MCX314
Contents
1. WR2 1 2 32. 5 D2 RR n ERR 25 h 41
3. D9 Pl ND 11 10 PI 0 264000000000 nLMIP nLMM DB 4 HM
4. 10KPPSH 0 2 1 So 0 30 5 0 2 30KPPS 40 00 KPPS 0 2 HS 40000 10000
5. 144
6. 610 0000000000 1111 2 147 483 648 32 147 483 647 6 11 000000000 h 2 147 483 648 32 147 483 647 612 1111 2 147 483 648 32 147 483 647 RRI DO nOUT4 GPP
7. EXPLSN Low EXPLSN Low EXPLSN EXPLSN Low 27h EXPLSN Low EXPLSN Low EXPLSN Low EXPLSN 25 0000 NTN NI NI NI NI NT 023 HHHHHHHHHHHH
8. BPnieL BPniPH BPnM BPnMT BPniPL BPI DO BPI 0150 BPnM DO BPnMT DI5H 080 18 nVR2
9. 8801 n DRM NPO n 250nSEC 16 8 1 K SV O O O O O O O O O O O O 82 00000000 nPM
10. gm XO OOH Yooo Zoo OO ooog 53 16 OOOMZ 16 5 DO 10 8 100 17 Data Bus CSN Low RDN Low D5 D5 100KO AO 21 22 23 24 Address CSN 25 chi p Sel ect Low VAN 26 Wite Strobel Low VAN Lo wW CSN A30 A00 WRN WN D5 DO RDN 27 Read Strobel ow CSN Low RON Low RDN Low AQ RESETN 28 Reset K RESETN Low RESETN RESETN Low EXPLSN 29 External Pul 58 H EXPLSN EXPLSN Low 6 8 30 160 t Low 8bi t H Low TESTN 31 Test Low BUSYN 32 Busy Low BUSYN Low
11. 3 COM COMPHE P EPPO EXPM IN ALARM ING 7 Lh VE ASNX CP COM p e EMN Low 0 85 45V 5 90 e MITTTL 16 000 Mt 1441 0 65 30 9x 30 9x 4 36 nm 79 A MCX314
12. PLS L D8 DRL nPM ORL Low H H Low PI ND PPI N nECB PM N Tos nECA b NEE nECB PPI N nEC B PM 1 10 PINA 0 11 DLO 2 AML nALARM Low D13 ALME nALARM nALARM 882 D4 ALARM D4 NP L Low D5 NP E nl POS nl POS n 171 21 46 HHHHHHHH 41 85 83 an 2 2
13. VeOH RR6 RR6 250nSEQ QLK 16M RR6 11 HHHHHHHHHHHH 11111 2 147 483 648 12 147 483 647 886 7 2 0000000 0000 2 147 483 648
14. 1 3 2 3 2 3 1 1 3 4 1 3 1 12 1 12 1 12 y 1 4 A 211 n A HHHHHHHHHHHH 00000 1 0 1 HH HHHHHHHHHHHHHH 021 K V AT 40KPPSI 0 4 oo 4 PPS 40000 0400 1 21 0 2 40000PP SI 1 20 20000 0 20 0 40000 0 2 20000 20000PPS 0 2 2 0000x 20 0 2 200KPPS SEC 200K 0 1000KPPS SEC 0 0 2 0 4 SEC 000 PPS SEC 200K 200K PPS 0 20000 5 Z 800000 10 0 0 2 04 625 62 5x 10 625 x 10 1000x 10 PPS SEC 160 125x 160x 10 200x 10 PPS SEC svg 100 100x 10 1000 PPS M 4000 4000x 10240000 PPS
15. 2 4 4 0 2 26 1 4149 4 4 Ve5 D9 0 1 m 022 00000 1 414 1 414 VRSI 1 1 1 414 1 732 2 28 5 0 1 1 2 1 5 2 2 Ve5 lt 0104h 2 lt 0358 7 lt 0000 lt 0900 lt 0106h 7 lt 003Dh 4 000 0001 0100h 0190h 7 lt 0000 lt 4000 lt 0206h VR7 lt 0056h 4 000 000x 1 414 5 656 000 0200h 0030 lt OlF4h 500x 2 1000 PPS lt 0104h lt OlF4h 500x 2 1000 PPS 0105h 2 100rn 144ns 100rn 144m ih XPM
16. 37h 37h VI ax1 ax2 2 24 1000 9 Ve5 lt 0104h ax1 ax2 1 16 31 BP1M 0000 VR6 lt uu BP2P 000Fh WA 4 000 0001 BP2M 3FQh lt 0100h lt 0038h lt 4D00h 1 320 47 VR7 lt 56 4 000 000x 1 414 5 656 000 BP1M 0000h lt 0200h 2 OOFFh BP2M FOOOh lt OlF4h 500x 2 1000 PPS lt 0038 lt 0104h lt 0034h lt OlF4h 500x 2 1000 PPS lt 0105h 11 RRO DIA 13 lt 0039h BPO 4 413 11 lt 0036h BPO 1 4000h 48 61 1 7FF5h BP1P 0000h 00 15 2 0000
17. 3Dh NTN Low hi 26 000000 2610000000000000 nEXPP nEXPM nEXP nEXPM D4 3 nEXPP nEXPM m D4 3 1 Low 4 nEXPM H Low 10 Low HHHHHHHHHHHHHHHHHHHHHHHH
18. 27 nV 014 13 BPS1 0
19. SREG REGL REGL SQ SQ SO gt SO 0 1 Ex 4M Em ES 100p SEG 1 100 SEC 16 160KPPS ax1 S EPIP 50 1 17 ax1 ax3
20. W Wee 6 250nSEQ 6 61 00000 8000 80000
21. 51 nECA nECH 5 9 N nPM N T 51 tCYCx 2 20 5 tl H nPM N H tCYCx 2 420 5 nPM N Low tCYCx 2 420 5 tI CYC N nPM tCYCx 4 420 5 118 NT lt gt NT tCYCx 4 420 nS 1226 00000000 0 nEXPM NPCS nALARM RR5 WRAD 0000 VEN REN ag 0 0 0 tO gt 32 5 tDO WANT n 0 32 5 73 ty 131 0000000000
22. vog a TTL Anf H VO 4M Low VOL 0 4Vnax LSTTL Anat Low I 0 4Vnax 151 100KQ ICH 8nN VCH Aning Low 1 a84 0 4 m 1 VIT GNI 0 2 100 100PF 3 200 50 re 36 c c c c BP1P M BP2P M BP3P M 2 4 3 41 100000000000000000 161
23. 121 0000 0 3 0 V 0 3 40 V loo 10 40 125 9 Ta 0 85 Mn 5 5 2 2 0 8 V Inn 10 10 HA lon 0 10 10 015 OV 200 10 150 DO Min loo 11 05 V loo 41 2 4 V D5 DO loo 8n 2 4 V DL 00 LL EL EL Min loo 11 0 05 V loo 4 0 4 V D150 loo 8nA 0 4 V DO loo or OV 10 10 A 015 DO BUSYN NIN 0 3 V loo loo OnA CLK 16M42z 52 90 BUSYN NIN Go Ta 25 C f IM 10 DF DL DO G 10 F 122 Ta 20 85 C Mn 5V 5 85pF HTTL 12 2 1 111 00000000 ak A tw tw N N toc gt tR RESETN Low 51 62 5 5 tVW 20 nS tw Low 20 5 gt SAKT 21 5 t DF SAK 2
24. HHHHHHH 80 0003 0 0 0 100HHHHHHHHHHHHV 4900HHHHH 4900x 1000 490KPPSHHHHHHHHHHH 490KPPS 2 140 SQLK 1 60 500KPPSH 1 471KPPSH 490 5 sak 8 1 6 328 SQLK 16 1 6740 328 16 3261 16 16 16 17 16 16 17 0214 504 1 0 4 000000000 0 1 51 SQLK 125nSEC SQLK 10 23 0000000
25. gt p XPM me ZM 0228 0000000000000 0 1000005 245 8801 DB WS DI4 RRO EXT NTN Lo W 880 D9 QEXT INNI D D hi m 21 I LSB 29 0 00
26. VEN 0000 000 Aq 00 000 rig AQP as 0000000 BEYN 0000 AGP AXIP mp HH HHHHHHH HH ZP AQP 0000000000 A AGP P 00000 0 0000 INT YP 00000 0 0000 INT P 00000 2 0 0000 INT 00000 0 0000 INT INN HHHHHHH 011 000000 0000000 P P 0000000 0000 W 000 000000 0000 PP PLS EXPM UHHH 000000 32bi t con PPI IN HHHHHHH 110 0 s 0000 LMIP 1 00000 0000 d ks 01000 101 1 0 QJ 4 01 012 HHHHHHHHHHH 21 211 2 1
27. 0 QP PH gt COMT DL COM QM ASND 4 DND AASND D6 ACNST 8 IN3J 0 nl NH 0 012 LM nLMP D3 LMT nLMM D4 ALARM nALARM 75 EMG EMGN nl 2 1 0 nLMIP nA ARM EMN Low 99 46
28. 36h
29. 27h 26
30. ww s FESETN BEYN 7 NIN 4 nPP PLS MAER 222222222 Low 7 0 RESETN CLK Kx 49 Low RESETN Low Q Kx SCLK RESETN H Kx BUSYN 0 RESETN H 8 Low 12 SK WN 7 HHHHHHHHHHH 8 d 0 MO nPLS 00000 00000 00000 aako nER VE 8
31. 05 814 32 D1 DO Do 8 D6 D4 2 FERRE TET EXTY EXESHHGTS DBETNSDCTNZDXINIXI 05 D4 D D1 DO Do DB D6 D4 Di DO UAM U NP UE U EXHU U U ALM Z NP Z EX Z 2 1 NZI N2 Z ND 886 6j RDI5 RDO RR 161 8051 RD16 D D6 34 D3 a a c 5 x xS
32. 61 94 HHHHHHHHHHH 9 HHHHHHHHHHHHHHH 0000 0 0 16x 3 48 96 HHHHHHHHHHHHHHH
33. 2 2 3 000000000 4 00 8 2 9 K 000 b 0000000 K a A 000 029 000000000 C d e f e R e K e A SV V P v t at v t p t 10 at 000 at xt 13 00000 000 000 0 t n 0210 0000000 1 14
34. 38 42 HHHHHHHHHHHHHHHHHH 18 10 160 161 5 VOL VROH VROH VROL VROL VROH YWALL 2 UVR1L XVIRLH YVW1H ZW1H UWW1H XVIR2ZL YVW2L WW2L U V2L BP1PL XVIRZH YVW2H AW2H UWW2H XVR3L YVW3L ARSL UWW3L BP1M_ XRH 2 UWW3H VIRAL BP2PL VR4H BP2PH WR5L BP2M_ WR5H BP2MH VR6L BP3PL BP3PH VR7ZL BP3M_ 1111 BP3MH 39 RROH XRRLL YRR1L ZRRIL URR1L XRR1H YRR1H URR1H XRR2L YRR2L ZRR2L URR2L XRR2H YRR2H ZRR2H URR2H XRR3L ZRR3L URR3L XRR
35. 613 HHHH HHHHHH 2 147 483 648 2 147 483 647 55 nOUTS 6 14 0000000000000 0 65 535 6 15 0 000000 0
36. BU5YN VAN SQLKx Low tF WANT BUYNI 32 nS BUSYN Low tCYCx 4 330 65 toi axi 72 12 2 4 00000000 5 saky 0000 tD SQK1 T4 12 2 5 0000000 nPP PLS nPM O R nASND 20 0000000
37. 15000 1 4 1000PPS VK5 lt 0104h 1 ax2 VRG lt 0900h 7 lt 0030h VRO lt 0100h 4 000 000 2 4DCOh WV lt 0056h lt 0200h 4 000 000 1 414 5 656 000 lt OlF4h lt 0104h 500x 2 1000 PPS WRG lt OlF4h lt 0105h 500x 2 1000 5 22 00000000 1194h 7 lt 0000h lt 0106h 4500 VRG lt 0000h VR7 lt 0000h lt 0206h 0 nodel lt 0030h HE RRO DB 4 Dor D4 l x lt 2 5 H H RRO D9 Do 0 11 T H VRG lt 0000h VR7 lt 0000h WRO 0108h We lt 05D
38. Di 8 VW5H 000 RRO DRV 250nSEq 16 93 HHHHHHHHHH 92 HHHHHHHHHH 93 HHHHHHHHHH
39. 34 System SCLK RESETN Low XPP PLS 35 Pul se f Pul se Low YPP PLS 38 ZPP PLS 40 UPP PLS 42 XPM D R 36 Pul se recti Lo YPM O R 39 W 2 8 41 UPM O R 43 XECY PPI 44 Encoder A Pul sedi n YECY PPI 46 ZECY PPI 48 UEC PPI 50 0000 P6 XECB 45 Encoder B Pul se i YECB 47 ZECB PM 49 UECB PM N 51 P6 VE 56 Dive 76 ZR VE 104 VE 122 NPO nl DRI H XOJT DSND 57 Uni versal Qt put 7 Descend 4 VOD YOUT 7 DSND 77 1 0 Low ZOUT7 DSND 105 Low UOUT 7 DSND 123 XOUT6 ASND 58 Uni versal Out put 6 Ascend YOUT6 ASND 78 ZOUT6 ASND 106 UOUT6 ASND 124 XQUT5 59 versal Out put 5 Conpar e YQUT5 OPM 79 ZOJT5 OPM 107 OWP OPM 125 H Low XOJI4 OPP 60 Uni versal Out put 4 Conpar et 4 80 ZOUT4 108 Covet 3 4 GPP 128 H Low Xag O 61 64 Uni versal Qt put 3 00 YOUT3 0 81 84 0150 OH 1 0 Low 2 3 0 1100 113 Low 13 3 0 129 132 34
40. 45 41 000 85 13 D11 D D6 D5 D4 FE 184597 LE UE 138 1 11 LT 176 ADA ET ASD CAST
41. MDG14 000000 nECA PPI nECB PM UP DOW DON SLK U P DOW Low 5 16 SCL Kal 20K 125nsec MCX314 UP 0 44 YECAPPIN CK DOWNJ 1 U HD 0 4 xECB PMN Hf ck 24 scLk Semen HH tsoc 125nsec SAK 8Mv tio 67 HACU O _ of
42. DB PULSE 1 Do P gt QOM DLO C OWP 1 Cr QOMP4E 012 P C COMP t D13 C END 4 C STA D5 D END 0150 00 05 04 DLO D7 D6 D1 PLO chs SE S43 DO SLMT COM DO SLM DL SLM aW COM SLM LMM nLMIP nLMIM H M nLMIP Low P H D4 HNT nLMIM Low H D QWSL COM Do PLSMD nPP PLS nPM DI R nPP PLS nPM O R 5 13 20 13 3
43. W WL VR6H VR7H 8 388 6080 48 388 60 24 320 VRG VR 410 000 HHHHHHHHHH 05 4 2 1 PO re r6 D m 4 0120 10 ZONEm 014 13 5 1 0 0805 RU ON NPCE RR2 D5 DO RRI DI5 012 D12 DI1 0 0 0 0 0 0 0 1 1 0 1 0 2 0 1 1 3 1 0 0 4 1 0 1 5 1 1 0 6 1 1 1 7 Sc SC2 16 SC 16 SC 0
44. 85 D12 DLO D 5 3 1 INmE D6 4 2 0 INmL Low 40 4 5
45. 2 6 3 15 D PLS L 8 R L nPLS nD 13 20 13 30 HHHHHHHH x nECY PPI N nECB 29 nEC PPI nECB PM T nPM N sak P6 PPI N nECB
46. D ggPsesqin x 15 Di 65 HHHHH HH oo 29200 HH Y 125000 PPS SEC 125000 354 PPS
47. 914 HHHHHHHHH a5 64 10 1 680000 0 000000 0000000 1M VHHHHHHHHH HHHHHHHHHHHHHHHHHHHHH 454 j HHHHHHHHHHHHH 10 2 HHHHHHH A CSN 6 M 2 2 A 0 Dn 0 VHHHHHHHHH E HHHHHHHHHHHHH 65 10 3 000000000000 ECABZ 0000000 dE
48. m m 16 8 388 6070 48 388 607 1 4 MPPS 0 5 5 8 388 6011 18 388 607 1 4 MPPS 1 158 m 1 4 MPSI CPU QKIHH Mep 1 5 MPPS e 0 199 1 500 954 62 5x 10 PPS SEC 477x 10 25x 10 PPS SEC 5000 125 1x 10 PPS SEC zi 62 5x 10 500x 10 PPS SEC 00 1 8 5 500PPS 4x 10 PPS 00H 1 8 5 500PPS 4x 10 PPS 500 e 0 268 435 455 m e 2 147 483 648 32 147 483 647 2 147 483 646 32 147 483 647 C 2 147 483 648 32 147 483 647 OM 2 147 483 648 32 147 483 647 78
49. 41
50. MOG1I Turbo C 4 fJ DO5 SA ude stdi o h HHHHHHHH ncl ude coni o gt voi d dec i nt axis int wdata 4 out pw adr 4w6 wdata def i ne adr Ox2a0 0000000 axis lt 8 0x03 wo 00 77HHHHHHHH Kefine wl 0 2 startv000 000 HHHHHHHHH define w2 0x4 O000 define w3 0x6 voi d startv int axis int wdata define w4 0x8 77HHHHH 1 define w5 out pw wdata w6 Oxc out pw axis lt 8 0x04 define w7 define rro 00 77HHHHHHHHHH 00 0 000 00000000000 kefine rr1 Ox2 1000000 define rr2 0 4 77HHHHHH voi d speed i nt axis wata define rr3 0 6 1 define rr4 06 ITO UU UU out pw adr wr6 wdata 5 0 1 du out pwadr w0 axis lt 8 0x05 define rr6 77HHHHH rr7 000 NOS 7 pulse HHH HHH HHHHHHHHH PHH bplp 0x4 00000 define bplm 0 6 00000 voi d pul se int axis vdata efine bp2
51. 48 8 000 000 1 65 535 1 0 268 435 455 8 388 608 48 388 607 0 268 435 455 8 388 608 48 388 607 2 147 483 648 32 147 483 647 2 147 483 648 32 147 483 647 2 147 483 648 32 147 483 647 2 147 483 648 32 147 483 647 0 65 535
52. 914 ODDO 10 1 680001 0000000 103 000000000000 MM 10 4 HHHHHHHHHHHH eMe 10 5 1 6 HHHHHHHHHHHHH cM 2 12 1 122 71 1221 71 1222 c 72 1223 DODD 72 1224 OOD 73 1225 73 1226 OD 73 0000000 0000 0 9 74 74 13 2 0000000000
53. 6 0 HHHHHPPSSECHH d DD py 55 0 x 15 x 0 00 x Ae 00008 0 oo x 49 2 141 483 648 2 147 483 648 1 8 000 1 8 000 32 147 483 647 32 147 483 647 50
54. ockw sel count ercl ockw se 16 1 0 FFFFh 2 3 FFFD 32768 8000h 0000000000000 Low H 1 Low WAND 2 2 2 3 2 4 2 5
55. 58 83 000000000 84 00000000 85 0000000000 25h
56. X 5000 Y 0 X 5000 Y 50 1000PPS WU WU VRG VRO VRG VRO WU We WU We WU We WU VRO 0104h 0900h 003Eh 0100h 4DCOh 0056h 0200h 01F4h 0104h 01F4h 0105h 1388h 0000h 0108h 0000h 0000h 0208h 1388h 0000h 0106h EC78h FFFFh 0206h 0032h ax2 4 000 000 2 4 000 000 1 414 5 656 000 500 2 1000 5 500 2 1000 5 5000 5000 5000 0 000000000 15 02 0 23 ax 298 0
57. 99 Dn m 980PPS 0 R 8 000 000 PPS Svg 980 980 M 980 90 2 2 2 QDO00000000 A 0 000000 000 028
58. i nter pol ati on dri vel speed control posi ti oni ng contro 0 5 LSB PPSI 8 388 608 8 388 6 I 158 PPS MPPSI 00000 0000
59. 86 HHHHHHHHHHHHHHHHHHHH 24h 15 8 87 00000000 88 0000000 60
60. 2 6 NNNNNNNN HHHHHHHHHHHHH 41 16 4 2 uec ee 61 00000 D cM m M mM MeeeeeeeM 62 000000 0 0 eHe
61. 28 nEXPI H Low Low H nEXPM D XPM Lowi D xe JU wm VU VUL 0 2 33 00000000000000
62. 42 DL SACC DL 0 nEXPM 25
63. 5 62 000000 0000 HH 65 535 500 62 5 10 8 000 000 0 HH 954 PPS SEC 62 5 x 10 PPS SEC 477x 10 PPS SEC 31 25x 10 PPS SEC
64. 86 87 00000000 eM MM 88 0000000 E 91 HHHHHHHHHH eM MMMMMMMM M M M MeMe 92 HHHHHHHHHH 93 HHHHHHHHHH 94 HHHHHHHHHHH 95 HHHHHHHHHHHHHHH Mee 96 HHHHHHHHHHHHHHH eM 97 ODDO 98 HHHHHHHHHHHH MM 99 HHHHHHHHH 910 HHHHHHHH MM 911 HHHHHHHHHH eM MMM MM M M M eMe 912 cM mM MM 913
65. nPP nPM nPLS BUSYN 1 Sa BUSYN 1 nm BUSYN 0 Low Low nASND nDSNQ BUSYN 7 SCLK Low Low 133 0000000 sak LULL ate nDR foo 7 HHHHH 5 BUSYN Sa KJ nm BUSYN Sa H R H saK 13 4 VEN 000000 00000000000 BYN 00000 00000 5 nPP nPM 5 BUSYN
66. 74 Mu 75 13 4 HHHHHHHHH 75 1x5 DEDI IJ 75 136 DDD 76 77 11111 Sasa 78 gt gt m 40KPPS DDD Al m 4 Al m 8000PPHHHHHHHHHHH 0 2 m 8000PPSHHHHHHHHHHH Lv 400 00 00000000 omm 2 m 400 00 00000000 0 2 110000000000000000 m 4 5 3 M Dn NG E Dn EE
67. 2 15 32 P HHHHHHHHHH PM 000000000 00000000 T ECYPPIN 00000 000000 EBPMN HHHHH RRHHHH DD G 000 HHHHHHHH gt 0215 HHHHHHHHHHHHHH 231 HHHHHHHHHHHHHHHH 2 147 483 648 2 147 483 64 23 2 0000000000000000 HH2 15HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH32HHHHHHH P P D5 OPSL RRI aP RR1 Di OP 2 16 10000 COVP 1000 T e 0 0 0 0000 RR D0 0 D i FRI 0 0 51000 1 ae D1 0 II
68. 63 00000 2 9 HHHHPPSEH 0 x 15 lt 8 000 125 PPS SEC 1x 107 PPS SEC 500 62 5x 10 PPS SEC 500x 10 PPS SEC 52 64 00000
69. 0000 0 00 0 AXX D 0 0 000 0 200000000 My PS 000 ooo NI ooo 000 E Oo 111111 Dian 0 DD oog 000 000 000 ono non 45 cx 000 81 00 lt CX EY CY gt 1 Oo HHHHHHHHHH HHHHHHHHHHHHHHHHH WHOOOUHHHDMGM ooo HHHHHHHpl5SHHHHHHHHH IO HHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHH D 0000 0 n Axa 0 EJE 2 HHHHHHELHH Om 3
70. 144 1 B25T P 015 os 77
71. RR1 D5 AASND D6 ACNST D ADSN D 2 680000 4 n 4 nOJT3 0 n 4 WR3 D7 OUTSL DI1 8 4 WA Low NSSS 55 58259 5555953 5 55 522 ETT NOVA dec MCX314 23223222 22222222 44 OOO HHHHHH SAMUR M4pn000 309x309 nm 00000 0 65 nm 32
72. MCX314 JD Li 0000 0000 0000 0000 NOVA electronics 000060
73. wre lt 0000h VR7 lt 0000h WO lt 0106h wre lt 0000h VR7 lt 0000h WO lt 0206h W6 lt 5 VR7 lt 0000h WO lt 0107h 53493 WO lt 003Bh WO lt 0033h HH 888 HH 24
74. 7 3 0000 2 147 483 647 7 4 000000 0000 57
75. long readl p int axis ong ong d6 ong d7 out pw axis lt 8 0x10 06 inpwadr r6 d7 i nowadr r7 d6 7 lt 16 return a 000 long readep int axis ong ong d6 ong d7 out pw axis lt 8 0 11 06 i nowadr rr6 d7 i nowadr r7 a d6 d7 lt 16 return a 7 veit D 00 voi d wait i nt s wi le inpWadr4rr0 axi s next_vait voi d next vai t voi d 0 0200 0 I bp wit voi d bp vai t voi d HHHHHHHHH LPHHHH HHHHHHHH BHHHH HHHHHHHH HHHHHHHHHHHHH HHHHHHHHHHHHH T le inpwadrTrO 0 6000 0 6000 honesrch voi d honesr ch voi d wreg1 Oxf 00008 speed Oxf 2000 if inpWadrdrr4 0 2 0 2 0 1 0x23 i fuino adr4rr4 0x200 0x200 conmand 0x2 0x23 ifin adr4rr5 amp 0x2 0x2 conmand 0x4 0x23 i 5 0x200 0x200 conmand 0x8 0x23 vai weg1 Oxf Ox000c speed Oxf 50 conmand Oxf 0x22 Oxf wegl Oxf 0 0000 5 4000 pul se Oxf 100 conmand Oxf 0x21 t Oxf p Oxf 0 weg2 0 7 0x0003 conpp Ox1 100000 con
76. 000 212 000000 000000 NO 126 000000 EB m N3 O VRL 22 00000 2 2 1 ID TL 20 I d 027 000000 Ed
77. 5000 5000 2000 30001 25 247 HHHHHHHHHHHHHHHHHHH 1 rSEC Y Y Y 0230 HHHH BWLSNHHHHHHHHHHHHHHHHHHHH 500 DL OWS D12 1000PPS
78. 2 1 23 100001 7071 8 56568 500PPS 20000 0 3 20000 500 0 3 65000PPS SEQ W3 lt W5 lt 0004h 1 ax2 W6 lt 8480h 7 lt 1 WO lt 0100h 2 000 0001 W6 lt 0082h WO lt 0102h 130x 125x 4 65000 PPS SEC We lt 007 WO lt 0104h 125x 4 500 PPS lt 1388h WO lt 0105h 5000x 4 20000 PPS 6 lt D8FOh WW lt FFFFh WO lt 0108h 10000 wre lt 0000h VR7 lt 0000h WO lt 0208h
79. DO RROJ n ERR 05 4 03 2 1 D D D D D B R D SLM Do Od Di SLM aW QP HM nLMP HMT nLMIM D4 ALARM nALARM EMG EMGN Low SLMTY 4 13 000 VRI 05 4 D3 D2 D1 D D D B D D ENDIC STA C END CH DO PULSE Di C 47 C C PULSE OWP DB Cr P 4 D4 P C COMP IH D6 C STA D7 END I NTN Low 4 14 00 0 0000000000 0 Low H
80. 0 00 000000600 ax2 y ax3 z 0000 ax1 R 800000 10 82 8 800000 1 414 000000 100PPS 0 xC 5000 000 5000 0 HHH 0 xP 20 QO0 0 00 0 000 0 11 0000000 0 00 000000000 0 2 240 000000 10 5 0 0 HHHHHHHHHHHHHHH 7 Q 15 77 413 HHHHHHHHHH out pw adr 4bplp Ox1f db 0x0000 out pw adr bplm outpv adr Hbp2p 0500 out pw adr 4bp2m Oxf c00 conmand 0 0x38 conmand 0 0x34 bp wai t out pw adr 4bplp 0x4000 out pw adr bplm 0x7ff 5 0x0000 out pw adr 4bp2p out pw adr 4bp2m f conmand 0 0x38 conmand 0 0x37 t 0x3 speed 0 1 100 pul se 0 1 4500 pul se 0 2 0 conmand 0 0x30 next vai t cent er Ox1 0 cent er Ox2 1500 pul se 0 1 1500 pul se 0 2 1500 conmand 0 0x33 next wait pul se Ox1 0 pul se 0 2 1500 conmand 0 0x30 next wait cent er Ox1 1500 cent er 0x2 0 pul se 0 1 1500 pul se 0 2 1500 conmand 0 0x33 next wait pul se Ox1 4500 pul se O2 0 conmand 0 0x30 cent er Ox2 1500 pul se Ox1 1500 pul se 0 2 1500 conmand 0 0x33 next vait pul se Ox1 0 pul se 0x2 1500 conmand 0 0x30 next wait cent er 0 1 1500
81. 35 x P 67 I nposi ti YI NOS 85 4 NOS 95 u P 114 68 Servo arm YALARM 86 ZALARM 96 RR2 ALARM UALARM 115 69 Run 1 YLMP 87 ZA MP 97 UMP 116 2 HMH 70 Over Run Limit 0 YLMM 88 Z MM 98 U MM 117 RR2 HM X NB 0 710 74 000 Input 30 000000 UB YI NB 0 89 92 94 aK ang 0 990 102 IN3H 0 UNO 118 121 RR4 RR5 XEXPP 134 External erati YEXPP 136 4 ZEXPP 138 Low UEXPP 140 XEXPM 135 External Cperati on YEXPM 137 i ZEXPM 139 Low UEXPM 141 EMN 142 Energency Stop Low EMG Low 9 19 20 37 52 55 66 75 91 103 127 133 143 18 54 65 90 109 126 gm 000000
82. M Meeeeeeeee 64 000 00 eI 65 66 000000 HH q 6 8 omm mme 69 00000 00 T 6 10 6 11 6 12 6 13 6 14 AO 615 000 0 000000 0 7 1 7 2 EP 7 3 OV 7 4 I LL u ss 81 OOO 82 00000000 83 000000000 84 ODO 85 0000000000
83. ee 00000000 53 HHHHHHHH 000
84. lt 0358 1000 PPS lt 0105h 0120h 300 WW lt 0000h lt 0106h WRG lt FF38h 200 W FFFFh WRO lt 0206h 0030h X 15000 Y 16000 2 20 500 51 40 OOOPPS SEQ 5 000PPS lt 0024h axi ax2 ax3 VRG lt 1200h 8 000 000 VR7 lt 007Ah lt 0100h lt 0140h 40 000 PPS SEC lt 0102h 125 1 320 lt O1F4h 500 5 lt 0104h lt 1388h 5000 5 lt 0105h lt 3A98h 15 000 7 lt 0000h lt 0106h lt 3E80h 16 000 7 lt 0000h lt 0206h VRG lt 4E20h 20 000 7 lt 0000h
85. 1 732 32 11111
86. 1000 0 40000 02 16 P 0000000 11 01 SLM SL
87. 10 D 0 0 0 1 5 10 1 0 0 1 0 0 1 1 08 2 Ao120 D54 AG130 09 8 15 0 0 0 1 1 0 1 1 1 414 1 414 1 732 011 EXPLS EXPLSN D2 OMS D4 05 DIS 000 49 000 0 0 0000000000 0 Ve 160 VDL50 VOOD VK 160 WB1 WE B4 Dom Do 8 D 8 DL zz x x um vpo E us 44
88. CLK 16Mcz 250 nSEC CPU NTN 33 Interrupt NTN Low H 1 4 33
89. TPC S S S S 40KPPS S R 800000 10 700 A D 200 SV 100 V 4000 A0 50 893K PPS SEC2 250K PPS SEC 1000 PPS 40K PPS P 50000 40000 PPS 20000 0 0 1 0 SEC 2 0 30000 40000 PPS 20000 0 0 1 0 2 0 20000 40000 PPS 20000 9 1 0 SEC 2 0 P 40000 40000 PPS 20000 0 1 0 SEC 2 0 P 5000 40000 PPS 20000 0 1 0 SEC 2 0 1 40KPPS S R 800000 10 300 0 150 SV 100 V 4000 A0 20 2083K PPS SEC2 188K PPS SEC 1000 PPS 40K PPS P 50000 40000 40000 PPS 20000 20000 40000 PPS 20000 06 8 20 P 5000 8000PPS S R 8000000 1 K 2000 A D 500 SV 100 V 8000 A0 3
90. lt 0406h lt 003Bh lt 0031h 13 8 388 608 0 100 200 30 100 200 300 200 15000 16000 20000 242 HHHH 000000 Og 0000 1 20 1 2 HHHHHH ax1 ax2 9X 0229 ax ax1 852 2 21 11 0 0 0 11 2 22 axl T 2 axl ax2 wg 1 U ae 0220 HHHHHHHHHHHHHHH 022 QO00000000000 14 200 500 702 299 8 388 608 8 388 60 1580
91. 000000 00000 41 104 00000000000 O 29 531 O 000000 HHHHHHHH HHHHHHHHHH HHHHHHHH HHHHHHHHHH 66 105 HHHHHHHHHHHHHH 0150 DO HJ 0 3 MGI V O 92 24 3 3K 3 3K lt Los JY L 0 2 0 4 nsEq 106
92. 3P 36 36H nVR20 3 37h 9 Wo 8 3 BP3M rVW3 VIRG W 37 RRI 1 2 3
93. 268 435 455 36 388 607 6 8 00 HHHHHHHH 0 268 435 455 69 HHHHH 8 388 608 48 388 607
94. HHHHHH 000 0000000000000 gt R oo AD 021 000000 SV e V m 2 3 00000000 2 4 3 022 000000000000000 0 AM reet HHHHHHHH 00000000 023 000000000000 024 00000000000000000000 m 2 1 07h
95. 10 A D 100 SV 100 V 4000 WR3 D2 D1 D0 0 0 0 125K PPS SEC 1000 PPS 40000 PPS P 40000 PPS 20000 20000 0 1 0 SEC 2 0 P 5000 P 2000 40000 20000 1 0 SEC 2 0 A3 K 1 S 1 4 R 800000 10 K 1 A D 100 SV 100 V 4000 WR3 D2 D1 D0 1 0 0 S 625M PPS SEC2 125K PPS SEC 1000 PPS 40000 PPS P 40000 P 20000 1 0 SEC 2 0 1 0 SEC 2 0 5000 40000 20000 2000 40000 20000 1 0 SEC 2 0 S K V R 800000 10 K 1000 A D 8000 SV 100 V 2000 50000 40000 40000 PPS PPS Es 00 20 SG 40 2 0 0 40 R 800000 10 K 50 A D 8000 SV 200 V 4000 A0 0 P 50000 4 HAA 11111111111111111111
96. 2 8 3 VRAJ DL 03h O D SV e V m 500PPS 15 5 0 3 4000000 A 193 15000 500 0 3248333PPS SEC 48333 125 24193 SM 250 500 23250 M 7500 15000 22 500
97. out pwl adr bp2m conmand 0 0x38 69 0x0000 out pw adr Ox2bf f Oxffd4 out pw adr Hbp2m 0 0000 Oxf 6f e 100 410000 I HHHHH 00000000 00000000 000000 00000000 00000000 00000000 00000000 0 0000 0 _ 00000000 00000000 00000000 00100100 cc OO 00000000000 0 80000010 0 10 100 0000 619KPPS SEC 100 0 00 0 125KPPS SEO D 100 0 125 9 SEQ SV 100 000 1000PPS 400 000000 40000 5 P 10000 000000 100000 LP 0 00000000 0 0 00000 HHHHHHHHH A 200 0 000 250KPPS SEQ V 2400 000000 40000PPS xP 80000 yP 40000 11 0 1111 0 01 0 00 HHHHHHHHH K 1010 1 619 SEC 200 0 0 250KPPS SEC V 4000 000000 40000PPS xP 50000 yP 25000 O00000 gt gt 0 00 00000000 ax2 y ax3 0 ax1 R 800000 10 8 2 R 800000x 1 414 O 00000 1000PPS xP 5000 00 0 45000 yP 2000 00 2000
98. 0001010 0 0000000000001010 1 SREG _ sc 00000000 13 013 Lr oo Lc 000 025 HHHHHHHHHHHHHHHHH e000 16
99. 1 0 20000 10000PPS 0 2 1 0000x 2 0 20 100KPPS SEQ 100K 0 2 500KPPS SEC 10000 800000 210 e 1250 62 5x 101 1250 x 10 I 500 10 PPS SEC 80 125 80x 10 100 10 PPS SEC SV 100 100x 10 1000 PPS 4000 4000x 10 40000 PPS 0 0 2 0 4 0 6 SEC 224 0000000000000 SAK Q 16 125nSEQ Low 50 8 8000000 Va1000H 1000PPSH H 500 SH Low 500 9 1 00 8 R 8000000 1000 S 2 45 1000 1 00 rs 0212 1000PPS Low H Low H 000 000 000 lt na lt tHD _ tHAH 1 0213 HHHHHHHHHHHHHHHHHHH 2 3 4 5 6 7 8 9 0 885B8888 lt lt lt lt lt lt lt 8 84 211 83 333 82 474 81 632 80 808 80 000 79 208 78 431 77 670 76 923
100. 8 0x09 voi axis int NEM axis lt 8 XD Hu eeu voi d ep int axi s ong wdata 00 000 out pw adr4w 7 wdata gt gt 16 Oxffff voi d range int axis long vdat a out pw adr aw 6 wdata Oxffff out pw adr wr0 axis lt 8 out pw adr4w7 wdata gt gt 16 Oxffff out pw adr tv6 wdata Oxffff Se ale axis lt lt 8 0x00 00 000 voi d nt axis wdata aca QO0 000 HHHHHHHHH voi d acac i nt axis int wdata A EON CR wdat 8 axis lt 8 0x01 000 000 voi d acc i nt axis int wdata out pw adr wr6 wdata axis lt 8 0 02 000000000 1 out pw 7 wdata gt gt 9 amp Oxffff out pw wdata Oxffff T Mg axis lt 8 voi axi s ong wdat a out pw adr 7 wdata gt gt 19 amp Oxffff out pw adr w 6 wdata Oxffff p MEN axis lt 8 0x0c accfst 00 000 68 0000 000000 HHHHHHHHHHH AOHH voi d accofst int 5 ong vdat a 1 out pw adr iw 7 wdata gt gt 16 amp Oxffff out pw adr iw 6 wdata Oxffff out pw axis lt 8 000 read BD DD
101. LMM 265 0 0 000000000000 nALARM VW2 D5 1 880 n nALARM D4 ALARM RR5 6 4 nOUT 30 0 2660000 EMN EMN H Low RR2 D5 EMS VOD 27h 000 30 267000000000 8801 ERV nDRI RRI PP ASND CNST D4 DSND 6 ASNJ n OJT7 SN VW D OJTSL 00 00 00 00 00 00 nRR1 ASND nRR1 nDR VE nCUT6 ASND
102. SQ K nm BUSYN 43 3 EMN nLMP nALARM SCLK 501 1 75 136 NX nLMP Oooo LI ono 76 HHHHH 1 E 109 xmas 1111 1 00 101 1
103. cent er 0 2 0 pul se 0 1 1500 81 se 0 2 1500 conmand 0 0x33 vai t 0x3 77 3214 HHHHHHHHHH 7 HHHHHHHHHHHH 7 HHHHHHHHH 77 480 63 HHHHHHHHHH 00000000000000 77 HHHHHHHH ssi 0 00 0000002 291 O0 0000 1000PPs 0 0 nodel node2 node3 node4 node5 node7 node8 70
104. 0 9 11 HHHHHHHHHH 012 3 63 9 12 0000 913 0000
105. 0 000 HHHHHHHHHH 5000 5000 243 HHHHHHHHH 0224 HHHHHHHHHH 00564 484 z 24 1 8 0 01000000 00000000 00011111 11011011 11110110 11111110 00000000 00000000 01111111 11110101 00000000 00000000 00000000 00000000 00101011 11111111 0 D 00000000 00000000 00000000 11111111 00000000 00001111 11111111 11010100 YPP 00 00001010 11111111 11111100 00000000 00111111 11000000 00000000 00000000 2 25 1 BP1M BP1M 502 gt 10000100000000100 EPIP 1 M 0 0 GU 0100000000100001 2 0001001000010000 oH 1110101 1100110100111010 1 0000000 SEG E 0000000000 SC REY 210100000100001010 1 REGI 210000011100001010 21000010000100000 N 00
106. 1 1 DLO
107. 16x 3 48 97 HHHHHHHHHHH 1 M BP2P M BP3P M 2 nVR5 62 98 HHHHHHHHHHHH 1 M BP2P M BP3P M 2 nVR5 99 HHHHHHHHH BP1P M BP2P M BP3P M SQ 91
108. 1K PPS SEC2 62 5K PPS SEC 100 PPS 8000 PPS P 20000 WI 8000PPS S R 8000000 1 K 1000 A D 100 SV 100 V 8000 A0 0 62 5K PPS SEC2 12 5K PPS SEC 100 PPS 8000 PPS P 20000 P 2000 W 400KPPS S R 80000 100 K 2000 A D 100 SV 10 V 4000 A0 1000 3 13M PPS SEC2 1 25M PPS SEC 1000 PPS 400K PPS P 400000 400K PPS 200K 200000 100000 29 Wi 400KPPS S R 80000 100 K 500 D 100 SV 10 V 4000 A0 0 12 5M PPS SEC2 1 25M PPS SEC 1000 PPS 400K PPS P 400000 400K PPS 200K 0 9 1 0 SEC 2 0 400K 200K P 50000 m S R 800000 10 K 2000 A D 100 SV 100 V 1000 2000 4000 3E ELE 312 5K PPS SEC2 125K PPS SEC 1000 PPS 10K 20K gt 40K PPS 40000 PPS 20000 90 2 5 5 0 40KPPS R 800000
109. 22 0 0 0 1 1 0 1 1 Low nEXPM nEXP H Low 4 nEXPM OJTSL 4 11 080 n 4 4 nOUT4 Low nOUT5 COM H Low nQUT6 ASND H 7 DSND H 8 4 Low H D5 DI5 120 6 50 47 000 00000000600 nOUT3 Of 16 16 Low H I a IA ET XL A 25 uu X m m Di5 nag OH Low 43 48 000 HHHHHHHHH 85 83 Dll 2 8 D 695865 80 10 1620 eR ROI BAD
110. 3 nS se 1222 HHHHHHHHHHHHHH 0000000 0000000 X mmm mnn X e 18 16 8 84 AOL DO e 15 00 REN CSN Low RDN H t EF tAR RONI 0 nS CSN RON 0 nS tRD from RENI 29 5 from 0 30 5 tRC CSN fromRDN1 0 5 tRA fromRDN1 0 5 tAW 0 nS tCW ICN to 0 nS tVW Low 50 nS to 30 nS fromVWN1 10 5 tVC CSN from VAN 20 5 tVA from VAN 20 5 12 2 3 ak NANS NA VRN BUBYN tE
111. 3H ZRR3H URFGH RR4L 43 000 00000000 250nSEGQ 6 BUSYN Low 15 D4 D 3 D12 0 8 D5 RESET 875nSEC BUSYN Low VOH 80h RESET 44 000 HHHHHHHH NOG IN
112. M 882 SLM _ Cd C _ 24 DO 1 1 3 ax2 D4 5 ax3 axl ax1 ax1 RRO 8 n PPS MPPS e RRO 882 5 nl POS 880 DB 241 2 1 0217 HHHHHHHHH UD 2 1 x 0 5 LSB XPM 00 HH 0218 9000000000 0 0 24 8 388 60 8 388 60 X 4300 Y 200 1000 9 lt 0004h 1 2 VRG lt 1200h 8 000 000 WW lt 007Ah 0100h lt 0358 1000 5 0104h
113. YPP HH YPM 0 2 27 100005 1 414 H Low 1 414 1 732 Low 20 1 000 08 1 414 1 000 rs lu 1 732 414 ns
114. h lt 0000h lt 0208h 1500 6 lt 05Dh lt 0000h lt 0106h 1500 node2 VRG lt 05Dh VR7 lt 0000h lt 0206h 1500 lt 0033h 22 VRG lt 0000h VR7 lt 0000h WRO lt 0106h 6 lt 05Dh VR7 lt 0000h lt 0206h VRO 0030h 1500 node3 node4 8 246 HHHHHHH 0000 5000 50000 5000 45000
115. h BP1M 2BFFh BP2M OAFFh 2 FFD4h 0038 BP2M 0000 x lt 0038h 2 lt 0037h 12 RRO PDB T Dea 4 SQ DL 00000 5060 NTN Low SQ 161 3 30 I NTN Low hi 19
116. p 06 efine bp2m 00000 out pw 7 wdata gt gt 16 amp Oxffff define bp3p Oxc 0000 out pw wdata Oxffff def i ne bp3m Oxe TEM EN axis lt 8 0x06 wegl Q O0 0 000 7 6680000001 0000000 moo voi d wegl int axis int wdata voi d decp int axis ong wdata outpwW adr4w 0 axis 8 Oxf 77HHH out pw adr iw 1 wdata out pw adr 4w 7 wdata gt gt 16 amp Oxffff out pw adr4wr6 Oxffff out axis lt 8 0x07 wegA Q 00 000 voi weg2 int axis int wdata out pwadr w0 axis lt 8 O00 voi d center int 5 ong wdata out pw adr ty2 wdata out pw adr 7 wdata gt gt 19 amp Oxffff out pw wdata Oxffff 68000 000 0000000000 voi d weg3 int 5 wdata m HHHHHHHH LPHH out adr iw O axis lt 8 04 out pw adr 4w 3 wdata voi axi s ong wdata out pw adr 7 wdata gt gt 19 amp Oxffff coman 0 00 00000 000000 out p wdata Oxffff out pw adr4wrO axis lt
117. pn 0x1 1000 2 50000 0x2 500 conpp Ox4 10000 0x4 100 RRR AAAI A AAA AA AAA AAA AAA AAA Qi 0 d nai n voi d int count out pw 0 058000 for count 0 count 2 Heount conmand Oxf Oxf out p adr wr 1 0x0000 out pw adr w 2 0x0000 out pw adr wr 3 0 0000 out pw adr r4 Ox0000 out pw adr 4w 5 0 0024 accof st Oxf 0 range Oxf acac Oxf 1010 acc Oxf 100 dec Oxf 100 start v Oxf 100 speed Oxf 4000 pul se Oxf 100000 p Oxf 0 honesr ch acc 0x3 200 speed Ox3 4000 pul se Ox1 80000 pul se 0 2 40000 conmand 0x3 0x20 t 0x3 wreg3 0x3 0 0004 acac Ox3 1010 acc 0 3 200 speed Ox3 4000 pul se Ox1 50000 pul se 0 2 25000 conmand 0x3 0x21 wai t 0x3 weg3 0x3 0 0000 out p adr wr 5 0x0124 range Ox1 800000 range 0x2 1131371 speed Ox1 100 pul se 0x1 5000 pul se 0 2 2000 conmand 0x0 0x30 wai t 0x3 out p 5 0x0124 range 0 1 800000 range 0x2 1131371 speed Ox1 100 center 0 1 5000 center 0 2 0 pul se 0 1 0 pul se 0 2 0 conmand 0x0 0x33 t 0x3 speed 0 1 1 conmand 0 0x36 out pw adr 49916 conmand 0x38 out pw adr Hop 1p
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