHH SHHHHHHHHHHHHHHHHHHH 0 HHHHORG 01HHHHHH O DELAY SET COMMANDH MARGIN TIME HHHHHHHHHHH HHHHHHHHHH DEND DEND 0 r Lr ENDHHHHH
28. 000 DEX DRIVE PULSED 0 HIGH SPEED UUUOUU Uu HHHHHHHHHHPULSEHHHHHHHH j EJ LE EL mm E tj EJ Lj EJ 9 9 9 PULSE DRIVE INDEX DRIVE S RATE INDEX DRIVEH HHHHHHHHHHHHHHHH HHDRIVEHHHHH PULSEH O DRIVE L3 r3 L3 r3 L3 r3 LT r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 10 ORIGIN DRIVE ORIGIN DRIVEHHHHORG HHNORGOHHHHHHHHHHHHHH CCW LIMITHHHHHHHHH HHHHHHHHHHHHHORIGINDRIVEHHHHHHHHHHHORG HH D CW LIMITH HHHHHHHHHHHH 11 MARGIN TIMED HHHHHHHHHORIGINDRIVEH HH HHHHHHHHHHHHH PULSED 0 MARGIN TIME HHHHHHHHHHHHH 12 SOFT LIMITO CW CCW SOFT LIMITO 00000000000 13 DEND ERRORH 0 HHHHHHHHHHHHH ERROR BITO 10 0 DRIVE HHHHHHHHHHH STATUS PORTO zT 2 14 ORIGIN SENSOR TYPED 00 0 ORGHHHHHHHHHHHHHHHHHHHHHHH 15 ORIGIN ERRORH D CONSTANT SCAN DRIVEH J 0 JOG DRIVEHHHHHHHHH PULSED HHHHHHHHHHHHHHHHHHHHDRIVEHHHHHHHHHH HHHHHHHHPULSEHHH 6 POH HH STEPPING MOTOR DRIVER PO HH HHHHHHHHHHHHHHHHHHH POHHHHHHHHHHHPOHHH ORGO 0 0 ORGHHHHHHHHHHH 17 AUTO DRSTH 000 HHHHHHHHHHHHHDRSTHHHHHHHHHHHHHHHHHHH 18 DRSTH 000 DRSTHHHHHHHHHHHHHHHH 19 0 D S RATE DRIVEH HHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH 20 S RATE DRIVEH D DRIVEH 1 I U 0 8
29. 5 5 1 9A 24 2V M 480mA EXTV 24 0VH H 1111170111100 90000 0 45 C 8 80 RHHH DD 0 2Kg 3 4 0 0000 C 873HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 210 3 5 C 873H 3 2HHHHHHHHHHHHHHHHHUSERHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 1 HH DRIVEH SPECIAL SCAN SCANHHHHHHHHDRIVEHHHHHHHHHHHH DRIVE SPECIAL INDEX INDEXHHHHHHHHDRIVEHHHHHHHHHHHH DRIVE SERIAL INDEX DRIVE SPECIAL SERIAL INDEX HHHHHRATEHIHHHHHHHHH SERIAL INDEX DRIVE SENSOR INDEX INDEX DRIVE SENSORHHHHHHHHHHHHHHHHH DRIVE SENSOR SCAN SCAN DRIVE SENSORHHHHHHHHHHHHHHHHH DRIVE SCAN 2 DRIVEH INDEX DRIVEN HHHPULSEHHHHHHADDRESSHHHHHHHHHHHH 3 DRIVE O RATE SCANDRIVEHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHH HHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHHH S SPEEDDATAHHHHHHHHHH PULSE SPEEDHHHHHHHzHHHHHHHHHzHHMODEHHHHHHHHHHHHHH HHHHH HHHHHHHHHHHHHHHHHHMODEHHHHHHHHHHHHH 6 0 0 0 U PULSED PULSED 0000 DRIVE STARTHHHHHHACTIVEPULSEHHHHHHHHHHHH 100usHH 2OusHHHHHHHHH HHHHHHHHHHH r m oo CCWHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH
30. COUNTER HHHHHHHHHPORTHHHH HHHHHHHHPORTH 0 ADDRESS READ COMMANDHHHHHHHHHPORTHHHHHHHHH PORTO ADDRESS 0 0 0 0 PORTO D O 0 0 O ADDRESS O O 0 O PORTO O O DRIVE DATA3 PORTO READHHHHHHHHHHHHHHPORTHHHHHHHHH ADDRESS READ COMMAND DRIVE DATA3 READ x 6 8 SERVO RESET COMMAND COMMAND 05n 000 SERVO DRIVER D 0 DRSTH 0 10mst 000000 0000000 D STEPPING 0 COMMANDO ATUSII NO OPERATION COMMANDHHHHHHHHH BUSY 0 Y 05 VA TE 6 9 RATE SET COMMAND COMMAND 000 HHHDRIVEHHHHURATE HHHHH 0 DRATE HHHHH HHHHHHH 0000000 DRIVE DATA2 PORT URATE DRIVE DATA3 PORTO DRATEH STATI DATAHHNoHHHHHHH BUSY 0 DRIVE DATA2 3 PORTO 00000000000 Y DATA2 PORT 0 DATA2 PORT DATA3 PORT VA D D D D deu c 328 28 DATAS PRT JO DRATE No GOMVNND 061 URATE No VAI RATE SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH POWER ON RESETH URATE DRATE No 9 100ms 1000Hz 0000000 6 10 LSPD SET COMMAND COMMAND 07n 000 DRIVEHHHHLSPD LOW SPEED HHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO LSPDH HzO 0 0 30 0 0 000000 DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DNALPOT D 2 doa a 2 VAI l D
31. CSPD LD SD HSPD CSPD SD HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME 000000 000000 HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME HHHHHH 000000 HHHHHHHORGHHHHH 7 4 ORG 2 CCW LIMIT 7 5 0RG 3 0 CCW LIMIT CW LIMIT LLLI ds CSPD LD 0000 SD JD HHHH lan oss on 13 SD iHHHH lon CW LIMIT 0000 lt nonne gt B D 1 O CCW CWIHHHHHHHHHHHH 0000 52 HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME 000000 000000 HHHHHHHORGHHHHH HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME HHHHHH HHHHHH HHHHHHHORGHHHHH 7 6 4 1 NEAR CCW LIMIT CW LIMIT X1NORG HSPD HIGH SPEED 0000 CSPD CONSTANT SPEED LD LIMIT DELAY TIME gn 13 SD SCAN DELAY TIME JD JOG DELAY TIME A 000000 00000 400 2 HHHHHH X1ORGH 1 1 X1ORG XORG dunn Undo ms TEE
32. FSSTOPH 0 O O FAST STOP COMMAND HHHHHHHHH HHDRIVEHHHHRESETHHHHH H2 BUSYHOHHHHHHHHHHHHH 0 2 0 UU O O O 0 COMMANDO 0 RESETHHHHHH 0 3 POWER ONH 0 RESET DREND ERROR MANH BITH 00000000600 HHHHHHHH BUSY BITE OH COMMANDO DREND ERROR MANH BITO ILHHHHHHHHHHHH 4 9 STATUS2 PORT HHHHHHHHHHHHHHHHHPORTHHHHHHHHHHHHHHH HHHHHHHHXIHHHHHHHHHHHHHHHHHHHH gl ml el sl vooon DI L X1DEND X1POI X1ORGH HIGH 1 LOW X1NORGH X1CWLMH GMT OH LOW 10 HIGH X1DEND X1POH 0 000 000 STATUSO 0000000 4 10 STATUS3 PORT O DJ O PULSE COUNTERH O 0 COUNTERH STATUSO O O O D O O PORTO D HHHHHHHHHHHH ml el elelgl wl pl noommmmnmmme L PLS COMP1 PLS COMP2 BIT PLS COMP3 BIT PLS COMP4 BIT PLS COMP5 BIT PLS OVF BIT DFL COMP1 BIT DFL COMP2 BIT PLS COMP1 BIT PULSE COUNTER COMPARE REGISTER1H 00000000000 PLS COMP2 BIT PULSE COUNTER COMPARE REGISTER2HHHHHHHHHHHH PLS COMP3 BIT PULSE COUNTERH COMPARE REGISTER3H O0 000000000 HHHHHHHHHHLH HHHHHHHHHHLH PLS COMP4 PULSE COUNTER COMPARE REGISTER4 PLS COMP5 BIT PLS OVF BIT COMP1 BIT DFL COMP2 BIT PULSE COUNTER COMPARE REGISTER5 PULSE COUNTERHIHHHHHHHHHHHHHHH COUNTER DFL COMPARE REGISTER1 00
33. LIMITHHHHHHHHH DEND ERRORH ORIGIN HHHHHHHHHHHHHHHHHHHHHHHH HHHHHADDRESSH ORGHHHHHHHHHHH RG 0H 311 12HHHHHHHHHHHHHHHHOFFSETPULSEHHHHHHHHHHADDRESSHHHHHH ORG 4 5HHHHHNORGHHHHHHHOFFSETPULSEHHHHHHHHHHADDRESSHHHHHH OFFSET PULSE 00 255PULSEH 0 0 O OFFSET PULSE SET COMMANDHHHHHHHHH RESETH 0 0 OFFSET PULSEH OO 00000 HHHHHHHHHHADDRESSHHHHHHHHHHHHH THORIGIN FLAG RESET COMMANDH l 00 FLAG HHHHHHHHHH 0 1ORG 1 10 ON 20 Q N i r3 OJO miz 1 0 ORG 11 120 000000 HHHHHH ORIGIN DRIVEH 0 0 CONSTANT SCAN SCAN JOGH 0 DRIVEHHHHH D 0 O JOG DRIVEH O O O 0 JOG DRIVEH HH 1H 0000 HHLMITHHHHHHHHHHH Dun HHHHHHHHHHHIHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHH X10RG X1NORG HHHHHHHHH HHH ONH LOWH HH CI NI UN HHHHHHHHHH AH cese HHHHHHHHHH SCAN DRIVEHHHHHHHHH CONSTANT SCAN DRIVEHHHHHHHHH MES E HHHH JOG DRIVEHHHHHHHHH LD o LIMIT DELAY TIMEHHHHHHHHHHH OD gt SCAN DELAY TIMEHHHHHHHHHHH JOG DELAY TIMEHHHHHHHHHHH 50 7 2 0 CCW LIMIT CW LIMIT 0000 lt nn 4 ana lan HH 10000 000004 lan CW LIMIT oo noon HHHHHHHHHHHHH 0000 HHHHHHHHH CWHHHHHHHHHHHHHHHH X1ORGH 0 0 CCW 51 HSPD
34. Uu 3 CNTINT LATCH TRIGGER TYPE D PULSE COUNTER CNTINTH COMPARE REGISTER1 500000 HHHHHHHHHHHHHHHHHHHHHBITHHH HHHHHHH HHHHHHHHHHHHHSTATUSS READHHHHHCNTINITHHHHHHHHHHHH HHHHHHHHHHHHHHSTATUSS READHHHHHHHCNTINTHHH RESETHHHH 29 DRIVE DATA2 PORTO 00000000000 DATA2 PORT 0 Di Ese specs d COUNT CLOCK COUNT PATTERN TYPE AUTO CLEAR ENABLE RELOAD ENABLE COMP1 INT ENABLE COMP1 STOP ENABLE DRIVE DATA2 PORTH 0 BITH 0 0 POWER ON RESETH 00000000 ET E ETE L3 EJ LES L3 L1 1 COUNT CLOCK TYPE DI PULSE COUNTERH CLOCKH H 0 0 BITO D D 00 X1 MCC055 n DRIVE PULSE X1CWP X1CCWP H 00000 1HHHHHHHHHHHHH PULSE COUNTER HHHHHHH 2 COUNT PATTERN D D p BITH1HHHHHHHHHHHHHHHHHHHCOUNTHHHHHHHHHHH 3 AUTO CLEAR ENABLE 02 HHHHHHHHHHHHHHBITHHH 19 000000000 4 RELOAD ENABLE 02 HHHHHHHHHHHHBITHHH 100000000 5 COMP1 INT ENABLE D COMPARE REGISTER1 U X1CNTINTH BITH H O X1CNTINT 10 X1CNTINTH 0000 6 COMP1 STOP TYPE 02 COMPARE REGISTER1HHHHHHHHHPUL
35. XICWP X1CCWP 0 5VHH SINK20mA U U 1 1 5 X1DRSTHHHHHHHHHHHHHHHHHHHHHH 24V COMI 0000000000 2 0 78 14 1 DRIVER 0 0 0 HHHHPULSEHHHH COMHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHH 1 000000 0 Cwcecwp O U U U DRIVERH X10000 a TTLHHHHHHHHHHHHHH 4COM 17 00000 0 15SQH 0 EN v X1CWP ON L EG OOW m PNEU yk X1CCWP L C 8730 000000 X1CWP 18 00000 0 15SQH U N TEM LEA y X1CWP ON L s X1CCWP bm EAS wk C 873 000 10 STEPPING DRIVERH X10 0 0 eee 1 P O E ES E T a C 873H HHH HHD 24VGND ES DRIVERH STEPPING DRIVERH O O X1DRST X1ZORG X1 1ZORCO 0 0000000000000000 HHHHHHHHHXIPOHHHHHHHHH 3 SERVO DRIVERH 0 X1H J1 HHHHH0 15SQHH X1DRSTCOM w 599 D D 2 RENE _ 5V0 0 0 3 yw X1DRST RESET X1DEND END 24VGND lt X1ZORG 4 X1ZORG Z C 873 D D DRVER 0 1 DRIVERH 2 3
36. BIT 00000 9 10 j COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 085 000 COUNTER COMPARE REGISTER2 HHHHSETHHHH U 0 COUNTER COMPARE REGISTER1 SET COMMAND HHHHHH 63 HHHHHHHHUHL POWER ONRESETHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHCOMMANDHHHHHHHHHHHHHHHHH OEE i ge m s SRATE RATE DATA TABLE No SRATE SET ES Re ee RDYI NTT 0 PULSE COUNTER O00 MOCO5nn PULSE H O D DDD DD STOP EMELE 2000 md jmsegommminnu HHnn PLS COP STOP TYPE NT OJIPUT TYPE COWARATOCRJHHHHHHHHHHHH INT ror rm hn onennnnnn OOUNTER COUNT PATTERN TYPE HLINIHHHHHH DFL GOMP1 2 STOP ENABLE CFL CO STOP NT CUTPUT TYPE coemarmipngggggagagguuu NT LATCH TRI GER TYPE CANTER SELECT PORT PORT SELECT ADERESS ADDRESS CONTER ADDRESS N TI ALI ZE CFFSET PULSE CFFSET PULSE SET LI M T DELAY TI ME SON DAY joo AY PULSE CONTER r PULSE CANTER PRESET PULSE R PU SE CONTER COMPARE REG STERIL 5 800000 COMPARE REG STER1 5 SET COUNTER COUNTER PRESET ER SENTER ARE REG STER1 2 ARE REG STER1 2 SET 0 DFL QOUNIER TI ALI CRI G N SET 64 c 8730 00000000 00000000 I
37. BTHHHHHHHHHHHH POWER ON RESETH 0000000000000 1 DFL COMP STOP TYPE 02 COUNTER COMP STOP ENABLEH 1 D O HHHHHHH BITH 0 0 COMPARATOR1 2H D 10 D HHHHHHHHHHHHHHHHHHHH 2 DFLINT OUTPUT TYPE D HH COUNTERH XtDFLINTD H D D D COMPARATOR1 2HHHHHHHHHHHH 00 O COMPARATORHHHHHHHHHHHHH HHHHHHHHSTATUS3 READHHHHHH 10 COMPARATORFHHH HHHHHHHHHHHHHHH HHHHHBITHHH D 1 COMPARATORIHHHHHHHHHHHHHHHSTATUS3 READO 000000 HHHHHH HHHHHH 3 DFLINT LATCH TRIGGER TYPE D COUNTERHHHHX1DFLINTHHHHHHHHHHHHHHHHHHHHHHHBITHHH COMPARATOR1 2 HHHHHHHHHHHHHH STATUS3 READHHHHHX1DFLINTHHHHHHHHHHHH HHHHHH HHHHHHH HHHHHHHHHHHHHHHSTATUS3 READHHHHHHH X1DFLINTH O RESET 0000 U DFLINITHHHHHHHHHHHHHBITHHHHHHHHHHH 35 DRIVE DATA2 PORTHHHHHHHHHHH DATA2 PORT D Di b COUNT CLOCK TYPE COUNT PATTERN TYPE COMP1 INT ENABLE COMP1 STOP ENABLE 1 22 227 BITHHHHOHHHHHHH 2 DRIVE DATA2 PORTH BITO HHHHHHHHHHH POWER ONRESETHHHHHHHHHHHHHHHHHHH 1 COUNT CLOCK DD COUNTERH HH CLOCKHHHHHBITHHH X10 MCC05n DRIVE PULSE X1CWP X1CCWP HHHHHHHHHHHHHHH
38. COMMAND COMMAND 72n 000 HHHHHS RATE INDEX DRIVEHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO 0 0 PULSEHHHHHHHHHHH DRIVE DATA1 2 3 PORTHHHHHHHHHHHH ATUSII BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT D D D D Y zer du agg ep 3 1393999 xq 23 DITA PORT D D PULSED 00 2 PORT 0 CCWHHHHHHHHPULSEHH2HHHHHHHHHH PULSED Ll D DATA3 PCRT COMMAND 725 6 32 S RATE ABSOLUTE INDEX COMMAND COMMAND 73n 0050 HHHHHS RATE INDEX DRIVEH DRIVE DATA1 2 3 PORTO ADDRESS 000000 DRIVE DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D Dp 5 d up ae 125 HADDRESSHHHHHHH2HHHHHHHHHH ADDRESSE 000 3 45 6 33 ERROR STATUS READ COMMAND COMMAND HHHHHHH BUSY 0 Y COMMAND E25 VRI TE BUSY 0 Y DATA3 PCRT READ 000 STATUS1 PORTO O ERROR BITO 10 O 0 ERROR 00000000000 DRIVE DATA3 PORTO ERRORH 0000 0 CODE 00n ERRORHHHHHHHHH oin 0 COMMANDHH LI L l 025 IIII SET DATA READ D J COMMANDO 035 HILL SPECIAL INDEXO URATE DRAT 0 D D SOFT LIMITH URATEz DRATEH SPECIAL 0 D 045 SERIAL INDEXHHH1HHHHH 055 SOFT LIMITH 065 IIII DEND ERRORH DRIVEN
39. COUNTER COMPARE REGISTER3 SET COMMAND COMMAND 030 000 COMPARE REGISTERS HL HL BD DB B SETH 00 COMPARE REGISTER1 SET COMMANDO O U O 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND COMMAND 04n 000 COMPARE REGISTER4HHHHHHHHSETHHHH 0 COMPARE REGISTER1 SET COMMANDO O U O 9 7 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 055 000 COMPARE REGISTERS 0 0 D B SETH 00 U REGISTER1 SET COMMANDO O U O 9 8 COUNTER PRESET COMMAND COMMAND 000 HHCOUNTERH COUNTHHHHHHHHHHHHH LSE COUNTER PRESET COMMANDO 62 9 9 COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 07 000 0 COUNTER COMPARE REGISTERIHHHHHHHH HHHHSETHHHH HHHHHHH COUNTER DATA1 2 3 PORTO COMPARE DATAHHHHHHH D 1 COUNTER DATA1 j0 PORT HH COUNTER DATA1 2 3 PORTHHHHHHHHHHHH CANER 0 DATA PORT DATA2 PORT DATA3 PORT PRTWITE D D D D D D D 0 y go Doa doa 2 COLNTER DATAS PCRT URI TE COMPARE DATA 00 7FFFFFn QOLNTER COMAND 07 HHOHHHHHHH H2 RESETH O0 0000000 0 900000000 COMMAND PORTO COUNTERH PORTO 0 O 0 DRIVE PORT 0 PORT 55 PORT ADDRESSH 0 00004100000000 HHHHHH 2HHHHHHHHHHHHHHHHH a8
40. DELAY SET SDELAY SCAN DELAY TIME ORIGIN DELAY SET JDELAY JOG DELAY TIME ORIGIN DELAY SET 5 6 LIMIT SENSOR HHHHHHHHHHHHHHORIGINHHHHHHHCCWLIMITHHHHHHHHHHHH HHHHHHHHHHHHHHHUHHHH HHHHHHHHHHHHHHHHHHHHHHHH 20 5 7 S RATE SCAN DRIVE S RATE SCAN COMMANDHHHHHHHHDRIVEHHHHHH OU U DRIVE SLSPD SHSPDH HHHHHHHHHHHHHHHHHHHHHHHSRATEHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 000 5 10 5 11 5 12 H 00000000000000 Hz SHSPD SLSPD LL SRATE t S RATE SCAN DRIVEHHHHDATAHHHHHHHHH COMMAND SHSPD S RATE HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD SET SRATE S RATE DRIVEHHHHHHHH SRATE SET 0 SLSPD SHSPDHHHHHHHHHHSHSPDHHHHHHDRIVEHHHHHH 5 8 S RATE INDEX DRIVEI S RATE INCREMENTAL INDEX COMMAND H S RATE ABSOLUTE INDEX COMMAND H PULSED HHHADDRESSHH HHHHHHDRIVEHHHHHHHHHRATEHHTH S RATE SCAN DRIVEHHHHHH Hz SHSPD PULSE ADDRESS SLSPD SRATE S RATE INDEX DRIVE 0 U DATAH DATAH COMMAND SHSPD S RATE DRIVE HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD SET SRATE S RATE DRIVEHHHHHHHH SRATE SET D PULSE ADDRESS S RATE INDEX DRIVEH 0 SLSPD SHSPDO 0 0 000000 0O SHSPDII 00000 DRIVE I BED D 5 9 S RATE DRIV
41. MAX 25us MAX 25us 150 s 150 s 150 5 100 s 100 s 100 5 100 5 amp l 5 n IO m EE lei IS IS ID MAX 25us N 13 0 1 URATE DRATEHHHHHHHHHCOMMANDHHHHHHDRIVETYPEHHHHHHHHHHHH L TYPE M TYPE H TYPE MAX100ms MAX 35ms MAX 15ms HHHHHHHHHH DRIVE COMMANDH ET HHHHHHHHHHHHHHHHH 26 6 2 COMMAND COMMAND HHCOMMANDHHHHHHHHHHHHHH 5 SPEED CHANGE 0 MASK 200ns ADDRESS COUNTER SELECT MAX 200ns MAX 200ns MAX 200ns MAX 200ns 6 3 NO OPERATION COMMAND COMMAND HHH BUSY 0 Y 00 VA 27 6 4 SPEC INITIALIZE1 COMMAND COMMAND 01n 000 00000000000 mme DRIVE DATA1 PORTO DRIVE CONTROLO HHHHHHHH STATUSI BUSY 0 DRIVE DATA1 PORTO 00000000000 Y DATA1 PORT 1 PORT Di D VW TE EAD pepe COMMAND 015 DRIVE VRI TE LIMIT STOP MOTOR TYPE RDYINT TYPE BITHHHHHHHHHHHHHHPOWER ONRESETHHHHHHHHHHHHHHHHHHH 1 DRIVE D DU DRIVE TYPE BITH o IDU DRIVE TYPE 1010 0 1 MTYPE 1 0
42. O D D 075 OO ORIGIN ERROR DRIVEH HH D 08 IIII SENSOR INDEX3 DATA SETHHHHHHHHH 095 COMMANDO 000 O 0 DATAT U ORGHHHH HH SET DATA READH 0 0 0 COMMANDHHHHH T RATE SETO DATA1 PORT DATA I DATA MODEH RESOLUTION SETO D 0 0 D PART PART No PART PULSE PART No PART RATE PART No SERIAL INDEX PART No IIII DRIVEHHHHHH INDEX CHANGEHHHHHH OD OOO DEND ERROR ORIGIN 0 HHHH X X ERROR CODEH STATUS1 PORTO ERROR BITO HHHHHCOMMANDH 0 0 HHHH 6 34 SPEED CHANGE COMMAND COMMAND HHHHHHH 000 SCANH O INDEX DRIVE SPEEDH D DRIVE DATA1 2 3 PORTO SPEEDO Hz 0 0 3 DATAH HHHHH DRIVE DATA1 2 3 PORTO SET COMMANDO 00000 1 COMMANDO H D j STATUS5 SPEED CHANGE BUSY BTHHHHHHHHHHHHDRIVE COMMANDHHHHHHHH 0 HD STATUS1 PORTO DRIVE BITHHHHHHHHHHH 0 2 SPEED DATAHHHHHHHHH DATA1 2 3 PORTO O O O O HHHHHHHHHHHHHPpATAIHHHHHHHHHHH DATA3 PORT WRITEH 3BYTE DATAHHHHHHHH 0 3 SCANH INDEX J O 0 0 O 0 COMMANDHHHHH HHHHHHHHH 46 6 35 INT MASK COMMAND COMMAND F8n 000 C
43. PORT Y1 S QOUNTER DATA3 PORT 1 S MOOO5 STATUS1 PORT Y1 S MOOO5 STATUS2 PORT Y1 5 MOOO5 STATUS3 PORT Y1 S MOOO5 STATUS4 PORT Y1 S 5 STATUS5 PORT Zl AX S MCOO5 COWAND PORT Zl AX S MOS DATAL PORT Zl AX S MO5 DATA2 PORT Zl AX S MOS DATAS PORT Z1 S GOUNTER COMMAND PORT Zl 5 CANIER DATA1 PORT Zl AX S CANIER DATA2 PORT Zl 5 CANIER DATA3 PORT Zl AX S 5 STATUS1 PORT Zl AX S 5 STATUS2 PORT Zl AS 5 STATUS3 PORT Zl S 5 STATUS4 PORT Zl S 5 STATUS5 PORT 1 S 5 COWAND PORT 1 S MOOO5 DATAL PORT 1 S MOO5 DATA PORT Al S MOO5 DATA3 PORT 7 x Al AX S COUNTER COMAND PORT Al S CANIER DATAL PORT S CANIER DATA2 PORT Al S CANIER DATA3 PORT 1 S 5 STATUS1 PORT 1 S MOOO5 STATUS2 PORT def i ne A1MUCST3 obase40x35 def i ne A1MXST4 i obase40x36 def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne def i ne voi d voi d voi d voi d voi d 1 5 5 i obase40x37 i obased40
44. TYPEHHHHHHHHHHHHH HHHHHHHHHH 2 SERATE DATAT DUG need HHHHHHHHHHHHHHHHHHHHHHHH SCSPD2H SHSPDH 1 O 0 SRATE SERATEH 00000000060 SSRATEHHHHHH 5 22 3 SCSPD1 DATAD O O 2995555555551 SRATEH RATE SPEEDHH HH SCSPD1 SCSPD2H HH SRATEHHHHHHHHHRATEHHHHHHHH SLSPD SHSPD SET COMMANDHHHHHHHHHHHHHHHHHHH SCSPD1 SLSPD SHSPD SLSPD x T EP itl SLSPD SCSPD1s SCSPD2 0 SCSPD1H SLSPDHHHHHH SCSPD1H SLSPDH SCSPD1 SCSPD2HHHHHHSCSPD1H SCSPD2HHHHHH 2 SLSPD SETO SHSPD SET COMMANDHHHHHHHHHHSCSPD1H HH HHHHHHHHHHHHHHH SPEC INITIALIZE1 DRIVE TYPE HHHHHHHHHHHHHHHHHHHHHHH 4 SCSPD2 DATAE HS SRATEH RATE SPEEDH 00000 SCSPD1 SCSPD2H HH SRATEHHHHHHHHHRATEHHHHHHHH EEL EFE EES SLSPD SHSPD SET COMMANDHHHHHHHHHHHHHHHHHHH SCSPD SLSPDH SHSPD SLSPD x SCSPD1s SCSPD2s SHSPD 0 1 ScSPD2 SCSPD10 0 0 000 SCSPD2H SCSPD1H SCSPD2 SHSPD 0 0 0 0 0 SCSPD20 SHSPDHHHHHH 2 SLSPD SETO SHSPD SET COMMANDHHHHHHHHHHSCSPD2H 0 HHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHHHHHHHHH UUUUUUUUUU 5 10 SLOW STOP COMMANDO PULSEHHHHHHHHHHHHHHHHH U utr PULSET I 1 HJ B B B HH SSENDH 10 0006060 5 11 0 00000 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHH
45. 0 00000000600 COUNTERS DFL COMPARE REGISTER2 00000 000000000 STATUS READH RESET 0000 HHHHHHHPULSE COUNTERH 0 COUNTERHHHHHHHH HHHHHHHHHHHHH COUNTER INITIALIZE COMMANDH STATUS READH RESETHHHHHHHHHHHHHH PLSI PULSEH DFLTHHHHHHHHHHHHHHHHHHHHHHHHHHH 4 11 STATUS4 PORT HHHHHHHHHHHHHHHHHHHHHPORTHHHHHHHHHHHHHHH gt gt sl el FSSTOP1H 1 OJ LOW 1 HIGH A1SENSORH O 0 2 OH HIGH 10 LOW 000 0 0 HIGH 10 LOW U 1X1H O C10 FSSTOP1H O 2 0 C20 FSSTOP2H 0 2 SENSORQ 0 0 0 0 0 100 40 10 D A20 0 2200000 HHHHHHHH HHHHHHHH HHHHHHHHHHHHHH HHSENSORHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 3 STATUSHHHHHHHHHHHHHHHHDATAHHHHHHHH 4 12 STATUS5 PORT RDYINT BITO 00000 D SOFT LIMIT H O SPEED CHANGEHHHHHHHHHPORTHHH HHHHHHHHHHHH gl sl el CCW SOFT LIMIT BIT 1 CW SOFT LIMIT BIT 1 000 0 RDYINT 0 2 000 U SPEED CHANGE BUSY RATE CHANGE BUSY BIT 0 1 INDEX CHANGE BUSY BIT 1 U HHHHHHHHHHHHHHHHHHHHHHH CCW SOFT LIMIT CCW SOFTLIMITHHHHHHHHHHHHHH CW SOFT LIMIT BIT CWSOFTLIMITHHHHHHHHHHHHHH RDYINT BIT RDYINTHHHHHHHHHHHHHH SPEED CHANGE BIT SPEED RATE CHANGE BIT RATE CH
46. 00000 DATA3 PORT VAI HHH ADDRESSH 000 APPRESS 10J COMMAND 15 48 388 607 40 10 8 388 607 6 18 CSPD SET COMMAND COMMAND 1An ORIGIN DRIVE CSPD CONSTANT SPEED HHHHHHH DE DRIVE DATA1 2 3 PORTO CSPDH HzHHH3HHHDATAHHHHHHH b DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DAL PRT D 2 11 doa a A 281 DATA2 PRT D CSPD DATA 1 1n 3 333 333 32DCD5 H 00 0 DATA3 PCRT CSPD HHHHHHHH COMAND 14 POWER ON RESETH 0 300Hz 0000000 0 DATAD O O O HHHDRIVETYPEHHHHHHH S 17HHHHSPEEDHHHHHHHH 39 6 19 0FFSET PULSE SET COMMAND COMMAND 1Bn 000 ORIGIN DRIVEH HH D OFFSET PULSEHHHHHHHH DRIVE DATA3 PORT OFFSET PULSEH 0000000 m ATUSI DRIVE DATA3 PORTH 000000000600 BUSY 0 DATA3 PORT Y D D DATA3 PORT E VA mu em 18 OFFSET PULSED VA TE OFFSET PULSEHHHHHHHH0 On 25S FFn H O D POWER ON RESETH 0 0 OFFSET PULSED 000000000 OFFSET PULSE SET COMMANDHHHHHHHHHHHHH HHHHHHHH 6 20 ORIGIN DELAY SET COMMAND COMMAND 1 ODO HHHHHH DRIVEH O O O DELAY TIMED HHHHHHH DRIVE DATA1 2 3 PORTHHHHHHDATAHHHHHH mm DATA1 PORT LIMIT D
47. 000000 SCSPD1 SCSPD20 I 0000000000000000 6 25 SHSPD SET COMMAND COMMAND 62n 000 S RATE DRIVEH 0 SHSPD HIGH SPEED H 000000 0000000 DRIVE DATA1 2 3 PORTO SHSPDH Hz 0 O 30 0 DATAH m HHHHHH STATUSII DRIVE DATA1 2 3 PORTHHHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DA PRT D 2 ce da a 22 a a 1 1 123 VA l DATA2 PRT D SHSPD DATA VA SHSPD DATAHHHHHHHHH 1 1 3 333 333 320 052 0 0 1 DATA3 PCRT Wi SHSPD SET COMMANDO HHHHHHHHHHHHHHHHHHHHHH HHHHHHHH COMAND 625 POWER ON RESETH j 0 SHSPD 3000HzHHHHHHHH VA 5 7 20 COMMANDO O Bl SCSPD1 SCSPD2H SCSPD1 SCSPD2 000000000000 HHHHHHHHHHHH 42 6 26 SSRATE ADJUST COMMAND COMMAND 63n 000 S RATEDRIVEHHHHSSRATEIHHHHHHHH DRIVE DATA3 55 mms DRIVE DATAS PORTO 00000000000 BUSY 0 DATA3 PORT Y D D DATA3 PCRT 2 2 VW OMAD 63 SSRATE No VW TE SSRATE SRATE SET COMMAND 0 0 80 0000000000600 HHDATAHHHHHHHHHHHHHCOMMANDHHHHHHHHHHHHHH HHHHHHHHHHHHHHUS9HHHHHHH 1 SRATE SET COMMANDHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEH 2SSRATED 0 SSRATE S 00000 0 55 0
48. 000000000000 00600 SRATE SRATE O SSRATE SRATE 6 27 SERATE ADJUST COMMAND COMMAND 64n 000 S RATEDRIVEHHHHSERATEIHHHHHHHH DRIVE DATA3 PORT 5 men DRIVE DATAS PORT 00000000000 BUSY 0 DATA3 PORT Y D D DATA3 PORT tip RETE VW TE Ael COMAND 64 SERATE No VW TE SERATE SRATE SET COMMAND SRATEH Hj 80 0000000000600 HHDATAHHHHHHHHHHHHHCOMMANDHHHHHHHHHHHHHH HHHHHHHHHHHHHHUS9HHHHHHH 0 1 SRATE SET COMMANDHHHHHHHHHHHHHHSERATEHHHHHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPED 000000000 000 0 2 O 0 0 SERATEz SRATEH 0 SERATE 0 0 0 SERATEH SRATEH 00000 43 6 28 SCSPD1 ADJUST COMMAND COMMAND 65n 000 S RATE DRIVEH D 0 SCSPD1 H D RATED HH D SPEED HHH D U LU U DRIVE DATA1 2 3 PORTO SCSPD1H Hz 0 0 30 me HHHHHH STATU51H DRIVE DATA1 2 3 PORTHHHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DSTAT PORT VET qot p el MR y te 1 DATA2 PRT D SCSPD1 DATA VA SCSPD1H 0 SLSPD SET SHSPD SET COMMANDH 0 PCRT HHHHHHHHHHHHHHHH COMMAND 65 1 TE SCSPD1 SLSPD SHSPD
49. 00p s H TYPE t3 t2 22u s 1 ABSOLUTE INDEX DRIVE H J ADDRESSH J RETURN DRIVE H CCW H DRIVEH IOW COMMANDO 0 000000000 X1CCWP STATUS1H DRIVE STATUS1 BUSY 150ns t2 70u s t3 82u s 2 ABSOLUTE INDEX DRIVE 0 ADDRESSO 0 RETURN DRIVE H 0 B O DRIVEN IOW COMMANDHHHHHHHHHHH X1CCWP STATUS1 DRIVE STATUS1 BUSY 12 5 SPEED CHANGE TIMING IOW COMMANDO 0O 000000000 STATUS5 CHANGE BUSY 0 X20 0 CHANGE COMMANDHHHHHHHHHH MODE RATE No 00000000 MO U 0 CHANGE COMMANDO O O J O PULSE 6772 1 URATE DRATE 150ns 12 71u s t3 93u 5 2URATE DRATETI 0 150ns t2 1 3ms L TYPE 630p s M TYPE 400p s H TYPE t3st2 220 s 10 200ns 51u 5 20 53ms RATEH RATE DATAHHHHHH t2HHHHHHHHH1t2H PULSEH 0000 12 6 DENDH J 0 TIMING 11SERVO MOTOR 00000000 CW DRIVEH O X1DEND X1CWP STATUS1 BUSY t1 t2 t3 t1 SERVO DRIVER t2 elu s t3 20u s 0 SERVO MOTORH U DRIVEL HHHHHHHHHDENDHOHHHHHHH HHHHHHHHHHHH r HHHHHHHHHHHHUHHHHHHHHH 12 7
50. 070 8 388 607 PULSE AREA COUNTER RESET 0 00000000 COUNTER COMMAND DFL COUNTER INITIALIZE COMMANDO 0 00000 RESETH 90HHHHHHHHHHHHHHHH E FFFFRF FE B PULSED mn ag d d uuu COUNT COMPAREH COUNTERH 0 COMPARE REGISTER COMPARATOR B COUNTH D HHHHHHHHHHHREGISTERHHHHHHHHHHHH PULSE COUNTERH COMPARE REGISTERH COMPARATOR1H COUNTH REGISTER1 B EFEFEPJUI COMPARATOR2H COUNTH 0 0 0 0 REGISTER1 REGISTER2 0 HH COUNTH REGISTER2 Ee REGISTER1 COMPARATOR1 COMPARATOR2 HHHHHHHHSTATUSHHHHHHHHHHHHHHHHHHHHHHSTATUSHHHHHHHHHHH HHHHH COMPARATORHHHHHHHHHHHHHH HHHHHHH UUHHHHHHHHHHHHH HHHH HHHHHHHHSTATUSHHHHHHHHHHHSTATUS3 PORTO READHHHHHHRESETHHHHHH 0 COUNTER REGISTER1H COUNTERS REGISTER2 RESETIH ESETHHHHHHHHHHHHHHHHH HHHHHH8 5 COMPARATORHHHHHHHHHHH HHHHHHH X1DFLINTOHHHHH COMPARATOR ORHHHHHHHHHHHHHHHHHH COMPARATORHHHHHHHHHHHHHH COUNTER REGISTER1 COUNTERS REGI
51. 1 HHHHHHDATASPORTHHHHHHHHHHCOMMANDHHHHHH COMMANDHHHHHHHHHHH 2 47 6 36 PORT SELECT COMMAND 1 ADDRESS COUNTER PORT SELECT COMMAND COMMAND 000 2 DFL COUNTER PORT SELECT COMMAND COMMAND HH 3 PULSE COUNTER PORT SELECT COMMAND COMMAND FC 000 4 SPEED PORT SELECT COMMAND COMMAND FDn 000 DRIVE DATA1 2 3 PORT ADDRESS COUNTER COUNT DATA READ 0 PORT DRIVE DATA1 2 3 PORTO DFL COUNTER COUNT DATA READH PORTU BD LB OB OD DRIVE DATA1 2 3 PULSE COUNTER COUNT DATA READ 0 PORT DRIVE DATA1 2 3 PORTO PULSED SPEED DATA READ PORTH 0000000 COMMAND HHHHHHHHH 0 COMMANDO HHHHHHDRIVE DATA123PORTHHHHHHDATAHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHCOMMANDHHHHHHH 4hsHH 0 HHHHHHHH COMMANDH 200nsH O O DRIVE DATA1 2 3 PORTHHHHHHHHHHDATAHHHHHHH PORT SELECT COMMANDO HHHH HH PORT SELECT COMMANDE POWER ON RESET 0 DRIVE DATA1 2 3 PORTO O PULSE COUNTER COUNT DATA READ HHHHHH ORT COMMANDO O O 0 000 DRIVE DATA1 2 3 PORTO O O 0 O O 0 0 COMMANDHHHHHHHHHHH READDATAHHHHHHHHHHHHHHHHHHHHHHHHHH PORTO HHHHHHHHHH DRIVE DATA3 PORTO DRIVE DATA3 PORTO HHH 0 ADDRESS READ SET DATA R
52. 1RDYINT X1CNTINT X1DFLINT STATUSIN BUSY 12 15 BUS TIMING 5ms O 500ns t4 10 6ms 12 5ms 1 0ms t50 5u s t30 5ms O 50 READ TIMING PCI CLK C BE 43 0 AD 31 0 FRAME IRDY TRDY DEVSEL BCLK 5539 ADDRESS DATA IOR i WRITE TIMING HHHHHIHHHHHHHHH PCI CLK FLFLELELTLTLTLFLFLTLTLTLTLTLTLITITITL C BE 43 0 AD 31 0 FRAME IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOW 39 74 HDRA E100W1LFDT1EC SL 000000 HHHHHHHHH HDRA E100MA1 HDRA E100M1 HHHHHHH 100000 13 2 J4 X1H Y1H zia A1H 1 10 000000 24 0 HHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHH 2 XH OWHHUMTH 52 D acowM zin QWHHHMTmH zem annpnnpn xn 0000 townnuwmi _ YH WHHUMmH 56 Am GOWHHUMTH elu VS mo monuun sl moe mnxownnuwmn E GOWHHUMTH fejo aow H GOWHHUMH BHHHHHH 2 Go SENSCR NPC D 0 3 HHY ngnnnnnn 2999 0 2 16 NC HHnn SIN Bi uz 0 t eTEPPING MOTORHHHHHHHHHHHSERVOMOTORHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHH 2HHHHHHHHHICHHHHHHHHHHHHHHHHHHH
53. 3 PORT D D D D D D i gp ge READ DATA2 PCRT READ SPEED DATA 80 FFFFF8n DATA3 PORT PULSE SPEED HHHHHHHHHHHDATAHHHHHH PULSE SPEEDH READ SET HHHHHHHH 160 000 000 BURSE SREEDN Pn mn D READ DATA 00 48 30 0 0 PULSE SPEED ag 3 3 MHz 90000 9 0000000000000 000000 0 0 DATAH O U HHHHHHHHHHHHHH 0 2 DATA READH O DRIVE DATA1 23PORTHHHHHHHHHHHHHHHHHHHHHUHHHHHHH DATAHHHHHHHHHHHHHHHHHH 49 HHHUHHUHHLH MCCOSnnHHHHHHHHHHHORG 0 1 23 45 10 1112HHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHH HHHXIHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHH72HHHHHHHHORG OH 5 1112HHHHHHHHHHHHHHHHHH ADDRESSHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHMCCO5nnHHHHH FLACO FLAGH ONH O O 0 OFFSET 5 0 ABSOLUTE INDEX DRIVEHHHHHHHH72HHHHHHHHDRIVEHHHHHH FLAG ONH D ORGDRIVEHHHHHHHHHHHHHHHHHHH FLAG OFFI D RESETH H DRIVEHHHHH FSSTOPH 0 0 DRIVEHHHHHH DRIVEHHHHHLIMITHHHHHHHHHHHHH ORG DRIVE STOPHHHHHHHHHH HHHHH ORG DRIVEH 0 ORG DRIVEHHHHHHH ADDRESS 8 388 6070 8 388 6070 D 0 000000 ORIGIN FLAG RESET COMMANDH SPEC INITIALIZE4 COMMANDO 000000 UO U FLAGH ONIHHHHHHHHHHADDRESS MCCO5nnHHHHHHHHHHUSERHHH HHHHHHHHHHTHADDRESS INITIALIZE COMMANDO 0 ADDRESSHHHHHHHHHHH COMPARATORHHHHHHHHHHHHHHHH
54. 5 POWER ONRESETHHHHHHHHHHHHHHHHHHHHH 6 14 JOG COMMAND COMMAND DRIVEH 105 DRIVEN 115 HHHHHHH 000 JOGDRIVEHHHHHH BUSY 0 Y COMAND 10 115 WW TE 6 15 SCAN COMMAND COMMAND CWH DRIVEN 125 CCW H DRIVEH 18 000 5 m BUSY 0 Y 125 13 VA TE 6 16 INCREMENTAL INDEX COMMAND COMMAND 141 0000 0 INDEX DRIVEH DRIVE DATA1 2 3 PORTO O O PULSED 0000000000 n DRIVE DATA1 2 3 PORTU C1 LH H BB D B I BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DA PRT D j de 2 2 TE 1 DATA2 PORT O PULSED 00 VRI CCW HHHHHHHHPULSEHH2HHHHHHHHHH DATA3 PORT HHHPULSEHHHHH PULSE 10 OMAD 14 VRI wo OO i ZO Ae Y O o MM 0 Ol 8 388 607 38 6 17 ABSOLUTE INDEX COMMAND COMMAND 155 HH HHHHHINDEX DRIVEH OU O U HHHHHHH DRIVE DATA1 2 3 PORTO 0 0 0 0 0 0 ADDRESS I I HUD D mms DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT 3 D D D D D D DA PRT D de ieu doa 12 VAI 0 DATA2 PRT D 0 0 ADDRESS 00 FFFFFF VA 0 0 ADDRESS 00000 0209 0000
55. ANGED 000000000000 INDEX CHANGE INDEXCHANGEHHHHHHHHHHHHH 0200700000000 BTO 2 172 5 1 JOG DRIVE JOG COMMAND U 1PULSE DRIVE U JOG COMMANDO X1CWP X1CCWP JOG COMMANDH X1CWP X1CCWP JOG DRIVEH DATA H B EH LU U 5 2 SCAN DRIVE SCAN COMMANDH 0 0 0 0 O DRIVE 5 10 5 11 5 12 H E 00000000 SCAN COMMANDH 2 5 X1CWP X1CCWP SCAN COMMANDH X1CWP E NNNM NES X1CCWP p eee 5 SCAN DRIVEHHHHDATAHHHHHHHHH DATAH COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE HHHHH RATE SET 0000 SET 0 LSPD HSPDO 00000000 HSPDIJ IU HHH U DRIVE H HUHH 18 5 3 INDEX DRIVE INCREMENTAL INDEX COMMAND H J 0 ABSOLUTE INDEX COMMAND H 0 O PULSED H ADDRESS 0 000 0 DRIVE HHHH U Hz OO PULSED O ADDRESS H CWHHHHH X1CWP L I 1 X1CCWP CCW HHHHH X1CWP X1CCWP INDEX DRIVEHHHHDATAHHHHHHHHH DATAH COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE HHHHH RATE SET DRATE HHHHH RAT
56. ATA2 PRT D LSPD DATA VAI LSPD D 00 10 0 3 333 333 320 05 0 00 DATA3 PCRT LSPD SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH COMAND 075 POWER ON RESETH 0 LSPDH 300HzHHHHHHHH VAI S 17HHHHSPEEDHHHHHHHH 9992 6 11 HSPD SET COMMAND COMMAND 08n DRIVEN O O 0 HSPD HIGH SPEED HHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO HSPDH HzHHH3HHHDATAHHHHHHH mms DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA PORT DATA2 PORT DATA3 PORT Y D D D D D D DNA PORT 0 25e gp gp 128271 gp 1 i20 VW TE D DATA2 PRT 0 HSPD DATA VW TE D D HSPD DATAD 000000 1 1n H 3 333 333 320 051 0 00 0 DATA3 PCRT HSPD SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHUHHHHHH COMAND 08 POWER ONRESETH 0 HSPDH 3000Hz0 0 000000 VA TE S 17HHHHSPEEDHHHHHHHH 34 6 12 DFL COUNTER INITIALIZE COMMAND COMMAND 000 HHCOUNTERHHHHHHHHHHHH DRIVE DATA1 2 3 PORTO COUNTERIH mms DRIVE DATA1 PORTO 00000000000 BUSY 0 DATA1 PORT Y Di Di 0 0 0 0 0 DFL COMP STOP TYPE DFLINT OUTPUT TYPE DFLINT LATCH TRIGGER TYPE 3 DATA3 PCRT OHHHHHHH DRIVE DATA1 PORTO 0
57. ATA3 PORT D D NE DATADO O 0 COMMAND CODE DRIVE DATA1 2 3 PORT READ HHHHHHHHH HHHHHHHHHH DATAHHHHHHH U O COMMANDO DATAHHHHHHHHHHHHHHH HH RATED 0 D DATA3 PORTO 65 RATE SET COMMAND COMMAND PORTH HOAn COMMAND H O DATA2 3 PORTO DATA2 PORTO URATE No DATA3 PORTO DRATE 0 1 COMMANDO D D 0 COMMANDO DRIVE DATA3 PORTO 0 0 COMMAND HHDATAHHHHHHHHHHHH STATUS PORTO ERROR 7 0m NoHHHHHHHH UU UI NJ N2 NA2 NJ N2 NJ ESPD SET CSPD SET CFFSET PULSE SET CGN DELAY SET SPEC TI ALI ZE3 RESQLUTI CN SET o oo HHHHH HHHHH ITHHHHHH SESPD SET 1 W Oo EA 66 0 HHHHHHHHCOMMANDHHHHHHHHDATAPORTHHHDATAPORTNoHHHHHHHH D COMMANDE 0 D D D EL O 0 0 DRIVE DATAS PORTI_READH D D D LL D DB 2 COMMANDE 0 MODED URATE DRATEH DRIVE DATA1 PORT WRITE HHHHHHHHH 3 COMMANDO PART No DRIVE DATA1 PORT WRITE IHHHHHHHH HHHHHHH HHDATAHHHHHHDRIVETYPEHHHHHHHHHHHHHHHHHHDATAHHHHHHHH 0
58. D T STATUS3 DFL COMP1 COMPARE REGISTER HHHHHHHHHH10O0HHHHHHHHH HHHHHHHHHXIDFLINTHHHHHHH X1DFLINTH STATUS3 PORTO LI L A 0 STATUS3 PORTO READ J HHHHHHHH e HHHHHHHH 000000000 e 000000000 2 DFL COUNTER INITIALIZE COMMAND DFLINT LATCH TRIGGER TYPED 1000000 DFL COMPARE REGISTER DFLHHHHH 7 X 8 X 9 X 10 1 X 1 X 13 X 1 IOR L_ X1DFLINT STATUS3 DFL COMP1 COMPARE REGISTER SET COMMANDO D0000 l R 0 HHHHHHHH 0 0 0 HHHHH HHHHH O X1DFLINTH 0 0 STATUS3 PORT 00000 00000 0 0 HHHHHHHHHHHHHH STATUS3 PORT J REA 0 0 DHHHHXIDFLINITHHHHHHHHH 3 DFL COUNTER INITIALIZE COMMAND DFLINT OUTPUT TYPE 1 00000 000000 DFL COMPARE REGISTER1 10 DFLHHHHH 7 AX 8 X 9 X 11 X X 9 X 8 X1DFLINTH D Ar ES STATUS3 DFL COMP1 COMPARE REGISTER SET COMMANDH HHHH HHHHHHHHHHUHHHHHHH HHHHHHHH HHHHHHXIDFLINTHHHHHHHH HHHHHHHHHHX1DFLINTHHHHHHHHHSTATUSSPORTHHHHHHHHHHHHH XCWP XCCWP IOR s U STATUSSHHHHHHHHHHH XDFLINT ti 300ns t2 300ns t3 200ns 72 12 14 RESET TIMING RESET X1CWP X1CCWP X1DRST X
59. D D 00000000 00000001 00000010 00000011 00000100 o o o 00000 Ojo 00010000 00010001 00010010 00010011 00010100 00010101 EI EST EJ 00011010 00011011 00001010 PEST EN 00010000 00010001 000100190 00010011 000101090 00010101 parer i I 00011010 00011011 00011100 00011101 mje mje ole O FFF O H FF 11100010 HEX CODE E El am mem z am Ez Ex E E Ez I L1 C3 1 L3 L1 mm 1 L1 L1 L1 LJ COMMAND NAME 20us MAX 1 2ms MAX 25us MAX 30us MAX 25us MAX 11ms 95 s MAX 85u s MAX 25us MAX 35us 1 1 1 0 0 L ee NISN IS IS IS IN N MAX 55u s MAX 20us
60. E 00000000 S RATE DRIVE 0 000000000000000 0000 S RATE DRIVEH O O O 0 SSRATE SERATE SCSPD1 SCSPD20 400 0000000000000000 HHHHHHHHHHH SRATE SLSPD SHSPDH MCCO5nnHHHHHHHHHHHHHHHHHHH SHSPD SCSPD2 1 SERATE SERATE 1 SCSPD1 SLSPD ssRATE SRATE cshATE T t DATAH COMMAND SSRATE HHHHHHHHHHHHHHH SSRATE ADJUST SERATE HHHHHHHHHHHHHHH SERATE ADJUST SCSPD1 H 0 O 0 D RATEH O D D D RATED SPEED SCSPD1 ADJUST SCSPD2 H 0 0 O D D D SPEED SCSPD2 ADJUST 1 SSRATE DATA OD O eee HHHHHHHHHHUHHHHHHHHHHHHHH SLSPDH SCSPD1H O O O O 0 SSRATEH 0000000000 000 c SRATE SET COMMANDH SRATEHH8HHHHHHHHHHHHH 0 1 DRIVE TYPED 0 0 MODEH 0 O O SSRATED H 0 0 0 SRATEHHHHHHH DATA TABLEHHHHHHHHHHHHHH SRATEH 80 0 0 RATE DATA TABLE 0000000 0 U SRATE 8HHHHSSRATEHHHHHHH U2SRATEHHHHHHHHHSSRATEHHHHHHHHHHHHHHHHHHH DRIVETYPEHHHHRATEHHHHHHHHHHHHHHHHH L TYPE 1030ms 1000Hz M TYPE 51 5ms 1000Hz H TYPE 5 15ms 1000Hz D MODE RESOLUTION DATA DO 0 0 D RATED 0 0 1 030 ms 1000Hz HHHH SSRATE SRATE 0 1 SSRATEH SRATEH 0 O SSRATEH SRATEHHHHHH 0 2 SRATE SET COMMANDHHHHHHHHHHHHHHSSRATEHHHHHH HHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE
61. E No QUT RATE SET COMAND OUT 1 AX S MOS WT LOW SPEED DATA MB SET LOW SPEED DATA LSB SET LSPD SET COMAND OUT 1 AX S MOS H GH SPEED MB SET SPEED LSB SET HSPD SET COMAND OUT 1 AX S MOS WT CONSTANT SPEED DATA SET CONSTANT SPEED DATA LSB SET PD SET COMANND 1 AX S MOS WT CFFSET PULSE DATA QUT CFFSET PULSE SET QUT X1 AX S MOS WT LIMT DELAY TI ME SCAN DELAY TI ME J OG ELAY TI ME CRG DELAY SET COMMAND OUT X1 AX S MOS WT CRI G N TYPE No QUT CRI a N DA VE COMAND OUT 0 RAM AREA urate drate RATE DATA TABLE No lspd hspd cspd HzO SPEED offset OFFSET PULSEH 0 Idelay sdelay jdelay0 0 DELAY TIME DATAH HHHHHHHHHHHHHHHHorgonoHHHHHHHHHHHHHHHHHHHHHHHHH 89 16 6 PULSE COUNTER DATA READ PROGRAMI HHHHHHHHH PULSE COUNTERH COUNTH RETURNHHHHHHHHHHHHH TRU t CANTER READ Gi ong xlcntred voi d 1 ong a out p XIMON Oxf PULSE COUNTER PORT SELECT COWAND UC amp a 2 i np XIMXDI1 CANER IN 1 i np XXIMXDI2 UC inp XIMXDI3 CANTER LSB IN if UC 2 amp 0x80 0 SIGN BIT ON 1 UC amp a 3
62. E SET PULSE ADDRESS INDEX DRIVEH 0 0 t ESPDz HSPDII 1 EH EH HI C CU HH HSPDH HH DRIVE 2 LSPD HSPD URATE DRATEH PULSEH HHHHHHHHH URATE DRATEQ O0 0000000000000000 000 12 30 0000000000000 00000000000 0 0 bATA 000000000600 5 4 DRIVE SPEEDH 00 0 SPEED CHANGE COMMANDO 0 0 SCANJINDEX DRIVEH 0 SPEEDHHHHHHHHHHHH SPEED CHANGE COMMANDHHHHHHSPEEDHHHHHHHHHHSPEEDHHHHHHHHHHH 0 1 URATE DRATE INDEX DRIVEH 2 SPEEDD H1 O LSPDH O D SPEEDO 8 U 3 SPEED CHANGE CHANGE COMMANDH O SPEED CHANGE COMMANDO STATUS5 PORTO SPEED CHANGE BUSY BITH 0 SPEED CHANGE COMMANDO U U U HHHHHHHH 19 5 5 ORIGIN DRIVE ORIGIN COMMANDHHHHHHHHHHHHHDRIVEHHHHHH HHHHHHHHH DRIVEN JOG DRIVE CONSTANT SCAN DRIVE SCAN DRIVE ABSOLUTE INDEX DRIVEHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH ORIGIN DRIVE DATAH 00000000 DATAH COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET CSPD CONSTANT SPEED CSPD SET SET SET OFFSET PULSE OFFSET PULSE SET LDELAY LIMIT DELAY TIME ORIGIN
63. EAD ERROR STATUS READ SERIAL INDEX CHECK O 6 37 SLOW STOP COMMAND COMMAND FEn 000 DRIVEHHHHHHHHHH HHHDRIVEHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHDRIVEHHH U 0 COMMANDO D U UO BUSYHOHHHHHHHHHHHHHHHHHH 6 38 FAST STOP COMMAND COMMAND FFn DRIVEHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHDRIVEH O O j 0 0 COMMANDE OU U BUSYHOHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHDRIVEH1HHHHHHHDRIVEHOHHHHHHHHHHHH 48 6 39 COUNTER READ COMMAND PULSEH ADDRESSI 0 COUNTER COUNT DATAHHHHHHHHH 0 1 HHHHHHHH COUNTER PORT SELECTO DRIVE DATA1 2 3 READ PORTO COUNT DATAHHHHHHHH DATA1 PORT 2 READ DRIVE DATA1 23 PORTH H DATA PORT DATA1 PORT DATA2 PORT DATA3 PORT READ D D D D D D enr js psg qp p DATA3 PORT READ COUNT DATA 00 FFFFFFn COUNT DATAHHHHHHH2HHHHHHHH O COUNT DATA 1 PULSEH 0 O0 0 ADDRESS COUNTER 0 U PORT SELECT COMMAND 6 36 O 0 HHHHHHHH 0 2 DATA READH DRIVE DATA1 23PORTHHHHHHHHHHHHHHHHHHHHHUHHHHHHH DATAHHHHHHHHHHHHHHHHHH 6 40 SPEED READ COMMAND 000 DRIVE O O D SPEED DATAHHHHHHHH HHHHHHH SPEED PORT SELECTO DRIVE DATA1 2 3 PORTO l SPEED 0000000 DRIVE DATA1 23 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA
64. ELAY TIME 300ms 3Cn STATUS CCWLIMITHHHHHHHHHHHHHHHH BUSY 0 DELAY TIME DATA2 PORT SCAN DELAY TIME 50ms 0A Y CONSTANT SCAN SCAN DATAL PRT D HHHHHHHHH DELAY TIME VA TE 0 DATA3 PORT JOG DELAY TIME 20ms 04n 0 JOG DRIVEH 0 O 1PULSED DELAY TIME DATA2 PRT D WI TE 0 POWER ONRESETHH HHHHHHHHHHHH 0 PORT DATAH 002 O 0 Sms 00000000 0 00 DELAY TIMED DAI ti 50ms 1G 1 275s VA 0 JJ HHHHHHHHHHHHHHHLHHHHH ORIGIN DELAY SET COMMAND HHHH 6 21 ORIGIN FLAG RESET COMMAND COMMAND 1Dn DRIVE U FLAGO RESETH HHHHH HHHHHHH COMMANDHHHHHHHDRIVEHHHHHHHHHHHHH ABSOLUTE INDEX DRIVEHHHHHHHHHHHHHHHHHH HHHHHHHHHHHH COMMANDHHHHHHORIGIN COMMANDHHHHHHHHHHH 40 6 22 0RIGIN COMMAND COMMAND 1En HHHHHHHHHPDRIVEHHHHHH HHHHHHH DRIVE DATA1 PORTO HHHHHORGHHHHHHHHH Wm ORGO 00 BUSY 0 ORG 1 01n ORG 2 02 ORG 3 03 DATA1 PORT ORG 4 04 VRI TE ORG 5 05 ORG 10 0 COMMAND 1 ORG 11 VA TE ORG 12 0Cn HHHHHDATAHHHHHHHHHHHH COMMAND ERRORIH 00 HHHHHHHHHH DRIVEH STATUS1H DREND BITO 10 LSEND SSEND FSENDH BITH
65. GIN FLAG RESET COMMAND ORIGIN COMMAND SRATE SET COMMAND HH SLSPD SET COMMAND SHSPD SET COMMAND SSRATE ADJUST COMMAND SERATE ADJUST COMMAND SCSPD1 ADJUST COMMAND SCSPD2 ADJUST COMMAND S RATE SCAN COMMAND S RATE INCREMENTAL INDEX COMMAND S RATE ABSOLUTE INDEX COMMAND ERROR STATUS READ COMMAND SPEED CHANGE COMMAND INT MASK COMMAND mmm PORT SELECT COMMAND SLOW STOP COMMAND FAST STOP COMMAND COUNTER READ M SPEED READ 7 1 7 2 7 3 7 4 7 5 7 7 7 7 8 7 9 7 10 7 11 7 12 7 13 ORG O MM MM M MM MM MM M M M MMM ec ORG 3 mmm ORG mmm mM ORG 5 meme ORG 100 ORG 12 M EIE IHE ERES ESI ES EAT ETE ETE
66. H RESETH O O O O AD HHHHHHHHHHHHH 15 0 00000060 DRESS INITIALIZE COMMANDO 1 COMMANDHHHHHPCIHHHHHHHHHHHHHHHH RDYINTHH HHHHHHHHHHHH DRIVE COMMANDO 0 0 FSSTOP STOP LIMITHHHHHHH COMMANDHHH HHHHHHHH HHHHHHHHHHHHHHHHH3HHHHHH SPEC INITIALIZE1 COMMANDHHHHHHHHH 0 0 POWER ONRESETH HHH 1HHHHHHHH 1 PULSE COMMANDH 2 0 0 0 COMMANDO O U O O 0 0 COMMANDO 3HHHHHHHHHHH 0 0 0 0 COUNTER COMMANDHHHHHHHHCOMMANDHHHHHHHHHHHHHHH HHHHHH 2 PULSE COUNTER COUNTHHHHHHHH CNTINTHH UHHHHHHHHHHH OU U O COUNTER 0 0 COUNTHHHHHHHHHHHHHHH DFLINTHH HHHHHHHHH 000 HHHHHHH COUNTERHHHHH PULSE COUNT COMPAREHHHHHHHHH 5 16 SPEED DATA Hz I B 0 SPEED DATA HSPD LSPD CSPD SHSPD SLSPD 0 Hz 0 0 30 0 0 DATA Bb HHHDATAHHHHHH1H3333 333HHHHHHHHH SPEEDO 1Hz 3 3MHzHHHHHH SPEED 0 0 HSPDH D 0 10000 0027102 0 000000 10000Hz 000000 MCCO5nnHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH SPEED SPEED DATA HH D 60 24 5 17 DRIVE TYPE ll U MCCOSnn HHHDRIVEHHHHHHHHHHHHHHHHHHHHHHDATA MODEH 0 MODEH HHHHHHDATAMODEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH L TYPE M TYPE H TYPEH 3TYPEH HHHHMODEHHHHHHHHHHHHHHHHHHHHHHHHHH
67. H HHDATAMODEHHHHHHHHH URATE DRATE HHHHDATATABLEHHHHHHHHHHHHHH USERHHHHHHHHHDATATABLEH NoHHHHHHHHHH RATE DATA TABLE HHTYPEHHHHSPEEDHHHRATEHHHHHHHHHHHHHHHHHHHHHH DATA MEE SPEED LSPD SLSPD 10Hg 100kHz 10 0 800kHz 10Hz 3 10Hz 3 nnnn seme neon 1 Ons 1000Hz 0 05ns 1000Hz 0 005ns 1000Hz 0 004ns 1000Hz 0 62Hz STEP 4K STEP 68kHz STEP 68kHz STEP 5 18 SPEED DRIVE DATA1 2 3 PORTO DRIVEH 0 SPEED DATAH U HHHHHDATAHHHHHHHHHHHHHHSPEEDHHHHHHHHHHH SPEED 97 0004900 i V READ DATA U HHHHHHHHHHHHHHSPEEDHHHHDATAHH3HHHHHHHHH 9 5Hz 3 3MHzH 00 HHHHSPEEDREADHHHHHHHHHHO95HzHHHHHHHHDATAHHHHHH SPEEDHHHHHHHH DRIVE DATA1 2 3 PORTO O PULSE COUNTER COUNTERI PORTH O U HHHHHSPEEDREADHHHHHHHPORTHHHSPEEDDATAHHHHHHHHHHHHHHHH HHH HH SPEED PORT SELECT COMMANDH 000000 ATAD HH U LU SPEC INITIALIZE DATAI SET DATA READ COMMANDHHHHHHHHHHHHHH HHHHHHHHDATAHHHHHHHHHHHHHHHHHHHHHHHHHHHH D Uu HHH 25 HHUHHHUHHHHHH HHHHUHHUHHHHHHHHHHLH D COMMANPHHHHHHHHHHHH 4 1 0 0 0 0000000000 HHHHHHHHHHHHHHX1HH MCCO5nnHHHHHHHHHHHHHHHHHHHHHHHH 6 1 DRIVE COMMAND COMMANDI 0 O PULSED O O O O COMMANDO D D D 0 D D
68. H HHHHHHH 24V 2V 0 00000 24 0VH MAX 480mA 0 0 CWLM CCWLMH l FSSTOPH O ACTIVE OFFO HHHHUHHHHHHHHHHHHHHHHHHHHHHHHH L3 mr L3 pr r 3 0 0 75 1 21 COW 45V N ooo uuu O 2 mn xu XWO O 0 0 e xu ovo JO O O usa 69 Xin COWD D D D D 70 DD cem 2 0 nero ZI D DDD ze 0 0 0 8 po 5 0 vae M00 U Zl HHHHH HHHHH 21 1 1 71 Zl EMETTE 1 71 1 R 0 3GOMMNN iG COON 5 27 GOY x AO GN 5 m x 4OWHHHHHPULSH AH H OWD PULSED 4 gs gt 9 0000 DU cama amu 2 o A DD NER Em 1 6 Y1DEND Y1PO O l 8 ume cem o As Pinnnn J X zuo ADDDDDD m00 EIC ro 5V GU XON 0
69. HH 12 5 SPEED CHANGE TIMING HH 12 6 DENDO O TIMING 12 7 0 O O D TIMING HH 12 8 0 O TIMING 1 12 9 0 0 TIMING 2 12 10 LIMIT TIMING MM HH 12 11 RDYINTH TIMING INTA JJJJJJJJ J J JJJJa HH 12 12 CNTINT 0 TIMING INTA VVJUJJPT HH 12 13 DFLINTO O TIMING INTA HH 12 14 RESET TIMING HH 12 15 BUS TIMING 13 1 J10 J20 0000000000 HH C C 13 3 J20 0 J RH HH HHHHH 14 1 DRIVER O O D 14 2 LIMITO I DUE HH 134 S E E pt T Ez HH HUHHHHHHHHHHHHHHHHH TOE O ACN TD E HH sss HH IlHHHHHHHHH 00000000 16 1 INITIALIZE PROGRAM Yq 16 2 JOG DRIVE PROGRAMO ssssssssssssssssssssssssssssssasassauwsawswasuwaa 16 3 SCAN DRIVE PROGRAM 164 0 INDEX DRIVE PROGRAM
70. HH HH ADDRESS READ COMMANDHHHHHHHHHHHHHHHH DATAH 8 388 6070 8 388 607 PULSE AREAH 0 0 3 ADDRESS 8 3 PULSE COUNTER 1 PULSE COUNT a PULSE COUNTER MCCOSn 00 O PULSED 000 COUNT DATAH DRIVE DATA1 23 PORTH 000000000000 0 0 PULSE COUNTER PORTO HHHHHHHHHH DATAH 8 388 6070 8 388 607 PULSE AREAH 8 388 608HHHHHHHHHHHHHHHHHHHHHHH STATUS3 PORTO OVF BITO 10 00000 COUNTER RESET 0 00000000 COUNTER PULSE COUNTER PRESET COMMANDO OQ000000000000000000 PULSE COUNTER INITIALIZE COMMANDO 000000 HHHHHHHHHHHHHHHH RESETHHHHHHHHHHHHMCCO5nnHHH PULSEHHHHHHHH 2 PULSE COUNT a PULSE COUNTER COMPARE REGISTER COMPARATORHHHHHHHHHHHHHHH o COUNTER REGISTER STATUSH 0000000 HHHHSTATUSHHHHHHHHHHHHHHHHHHHHHH HHHHHHH COMPARATORHHHHHHHHHHHHHH HHHHHHHHHUHHH HHHHHHHHHHHSTATUS3 PORTO READHHHHHH RESETD D D COUNTER REGISTER O RESETE O RESETH 8 5 COMPARATORH D COMPARATORI ORHHHHHHHHHHHHHHHHHH 0 0 Lr 0 0 0 0 0 0 0 0 0 HH 0
71. HHHH 0000 HHHHHHHHHHHHHHHHH 04n ERROR LSEND SSEND FSENDH 0000010000000000 0 DRIVE RESETHHHHHHHHHHHHHHSTATUS1H HHHHHHHHH BITHOHHHHHH 000 6 23 SRATE SET COMMAND COMMAND 000 S RATE DRIVEH 0 D O SRATE D D 0 D D D HHHHH me DRIVE DATA3 PORTO SRATEH DATA 0 NoHHHHHHH STATUSI BUSY 0 DRIVE DATA3 PORTE 000000000600 Y DATA3 PORT DATA3 PCRT D D VA COMMAND 60 VAI TE SRATE No 0 U COMMANDO 0 0 SSRATE SERATEH SSRATE SERATEH HHHHHHHHHHHH SRATE SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH POWER ON RESET No 9 100ms 71000Hz H HHHHHHHHHHHH 41 6 24 SLSPD SET COMMAND COMMAND 610 S RATE DRIVEH O O SESPD LOW SPEED H HIHHHHH 0000000 DRIVE DATA1 2 3 PORTO SLSPDH O O 30 O O DATAQU me HHHHHH STATUSI DRIVE DATA1 2 3 PORTO HHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D ONAL PORT p N WNW ol MR Ne ps VRI 0 0 DATA2 PCRT SLSPD DATA VRI 0 0 SLSPD 0 0 0 0 O 0 10 0 0 3 333 333 32DCD53 1 0 DATA3 PORT 1 VRI TE SLSPD SET COMMANDH 1HHHHHHHHHHHHHHHHHHHHH HHHHHHHH 61 POWER ON RESETH SLSPDH 300HzH 0000000 VRI 5 20 COMMANDO 0000 0 SCSPD1 SscsPD20 000000
72. HHHH HHHHHH EE SX670 H TI HHHHHHH x1ZoRG 6 55 xe C 873H 4 ORG 10H D O X10 CCW H HHHHH HHH OFF Hu But PM K53 EXTV PM L53 X1NORG PM T53 0000 EE SPX301 MORG 5 6700 LU X1ZORG X1ZORG C 873 81 LL se ms 4 e 38 ub key mo MO _ BO Ky BO AI3I gmo AUS gab B3 027 AIO B5 36 GBH3I Gb 021 BO 019 1 0 0000 00000000000000 3 3V J p 5 0 0 0000000000000000000 82 15 20000000 MA L MUNN D X1 Y1 Zi A1 B1 C1 RDY RDY TH D JP3 JP2 JP4 RDYINT CNTINT DFLINT D 0 RDY X1 Y1 Z1 A1 B1 C1 X2 Y2 22 A2 B2 C2 X2 Y2 Z2 A2 B2 C2 JP2 JP4 HHHHHHHH 000 L1 000 U mm RDY LED RDYH D O 83 H H H 0 DEFIN TI ON
73. HHHHH DRIVE Hl B U D ORG DRIVEH HH HHHHHHHHHH ORG DRIVEH CW H 0 RIVEHHHHHHHHHHHH 91 PULSE COUNTER HHHHHHH HHHHHHH 200 0 2 n 00 000 20 21 ai OOOO E mono SPEED DATA SPEED DATA HHDATAHHHHHHHHHHH 210 29 SPEED DATA 0 0 0 7 HHHHHHHHHHHHUHHHHH 0 SPEED DATA 0 9 5920 0600000000000 HHHHHH CNTINTHHHHHHHHHHHH DATA D D PLS COMPARE REGISTER 000000 HHHHHHHHHHHHHHHH PULSE COUNTER HHHHHHHHHHHHHH HHHHHH PLS COMPARE REGISTERH 0 RESETH D 0000 D D 800000 INITIALIZED D D PLS COMPARE REGISTERHHHHHHHHHHHH CNTINTHHHHHHHHH D COMPARE REGISTER COMP INTO J PULSE UNTER INITIALIZE COMMANDHHHHHHHHH O PULSE SPEEDO 000000600 HHHHHHH RATE DRATEH 1 J U DRIVE TYPE 000 SPEC INITIALIZE1H O DRIVE TYPE RATEHHHHDATAHHHHHHHHHHH HHHHH 92 18 1 L TYPE 18 2 DATA TABLE DATA TABLE 0 100 0 50 2 6o U ms 1000Hz 1000HzHHHHHHHHHHHHHHHHHHHH
74. HHHHHH HHHHHHHHHHHHHHHHH HHHHHHHHHHHUHHHHH FSSTOPH FAST STOP HHHHHPULSEHHHHHHHHHHFSENDH 10 00000 FSSTOP1H 00000 1 11 21 1 1 10 e 000000000 FSSTOP2H 0 0 0 X2 Y2 Z2 A2 B2 C20 e 000000000 5 12 LIMITH O 0 D PULSEH HHHHHHHHHH CWLMH CCW H 0 PULSEH HH CCWLMHHHHHHH PULSED HHHHHPULSEHHH SPEC INITIALIZE1 COMMANDH O O LIMIT STOP TYPEHHHHHHHHHHHHHHHHHHH POWER ONRESETHHHHHHHHHHHHHHHH 0 0 HHHHHHHLSENDH 10000800 5 13 SERVO DRIVERH SPEC INITIALIZE1 COMMANDHHHHHHHHMOTORHHHHHHHHHHHHH MOTORO SERVO MOTOR STEPPING MOTORO 0 0 POWER ON RESETH 0 STEPPING MOTORI 00000 U 0 SERVO MOTOR 000000000000 DENDHHHH D SERVODRIVERHHHHHHHHHHHHHHHHHHDENDH LOWHHHHHH O PULSED O O D DRIVED 0 BUSY DRIVE BITO 10 0 0 COMMANDO HHHHHHH DRSTH 000 O SERVO DRIVER RESETH HHHHHHHHPULSEHHHHHHHHHHHH DRST LOWHHHHH SERVO DRIVERH RESET D D SERVO RESET COMMANDO 0 DRSTU LOWHHHHHHHHHHHHHHH HHHHHHHHHSTEPPINGMOTORHHHHHHHHHHHHHH HHHHH DEND7POHHHHHHHHHHHHHDRSTHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHH 1408 000000000 S ADDRESS READ COMMANDHHHHHHHHHHHHHHHHHHH DATA O 8 388 607 8 388 607 PULSED O O D O 0 O O O O POWER ON RESET
75. HHHHHHHHH X1ORGHHHHHH STEPPING MOTORH HHHHHHHMOTORHHHHHHHHHHHHHH X1ORGHHHHHH Y HHHHHHHHHHHHHH c HHHONHHHHH SERVO MOTORH SERVO DRIVERHHHHHHZH CH HHHH 2 20 C 8730 X1ZORG X1ZORGHHH 0 0 HHHHHHHHHHHHHHHHHHH HHHHHZH Ce HHHPULSEH 10usHHHHHHHHHHHHH 8 ORG 11 12 LIMITHHHHHHHHHHHHHHHHHHHHX1CCWLMHHHHHHHHHHHHHHHH X1ORGHHHHHHHHHHHHNOTACTIVEHHHHHHHHHHHH 7 12 1 ORG 0 1 2 3 11 12HHHHHHHHSPEEDHHORGHHHHHHHX1ORGHHH1msHHHHHHHHH ORG 4 5 10HHHHHHHHSPEEDHHNORGHHHHHHHX1NORGHHH1msHHHHHHHHH 0ORG 45SHHHHHHHHHHHHHHHHHHHHHHHHHPULSEHHHHNHHHHHHHHHH N 0 005x CSPD CSPD 5kHzH N 0 005x 5 000 25 D D esPDD D D D Hz D D HH2SHHHHHHHHHHH NHHHIHH1HHHHH HHHHHHHHHHHHHH 3 X1ORG X1NORGHHHHHHHHHHHHHHHHHHHHHHHHH UHHHHHHHHHHH 0 5 ORG 6 OR HHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH 7 4A3 00000 HHHHHHHHHHHHHHHHHHHHHHHH 1 HHHHHH CWIHHHHHHHHHORIGINDRIVEHHHHHHHH 2 0000000000000000 0 0 MARGIN TIME 3 JOG DRIVE SENSOR TYPEH 0 4 ORIGIN SENSORIH ERRORIH U D 5 HHHHHHHHHHHX1DRSTHHHHHHHHH 6 STEPPING MOTOR DRIVER O 1 X1ORGI ANDH D HHHHHHHHHHHHHHUHHHHHHHHHHHHUHHHH 56 E U U 5 COUNTERHHHH
76. HHHHHHHHH HHHHHHHH S 4 0 0 STATUS5 PORT BIT3 RDYINT HHHHHHHH 000000 READHHHHHHRDYINTHHHHHHHHHH STATUS5 PORT BIT3 RDYINT O 0000000 O 0 0 O 0 O O 0 STATUS1 PORTO READH O READH HHHHHHHHHHHHHHHRDYINTHHHHHHHHHHHHHHHH HHHHHHHH STATUS1 65 HHUHHHHL DIOW 0 IOR f 12 15 BUS TIMINGH IOR HHIIHHHHHHHHHHHHHHSOFTLIMITHHHHHHHHHHHHHHH HHHHHHHH SOFTLIMITHHHHHHHHHHHHH 12 1 JOG DRIVE TIMING STEPPING MOTOR HL LH LB B CI CW H O DRIVEH IOW X1CWP STATUS1 DRIVE STATUS1 BUSY 150ns 14 100L s t2 94 5 42 s t50 23 5 31 s t3 36u s 44u s t6 35p 5 43 s 12 2 SCAN S RATE SCAN DRIVE TIMING CCW D DRIVEH IOW COMMANDO 0000000000 X1CCWP STATUS1 DRIVE STATUS1 BUSY 110 150ns t2 43u s 75h sll t3 63u s 95h URATE DRATE 1 3ms 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING JSTEPPING MOTORHHHHHHHHH CW H DRIVEH IOW COMMANDO 0000000000 X1CWP STATUS1 DRIVE STATUS1 BUSY 12 4 ORIGIN DRIVE TIMING 1 URATE DRATE 0 t4 35u s 44u s 20u s 150ns t2 71u 79 s t30 93 s 101h s 2 URATE DRATEH 150ns t4 35 5 44 s t20 1 3ms L TYPE t50 18u s 630u s M TYPE 4
77. HHHHHHHHHHHHHH HHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH CCW LIMIT CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED SD SCAN DELAY TIME o 000000 HHHHHH 4 0000 0000 oo i annon HHHHHHHHHHHHHH XICCWLMH U CW H n CCW LIMITHHHHHHHHHHX1CCWLMHHHHHHH L3 r3 HH HHHHHHHORG HHHHHHHHHHHH H HHHHHHHX1ORGHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 10 ORG 12H ELE Lr LE EJ EJ LEE Lr LIMITHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHUHHHHHHHHHHHHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH CCW LIMIT CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED SD SCAN DELAY TIME JD JOG DELAY TIME oO 000000 A 01000060 0000 4 00 4 HHHHHHHHHHHHHHX1CCWLMH CCW LIMITHHHHHHHHHHX1CCWLMHHHHHHHHHHHHHHHHHHHHHHHHHHHHH ORG 11H HHHHHHHHHHHJOGDRIVEHHHHHHHHHHHHHH HHHHHHHX1ORGHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 55 7 110 00000 1 ORG 0 1 2 30 X1ORGHHHHHHHH ORG 100 XINORG X1ORGCO O000000000000000 HHHHHHHHHHHH CCW HHH CW L 0 XINORGD D D D D HHHHHHHHHHHHHH X1ORGH 00000 HHHOFFHHHHH 2 ORG 4 5 X1NORGHHHHHHHHOHHHHHHHHHHHHHHHHH CCW LIMITHH
78. HHHHHHHHHHHHHHHHICLOCKHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH EFEFEFEHHI D H B BH HH B HH B B BH H D H B E DE D U HHHHHHHHHHHHHHHXHHHHHHHHHHHHHHHHHHHHHHHHH 8 1 1 0000 MCCO5nnH 24BIT HARD COUNTERH 000000060 HHHHHHHHHHHHHHHHHH CANTER dEA_XEB EK DATA 2 3 NOT ACTI veg VAI TE PCRT XIOP 1 PULSE PULSE CONTER PULSE CANTER PRESET IN TI ALI ZE COMAND CANTER COMAND CONT 24BIT GOMPARATCR 5ch D NT OUTPUT 24BI T COMPARE REG STER x 5 5 REG SET CANTER CANTER DFL CANTER PRESET INT ALI ZE COMAND CANTER COMAND APRS PULSE O COUNTER PORT am iE MD CANT PATTERN TYPE IFL GOUNTER L IN TI ALI ZE COMANND CRI VE DATA gt SELECTOR DATA 2 3 READ PCRT NT CONTROL 24BI T GOMPARATCRx 2ch FL CANTER IN TI ALI ZE COMAD 24 T COMPARE REG STERx 2ch XILFLI NT CUTPUT QOW1 2 REG SET CANTER 2 T ADDRESS COUNIER ADDRESS IN TI ALI ZE COMAND 24BI T DATA DATAL 2 3 VW TE PORT 57 8 2 ADDRESS COUNTER 1 ADDRESS COUNTER O MCCO05n 00 O PULSED 0 ADDRESSH 2 COUNT DATA DRIVE DATA1 2 3 PORTHH HHHHHHHHHHH O O ADDRESS COUNTER PORTH HHHHHHHH
79. III1 0x01 CANTER SPEC DATAL out p 0x20 CANTER SPEC OUT out p X1 CANTER SPEC DATA3 QUT 0x02 PUSE CANTER INTI ALI ZE COMMAND OUT 55 I N TI ALI ZE COMANND xlnacr dy 1 S MOS VAT out p XIMXDI1 0x00 ADRESS MB OUT out p n 0x03 out p X1 Oxe8 PAT 0x03 ADDRESS LSB ADDRESS IN TI ALI COMANND OJT CANIER PRESET COMMAND out p XICNIDI1 0x00 COUNIER MB out p XICNIDI2 0x03 out p XICNIDI3 Oxe8 CANTER LSB out D 0x00 QOJNTER PRESET COMAND OUT CANTER REG STER1 SET out p XICNIDI1 0x00 out p XICNIDI2 0x27 COMPARE REG STER1 MB OUT COMPARE REG STER1 LSB OUT CANIER REG STER1 SET COMANND RESET D D D 0 D 0 0 INITIALIZED HHHHHHHHHHHHHHHHHH L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 HHHHHHHHHHHHHHHHH HHHHHHHHHHHHUHHHHH 86 16 2 JOG DRIVE PROGRAMI JOGDRIVEHHHHDATAHHHHHHHHHHJOGCOMMANDHHHHHHHHHHHHHH la US 1 AX S 4 OG ERI VE St Cus EE Sy a h 2 voi d x1j og void xlnacr dy 1 S MOS W T out p 1 0x10 4j OG 16 3 SCAN DRIVE PROGRAMI SCAN DRIVE URATE DRATE LSPD HSPD DATA
80. MANDHHHHHHHHHHHHHHHH PULSED 0 1PULSEHH J D PULSEHHHHHHHHH 4 HHHHPULSEHHH12HHHHHHIEHHHHHHHHHHHHHHHHHHHHHHHH 12 10 LIMIT TIMING 1 LIMIT HL HH BL EL BL UU U STEPPING CW H DRIVEH X1CWLM X1CWP STATUS1 DRIVE STATUS1 BUSY t1z 600 s t2 38u s 42p 5 t3 20u s OLIMTOOQOOO O0O00OOO0O0 D lI U O PULSED O D DRIVED 0 O 1PULSED D OO D D DRIVED D O HHHHHHHHPULSEHHHHHHH LIMITHHHHHHHHHHHH 12 8 0 12 9 H TIMING O O D HHHFSSTOPH HH CWLMICCWLMHHHHHHHHHHHH600hsHHHHHHH 69 12 11 RDYINT TIMING NTA 5 STATUS1 STATUS1 BUSY BUSY IOW RDYINT RDYINT 50ns t2 150ns COMMANDH 000000000 000 COMMANDO IHH BL U U DI D U 000 COMMAND HHHHHHHHH STATUS1HHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDHHHHHHHHHHHHHH6 4HHHHHHH Js 12 12 CNTINT TIMING NTA 9 HHHHHHHH X1CNTINT H O STATUSO COMP1 5 1 PULSE COUNTER INITIALIZE COMMANDH CNTINT LATCH TRIGGER TYPEH OHHHHHH PLS COMPARE 5 7 REGISTER 7 XX 8 X 9 AX AX IOR L L X1CNTINTH 0 7 STATUS3 COMP1H 5 COMPARE REGISTER SET COMMANDHHHHHH 0 0 HHHHHHHHHHHHHUHHHHHH D 0
81. MPARE REGISTERS5H HH HH PULSEHHHHHHHHHHHHHHHHHHH BITHHH 1000000 uis gt 6 6 ADDRESS INITIALIZE COMMAND COMMAND 035 HHHHHHH 00000 ADDRESS ADDRESS DDRES N 0 COUNTERHHHHHHHHH HHHHHHH DRIVE 2 3 PORTO ADDRESS mo DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DA PRT 0 25 e ug L 2 VW TE 0 PORT D ADDRESS 00 VR ADDRESSH HHHHHH2HHHHHHHHHH DRTA3 PORT VW TE ADDRESSHHHH GOWAND 03 483885607 Fa Fa VW 10 8 388 607 6 7 ADDRESS READ COMMAND COMMAND 04n 000 MOTORO 00000 0 0 ADDRESS J HHHHHHH HHHHHHH DATA1 2 3 PORTO 0 D D ADDRESS 0 D 00000 me DATA1 2 3 PORTHHHHHHHHHHHH STATUSI BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D Y eater qe 2 7 2 GMA D 04 VAI D ADDRESS 00 FFFFFF nme ADDRESSH 00000020 0000000 BUSY 0 U ADDRESSH 000 Y DITA PORT 0 READ DATA2 PCRT READ 0 COMMANDO HH HH COMMANDHHHHHHHHHHHHHHHH DATA3 PCRT UD ADDRESS DATA ADDRESS COUNTER COUNT DATA READ e a9 j nnnugadggggmggggggggggggggtttutlelu 0 DATAH READH O DRIVE DATA1H 3PORTHHHHHHHHHHH DRIVE DATA1 2 3 PORTO O O PULSE COUNTER
82. NTA 11 1 COMMANDI 00000000000 X1 X2 Y1 Y2 Z1 Z2 A1 A2 B1 B2 C1 C2 RDYINT HHHHHHHHHHHHHHH STATUS5 PORTO 0 STATUS PORTHHHHHHHHHH HHHHHHHHHHHHHHHHPCIHHHHHHHHHHHHHH HHHH HHHHLUHHHHHHHHH 11 2 PULSE COUNTER DFL COUNTER 50 00000000 X1 X2 Y1 Y2 Z1 Z2 A1 A2 B1 B2 C1 C2 CNTINT X1 X2 Y1 Y2 21 Z22 A1 A2 B1 B2 C1 C2 DFLINT ORH COMP5 DFL 20 OR HHHHHHHHH HHHHHHHHHHHHHHHHHHH COMPARE REGISTERH HHHHHHHSTATUS3 PORTO HH HHHHHHHHHHHHHHHHHHHHHHHHHHINTH HH STATUS3 PORTO READ 0 0 RESET HHHHHHHHHTYPEHHHHHHHHHHHHHHH8SHHHHHHH X1RDYINT JP3 ICE PCI BUS C2RDYINT s X1CNTINT X1 PLS COMP1H 5 INTA x B o C2CNTINT C2 PLS COMP1H 5 d m lt X1 DFL COMP1 2 ES Cp C2DFLINT C2 DFL COMP1 2 XARDYINT C2RDYINTH STATUS5 PORT 000000000 4141200000000 11 4 1 D 0 R HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 2 D HHHHHHHJP2HHJP4HHHHHHHHHHHHH HHHHHHHHHHHHHH 0 0 0 0 ELI 000 000 DYINTH SPEC INITIALIZE1 COMMANDH CNTINTH PULSE COUNTER INITIALIZE DFLINTH DFL COUNTER INITIALIZE COMMANDO HHHHHHHHHHHHHHHHHHHHHHHHH O CNTINT DFLINTH 0 COMP1H COMP5 DFL COMP1 2HHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHCOMPNoHHHHHHHHHHHHHHHHHH
83. OMPARATORHHHHHHHHHHHHHHHHH DRIVE DATA3 DATA3 PORT VRI DRIVE DATA3 PORTHHHHHHHHHHHH OMAND F8 DATA3 PORT D Di PLS COMP1 INT MASK PLS COMP2 INT MASK PLS COMP3 INT MASK PLS COMP4 INT MASK PLS 5 INT MASK DFL COMP1 INT MASK DFL COMP2 INT MASK DRIVE DATA3 PORTO BITO LEE ETE o EIE r3 EE EE POWER ON RESETH D 1 PLS COMP1 INT MASK DI PULSE COUNTER COMPARATOR1HHHHHHHHHHHHHHHHHHHHHBITHHH OHHHHUHHIH 1000000 2 PLS COMP2 INT MASK D PULSE COUNTER COMPARATOR20 D0 00000000 1000000 3 PLS COMP3 INT MASK D 2 HHHHHHHHHHBITHHH 2 PULSE COUNTER COMPARATOR3HHHHHHHHHHHHHHHHHHHHHBITHHH 1000000 4 PLS COMP4 INT MASK DI PULSE COUNTER COMPARATOR4HHHHHHHHHHHHHHHHHHHHHBITHHH 1000000 5 PLS COMP5 INT MASK DI PULSE COUNTER COMPARATOR5HHHHHHHHHHHHHHHHHHHHHBITHHH 1000000 6 DFL COMP1 INT MASK D COUNTER COMPARATOR1 HHHH UHHHHHHHHHHHHHHHHHHHHBITHHH OHHHHHHH 1 7 DFL COMP2 INT MASK 0 COUNTER COMPARATOR2 HHHHHH HHHHHHHHHHHHHHHHHHHHHBITHHH 1 1 0 L
84. SED HHHHHHHHHHH 0 HHHHHHHHHHHHHHINTHHHH COUNTER COMMAND 50 5 D 0 OFFH HHHHH INTHHHHHH HHHHHHHHHHHHHHHHHHSTATUSSPORTHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHH PULSE DFLH 0 COMPARATORH HH INTHHHHHHHHHHHHHHHHH HHHHHHHHH O PULSED DFL COUNTER INITIALIZE COMMANDO O O J O 000000 0000000000 00 COUNTER INITIALIZE COMMANDO D D PULSEHHHHHHHHHHHHHHHHHHHHHH 0 COMPARATORH HHPULSEHHHHHHHHHHHHHINITHH STATUSHHHHHHHHHHHH HHHHHHHHHHHPULSEHHHHHHHH HHHHHHHHHHHHHHHHHHHHHH PULSE COUNTER INITIALIZE COMMAND DFL COUNTER INITIALIZE COMMAND INT MASK COMMAND HHHHHHHHHH 60 9 1 HEX CODED xHHHOHHHHH UD XX X 0001 PULSE COUNTER COMPARE REGISTER SET MAX200ns L3 1 9 2 PULSE COUNTER PRESET COMMAND COMMAND 000 PULSE COUNTER COUNTHHHHHHHHH INITIALIZED 0 0 D 0000000 EDDA D ONER DATA1 0 COUNTER DATA1 2 3 PORTO PRESET 000000 PORT VR COUNTER DATA1 2 3 PORTHHHHHHHHHHHH CANER DATA2 0 PORT VR TE DATA1 DATA2 DATA3 PORT D D D D D D CANTER DATAS eu aqq q ape p d y e 9 ii te 185 PORT QOUNTER COMAND E PRE
85. SEHHHHHHHHHHHHHHHHHHH BITE C DU 1000000 30 DRIVE DATAS PORT 00000000000 DATA3 PORT COMP2 INT ENABLE COMP2 STOP TYPE COMP3 INT ENABLE COMP3 STOP TYPE COMP4 INT ENABLE COMP4 STOP TYPE COMP5 INT ENABLE COMP5 STOP TYPE DRIVE DATA3 PORTH BITO POWER ON RESET I J D EFE L3 o L3 a L3 Lr L3 ET E ETE L3 E LES L3 Ez L3 1 COMP2 INT ENABLE DI COMPARE REGISTER2H HH XICNTINTHHHHHHHHHHHHHHHBITHHH OH X1CNTINTHHHHHH 10 X1CNTINTH HH HH 2 COMP2 STOP DI COMPARE REGISTER2H HHHHHHHHPULSEHHHHHHHHHHHHHHHHHHH BITE C OHHHHUHHIH 1000000 3 COMP3 INT ENABLE D COMPARE REGISTER3 U X1CNTINTH BITH O X1CNTINT 10 X1CNTINTH O D U 4 COMP3 STOP TYPE D COMPARE 1000000 5 COMP4 INT ENABLE D COMPARE REGISTER4 U X1CNTINTH BITH D O X1CNTINT 10 X1CNTINTH LH 6 COMP4 STOP TYPE DI COMPARE REGISTER4H HHHHHHHHPULSEHHHHHHHHHHHHHHHHHHH BITE C DU OHHHHUHHH 1000000 7 COMP5 INT ENABLE DI COMPARE REGISTER5H 0 0 0 0 X1CNTINTO 00000000000000 B8000 X1CNTINTHHHHHH 10 X1CNTINTH D 0 D D 8 COMP5 STOP D CO
86. SET DATA 00 FFFFFF 00 TE PRESET DATA RESET OH HHHHHHH2HHHHHHHHHH U PRESET DATA D PRESET DATA 100 0 O PORT 2 PORT 8 388 607 OM 0 10 3 o Q i mm 8 388 607 DATA COMMAND PORTO COUNTER O PORTO PORT ADDRESS PORT ADDRESS 000 DRIVE PORTH 0000000 a a 61 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 011 COMPARE 1 958 COUNTER DATA1 2 3 PORTO COMPARE CANER 0 PORT VW TE COUNTER 2 CANTER DATA2 DATA1 PORT DATA2 PORT DATA3 PORT PORT TE Di D D D D Di E deep prag 2 5 COLNTER DATAS PORT TE COMPARE DATA 00 FFFFFFn COLNTER COMAND Ol VW COMPARE DATADO 0000020000000000 RESET 800000 0 00000 DATAE COMMAND PORTO COUNTER O PORTO PORT ADDRESS J I 00000000000 PORT ADDRESS 000 DRIVE PORTH 4110 09000000 00 4 1 9 4 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 02n 000 COMPARE REGISTER2HHHHHHHHSETHHHH 0 COMPARE REGISTER1 SET COMMANDO O U O 9 5 PULSE
87. SLSPD x 0 1 SLSPD SETO 0 SHSPD SET COMMANDHHHHHHHHHHHSCSPD1H HHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHH HHHHHHHHLH HHHHHHH 2 SCSPD1H 000 0 0 SLSPD SCSPD1s SCSPD2H 0 0 SCSPD1H SLSPD O O O O 0 SCSPD1 SLSPDH SCSPD1H SCSPD2H 000 0 0 SCSPD1H SCSPD2HHHHHH 6 29 SCSPD2 ADJUST COMMAND COMMAND S RATE DRIVEH 0 0 0 SCSPD2 0 0 RATED HH D SPEED HHH D U LU U DRIVE DATA1 2 3 PORTO SCSPD2H Hz 30 O DATAH mv HHHHHH STATUSI DRIVE DATA1 2 3 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D 1 PORT 0 29 a 2 VAI TE 1 DATA2 PRT p SCSPD2 DATA SCSPD2H SLSPD SET SHSPD SET COMMANDH 0 0 DATA3 PORT HHHHHHHHHHHHHHHHH HHDATAHHHHHHHHHHHHHH 0000000 GOMVNND 661 2 UTE SCSPD2 SLSPDH SHSPD SLSPD x 0 1 SLSPD SETO 0 SHSPD SET COMMANDHHHHHHHHHHHSCSPD2H HHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHH HHHHHHHHLH HHHHHHH 2 SCSPD2H 0 O 0 SCSPD1 SCSPD2s SHSPDH 0 SCSPD2 SCSPD1H O O SCSPD2 SCSPD1H SCSPD2 SHSPD SCSPD2 SHSPDH 6 30 S RATE SCAN COMMAND COMMAND CWH DRIVEH 70n CCW 0 DRIVEH 710 HHHHHHH 000 SRATE SCAN DRIVEHHHHHH BUSY 0 Y COMAND 705 71 WITE 6 31 S RATE INCREMENTAL INDEX
88. STER2 PULSEH HHHHHHHHHHHHHHHHHHHHHHHHHHPULSEHHHHHHHHHHHHFSEND BITI 1 HHHHHHHHHHHHHSSENDBITH 1000000 COUNT COMPARE CONTROLO O DFL COUNTER INITIALIZE COMMANDO COMPARE REGISTERH 0 DATAH COUNTER PORTO O 0 O 0 0 0 0 COUNTER PORTO DRIVE PORTHHHHHHHHHHHHHHCOMPAREDATAHHHHHHHHHHHHH 59 8 5 PULSE COUNTER 0 COMPARATORH COUNTER 0O O COMPARATORH LH D HHHHHHHHHHHHHHHHHHHHHUSERHHHHHHHHHHHHHHHHHHHH COMPARATOR STATUS3H G INT MASKI COMPARATORHHHHHHHHHHHHH PULSE DFL COMPARATORHHHHHH ON OFF O INT MASK COMMANDHHHHHHHH COMMANDO 0 0 J COMMANDHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHH HHHHHHHHHUHHH Q LATCH TYPE COMPARATORHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH U O PULSE COUNTER COMPARATORIHHHHHHHHHHHHHHHHHHHHHHH DFL COUNTER COMPARATORH HHHHHHHHHHHHHHPULSEHH DFLHHHHHHHHHH HHHHH HHHHHHHHHHHHHHHHRESETHHHHHHHHHHHHHHH HHHHHHHHHHHHHH COMPARATORH 0 0 0000040000000 O STATUS3 PORTO READH RESETHHHHH HHHH HHHHHHHHHHHHHH STATUS3 PORTO READH RESETH 0000 HHHHHHHHHH PULSEH DFL COUNTER INITIALIZE COMMANDO O O O O GINT OUTPUT TYPE 00000 COMPARATORHHHHHHHH HHH OD PULSE COUNTER COMPARATORH DFL COUNTER COMPARATOR 000000 HHHHH 000000000 0 PUL
89. TIMING STEPPING MOTORH HHHHHHHH CW H 0 DRIVEH IOW X1CWP STATUS1 DRIVE STATUS1 BUSY 11 2 10 38u 5 42 5 t2 200 s 0 1 SLOW STOP COMMANDH 0 2 SLOW STOP COMMANDH 0 PULSEH D DRIVEN 1PULSEH DRIVEHHHHHHHHHHHH PULSED 00000 U 2SERVO MOTORH O O O 0 0 DENDO O l STEPPING MOTORO HHHHHHHH CWHH DRIVEH D X1DEND X1CWP STATUS1 DRIVE STATUS1 BUSY ti t2 t1 33p 5 41 s t2 20u s D STEPPING MOTORO 0000000000 DENDO 071HHHHHHH DRIVEH 00 O STEPPING MOTORO 12 8 0 O TIMING 1 STEPPING MOTORI CW DRIVEH T IOW FSSTOP1 X1CWP STATUS1 DRIVE STATUS1 BUSY t1z 400 s t2 38u s 46u sll 0 0 4 t3 20u s 0 1 FAST STOP 0 2COMMANDO0 00000000000 0 3 FAST STOP COMMANDO HHHHHHPULSEHH 1PULSEHHHHH PULSEHHHHHHHHH U 40 D D B PULSED 00 1 2D 00000 200 HHHHHHHHHUHHHHHHHHHHHHH 12 9 TIMING 2 D SERVO MOTORHHHHHHHHH CW H DRIVEH IOW FSSTOP1 X1CWP X1DRST X1DEND STATUS1 DRIVE STATUS1 BUSY t1 400u s t3 10ms t50 20u s 2 26u s 4 t40 15u s 24p s DRSTO O 0 0 DENDO 000000000 FAST STOP COMMANDO 2 COMMANDHHHHHHHHHHHH 0 3 FAST STOP COM
90. UNTER COMAND PORT 1 S GOUNTER DATAL PORT 1 S GOUNTER DATA PORT 1 S GOUNTER DATA3 PORT 1 AX S MCOO5 STATUS1 PORT 1 S MOS STATUS2 PORT 1 AX 5 MOOO5 STATUS3 PORT 1 AX S MOOO5 STATUS4 PORT 1 AX 5 MOOO5 STATUS5 PORT HHHHHHMCCOSnnHRDYHHHHHHHHHPROGRAMHHHHHHHHHH def i xlnacr dy def i ne ylnacr dy def i ne zlnacr dy def i alnacr dy def i ne blnacr dy vhi le i np XIMICSTI vhi e i np 1 5 1 7 vhi e i np vhi e i np def i i np i np whi le i np Zl 0 i np Al i np i np clnacr dy RAM AREA J SFFF5556 6655585 E i obase urate drate spd hspd cspd absdt or gno offset del ay sdel ay j del ay whi e i np CIMXST1 amp 0x01 0x01 amp 0x01 amp 0x01 amp 0x01 amp 0x01 85 1 5 MOOS READY AA 5 MOOS READY Zl AX S MO5 READY 1 AX S 05 READY Bl AX 5 MCCO5 READY Cl AX 5 MOOS READY PROGRAMHHHHHHRAMAREAHHHHHHHHHHHH
91. UUU 3 A1 MCCO5nn 2 UUUUUUUU 3 5 D 2 n HHHHHHHH 3 CI MCCO5an 0 HHHHUUUHHHUH gk 9 x20 MCCO5nn 1 au DLELELDLELELDLE ELE D HL n H 3 Y2 MCCO5nn 1 2 UUUUUUUU 3 5 2 MCCO5nn 2 3 e I t EEPROMHHHHHHHHHHH 2 MOTORHHHHHHHHHHHHHHHHHH12HHHHHHHHHHHHHHH MCC0SnnH HHHHHHHHHH12HHHHDRIVEHHHHHH 120 0000000 X10 Y10 2Z1H 10 C1lI x20 Y20 Z20 A2 B2H COo 0000000 3 COUNTERH COUNTERI ADDRESS COUNTER PULSE COUNTER O COUNTER I O 24BIT UP DOWN COUNTERH 0 0 0 0 0 U O MCCosser 000 p PULSEHHHHHHHHHHHHHHHH IIHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 00000 gt PULSE COUNTER 90 COUNTER O MCC05n o O O PULSED HH90 HHCLOCKHHHHHHHHHHHHHHHHHHHHC873H 0 O O cLock l HHHHHHHHHHHHHHHHHHHHMCCO5nn PULSEHHHHHHHHHHHHHHHHH COUNTERH MCCO5nnH HHHHHHHHHHHHHHH HHCLOCKHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHH 4 C 873HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHIHHHHH HHHHHHHHHHHHH
92. XT Ed 1 coo On ED oo a o ooo 20 lo oo is ooo nun mama HET ia TAET BELE MEE ENSE oo og zip 22010 oO 6 c ME oo on oa 5 0 H oo ooo a om oa o oo ria a L L3 aga L3 rr LT r3 on uu DI a m EGO ERE EST a oS 0B dagaa c3 P EJ L3 L3 p3 E EJ F EI ETE E EM BERHE E pa ma aa Pusa dga ag A A Dll lt lt Dm oo ES ESTE
93. Y2QW x Y2H WD O D D 1 Puse 0 ROP x AX ONU O O O O PULSED 0 B20 B20 XCWO D D O D PULSED O OH QWHHHHH PUSSEI J Bow 5 89 xop D D D D PUSEDD B20 B20 CCWHHHHHPULSEHH 90 n CCOW B2CCVP QOP B2DRSTCCM B2DRSTHHHHH 1240 92 QURSTGM DEND7POHHHHSERVOHHHHHHHHHHHHHHHSTEPPINGHHHHH HHHHUHHHHHH HHHH D 1X0 2 D 3 13 208 00000 13 4 CIHHHHHHHHHHHHHHHHHHHHHHHHHHH SENSOHH Z1 A1 Z2 A2HHHHHHHHHHHHH 1 J1 JE J1 O EXTV 24V WY O X1CWLM X1CCWLM FSSTOP1 le NY O X1NORG X1ORG 0 8mA 0 777 X1DEND X1PO Z1SENSOR LOWLUULULU 2 5mA RESET1 18V HIGH 4V LOW 24V E D O X1DRSTCOM 15 1 65KQ hi O X1DRST HIGHILLH LLU 0 LOWHHHH 2 00 SINK50mAH SOMA LOWIIII 0 60 SINK30mAH Vee 2V0 EXTVGND V umm _ O 4X1ZORG HIGH HHH 1 0mAHH 591 REA LOWHHHH 78mAHH O X1ZORG 0 7VH HIGH 2000 H16mA 3 2VH LOW 5 25V MAX 0 5V MAE O COM Max 20mA 5 1 261581 wax 9 X1CWPX1CCWP 2 4VD 0 MM SOURCE20mA O
94. f i ne obase40x33 def i ALCNTCOM i obase40x34 def i A1QNIDT1 i obase40x35 def i ne ALCNTDI2 i obase40x36 def i ne ALCNTDI3 i obase40x37 def i ne A1MXST1 i obase40x30 def i ne 2 i obase40x34 HHHUHHHU 00000000 H 873 CONTROLO 0 0 USER PROGRAMHHHHHHH ANSIHHHHH HHC 873HHHHHHHHIMOHHHHHH ADDRESSH O iobaser X1 Y1 Z1 A1 B1 C10 HHHHHHHHHHX2 Y2 Z2 A2 B2 C2HHHHHH 84 1 AX S MOOO5 PORT 1 AX S MOOS DATAL PORT 1 AX 5 MOS 2 PORT 1 AX S MOS PORT HHHHHHHHHH i X1 5 CANIER COMAND PORT 1 AX S CANTER DATAL PORT 1 AX S CANTER DATA PORT 1 AX S CANTER DATA3 PORT 1 AX S 5 STATUS1 PORT 1 AX 5 MOS STATUS2 PORT 1 AX 5 MOS STATUS3 PORT 1 AX S MOS STATUS4 PORT 1 AX S MOS STATUS5 PORT 1 S 5 COMMAND PORT 1 5 MOOO5 DATAL PORT 1 5 MOOO5 DATA2 PORT Yl AX 5 MOOO5 DATA3 PORT 7 1 AX S GOUNTER COMAND PORT Y1 AX S QOUNTER DATA1 PORT Y1 S QOUNTER DATA2
95. gt E El WIN Q AWIN atad a p zu 00 n _HHnl _ HHn n QOMAD DRI VE DATAL DRI VE DATA2 DRI CANTER COMAND CANER CANER DTA L s 1 1 U C Ed O Ld Ed ESL EJ STATU55 4 2 110000 0 II 000000000600 1 J PORT HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHPORTHHH 9 gt gt gt gt mmm O 1 BT 5 BT BT HHHHHH HHHHC 873H 000000000000 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHH 4 3 DRIVE COMMAND PORT DRIVE COMMANDH 0 PORTO COMMANDO 000000000000 4 4 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMANDO DATAH HH HH U D D 4 5 DRIVE DATA1 2 3 PORT READ HHDATAHHHHHHHHHHHH ADDRESS READ COMMAND SET DATA READ ERROR STATUS READH 0 0 DATAHHHHHHH COMMAND WRITEH STATUS1 BUSY BITO OHHHHHHHHHH PULSE COUNTER COUNTER ADDRESS COUNTER 0000000000600 4 6 COUNTER COMMAND PORT PULSE COUNTER 0 0 0 COUNTER PRESETH COMPARE REGISTER SET COMMANDH HH HH PORTO 00 COMMANDHHHHHHHHHHHHH 4 7 COUNTER DATA1 2 3 PORT WRITE COUNTER COMMANDO HH 0 0 DATAHHHHHHHH 4 8 STATUS1 PORT MCCOS
96. nnHHHHHHHHHHHPORTHHHHHHHHHHHHHHH ml gl elel L BUSY BIT DRIVE BIT DREND BIT ERROR BIT MAN BIT LSEND BIT SSEND BIT FSEND BIT HHHHHHHHHHHHHH ATA HHHCOMMANDHHHHHHH HHHHHHHHH YBITH1HHHHHHHHHHH BUSY BIT on 0 O O O O 0 COMMANDO 1HHHHHHHHHHHDRIVEH U D COMMAND BUSY BITO 00 0 0 0000 0 COMMAND 6 2H DRIVE BIT 1tHHHHHHHDRIVEH D DREND BIT HHHHHHHDRIVEH D COMMANDHHHHHHH RESET COMMANDH 0 DATA 00 0 0000000000 0 1 3 ERROR 0000000 0 ERROR STATUS READ COMMANDHHHHHHH 0 U H UO LU U MAN LSEND BIT DRIVE BITO 1HHHHHHCWLMHHHHHCCWLMHHHH DRIVE BITO 00 0 J PULSED J O CWLMO D FH CCWLM 0000 HHHHHHSOFTLIMITHHHHHHHHHH DRIVEH 0 2 SSEND BIT DRIVE BITO 10 0 O SLOW STOP COMMANDHHHHHHHHHHHHH DRIVE BITO PULSED O SLOW STOP COMMANDHHHHHHHHHHHHHH DRIVEH RESETH 0000 0 2 FSEND BIT DRIVE BITO 10 0 0 FSSTOPH 0 0 0 0 FAST STOP COMMANDHHHHHH BUS 0 0 D D 1 3 0 uuu ERRORBIT DRIVE BITO 00 O 0 PULSED O
97. x40 BIMXDI1 2 B1MXDI3 obase40x41 i obase40x42 i obase40x43 BICNICOM i obased40x44 BIONIDT1 BIONIDI2 BIONIDI3 BIMCCSTI BIMCCST2 BIMCCST3 i obase40x45 i obase40x46 i obase40x47 i obase40x40 i obase40x44 i obase40x45 B1MXSTIA i obase40x46 BIMCST5 i obase40x47 C1MUOOOM i obase40x50 CIMXDI2 CIMXDI3 i obase40x51 i obase40x52 i obase40x53 1 i obase 0x54 CICNIDI1 CICNIDI2 CIONIDI3 CIMCCSTI CIMCCST2 CIMCCST3 i obase40x55 i obase40x56 i obase40x57 i obase40x50 i obase40x54 i obase40x55 5 4 i obase40x56 CIMCCST5 i obase40x57 x1nacOb5i nz voi d 1 og voi d 1 voi d xlabsi ndex voi d x1or g voi d 1 S MOOO5 STATUS3 PORT S MOOO5 STATUS4 PORT 1 S MOOO5 STATUS5 PORT B1 S MOOS COMAND PORT B1 AX S MOOS DATAL PORT B1 S 5 DATZ2 PORT B1 S 5 DATA3 PORT B1 AX 5 COUNTER PORT B1 S CANIER DATAL PORT B1 S CANIER DATA2 PORT B1 S GOUNTER DATA3 PORT B1 AX S MOS STATUS1 PORT B1 S 5 STATUS2 PORT B1 AX S MOS STATUS3 PORT B1 AX S 5 STATUS4 PORT B1 AX S MOS STATUS5 PORT 1 S MOCOO5 PORT C1 AX S MOS DATAL PORT 1 S MOS DATA2 PORT 1 S MOS DATA3 PORT Cl AX S CO

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