MPL-34-01V3.00/AL2W32 MPL-35
Contents
1. 10000000000000 10 10000000 000000 gt 23 SHORT POSITION SET COMMAND STATUS1 PORT satuan DRIVE srarusi PORTO 000 0 000000000000 Ng DRIVE srarusi PORTO 8 8 0 000 0 000000000000 sm gt MC07 BRStatus1 DATA1 PORT 3 DRIVE PORT 00000000000000000 DRIVE PORT 1000000000000 J DATA2 PORT 100000 WRITE 2 147 483 648 2 147 483 647 H 8000 0000 H 7FFF 0 000 1210000000000 S DRIVE COMMAND PORT 0000 gt MC07_LWDrive DRIVE PORTO 00000 015 014 15 lt DRIVE DATA2 015 014 013 012 011 010 09 08 07 06 05 04 03 022. 10000 0 SPEED 10000000000000000 1 SPEED CHANGE SPEC SET SPEED 000000000000000000 3000000 COMMAND SPEED CHANGE SPEC SET COMMAND gt N STATUS5 PORT A DRIVE sraruss SPEED 0 D 0 0 00000000000 gt MCO7_BRStatuss 0 DRIVE PORT 0000 WRITE DRIVE COMMAND COMMAND gt MC07_LWDrive DATA2 PORT 0 000000000 DRIVE DATA1 D15 D14 D13 D12 011 010 09 08 07 06 05 04 03 02 D1 DO SPEED SPEED SPEED 2 0000000 10000000 20 01 SPEED CHANGE 02 CHANGE SPEED 0000000000 0 1
3. 5097000000000 0 0 0 0 ADRINT 00000000000 ADRINT 0 0 0 1 CNTINT 00000000000 CNTINT 0 0 1 0 DFLINT 00000000000 0 0 1 1 RDYINT 0000000000000 RDYINT 0 i o 0 000 0 1 0 1 nDRIVE STATUS1 0 DRVED 0 0 0 0 0 0 1 1 0 nSPEED CBUSY 8 85 SPEED 8 8 0 0 0 0 0 0 0 1 1 1 nINDEX CBUSY 8 88 INDEX 00000 1 0 0 0 UP 8 81 0 0 0 1 0 0 1 DOWN 0 DOWN D 0 0 1 0 1 0 CONST 8 81 0 0 1 0 1 1 EXT PULSE STATUSI EXT PULSE D 0 0 nPULSEMASK 2 PULSE 1 1 0 1 SIGNAL 8 82 ORG SIGNAL 0 0 0 1 1 1 0 0000 1 1 1 1 PULSE 8 84 PULSE OVF 0 0 0000000 000000 2 776 1 000 0 SOUT SIGNAL 200 000000
4. 0000 COMMAND 863 INDEX CHANGE SPEC SET COMMAND N STATUS5 PORT F DRIVE STATUS5 PORT INDEX CSET gt MC07_BRStatus5 0 J DATA1 PORT 2 DRIVE DRIVE COMMAND PORT COMMAND gt 07 DATA2 PORT 0 000000000 DRIVE PORTO 00000 015 014 013 012 011 010 09 08 07 06 05 04 03 02 D1 DO INDEX INDEX INDEX 1 00000000 000 00 INDEX CHANGE 01 INDEX CHANGE TYPE 02 INDEX CHANGE INDEX CHANGE 00 00 0000 00 000 0000 1 INDEX CHANGE gt 0 0 0 INDEX 1 000 0 1 0 STATUS5 PORT 550 1 0 S ee 7 1 0 0 0000 6 1 0000 ol ae 28 0000 11111 0000 0 8800 0 0 S
5. 00000 100000000000000 1 20 D 0 000000 5 8 0 RATE 9000000000 gt 00 ms UCYCLE RATE ms kHz KHz RESOL x 2 ms UCYCLE 0 0005 kHz RESOL x 0 001 ms DCYCLE 2 kHz RESOL x 2 ms DCYCLE x 0 0005 kHz RESOL x 0 001 UCYCLE 000000 000000 10 10 100 RATE DATA RATE RESOL 1 RESOL 5 RESOL 10 RESOL 20 RESOL 200 ms kHz U D CYCLE CYCLE CYCLE U D CYCLE U D CYCLE U D CYCLE 5 000 10 000 3 000 6 000 2 000 4 000 000 i 2 000 0 500 1 000 5 000 10 000 300 600 3 000 6 000 12 000 200 400 2 000 4 000 8 000 22221000200 100 2 000 400 1000 _ 50 100 500 1 000 2 000 30 60 300 600 1 200 12 000 20 40 200 400 800 8 000 DR 20 le 100 _ 400 1000 4 000 5 10 50 100 200 2 000 3 6 30 60 120 1 200 2 4 20 40 80 800 10 AO 400 0 5 1 5 10 20 200 0 3 3 6 12 120 0 2 2 4 8 80 OT
6. DRIVE COMMAND PORT 1 00000 5 0000000 00000 0 2522152155 8188 212314388 8188 lt 137 0000 o 5 21 _______________ RR 119 o SPEC IN TAIZE 1 1 7 OJO 120 owm 5501 0 0 SPECINTANAS 515 121 DRST PEND PO DAM 0 0 FSPD SET 1 26 0000000000000000000000000000 000 SPEED SET 27 000000000000000000000 5 900000000000 00 0 ____________ 515 28 1 90 0000000000000 9 000 SET 2 sess 29 0000000000000 rasp 00 SCAREA SET 0 30 000000 50 0000000 SARAM 0 0000 510 0000 00 SAREAD 0 0 PUSE AJUST 515 1 000000000000000000000000000000000000 Ta 515 33 00000000000 123 000000000000 105 PUSE SET 1 OJO 124
7. 1 2 DRIVE STATUS1 PORT 0 0 DRIVE STATUS1 PORTO 8 8 0 000000000000 gt MC07_BRStatus1 DATATPORT DRIVE DATA1 PORT J WRITE DRIVE DATA2 PORT 1000 100 DATA2 PORT 10 WRITE 2 147 483 648 2 147 483 647 H 8000 0000 H 7FFF 00 000000 00 2000000000 DRIVE COMMAND PORTO COMMAND GO gt MC07_LWDrive 0 0 DRIVE 000 0 0 D15 D14 00000 0000 0 00 0 00 0 00 0 00 0 0 0 0 00 42 2 SHORT POSITION SET MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR
8. 00 X 0000000 00000000000000000000 lt 9000000 gt COMMAND H28 CIRCULAR XPOSITION SET COMMAND gt STATUS1 PORT C Sram PORT DRIVE STATUSI PORTO 88080 DD 0 000000 100 gt DRIVE srarusi PORTO 0 gt MC07_BRStatus1 PORT DRIVE 1 PORT 00000000000000 WRITE DRIVE 0000000000000 2 PORT 100 WRITE 8 388 608 8 388 6070 H 80_0000 100 20000000000 E DRIVE COMMAND PORT COMMANDO 0 0 gt 0 MC07_LWDrive 0 DRIVE PORTO U 015 014 013 012 011 010 09 07 05 D1 Do 15 lt gt DRIVE 2 011 07 06 05 03 02 23 lt 00000 gt 16 O 0000 0 0000000
9. PORT DRIVE 1 015 00 J WRITE DRIVE DATA PORTO 0000000000 031 01600000000 2 147 483 648 2 147 483 6471 8000_00000 H 7FFF 000 20000 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND gt 0 MC07_LWDrive 0 0 DRIVE DATA1 PORT 015 014 013 012 010 09 08 07 02 015 lt INDEX CHANGE 0 gt DRIVE 2 65 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 2 00000000 2 2 1 0000000000 1 ADDRESS COUNTER COUNT SET 00000000000000000000000 0000000000000000
10. BOQ 07 i veBuf Aey 07 5 COMMAND NOD Count 7 5 RESU T psResul Function 7 veBuf ByVal Long ByRef alztaBuf 7 5 COMAND ByVal Count As Integer ByRef psResult As 7 5 RESULT As ean NET Function veBuf ByVal Integer ByVal As 07 5 COMAND ByVal Count As Short ByRef psResult As 7 S RESUT As Bool ean 6 NET bool 7 ui nt 7 5 GialztaRf ushort Count ref 07 5 RESULT t 088 Count psResul 00000000000000000 0 000000000000000000 0380 00000000000000000000000 CmDpt 7 8100000000000000000000000 8 15 000000000 000000000000000000000000000 00 80 0000000 00000000000000 000 0 00000000000 00000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 1 2 0 000 11 11 11 17 00000
11. 5 2 SELO 0 0 0 000000000 0 0 1 1 000000 2000000000000 STOP 0 1 0 SEL 0 00000000 oO 159592 1 0 0 0000000000 1 0 1 4 0 1 1 1 1 1 000000000000000000 11000000000000000000000000000000000000 000000000000000000000000000000 0 00000000000000000000000000000000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR E N 2 53 5 53 5 5
12. 000 20000000000 XY STRAIGHT 0 XY CIRCULAR CPO 00000000000000 2 771 1 2CD 7710v1 ADB5F30 2 776 1 2CD 7713v1 GDB5F40 lt 000 MCG gt 0 0000000000000000000 DRIVE STATUS1 10000000000000000000000 0 00000000000000000000000 ERROR 8 5 COMREG 10 0000 1 000000000000000000 COMREG CLR ERROR 10 0 10 00000 ERROR 10 000 FL 11 1000000000000000000000000 0 ERROR 00 000000 0 0000000000000000000000000 71 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000000000000 BUSY 00 000 0 00000000 00000000000 000000000000000000000000000 5 TATUSI PORT ERROR 0 2 gt gt DRIVE STATUS1 PORT ERROR 0 0 000000000000 Y N STATUS1 PORT 0 DRIVE 5
13. Dr 0000000000000000 7 7 ps nterPosition OOOOOOXNM 8 388 6071 388 607 0 0 0 9 00 0000000600 psTargetPosition 16 777 214 16 777 2140 0000000000000000 11 pShort Pul se _ 00000000000000000000000000000000000 psfesul t 0000000000000000000 825417 00000000000000 00000000000000000000000000 000 0 00000000000000000000 00000000000 8 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 1 2 2 000000 16010 000000000 0 1610 000000000 160 0 0 0 q V RD 207 Lhsi gnedl SH RT Mta Function gned16 ByVal As Short As UShort C ushort 7 Unsi gned16 short Mta 16 i uu 16 161
14. 18 4 aes 100000000000000 0 5500 00 SPEC 0000000 9000000000000000070000 ANODD 55000 55000 07 PULSE CLR ENABLE 00000000000000000000000000000000000000000 1000000 08 DFL LATCH 09 DFL LATCH D10 DFL LATCH 0 0000000000000000000000000000000000 1 00000000 0000 gt 0 0 0 DFL LATCH DATA 000000000000 0 0 1 0000 0 1 0 STATUS5 PORT SS0 0 gt 1000000 0 1 1 ORIGIN SPEC 1000000000000000 16 1 1 LCE 1 1 1 1 7 1 4 1 U 5500 SPEC 2 28 0 0000000000000000020000 ANODD 550 5000 0110 DFL CLR ENABLE 1000000000000000000000000000000000000000000 000 00011 1000000 69 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 A
15. 3 3 1 53 aoao DRIVE 00 000000000000000000000000000000000000000000000000 000000000000000000000000000000000000000 0000 1 1 CONST ENABLE ogo Ei O o8 o8 o8 OAR of o 20 o of o
16. 0 05 1 2 20 0 03 12 0 02 8 4 0 005 2 5 1 75 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 000000000 00000000000 000000000 0 000000000000 000000000 0 0000000000000000000000 0000000000000 000000000000000000000000000000000 0000000000000000000000 0000000000 SCAREA 00000 J SUAREA SDAREA 0000000000000000000 0000000000000 ms 0 0005 x 18 0 1 0 00000000 TU 105 00000000 ms DCYCLE 0 0005 HSPD ELSPD 1 Q 00000000 00000000000000000000000 UINDEXI 00000000000000000000000000000000 76 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 500000000 0000000000 0000000000000000000 0000000000000 0 000000000000000000 000000000000 000000000000000 00000000000 5000000000000 000000000000000 0000000000000 5 SCAREA 5 5 0000000
17. 56 2 1 7 UP DOWN CONST 0 O0 O0 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 10000000000 0 0 0 0 0 0 0 0 D 000000000000000000000000000000 1 UDC SET UP DOWN CONST 0 0 0 65 0 000 00000000000000 4000000 COMMAND UDC SPEC SET COMMAND gt N STATUS5 PORT DRIVE sraruss SPEED 85 0 00 00000000000 gt MCO7_BRStatuss 0 DATA1 PORT 2 DRIVE DRIVE COMMAND PORT 0 0
18. 0000 0 HHUH psLata 1111 1 1 0 0000000000000000000 psResu t 6650 000000 0 00000000000000 000 0 00000000000000000000 0000000 0 0 000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 771 1 2 776 1 1 2 77131 DTA PRM Ak 1 800 7 DARD 07 5 DATA 7 5 RESULT psResul t Function 7 Roi ByVal As Long ByRef asata As 07 S ByRef psResuit As 07 S RESULT As Bool ean NET Function 07 ve ByVal Av As Integer ByRef As 07 5 DATA ByRef psResuit As 07 5 RESULT As Bool ean 6 NET bool M7 ve ui ref 07 S ref 07 5 RESUT psfesult 1 hv unun 00000000000
19. COUNT LATCH SPEC 00000000000000000000000 0 00000 100 0000000000000000000000000000000000 0 000000000000000000 Windows OSO 00000000 0 000000000000000000000000000000 00000000000000000000000000000000000000000 0 0000000000000000000000000 0000 7 0000 0000 00000000000000 000000 00 00000000 0000000 00000 COUNTER INITIALIZE2 00000 000 1 1 I COMP1 0 STOP 0 0 0 0 0 00 580 0 D 000008 U COUNT LATCH SPEC JU aa SS0 0 gt 1000000 2 0000000 20000 000 000000 XXX 7000000490 0 0000000000000000 OA Ba 0000000000000000000 COMP1 1 0000 99 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 3 0 3 3 1 10 PORT 1 SIGNAL 0 2 77
20. 1 5128 8158 00 88182 lt o RESU OD 000001 5 RESUT 2 000000000000000 000000000 1 5 25 1 0 000000000000000000000000 5 OMAND DATA DRI COMAND PCRTOORI 2 PRT 0000000000000 lg Ill 5 11 91 111111 111111 E 5 29 DRI VE STATUS1 PORTO RI DATAL PORTO VE DATA2 PRM U 0000000000000 STATUS 2 RATE SPEED 00010000000 1 TAG 9 32 AGNOOO 0000000000000000000000000 Oo NN SX PANN 33 00000000000000 MOZ SINPORT 2 34 0 000000000000000 37 0 0000000 80 000000 AM 0000000000000 Say MOZ S DANTA 7 1 PRM FAVE SDM ls ____ 25221 Environ
21. o of a m z oo oooo 3 3 agga Eom Pane o0 2 5 5 000000 0000000000 0000000 0000000000000000 000000 1080000 5 STOP ENABLE 1000000000000000000000000000 CPPIN 0 000000000000000 0 0000000000000000000000000000000 2 O0 ERROR STATUS U 5 0000000000000000000000000000000 U 5 0000000000000000000000000000 00000000000 0 38 ENABLE MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0 000000000000000 000000000000000000000000 MASK ENABLE 10000000000000 DRIVE 1 PORTO ERROR 10 0 000000000000000 CPPOUT SEL 0 0 0 00
22. 7 1 07 81 4 sual Basic 07 06 0 07 Detal 3 6 07 3 010 7 310000000 Mo 2 ma PRI 0 00000000 MOZ tal 1 0 00000000 MOZ 7 0 0000000600 5 00000000000 0 11 12 7000000000000000 0000000000000000000000000000000 0000000000 0000000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 26 771 1 2 776 1 260 7710 1 205 77134 1 3210000000000 00 00 050818 1007 DTA 0 0 015 014 13 012 011 010 09 08 07 06 05 04 03 02 01 DIS 16000 0150 Do DO J MOZ atal 0 Q 0 DATA2 0 0 I 15 D14 013 012 D11 010 9 08 07 06 05 04 03 02 01 D31 lt 0880 00 16
23. 61 2 1 10 INDEX CHANGE 62 1 INDEX CHANGE SPEC SET 62 2 INC INDEX CHANGE 63 3 ABS INDEX CHANGE 64 4 PLS INDEX CHANGE 65 22 lt lt l 66 2 2 1 0000000000 66 1 ADDRESS COUNTER COUNT SET 66 2 22 0 0000 lt lt lt lt 5 67 1 PULSE COUNTER COUNT SET 67 Pn 0 EE pr 68 1 COUNT LATCH SPEC SET 68 22A EE 70 1 ADDRESS LATCH DATA READ 70 2 PULSE LATCH DATA READ 70 3 DFL LATCH READ 70
24. 00000000 0000 1 1 000000 7 1 1 1 7 age wl la Wd 7 8 00000000 9 DRIVE 10 DRIVE DATA 0 0 MH MAE gt gt gt 11 UWA A 12 1 1 2 0000000000 13 FULL aaa 13 DRIVE COMMAND 14 1 2 000000 15 1 2 1 15 15 1 2 2 0 0 nee AEA E E 16 1600 16 1600000000000 17 3200000000000 18
25. SPEED 00000000 SPEED 0 00 00 0 0 0 0 0 0 0 0 0 0 0 0 0000 00000000000 5 SPEED 00 00 0 0 0 0 0 0 0 0 0 0000 0 0 00000000000000000000000000000000 SPEED CHANGE 00000000000000000000000000000000 SPEED CHANCE 0000000000000000000000000 SPEED CHANCE 0 SPEED CHANGE SPEC SPEED CHANGEQ 00000000000 SPEED CHANGED ORIGINO 0000000000 5 0000000000000000000000000 000000 OMAND CODE 00000000 12 000 5 13 5 5 14 INC INDEX 15 5 INDEX 18 ORIGIN 5 P ORIGIN 80 0 0 0000 H 32 MAIN XY STRAIGHT 2000000000000 MAIN XY CIRCULAR 2000000000000 STRAIGHT H 38 CIRCULAR 000000000000000000000 000000000000000 1 SPEED 0000000 0000000000000 00 SPEED 1000000 SPEED
26. 47 1 CIRCULAR XPOSITION SET 51 2 CIRCULAR YPOSITION SET 52 3 CIRCULAR PULSE SET 53 4 MAIN XY CIRCULAR 54 5 SUB CIRCULAR 55 6 MAIN CIRCULAR 56 2 1 7 UP DOWN CONST 0 0 0 O CHANGE J 5 57 1 UDC SPEC SET 57 2 UP DRIVE 58 3 DOWN DRIVE 58 4 CONST DRIVE 58 2 1 8 SPEED CHANGE DOD 59 1 SPEED CHANGE SPEC SET 59 2 SPEED CHANGE 60 2 1 9 RATE CHANGE 0000 61 1 RATE CHANGE
27. DRIVE COMMAND PORT gt MCo7_LWDrive DATA2 PORT 0000 0 0000 WRITE COMMAND PORT DRIVE DATA1 PORT 015 014 013 012 011 010 09 08 PAUSE ORG NORG FSSTOP ACTIVE 1 ACTIVE 1 1 ACTIVE 1 ACTIVE 1 1 1 0 07 06 05 04 03 D2 D1 DO DALM CCWLM CWLM FSSTOP 1 ACTIVE 1 1 ACTIVE ACTIVE ACTIVE 1 0 0 0 0 0000000000 00000000 000 100000 1 00000000000 0000000000000 01 08 FSSTOP ACTIVE 0000000 0 10000 0000000 50 2580000000000000000000 02 ACTIVE 1000000 0000000 10000 CCWLM 03 ccwiMOOOOOOOOOOOOOOOOODO 1000000 0000000 10000 DALM 06 100 DALMO 000000000000000
28. 24 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0100 NORG 0000000 10000 0000000 0130 ORG 0000000 10000 0000000 015 PAUSE 0000000000000000 0 PAUSE 1 0 0 0 0 0 0150 00000000000000000000000000000000000 000 0 HARD INITIALIZE 0 00000000000000000000000000 00000000 00000000 25 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 2 1 2 0000 00000000 000000000000000000000000000000000000 0 00000000000000000000000000000000 1 5 00000000000000000000000000000000000 Bs 4000000 COMMAND 05 FSPD SET COMMAND STATUS1 PORT N DRIVE STATUS1 PORT 0 000000000000 1772727 6 DRIVE srarusi PORTO 8 8 0 0 0 0 000000000000 MC07_BRStatus
29. TEL 042 664 5382 FAX 042 666 5664 s support ec 042 664 5384 042 666 2031 anar 193 0834 00000 51610 URL http www melec inc com 1312
30. 125 0109 000000 Ae sia 125 1 10911 1 01 0 126 CAN 000000 126 SAN 000000 ICINX 4 H O O JO 127 000000 000000 ASINX 128 000000 1 2 000000 gt rsa 35652 sa S a 35 000000 SOAN 36 0 000 00 107 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000 00000 0000000 TRER q lag 32588238 158 lt SET 4049 37 LONG TION SET 1 __ 42 0000000000000000000000 SHORT TIN 9 43 Q RALAR SET 210 50 Q RALAR TION SET 210 51
31. 90000000000 gt 90000000000 gt 107 DDD V 2 1000 Hz 000 0 1000 Hz 4 gt gt 0000000 1000 Hz 10 0000000 1000 Hz 10 1000200000 00000000000000 1000 2 00 l 2000000000000000000 0000000000002000000 2x 1000820 11 0 00000000000 1000 2 00000 00000000 0000 00000000000000000000000 0000000000000000000000 0000 FSPD 88 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000 0 00000000000000000 000200000 000000000 00 0 90 180 270 45 135 225 315 0 0000000000000000000 0 00000000000900000000 0000000000000000000 XPOSITION 28 00 0000 0 YPOSITION 29 0000 00 0 PULSE H 2A 0000 0000000 MAIN CIRCULAR 38 1 0001 DOO 0 89 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 1 6 CHANGE 0 1 000000000000000 UP DOWN CONST UP DOWN CONST CHANGE 10000000000 0000000000 0 0 0
32. 61 0000 0 0000 000000000 INC _________ NAR 63 00000000 000000 00000000000000000 0 ABS I Ze rw nll 1409 l 64 0000000000000000000000000000000000000 AS 00 PLS ___________ NN BT 65 0000000 00000000000000000000000000000 00 ERROR STATUS RED 132 5 SPEED READ kas 134 00000000000000 MC SET READ 135 0000000000 ADDRESS LATCH READ 11 Ns oT Ana 70 00000000000000000000 PULSE LATCH READ 70 0000000000000000000 DATA READ 70 000000000000000000000 1 ADDRESS CANTER READ 163 0000000000000 PUSE READ T 163 0000000000000 ONER READ Tem 163 00000000000000 1 ERROR STATUS ERS 131 0 0 ERROR STATUS 0 0 CANT LATCH rls 68 0000000000000000000000000000000000 20 lt HRDINTIAIZ4
33. SPEED CBUSY 10 SPEED 10800000 SPEED CHANGEQ 00000 0 O SPEED CBUSY SPEED 00000000000 0 O SPEED CBUSY 10 SPEED 00 0000000000 0 ORIGIN 0 LSEND 10 SSEND 10 10 1000 SPEED 00 0 00 0 00 0 0 0 92 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 RATE CHANGE RATE CHANGE 0 0 O STBY 10 000000000 RATE CHANCE 0000000000 0 UP DOWN DRIVE CONST DRIVE SPEED CHANGE 00000000000000000 RATE 000000000 RATE 0 0000000000 RATE CHANCE 0 000000 00000000000000 RATE CHANCE 00000000000 000000000000000000000 0 0000000000000 RATE CHANGED 0000000000000 0000 00 RATE CHANGE 0 000000000000000000 0 0000000000000000000 0000000000000000000000000000000000 RATE CHANGE RATE CHANGE 000000000 0000000 RATE 0000000000 5
34. Q RALAR PULSE 5511 MAA asas d saad 52 fe SE 9 46 45 4049 MIN XY SIRA OT 44 00000000 00000000000 1 210 56 00000000000000000000000 SPU 0 en 9 759 55 0000000000000000000000 XY 1 54 0 00000 2000000000000 108 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 000000 00000 0000000 1 A 2512212127 5188 5198198188 5198 lt ADDRESS PRESET clad ojo 143 000000000000000 ADRESS CONTER IN 251 ads 1 ojo 138 000000000000000 55 CONTER 2 14825 b OJO 141 00000000000000
35. HO 00000000 000 D0 ADDRESS LATCH TYPE0 01 ADDRESS LATCH TYPE1 D2 ADDRESS LATCH 2 000000000000000000000000000000000 1 00000000 40000 gt 0 0 0 ADDRESS LATCH 0 0 1 0000 0 1 0 STATUS5 PORT SS0 0 gt 1000000 0 1 1 ORIGIN SPEC 5 1000000000000000 11 14 1 1 1 4 2 0 0 5500 SPEC 000000 00000000000000000 1 0000000000000000020000 0 0 550 55000 68 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 D3 ADDRESS CLR ENABLE 0 00000000000000000000000000000000000000000 00000000 1 D4 PULSE LATCH 05 PULSE LATCH 1 D6 PULSE LATCH 100000000000000000000000000000000 1 gt 0 0 0 PULSE LATCH READ 0 000000000000 0 0 1 0000 0 1 0 5 055 550 0 gt 1000000 0 1 1 ORIGIN SPEC 1899
36. 4000000 gt COMMAND ORIGIN SPEC SET COMMAND 5 51 PORT N DRIVE STATUS1 PORT 0 0 DRIVE srarusi PORTO 0 0 00000000000 1 gt 00 34007 BRStatus1 0 0 DATAI PORT DRIVE PORT ORIGIN J 0000 COMMAND PORT WRITE DRIVE COMMAND PORT MC07_LWDrive 0 DATA2 PORTO 0 00000 OOOO DRIVE DATAi 015 014 013 012 011 010 09 08 ORG DRST COUNT COUNT COUNT COUNT ENABLE D3 D2 D1 DO ORIGIN ORG ORG ORG ORG ORG START DETECT SIGNAL SIGNAL SIGNAL SIGNAL DIRECTION EDGE TYPE3 TYPE2 1 00000000 000 03 00 ORG SIGNAL 0 TYPES 1 0 0 0 0 6 0 0 0 0 1 20860 0 0 0 1 0 0880 20860 0 AND 000 al Or iss 0 1 9 80 0
37. 72 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 1 2 1 00000000000000 AL i 0000000000000000000000000000000000000000000000 000000000000000000000000000000000000000000 000000000000000000000000000000000000 0 00000000000000000000000000 0000 000000 000000 CCWLMD 0 0 10 HARD INITIALIZE4 DEND PO DALM 0000 0 0 OQ 10ms HARD INITIALIZES 0 0 0 ZORG 00 ims HARD INITIALIZE5 00 0 EA EB 12 75 us HARD INITIALIZE6 00 0 000000000000000000000 800 1000 7 000 10909099 L 00000000 _ __ 0000 lono 0006 ___ 0 000 lono 0006 0 00 0 10 0000 0 00 0 10 0000 00000000 0000000 000000 L gt 0000 gt 100000000000000000000000 0 00000000000000 0 0000000000000000000000000000 000000000 00000000000000000000000000000000000000 0000000000000000000000000000000000000 2 0000000000000 000000000000000000 0000 FSST
38. SPEED CHANGE o 10 0000 SPEED CHANGE Hz SPEED CHANGE 0 0 x RESOL SPEED CHANGE 60 2 1 9 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 RATE CHANGE 100 0 I 4 000000 gt SPEED CBUSY 7 4 STATUS5 PORT 0000000000000000 1 PORT Y WRITE DATA2 PORT WRITE COMMAND PORT WRITE DRIVE STATUS5 PORT SPEED CBUSY 0 0000000000 gt 007 5 5 0 DRIVE 10000 0000 000001 16 3830 0000 DRIVE 2
39. nas 21 0 00000000000000000000 22 0 0 0 00000000000000000000 HARDIN 76 23 000000000000000000000 AUZE 24 55 00000000000000 111 2 5 21 130 000000000 RST ON 130 msm 00 0000000000 SLONST I 22 2 129 0000000 11 129 0000000 1 2 77 110 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000000000000 111 1 2
40. SCAN INDEX J 00000000000 80 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 1 4 ORIGIN 0 0 0 0 1 ORIGINT 0 H 0 00000000000 6 8000000000000 00 088000000000000000 10000000000 0000 0860 0 0 0 0 0 88 70860 0 688000000000000000 086 0000000000000000000000000000 00000000000000 JSPD 0 3060000000000 00000000 ORIGIN SCAND 0 0 ORIGIN CONSTANT SCAND 0 0000000000 0000000000000 00000000000000000000000000000000000 ORG DETECTEDGE 0 0860 0 000 05 1000000000000000 ORIGIN COUNT 03 00 20 ORIGIN SCAN 000 000000000000000 000000000 6000000000000000000000000 00 0000 00000 00000 0000 5 ORIGIN 0 U 0 2 3 086 ORIGIN CONSTANT SCAN 4011000000000 6000000000000000000000000 00 0000 0000000 0860 000 81 1 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL
41. 4000000 gt 87 ADDRESS COUNTER COUNT SET COMMAND DRIVE PORTO 0 0 00 0 00 15 WRITE 2 DRIVE DATA PORTO 0 0 1 16 0000000 10000010 4294967295 0000 0001 H FFFF 0 DRIVE COMMAND PORT gt 0 MC07_LWDrive 0 0 DRIVE 015 014 013 012 011 010 09 07 05 1 Do 15 lt 0000000 gt 0 DRIVE 2 015 014 013 012 011 010 09 08 07 05 03 01 Do A31 lt 0000000 gt 16 FFFFOOMO 1 2000000 DRIVE STATUS4 PORTO ADDRESS 10 00000 00000000000000000000000000000000000 0000 111 11111 9111 1111 0141 0000 0 00000000000000000 000000 0 0000000000000000000 4 ADDRESS
42. DRIVE STATUSI PORT DATAI WR PORT ITE DATA2 WR PORT ITE COMMAND PORT WR ITE DRIVE DATA1 PORT RATE SET COMMAND ERROR D o BUSY 0 gt MC07_BRStatus1 DRIVE DATA2 PORT 16 3830 0001 DRIVE COMMAND PORT DRIVE DATA1 PORT pis D Dir s T pa 1 05 1 5 gt MC07_LWDrive D13 00000 80 2000 100 5 0 0 0 UCYCLE COMMAND D0 DRIVE DATA2 PORT pis D Dir T pa 1 05 Tor Tn DCYCLE D13 D0 H ooca 200 100 us UCYCLE 0 1 0
43. 000 CHANGE INDEX 0 00000000000 000000000 0000000000000 00000000 000000000000000000000000 DOWN DRIVE 0 CONST 0 000000000000000000 00000000000000000000000 UP DOWN CONST Q 0 0 O0 O CHANGED UDC SPEC UP DOWN CONST OOO 00 0 CHANGE 0 0000000 UP DOWN CONST O0 000000000000000 ORIGINO 0000000000 5 0000000000000000000000000 GCMVAND CODE 00000000 12 000 5 13 5 5 14 INC INDEX INDEX 000000 H 15 ABS INDEX 18 ORIGIN 5 P ORIGIN 80 00 0000 32 XY STRAIGHT 2000000000000 MAIN CIRCULAR 2000000000000 MAIN STRAIGHT 1000000000000000000000 38 MAIN CIRCULAR 10 SPEED 0000000
44. 0 O i i z Jo O m H lt 1 O i O o oo i 1 J O oao oo 222 i I OE i I 85 1 106 4 3 0000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 11 1 011 AL II 000 552 DRIVE STATUS1 PORT DRIVE COMMAND PORT ERROR 0 BUSY 0 FL 0
45. 10 00000 1 CPP MASK 10 DRIVE STATUS1 ERROR 1 gt 00 000000 200 0000000000000 0 000000000000000000000 0000000000000000000000000000000 0000000000000000000000000000000000000000000000 0 000000000000000000000000000 48 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 200000000000000000 200000000000000000 1000 000 000000000000000000000000 0000 00000000 0 0 0 0 0 0 0 000000000 2000000000 0000000000000 0000 000 CIRCULAR veosriowser 2000000000 0000000000000 0000 000 CIRCULAR 00000000000000000000000000 0000 100000 000000000000000000000000000 0000000000000000000000000000 000 2000000000000 SPEC 0000000 49 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 200000000000000000 200 20000 20000000000000000 00000 cP specser 000000000 00000000 0 SEL
46. 34 3 ORIGIN CONSTANT SCAN 35 244 B 5 accel 37 PCP SPEC SET ence 1 37 2 5 A BAN 2 38 1 LONG POSITION 3 42 2 SHORT POSITION SET 43 3 MAIN XY STRAIGHT 44 Sas ses 45 5 MAIN STRAIGHT CP 46 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR D
47. HSPD x RESOL 10 Hz 00 0 LSPD x RESOL 0 Hz ELSPD x RESOL 0 O RESOL RESOL No 0 0O 00 RESOL RESOL 0000 RESOL 0000 RESOL 0000 RESOL RESOL RESOL RESOL 0 1 H 4 2 H 8 50 200 H 1 0 2 H 5 5 H 9 100 H D 200 H 2 0 5 H 6 10 H A 200 H E 200 H 3 1 47 20 200 200 HSPD HIGH SPEED SET LSPD LOW SPEED SET 74 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR
48. RESOL 000000000000000 SDAREA 2 0000 000000000000000 6 DOWN PULSE ADJUST MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR INDEXOOOOOOOOOOOOOOOOOOOOOO 000000000000000000 lt 000000 gt COMMANDHOA DOWN PULSE ADJUST COMMAND STATUS1 PORT N DRIVE 5 51 PORTO 0 000000000000 DRIVE srarusi PORTO 8 8 00 00 0 000000000000 gt MC07_BRStatus1 0 0 PORT 6 DRIVE PORTO 0 000 515 5000000000 WRITE 32 768 32 7670 8000 H 7FFFO 0 000000 20000000000 6 DRIVE COMMAND PORT 0 0 0 MC07_LWDrive O DATA2 PORT 0000 0000 DRIVE PORTO DI 00 015 014 013 012 011 10 09 08 07 06 05 04 03 02 01 00 015 lt 000000000 gt 00 0001 1 000 100000000000000000000000000000 100000000000000000000000000000 1
49. 0 102 000000200000000000000000 elie 103 0000 20 0 00000000000 10000020 07 9 104 rCenterPosition 9 106 _______ 000000000000000000000 0000000000000000000 100000000 ________ ncFronAbS 107 000000000000000000 000000 0000 000000 00000000 _______ 8 8 320 00000000 5505220 68 O JO 9 0 I UD 3200000000000000 cM 000000000 1 MO IVR VE 10 2 0000000000000000000000000000 00000000000 1 A 11 DAL PRO AVE DATA ARE 00000000 O JO 12 000000000 OA DATA1 PROAR DATA2 PR JI 0000000000000 FUL 0000 t ComegNot Full ________ O JO 13 5 FUL 0000000000000000000 1 007 LvoriveBuf 14 0
50. 0000000000000000000000000 000000 OMAND CODE 00000000 12 000 5 13 5 5 14 INC INDEX 0000 0 INDEX I 00000 H 15 ABS INDEX 18 ORIGIN 5 P ORIGIN 80 0 0 0000 H 32 XY STRAIGHT 00 2000000000000 XY CIRCULAR 2000000000000 STRAIGHT 000000000000000000000 H 38 MAIN CIRCULAR 000000000000000000000 10 SPEED 0000000 0000000000000 0 0 SPEED 1000000 RATE CSET 1 RATE 00000000000000000000 0000000 CHANGE 000000 0 0 SPEED CBUSY 10 SPEED CSET 10 00000 0000000 RATE CHANGE 0 0 SPEED CBUSY SPEED 00000000000 0 0O SPEED CBUSY 10 RATE 0 INDEXO 0000 ORIGIN 0000000000 LSEND 11 SSEND 10 FSEND 11 ERROR 10 00 RATE 000000000 93 34 01 3 00 1 2 32 MPL 35 01v3 00 AL2W
51. 200 a ogo o Z oa 20 2o00 o Gi seraa 000 gt oo 04 3 H 3 64 m 200 Ooo og Ooo 2 00 2 Ooo H 20098 o 2 ono oo 20 goos Bs 53 2155 2 oog ogo m 5 3 3 5 20000 wee 0 0040 a 53 Ooo 52 2
52. 505 100 ns 6 666 666 HZ 5 000 000 4 000 001 Hz gt 100ns 100 ns 5 000 000 Hz 4 000 000 3 333 334 2 gt 100 ns 150 ns 4 000 000 Hz 3 333 333 2 857 143 Hz gt 150 150 ns 3 333 333 Hz 26 2 HIGH SET MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR HSPD 85801 una 000000 gt 06 HIGH SPEED SET COMMAND STATUS1 PORT 0 es DRIVE STATUS1 PORT 0 gt DRIVE 8 81 PORTO 8 8 0 70 0000 sm gt MC07 BRStatus1 0 0 DATA1 PORT DRIVE DATA1 PORT WRITE 000000 32 76
53. 90 2 SPEED 92 3 RATE CHANGE 93 4 INDEX CHANGED 94 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 3 1 7 0 97 1 0 sss 97 3 2 0 98 zoi 98 3 2 2 99 2555268 Sasa asa 100 3 31 VOPORT 100 J 100 4 1 000000 101 1 0000 101 2
54. psfFesul t 00000000000000000 Resum 0 0 00 0 000 00 0000 0000 0100000000000000 0000 000 00000000000000000000 0 81 0000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 1 1 2 0000000000 00000000000000000000000000000000000000000000 0 00000000000000000000000 DRIVE STATUSI PORT 0 0 00 coMREG FL 0 0000000000000000000 coMREG FULL OREG FUL TO O 2C 771v1 2C 776 1 20 gt 7710 1 20 771301 57 51 PORT FUL 000 0000000000 000000 000000 0 0 800 7 84 81 t Com eg ot Ful 77 07 5 RESU T psfesult Function 07 BV4i t Com egNot Ful ByVal Av As Long ByVal 7 ByRef psResuit As 07 S RESULT As Bool ean NET Function
55. 000000000 0000000000000 SCAN INDEX 79 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 10000000000000000 0000000000000000 0000 00 U EERE SCAN INDEX J 00000000000 0 SCAN INDEX J 00000000000 00000000000000000000000000000 Nn jesse 0000 00000 00000 D
56. _ 000000 000000000 00000000 PODI CPPOUT 88 5 000000090000000000 0000000 00000 XPOSITION SET 00000000000000 0000000000000 YPOSITION SET 000000000000 00000 CIRCULAR PULSE 8 0000000000000000000000000000000 000000 00000000000000000000000000000 0000000 000000 XPOSITION SET 000000000000000 0000000000000 000000 YPOSITION SET 000000000000000 000000000000 000000 CIRCULAR 00000000000000000000000000000000 000 00000000000000000000000 0 0000000000000000000000000 000000 0000000000000000000000000000000000000 000000000000000000000000000000000000000000 0000 0000000000000000000000000000000 50 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 CIRCULAR XPOSITION SET
57. 2 02 DRIVE STATUS1 PORT 0 000000000 00 DRIVE STATUS1 0 000000000000 gt MC07_BRStatus1 0 0 DATA1 PORT WBITE 9 DRIVE DATA1 PORTO 00000000000 COMMAND PORT WRITE 6 DRIVE COMMAND PORT gt J D MC07_LWDrive O DATA2 PORTO 00000 DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 x D8 D7 D6 D5 D4 D3 D2 D1 D0 PULSE CPP MASK DRIVE SEL ENABLE MODE 20 DRIVE MODE 000000000000000000000000000000000000000 00000000000 5 1000000000000 D2 MASK ENABLE 10 0000000000 04 PULSE SEL 10000000000000 O0 LONG 0000000000000 l SHORT 00000000000000 45 5 MAIN STRAIGHT MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 10000000000000000000000 000000000000000000000000000000000000000000 0 00
58. SOUT 50011 SOUT 2 776 1 100000000000000 20 2 HARD 2 4 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR CWLM CCWLM 0 DAM 00000 00000000000 4000000 gt COMMAND 4 INITIALIZE4 COMMAND DATA1 PORT DRIVE DATA1 PORT 0000 Te DRIVE COMMAND PORT COMMANDO 0000000 gt MC07_LWDrive 0 DATA2 PORT 0 00000 0000 DRIVE DATA1 PORT 015 014 013 012 011 010 09 08 S SERVO SERVO SERVO 0 0 0 FILTER2 FILTER1 FILTER0 D7 D6 D5 D4 03 02 00 LIMIT 0 0 0 FILTER2 FILTER1 FILTERO 00 0 06
59. DRIVE 8 85 0 INDEX 8 8 0 0 00 00000000000 MC07_BRStatus5 PORT DRIVE PORTO 0000000000 15 0 DRIVE 0 0 0 0 00 0 0 160 000 2 147 483 648 2 147 483 6470 H 8000 0000 WRITE 20 2 DRIVE COMMAND PORT 0 0000000 gt MC07_LWDrive 0 DRIVE PORT D 0 0 015 014 013 012 D11 010 09 07 02 15 lt INDEX CHANGE 0 gt DRIVE PORTO 0 0 0 0 0 64 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 PLS INDEX CHANGE INC INDEX 4000000 gt PLS INDEX CHANGE COMMAND m N STATUS5 PORT DRIVE 5 55 PORT INDEX CBUSY 000000060 0 MC07_BRStatus5
60. us UCYCLE 0 5 us 0 5 us 0 00000 1 0000000 1000 us O DCYCLE 0 5 0 5 us 29 8 1915 ms 8 1915 ms MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 5 SCAREA SET 00000000 SUAREA 000 000000 SOOOOOOOO SDAREA OOOOOOGO 4000000 gt COMMAND SCAREA SET COMMAND STATUS1 PORT N DRIVE STATUS1 PORT ERROR 0 Y 7 DRIVE srarusi PORTO 8 8 0 000 000000000000 i gt MC07_BRStatus1 0 0 DATA1 PORT DRIVE 1 0000000000000000 WRITE 16 3830 H0000 DATA2 PORT 6 DRIVE 0000000000000000 WRITE 11 000000000 0 00 16 3830 00000 H 3FFFO DRIVE COMMAND COMMANDO 0000000 gt 0 MC07_LWDrive 0 DRIVE 1 015 914 012 Dit Dio 09 07 06 05 Ds 02 Di 00 013 SUAREA D0 H oooog 000 DRIV
61. 00 00000000000000 20 10000 1000000000000000000000000000000000000000 0 000000 gt 20 5 COMMAND YSTATUS1 PORT ERROR _ EJ 1 DRIVE STATUS1 PORTO YSTATUS1 BUSY 0 000 DRIVE STATUS1 PORT Mco7_BRStatusi 5 000 DRIVE 8 81 PORTO 000000000000 Y 000 DRIVESTATUSI PORTO 8 8 0 000 0 000000000000 gt 00 MC07_BRStatusi 0 0 1 PORT WHITE 000 DRIVE DATA1 0000000000000 gt 8 DRIVE COMMAND PORTO 6 0000000 gt 00 MCo7_LWwDrive 0 DATA2 0000 00000 DRIVE PORTO D D 015 014 D13 D12 D11 010 D9 D8 07 06 05 04 03 02 D1 00 2 4 2 CPPOUT CPPOUT CPPOUT SEL2 SEL1 SELO 00000000 000 SEL0 01 l SEL1 02 55 2
62. 4 ______ MF 78 1 PAVE 5 U D D 5 5 PRD 8055 80 00000 0 0 09 5 5 00000 COMAND 321 00 0 000000 ve 82 0 0 000 321 0000000000 1 ve 83 DATA1 PRM 00000000 MAL 1007 84 1 00000 2 PRD 1 veData2 85 1 00000 READY VWO D 8 8171 86 000000 0 READ 5 1 0000 00 0 0 000 0 0 0 00 00 0 000 0000 111111 87 0000000 00000 BBreakV i t 88 0000000 READ OREG NO FUL 0000000000 104 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 000000
63. Joan Z lt 00 2 2 2o opn 4 gt 2 lt 2 OG 200 000 BE o00 o00 O00 O00 opga 72 2 Him opyo b tono m malun s q gag Ee 9 BADD Soc 3 2 Oa 25 s202 nm MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR CPP MASK ENABLE 0000 00000000000000000000000 5 0 000000000000000000 CPP MASK ENABLE 10 0 0 0 DRIVE STATUS1 PORTO ERROR 10 D 0000000000000000 CPPOUT SELO 0 0 111 1 0 0 0 0 D 000000000 DRIVE 8 85 PORTO
64. 101 SPEC INITIALIZE2 000 HARD INITIALIZE1 0 0 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 0000000000 000 0 00000000 FSPD 5 FSPD 5 000Hz 200 5100 10000000 102 2 RESOL 1 No 3 DOWN PULSE ADJuUST OOO 686 OQ OROCO 000 000 100 03 CCW I 0 100000000000000 00000 ORIGIN SPEC 0000 0000 0000 0000 0000 00 0000 40000 0000 000 LONG POSITION SET 0 0 0 0 SHORT POSITION SET 0 0 CIRCULAR XPOSITION SET 0 0 CIRCULAR YPOSITION SET 0 0 CIRCULAR PULSE 8 0 0 INDEX CHANGE UP DRIVE CHANGER DOWN DRIVE CHANCE 0 000000 CONST DRIVE SPEED INDEX 102 SPEC SETO SPEED CHANGE SPEC SET 0 0 INDEX CHANGE SPEC MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 2 0000
65. 102 Y s 103 43 00 107 1 107 109 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 0 DOO 1 1 00000000 0000000000000000000000000000000000000000000000 000000000000000000000000000000000000000000000 100000000000000 000000 2 77151 2 776 1 1 20 77131 1 PCR typedef struct 7 5 DATA 7 atal d 07 5 8 07 5 1607 Rita l 4 Integer Structure 7 5 lt Mar shal ByVal Array SizeConst 4 gt Publ 7 Cata As Short Public Sub Initiadlize MUZ tal 3 End Sub End Structure 6 NET struct 07 5 DATA 1 Marshal As ByVal Array SizeConst 4 public ushort 07 Data 907 5 DATA ushort dunny 1 MOZ Data new ushort 4 000 0 00000000900000000009 00 talog 07 310 Visual Basico
66. 22 _0000000000009 910000000000000000 103 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00 Tim 58 00 23588238 158 lt 10 CMA 900000 7 O 53 0 0000000000 00 0 1 0 10 0 D 000000 9 00000 07 O 54 000000000000 000 STAs 0000 18 0 00000000000 0 0 0 0 sars 90000 7 LRStatustlo __________ O 55 000000000000000 0 5 0000 1 WRI ve 56 000000000000000000000 0000 1 0 00000 ____ Portal 57 10 0 0108 O 58 0000000000000 0000000 0000 0000 00000 007 UPort Ando ojojo O 59 000000000000001 0 8 0000000 10000 0 0 00000 ____ M07 Po
67. Eg LE MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000 00000000 200000000 STRAIGHT SUB STRAIGHT CIRCULAR SUB Fay 3 oe go Eg go 3 E OO gg 0 0 9173 LET E o0 Ez 00000 0 0 0 0 0 0000 0 0 CE 1 1 0 4 J 0 0 0 0 0 1 L3
68. lt 1920 1 000000 0000000000000 1000000000000 800 5 810010000000000000 0000 0000 2 5 5 1 1 2 1 0 0000000 10 66000 00000 0000000000000 10 50 000000 10 50 000 00000000000000000 0000000000000 10 5 125 in ROV 2 7 9 0 7 RQ 125 1 20 113 000 1 1 RIO 12 1 0 1 0 3 000 9 0 120 100000250 1 8 900000 0 1 2 300000 0 00 400000 8 5 80 80 8 0 50 32 H FFFF_FFEO 32 CIRCULAR PULSE 1 0 2 4 608 0000000 0000000000000 0 1 3 5 700000000 0000000000000 1 00 0 2 4 600000000 0000000000000 1 3 5 700000000 0000000000000 00000000000 00000 0000000000000 20 57 00000 20 0000000000000000 0000000000000 200 5 425 2 int 146 14 0 425 1 20 421 000 1 1 RIO
69. mm El oga 3 2 1 1 CI 22 El mm 27 BF 2 gt o 2525 10 5 5 67 6 0 5 6 OE BEG oooO 9 8 1 OOo 5 oou gt 2 3 a O oax gt O 05 o00 g0 84 0000000000000000000000 000000 000000 0 0 0 0 0 0 0 MPL 34 01V3 00 AL2W32 MPL 35 01V3 00 AL2W64 00000000000000000000000000000 0 00000000000000000
70. 000 55 23 3 58 laa 22205455 58 lt SPEED RAT 0000 000000000 5 ___________ 89 RESA 5 O 0 0 5 RATE 0000000 SPEED Meo7 Readspeecrate 90 00000000 00002 00000000000 0 00000000 Readrgstatus O JO 91 1 GN SPEC SETI D ______ 5105066 2 O JO 93 MRAN PUSE SED D M07_Set O gMar gi 56 O JO 95 RGN PEAY ____ 07 5090 96 a 00000 N ERROR PUSE D 5 gErrorPul se O JO 97 SAN 1 000000000000000000000000 FSET 5 51001156 Pul 56 O JO 98 000000000 RGN PRESET PUSE SE D 007 _SetQ gPreset Pul se ___________ 99 00000000 ReadcrgParaml 100 1 00000000000000 0000000000000 09 00000000000000000 00000 FLAS 1 508 86 O JO 101 CRI FLAG
71. 67 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 2 3 0000000000000000000000000000000000000000000 000000000000000000000000000000000000000000 00000000 DRIVE DATAI 2 PORT READ 00000 000 0 00000000000000000000000000000000000 0000000000 0000000000000000000000000 00000000 00000000000000000000000000000000000000000 1 10000000000000000000000000000000000000 00000000000000000 00000 COMMAND COUNT LATCH SPEC SET COMMAND DATA1 PORT DRIVE 0000000000000 DRIVE COMMAND PORT gt MC07_LWDrive 0 DATA2 PORT DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 DFL DFL DFL DFL CLR LATCH LATCH LATCH ENABLE TYPE2 1 07 06 05 04 D3 D2 D1 DO PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ENABLE TYPE2 TYPE1 TYPE0
72. PORTO 00000 015 014 013 012 011 010 09 07 05 02 D1 Do 15 lt 000000 gt DRIVE DATA2 015 014 013 012 11 010 08 D7 06 05 04 03 02 D1 23 lt 00000 000000 16 0000 OO 1 1 0 000 0 0 34 01 3 00 1 2 32 MPL 35 01v3 00 AL2W64 3 CIRCULAR PULSE SET 00000000000000000000000000000000 0 0000000000000000000 0 0000000000000000000 4000000 gt COMMAND 2 CIRCULAR PULSE COMMAND 4 STATUSI PORT ERROR 0 7 DRIVE STATUS1 PORTO DRIVE STATUSI PORTO BUSYOOOO MC07_BRStatus1 PORT 8 DRIVE 0000000000000000
73. 0 G DRIVE COMMAND PORT COMMAND 00000 MC07_LWDrive 0 DRIVE 1 PORT 012 300 Hz DRIVE DATA2 015 014 013 012 D11 010 9 1000 00 0 0 0 0 00000 1880 156 000000 0 00000 1 000000 1 0 0 00 00 0 0 0 LSPD x RESOL 0 0 ELSPD 18 0 0 0 0 D 0000 5188 0 0 0 0 0 0 0 0 20 0 ELSPD x RESOL 000000000000000 1000000232500 10000 2000000 15 0 0 0000000 28 4 00000 UCYCLE 000000 gt COMMAND 08 5 STATUSI PORT NN DRIVE STATUS1 PORT BUSY MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR
74. 000000000 50 0 0 SIGNAL 097 00000 00000000000000000000000 00000000000000000000000000000000000000000000 MCC SOUTO U CNTINT O 0 09 000000000000 SOUTO 0 CNTINT O O0 097100000000000 0 00 ini 0000000 SOUTO xno 80 5 3 1 YOO DRIVE 3 0000000000000 SOUT HARD INITIALIZE 00000 000 000 000 00 00 0 0 0 0 0 0 000 STATUS1 UP STATUS DOWN DFLINT STATUSI CONST RDYINT STATUSI EXT PULSE STATUSI STBY STATUS2 PULSE MASK STATUSI DRIVE STATUS2 ORG SIGNAL STATUSS SPEED CBUSY STATUSS INDEX CBUSY STATUS4 PULSE OVF 000000000000000000000 HARD INITIALIZE 0 0000 000 PULSE COUNTER INITIALIZE2 O
75. 100000 1000000000000 1 999 0 0 2 0000 00000000 0 gt 15 999 gt 1000 ADDRESS OVF 1 1001 gt 1999 gt 0 0 1999 gt 1001 1000 ADDRESS OVF 1 999 gt gt 1 0 1 i 2 000 2 00100000000 00000 0 1 gt 1000 gt 1001 100100 0 0 ADDRESS OVF 1 2000 gt 0 0 2000 1001 gt 1000 10000 0 0 0 ADDRESS OVF 1 gt gt 1 0 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 2 2 1 PULSE COUNTER MAX COUNT SET 00000000000000000000000000000000000000 9000000 gt COMMAND 887 PULSE COUNTER COUNT SET COMMAND DATAT PORT DRIVE PORTO 0000000 515 0000000000 WRITE DRIVE DATA PORTO 0 0 0 0381 0160 0000000 00000010 4 294 967 2950 0000 0001 0 DRIVE COMMAND PORT gt 0 MC07_LWDrive 0 0 COMMAND PORT WRITE DRIVE 015 014 013 012 011 010 09
76. ABS INDEX CHANGE 00 0000000000000000 00 Dumi 0000 0000000 00000000 000000 ABS INDEX ABS NDEX cHaneeDQ 9 o o PLS INDEX CHANGE 0 0 00 0 0000 0000 0000 0000000 00000000 INDEX CHANGE 00000 000000 PLS INDEX CHANGE 1 95 00 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR INDEX CHANGE 0 D
77. DRIVE STATUS5 PORTO SPEED 0 000000000000 07 5 0 DRIVE COMMAND PORTO COMMANDO gt 0 07_ 3 DOWN DRIVE 000000000000000000000000000 9000000 gt COMMAND 5 DOWN DRIVE COMMAND N STATUS5 PORT DRIVE STATUS5 SPEED 8 8 0 0 000000000000 Y WRITE COMMAND PORT DRIVE COMMAND COMMAND 4 CONST DRIVE gt MC07_BRStatus5 0 gt 00 MC07_BWDriveCommand 0 2 EJ 1000 000000 1000 9000 000 gt STATUS5 PORT SPEED CBUSY 0 1000000000000 COMMAND H C6 CONST DRIVE COMMAND DRIVE STATUS5 SPEED gt MC07_BRStatus5 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND MC07_BWDriveCommand 0 58 2 1 8 SPEED CHANGE 000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR
78. 5 0000000000000000000000000000000000000 INDEX 10000000000 000000000000000000000000000 00000000000000000000 ERROR STATUS INDEX CHANGE ERROR 1000000 31 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 1 3 ORIGINO 000000000 ORIGNDOOO00 0O000000000 RCNOO000000000 ORIGIN 0000000000000000 000000000000000000000000000 00000000 ORIGIN 5 0 ORIGIN CONSTANT 00 000 000000 ORIGIN 00 ORIGIN CONSTANT 0600000000000 952 00 000000000000000 600000000000000000000000000000000 0 00000000000 Lg 1000 10000000 0000000 esse 000000000 000 0600000 0600000 ORIGIN SPEC 08880000000000000080 000000 00000000000 32 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 ORIGIN SPEC SET ORIGNOOOOOOOOOOOOOODOO
79. Melec STEPPING SERVO MOTOR CONTROLLER S OPTION MPL 34 0173 00 AL2W32 MPL 35 01 N oo AL2W64 10000 0000 0 000 000000000 0000000000 00000000000 0265 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000 00000000 0 0000000000000000 0000000000000000000000 0 1 1 111 00 0001 0000 0000 0011 1 0 0 0 000 6000 0000 000000000000000000000000000000000000000000 00000000000 000000 0000 0000000000 00000000000000 00000 0000000000000000 0 010000000 0000000000000000000 00000000000 81 0 000000000000000000000000000000000000 00000000000000000000000000000000000000 0000006000000 0000000000000000000000000000000000000 0 0000000000000000000000000 0000002
80. gt 07 DATA2 0000 0 DRIVE PORTO 00000 015 014 013 012 011 010 09 08 _ 7 7 7 CONST CONST CONST TYPE2 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 D0 DOWN DOWN DOWN UP UP UP 2 1 010000000 000 02 00 2 0 00000000 0000000000000000 06 04 DOWN 2 0 DOWN 0000000 0 010 08 CONST 2 0 CONST 0000000 1 0000 0000 gt 0 0 0 0000 6 0 0 0 0000000000 91011 000 0 1 0 STATUS5 PORT 0 100000 0 alle a OR 0000 1 1 0000 1 1 0 0000 1 1 1 000 0 8800 0 0 SPEC 2 20 00000000000000000000000000 880000000000000000020000 000000000000 NNOD 5500 AN 55000 57 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 UP DRIVE 1000000000000000000000000000 9000000 gt COMMAND 64 STATUS5 PORT UP DRIVE COMMAND
81. 0 00000000000000000 0 00000000000000000 O CIRCULAR CIRCULAR PULSE CIRCULAR YPOSITION CIRCULAR PULSE CIRCULAR XPOSITION CIRCULAR YPOSITION CIRCULAR PULSE CP SPEC 0000 00000000000 0000 85 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 000000 00000000000000000000 000 1 2 5 6 000 3 4 7000 YO 000000 CCW 0000 00000 0000 00000 0 86 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000 0000 0000000000000 2 5000000000000000 int 0000000000000 1 1 000 1 RIO KO K R 1 2 RIs KO 6 3 7 1 000 0000 9 120 1 1
82. 0 0 1 2 3 0 0 0 0 0 0 000000000 10000000000000 1 100 0000 PUSE ok Kz sour s k 000000 200 5 10 100 5 1000 H 5 000000000000000000000000 00000000000 Ca e000 0000000000000000000000000 0000000 0000000000000000000000000000000000000000000000 0 0000000000000000 0000000000000000 AUTO 990 0000000 00000000000000000000000000000000000000 COMPARE REGISTER1 COMPARE REGISTER1 1 100 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000000 CWLM CCWLM 50 5 50 5 00 50 5 50 5 50 5 HARD INITIALIZE4 0 0 0 0 HARD INITIALIZES 0 HARD INITIALIZE6 0 HARD INITIALIZE7 0 0 0 1000000000 1 ENABLE 100000000 NALBE 0000000000 COUNT LATCH SPEC SETQ 1 0000 00000 00000 CNTINT 00000000000
83. 00000000 5 0000000000 0000000000000 00 0000 0000000000000 00000000000 ELSPD Q 200000 2000000 nner 0000 3 00 0000000 000000000000000000 00000000000000000000 5 00000000000000000000 000000000000000 0000000000000 00 D 00000000000 000000000000 00 000000000 000000 78 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 00000000 00000000000000000000000000000000000000000000000 00000000000000000000000 000000 00000000000000000000000000000000000000000000 100000 00 000 00 DEOD 0000 00000 nT SCAN INDEX J 000000000 000000000000000000000000000000000000000000000 1000000000000 00 0000 SCAN INDEX J
84. 0000000000000 00 SPEED 1000000 SPEED 10 SPEED 1000000 SPEED CBUSY OQ SPEED 0000000 00000000000 00 SPEED CBUSY 10 SPEED 00 0000000000 ORIGIN 00 00000 00 0 LSEND 10 SSEND 10 10 ERROR 10 00 SPEED 000000000 90 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR UP DOowN coNST 0 55 UPIDOWN CONST 000 0 5500 000000 580 1 00000 0 CHANGER SPEC 0000000000 0 500 00 0000000000000 20000 000000000000 55000 55000 5500 000000 00000 00000000 00000 SPEC INITIALIZE2 00 0 0 50 UP DRIVE DOWN DRIVE CONST DRIVE 00000 0000 00000 550 00000000 CHANGE 0000000000 0 00000000000 00000000000000000000000000 0000000 00000000000000 000000000 10000000000 10000000000000000 0000
85. 04 LIMIT FILTER2 0 014 012 SERVO FILTER2 0 DEND PO DALM 100 02 00 00000 010 08 0 000 u 00000 2 00000000 0 0 50 ns 0 0 50 us 0 1 100 5 _0 1 1 ___ 200 ___ 1 0 500 us 1 0 1 0 ms 1 1 5 0 ms L 1 1 10 0 ms U D 10 0 us el 0000000 0000 0 000 21 3 HARD INITIALIZES MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 080 NORG ZORG 0 0000000 00000000000000000 4000000 COMMAND HARD INITIALIZES COMMAND DATA1 PORT DRIVE DATA1 PORT 00
86. 1 1 1 1 i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 rE i 1 40 H 3 1 8 Sio Sig 5 6 Sio o 9 H 8 i 5 t A 5 r 1 SiG i 8 58 68 1 1 D 1 5 1 1 1 1 oO gl 02 15 i i op rl 0 1 I 5 8 oOo 1 mm t 1 1 r B oo 5 oo 3 olo 1 1 1 1 1 1 1
87. DATA2 0 0000 0000 DRIVE PORTO 0 0 015 014 013 012 011 010 09 08 07 06 05 04 03 02 00 YPULSE XPULSE 0 5 DRIVE SEL SEL ENABLE MODE 00 DRIVE MODE 00000000000000000000000000000000000000 00000000000 1000000000000 INDEX 000 01 CONST CP ENABLE 1 1 04 XPULSE SEL 00000000000000000 20 0 LONG POSITION SHORT POSITION D5 YPULSE SEL 0000 0000 0 0000000000 0000000 LONG SHORT POSITION 7 000 000 44 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 SUB STRAIGHT CP 10000000000000000000000 0 0000000000000000000000000000000000000000 0000000000000 4000000 gt COMMAND 1 SUB STRAIGHT CP COMMAND N 4 STATUS1 PORT
88. SPEED 100000000 0000 gt 0 0 0 SPEED 1000000000000 901011 000 0 1 0 STATUS5 PORT 550 1 0 2052172 Tos a wq Rds wasl Ca yaw b 1 1 6 1 8 0000 1 0000 0000 11111 0000 0 8800 0 0 5 1 7 2 0 350000000000000000070000 55000 1 5500 59 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 SPEED CHANGE 000000 0 000 0 0 4000000 gt COMMAND SPEED CHANGE COMMAND 4 STATUS5 PORT DRIVE STATUS5 SPEED 8 8 SPEED CBUSY 7 0000 gt MC07_BRStatus5 5 DRIVE 1 PORT IU 0000010 32 7670 0001 DRIVE COMMAND PORT 0 0 0 0 0 0 0 gt MC07_LWDrive 0 DATA2 00000 0000 DRIVE 1 PORT
89. 07 05 D1 Do 015 lt 0000000 gt 00 DRIVE DATA2 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO lt 1 2000000 DRIVE STATUS4 PORT PULSE 10 00000 0 00000000000000000000000000 4 1 999 0 2 0000 00000 000 1 0 gt 1 gt gt 999 gt 1000 ADDRESS OVF 1 1001 gt 1999 gt 0 gt 1999 gt 1001 gt 1000 ADDRESS OVF 1 gt 999 0 gt 1 0 2 000 00 2 0010 000000600 0 gt 1 1000 gt 1001 100100 0 0 ADDRESS OVF 1 2000 gt 0 10000000 05 2000 gt 1001 1000 10000 00 ADDRESS OVF 1 gt 1 0
90. 3210000000000 19 00000000 2 1 0000 20 24 20 1 1 20 2 HARD INITIALIZE4 21 3 HARD INITIALIZE5 22 4 HARD INITIALIZE6 23 5 HARD INITIALIZE7 24 2 1 2 00000000 26 I FSPD SET 26 2 HIGH SPEED 27 3 LOW SPEED SET Sct tarsier tiroa ____ _____ _ 28 CAJ RATE SET 29 5 SCAREA SET 30 6 DOWN PULSE ADJUST 31 2 1 3 000000000 32 33 2 ORIGIN SCAN 20000000
91. 5 0000000 40 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 00 00 0 0000000 000 SEL 00000000 0000000 222 20000 00 0 0 0 0000000000000000 0000000 71 LONG POSITION 90000000000000000000000 SHORT POSITION 1 000000000000000000000 SET 0000 0000000000000000000000000000 0000 00000000 0000000 000000000 LONG POSITION 0000000000000000000000 SHORT POSITION 9 1000000000000000000000 SET 000000000000000000000000 1 0000000000000000000000000 000000 000000000000000000000000000000 41 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 LONG POSITION SET 0 000000 gt COMMAND 22 LONG SET COMMAND STATUS1 PORT N
92. 51 PORTO COMREG 0000 000000000000 1 2 WRITE DRIVE 1 2 PORT COMMAND PORT DRIVE COMMAND PORT 111111 0 HARD INITIALIZE7 0 000000000000000 0 PAUSED 10 1000 000 10000000000000000 00000000 DELAY 0 0 0000 00000000000 HARD 2 70 0 0 0 0 PAUSED 00 LE 0000 STBY 000 0010000000000 JSPD FSPD 060 000 100 PAUSE 0 5 gt DELAY TIME FSPD
93. ADDRESS READ COMMAND 2 PULSE LATCH DATA READ 0000 COMMAND H DD PULSE DATA READ COMMAND 3 DFL LATCH DATA READ 0000 00000 0 UDE COMMAND DFL LATCH DATA READ COMMAND 70 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 000000000000000000000000 R 0000000000000 G 000 D DRIVE 1 PORT COMREG COMRE 000000000 000000000 0000000 DRIVE DATA COMREG FL 0 0000 DRIVE COMMAND PORTO 000000000 00000000000000000000000000000000000 FL 00000000000000000 0000000 00000000 00 200000 000000000000000000 ooog 20000000000002 200 0000 0000 0000 1
94. CONST CP ENABLE 100000000000000000000000000 0 r 04 XPULSE SEL 20 0000000000000 00000 0 10 000000000 YPULSE SEL 05 000 0 0000000000000 00000 00000000000 0000000000000 10000000000 54 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 5 SUB CIRCULAR CP 20000000000 X BUSY 0 ERROR 00 00000000000000 10000000000000000000000 0 0000000000000000000000000000 0000000000000 00000000000 4000000 gt COMMAND 9 SUB CIRCULAR CP COMMAND YSTATUS1 PORT ERROR 07 DRIVE STATUS PORTO 00000000000 LN o DRIVE srarusi PORTO 8 8 0 000 000000000000 XSTATUS1 XSTATUS1 PORT BUSY 0 7 Y 000 1 PORT gt MC07_BRStatus1 MC07_BRStatus1 0 DRIVE 5 51 PORT DRIVE 5 51
95. COPARE REG STERIL SET NN 161 100000000 000 1 REG STER SET 1 161 00000000 2000 1 COPARE STER3 SET UI 161 0000000003000 1 GIP 162 ci AI 00000 U SEC SET Oal O 85 ojo 57 DOW U D SPEED 01 H 22 1 ojo 59 SPEED INDEXGANE SPECSET Uren ojo 62 1 2 0 00 00000 000 0000 1 2 776 1 0 0 0 0 109 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000 00000 0000000 PN PA Fyne FAA 2225152155 2215919288 322 lt UP PAVE ol ad sass HA 58 00000000000000000000000000 DOWN 58 0000000 000000000000000 DRS SEA 58 000000000000000000000000000 SPEED 60 000000000000000000000000000000000
96. INDEX CHANGE 0000000000000000 INDEXCHANGEI 0 0 0 100000000000000000000 0000 0000 0000 0000000 00000000 000000 INDEX CHANGE J 5000 0 INDEX CHANGE 0000000000000000000000000000 INDEX 6500 00000000 0000000000000000000000 0000000000000 0000 0000 00 0000000 00000000 000000 INDEX CHANGE J 96 3 1 7 000000 1 000000000 LATCH 00000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR DATA READ 97 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 1 9990 00 2 0000 0000 100 STATUS4 PORT 1 000000000 0 gt 1 gt 5522 999 gt 1000 gt 1001 gt gt 1999 gt 0 00000000 0 gt 1999 gt 1001 gt 1000 999 gt 1 gt 0 STATUS4 1 2 0000 2 001 00000 100 STATUS4 PORT OVF 1 000000000 0 gt 1 gt 1000 1001 2000 0 00000000 0 gt 2000 1001 gt 1000 1 gt 0 8 64 1 0000000000000000000000000000 00000000000 1 2000000 STATUS4
97. PORT 0 DRIVE 1 0000000 0 000000000000 00000 DRIVE COMMAND PORTO 0000000 MC07_LWDrive 0 PORT 0 0 0000 0000 DRIVE DATAI 015 014 013 012 011 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO _ gt PULSE SEL ENABLE MODE D0 DRIVE MODE 000000000000000000000000000000000000000 00000000000 5 1000000000000 000 02 ENABLE 00000000000000000000000 0000000000 10 D4 PULSE SEL 1000000000000000 0000000000000 100000000 0000000000000 55 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 6 MAIN CIRCULAR CP 21000000000 BUSY 0 ERROR 00 00000000000000 10000000000000000000000 00000000000000000000000000000 00000000000000000000000000000000 9000000 gt COMMAND 8 CIRCULAR COMMAND 2
98. PORT 100 11 16 3830 0000 0 DRIVE COMMAND DRIVE PORT J gt MC07_LWDrive 0 0 0 DCYCLE RATE CHANGE 10000 0 00000 1 0000000 0000 us UCYCLE 0 5 0 5 8 1915 ms 0000 us x 0 5 0 5 8 1915 ms RATE CHANGE 0 61 2 1 10 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000000000 INDEX CHANGED 00000 0000000000000 1 INDEX CHANGE SPEC SET INDEX CHANGE 0
99. 0 35 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 ORIGIN CONSTANT SCAN ORIGIN CONSTANT SCAN 0000000000 9000000 gt COMMAND 19 ORIGIN CONSTANT SCAN COMMAND STATUS PORT 2 gt DRIVE STATUS PORTO 0 000000000000 Y N 2 DRIVE srarusi PORTO 8 8 0 0 000000000000 27 0 MC07_BRStatus1 0 0 ARAM AE AST 1 ea DRIVE COMMAND PORTO 0 0 0 0 0 gt 07 ORIGIN CONSTANT 00 Joc 0 95 00000000000000000000000000000000 AUTO DRST ENABLE 10 00000000 24 7000000000 36 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 1 4 00000000000 MCC 0 1000000000000000000000000000000000 40000000000000 660 0000000000000000000000 00000000000000000 00 0 0 00000000000000000000 0000000000 000 0000000 00000000 1 210000000000000000 BUSY 0
100. 0 00000 2 1 2 776Av1 000000000000000000000000000000000000000000000000000 00000000000000000000000000 0 0000000000000 10000000000 3 1 50 00000 4 00000000000000000 1 00000000000000000 0000000000 0 0 0000000000000000000 000000000 2 147 483 648 147 483 6471 0 000000 0 000000000000000000000000 0 0 BOQ 7 rShortPul V RD Dr 07 5 CN psCent erPosi ti 07 5 TI ON os Target Posi ti on LONG pShortPulse 07 5 RESULT psResult Function 07 5 ByVal Dr As Integer ByRef psCenterFosi tion As 07 5 XY ByRef psTarget Posi tion As 07 5 ON ByRef pShortPulse As Long ByRef psResult As 7 5 RESULT As Bool ean NET Function 07 rShortPul 56 ByVal Dr As Short ByRef psCenterFosi tion As 07 5 PGI TI ByRef psTarget Posi tion As 07 5 ON ByRef pShortPulse As nteger ByRef psResuit As 07 S RESULT As Bool ean 6 NET bool 7 t G rShortPulse ushort Dr ref 07 5 PGEI psCenterFosition ref 7 5 PGEI psTarget Position ref int pShortPudl 56 ref 7 5 RESULT
101. 0 200 1 H7 20 H B 200 H F 200 00 0000 RESOLD 0 1 0 6 553 400 Hz 27 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 LOW SPEED SET LSPD ELSPD J 3000000 COMMAND 7 LOW SPEED SET COMMAND STATUS1 PORT N DRIVE 8 81 PORT 0 10000000 6 DRIVE srarusi PORTO 0 000000000000 gt J MC07_BRStatus1 0 DATA1 PORT DRIVE DATA1 PORT WRITE 0 10 32 7670 0001 H 7FFFO 0 PORT DRIVE DATA WRITE 00000000 32 7670 H 0000 7
102. 0 ADDRESS COUNTER SET 66 0000000000000000000 ADRI COPARE REG STERI SET ojo 144 0 00000001000 ADRI COMPARE REG STER2 SET H89 ojo 144 ARNTUDDDDDDDD2IDD ADRI COPARE REG STER3 SET es soe Css ojo 144 00000000300 ADRI HBC ojo 145 col AH 00000 PULSE CONTER PRESET ojo 151 000000000000000000 PUSE CONFER ZI Sed SNE ETT OJO 146 00000000000000 PUSE CONTER 1 N 122 A ENEA ASAE ojo 149 00000000000000 PULSE CONTER SET 1 RS AOR ORR 67 000000000000000000 COPARE REG STERI SET ojo 152 0000000012000 COPARE REG STER SET tered e a ojo 153 00000000 2000 Nr REG 583 SET __________ ojo 153 00000000 3000 AD SET OO OO OR ojo 153 col 001 0 000 0 PRESET 160 00000000000000000000 1 ran sare 154 0000000000000000 1 2 2_____ 157 0000000000000000 1 CANER 23 MAS non 9 159 0000000000000000 1
103. 0 000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000 16 0000000000 160 SHCRT 07 51 gnedl WORD Function M7 Si gned16 ByVal As UShort As Short 6 NET short 7 Si gnedl ushort 25 0 Rta 16 160 3210000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 000 320 0000000000 321 DVCRD 207 32 LONG Function 07 Uhsi gned32 ByVal fa Integer U nteger C NET uint Md 32 int 2928 0 Mta 32 32 3210000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 000 32 000000000 320
104. 0 5 10 00000 CHANGE 000000000 SPEED CBUSY 10 SPEED CSET 10 00000 SPEED 1000000000000000000000000 SPEED CBUSY SPEED 6 0 00000 00000000 0000000000000000000 00000 000000000000000000000000000000000000 SPEED CBUSY SPEED 0000 000000000000000000000000 00000 0 SPEED CBUSY 10 SPEED 100 00000000 00 00000 0 0000000000000 SPEED CBUSY 10 SPEED CSET 00 0000000000 J INDEX D 0000 ORIGINSCAND 00000000000 LSEND 11 SSEND 10 FSEND 10 ERROR 1000 SPEED 0000000000000 000000000 91 2 SPEED CHANGE 0 SPEED STBY 10 000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000000000 SPEED 00000000 SPEED 000000000 00000000000000 SPEED 0000000000 SPEED CHANGE 00000000000000000000000000000000 0 000000000000000000000000000000000 STBY 10 SPEED SPEED CHANGE
105. 000 2310 016 016 jj Vd D 7 5 Dt DARD Mata 07 5 DATA Sub 07 Set Data ByVal 2578 As Long ByRef 05 2978 As 7 5 DATA NET Sub 7 Set Data ByVal Integer ByRef psta As 07 S 6 void 7 SetData uint ta ref 07 S 32 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 00000000 2 7711 26 776 20 gt 7710 1 200 77134 32 32 031 030 029 028 027 026 025 024 022 021 020 019 018 017 6 pis gt 0 00 0 000 gt DO 0 0 DATA2 PORTO 15 D14 013 D12 D11 010 09 08 07 06 05 04 03 02 1 00 pis lt _ 0 0000000000000 000 DO 0 0 1 PORTO O DARD
106. 0000 0 00000 COUNTER COUNT 000000 ABS 000000000000000000000 98 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 2 2 0 0000000000000000 0000000000 0000000000000000000000000000000000000000000 00000000000000000000000000000000000000000 LATCH 000000000000000 gt READ 550 1 ORIGIN SPEC SET ORG COUNT LATCH SPEC 5 11 U 5500 SPEC 2 28 0000000000000000000000000 0 5500 00 0000000000000 20000 0 00000000000 ANODD 1 55000 55000 0 00000000
107. 0000 0 00 000 51 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 CIRCULAR YPOSITION SET 00 0000Y 0000000 00000000000000000000 4000000 COMMAND H29 CIRCULAR YPOSITION SET COMMAND STATUS1 PORT DRIVE STATUS1 PORT gooo ERROR 0 Y DRIVE srarusi PORTO 0 000000000000 gt MC07 BRStatus1 PORT 3 DRIVE PORT 00000000000000 WRITE DRIVE DATA PORTO O00000 0000000000000 DATA2 PORT WRITE 8 388 608 8 388 6070 H 80_0000 0 CCW 00000 200000000 DRIVE COMMAND PORT gt MC07_LWDrive DRIVE
108. 00000 000000000 5000000 SCAREA 00 5 SDAREAQ 0000000000000000 50 00000000000 5000000000 9000 5 A N 00000 SDAREA 0000000 0000000 000000 80 00000 000000 i SUAREA SDAREA aes 0000 00000 L 05 00 SUAREA SDAREA SCAREA 000000000000000000 500000000000 ms O UCYCLE 0 0005 LSPD 10 SUAREAx2 0 ms TU 105 00000000 0 SUAREA HSPD 20000000000000000 00000000000 ms DCYCLE 0 0005 ELSPD 10 2 TD 105 00000000 SDAREA HSPD ELSPD 2 00000000000000000000000000000000 77 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000 00000 5 00000000000000000000000000000000000000 000000000000000000
109. 000000 000000000000000000000000000000000000000 0 00000000000000 00000000000000000000000000000000000000 0000000000000000000000000000000000000 00000000000000000000000000000000000000 000000000000000000000 0000000000000000000000000000000000000 0000000000000000000000000000000000000 0 00000000000000000000000000000000000000 0 000000000000000000000 00000000000000000000000000000000000000 000000 0 0000000000000000000000000000000000000 0000000 0000000000000000000000000000000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 20000000000000000 0 000000000000000000000 0 0000000000000000000000000000000000000 000000000000000000 0 0000000000000000000000000000000000000 0 00000000000000 00000000000000 0 0000000
110. 000000 WRITE DRIVE 8 0 00000000000000000000000 2 PORT 000000 WRITE 2 147 483 648 2 147 483 6470 H 8000 0000 H 7FFF 0 0 0 0 0000000000 20000000000 DRIVE COMMAND PORTO gt 07 LwDriven 0 DRIVE 015 014 013 012 011 010 09 07 06 05 D1 Do 015 gt 000000000000000 gt 00 DRIVE 2 UU D 015 014 013 012 011 010 09 07 05 D1 Do D31 lt gt 016 O 0000 0000 0 000 000000000000000000000000000000000000000000000000 00000 000 1 C C 3 1 5 4 0000 EJ 2 1 0000000000000000 0000000
111. 00000000 Te DRIVE COMMAND PORT COMMANDO 0000000 gt MC07_LWDrive 0 DATA2 PORT 0 00000 0000 DRIVE DATA1 PORTO 00000 D15 D14 013 012 011 010 09 08 0 0 0 0 0 0 07 06 05 04 03 02 D1 DO 2 2 2 ORIGIN ORIGIN ORIGIN FILTER2 FILTER1 FILTER0 FILTER2 FILTER1 FILTER0 H 0000 02 00 ORIGIN FILTER2 0 ORG NORG 010 08 00 0 014 012 0 00000000 0000 11 1 1 10 10 11 1110111111 0 0 0 50 5 0 0 1 50 us 1 100 us 20065 1 0 0 500 us 1 0 1 1 0 ms 1 1 0 5 0 ms 1 1 1 10 0 lt 000 10 0 06 04 2 FILTER2 0 2086 0 0000000000000 10000 FLT2 00000000 0 0 0 50 ns 0 0 1 5 0 1 0 10 us 1 0 0 50 us 1 0 1 100 5 1 1 0 500 1 1 1 1 0 ms 1 0 us 00000000 0000 0000000600000 10 10 10 000 000000000 0000000000000000000 22 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 HARD 6 gt 4000000 gt C
112. 000000000 00000 DRIVE STATUS5 PORTO 10 00000 10 0000000000000 MASK 1 DRIVE STATUS1 ERROR 1 gt 0 00000 000000000 200 000000000000000000000 0 00000000000000000000000000000000000000000000000 0 0000 0000 0000 0000 0000000000000000000000000000000000000000000 57 0 000000000000000000000000000000000 39 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 200000000000000000 200000000000000000 0000 00 0000000000000000000000000 00000000 0000000 000000000 LONG POSITION 2100000000000000000000 SET 0 000 SHORT POSITION 9 10000000000000000000 000 LONG POSITION 000000000000000000 00000000000000000000 000 SHORT POSITION 00000000000000000000 000000 1 00000000000000000000000000 2000000000000 SPEC
113. 0000000000 2 00000000 000000245 00000 1 GetGirShortPulse _________ 9 15 000000000000000000000000000000000000000000000000 108 0 0000000000 07 0 000000000 000 0000 0 000 1111111112 2 1 BPortQ ose 110 00000000000 0000000 222 10 00 O 11 000000000 112 10 O 1 00000000 00000000000090000 1 0 PRT 0___ _ 07 ________________ 10 113 00000000 105 34 0 2 AL2W3 01v3 00 1 35 01 v3 00 AL2W64 MP 115 116 117 118 16 17 18 19 1520 9902 1 09 1 01 09 1 911 02 11 04 LAL0 80Z O 1 10 amp 109 r r r i r i i
114. 00000000000 0 00000000000000000000000000000000000 ADD 0 000000000000000000000000000 0000000000 00000000000000000000000000 00000000000000000000 200000 0000000000000000000000000000000000000 RENE 000 100 200 300 400 2 771 1 Y 7 2 776 1 x YD 70 2 0 7710 1 1 X Y 2CD 7713v1 GDB5F40 71 X Y 00000000 000000000000 0000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR
115. 000000000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 4 MAIN XY CIRCULAR CP 20000000000000000 BUSY 0 000000000 2000000000000000000000000000000000000 0 000000000000000000000000000 00000 0 XY CIRCULAR CP COMMAND gt YSTATUS1 PORT 000 DRIVE STATUSI PORTO 888080 00 000000000000 Bg 000 DRIVESTATUSI PORTO 8 8 0 000 0 000000000000 gt 00 MC07_BRStatus1 m 2 gt 100 DRIVE 1 PORTO 00 S gt 100 DRIVE STATUS1 PORTO gt MC07_BRStatus1 DATA1 PORT 100 DRIVE DATA1 PORT 00000000000 WRITE 100 DRIVE COMMAND COMMAND gt 00 MC07_LWDrive 0 DATA2 PORT 0000 00000 DRIVE PORT 00000 015 014 013 012 011 010 09 08 07 06 05 04 03 02 D1 DO YPULSE XPULSE 0 CONST DRIVE SEL SEL ENABLE MODE 20 DRIVE MODE 00000 000 000 01
116. 000000000000000000000000000000 4 000000 gt COMMAND 0 STRAIGHT COMMAND 21 STATUS1 PORT ERROR 0 Y STATUS1 PORT BUSY 0 DRIVE STATUS1 PORT DRIVE STATUS1 BUSYOOOO Y DATA1 PORT WRITE COMMAND PORT WRITE gt MC07_BRStatus1 DRIVE 1 00000000000 DRIVE COMMAND PORT gt MC07_LWDrive DATA2 PORT DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 PULSE CPP STOP CONST CP DRIVE SEL ENABLE ENABLE MODE DRIVE MODE D1 00000000000 000000000000000000000000000 00000000000 1000000000000 1 000 CONST ENABLE 00000000000 1000000000000000 00000 10000 02 STOP ENABLE 10000000000000000 0 STOP l CPP STOP l D4 PULSE SEL 10000000000 0 0 LONG POSITIONI OOO 00000 00000000000 1 0 SHORT P
117. 01 lt 0000000000000 0000 0000 0 1 1111111 1 0 00000000 10000 00000000000000000000000000000 00000000000000 0000000000000000000000000 0000000000 43 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 3 MAIN XY STRAIGHT CP 20000000000000000 BusY o 0000000000000000 2000000000000000000000000000000000000 00000000000000000000000000 9000000 gt COMMAND 882 MAIN COMMAND YSTATUSI PORT NN DRIVE srarusi PORTO 000000000000 0 Bg 000 DRIVESTATUSI PORTO 8 8 0 000 0 000000000000 gt MC07_BRStatus1 Y 2 8 DRIVE srarusi PORTO 0 000000000000 A SA PORTS 000 DRIVESTATUSI PORTO 0 0000000000 gt 07 BRStatus1 000 1 PORT PORT 0000000000000 WRITE DRIVE COMMAND PORT COMMAND 0 0 0 gt MC07_LWDrive
118. 07 t Conn egNot Ful ByVal Av Integer ByVal 7 As Short ByRef psResuit As 07 S RESULT As Bool ean 6 NET bool 7 B i t Ful nt Av ushort 77706 ref 07 S RESUT t 524 000000000000000 OOOOOOOOO 130 00000000 0700000000000000 psResu t 00000000000000 000000 0000000000000000000000 000 0 00000000000000000000 Re 0 00000000000 00000 CMAD 10000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 26 77141 2 776 1 260 7710 1 205 77133 PAVE STATS PRT ERR J COREG FL PR 2
119. 1 1 PORT DRIVE PORTO 0 015 00 000000 WRITE DRIVE 00000 022 01600000000 ATAS PORT 00000000 8 388 6070 H 00 00000 H 7F WRITE S DRIVE COMMAND PORTO COMMAND gt MC07 LWDrive 0 0 DRIVE 0 015 014 013 012 011 10 09 08 07 06 05 04 03 02 01 015 lt gt 00 DRIVE 015 014 013 012 011 010 09 08 07 06 05 04 03 02 01 2 022 lt FSPD gt 016 1388 5 000 Hz 0 00 0 200 us 000 100000000000000000 2004 00000000000 10000000 00000000 0000000000000 000000000000000000000000000000000000000000000000 0 00000 1 0000000 10 000 000 ADODO gt 50 10 000 000 50 00000000000000000 8 388 607 6 666 667 Hz gt 50ns 50 5 10 000 000 Hz 6 666 666 5 000 001 Hz gt
120. 1 Ea 0 EJ 1 1 EJ 0 0000000000000000000000000000000 00000000000000000000000000000000 0 00000000000000000000000000000000000 0000000000000000000000000000000060 00000000000000000000000000000000 0 0 0 0 0 0 0 0 0 3 IC 2 0 0 I Eg IL 00000 0 00 000 0 00 Ea 0 0 0 0 0 0 0 0 0 0 0 0 0 0 P 0 0 00000000000000000000000 0000000000 00000 00000000 00000000 000000000 83 MPL 34 01V3 00 AL2W32 MPL 35 01V3 00 AL2W64 000000000000000000000000 00000000000000000 0 5 158000 0000 2 147 483 648 2 147 483 6471 320000000 53 og
121. 1822 LONG 07 5 gned32 ta Function 7 Si gned32 ByVal ta As nteger As Integer 6 int 07 5 gned32 uint Mta lita 32 32 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 1 0 0000000 2 1 1 0 0000000 1 HARD INITIALIZE1 100000 09 00 0000000000000 00000 0000 0000 INITIALIZE1 COMMAND DRIVE PORT 0000 WRITE COMMAND PORT WRITE DRIVE COMMAND PORT gt 00 MC07_LWDrive DATA2 PORT 00000 DRIVE DATA 015 014 013 012 011 010 09 08 1 1 1 0 1 1 1 0 ell 2 00000 0 03 00 SOUT 0 SOUT J l
122. 2 86 0 0 1 0 0 0 1 0 1 0 0 0 1 1 0 086 0 DENDPOG 00 AND 000 0860 00 AT 0000 0000 000000000000 0 0 ORG 0000 00 DEND PO 000000000 000000 00000000000 ORIGIN 5 SET ORG 1 l 2 7 F 3 0000 086 1 1 1 6 0 00 0 5 0 00 0 gt gt SPEC 00 0 0 0 0 0 0000 00 33 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR D4 ORG DETECT EDGE 0000000000000000 1111 0 gt 1100000000000000 10 08561 0000 1 gt 00 0000000 D5 ORIGIN START DIRECTION oRIGNOOOOOOOOOO 00000 1 00000 011 081 ORG COUNT 03 00 0 0 ORG COUNT 03 00 11 1 ORG COUN
123. 2 N 000 DRIVE STATUS1 PORTO Y LN gt 0 0 0 DRIVESTATUS1 PORTO 0 000000000000 0 gt 00 MC07_BRStatus1 0 XSTATUS1 PORT N ERROR 0 6 DRIVE srarusi PORTO BUSYU 000 000000000000 MC07_BRStatus1 0 DRIVE 1 PORTO 000 1 PORT 100 DRIVE WRITE 000 DRIVE COMMAND PORT COMMANDO 0000000 MC07_LWDrive DATA2 PORT 0 O H 0000 00000 DRIVE DATA1 D15 D14 D13 D12 D11 D10 D9 D8 07 06 05 04 03 02 D1 DO PULSE CPP STOP CONST CP DRIVE SEL ENABLE ENABLE MODE 00 DRIVE MODE 100000000000000000000000000000000000000 00000000000 1000000000000 INDEXO 000 01 CONST CP ENABLE 000000000000000000000000000 000 000000 100 000000 3 3 02 STOP ENABLE 000000000000000000000 0 D4 PULSE SEL 0 000000000000000 10000000
124. 2W64 RRR 00000000000000000 2000000000000000000000000000 0000 0000 0000 000 000 2 771 1 2CD 7710v1 ADB5F30 2C 776Av1 2CD 7713v1 GDB5F40 28 2 2000000000000 00000 XY 5 XY CIRCULAR CEEI NNN 1 O EJE EJ J 3 CJ O 3 1 0000000 000000 0 000000000000000000000000000 5 0 0000 0000000 000000000000000000000000000000000000000 1000000 0 0000000000000000000 00000000000000000000 0 85 00000 00 00000 000000 00 00000 00000000 0000 90000 82 00 0 1 5 4 CEI LE 2 2 HE 0 1 5 4
125. 3 1 00000 71 34 71 31 73 1 0000000 e 73 2 000000000 555 5 2 73 3 1 3 74 1 74 2 75 76 4 00000000 79 3 1 4 ORIGINO O O D 81 1 ORIGIND DD 81 3 1 5 00000 82 arma 3 82 ____ 83 S 00 DED ess sass 84 4 TDD gt 4 85 C5 Dm 88 3 1 6 0 000 CHANGED 90 1 UP DOWN CONST 0 0 0 CHANGED D
126. 4 120 1 25 000 1 1 1 20 145 000000 00 000000 0 00 7 6 500000 0 400000 50 1450 14 50 145 D 145 5 0 58 0000000000000 CIRCULAR PULSE 580 0000 003 0 0000000 0 00000000 0000000 1 00000000 oog oog oong oog oog 3 1 2 4 6 3 5 7 0000 0000000000000000 2 4 000000 000 000000 5 57 53 1 5 o0 0 aa aa oon oa ooo 600 35 700 87 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 5 000000 00000000 200000000000000000 00000000000000000000000000000000000 0000000000000000000000000000 20000000000000000000000000000 144000000 000000000000 20 0000000000 1 1 414 1 i 1 414 1 gt lt gt lt gt lt gt i 1 RER OERA 0 914 05 E 00000000000000000000000000000000000000000 000000000000 0000 0 00000000000000000 00000000000000000000000000000 00000000000 00 10 00 1000
127. 64 RRR 4 INDEX CHANGE INDEX CHANGE 000 10000000000 00000 00000 INDEX 00 0 0 0 000 000000000 00 O INDEX CHANGE 0 0 O 0 0 R 000 0 INDEX 00 0000000000 000 STATUS CHANGE CLR 1 0000 INDEX CHANGE 0 0 0 0 ERROR INDEX CHANGE 1 0000 INDEX CHANGE 0 INC ABS PLS INDEX CHANGE 00000000 INC INDEX 000 0 0 0 00 0 0 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 000 00000000 INC INDEX CHANCE 0 00 0 00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 0000 00000 INDEX CHANGE 0000000000000 0 ABS INDEX CHANCE 0 0000000000000000000000000000000 0000000000000000 ABS 000000000 PLS INDEX CHANGE 00000000000000000000000000000000 00000000 5 000000000000000000000000000000000000 INDEX CHANGE 00 0 00 00 0 000 000 00 0 0 0 00 0 00 0 0 0 0 0 0 0 0 0 000 INDEX CHANGE INDEX CHANGE SPEC INDEX
128. 7 Dat 3 M07_S DATA Function 07 Dat a ByRef As 07 S As Long NET Function 7 GtData ByRef osata As 07 5 As Integer 6 NET M GtData ref 7 5 102 000 3200000000 psDATA NULO J 000000000 0 00000000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 77101 2 776 1 77101 2D 7713v1 10000000000000 DATAL 2 000000000000000 Boa Moo7 Wrive DRD hCev WORD 007 5 DATA psCsta 07 S RESULT 8 Function 07 Wi ByVal As Long ByVal As Integer ByRef osata As 07 5 ByRef psResuit As 07 S RESULT As Bool ean Function 7 Vwi ByVal Av As Integer ByVal Ow As Short ByRef posata As 07 S ByRef psResuit As 07 5 RESULT As Bool ean 6 bool M7 Wwrive uint bey ushort Ga ref 7 S DATA ref 07 5 RESULT psResul
129. 70 000 0 DATAS FORT 6 DRIVE DATA 0000 RESOLNo 00000000 WRITE DRIVE COMMAND PORT COMMAND gt 0 MC07_LWDrive 0 DRIVE PORTO 00000 015 D14 013 012 011 010 89 87 05 02 00000 H oBB8 3 000 3 000 HSPD 0 DRIVE DATA2 PORT 011 1000 Dio 09 07 06 05 03 02 01 00 1 10 Do 10 o O HSPD LSPD 20 HSPD 100 10 0 2 HSPD x RESOL RESOL No RESOL 0000 RESOL 0 0000 RESOL 0000 RESOL RESOL RESOL RESOL 0 1 2 50 200 0 2 5 5 100 200 0 5 10 20
130. E 2 0 0 013 SDAREA Do 0000 5 5 15 0 0 2 0000000000000000000000 SUAREA 0 0 0 0 0 2 SUAREA x RESOL LSPD x 2 Hz SUAREA x RESOL 5000000000000 0 SUAREA RESOL OO RESOL 1 10000000000 5 HSPD 2 0000 000000000000000 HSPD 2 0000000000000000000 0000000 0 0000000000000000000 SDAREA 20000000 0 SDAREA SDAREA OQ ELSPD x 501 2 Hz 00000 0000 20 SDAREA x RESOL 0000 SDAREA RESOL o
131. E DATA1 PORT D15 D14 D13 D12 D15 DRIVE DATA2 J gt 0 MC07_LWDrive 0 0 COMMAND 010 09 07 02 INDEX CHANGE 0 0 lt gt NDEX CHANGE 63 34 01 3 00 1 2 32 MPL 35 01v3 00 AL2W64 3 ABS INDEX CHANGE ABS INDEX COMMAND HCD ABS INDEX CHANGE COMMAND gt 9000000 N STATUS5 PORT
132. INC ABS PLS INDEX CHANGE 10000000000 00000000 12 5 000 5 13 5 5 H 14 INC INDEX INDEX 000000 H 15 ABS INDEX 0 INDEX CHANGE 00000000 INDEX CBUSY 10 INDEX 18 0000 0 INDEX CHANGER 00 INDEX CBUSY INDEX 00000 STBY 10 INDEX INDEX CBUSY 10 00000 00000 00000 0 00000 1000000 INDEX CBUSY 11 INDEX 0000000 00000 00000 00000000 INDEX CBUSY 10 INDEX 00 0000000000 LSEND 10 SSEND 10 FSEND 10 ERROR 1000 000 0 00 0 00 0000000000000 INDEX 0 INDEX 00000000000 10 00000 94 INC INDEX CHANGE MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 0000 0000 7 0000 0000000 00000000 INC INDEX 6 000000 INC INDEX CHANGE 0 1
133. L2W64 RRR 2 2 4 OOOOOOOOO 0 0000 DRIVE COMMAND COMMAND DATA1 2 PORT H 0000 COMMAND 0000 DATA1 PORT 2 DRIVE PORTO 0 0 0 015 0 000 0000 DRIVE PORT D31 D16 0 0 0 gt J MC07_LWRDrive 0 0 DRIVE DATA1 015 014 013 012 011 010 09 08 07 05 04 03 2 000000 DRIVE DATA2 PORT D15 D14 ADDRESS LATCH DATA READ PULSE LATCH DATA READ 0 10 10 DRIVE DATA1 2 PORT READ DFL LATCH DATA READ 0000 0 DRIVE DATA1 PORT 1 ADDRESS DATA READ 000000 u 0 u 00000000
134. OMMAND H F6 INITIALIZE6 COMMAND DRIVE 0000000000000 10000000 2550 Foon DRIVE COMMAND PORTH gt MCo7_LWDrive 0 DATA2 PORT DRIVE DATAI 015 014 D13 012 011 010 09 08 07 06 05 04 03 02 01 00 07 lt 000000000000 lt 0 50 5 x 50 12 75 5 EBOOOOOOOOO 100000000000 0 0 50 0 ns 0 23 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 5 HARD INITIALIZE7 CWLM 0 O0 FSSTOP 0 DAMOOOOOOOOOOOOOOOOOOO 4000000 gt COMMAND HARD INITIALIZE7 COMMAND DATA1 PORT WRITE DRIVE DATAI PORT 0000000000000
135. OP CWLM CCWLM 0 0 0 ORG l NORG 0 0000000000000 HARD INITIALIZE7 000 mm WK 0000000 0000000 0000000 73 3 1 3 000000000 1 00000000 1110111000 0000000000000000000000000000 00000 0 10 6 553 400 00 0000 7 0000 H 10000000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 0000 00 INDEX
136. OSITIONI 0000000000000 46 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 47 U 00000000000 3 o go DH 0 5 H 51 t o ooo 2 o 3 5175 1 m 5 Boon O m g N 25 oo 0 3 gt Boon H 2 H Do onl 22 5 3 Bosco oO coon 53 3 EJ EY Si ooo 22 Boo
137. PEC 7 0000000000000000 8890000000000000000020000 INO 55000 1 0 5500 62 2 INC INDEX CHANGE MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 INC INDEX 00 9000 m 000 gt 1 PORT WRITE DATA2 PORT WRITE COMMAND PORT WRITE COMMAND H CG 5 55 INDEX CBUSY 0 7 MC07_BRStatus5 J DRIVE STATUS5 PORT INDEX CBUSY INC INDEX CHANGE COMMAND DRIVE DATA1 PORT 7 9 DRIVE 2 PORT 2 147 483 648 2 147 483 647 8000 0000 015 00 031 016 H 7FFF FFFFU 0 l CCW J l 2 DRIVE COMMAND PORT DRIV
138. T D3 D0 H 1 ORG COUNT D3 D0 H2 0 COUNT D3 Do 1600000000000000000000000 00000000000000 00000000000000 012 AUTO DRST ENABLE SERVO SPEC SET 00000 A0000 400000000000000 5 0 1 5 34 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 ORIGIN SCAN ORIGIN SCAND 0 0000 00000 41000000 gt COMMAND 18 ORIGIN SCAN COMMAND 4 STATUS1 PORT 0 0 ERROR 0 DRIVE STATUS1 PORT 0000000000000 Y gt 2 DRIVE srarusi PORTO 8 8 0 0 00 0 00000000000 gt MC07_BRStatus1 WRITE DRIVE COMMAND PORT COMMAND gt 07 0 ORIGIN SCAN OOO 100000000000000 5 AUTO DRST ENABLE 1 10000 0000000 DRSTO o 00
139. ment 39 jA 1 100000000000000000000000000000 1 0 1 Errount 2 1 _ 0 1 000000000 9011000000 TR oadlnitBata ag 0 000000000000000000000000000000000000000 al alla 4 0000000000 00000000000000000 51111 118101 111 RD A OSE DD 4 00000000000000000 100000000000000 1 UA rError 0000000000000000000000000000000000 JLo wei t wenitoomiontrol 01000000000000000000 ___ 7 Rehitoomstatus 0 0000000000000000000000000000 0000000000000900 _ 75 _ M07 t O 59 0000009 91000000000 1 0 0000009 90000000000000000_
140. rtin 6 00000000000 11 1 BOEN 61 00000000000000000 111 M7 62 00000000000000000 OD 63 0000000000000000000000 COMAND 320 00000000 1 LWrive _______________________ 66 000000 DOTA PROA i veConmmand 67 0000000 PAVE 0 0 0 0 00 0 0 00000 0000000 68 0000000 PAVE 2 00000000 MAL _______ Mmo7Bwriveratal 69 000000000 PRD 00000 07_ 1 2 70 0000000 000000000 1000000000 1 7 71 0000000 STATUS STATUS2 STATUS3 STATUSA STATUS5 PORT CRI G N STATUS DR STATUSI 861 72 srarsl 0000 DRI SIATUS2 PRD ODORA 1 Meo7_BRStatus2 75 09 SIATUS2 00000 5 3 PROOOOOO Mo7BRStatus3 77 PAVE 5 0000 5
141. t 000000000000000 000000000000000000 0 9 6650 00000000000000 11 000 00000000000 00000 MPL 34 01v3 00 AL2W32 MPL 35 01v3 00 AL2W64 RRR 2 771 1 2 776 1 1 20 7713 1 DTA PRM A 00000000000000 1 800 7 VIpt a Avy 07 5 7 S RESU T psResult Function 07 1 Vpata ByVal Av As Long ByRef As 07 5 ByRef psResuit As 07 5 RESULT As Bool ean NET Function 07 ByVal Av As Integer ByRef osata As 07 5 ByRef psResuit As 07 S RESULT As Bool ean 6 bool Wwata uint ref 7 S ref 07 5 RESULT psResul
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