CD-773A/ADB5F30 取扱説明書
Contents
1. USER PROGRAM 33 1 CD 773A ADB5F30 U O CD 773A ADBS5F30 00000 COMMANDO 000000000 PORTO 10 0000 DRIVE COMMAND PORT DRIVE DATA1 PORT DRIVE DATA2 PORT COUNTER DATA3 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT STATUS1 PORT STATUS2 PORT STATUS3 PORT STATUS5 PORT MCC05v2 0 U U 0 VO PO 0 0 DRIVE COMMAND PORT DRIVE 5 5 1 0 DD DRIVE COMMAND 5 5 2 COMMAND 5 6 0 DRIVE 0000000 COMMAND UU COMMANDII I I I I 2 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMAND B 0 3 DR2. D00000000000000 e ORG 4 000 NEARORGOOOOOODO ORGQH D UU HU rt t 0 NEAR ORG I I 0 ORG CCW LIMIT CW LIMIT ORGO OFF NORG i i 0 ORG UE 0 nnmnnn4nn 004 gt 1 000000 LOWD OO 000 ON U diesen 0045 CD 773A ADB5F30 e ORG 5 0 NEAR ORG i ORG D D CCW LIMIT CW LIMIT ORG J SE uua U U OFF NORG i nnl 5 n D E ORG BLOW TE AT TON NORG m B ORG 000000 ed NORG000 Cw 0000 a0 0000000cRGO00 cni ccw 0 000 00 0000000 1 Ccw 0000000000 A e ORG 10 COW LIMIT CW LIMIT NORG 1 DELAY TIME 0 D 1 0 00004 4 nn A 0 6 6 NORG
3. 9 5 ORG 0 0RG 1 0RG 2 0RG 3 D ORGD00000 ORG 4 0RG 5 0RG 10000 ORG 11 0RG 12 00 e ORG 4 0RG 5 0RG 10 PULSE 0 005 x CSPD 00 0 5kHz 0 005 50000 2500000 0000000000 00000000000 euU0U000000UU000000000000000000UU0000000000 D ORG 100 00000 ORG 11 0RG 12 ORG 11 0RG 120 000 GDO000000000 1 0 MARGIN TIME JOG ORIGIN SENSOR 0 0 1 2 3 4 E Mz CD 773A ADB5F30 6 2 COUNTER 1 300000000 a4BIT HARD COUNTER 1 00000000 COUNTER PORT 1 0 0 O COMMAND COUNTER COMMANDO 00000 COMMAND DRIVE PORT I O
4. F 160 000 000 Hz 160 000 000 F T 0000 00000000000000000000000000000000000UUUUU0UO 75 CD 773A ADB5F30 6 4 000000 1 COUNT e PORT SELECT COMMAND ADDRESS COUNTER PORT 1 0 D 0 ADDRESS COUNT DATA J D DRIVE DATA1 2 3 PORT O 0 0 U ADDRESS READ 0 0 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 L3 r3 8 388 607 8 388 607 PULSE I O 0000 ADDRESS INITIALIZE UUUUUDUDDDU A 0 0 e PULSE PORT SELECT COMMAND J 0 0 0 PULSE COUNTER PULSE COUNT DATA 0 DRIVE DATA1 2 3 PORTO 000000000000000 000000 PULSE COUNTER PORTH H B HU B BE BU 00 DATA D 48 388 607 8 388 607 PULSE O 0 D D D 0000000000 0 PULSE COUNTER PRESET COMMAND J 0000 2 0 0 SPEED 0 O PORT SELEC
5. HE B STATUS3 READ J D uuu GIS LU uuu COUNTER 5 000 0 0000000 Uu STATUS3 PORT J 0 50 0 INT MASK 0 5 PULSEQ 000000000 FSEND 1 0 000000000000 SSEND BIT 1 COMPARE REGISTER I LU COMPARE REGISTER1 0 n O O COMPARE COMPARE REGISTER1 0000 CONTROL PULSE COUNTER COMPARE REGISTER1 00000 0 PULSECOUNTERD 00 00000000 U0U0O COMPARE REGISTER1 COUNTER DATA1 23 PORTO Hl Bl D E HH DOU 0 DATA COMPARE REGISTER O U s793 CD 773A ADB5F30 4 COMPARATOR PULSE COUNTER 0 50 0 COMPARATORD 000000 0 el 00 0 0 STATU
6. 100 100 79 CD 773A ADB5F30 42 42 Fig 1 Fig 2 CD 773A ALB5F30 CD 773A ALB5F30 PK543 ERI VE SEL H 544 ERI VE SEL H 0 75A PHASE DC24V 0 75A PHASE DC24V TCRQUE N m I PUT CLRRENIT I PUT CURRENT 0 20 HaD40 0 071N m 5 0 0 5 Hao 0 089N m 5 0 0 16 4 0 0 4 4 0 PULLOJUT TCRQUE 0 12 3 0 0 3 3 0 0 08 2 0 0 2 PULA TORQE 2 0 0 04 10 0 1 10 CURRENT PUT CURRENT 0 02 0 1 1 fs 10 100 0 02 0 1 1 fs 10 100 57 s
7. SERATE ADJUST SCSPD1 ADJUST SCSPD2 ADJUST 6E 0000 SRATE DOWN POINT SET 71 72 S RATE ABSOLUTE INDEX DRIVE CALCULATE E2 ERROR STATUS READ 5 o jk ojo a 2l oloi2 a oi2loi2 HEX CODE COMMANDNAME 00000 nrnna Fog 0000 49 49 50 50 51 51 51 51 52 52 53 54 54 54 54 54 56 56 56 56 56 56 6 6 7 8 8 9 40 41 42 42 43 43 44 44 45 46 46 46 47 47 47 Rm t 1 1 1 0 1 0 0 INDEX CHANGE 1110101 RATE CHANGE Lp 1110110 F6 utu 11110111 F7 SPEEDCHANGE 52 INT MASK 5k wel 11111001 F9 X ADDRESS COUNTER PORT SELECT 54 PULSE COUNTERPORTSELEGT 1 1 1 1 1 1 0 0 FC PULSE COUNTER PORT SELECT 11111101 FD sPEEDPORT SELECT 5 11111110 FE sowsrop 54 FF al X XXX 0710100101 00 j PULsEcounteR PRESET 5 XXXX0001 01 PULSE COUNTER COMPARE REGISTER SET XXXX0010 PULSE COU
8. 30 CD 773A ADB5F30 5 2 lt 0000000000000000000 Ed gt m o g o o o A E Ei T Zo L3 r3 o A E o A us ss o o rn o g m L1 LLI mu EI gt m pu Ld O E3 16 lt Es L3 r3 za L3 r3 L3 r3 L3 L3 L3 Ona og L3 r3 r3 2 EO rn L3 r3 ra Lud L3 L3 g peu o L3 g L3 L3 r3 L3 r3 r3 ooo jE I 5 nBYTE 1BYTE 1BYTE 1BYTE 1BYTE OO 0O0000 00 0000 000000 0 UUUUDDO 00o CD 773A ADB5F30 000000 22 00 CD 773A ADB5FS0 0 5 2 PORT I D LU U DU 01 OF o LETE ES EJ 2 9 LE m crm T C3 ES goo
9. 00000 COMMAND OUTPUT niig 00 CL MCCO5v2 gon CONTROL CONTROL STATUS 00 INPUT lt L lt Mccosv20000000000 05 1 05 0 C3 r3 C3 r3 C3 r3 o r3 o r3 C3 r3 C3 r3 C3 r3 C3 r3 C3 r3 C3 r3 o r3 C3 r3 C3 r3 o r3 C3 r3 C3 r3 C3 r3 C3 r3 o r3 Vr 55 5 4 00000000 625000065 5 5 0 0000 D0000000000000000 5 2 5 COMMAND I I I D uu UOUOO0O0000 O 6250000 5 UDUUUUUUUUO 0 0 0 Lr Lr Lr IE Lr Lr Lr Lr Lr EE Lr LT EI 39062 156250 625000 IDDDDDDDDD ms 12 60 300 040 0
10. 5 20000000000 ORG 00 5 11120 000000000000 100000000000 ADDRESS 0 O D D D 200000000000000000Mccoov20U0000 FLAG 0 OFFSET PULSE O ABSOLUTE INDEX DRIVE I I D 000 61 400000000 DD FLAG ADDRESS 5 2 USERD UU ADDRESS INITIALIZE 55 0 000000000 0 0 ADDRESSO000000 DDUO00000000000000000U0DUDUD000UUUUUUD D0O000000ORIGINFLAGRESETCOMMANDO 000 ABSOLUTE INDEX FLAGO FLAG ON 00 FLAG OFF 0
11. 0 0 0 0 0 0 L3 L3 E3 E3 E3 EJ EIE E EZ 0 0 0 0 0 0 2 3 00000 DRIVE 0 0 0 0 000000000 00000000 00000 00000000 0 PULSED USER PROGRAM bcd 00000 Ri D U D USER gt 28 CD 773A ADB5F30 3 000000000 AL D DD
12. on nnum 10 00000 42 CD 773A ADB5F30 4 ADDRESS INITIALIZE COMMAND COMMAND 03 0000 ADDRESS 0 UOUOO0O00000 5 m STATUS BUSY 0 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 03 p WRITE DRIVE DATA1 2 3 PORT ADDRESS 01000600 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATAS3 PORT D 0 TTT ADDRESS 0 FFFFFF 5 ENA ADDRESS 0 0 0 ADDRESS 10 D D DATA3 PORT 8 388 607 FF o Ous OA n 0 00 gn 00 10 FF 8 388 607 80 00s 01 5 RATE SET COMMAND COMMAND 06 5 000 000 umnarE g B d gd ga DRATE 00000 0000000 DRIVE DATA2 URATE DRIVE DATA3 DRATE DRIVE DATA2 3 PORT II IDD DU U D DATA2 PORT DATA3 PORT D DU 0 2 21 DRATE URATE RATE SET
13. LL EL EL EE E 0000000 ORG 0 0RG 1 0RG 2 0RG 3000000000 CCW 0 0 000 NORG ORG GND 5 28 6 L CD 773A ADB5F30 ORG 4 0RG 5000000000 10000020 CW D D o Noreo D 000 5 0 J7 Y MOTOR D 00 NORG ORG GND EXTVCOM CD 773A ADB5F30 CD 773AADB5Fso00000 PODOO 0 0 EXTEND ORIGIN SPEC SET NORG 0 000 000 J4 X 0 0 6 NORG 28 ORG GND EXTVCOM CD 773A ADBSF30 DT CD 773A ADB5F30 CD 773A ADB5F30 00000 0 8 EEE L3 rrt L3 r3 Lr E L3 r3 L3 rtu E EL oO o A 0 0 0
14. 74 75 1 ome 75 2 DRIVE SPEEDO OOD omm 75 3 SPEED DATA Hz u a eene eai a i 75 iMt LI x dci 76 1 COUNTER DATA 1 nese E ene qeu asam sagu Meet 76 2 00 SPEEDO OOD 76 GHI DATA E EDS 76 DIU Cp 1 O 77 77 E E 77 DATE 77 4 77 det ARE 78 78 2 DO O O O H A LED 78 CD 773A ADB5F30 U ll l 79 7 7 79 73 BATE 81 RATE DIT Ov 84 2 RATED cmm Ime ILL 81 A E 82 1 CD 773A ADB5F300000000 82 2 CD 773A ADBS5F30 MCC05v2 INITIALIZE PROGRAM J 84 3 CD 773A ADBS5F30 MCC05v2 PROGRA
15. 00000 ACTIVE 000 LMIT B B BH 7B B U D U 00 LIMIT EH E NORMAL ON GND O U U 000 H ao H p H H H H i H Hi E h L yh h L L h D WindowsUUOOU0U00000000000000000060 o L3 L3 r3 L3 L3 r3 PAGE CD 773A ADB5F30 LL EL EL EE E OO O O O N sr O CO CO sb sb LO cO O O O N CN CN N N CN N N N N N CN N N N N co 1 1 1 1 x 1 1 H 1 1 1 1 1 1 i 1 1 1 I 1 1 1 1 i 1 1 1 y 1 1 1 i 1 1 1 1 1 1 1 N 1 1 1 1 I 1 1 1 1 1 1 1 1 1 1 i 1 1 1 1 1 1 1 1 1 i 1 1 1 I 1 1 1 1 i 1 1 1 T i 1 1 1 i 1 1 1 1 1 1 1 1 1 1 1 1 1 i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 i 1 1 1 I 1 1 1 1 i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Et 1 1 1 I I E 1 E 1 L L3 1 1 1 1 1 E 1 L 1
16. 1 NO OPERATION COMMAND COMMAND 00 000 BITI 0 ERROR BITO 00000000 2 SPEC INITIALIZE1 COMMAND COMMAND 01 5 000 000000000600 DRIVE DATA1 PORT DRIVE 0200000000 DRIVE DATA1 PORT 00000000000 DATA1 PORT AIZAT DRIVE TYPE LIMIT STOP TYPE 00000 00000000 000000000000000 1 BITOOD 1 e DRIVE TYPE DD DU DRIVE TYPE HL B H BH JU BIT O U DRIVE TYPE L TYPE M TYPE B e LIMIT STOP TYPE DD CWLM CCWLM 0 0000 BITI DL 10 0000 100000000 BITO Or J U O O O O DRIVE COMMAND 0 0 STATUS10 0 BUSY 1 DREND BIT CD 773A ADB5F30 3 PULSE COUNTER INITIALIZE COMMAND COMMAND 02 m STATUS BUSY 0 DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 02 p WRITE DRIVE DATA1 DRIVE DATA1 2 3 PORT DRI
17. ALD D D D D UUUUUUUUUUUUU 000 l 1 0 0 L1 82 0 000000000 IO III UD 10000000 0300 14100000000 00000 000000 000 0 31 5 3 00000000 1 00000000000 CD 773A ADB5SF30 MCCOSv2 0000 X jougn u DRIVE COMMANDO 00000 O30ms DRIVE COMMAND PORTO OD o25ms 0 25ms D 625000bps CD 773A ADB5F30 VO PORTO0O00000000000000000000000 Dual DATA DRIVE DATA2 PORT 625000bps
18. oEF o n p o U VO MF O PORT 02 0 0000 ell 040 21 0 0 HB B 51 000000 000000000000000 V000000000 U 1 00000 XMF OFF 0 1 J 00000 05 otn 220 1510 000 ot 01 00 a NOT ACTIVE High 01 00 0 XMF XMF OFF 0 ON 1 YMF ON 1 0 000 00 000000000000 01o oon UDUU 0000000 22 0 0 en 60 vono 0 00000000 02 0 000000000000 0000000 0000000 e00000 030 1010 220 600 020 00 02 CD 773A ADB5F30 61 2 8 4 5 10 1112 90000000
19. 0000000000 DRIVE DATA3 PORTO COMMAND DRIVE DATA3 PORT READ ADDRESS READ SET DATA READ ERROR STATUS READ SERIAL INDEX CHECK 5000 27 SLOW STOP COMMAND COMMAND FE 000 COMMAND BUSY 0000000000000000000 D000000000000DRIVE 10000000 DRIVE 0000000000000 28 FAST STOP COMMAND COMMAND 000 COMMAND BUSY 0000000000000000000 D000000000000DRIVE 10000000 DRIVE 0000000000000 54 CD 773A ADB5F30 29 COUNTER READ COMMAND nn 000 PULSE ADDRESS 0 COUNTER COUNT DATA HDD DD OU 0 1 COUNTER PORT SELECT D DRIVE DATA1 2 3 READ PORT 0 UUUUUUU COUNT 0000000 DRIVE DATA1 2 5 PORT 00000000000 DATA1 PORT DATA2 PORT DATAS3 PORT DU 0 READ 2 READ COUNT DATA 00 FFFFFF COUNT DATAQ 000000200000000 COUNT DATA COUNT DATA1 PORT DATA2 PORT DATA3 PORT 58 388 607 a 47 JM P 00 0 10 FF 8 388 607 80 0 PORT SELECT COMMAND U j O
20. COMMAND DRIVE DATA3 PORT INT MASKI 000000 DRIVE DATAS PORT B B B H D B D Hl D D DATA3 PORT PLS INT MASK PLS 2 INT MASK PLS COMP3 INT MASK PLS COMP4 INT MASK PLS COMPS INT MASK 000 000 DRIVE DATA3 PORTO O PLS COMP1 INT MASK 09 PULSE COUNTER on nnum e PLS COMP2 INT MASK DH PULSE COUNTER 19 00000 e PLS INT MASK DH PULSE COUNTER e PLS COMP4 INT MASK D PULSE COUNTER e PLS COMPS INT MASK DH PULSE COUNTER 00000 D O PULSE COUNTER INITIALIZE COMMANDO 000000000 00000
21. 000000000 01 0 02 0 0An0 000000000000 ell u ul 040 1010 221 300 00 e0000000 040 005 01 o2n oan RIVE DATA3 PORT RIVE DATA2 PORT D D DRIVE DATA1 PORT 12 DRIVE DATA1 PORTU ODO OOO HH B 31 MCCO5v2 DRIVE DATA1 PORT 0000000 ell ll ll ll ll 040 010 220 310 000 ots Yr 020 000 0An L 13 DRIVE 2 00000000 32 MCCO5v2 DRIVE DATA2 PORT 000006060 UUUUDU ot o 220 320 000 BBBBBBBBDBDBDBDDD uuu 020 00 oAn Sar nnn np CD 773A ADB5F30 1 1 l1 14 DRIVE DATA3 33 MCCO5v2
22. 56 2 PULSE COUNTER COMPARE REGISTER SET COMMAND 56 3 PULSE COUNTER COMPARE REGISTER SET COMMAND 56 4 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 56 5 PULSE COUNTER COMPARE REGISTER4 SET COMMAND 56 6 PULSE COUNTER COMPARE REGISTERS SET COMMAND 56 5 8 4L LIC 6 2 6 9 6 4 6 5 6 6 CD 773A ADB5F30 LL EL EL EE E PAGE M c mc 57 1 DRIVE COMMAND 0 0000000000 57 2 DRIVE 57 3 DRIVE DATA1 PORTO 00000000 e 58 4 DRIVE DATA2 PORTO DL HH HDD D 58 5 DRIVE DATA3 PORTO 00000000 MM 58 6 COUNTER COMMANDO 0000000000 MM 59 7 COUNTER COMMAND PORTO 00000000 59 8 COUNTER DATA PORTO 00000000 60 9 COUNTER DATA2 PORTO 00000000 Me 60 10 COUNTER DATA3 PORTO 00000000 60 11 COUNTER DATA PORTO 0000000000 MM 61 12
23. HSPD DATA 00000 1 1 0 250 000 3D090 1 0 O O 0 DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 08 p WRITE HSPDDATAD D HSPD DATA 63 5 ENES HSPD SET HSPD 3000Hz 0 0 000000 44 COMMAND STATUS 8 SET DATA READ COMMAND CD 773A ADB5F30 000 000 MCCOSvV200000000 SPEC DATA DRIVE 8 DATAO DRIVE DATA1 PORT WRITE 2 3 DRIVE DATAS PORT WRITE O0 000000000 PORT Dn 27 125 E 0 COMMAND CODE DRIVE DATA1 2 3 PORT READ 000000000 DATA D COMMANDO NoD 0000000 DATAS PORT 0062 0 RATE SET COMMAND COMMAND PORT 000 COMMAND DATA2 3 PORTO O O O O O DATA2 PORTO URATE No DATA3 PORTO 0 0000000 MMAND 00000 COMMAND D DRIVE DATA3 PORT 0 COMMAND CODE CODE
24. 61 13 2 61 14 DRIVE DATA3 PORTO 00000000 62 15 STATUS PORTO 00000000 62 16 52 62 17 STATUS3 PORTO 00000000 63 18 STATUS4 PORTO 00000000 63 19 STATUS5 PORTO 00000000 o Mee 63 ap HELD PORT N 64 21 DVO PORTO ODODE I eee ette EASE 64 22 VO PORTED D H ee 64 65 bdo aeu 65 65 ly D sS 65 S O E s ss 66 SSS Sas a 66 A S S S 70 A 71 a GE 71 COUNTER 72 1 COUNTER J 0000 72 2 ADDRESS COUNTER D 73 3 PULSE COUNTER a 73 4 COMPARATOR J D
25. ut L3 L3 r3 r3 oonan o EE 7 COUNTER 21 MCCO5v2 COUNTER COMMAND PORT COMMAND I LH H E E D U D PULSE COUNTER COMPARE REGISTER1 SET COMMAND DATA1 3 PORT I EL Hl UO EE DE DDD COUNTER COMMAND PORT 01 a U U U D ell u ul 5 01 220 21 000 011 L COUNTER COMMAND PORT COMMAND otoYr 59 CD 773A ADB5F30 8 COUNTER 22 MCCO5v2 COUNTER DATA1 PORT DATA I Ll EH D BL D U 0 D XD MCC05v2 COUNTER DATA1 PORT AB 00000 ell ll ll ll ll 05 01o 220 22 00 L COUNTER DATA1 DATA Fl El E D D 6060 01a Y
26. 010 006 9 COUNTER ATER 23 MCCO5v2 COUNTER DATA2 PORT DATA I LH EH EB BL D U 0 COUNTER DATA2 PORT AB all U U U ell lll ll 050 010 220 1230 1000 L COUNTER DATA2 PORTO 00 0 0 01 DU 015 000 10 COUNTER 24 05 2 COUNTER DATA3 PORT DATA I1 Ll EH EB BL DU 0 COUNTER DATA3 PORT AB al U LH LL eu 050 1 220 240 002 aBn COUNTER DATA3 PORTO 0 0 0 0 00000000 oxi 01 o Y ell n UUUUUUDDDUDU 60 CD 773A ADB5F30 11 30 MCCO5v2 DRIVE DATA1 PORTO 2 DRIVE DATA2 PORTO DRIVE
27. m 5 p E HH L3 r2 H ES E Ej lt OF ao CD zz Ps opui e o o LO pud m Oooo Q 5 g2200 lt Th g Oooo Fei p O Toong o rrr Oooog CD 773A ADBSFS0 0000000000600 2 SENSORU D 000 Ut CD 73A ADBSF30 00 50351 8100 266 2 0000 LJ e LJ LJ LJ lt B s lu L L LJ L LH L L L L3 L1 LJ N cO LO CD N L1 LJ L1 ____ 5167000 gogg lst103 0500 gogg 51103 0600 00000 50279191 0 0 0 L 0 D uut HU 1 1 3 000000 CD 773A ADBSFS30 AL V F D DU mrad SENSOR STEPPING MOTOR 0 f CB 23 USB 4 z t X MOTOR 000 SENSOR O CWLM CCWLM ORG NORG D 2222483 D 08 09 000000 UL20276H 0 CE 44 A01CV 4 AA CD 773A ADB5F30 1 40 000000 SENSOR 0 U X MCCO5
28. 39 56 H B 0 00 B DRIVE COMMAND seas 40 1 NO OPERATION COMMAND 40 2 SPEC INITIALIZE1 COMMAND 40 3 PULSE COUNTER INITIALIZE COMMAND 41 4 ADDRESS INITIALIZE COMMAND 43 5 RATE SET COMMAND 43 6 LSPD SET COMMAND 44 7 HSPD SET COMMAND 44 8 SET DATA READ COMMAND 45 9 JOG COMMAND 46 10 SCAN COMMAND 46 11 INCREMENTAL INDEX COMMAND 46 12 ABSOLUTE INDEX COMMAND 47 13 CSPD SET COMMAND 47 14 OFFSET PULSE SET COMMAND 48 15 ORIGIN COMMAND 48 16 EXTEND ORIGIN SPEC SET
29. I 800000000 CD 773A ADB5F30 H H D wlan 7 DRIVER 5 000 D 000000000 DRIVE J 0 0 DRIVE LSEL IL IH O 00 DRIVE O D 2000 1000 0000000000000 00000 PR E t 000 USER PROGRAMDO00000000 LIMIT SENSOR J 0000 ORIGIN DRIVE J 0000 DRIVE D CD 773A ADB5F30 2 0 000 CD 773A ADB5F30 i 00000000000000 UOUOO0O0000UUU000000000000 0000000000 u KS 1 DRIVE O D SPECIAL SCAN DRIVE DRIVE SPECIAL INDEX DRIVE DRIVE SERIAL INDEX DRIVE DRIVE SPECIAL SERIAL INDEX 00000 SERIAL INDEX DRIVE DRIVE 2 PULSE 00000 ADDRESS AUTO CHANGE PULSE U O SPEEDO B H1 B D D
30. DRIVE DATA3 PORT 0 ALM COUNTER COMMAND 0 25ms 0 25ms COUNTER COMMAND POR COUNTER DATA2 PORT COUNTER DATA3 PORT 0 25ms o 25ms _ o 25ms 0 25ms 00000000 0000 DRIVE DD DO D o49ms DRIVE DATA1 PORT 0 46ms 0 46ms 40a jsrAr7stPORTOODD 046ms sTATUS2 PORTU DD 046ms STATUSSPORTO DD 046ms STATUS PORTU DD NEC UMEN 420 _ Bo _ DRIVE DATA2 PORT 0 DRIVE DATA3 PORT ll 000 FEI 0 46ms gt DRIVE DATA2 PORT PoRTDDU 2 PORTO I DRIVE COMMAND PORT DRIVE DATA1 PORT gt DRIVE DATA3 PORT MCC05v2 0 PORT DRIVE DATA1 PORT MCco5vz0 PORTUD I 0 COUNTER COMMAND PORT _ COUNTER DATA1 PORT __ COUNTER DATA2 PORT gt COUNTER DATA3 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT MCC05v2 STATUSI PORT STATUS2 PORT STATUSSPORT _ STATUSA PORT
31. ENABLE 00 00000 DRIVE ORIGIN ED U D D 0000000 DRIVE DATAS PORT I j 00 0 000 0 COMMAND 0000000060 D UI L x CD 773A ADB5F300 000000000000000 000000PO0000000000 COMMAND 60 000 S RATE DRIVEN O O 0 SRATE 0 B B E DD me DRIVE DATA3 PORTO SRATE DATA 0 STATUS J BUSY 0 DRIVE Y DATA3 PORT DATA3 PORT DH WRITE Y q 328 COMMAND 600 WRITE SRATE No SRATE SET 1000000000000000000000 No 9 100ms 1000Hz 0 000000000 0 JJ COMMAND O 0 0 0 0 35 SRATE No 0 0 O0 O0 DRIVE TYPED 000000000 6 3 0 0 SRATE SET No0000000730 49 CD 773A ADB5F30 18 SLSPD SET COMMAND COMMAND 61 000 95 O SLSPD LOW
32. gt 1 CONSTANT 5 0000 SD JD JOG 5 000000000000000 DD 000 e ORG 0 e ORG 1 COW LIMIT CW LIMIT CCW LIMIT CW LIMIT ORG _ ORG L1 GUDBDe legs 9 nn4 nann 9 e 00 4 2unnn9 gooni 100 lA A A gt EN AHER Q Onon i 00 x 66 CD 773A ADB5F30 e ORG 2 e ORG 3 COW LIMIT CW LIMIT CCW CW LIMIT 9 iunon on 400 ando mds e 0000 0000 1 uni 1 i0nn e inn m bs gt onoo gt 0000 Onnnpt 4 00 9 Jun 004
33. spi Lr3r3 EF 00000000N AWG24 U o O U o L3 25 CD 773A ADB5F30 3 SENSOR 0 ORG NORG LIMIT UOUOOO0000 FILI 000 OND TD DI UD np 0000 FMD24 jooon TEL E ug 0000000000 ccw 0 0 cw 0 l O U 00 ON J JU CWLM CCWLM GND EXTVCOM 6 CD 773A ADB5F30 LIMITO O E O 1 26 CD 773A ADB5F30
34. Ez l L3 L3 L3 L3 EV EY T L3 L3 L3 L3 L1 L3 L1 Ez EE E LEE E ET ESI E PTT E ETEJ LET Eq L3 L3 L3 L3 L3 L3 L3 L3 L1 L3 L3 L1 L3 L3 L3 L1 L3 L3 L3 L3 L3 L3 L1 L3 L1 Ex Ez 3 L3 L3 L3 L3 L1 L3 L1 E L1 L3 L1 EE E E EzT L3 L3 L3 E EZ EE EVEKEN EA EPEE E33 E73 ESE EZ ES E23 L3 E3 L3 L3 L3 L3 E E 6 r E LU E3 L3 L3 L3 L3 L1 L3 L3 C3 E3 L3 L3 L3 L3 co l ET EP E ET EXE EJ E Ep 0 0 0 0 0 0 ET EST EHE ooog 0 0 0 0 0 0 LH EE ELI 1 0 0 0 0 0 0 2 0000 91 CD 773A ADB5F30 5 Ahk TART S TER fel PH gt R1 P11 28 DRIVE 2 7A 2 1A SENSOR RI 75 7r4AHRH
35. m EE lt 00 O lt gt P M O lt gg ES E rr JE o0 r3 52 seg uuum lt a gH r3 ooo gH oA Jz oan o ns ooo 18 ooo oH Oz Z0 elo ooo oH 1 c dE d cfo E EE LO E m H O lt lt n ogo ogo S qu o C3 r3 rrt On 005 oo Aloa 200 pem Er qa od ium a E ET EJ EJ LL oo r a GO oo LEE oo gag 0 000 0000 oooi D 00on 00 00 000000 0 0 1 1 1 E E E el
36. 0 3 14000000000000000000000000000050 D0000000S0000 SPEED DATA D 0 0 0 PULSED HzO D Hz 0 MODE 4 J PULSE COUNT PULSE COUNTER 0 240 DFL COUNTER 0 5 2 0 PULSE COUNT DOO O D DFL COUNTER O 20 0 COUNTER COUNTER PORT SELECT COMMAND J 0 DEL COUNTER MCCO5v2 J 0 PULSE COUNT DATA I O00000 PULSE PULSE PULSE DRIVE START O 0 10 D D ACTIVE PULSE 0D 100 5 20 5 7 ORIGIND D ORIGIN ERROR I I U CONSTANT SCAN DRIVE JOG DRIVE PULSE O 5 PORT ERROR BI ORIGIN DRIVE J
37. DRIVE SEL DRVEDODDOUDOUDUU HOLD ADI C M0 4000 2 Horpuuug DRVEDOO0C0O00000 0000000 __ _ _____ CW CCW 00000 HOLD t1 DRIVE HOLD 1 D D DH1 150ms lt 00000 0000000oFF 150oms 000000000000 21 CD 773A ADB5F30 UOUO0O00000UUU0U00000000000000000U0000 nnn orannnnn ON J ON 17 ON ON or 312 ON OFF ON ta og ON OFF OFF Wo OFF ON ON 120 006 OFF OFF O
38. 6 e ORG 0 ORG 1 ORG 2 ORG 3 ORG 10 0 CCW CW 74 Z Z AT d oRe 100 0 noo e ORG 4 ORG 5 CCW LIMIT 4 MOTOR annannnnnannnnnnn ORG 400 ORG 50 0 ORG I 0 0 0 0 773 5 0 T 0 090 0 00000 000 0 EXTEND ORIGIN SPEC 3 10 111 ORG 4 0 0 5 e ORG 11 0RG 12 0 LIMIT L l ORG 11 0RG 12 ORG 70 CD 773A ADB5F30 24
39. ulii ir CD 773A ADBBF30 O OOL 0000 aie UUUUUUUUUUD CD 773A ADB5F30 L1 E o0 o0 m a Ill a g H pir L3 0 L3 LI O O L3 1 O L3 1 L3 0 L3 1 L3 1 Ll 1 0 O L3 1 0 1 L3 1 L3 BL pr am n O L3 LI EET EYE ral o L3 L3 E m E Ts ogo g o aag lt c 1 5 rk o L3 L3 1 i UDDUDUUUDUDDUUDUDUU uDUUuDUu CD 773A ADB5F30 L1 L1 L1 L1 L1 L1 B A EX EJ OOOO aa qaa qaa aa l ENERE p L3 L3 L3 L3 E3 E E L3 L3 L3 E3 E23 E UUUDUUDUUDUUUDUUUDUDUuDUuDUuDupDuul Rihu a
40. DT DT DT D Dn DU DO D0000000 1000000 L BUSY BIT DRIVE BIT DREND BIT ERROR BIT 0O00 LSENDBIT SSEND BIT FSEND BIT BUSYBT 0 00000000 COMMAND 10000000000 DRIVE COMMAND BUSY BIT 0 00000 COMMANDTI ED D 0 DRVEBT 10000000 DREND BIT 1 DDD D 1 3 0 0 r3 rH e 000000 COMMAND J 0 ERROR D 0 O ERROR STATUS READ COMMAND li BT 3 e LSENDBIT DRIVE BIT 0 0 0 0 PULSE J D O cwLM00000 ccwLMO00000000000 9 2 SSENDBIT DRIVEBIT 1 0 0 SLOW STOP COMMAND 0 0000000000000 DRIVE BIT 0 0 O PULSE J SLOW STOP uU ttu 00 0 2 FSENDBIT DRIVE BIT 1 0 O FAST STOP COMMAND 00000000000 0 DRIVE BIT 0 1 0 0 PULSE 0 FAST STOP
41. STATSU10 BUSY 1 0 00 0 00000000000 060 625000 bps LJ 0 PULSE OU UU U U U J COMMAND 0 PULSE I U U I 1 DRIVE COMMAND 0 625000bps O 0000 ms 00 NO OPERATION 0 32 SPEC INITIALIZE1 1 50 PULSE COUNTER INITIALIZE 0 33 ADDRESS INITIALIZE RATE SET SCAN INCREMENTAL INDEX ABSOLUTE INDEX CSPD SET OFFSET PULSE SET EXTEND ORGIN SPEC SET SRATE SET SLSPD SET S RATE SCAN 0 S RATE SCAN S RATE INCREMENTAL INDEX S RATE ABSOLUTE INDEX ERROR STATUS READ 0 33 0 45 0 4 0 4 0 4 033 U 1 URATE COMMAND O O O O 0 DRIVE TYPE 1 0000 ms L TYPE MAX 100 M TYPE MAX 35 H TYPE MAX 15 0 2 0 0 3 00000 DRIVE COMMAND UUOOOO0O0O0O0UUUU0U0000 000000000 38 CD 773A ADB5F30 2 COMMAND 00 STATUS10 coMMANDD 00000 eesooobps 0 D 1 11102111 F7 SP
42. 0 2 Busy 0 0 0 D D COMMAND I 0000000 CD 773A ADB5F30 26 PORT SELECT COMMAND COUNTER DATA PORT J 000 0 0 COMMAND J O 00 6 2 1 0 COUNTEROOUUUUOUOUUUUUOUUU ADDRESS COUNTER PORT SELECT COMMAND COMMAND 9 000 DRIVE DATA1 2 3 PORTO ADDRESS COUNTER COUNT DATA READ 0 0 PORTE HL LB CL HL D HI COMMAND PULSE COUNTER PORT SELECT COMMAND COMMAND Fca 000 DRIVE DATA1 2 3 PORT J PULSE COUNTER COUNT DATA READ 0 0 0 0 COMMAND SPEED PORT SELECT COMMAND COMMAND 000 DRIVE DATA1 2 3 PORTO 0 PULSE 0 SPEED DATA READ PORTH D D D EH EB D D COMMAND COMMAND DRIVE 2 COMMAND J 200 6 DRIVE DATA1 2 3 DATAD PORT SELECT COMMANDO 10000000000 DRIVE DATA1 2 3 PORT J PULSE COUNTER J COUNT DATA READ J O PORTO DRIVE DATA1 2 3 PORTD 0000000
43. 1 uu FSsTOP 0 0000 DRIVE LIMIT 1D D U B UI U D ORG DRIVE 5 ERROR ORIGIN 0000 ORG DRIVE D UDDD ADDRESS 8 388 607 8 388 607 ORIGIN FLAG RESET SPEC 4 COMMAND I 000000 e 0000000 ADDRESS ORG 00 311120 000000000000 OFFSET PUISSE HL D DH B HH D DO O ADDRESS O O l e ORG 450 0 0 NORG 0 0 0 O 0 OFFSET PULSE I I 1 D D D H 0 0 ADDRESS O 00 OFFSET PULSE 255PULSE 1 O OFFSET PULSE n pnpnuanagnporrserPursepn U uuu 0 0 0 0 0 0 D 111 ORIGIN DRIVE O0 O0 JOG DRIVE 000 0000000000 000000000 CONSTANT SCAN SCAN JOG 0 0 000000 JocbRVEDDOD 100000 65 CD 773A ADB5F30 ORGNORG ONO Low Seems EE gt Y
44. 1 SF 1d 1 1 1 1 M Mmm 1 1 1 1 MAECEN ED 2 a Mm 1 1 1 cg O a i I O OES m i W n 1 NJ FE Qn gt lt lj lt N CO T E pec 2 GOG 3 deg c s ea O a 20g 909 L3 m Su Emm E oaoa og EIE 2 L 0O m oor s r qo amp E3 EJ B p o0 E EJ Peji a mn L3 r3 o0 342 b r Est Es tfi 8 LI Dd E EJ p3 lt C0 2 FE L3 r3 a lt a AS Z A ANM Q lt EX E a a a N o 1 SE 86 5 0 AFET L3 EE Ci 1 S en pe P E OOM E I LI L1 L1 Y OFT qi qi Ed oi T CN CN CN CN CN CN CD LO LO L1 L1 CD 773A ADB5F30 LL EL EL EE E PAGE S
45. 2 0 1 BusYy o0 000000000000 0 2 5 U 3 POWER ON DREND ERROR MAN OD BUSY NOP COMMAND O DREND ERROR MAN BIT DUO0O000000000000 000000 0 5 35 CD 773A ADB5F30 7 STATUS2 PORT DT DT DT DU Dn DH Dn DH L POU ORG I 1 NORG I CWLM I COWLM i 00000 00000 Di0000 0 LOW 1 HIGH BIT CD 773A ADB5F300D0 e ORG 0 BIT ORIGIN SENSOR ORG0 0 O0 0000000 NORG BIT NEAR ORIGIN 5 CWLM BIT e BIT U e BIT D DON STATUSOO000000 8 STATUS3 PORT PULSE COUNTERU 0 0 STATUSDDDDDD PORTII I l DT DU Dn DU Dn DH DO DH D0000000 1000000 L PLS COMP1 BIT PLS COMP2 BIT PLS COMP3 PLS CO
46. OFFSET PULSE SET COMMAND J 000 15 ORIGIN COMMAND COMMAND 1 uu D00000000 DRIVE mec Reg ensi BUSY 0 1 01 ORG 2 025 Y ORG 3 03 ORG 4 04 0 WRITE ORG 5 05g ORG 10 n ORG 11 0B WRITE ORG 12 0C n 00000 DRIVE O DREND BIT 1 LSEND SSEND FSEND BIT O U 040 ERROR LSEND SSEND FSENDU 00000 10000000000000000000 002 48 CD 773A ADB5F30 16 EXTEND ORIGIN SPEC SET COMMAND COMMAND 0 0 CD 73AADB5F3 0 ORG 4 0RG 500000000000 DRIVE DATA1 PORT DRIVE DATA1 PORT O0000000000 DATA1 PORT 5 0 0 0 0 0 0 0 E L BD 000 0 000 D PO ENABLE U D10 0000 D0000 000000000
47. 000 M26x6000000000000 0 00000 CD 773A ADB5F30 1 2 R1 2 1 Mz FE fk 288 DRIVE DRIVE ISEL gt IH 21 1 288 HOLD HOLD 1 ADJ gt 40 1 0A 1 SENSOR amp 175 2r AFP OQ 45g 86 735 2 4 C3 24V lt L 0O p O 8 IR EC BB RCT SL 0 40 C 8096 RH 0 55 8096 RHIAT iB ER E E AIL RE LD G dt b Z BRIER SIXTEHAATVEZC TA J SZ F OB ER BD RM XO E X DS 7x UM Sus i 38 E AS D 45 5 7 USE BT BI 7 HESS SE OO ERE Z ADD Fa UB ME PRH DIE lt BE G Z LAS PH 10 55Hz 0 15mm C ERE U C s W79mm x D65mm x H86mm 3 0 3kg 2 2 RS485 L 24V 2151 ZO AL FA ZA F a ALJA 1 15 0 2 0 77 EAH 9765bps 39062bps 156250bps 625000bps 10m Z L 2 ID H 22 CD 773 ADB5331A CD 773A ADB5F30 IZ 8 ID TF 11 CD 773A ADB5F30 U o o m DRIVE JOG DRIVE 1
48. EH 21471 ADDRESS 000 000 OA 000 FF F6 00 5 015 13 CSPD SET COMMAND COMMAND 1An 000 ORIGIN DRIVE I O CSPD CONSTANT 0000000 DRIVE DATA1 2 3 PORT 5 Hz0 00 3000 DATA 000000 STATUS BUSY 0 DRIVE 2 9 DATA1 PORT DATA2 PORT DATAS3 PORT Y DD Tu Er pag DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 1A WRITE CGSPDDATAD D csPDDATA 6 30 5 um rero CSPD DATA CSPD DATA JU HH B D 1 1 a C 250 000 3D090 5 D 00 0 ETE SET COMMAND 1000000000000000000000 5 47 CD 773A ADB5F30 14 OFFSET PULSE SET COMMAND COMMAND 1B 000 ORIGIN DRIVE J OFFSET PULSED 0000000 0000n n DRIVE DATA3 PORT BUSY 0 DRIVE DATAS PORT O00000 000000 DATA3 PORT Y g a ac WRITE au OFFSET PULSE OFFSET PULSE 0000000 0 05 0 255 FFo 0 COMMAND 1B WRITE 000000 U OFFSET PULSE 0n 0000000
49. 00000 COUNTER DATA ADDRESS ITI DATA 00600 1PORTWRITE 0 COUNTER DATA1PORT 00H d COUNTER DATA ADDRESS IDO DATA 0000 MCC05v2 2 PORT WRITE gt o5su 012 010 230 000 27 on 0000000000 COUNTER DATA2PORT 0 27H n di COUNTER DATA ADDRESS TYPE OU DATA 0000 8 PORT WRITE COUNTER DATA3PORT 10H ze COUNTER COMMAND 0 ADDRESS TYPE DATA uu 0000 00 WRITE x s COUNTER PRESET COMMAND 00H j ADDRESS TYPE 0 COMMAND DATA1 gt 2 gt 3 0000 gt oso otu oto 200 ooo 002 000 270 102 gt oto 00 002710H COUNTER PRESET COMMAND 00H O B COMMAND gt DATA1 gt DATA2 gt DATAS3 e USER PROGRAM Mccos2 0 000000 USER PROGRAM DD DD D D MCC05v2 5 2 U U U 77 5 0
50. 5 5 3000 2 COMMAND 62 p WRITE COMMAND D SCSPD1 SCSPD2 SCSPD1 SCSPD20000000000000 SHSLD DATA 6 3 SPEED UOUO0O000UUU0000 UUUUUDO 50 CD 773A ADB5F30 20 S RATE SCAN COMMAND COMMAND CW D 0 DRIVE D CCW 0 DRIVE O BUSY 0 COMMAND 700 71 WRITE 21 INCREMENTAL S RATE INDEX COMMAND COMMAND 72 000 00000 SRATEINDEXDRIVED DDD D D 0000000 DRIVE DATA1 2 3 PORTO DRIVE DATA1 2 3 STATUS BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT DD Da Y z E LT SE SE SESI DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 72 WRITE PULSED 00 FFFFFF o 1 20000000000 PuLsE00000 PULSE 10000 DATA2 PORT r 10 00 L I T1 0 10 8 388 607 COMMAND 73 000 S RATE INDEX DRIVE IU DDD 00000060 DRIVE 2 3 PORTO 000000 ADDRESSI 0800000 m DRIVE DATA1 2 3 PORTU 0000000000 STATUS BUSY 0 DATA1 PORT DATA2
51. DATAD 10 0 0 SPEED CHANGE COMMAD 00000000000000 BTOO0O0000000000000000 11 VO PORT 1 MOTOR I U DATADO 2 000 PORT U _ 000MF00000 EE E 1000000 DATA DO00000 0000000000 XMF BIT 0 MFoN MOTORH 0 PORT 2BT0 XOYO 0 D D 0 010 10510111 mr paran YMF 0 1 0 2 D0 CD 773A ADB5F30 5 5 COMMAND I D PORT s 3 1 0
52. 3 2 2 0 81 CD 773A ADB5F30 VFOO00O000000000000000000 REQUEST D ADDRESS CHECK J 0 INITIALIZE PROGRAM 0 0 0 0 0 1 CD 773A ADBB5F30 000000 CD 773AADB5F30U00000000U0U0000000000000000 a Ge a eh de Re a en ee i ee X VE COMAND ALL VN TE Da SE ELK CSS Ac C e voi d xdal UC com UC atl UC dt2 UC i trs ptr 0x08 REQUEST LENGTH SET trs ptr41 ADRI SLAVE 55 SET trs ptr42 TYPE CJ 73N SLAVE TYPE SET trs ptr43 0 10 DRI VE COMAND ALL VW REQUEST SET trs ptr 4 5 X X AX S SET trs ptr45 com MX ERI VE OMAND SET trs ptr46 dt1 ERI VE DATA SET trs ptr47 dt2 VE DATZ2 SET trs ptr48 dt3 VE SET request REQUEST START 5 ERE T SS AEE ASSESSED ESAS mer X COMAND PORT VN TE usted te ter m ms eue mu mum em Eus S S ee iere a N voi d UC com i trs ptr 0x05
53. SENSOR 000000 24V Max150mA D D EL U B UU DI 4 MOTORD 0 0 0O JS X 0 0 0 J7 Y I YI X00 etiim 00000000 53426 0510 e0 00000 51103 0500 00000 000 O OO O e00000 50351 8100 00000 000 en 0 0 0 57295 5000 00000 e0000 AWG280 AWG22 000 11500 18 5 0 MOTORO 0000 CD 773A ADB5F30 2 5 0 0000 1 0000 YI0000000 EXTVCOM 24 150 1 00000 6 8K Q HIGH J 0 8 18V HIGH 25 _ 6 LOW GND 1 ewwgcownORBINORG 5 e nnunn mwenntov orgorr2ow 700 CD 773A ADB5F30 T00007 8 uede u sp 0 4STN NELL O _ _ 054 f Ec 25 8 111 E m v ES
54. 87 CD 773A ADB5F30 7 6 COMMAND 5778 DATA 5 COMMAND MCC05v2 COMMAND 0 0 0 00 5 5 0 0 0 0 0 0 HEX CODE 14 DRIVE DATA3 PORT 5 20 0 860 6 n 28 m 30 3 32 33 40 STATUS1 PORT I I 7 7 8 8 8 9 9 1 1 1 N IN 0 52 41 STATUS2 PORT 62 42 STATUS3 PORT 63 43 44 50 0 0 0 0 0 0 LI o a oj o ololoioio 2 25 2 25 2 2 2 2 o o o ol o o U9 ojojoljoj o o o o o S S oSl oleo los Oj O O O O j O O O j O O O O O I I 0 0 0 0 1 0 1 0 0 0 0 0 1 1 0 k 88 CD 773A ADB5F30 2 DRIVE OO 000 PULSED ON O O J O O
55. 42 Fig 3 773N ADB5F30 PK545 A B ERI VE SEL ERI VE SEL H Q 75A PHASE DC24V DC24V TCRQUE NJM PUT QRRENT TORQE NIM PUT A 0 5 HaD40 0 12N m 5 0 1 0 HIMO o23N m 5 0 0 4 4 0 0 8 4 0 0 3 PULOJ TCRQUE 3 0 0 6 0 I PULLOJT TORQUE 0 2 2 0 0 4 2 0 0 1 10 0 2 1 0 INPUT CURRENT 1NPUT CURRENT N 0 02 01 1 fs 10 100 00 01 1 fs 10 100 51 51 60 Fig 5 CD 773A ALB5F30 PK566 A B DRI SEL l H 0 75A PHASE DOWN NIM I PUT QURRENT 1 0 ropa 0 37 5 0 EE 4 0 0 6 3 0 0 4 2 0 0 2 PUT CLRRENT 1 0 0 02 0 1 1 5 10 1 80 CD 773A ADB5F30 7 3 RATE 1 RATE DATA e L TYPE e M TYPE e H TYPE ms 1000Hz 100 50 0 2 2 6 4 400 3 1 0 4 0 75 6 20 8 125 9 100 10 75 50 m 2jo 9 ho 3 4 o Qoo S S ejN ms 1000Hz 1000 2 2 RATE I I e L TYPE e 2298 51615 14 13 12 oM f 121 i zi Hz 10 20K 6 5 4 5 gt t 0 8 1 2 1 6 5 e H TYPE 141312 11 10 9 8 Hz 7 2 1 0 i 6 0 5 d 5 P 250KHz 0
56. EY 2 0000 JJgi ef Tf e M300x2 ZZ t3 UM3000000000UU0000000 200000000 CD 773A ADBSF30 0 O 0 00 3mm 23 CD 773A ADB5F30 4 2 1 0000000 AWG18 2400000 0000 2 GND 24V IN GND FGO AWG18 24 CD 773A ADB5F30 aay ezen 28300000 GND Ee FGO AWG22 28 ppnauggoapnaugugunp CB 23 USB Em CD 773A ADBSF300 0O 0000000000000000 FO 0 D D CB 23 USB H ALD D D DI 000000000 ONOFFO0000 0 24 0 000000000000000 UOO0O0O00000000000000000000000UU0000 24 CD 773A ADB5F30 2 MOTOR ll UOUOOO0O0O000UUU000000000UUU0000 ALN 00 U 50 5
57. O URATEDRATE No 9 100ms 1000Hz 0000000 DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 06 p WRITE RATE J No HH 0 DRIVE TYPED D D O RATE SETO No 00000007 3 0 RATE EI l 30 6 43 CD 773A ADB5F30 6 LSPD SET COMMAND COMMAND 07 000 DRIVE J J O D LSPD LOW 5 nm STATUS BUSY 0 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 07 WRITE LSPD DATIAU Hz I III 6 30 5 DRIVE DATA1 2 3 PORTO LSPD E Hz000 3000 DATA TI DRIVE 29 DATA1 PORT DATA2 PORT DATA3 PORT T 0 DU Tk s LSPD DATA 250 000 3D090 n D 00 0 EEE E E214 LSPD SET UUUUUUDDUDU 0O LSPD 300z0 0000000 7 HSPD SET COMMAND COMMAND 08 000 DRIVEN O HSPD HIGH 5 DRIVE DATA1 2 3 PORTO HSPD Hz000 30 D D DATA l DRIVE DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT Tz
58. cf Tf jc n d hy L 2 i E EE F 8 PL4 JY b 5 s dEE PE 3 d t q E E 5 E 5 Be 8 CD 773A ADB5F30 3 10 00000000L 1 0 000000 51 000000000000000000000 51000000000 000000000000000000000000000000000000 lt Ball 12 34 ADDRESS 2 0000000 S2 S2000000000 3 4 0 9765bps 000 OFF OFF 000 39062bps ON j OFF 000 1 156250bps OFF 62500006 ___ 00 ON oN DS20 100000040000000000000 OFF00000000 S20000000000000000000000000 DS2000000000000000000000000000000000000000000 3 0 000000 53 CD 773A ADBSF30 0 s3000000000
59. nm STATUS BUSY 0 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 61 WRITE COMMAND D SCSPD1 SCSPD2 SCSPD1 SCSPD2 0 000000000000 0 SLSPD DATA 0 O 5 510 600000000 6 3 0 SPEED DRIVE DATA1 2 3 PORTO SLSPD 3000 DATA D DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATAS3 PORT Tz DU DU m SLSPD DATA 0 0A5 250 000 3D090 r E71 J 21471 SLSPD 1 DRIVE TYPE 000000000 SLSPD SET COMMAND 1000 U 5 3 19 SHSPD SET COMMAND COMMAND 625 S RATE DRIVE 0 0 O SHSPD HIGH SPEED D uuu STATUS BUSY 0 DRIVE DATA1 2 3 PORTO SHSPDD Hz000 3000 DATA D DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATAS3 PORT RIE 1 ERIS WRITE L DATA2 PORT SHSPD DATA SHSPD DATA 020000000 161 e 250 000 3D090 c DRIVE WRITE SHSPD 1000000000000000000
60. 1 0ms 1000Hz O 0 05ms 1000Hz 0 005ms 1000Hz 0 004ms 1000Hz 51Hz STEP 1kHz STEP 10kHz STEP 51Hz STEP UUU D 62Hz STEP 4kHz STEP 68kHz STEP 68kHz STEP RATED D 2 DRIVE 5 SPEED CHANGE COMMAND I 0 SCAN INDEX DRIVE 0 0 0 SPEED CHANGE COMMAND 00000 SPEEDO Hi Hd B EB dgututltulu 0 1 URATE DRATE U 2 SPEED 0 3 SPEED CHANGE SPEED CHANGE SPEED CHANGE COMMAND J O 0 0 0 0 0 0 0 0 STATUSS5 PORT SPEED CHANGE BUSY D0000000000000 SPEED CHANGE 3 SPEED DATA Hz 00000 SPEED DATA HSPD LSPD CSPD SHSPD sLSPD JOO Hz000 80 0 0 250 0000 0 0000000 SPEEDO 1 2 250kz0 00000 10000 0027105 0 000000 5 10000 2 000 5 2
61. 31 92 1 RS485 D 00000 00000050 1 1 2 5485 02 01 e LL 1565994 3 e CON 1479562 896 ul 0 0 14 0 3mm 1009 1 15 L C D DO D nU U U U UJIU J20000000000000050 J 2 000000 J3 easy j F e 0 000000 GND SE 50217 9101 e0 0000 0 57189 5000 00000 000D0 AWG24 AWG18 0 1 40 3 0 CD 773A ADB5F30 3 SENSOR 0 0 J4 X 0 0 J6 Y 00 06 lt u 00000000 nnn s CW D D LIMIT O D BD D e0000 52460610 00 D D 51103 0600 50351 8100 00000 000 e 000000 57295 5000 0000D enn AWG28 AWG22 1 15 1 8 U 00000000 ACTIVE OFF B00 00000 00000000 U GND 24V 0 GND 0 SENSOR j DU
62. 00000 5 51 PORTO U 55 1000000 5 00000 00000 STATUS PORTO U 1000000 FAST STOP COMMAND 00000000 e COMPARATOR 00000000 UU COMP 5 4 LIMIT 0 OOO UOUO0O00000UUU0U00000000000000000UU0000 UDUO0000000000000000000D0D000000UUUUUUD D00000000U0UUUUUUO UOUO0O0000UUU00000000000000000000000000 UOUOO0O000000 0 O PULSEN 0 00O CWLM J H J UO CCW I 0 PULSE CW 0000 STATUS1 PORTO 1000000 SP EC INITIALIZE1 COMM
63. 0x00 0x00 0x03 Oxe8 OOUNTER PRESET COMAND OUT CANTER REG STERI SET xcal 0x00 0x27 0x10 CANTER REG STERI SET COWAND OUT 3 CD 773A ADB5F30 MCCO5v2 PROGRAM e JOG DRIVE PROGRAM JOG DRIVE I 0D 0o 0 DATA Hl EB EH BL DDD 000 S Z ER SA sena Sa st a a tsa wasa RY ht ENE IRIRA EE OD CEE S A ss EDU X AX S 4 OG ERI VE NN OEE tn nc S S Y Sr Z maaa w RR RD voi d xj og voi d xnacr dy X AX S MX05v2 RO xdcon Ox10 J OG VE OUT 84 SCAN DRIVE PROGRAM CD 773A ADB5F30 SCAN DRIVE URATEDRATELSPDHSPD j DATADO DRIVE J I 5 RAM urate drate RATE DATA TABLE No 0 O Ispd hspd 0O O HzO SPEED DATA D voi d xscan voi d RATE SET COMMAND X AX S 2005 2 RDY WT xdal 0x06 DUW urate drate RATE SET OMAND OJT LSPD SET xnacr dy X AX S MX05v2 ROY xdall 0x07 UC amp spd 1 UC 8 spd 2 UC 8 5 443 LSPD SET COMAND QUT HSPD SE
64. D uuu COMMAND NAME ABSOLUTE DATA SET s RATE SET 2 CW SOFT LIMIT SET DID CO O pm PART PULSE SET 3 li PART RATE SET 0 3 t MARGIN TIME SET PEAK PULSE SET SEND PULSE SET 2 SESPD SET i CCW SOFT LIMIT SET SPEC INITIALIZE4 DFL DIVISION DATA SET END PULSE SET ESPD SET CSPD SET OFFSET PULSE SET EXTEND ORIGIN SPEC SET CONSTANT SCAN MAX PULSE SRATE SET SLSPD SET SHSPD SET ORIGIN DELAY SET o o o o o eie O RIO SSRATE ADJUST SERATE ADJUST SCSPD1 ADJUST SCSPD2 ADJUST 0 1 00000000 0000000 DATA PORTO 0 DATA PORT 0000000 COMMAND DRIVE DATA3 READ 0 2 URATE DRATE O DRIVE DATA1 PORT WRITE LI 0 0 3 COMMAND PART No DRIVE DATA1 PORT WRITE DH EH D H B B U U 0 4 000 Dual 5 45 CD 773A ADB5F30 9 JOG COMMAND COMMAND CW D 0 DRIVE D CCW I DRIVE 000 4JOGDRIVE I LH EH
65. j 0 COMMAND I COUNTER DATA1 2 3 WRITE PORT CWP CCWP PULSE DATA PULSE COUNTER PRESET COUNTER COMMAND 00H 24BIT PULSE COUNTER ILL COUNT DATA ISTATUS3 PORT INT CONTROL 24BIT COMPARATOR x 5ch 3 PLS 5 02 PULSE COUNTER INITIALIZE COMMAND F8H INT MASK COMMAND 24BIT COMPARE REGISTER x 5ch UUUU 5 REG SET COUNTER COMMAND 01H 05H DFL COUNTER PRESET COUNTER PORT COUNTER COMMAND 06H SELECT COMMAND F94 ADDRESS 24BIT DFL COUNTER DFL 0000 FCH PLS DRIVE DFL DATA D 000 SELECTOR E gt DATA1 2 3 READ PORT INT CONTROL 094 DFL COUNTER INITIALIZE COMMAND 24BIT COMPARATOR x 2ch STATUS3 PORT DFL COMP1 2 MASK COMMAND 24BIT COMPARE 0000 0000 REGISTER x 2ch 0000 COMP1 D 2 REG SET COUNTER COMMAND 07H 08H ADDRESS DATA 24BIT ADDRESS COUNTER 03H ADDRESS INITIALIZE COMMAND 3 DRIVE 000000000 24BIT DATA DATA1 2 3 WRITE PORT 72 CD 773A ADB5F30 2 ADDRESS COUNTER ADDRESS COUNTER J MCCOSv20 PULSE O 0 0 ADDRESS PORT SELECT COMMAND J 0 0 ADDRESS COUNTER PORTO UL LB LLL HL B LH BH E ADDRESS fH DATA J DRIVE DATA1 2 3 PORTO 000000000000000 0 0 STATUS10 BUSY 00 00000
66. 8000000 00000 4 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 6 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 05a 000 COMPARE REGISTER500000000 SETUDDD 56 CD 773A ADB5F30 5 8 0 DD 1 1 DRIVE Aaa OO ees MCC05v2 DRIVE DATA1 DRIVE DATA2 8 DRIVE DATA3 DRIVE COMMAND PORT COMMAND 000 MCCcoSsv200000000 0 00000000000 002710 5 10000 0 INCREMENTAL INDEX COMMAND DRIVE DATA1 PORT 005 DRIVE DATA2 PORT D 271 DRIVE DATA3 PORT 105 DRIVE COMMAND PORT 4 ell u ul 081 1010 22n 100 oou 140 000 27u 100 L DRIVE DATA3 0 DATADDOOODOOOD DRIVE DATA2 PORT I 00 0 0 DATA IU DU D U DRIVE 1 00 0 0 0000 0 DRIVE COMMAND PORT I 0 0 COMMAND 1 EL J EL E U U 00000000 000 01 000000000000 eilliuu ululu 01o 000 2 DRIVE COMMAND PORTO 0 O0 OOO 000 2 DRIVE COMMAND PORTO COMMANDO DE
67. COMMAND 0 PULSED O 0 J 0 0 CODE p 0000 000000000 op p HEX CODE COMMAND NAME 00 NO OPERATION 1 SPEC INITIALIZE1 2 PULSE COUNTER INITIALIZE 7 m a ojojo ojo j ojojojolojojojolojojoj OO O O OO Oj Ol O O O ADDRESS INITIALIZE ADDRESS READ Eann a EE 0 0 0 08 HSPDSET 1 QE DFL COUNTER INITIALIZE SETDATAREAD CWSOFTLMTSET CCW SOFT LIMIT SET oF B D N o o lololololojololo olo lolo lolololo N ojojo ojo S O O O O O S O OOOO OO OO INCREMENTAL INDEX ABSOLUTE END PULSE SET ESPDSET OFFSET PULSE SET ORIGIN DELAY SET ORIGIN FLAG RESET ORIGIN o SPEC INITIALIZES RESOLUTION SET PART HSPD BUFFER SET PART HSPD SET ABSOLUTE DATA SET PART PULSE SET SERIAL INDEX CHECK PART RATE SET SPECIAL SERIAL INDEX CHECK MARGIN TIME SET PEAK PULSE SET SEND PULSE _SESPDSET SPEC INITIALIZE4 SPECIAL SCAN 1 SPECIAL SCAN
68. LENGTH SET trs ptr 1 SLAVE ADDRESS SET trs ptr42 TYPE CD 73N SLAVE TYPE SET trs ptr43 0x11 DRI VE COMAND PORT REQLEST SET trs ptr44 AX SX X MS SET trs ptr45 com MX ERI VE OMAND SET request REQUEST START 0 779 9 SEES ro eum or Sr A E abel X CONTER ALL ts aS RE E EE CETT TEILE T T CE voi d xcall UC com UC dtl UC dt2 UC dt3 i trs ptr 0x08 REQUEST LENGTH SET trs _ ptr ADRI SLAVE ADDRESS SET trs ptr42 TYPE CJ 73N SLAVE TYPE SET trs ptr43 0x20 QOJNTER COMAND ALL WI TE REQUEST SET trs ptr 4 AXS X X AX S SET f trs ptr45 com MX QOUNTER COMAND SET trs ptr46 dt1 MC ANIER DATAL SET trs ptr47 2 MC QOUNTER DATA2 SET trs ptr48 dt3 MC GOUNTER DATA3 SET request REQUEST START 82 CD 773A ADB5F30 X a u tq X STATUS1 PORT READ S Sa Sy masa tc EE eh UC xsts1read 1
69. trs ptr 0x04 REQUEST LENGTH SET trs ptr41 ADRI SLAVE ADDRESS SET trs ptr42 TYPE CJ 73N SLAVE TYPE SET trs ptr43 0 40 STATUS1 PORT READ REQUEST SET trs 4 AXIS X X MS SET request REQUEST START return rev ptr42 PULSE COUNTER DATA READ PROGRAM PULSE COUNTER COUNT sts ss T fos X AXI 5 COUNTER READ SAR T Mr cm S dep n long xcntred voi d 1 ong a xdcon Oxfc PULSE CONTER PORT SELECT COMAND OT trs ptr 0x04 REQUEST LENGTH SET trs ptr41 ADRI SLAVE ADDRESS SET trs ptr42 TYPE CJ 73N SLAVE TYPE SET trs ptr43 0x30 VE DATA PORT ALL READ REQUEST SET trs ptr 4 AXIS X X AX S SET request REQUEST START UC amp a 2 rev CANER MBIN UC 1 ptr33 UC amp a ptr44 CANER LSB IN if UC 2 amp 0 80 1 0 SIGNBIT OV 3 Oxff se UC 3 0x00 return a 83 CD 773A ADB5F30 2 CD 773A ADB5F30 MCC05v2 INITIALIZE PROGRAM cb 773A ADBSFSO 0 0000000000000 U O CD 773A ADBS5F30 0
70. xnacr dy S 005 2 ROY WT Xdal 0x15 UC amp absdt 41 UC 42 UC 43 ERI VE COMAND OUT 85 CD 773A ADB5F30 ORIGIN DRIVE PROGRAM ORIGIN DRIVE URATE DRATE LSPD HSPD CSPD OFFSET PULSE LDELAY SDELAY JDELAY O DATA DATA DATA RAM 0 urate drate RATE DATA TABLE No 0 lspd hspd cspd O SPEED DATO D offset OFFSET PULSE 0 0 O Idelay sdelay jdelay 0 0 DELAY TIME 0000 voi d xorg void RATE SET QCMMAND xnacr dy X AX S MO5v2 WT xdal 0x06 DUM urate drate RATE SET COMAND OUT LSPD SET xnacr dy X AX 5 MX05v2 ROY xdall 0x07 UC amp spd l UC UC S spd 3 LSPD SET COMAND HSPD SET COMMAND xnacr dy X AX S MX05v2 ROY WT xdall 0x08 UC amp hspd41 UC Shspd42 U
71. STATUS5 PORT PORTO ozs D pnvounmopnuuu gt 0 0 0 0 0 XMF PORT 1 60 V00000 lt 55 EO Eb Eso E5 0 8 1 32 U uuu U uuu F 0 000 CD 773A ADB5F30 CC05v2 0 0 O COMMAND DATA PORT J COUNTER PRESET COMMAND J 0 0 0 MCCO5v2 PULSE COUNTER PRESET COMMAND 000 0 002710 n 10000 COUNTER DATA1 005 COUNTER DATA2 PORT 27 5 COUNTER 0000000 COUNTER COMMAND PORTO 00 0 0000000 COUNTER DATA PORT DATA1 PORT DATA2 PORT DATA3 PORT D DU DU E ee PRESET DATA 002710 10000 5 0 000000 0 0 0 0 gt gt O CD U JJ 5 Mccos2 0 0000000
72. 0 0000000000 750 e DRIVE 1 D DRIVE TYPE L LIMIT STOP TYPE 0 0 0 0 O RDYINT TYPE 00000000000 0000000 PULSE COUNTER PULSE COUNTER MCCO5v2 DRIVE PULSE COUNT 0 COMPARE REGISTER1 O0 0 STATUS3 COMPARE REGISTER D O O 0 10000 2710 0 0 0 COMP STOP ADDRESS MOTOR J ADDRESS 1000 3E8 0 0 0 00000 PULSE COUNTER 1000 3E8 PRESET uut RECS DR Saip Saa na sana Sar ou una ap X AX S MO5v2 IN TI ALI Sa Dr er t SSS ed ree dtr PER an Qa SS voi d xnacObi nz voi d 1 SPEC IN TI ALI CCMANND xnacr dy X AX S MO5v2 RO WT xdal 0 01 0x28 DUM SPEC IN TI ALI ZE1 QUT PULSE GOUNTER TI ALI COMAND xnacr dy X AX 5 MIOD5v2 ROY xdal 0x02 0x01 0x20 0x00 PUSE CONTER IN TI ALI ZE COWAN OJT ADDRESS I N TI ALI ZE COMAND xnccr dy X AX 5 M D5v2 ROY xdal 0x03 0x00 0x03 Oxe8 ADDRESS TI ALI ZE COMAND OT CANTER PRESET COMVNND xcal
73. 01 005 5 DRIVE DATA3 MCCO5v2 DRIVE DATA3 PORT DATA I JI DD 00 DRIVE DATA3 5 LH LU ellllll ll ll 050 01n 220 14n 000 ABn DRIVE DATA3 PORTO 0000 nun 00g X 01 n Y 58 CD 773A ADB5F30 20 MCCO5v2 COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 COUNTER COMMAND PORT COMMAND 000 Mmccos20o00000000 0800000000000 002710 5 410000 PULSE COUNTER PRESET COMMAND COUNTER DATA1 PORT 00 COUNTER DATA2 PORT 27 5 COUNTER DATAS3 PORT 105 COUNTER COMMAND PORT 00 00000 e00000 055 010 221 200 000 000 00 270 101 L COUNTER DATA3 PORTO 00 0 0 DATA D B d gu COUNTER DATA2 PORT I 0000 DATA Hl B E DE U U D COUNTER DATA PORT 000 0 DATA B D DU 000 COUNTER COMMAND PORT COMMAND oos xpj 01g LI E ETE
74. COMMAND 49 17 SRATE SET COMMAND 49 18 SLSPD SET COMMAND 50 19 SHSPD SET COMMAND 50 20 S RATE SCAN COMMAND 51 21 INCREMENTAL S RATE INDEX COMMAND 51 22 ABSOLUTE S RATE INDEX COMMAND 51 23 ERROR STATUS READ COMMAND 52 24 SPEED CHANGE COMMAND 52 25 INT MASK COMMAND 53 26 PORT SELECT COMMAND 54 27 SLOW STOP COMMAND 54 28 FAST STOP COMMAND 54 29 COUNTER READ 55 30 SPEED READ 55 5 7 56 1 PULSE COUNTER PRESET COMMAND
75. DRIVE DATA3 PORT U EH EB UL U U D 041 221 391 000 otovYg 00000000000000 020 000 0 HOODOO DRIVE DATA3 PORT 00000 BMa 5 15 STATUS1 MCCO5v2 STATUS1 PORT 0000000 0400 00000000000 041 223 400 000 Ola YD 020 00 04 t STATUS1 PORT H B U 00 E mm 16 STATUS2 PORTO OOOO UID U D MCCO5v2 STATUS2 PORT 0000000 0 00000 041 220 410 000 01 nandaguauuguu 021 L OOO 5 52 62 CD 773A ADB5F30 17 STATUS3 POR
76. LH B BC O SCAN COMMAND DRIVE COMMAND PORT 12 00000 ell u ul 055 010 220 115 000 1121 DRIVE COMMAND PORT O 0 0 COMMAND UD OD UD 000 X0 otoYr ULU 01 005 57 CD 773A ADB5F30 3 DRIVE MCCO5v2 DRIVE DATA1 PORT DATA H B Haut DRIVE DATA1 PORT ellll ll ll ll 055 010 220 12n 000 000 XX0 ell ll ll ll l 015 000 4 DRIVE DATA2 PORTO O OOOO O O ELE TT ECT OO Bossa MCCO5v2 DRIVE DATA2 PORT DATA I H B Haut DRIVE DATA2 PORT AB a 0000 ell ul 055 1012 220 130 000 L DRIVE DATA2 PORT 00 0 0 00 X0 otrovi elin
77. LU uu OFF DL CB 23 USB CD 773A CD 773A CD 773A ADB5F30 ADB5F30 ADB5F30 0000 ON 0000 OFF 0000 OFF 0000 ON i orr 200 1000 OFF OFF lt 0000000 ON Inoolooolon oN EJ 0s30 120000000000000 OFFO0000000 0s30 394 20 CD 773A ADB5F30 3 2 0000000 Cen 00000 vn 0000000 4 0000 O 0 05 5 5 DRIVE D 5 ONIDH2 1 NO 5 3340 tu DO 500000 Hum HOLDOC D TID SB 0
78. PORT DATA3 PORT Dn DD Y 2 I Ce 0 AEAEE PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 73 WRITE ADDRESS 0 FFFFFF 1 ADDRESS I 410 00 00 n OA n LET TEM ET E 0 00 00 00 10 FF F6 8 388607 8 O 51 CD 773A ADB5F30 23 ERROR STATUS READ COMMAND COMMAND STATUS PORT J 0 ERROR BIT O 1 ERROR m STATUS BUSY 0 COMMAND E20 WRITE STATUS BUSY 0 DATA3 PORT READ DRIVE DATAS PORT ERROR Hi 0 0 O HEX CODE 1 000000 00g ERROROUOUUUUUU U 01 2 000 COMMANDO 00000 02 SET DATA READ 0 0 0 COMMAND J U O D D 03 SPECIAL INDEX URATE DRATEJOOOD B D SOFT LIMIT URATE DRATE 0 SPECIAL SCAN J D0000 04 SERIAL INDEXO 00 100000 05 SOFT LIMIT O 0 07 ORIGIN ERROR J DRIVE J D D 09 n COMMAND J 0 0 0 00 SET COMMAND J D O D D 00 MODE J RATE SET DATA1 PORT DATA DATA MODE J O PART HSPD PART PART PULSE PART No PART RATE PART No SERIAL INDEX CHECK PART N
79. PULSE ADDRESS 0 COUNTER Hj D E U U 0 2 DATA READ DRIVE DATA1 2 3 PORTO 000000000600 30 SPEED READ COMMAND 000 SPEED PORT SELECT DRIVE DATA1 2 3 PORT 5 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATAS3 PORT 0 2 Da DU D ITT SPEED DATA 28000 PULSE SPEED DRIVE 1 Y DATA1 PORT READ DATA2 PORT READ DATA3 PORT READ PULSE SPEED SET 160 000 000 7 V V READ DATA PULSE SPEED 0 READ DATA V 640 280 0 0 PULSE sPEED 199 000 000 250 000 Hz 640 U 1 0 000 DRIVE 1 SPEED DATA 0 2 READ J B DRIV 0 3 SPEED 1 2 3 PORT LI i N PORT SELECT COMMAND 0 0 55 CD 773A ADB5F30 57 1 PULSE COUNTER PRESET COMMAND COMMAND 000 PUL
80. 00 0000000 CCOWLIMTUDDDDDDDDDDDDD 0 NORG O D 00050 bRVEDDDD 5 DU uuu CD 773A ADB5F30 7 S DRIVE HIGH SPEED D 0000000 S RATE DRIVE Q O00000 50 0 DRIVE 0000000000000000 S RATE DRIVED 00000006060 00 J S RATE DRIVE spp 0000000 00000 END PULSE DRIVE INDEX DRIVE S RATE INDEX DRIVE J 0 0 DRIVE J 0 LOW PULSE 0100 0 DRIVE J 1 CHANGE COMMAND 0 0 DRIVE J D 0 D PULSED O OD O O DD INDEX DRIVE J CD 773A ADB5F30 2 4 0 00000 1
81. 00000 ADDRESS READ COMMAND J OOO OO O 07 PULSE 8 388 607 8 388 607 PULSED 00000 COUNTEERII 3 PULSE COUNTER PULSE COUNT I PULSE COUNTER I 0 O MCC05v2 O PULSE COUNT I D HL D U U PORT SELECT COMMAND 0 O PULSE COUNTER PORT D B B B D H DU U PULSE COUNT DATA U DRIVE DATA1 2 3 DRIVE DATA1 2 3 PORT O 0 PULSE COUNT DATA 0 0 DATA D O 8 388 607 8 388 607 PULSE I 0 O 8 388 608 0000000000 STATUS3 PORTO OVFBIT 1000000 COUNTER COMMAND PULSE COUNTER PULSE COUNT COMPARE J PULSE COUNT COMPARE J CONTROL J 0 PULSE COUNTER INITIALIZE COMMAND D COMPARE REGISTER J DATAD 0 COUNTER PORT J PULSE COUNTER 50 0 COMPARE REGISTER 0 000 COUNTER REGISTER 00000 0 5 5
82. 0000000 10 0000 00000000000 STEPPING 0 CD 773A ADB5F30 1 5 0 0 DL D 10000 8 c OES WELL O lt 000000 1 B BIG 0000X 0000 di 1 JlJ2000000000000000000000000000000 JI en 124 E S2 83 000000 X Y RDY LED STO ST1 LED H Hl D LI U J4J6 J40 96 J5 7 UOO0OO0O0O0000000 J50 8 51 52 DOOU00000000000U00000 000 LED POWER 00000 HOLD 28 0000
83. 00000000 25 20 600 120 29 CD 773A ADB5F30 0 10000000009 t FF0000 gt 00000000 000000100 t1 11 1 2 00000000000000000000000000000000000000000000 5 2 5 gt gt PC ALD D D U DU 000000 iF nnnn Ee BYTE 08 CB 23 USB USB lt 1 2ms lt 1 2ms USB FULL SPEED
84. 2 SPECIAL SCAN2 SPECIAL INCREMENTAL INDEX1 SPECIAL ABSOLUTE INDEX SPECIAL INCREMENTAL INDEX2 SPECIAL ABSOLUTE INDEX2 SERIAL INDEX SERIAL INDEX olojo N N IN Co es es Wl C es oioioioilo o i 2 2 2 2 2 2 la Em E E E E O O OOOO OOOO OOOO O OO O n2 CD Tm N AR N N C1 N N l CD p CD N d S CD olojo S O OO O O O O o o 89 CD 773A ADB5F30 0 0 0 0 0 SES 0 0 ala O HEX CODE COMMAND NAME SPECIAL SERIAL INDEX SPECIAL SERIAL INDEX 4F 0000 AUTO CHANGE SET E 62 SHSPD SET SSRATE ADJUST o o w O 5 2 5 3 3 3 3 3 3 O O O OO i a SO O O O
85. AND 0 O 0 0 0 0 EU CD 773A ADB5F30 6 6 0 0000 000000000 0 MF lJ euU0U00000UUU000000000000000 euU0U00000UUU00000000000000000000000000U0000 000000 Z000 00000000000000000000 2 0 0 O LED J 000000000000000000 UOUO0O0000UUU0U00000000000000 e00000 70 C000000000000 1 0 0 0 0 0000600 LED00 00000000000000 CD 773A ADBSF30 0 00000000000 Dau 78 CD 773A ADB5F30 360 DDUUDD 7 0 000000000000 Hz 000 0 72 0 00 605 2 000 0 36 0 00 305 n
86. C Shspd43 HSPD SET COMAND CSPD SET COMMAND xnacr dy X AX S MX05v2 ROY WT xdall Oxla UC amp cspd41 UC amp cspd42 UC amp cspd43 CSPD SET COMAND CFFSET PULSE SET COMAND xnacr dy XAAS 005 2 ROY WT Oxlb DUM offset CFFSET PULSE SET COMAND QUT CRG DELAY SET COMMAND xnacr dy X AX S MOOD5v2 RY WT xdall ldelay sdelay j del ay CFFSET DELAY TI ME SET COMAND CRI G N R VE COMMNND xnacr dy X AX S MXQ05v2 W T xdall Oxle orgno Cq GN ERI VE COMANND QUT 86 CD 773A ADB5F30 D _ O o uron M PLS 5 STOP ENABLE PLS COMP STOP TYPE STATUS OUTPUT TYPE OMPARATOR B BH B U DD COUNTER SELECT PORT PULSE COUNTER PORT SELECT 0 ADDRESS ADDRESS INITIALIZE ADDRESS COUNTER PULSE COUNTER 0 PULSE COUNTER PRESET PULSE COUNTER 800000 PULSE COUNTER COMPARE COMPARE REGISTER1 REGISTER1 5 SET
87. D CW CW J 000 b J NORG ORG O 0 10 0000600 0 CONSTANT SCAN DRIVE 00000 000000 cCWOIO000000000000000000 68 CD 773A ADB5F30 ORG 11 120000 opG00000 LMT0000000000000 e ORG 11 CCW LIMIT CCWLM 00 0000 A 0000 lun 0000 CW LIMIT e ORG 12 CCW LIMIT CW LIMIT CCW LMITOOOOOOOOD UOUOOO0O0000 ORG 110000000000000U00 JOG DRIVE U 1 D ORG 110 0 2 H ORG 110 D LIMITO DOOD RATE I ORG 12 ORG 12 0 0 0 0 69 CD 773A ADB5F30
88. D U n STATUS BUSY 0 COMMAND 105 11 WRITE 10 SCAN COMMAND COMMAND CW I 0 DRIVE D CCW I 0 DRIVE 000 SCANDRIVE LH EH LH D U m STATUS BUSY 0 COMMAND 12 130 WRITE 11 INCREMENTAL INDEX COMMAND COMMAND 145 000 DRIVE 29 DRIVE DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT DU D 0 110 PULSE 00 FFFFFF 20 000000000 WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 14 p WRITE EI ESI E E T E EY PULSE I D D PULSE 10000 DATA2 PORT DATAS PORT 8 388 607 0 00 00g 83559067 8 010 46 CD 773A ADB5F30 12 ABSOLUTE INDEX COMMAND COMMAND 155 00000 INDEX DRIVE DODO UO DRIVE DATA1 2 3 PORTO 00000 0 DRIVE DATA1 2 3 PORT 00000000000 WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND 15 WRITE DATA1 PORT DATA2 PORT DATAS3 PORT Y DL DU DH DU er paip a z mu 0 0 ADDRESS 00 FFFFFF
89. EDCHNGE 030 E F9 ADDRESS COUNTER PORT SELECT 0 30 1 1111100 FC PULSECOUNTERPORTSEECT 030 1 1111101 FD SPEEDPORTSELECT 030 1 1111110 sowsrop X o 31 1111111 FF FAsrsrP 3 0 01 080 K D DDD D 1 1 1 10 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 2 00000 DRIVE COMMAND 3 COUNTER COMMAND PULSE COUNTER PORT O COUNTERI 0 5 3 1 0 000000000000000000000 DRIVE COMMAND PORT O 0 DRIVE 23 00000 625000bps 0O HEX CODE 01 02 03 04 05 PULSE COUNTER COMPARE REGISTERS SET 0 30 0 00000 D D 0 0 0 0 0 1 0 1 1 0 1 0 COUNTER COMMAND 39 CD 773A ADB5F30 56
90. FF OFF OFF OFF 4 DRIVE 0 J DRIVE I SEL Q 000000 DRIVE 1 5860 000 000000000000000000 5 HOLD A 00O0 o0000000000000000000 UUUUU 40 00000000 HOLD I HOLD J I D HL D 0 0 DRIVETT 100 100 50 lll 0 0 Ho bp npa 000 0 1 2 0 3 4 5 6 7 8 1000 20 S2 4 1 0 0 1 0000 10 U CD 773A ADBSF30 0 000 000000 0000000600 10
91. I aol eA L3 L3 L3 C L3 L3 r3 el cala L3 E3 5 Sa rcr ES ES E ES rcr E3 rrr rcr rcr E3 L3 02 A a o0 5 Oj O L c O Tua E elu e e L3 L3 C3 L3 LC r3 cal al zal calc 11 L3 L3 L3 Oj c3 cc oc E EJ omogo Ool c3 ccc a oO c3 clc oc L3 E3 r3 cl el el el L3 L3 E3 L3 EEE c el el el el c LJ LJ L3 L L Oj Oj O Of O L3 L3 2 C3 5 L3 r3 r3 o o o 4 4 H H H oj c3 OI a L3 E3 L3 C3 r3 ooooo uuu ER ET EE E 5 ES EH E E L3 5 5 a Ea LL o E LL EJ EE LL EE E EJ L3 L3 L3 L3 Ez T L3 L3 L3 L3 E E T
92. IVE DATA1 2 3 PORT READ 00000 PORTO O O O O 0 COUNTER DATA DRIVE DATA O DRIVE 1 2 3 U000 PULSE PORT SELECT COMMAND O PULSE COUNTER ADDRESS COUNTER DATA PORT SPEED ADDRESS READ COMMAND SET DATA READ ERROR STATUS 0 0 COMMAND 0 0 0 0 O STATUS1 0 COMMAND DRIVE DATA PORTO 000000 4 COUNTER COMMAND PORT PULSE COUNTER PRESET COMPARE REGISTER SET COMMAND 0000 0 COUNTER 5 5 3 0 COUNTER COMMAND 0 5 7 0 COUNTER COMMANDO 00000000 5 COUNTER DATA1 2 3 PORT WRITE COUNTER COMMAND 000 0 COUNT DATA I O U PORTO DRIVE DATA PORTO U UUUU 34 CD 773A ADB5F30 6 STATUS1 PORT 00000 MCCo5v200000000000 DU 000 0 COMMAND STATUS 0 BUSY 000 STATUSO
93. LE U 21 20 20 21 DRIVE DATA2 PORT II AUTO CLEAR ENABLE 10000000000 RELOAD ENABLE 100000000 COMP1 STOP TYPE D coMPAREREGISTERTI 00000000 5 on nnum 1000000 DRIVE DATAS PORTU D B D B H X B D UI 1 D DATAS3 PORT COMP2 STOP TYPE COMP3 STOP TYPE 4 STOP COMP5 STOP TYPE 0 20 20 20 20 DRIVE DATAS PORT 0 COMP2 STOP TYPE D COMPARE BITI lI 1000000 9 COMP3 STOP TYPE D COMPARE REGISTERS 0 0O 0000000 5 0 1000000 COMP4 STOP TYPE D COMPARE 4 COMP5 STOP TYPE D COMPARE 5
94. MI 84 Ta OO E 87 7 6 COMMAND J OO 88 A dicte das tis 88 2 DRIVE COMMAND J 89 3 COMMAND J 90 4 COUNTER COMMAND J D D 90 Bit D 91 IH BL 91 91 susiana 91 C NS gt gt gt 91 CE 91 91 CD 773A ADB5F30 Er E ES ELE Op mi mi Ex r3 Guo span ELE 1 p Ed E E 0 2 o God a God a pj EPIS mmm a Gao A CC ES 2 30 x EST 5 S r3 O0 HEE EMT Eg dN Hong pc ug Es S a o H O OO lt 9 LL OL Ez EE L3 Lr L3 L3 r3 L3 r3 Lr L3 r3 L3 r3 EXT L3 r3 L3 r3 o L3 r3 81 p pH o
95. MP4 BIT PLS COMPS BIT PLS OVF BIT 000 0 000 0 PLS COMP1 PULSE COUNTER COMPARE REGISTER10000000000000 0 PLSCOMP2BIT PULSE COUNTERD COMPARE REGISTER20000000000000 o PLS COMP3BIT 0 PULSE COUNTER COMPARE REGISTERS8 O0 0000000000 0 PLS COMP4 BIT PULSE COUNTER COMPARE REGISTER40000000000000 o PLS COMPS BIT PULSE COUNTER COMPARE REGISTERS 000000000000 e PLS BIT PULSE STATUSO INITIALIZE COMMAND O O 0 0 DUOUOOO0O0O00000000 5 6 3 PULSE COUNTER INITIALIZE COMMAND 6 2 4 COMPARATOR J 5 36 CD 773A ADB5F30 9 STATUS4 PORT 0000000000000 pa D 10 STATUS5 PORT SPEED CHANGED 0000000 DT DT DU DU DO DO Dh 000 0 U 000 0 U 0 000 0 000 0 SPEED CHANGE BUSY BIT 000 0 U 000 0 U SPEED CHANGE BUSY
96. NTER COMPARE REGISTER SET XXXX0011 03 PULSE COUNTER COMPARE REGISTER3 SET XXXX0100 04 PULSE COUNTER COMPARE REGISTER4 SET 56 XXXX0101 05 PULSE COUNTER COMPARE REGISTERS SET 56 XXXX 011010 9 oPprcouNreRPREsSET 4 DFL COUNTER COMPARE REGISTER SET XXXX 1000 08 DFL COUNTER COMPARE REGISTER2 SET o HEX CODE N 90 CD 773A ADB5F30 8 1 00000 1 0000 E m Oj O o r3 E cal ol ol o L3 o g EE E amp aaa M im ol E ol Slol L3 r3 r3 r3 oj e eJ E3 r3 rcr oj c a aoa E E olg H HHH E E 218995992 O oono g MI ES Lacs ES ELI E r3 L3 r3 as e
97. O ERER DELEA 30A ma 2 4A 92 L1 z L1 Ez HE o L1 o o o o o E o o LL o LL o LL oA o oan o LL oA Lum LL oA Lum LL oA O00 LL oA Lum LL oA a E E IE EE A II ERR IE LEI ES EI ETE a a T L ELE E a EE ia HT EI S d lt c1402 URL http www melec inc com s support del ec i nc com TEL 042 664 5382 FAX 042 666 5664 E nai TEL 042 664 5384 FAX 042 666 2031
98. PULSE DRIVE 100000 lll 8 388 607 PULSE DRIVE 0000 OD 16 777 214 PULSE DRIVE 0 0000 SPEED O 250KHz 250 2 PULSED SPEEDO 10 250 0000 0000 DRIVE SPEED D 0 D SCAN DRIVE INDEX DRIVE J 0 SPEED BL D B D D INDEX DRIVE 0000000 0 RATE 0000 600 RATE 00 00000 RATE 000000 0 S RATE SCAN S RATE INDEX 000000000 COUNT I O ADDRESS COUNT I 240 0 0 0 ADDRESS COUNTER MCC05v2 PULSE 0 ADDRESS COUNT LH LH U U PULSE COUNT 240 0 0 0 PULSE COUNTER J 0 000 PULSE J COUNT 50 0 COMPARE REGISTER DI 0 0000 COUNT J D COMPARE REGISTER BL 0000000000 COUNTER fJ 000000 ADDRESS PULSE COUNTER O 5 DRIVE 0 HSPD LSPD RATE SPEC INITIALIZE J USER PROGRAM 7 STEP 0 72 0 36 0 18 0 072 0 036 LJ STEP SEL 0 STEP 0 0000000000000 DRVEUUUUUUUUDUUU 0 720 00
99. SE COUNTERO INITIALIZE 0 0 0 COUNTER DATA1 2 3 PORT 1 PORT WRITE COUNTER 29 2 PORT WRITE DATA1 PORT DATA2 PORT DATA3 PORT 0 0 D 2 2 123 COUNTER DATA 3 PORT WRITE COUNTER COMMAND 00g WRITE PRESET DATA 0 FFFFFFn PRESET DAIAUOOOOOU200U00U00000 PRESET DATAT PORT DATA2 PORT DATAS PORT 8 388 607 10 00 _ 0 O 00 00 00 FF FF F6 8 388 607 80 00 015 2 PULSE COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 015 000 coMPAREREGISTER 00000000 SET DL D COUNTER DATA1 2 3 PORT COMPARE DATA I H B B E U COUNTER DATA 0 1 PORT WRITE COUNTER 2 COUNTER DATA U DATA1 PORT DATA2 PORT DATA3 PORT 2 PORT WRITE D 5 0 COUNTER DATA 3 PORT WRITE COUNTER COMMAND 01g WRITE REGISTER1 SET COMMAND I1 II U 3 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 02 000 COMPARE REGISTER200000000 5 mu COMPARE DATA 00 FFFFFF n COMPARE 2
100. SKI H BH HH B LATCH TYPE O INT OUTPUT TYPES DL HU 060 PULSE COUNTER 0 2 DD LU uuu 5 6 3 PULSE COUNTER INITIALIZE COMMAND 5 6 26 INT MASK COMMAND STATUS3 PLS COMP10 5 74 CD 773A ADB5F30 6 3 SPEED lI 1 DRIVE TYPEN B MCcosv2 0 0 00 DRIVE O O OD 20000000 DATA MODE l L TYPE M TYPE H TYPE DATAMODED 0 D URATE DR USERU 00000000 DATA TABLE NoD O D D 5 0 DATA TABLE J 7 3 0 0000 DATA MODE J MODE fj DATA TABLEQ 0000000000000 ELI LE L3 CL DATA MODE L TYPE M TYPE H TYPE MODE SPEED LSPD sLspp 1990 100kHz 10Hz 0 250kHz 10Hz 0 250kHz 10HzD 250kHz ipm iHz 100kHz iHz 250kHz 1Hz 250kHz 1Hz 0 250kHz 1000ms 1000Hz 50ms 1000Hz 5ms 1000Hz 1030ms 1000Hz
101. SS PORT Il UUOO0O0000UUU000000000000000000UU0U0000000000U00 40000 p 1 gt STATUS3 INT MASK I ONOFFE INT MASK COMMAND 50 0 Q LATCH 0 00000 PULSE COUNTER INTIALIZE COMMAND 0 00000000000 50 0 PULSE COUNTER COMPARATOR eUU0U0000000000000000000000000000000 UOOUO0O0O00000000 0 STATUSS PORTO STATUS3 PORT INT OUTPUT TYPE 1 I L1 L1 D D O PULSE COUNTER 50 0 PULSE COUNTER COMPARATOR INT OUTPUT STATUS30000 COUNTER COMMAND O O U 50ns HUU U 1 0 INT MA
102. T 00000000 BED B BB B MCC05v2 STATUS3 PORT I 0000000 PLS COUNTER 1 1 Dj d D utut 04o ot n 22 420 oo a D0000000000 X0 01 Y0 000000000000000 00000000000000 000000000000000 0000000000000 020 00n 010 L 00000 STATUS3 PORT I OOD d DO 000000000000000000000 18 4 MCCO5v2 STATUS4 PORT 0000000 O 0 77 5 STATUSA PORT H E EL E BL E EL E HE D 000000000o000000000000 000000000 0 0000000000000 e 00000 ot n 22 000 01 Y0 000000000000000 00000000000000 000000000000000 0000000000000 2 oon HOODOO STATUS4 PORT I H B U 00 000000000000000000000 19 STATUS5 t MCCO5v2 STATUS5 PORT 0000000 SPEED CHANGE BUSY TI I ll 00000000 2000 00000000000 04g otn 22 44n o00 D0000000000 X0 01 Y0 000000000000000 00000000000000 000000000000000 0000000000000 025 000 200 L o STATUS5 UD DD D Lr CD 773A ADB5F30 20 0 0 50 ogo
103. T COMMAND xnacr dy X AX 5 MX05v2 ROY WT xdall 0x08 UC amp hspd41 UC Shspd42 UC amp hspd43 HSPD SET COMAND QUT SCAN R VE COMMAND xnecr dy X AX S MXD5v2 ROY WT xdcon 0x12 SCAN ERI COMAND INDEX DRIVE PROGRAM INDEX DRIVE J URATE DRATE LSPD HSPD J DATAD 5 DRIVE J J ADDRESS J DATA RAM AREA urate drate RATE DATA No Ispd hspd O0 O Hz J 0 O SPEED DATA I 0 O voi d xabsi ndex voi d RATE SET COMMAND XAXS 2005 2 RD WT xdal1 0x06 DUW urate drate RATE SET COMAND LSPD SET xnacr dy X AX S MX05v2 RD xdall 0x07 UC spd l UC amp spd 2 UC amp 5 443 LSPD SET COMAND QUT HSPD SET COMMAND xnacr dy X AX 5 MX05v2 ROY WT xdal I 0x08 UC amp hspd l1 UC Shspd42 UC 5 HSPD SET COMAND QUT ABSOLUTE NDEX DRI
104. T COMMAND 0 0 0 DRIVE DATA1 2 3 PORT I DRIVE 0 0 8 5 160 000 000 D SPEED V Hz V READ DATA 1 n SPEEDII H 3000 0000 x 5 DRIVE DATA1 2 3 PORT 0 O PULSE COUNTER COUNTER SPEED DATA 0000000 SPEED PORT 5 000 9 5Hz0 250kHz 0 3 0 0 SET DATA READ COMMANDE 000000000 DATAE SPEC INITIALIZE D uuu DAIAOOOOOUU0O0O000000U0U000000000000 UUOO0O000000D0 5 6 8 0 SET DATA READ 76 CD 773A ADB5F30 1000000000000000U000 253 10000 U uuu 2 0 00000 00000 PULSEN OD SLOW STOP COMMAN
105. VE DATA1 PORT D COMP STOP STATUS OUTPUT TYPE STATUS LATCH TRIGGER TYPE LIENE EC ES 0 bep DBTOOOO COMP STOP TYPE D PULSE COUNTER COMP 5 COMPARE REGISTER10 500000000000 10 0000 STATUS OUTPUT D PULSE COUNTER 0 0 0 STATUSO 000000000 BIT Bj D COMPARE REGISTER1 560000000000 COMPARATOR HL LL EL EL DL DL D 000000 STATUS3 READ ID C1 10 STATUSS READ 000000 0 0010000 STATUS LATCH TRIGGER TYPE 02 PULSE COUNTER HDD 5 5 COMPARE REGISTER1 500000000000 0 SrTATUSDHHDDDUUDDUU 5 STATUSDDDDUU 0000 Lr 10 0 0 0 0 0 STATUS 41 CD 773A ADB5F30 DRIVE 2 PORTO 000000000600 DATA2 PORT AUTO CLEAR ENABLE RELOAD ENABLE COMP1 STOP ENAB
106. o DRIVE J O J B D B INDEX CHANGE J B B HL D D OD n ORIGIN ERROR J 0 D ERROR CODE STATUS1 PORTO COMMAND COMMAND 24 SPEED CHANGE COMMAND COMMAND 7 000 SCANDO INDEX DRIVE J 0 0 0 COMMAND DRIVE DATA1 2 3 PORT J SPEEDO Hz000 3000 DATA 1 DRIVE DATA1 2 3 PORT 00 0 O HSPD SET COMMAND I 00000 0 0 0 STATUS5 SPEED CHANGE DRIVE COMMAND fj DRIVE BITO 100000 1 H BUSY BITI 00U U 2 STATUS DATA1 PORT 1 POR WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND F7 0 WRITE 0 2 DATA1 2 3 PORT 1 O EL U 00 DATA3 PORT WRITE 0 3BYTE DATA HL HD D B D Dl 0 3 SCAN J 0 COMMANDE D D O D 52 CD 773A ADB5F30 25 INT MASK COMMAND O0 6 2 4 0 COMMAND F8 000 0
107. p 2 32 J s 33 BL HERE bs ses 34 1 DRIVE COMMAND PORT 94 2 DRIVE DATA 1 2 3 PORT WRITE 94 3 DRIVE DATA 1 2 3 PORT READ 34 4 COUNTER COMMAND PORT 34 5 COUNTER DATA 1 2 3 PORT WRITE 34 6 STATUS1 PORT 35 7 STATUS2 PORT 36 8 STATUS3 PORT 36 9 STATUS4 PORT 37 10 STATUS5 PORT 37 11 UO PORT 37 5 5 COMMAND D DD 38 1 0000 DRIVE COMMAND J 38 2 COMMAND J 39 3 COUNTER COMMAND
108. v2 5 DRIVE Hl D B EB U U U 150 STEPPING BE MOTOR DRIVER COUNTER 0 75A 0 1 U 0 1 0 MCCO5v2 I DRIVE rH D B BL OL U U 150 STEPPING Hl Wee MOTOR DRIVER l 4 COUNTER 0 75A 0 1 HALT U0UUUUUUUO UUUUUO 8 DRIVE 2 2 D 5 2 2 L3 L3 r3 r3 4 COUNTER 5 2 COUNTER I D O 0 0 ADDRESS COUNTER O PULSE COUNTER 2 0 0 24BIT UP DOWN COUNTER H1 00000000 MCC05v2 J 00 0 PULSEU CD 773A ADBBSFS0 COUNTER D 0 O0 O MCCosv2 0 O0 O CLOCKII I J I 0 STEPPING MOTOR DRIVER 0 75 O0 50 STEPPING DRIVERI 20000000000000 0O0000 AD0000 O000
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