取扱説明書 (設計者用)
Contents
1.2. MCC06 lt gt EE 6 SS SS SSS CS 8 2 1 END LSPD 8 2 1 1 8 2 1 2 9 2 1 3 30 Em 9 2 1 4 9 2 SOFTE EIMIE 10 2 3 S
3. STATUS1 PORT STBY 1 STATUS1 PORT STBY 1
4. 2 000 1 0 0 0 0 LS 44 MCC06 lt gt
5. CPPIN 1 RATE CP SPEC SET DRIVE TYPE X Y 1 RATE DATA 100 65 535 2
6. PLS INDEX CHANGE END PULSE H 1 FFFF_FFFF 60 MCC06 lt gt 4 7 SENSOR SENSOR S SENSOR 1 5 _ 61 MCC06 lt gt 4 7 1 SENSOR SCAN1 SS0 SS1
7. CPPIN DRIVE TYPE 1 2 1 2 X STBY 1 1 2 X Y
8. INC INDEX CHANGE INC INDEX CHANGE END PULSE H 1 FFFF_FFFF 58 MCC06 lt gt 4 6 3 ABS INDEX CHANGE ABS INDEX lt gt COMMAND HF03D ABS INDEX CHANGE COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT A31 A16 DRIVE DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 STATUS1 PORT INDEX CBUSY 0 DRIVE COMMAND PORT COMMAND
9. 75 MCC06 lt gt 4 10 1 2 0 0 1 2 CW CW MULTICHIP CIRCULAR CP COMMAND 2 2 CCW CCVW COMMAND H 01A1 MULTICHIP CIRCULAR CP COMMAND 3 2 SRATE CW S CW
10. 100 us DRIVE TYPE CPP STOP CPPIN CP SPEC SET CPP STOP ENABLE CPPIN CPP STOP
11. H02 H 03 No 2 1 5 000 000 HI0000 0001 H004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0 RATE RATE DATA TABLE No DRIVE DATA2 PORT D15 DO0 0 DRIVE DATA3 PORT D15 D8 URATE No DRIVE DATA3 PORT D7 DO DRATE No SPEED CHANGE RATE RATE CHANGE RATE SPEC INITIALIZE1 RATE TYPE
12. 19 MCC06 lt gt SPEED CHANGE SPEED CHANGE SPEED CHANGE CHANGE HSPD URATE DRATE DRATE URATE DRATE LSPD ELSPD pl eer SPEED CHANGE CHANGE C GE SPEED CHANGE NSRD 2093590 1 URATE DRATE LSPD i et LSPD ELSPD SPEED CHANGE LU Nd CHANGE pp 2 CH 20 MCC06 lt gt S SPEED CHANGE S SPEED CHANGE SPEED CHANGE CHANGE SURATE SDRATE SS SD
13. END LSPD ELSPD DOWN POINT END LSPD S SELSPD S SRATE DOWN POINT S END LSPD END LSPD LSPD SLSPD ELSPD SELSPD 2 1 1 S LSPD
14. 8 388 607 8 388 607 24 XX Y 1 2 CP SPEC X Y S 34 MCC06 lt gt X Y X Y SPEC INITIALIZE3 lt gt COMMAND H 0003 SPEC INITIALIZE3 COMMAND WRITE BUSY WRITE DRIVE DATA3 PORT DRIVE DATA3 PORT STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND
15. D14 D15 0 0 47 MCC06 lt 2 4 X Y X Y 4 1 END LSPD END LSPD ELSPD DOWN POINT 4 1 1 ELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 lt gt COMMAND H0012 ELSPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0
16. 128 1 ms RATE SPEED CHANGE RATE RATE CHANGE No H00 No H 7F No 160 us RATE No AUTO CHANGE
17. 33 MCC06 lt gt 2 8 1 2 147 483 647 2 147 483 647 32 1 CP SPEC X Y S 2 8 2 2 X Y
18. LSPD F 5 LSPD ELSPD INDEX CHANGE INDEX CHANGE S INDEX CHANGE S S INDEX CHANGE 1g Pd SLSPD SLSPD SELSPD INDEX CHANGE 25 MCC06 lt gt INDEX CHANGE
19. RATE 4 8 3 AUTO CHANGE DRIVE SET AUTO CHANGE lt gt COMMAND HO00B7 AUTO CHANGE DRIVE SET COMMAND STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET CHANGE POINT SET CHANGE DATA SET 68 MCC06 lt gt 4 8 4 AUTO CHANGE SCAN 1 AUTO CHANGE SCAN CW SCAN AUTO CHANGE COMMAND H 00B8 AUTO CHANGE SCAN COMMAND 2 AUTO CHANGE SCAN CCW SCAN
20. SPEED CHANGE S SPEED CHANGBE SRATE SCAN SPEED CHANGE SRATE INDEX SOFT LIMIT SRATE SCAN SHSPD SPEED CHANGE SPEED CHANGE SRATE DOWN POINT SET SPEED CHANGE SRATE INDEX SPEED CHANGE SRATE INDEX SOFT LIMIT SRATE SCAN SHSPD SPEED CHANGE
21. 80 us 160 ps 160 us 6 1 CHANGE t1 lt 200 ns nW t8 lt 320 ps 9 SPEED RN t8 lt 160 ps t1 t8 gt RATE 6 2 INDEX CHANGE t1 lt 200 ns nW A 2 t8 lt 320 LS 18 160 us RATE 79 6 3 SENSOR SCAN1 nW BUSY DRIVE UE CE SR CCWP 0 SS1 SSO MC
22. MCC06 lt gt 4 9 1 1 COMMAND H 0190 MULTICHIP STRAIGHT CP COMMAND 2 SRATE S COMMAND H 0191 MULTICHIP SRATE STRAIGHT CP COMMAND 73 MCC06 lt gt lt gt Y DRIVE DATA1 PORT X DRIVE DATA1 PORT WRITE DRIVE DATA2 PORT Si DRIVE DATA3 PORT D
23. 0 SCAN 1 INDEX SCAN INDEX SCAN INDEX CPPOUT
24. DRIVE COMMAND DRIVE COMMAND COUNTER COMMAND STATUSS PORT COMREG EP COMREG FL BUSY 1 COMREG FL 0 DRIVE COMMAND PORT DRIVE DATA1 2 3 PORT 1 FIFO X Y 2 X Y COMREG FL 0 2 X Y Y 2 X 2 Y
25. SET 2 CHANGE ee a SET 1 Ne 0 AUTO CHANGE DRIVE SET AUTO CHANGE H00 65 MCC06 lt gt 4 8 1 CHANGE POINT SET gt COMMAND H 00B0 CHANGE POINT SET COMMAND DRIVE DATA2 PORT D15 D8 D7 D0 No DRIVE DATA2 PORT D31 D16 DATA2 PORT WRITE DATA3 PORT WRITE a STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE
26. 64 MCC06 lt gt 4 8 AUTO CHANGE 128 HO00 H7F 1 ms RATE AUTO CHANGE CHANGE POINT H 00 H7F CHANGE DATA 00 H7F AUTO CHANGE DRIVE AUTO CHANGE POINT
27. CPPOUT SCAN INDEX SCAN INDEX CPPIN
28. 49 MCC06 lt gt 4 2 S END LSPD END LSPD S S SELSPD S SRATE DOWN POINT S 4 2 1 SELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 S gt COMMAND H 0032 SELSPD SET COMMAND ga WRITE DATA3 PORT WRITE BUSY 0 Y DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 DRIVE DATA3 PORT D15 D0 1 5 000 000 H0000_ 0001 004C_4B40 STATUS1 PORT BUSY
29. ORIGIN SENSOR MANUAL SCAN STATUS1 PORT EXT PULSE 1 MCC06 lt gt 1 50 ns FAST STOP 2 X Y ERROR 1
30. 29 2 7 AUTO CHANGE 30 298 32 NO RDNS 32 2 8 1 34 2 8 2 2 SR 34 MCC06 lt gt SR 35 32 SP INIRIALIZES 35 D0 1 END PULSE 35 D2 END LSPD meet 36 D3 SOET LMF OR ATR 36 D4 S 36 D5 6 S 36 D8 9 esoseeaseT gna hoe Ro 37 3 2 SOFT LIMIT 38 3 2 1 CW SOFTLIMIT SET 38 3 2 2 CCW SOFT LIMIT SET 38 999 RATE
31. 11 2 3 1 SRATE INDEX 11 2 3 2 11 2 MAR gt MP PB SS eS SS 12 2 5 CHANGE 15 2 5 1 UP DOWN CONST CHANGE 16 2 5 2 SPEED CHANGE 19 2 5 3 RATE CHANGE 22 2 5 4 INDEX CHANGE 23 2 6 SENSOR 27 2 6 1 SENSOR SCAN1 27 2 6 2 SENSOR INDEX1 28 2 6 3 SENSOR INDEX2 28 2 6 4 SENSOR INDEX3
32. RATE CHANGB MCC06 CPPIN CPPOUT 1 2 MCC06 CPPIN CPPOUT X Y Y 1 MCC06 lt 2 2 X Y X Y 2 1 END LSPD SPEC INITIALIZE3 END LSPD ENABLE
33. URATE DATA DRATE DATA lt gt COMMAND H001E RATE DATA SET COMMAND DATA2 PORT WRITE DRIVE DATA2 PORT URATE RATE DATA 7 DRIVE DATA3 PORT DRATE RATE DATA WRITE A 200 65 535 H 00C8 H FFFF STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 p11 Di0 pg pe p7 De ps p4 ps p2 p1lpol D15 URATE DATA DO 186A H 0753 lt DSEL gt DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 D9 pe p7 pe ps p4 D3 D2 D1 Do D15 DRATE DATA DO H 186A H 0753 lt DSEL gt 200 200 42 MCC06 lt
34. CPPOUT CPP STOP CPPIN CPP STOP ENABLE 1 CPPIN 2 5 MHz 46 MCC06 lt gt D10 D11 0 0 D9 XMULTICHIP CP MODE X D13 YMULTICHIP CP MODE Y 0 SCAN 1 INDEX
35. SS0 SS0 2 6 3 SENSOR INDEX2 LSPD LSPD ELSPD INDEX SS0O SS0 STATUS1 PORT STBY 1 SENSOR INDEX2 SSO SSO INDEX 8 MCC06 lt gt 2 6 4 SENSOR INDEX3 LSP BD ek HE LSPD ELSPD SCAN INDEX SS0
36. 1 2 G E mail s support melec inc com TEL 042 664 5382 FAX 042 666 5664 TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com cHHHH
37. INC INDEX CHANGE INC INDEX CHANGE Hl 2 ABS INDEX CHANGE F ABS INDEX CHANGE Et ABS INDEX CHANGE i 3 PLS INDEX CHANGE PLS INDEX CHANGE i 24 MCC06 lt gt INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE
38. 1 SENSOR SCAN1 CW SENSOR SCANI COMMAND H0090 SENSOR SCAN1 COMMAND 2 SENSOR SCAN1 CCW SENSOR SCAN1 COMMAND H0091 SENSOR SCAN1 COMMAND 3 SRATE SENSOR SCAN1 S CW SENSOR SCAN1 COMMAND H 0098 SRATE SENSOR SCAN1 COMMAND 4 SRATE SENSOR SCAN1 S CCW SENSOR SCAN1 COMMAND H 0099 SRATE SENSOR SCAN1 COMMAND lt SENSOR SCAN1 gt i STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND
39. RATE CHANGE 4 5 1 RATE CHANGE RATE URATE DRATE RATE CHANGE RATE lt gt COMMAND H F03A RATE CHANGE COMMAND DRIVE DATA3 PORT D15 D8 URATE No AU DRIVE DATA3 PORT D7 D0 DRATE No SPEED CBUSY 0 Y COMMAND PORT WRITE STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 p12 p11 p1O pg pe p7 De pslp4 pslp2 p1lbpol D7 URATE No DO D7 DRATE No gt DO URATE DRATE RATE TYPE RATE RATE DATA TABLE No URATE DRATE RATE No RATE TYPE RATE RATE
40. S SRATE STOP MODE SRATE INDEX MODE SHSPD 4 i lt SLSPD SLSPD SELSPD 1 MCC06 lt gt 2 4 SPEC INITIALIZE3 COMREG ENABLE COMREG STOP MODE STATUS1 PORT BUSY 1 8 DRIVE DELAY TIME STATUSS PORT COMREG FL 0 2 4 1 MCC06 8
41. SPEC INITIALIZE3 SRATE INDEX MODE SRATE STOP MODE S S S SRATE DOWN POINT S S 2 3 1 SRATE INDEX SRATE INDEX MODE SRATE INDEX S INDEX SHSRD a 0 ASSIS TI TI 2 2 lt S LSPD DE SLSPD SELSPD ES EBM 2 3 2 SRATE STOP MODE S
42. ERROR 1 X Y lt 1 2 ERROR 1 X Y 1 Sn 2 2 ERROR 1 X Y 2 lt
43. INC INDEX lt gt COMMAND HF03C INC INDEX CHANGE COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 STATUS1 PORT INDEX CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 p10 pg pe Dr De ps p4 pslp2 p1lbpol D31 INDEX CHANGE D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pg pe Dr pe ps p4 ps D2 D1 po D15 INDEX CHANGE DO
44. MCC06 lt gt 4 7 2 SENSOR INDEX1 INDEX SS0 1 SENSOR INDEX1 SENSOR INDEX1 COMMAND H0094 SENSOR INDEX1 COMMAND 2 SRATE SENSOR INDEX1 S SENSOR INDEX1 COMMAND H 009C SRATE SENSOR INDEX1 COMMAND 4 7 3 SENSOR INDEX2 SS0 1 SENSOR INDEX2 SENSOR INDEX2 COMMAND H 0095 SENSOR INDEX2 COMMAND 2 SRATE SENSOR INDEX2 S SENSOR INDEX2
45. COMMAND H01A2 MULTICHIP SRATE CIRCULAR CP COMMAND 4 2 SRATE CCW S CCW COMMAND H 01A3 MULTICHIP SRATE CIRCULAR CP COMMAND 5 2 CONST CW CW COMMAND H 01A4 MULTICHIP CIRCULAR CONST CP COMMAND 6 2 CONST CCW CCW COMMAND H01A5 MULTICHIP CIRCULAR CONST CP COMMAND 7 2 SRATE CONST CW S CW MULTICHIP SRATE CIRCULAR CONST CP COMMAND 8 2 SRATE CONST CCW S CCW MULTICHIP SRATE CIRCULAR CONST CP COMMAND 76 MCC06 lt gt 2
46. RATE CHANGE RATE URATE DRATE UR1 URATE DRATE LSPD Or te be LSPD ELSPD RATE CHANGE RATE1 RATE2 _ RATE3 DOWN DRIVE UP DRIVE CHANGE CHANGE MCC06 lt gt 2 5 4 INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE INC ABS PLS INDEX CHANGE 3 INC INDEX CHANGE INC INDEX ABS INDEX CHANGE
47. RATE RATE DATA 65 535 43 MCC06 lt gt 3 4 CP SPEC SET X X Y lt gt COMMAND H010F CP SPEC SET COMMAND X DRIVE DATA3 PORT STATUS1 PORT BUSY 0 0 X STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 5 00 010 0 60 D0as 09 YMULTICHIP YCPP STOP XMULTICHIP STOP CP MODE ENABLE CP MODE ENABLE CP MODE TYPE2 TYPE1 TYPE0 D2 D0 DRIVE TYPE2 0 X Y X Y a
48. S DRIVE DELAY TIME 3 SARSRSRAS LSPD LSPD ELSPD LSPD ELSPD lt INDEX CHANGE gt HSPD Sen LSPD ELSPD LSPD ELSPD LSPD i lt INDEX CHANGE END PULSE END PULSE HSPD LSPD LSPD ELSPD lt lt INDEX CHANGE 26 MCC06 lt gt 2 6 SENSOR SS0 SS1 SENSOR
49. ABS INDEX PLS INDEX CHANGE INC INDEX STATUS1 PORT INDEX CBUSY 1 INDEX CHANGE INDEX CHANGE INDEX CHANGE SPEC INDEX CHANGE INC ABS PLS INDEX CHANGE COMMAND COMMAND DE DRIVE COMMAND 9 DRIVE COMMAND H 0022 SCAN H O00B8 AUTO CHANGE SCAN H 0023 SCAN H OOB9 AUTO CHANGE SCAN H 0024 INC INDEX H 00BA AUTO CHANGE INC INDEX HO025 ABSINDEX HOOBB AUTOCHANGEABSINDEX HO042 SRATESCAN FU Whs b 0 HO0043 SRATESCAN HO0044 MINCSRATEINDEXK HO045 ABSSRATEINDEX _ _ INDEX CHANGE
50. CHANGE CHANGE CHANGE CHANGE CHANGE CHANGE CHANGE CHANGE S SCAN END LSPD S INDEX END LSPD S SCAN S INDEX S SCAN S INDEX Xx 9 3 ll AN iM 2 3 9 SOFT LIMIT SCAN INDEX SCAN INDEX CHANGE INDEX ENE LSPD ENE LSPD CHANGE SHSPD CHANGE CHANGE x O 1
51. CHANGE POINT H00 H7F CHANGE DATA H00 H7F AUTO CHANGE DRIVE AUTO CHANGE 1 PULSE3 PULSE2 PULSE 1 HSPD SPEED1 SPEED3 DRATE LSPD 5 LSPD ELSPD SPEED2 0 0 0 01 2 No H00 1 PULSE1 1 SPEED1 H 01 2 PULSE2 2 SPEED2 H02 3 PULSE3 3 SPEED3 30 MCC06 lt gt AUTO CHANGE 2 HSPD SPD SS H 00 H 01 H 02 H 03 TIME2 TIME3 SPEED1 SPEED3 DRATE LSPD ELSPD 00 01 02 03 No 1 TIME1 1 2 TIME2 2
52. STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND SRATE DOWN POINT SET SRATE DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3 SPEC INITIALIZE4 CP SPEC SET SLSPD SHSPD SELSPD SRATE SCAREA12 SCAREA34 S S SRATE DOWN POINT SET S S SRATE DOWN POINT SET 51 MCCO06 lt
53. CPP STOP CPP STOP CPPIN CPP STOP ENABLE 1 CPPIN CPPOUT CPPIN STATUS5 PORT CPP MASK 1 CPP MASK 1 CPPIN CPPOUT 2 CPP MASK 1 CPP STOP ENABLE 1 CPP STOP ENABLE 1 CPPIN CPPOUT CPPIN CPPOUT CPPIN
54. gt Y DRIVE DATA1 PORT Y Y DRIVE DATA2 PORT Y Y Y DRIVE DATA3 PORT Y X DRIVE DATA1 PORT X X DRIVE DATA2 PORT X WRITE X X DRIVE DATA3 PORT X WRITE 8 388 607 8 388 607 H 80_0001 H7F_FFFF Av CW CCW 2 STATUS1 PORT STATUS1 PORT BUSY 0 BUSY 0 COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 Y gt A8 Y DRIVE DATA2 PORT
55. SRATE DRIVE TYPE SRATE INDEX MODE 1 S SRATE DOWN POINT SET 0 0 30 D8 D9 MCC06 lt gt COMREG ENABLE _0 1 1 STATUSS PORT COMREG EP COMREG FL 0 COMREG EP 1 COMREG FL 1 COMREG STOP MODE LIMIT 0 1 LIMIT 0 BUSY 0 COMREG EP 1 LIMIT
56. 0 0 0 0 STBY 1 74 MCC06 lt gt 4 10 2 6 0 X Y X Y CW CCW 2 2
57. COMMAND H 009D SRATE SENSOR INDEX2 COMMAND 4 7 4 SENSOR INDEX3 SSO INDEX 1 SENSOR INDEX3 SENSOR INDEX3 COMMAND H0096 SENSORINDEX3 COMMAND 2 SRATE SENSOR INDEX3 S SENSOR INDEX3 COMMAND H 09E SRATE SENSOR INDEX3 COMMAND 683s MCC06 lt gt lt SENSOR INDEX1 2 3 gt WRITE DRIVE DATA3 PORT D15 D0 DATA3 PORT mnn 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF Se CW CCW 2 INDEX CBUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D16 STATUS1 PORT INDEX CBUSY 0 DRIVE COMMAND PORT COMMAND
58. amp MCC06 lt gt eR CO RET RN MN0016 1 MCC06 lt gt MCCO6 MCC06 MCC06 gt
59. AUTO CHANGE DRIVE SET 7 MCC06 lt gt 4 9 0 0 0 CW CCW CP SPEC X Y S X CP SPEC X X Y SE R X CP SPEC X X Y SET
60. 2 EE 2 lt 170 ps 1 3 8 DRIVE t2 lt 228 ps 1 1 2 0 SB CCWP 12 t3 11 2 t3 ee 1 SS0 INDEX CHANGE 6 7 AUTO CHANGE t1 lt 200 ns nW 2 201 us 1 BUSY t2 CHANGE CHANGE 18 81 MCC06 lt gt 6 8 t1 lt 200 ns nW 2 lt 1 BUSY t3 95 us 2 DRVE ii hb LU 12 t3 CWP 65 CCWP 11 12 3 ee ee 1 171us S t2 228 ps
61. DRIVE DATA2 PORT p15 p14 D13 p12 D11 p10 pg pe Dr De ps p4 pslp2 p1lbpol A31 INDEX CHANGE A16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pg pe Dr pe ps p4 D3 D2 D1 po A15 INDEX CHANGE gt AO HFFFF_FFFF ABS INDEX CHANGE ABS INDEX CHANGE END PULSE 59 MCC06 lt
62. SS0 STATUS1 PORT STBY 1 SENSOR INDEX3 SENSOR INDEX3 SSO0 SS0O INDEX SSO SCAN HSPD 29 MCC06 lt gt 2 7 AUTO CHANGE AUTO CHANGE AUTO CHANGE AUTO CHANGE CHANGE INDEX CHANGE AUTO CHANGE AUTO CHANGE END PULSE AUTO CHANGE
63. CPPOUT CPPOUT CPPIN CPPIN CPPOUT CPPIN CPPOUT DEND DRST lt gt END PULSE SOFT LIMIT CHANGE 9 MCC06 lt gt CP SPEC SET DRIVE TYPE
64. RATE CHANGE 56 MCC06 lt gt 4 6 INDEX CHANGE INDEX CHANGE INDEX CHANGE SPEC INDEX CHANGE INDEX CHANGE STATUS1 PORT INDEX CBUSY 0 INDEX CHANGE INDEX CBUSY 1 INDEX CHANGE INDEX CBUSY 0 INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX CHANGE STATUS1 PORT ERROR 1 4 6 1 INDEX CHANGE SPEC SET INDEX CHANGE lt gt COMMAND HF033 INDEX CHANGE SPEC SET COMMAND WRITE STATUS1 PORT INDEX CBUSY 0 Y DRIVE DATA3 PORT
65. RATE DATA 200 65 535 D3 0 0 D4 CIRCULAR CP MODE 2 2 0 1 0 END PULSE 1 DRIVE DELAY TIME END PULSE D7 D5 0 0 45 MCC06 lt gt D8 XCPP STOP ENABLE X D12
66. SPEED CHANGE SPEED CHANGE SOFT LIMTT SRATE SCAN STATUS1 PORT SPEED CBUSY 1 SPEED CHANGBE SS0 SS1 CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE SPEED CHANGE SPEED CHANGE SPEC SPEED CHANGE SPEED CHANGE COMMAND COMMAND CODE DRIVE COMMAND DRIVE COMMAND HO022 SCAN HOOB8 AUTO CHANGE SCAN AUTO CHANGE SCAN AUTO CHANGE INC INDEX AUTO CHANGE ABS INDEX RAE MANUAL SCAN SCAN HO0044 INCSRATEINDEK HO0045 ABSSRATEINDEX
67. 81 6 7 AUTO CHANGE 81 608 0 NN 82 6 9 CPPIN CPPOUT 82 MCC06 lt gt MCC06 END PULSE END PULSE END PULSE END LSPD SOFT LIMIT 2 SO
68. SOFT LIMIT gt A16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe Dr De ps p4 pslp2 p1lbpol A15 amp SOFTLIMIT gt AO SOFT LIMIT SOFT LIMIT 38 MCC06 lt gt 3 3 RATE SPEC INITIALIZE1 RATE TYPE 2 RATE RATE RATE 1 048 S6 ms kHz 0 0125 ms kHz RESOLUTION URATE DATA URATE RATE DATA DRAT
69. 4 SENSOR SCAN1 SPEC INITIALIZE2 SS0 SS1 TYPE SS0 SS1 SENSOR SENSOR INDEX1 2 3 SPEC INITIALIZE2 SSO TYPE SS0 SENSOR SS1 TYPE SENSOR S 4 SENSOR S 2 6 1 SENSOR SCAN1 LSPD LSPD ELSPD SS0 _ kc SS1 3 SS1 SCAN SS0 SS1 SS0O STATUS1 PORT STBY 1 SS1 SS0
70. 3 TIME3 3 4 TIME4 1 SPEED1 2 SPEED2 3 SPEED3 AUTO CHANGE 3 HSPD LSPD LSPD ELSPD PULSE2 PULSE1 EN DR2 2 NN RS SPEED2 S4 DR4 UR4 AE SPEED1 00 01 02 03 04 05 No a tt tt CHANGE i sk H 00 H 01 H 02 H 03 H 04 H 05 1 S1 RATE1 UR1 DR1 2 S2 RATE2 UR2 DR2 1 PULSE1 1 SPEED1 3 S3 RATE3 UR3 DR3 4 S4 RATE4 UR4 DR4 2 PULSE2 2 SPEED2
71. COMREG ENABLE 1 DATA2 PORT WRITE DATA3 PORT WRITE STATUS5 PORT COMREG FL 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 STATUS5 PORT COMREG FL 0 DRIVE COMMAND PORT INC INDEX COMMAND 2 X Y SPEC INITIALIZE3 COMREG ENABLE 1 Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA2 PORT WRITE X DATA3 PORT WRITE Y STATUS5 PORT COMREG FL 0 X STATUS5 PORT COMREG FL 0 X COMMAND PORT WRITE Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRI
72. DRIVE DATA3 PORT D15 D0 1 5 000 000 H0000 0001 004C_4B40 STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 D14 D13 D12 D11 D10 D9 pe p7 pe ps p4 ps p2 p1 bpol lelele e olole os loomeers DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg De p7 De Ds D4 D3 D2 D1 po D15 SPEED CHANGE DO SPEED CHANGE 1 Hz 5 MHz 1 Hz 0 1 Hz s M S MHz SPEED CHANGE 55 MCC06 lt gt 4 5 RATE CHANGE RATE CHANGE STATUS1 PORT SPEED CBUSY 0 RATE CHANGE SPEED CBUSY 1 RATE CHANGE SPEED CBUSY 0 RATE CHANGE
73. S INDEX CHANGBE SRATE SCAN SRATE INDEX SHSPD INDEX CHANGE INDEX CHANGE SRATE DOWN POINT SET INDEX CHANGE SRATE SCAN SPEED CHANGE SHSPD INDEX CHANGE SHSPD 529 MCC06 lt gt 1 INC INDEX CHANGE F
74. UP DOWN CONST DRIVE CHANGE DRATE LSPD ELSPD SDR 1 UP DRIVE DOWNDRIVE CHANGE HSPD DRATE LSPD LSPD ELSPD CONST DRIVE CHANGE HSPD SHSPD UP DRIVE LSPD SLSPD DOWN DRIVE 17 MCCO06 lt gt S UP DOWN CONST CHANGE S UP DOWN CONST CHANGE UP DOWN CONST DRIVE CHANGE SDRATE SDRATE SLSPD SELSPD SLSPD SHSPD CONST CONST S S gt SURATE SS SDRATE SLSPD SLSPD SELSPD CONST DRIVE CHANGE td
75. X BUSY 1 Y X Y 2 2 BUSY 0 COMREG EP 1 2 X Y STATUS1 PORT ERROR 1 LIMIT LIMIT SOFT LIMIT COMREG STOP MODE 0 COMREG ENABLE 0
76. gt COMMAND H001F DOWN POINT SET COMMAND i STATUS1 PORT BUSY 0 COMMAND PORT WRITE DOWN POINT SET STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DOWN POINT SET DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3 SPEC INITIALIZE4 CP SPEC SET LSPD HSPD ELSPD RATE DOWN POINT SET
77. BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT A31 A16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 Di0 pg pe Dr De ps p4 ps p2 p1lbpol A31 A16 DRIVE DATA3 PORT p15 p14 D13 p12 D11 Di0 pg pe p7 De ps p4 pslp2 p1lbpol A15 AO HFFFF_FFFF
78. STATUS1 PORT SPEED CBUSY 1 CHANGE SS0 SS1 CHANGE UP DRIVE DOWN DRIVE CONST DRIVE UP DOWN CONST CHANGE UP DOWN CONST CHANGE UDC SPEC UP DOWN CONST CHANGE UP DOWN CONST DRIVE COMMAND COMMAND SE DRIVE COMMAND H 0023 SCAN H O00B9 AUTO CHANGE SCAN HO022 SCAN HOOB8 AUTOCHANGESCAN HO024 INCINDEX HOOBA AUTOCHANGEINCINDEX 2 SESe MANUAL SCAN SCAN H0044 MINCSRATEINDEXK HO045 ABSSRATEINDEX _ CHANGE S CHANGE
79. 12 348us S 12 405 us 2 6 9 CPPIN CPPOUT CPPOUT a 1 50 ns 50 ns CPPIN a CE Max 15 ns h CPPIN I ia OE 1 Max 75 ns Max 75 ns io 1 100 ns 100 ns Max 175ns Max 175 ns 8 R1 1 1 2 3 4 5
80. SBKHRRDSSS nl SCAN INDEX 6 2 1 4 2 Boost 2 SCAN INDEX MCC06 lt gt 2 2 SOFT LIMIT SPEC INITIALIZE3 SOFT LIMIT ENABLE 2 SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT CW SOFT LIMIT SOFT LIMIT CCW SOFT LIMIT SOFT LIMIT SOFT LIMIT SOFT LIMTT
81. SRATE SCAN CHANGE SRATE INDEX SOFT LIMIT SRATE SCAN SHSPD CHANGE CHANGE SRATE DOWN POINT SET CHANGE SRATE INDEX CHANGE SRATE INDEX SOFT LIMIT SRATE SCAN 16 MCCO06 lt gt UP DOWN CONST CHANGE UP DOWN CONST CHANGE
82. DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe Dr De ps p4 ps p2 p1lbpol D31 D16 DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg De Dr De Ds D4 D3 D2 D1 Do D15 gt DO AUTO CHANGE DRIVE SET 70 MCC06 lt gt 4 8 6 AUTO CHANGE ABS INDEX ABS INDEX AUTO CHANGE lt gt COMMAND H O00BB AUTO CHANGE ABS INDEX COMMAND WRITE DRIVE DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF Se 2
83. 2 END PULSE CHANGE UP DOWN CONST CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SS0 SS1 UP DOWN CONST CHANGE SPEED CHANGE SPEED CHANGE SOFT LIMIT SRATE SCAN RATE CHANGE RATE CHANGE RATE CHANGE
84. 1 ms 1 STBY 1 0 60 MCC06 lt gt 2 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF CW CCW 2 0 65 535 H 0000 H FFFF 1 ms DRIVE DATA2 PORT
85. CCW SOFT LIMIT CW SOFT LIMIT SOFT LIMIT SOFT LIMIT ORIGIN 2 2 1 SOFT LIMIT SOFT LIMIT SOFT LIMIT SOFT LIMIT SOFT LIMIT STATUS1 PORT LSEND STATUS2 PORT CW SOFT LIMIT CCW SOFT LIMIT CW SOFT LIMIT LSEND 1 CW SOFT LIMIT 1 CW SOFT LIMIT CCW CCW SOFT LIMIT LSEND 1 CCW SOFT LIMIT 1 CCW SOFT LIMIT CW SOFT LIMIT X Y SOFT LIMIT SOFT
86. COMREG STOP MODE BUSY 0 COMREG EP 1 D15 D10 0 0 3 MCC06 lt gt 3 2 SOFT LIMIT 3 2 1 CW SOFT LIMIT SET SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CW SOFT LIMIT COMMAND H 0008 CW SOFT LIMIT SET COMMAND H7FFF FFFF 3 2 2 CCW SOFT LIMIT SET SPEC INITIALIZE3 SOEFT LIMIT ENABLE 1 CCW SOFT LIMIT COMMAND H 0009 CCW SOFT LIMIT SET COMMAND H 8000 0001 DRIVE DATA2 PORT SOFT LIMIT AS31 A16 WRITE DRIVE DATA3 PORT SOFT LIMIT At15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 STATUS1 PORT BUSY 0 Y WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31
87. osa sass Ss 57 46 1 INDEX CHANGE SPEG SET ROAR 57 4 6 2 INC INDEX CHANGE 58 4 6 3 ABS INDEX CHANGE 59 64 SNDEXCHANGE RR CINE NINE 60 8 MCC06 lt gt 4 7 SENSOR 61 4 7 1 SENSOR SCAN1 62 2 SENSOR INDEX1 maar nA 63 4 7 3 SENSOR INDEX2 63 4 7 4 SENSOR INDEX3 63 4 8 AUTO CHANGE 65 4 8 1 CHANGE POINT SET 66 8 2 GHANGE DATA SET 67 4 8 3 AUTO CHANGE DRIVE SET 68 4 8 4 AUTO CHANGE SCAN 69 4 8 5 AUTO CHANGE INC INDEX 70 4
88. SENSOR SCAN1 SSO0 SS1 SS0 SS1 SS0 SS1 SS0O SS1 MCC06 lt gt 2 6 2 SENSOR INDEX1 LSPD LSPD ELSPD SS0 SSO SS0 a TINDEX SCAN SSO SS0 SENSOR INDEX1
89. DRIVE DATA2 PORT p15 p14 D13 p12 D11 p10 pg pe Dr De ps p4 pslp2 p1lbpol D31 D16 DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe Dr De ps p4 ps pz p1lbpol D15 DO SENSOR INDEX1 2 CW CCW SENSOR INDEX3 SS0 SS0O CW CCW 0
90. SRATE DOWN POINT SET S S S CHANGE SRATE INDEX MODE SRATE INDEX 0 SRATE INDEX 1 SRATE INDEX 1 SRATE DRIVE TYPE 1 S SRATE DOWN POINT SET SRATE STOP MODE S 0 1 1
91. gt 3 3 3 SRATE DATA SET SPEC INITIALIZE1I1 RATE TYPE S SURATE DATA SDRATE DATA lt gt COMMAND H 003E SRATE DATA SET COMMAND WRITE A BR DRIVE DATA3 PORT SDRATE RATE DATA WRITE EE 200 65 535 H 0080 HFFFF et BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 pe ps p4 D3 p2 p1 po 186A H 0753 lt DSEL gt DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 pe Ds pD4 p3 p2 p1 po H 186A H 0753 lt DSEL gt DRIVE DATA2 PORT SURATE RATE DATA STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 200 200 S SCAREA1 4 SURATE SDRATE 8 RATE
92. gt 4 3 UP DOWN CONST CHANGE UP DOWN CONST CHANGE UDC SPEC UP DOWN CONST CHANGE CHANGE STATUS1 PORT SPEED CBUSY 0 CHANGE SPEED CBUSY 1 CHANGE SPEED CBUSY 0 CHANGE CHANGE 4 3 1 UDC SPEC SET UP DOWN CONST CHANGE lt gt COMMAND HF030 UDC SPEC SET COMMAND WRITE SPEED CBUSY 0 Y DRIVE DATA3 PORT STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D10 08 CONST CONST CONST TYPE2 TYPE1 TYPE0
93. D23 D16 gu WRITE o F i DRIVE DATA3 PORT D15 DO 1 lt 5 000 000 H0000_0001 H004C 4B40 BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 D14 D13 D12 D11 D10 D9 pe p7 pe ps p4 ps p2 p1lbpol IIEIEIPIEIEGCESCEEe2C DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe Dr De ps p4 pslp2 p1lbpol D15 ELSPD gt DO H 0000 012C 300 Hz H 0000 0320 800 Hz lt DSEL gt ELSPD 1Hz 5 MHz 1 Hz 0 1 Hz 5 M MHz 48 MCC06 lt gt 4 1 2 DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1
94. MCC06 lt gt 2 8 MCC06 CPPIN CPPOUT CP SPEC SET 6 3 X Y 1 X 1 Y 2 X 2 Y 1 CPPOUT CPPIN CPPOUT CPPIN
95. S050 RRR 39 3 3 1 SPEC INITIALIZE1 RESOLUTION 41 3 3 2 RATE DATA SET a eR AI An Ap 42 3 3 3 SRATE DATA SET 43 0 OM SEOUSEE NM 44 D0 2 44 D4 45 D8 12 CPP STOP CPPIN 46 D9 13 SCAN INDEX 47 48 4 1 END LSPD 48 1 1 ELSPD SET SR NNRNRNRNRNSNRIGNNMeNNetNeetieeteeeeaas 48 42 DOWN POINTESET DR SMe 49 4 2 S END LSPD 50 21 GEESPBSEE ME tt TS SWW 50 4 2 2 SRATE DOWN POINT SET 51 4 3 UP DOWN CONST CHANGE 52 3 UDGSP GSET A TR oii ddARRARRGRRRRRRRRRRRRNS 52 992 UPDRIVE RR DR erred dc dd dd eds 53 4 3 3 DOWN DRIVE 53 4 3 4 GONST DRIVE PA A AA A A A AA 53 SREED CRANGEE CRRA 54 44 1 SPEED OCHANGE SPEC SET nine 54 492 SPEED CHANGE SR SR TSG 55 4 5 RATE CHANGE HH 56 4 5 1 RATE CHANGE 56 4 6 INDEX CHANGE
96. COMREG 0 ENABLE MODE D1 po SRATE GE 7 ia 2 DB STOP INDEX RE ENABLE ENABLE SP TYPE MODE MODE TYPE MODE DO END PULSE TYPE END PULSE 0 1 CW CCW 0 0 INDEX END PULSE 1 0 INDEX END PULSE 0 INDEX END PULSE END PULSE END PULSE TYPE 1 D1 END PULSE STOP MODE END PULSE 0 END PULSE 1 END
97. CONST DRIVE S SCAREA2 SCAREA4 SPEED CHANGE SHSPD UP DRIVE SHSPD S SHSPD S SHSPD SPEED CHANGE SLSPD DOWN DRIVE SLSPD S SLSPD S SLSPD 18 MCC06 lt gt 2 5 2 SPEED CHANGE SPEED CHANGE SPEED CHANGE SPEED CHANGE
98. SENSOR SSO0 SS1 4 3 2 UP DRIVE lt gt COMMAND HF034 UP DRIVE COMMAND STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE 4 3 3 DOWN DRIVE STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND lt gt COMMAND HF035 DOWN DRIVE COMMAND STATUS1 PORT SPEED CBUSY 0 Y STATUS1 PORT SPEED CBUSY 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 4 3 4 CONST DRIVE lt gt COMMAND H F036 CONST DRIVE COMMAND STATUS1 PORT SPEED CBUSY 0 COMMAND PORT WRITE STATUS1 PORT SPEED CBUSY 0 DRIVE COMMAND PORT COMMAND 53 MCC06 lt gt 4 4 SPEED CHA
99. p15 D14 D13 D12 D11 Di0o pg pelp7 pelpslp4 pslp2lp1lbpol A7 lt Y gt AO A23 Y gt A16 Y DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pg pe Dr De Ds D4 D3 D2 D1 po A15 amp Y A0 X DRIVE DATA1 PORT p15 D14 D13 D12 D11 Di0 pg De Dr De Ds D4 D3 D2 D1 po A23 X A8 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 Di0 pg pslp7 pe ps p4 pslp2lp1lbpol A7 lt X gt AO A23 X gt A16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe Dr De Ds D4 D3 D2 D1 po A15 X A0 0 0 7 MCC06 lt gt 5
100. ELSPD ELSPD ELSPD ER SCAN INDEX INDEX SOFT LIMIT LSPD ELSPD LSPD ELSPD LSPD MCC06 lt gt 2 1 2 S SCAN INDEX 2 1 3 S
101. STATUS1 PORT INDEX CBUSY 0 INDEX INDEX INDEX CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO INDEX CHANGE TYPE0 D1 INDEX CHANGE TYPE1 D2 INDEX CHANGE TYPE2 INDEX CHANGE D15 D3 0 0 57 MCC06 lt gt INDEX CHANGE 0 0 0 INDEX CHANGE CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIOO 1 GPIO4 1 0 0 0 1 0 1 SS0 SS1 SPEC INITIALIZE2 SENSOR SSO0 SS1 4 6 2 INC INDEX CHANGE
102. AUTO CHANGE COMMAND H 00B9 AUTO CHANGE SCAN COMMAND AUTO CHANGE SCAN gt i STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND AUTO CHANGE DRIVE SET 69 MCC06 lt gt 4 8 5 AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE lt gt COMMAND HO00BA AUTO CHANGE INC INDEX COMMAND DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 DATA3 PORT WRITE i STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0
103. D15 DO0 0 1 5 000 000 HI0000 0001 004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0 4 8 2 CHANGE DATA SET lt gt COMMAND HO00B1 CHANGE DATA SET COMMAND WRITE WRITE WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D15 D8 D7 D0 No DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p15 D14 D13 p12 p11 p1O pg pe
104. gt 4 6 4 PLS INDEX CHANGE INC INDEX lt gt COMMAND HF0SE PLS INDEX CHANGE COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 STATUS1 PORT INDEX CBUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 Di0 pg pe Dr De ps p4 pslp2 p1lbpol D31 INDEX CHANGE gt D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pg pe Dr pel ps p4 D3 D2 D1 po D15 INDEX CHANGE gt DO
105. X Y 2 PARR TTF Re 2 X ERROR 1 Y ERROR 0 x Y lt X Y 3 1 gt gt gt a SN 2 2 X ERROR 1 Y ERROR 1 2 13 MCC06 lt gt BUSY 0 COMREG FL 0 BUSY 0 INDEX SPEC INITIALIZE3
106. PD7 D6 D5 D4 D3 p2 Dp1 po DOWN DOWN DOWN UP UP UP TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 UP TYPE2 0 UP DRIVE CHANGE D6 D4 DOWN TYPE2 0 DOWN DRIVE CHANGE D10 D8 CONST TYPE2 0 CONST DRIVE CHANGE D15 D11 D7 D3 0 0 52 MCC06 lt gt CHANGE 0 0 0 CHANGE CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIO0 1 GPIO4 1 0 0 0 1 0 1 SS0 SS1 SPEC INITIALIZE2
107. RATE RATE MCC06 lt gt INDEX CHANGE INC INDEX CHANGE INC INDEX ABS INDEX CHANGE ABS INDEX PLS INDEX CHANGE INC INDEX SENSOR SCAN1 SS0 SS1 SENSOR INDE
108. CP SPEC X Y S 2 X CP SPEC X X Y SE R X CP SPEC X X Y SET STATUS1 PORT STBY 1 2 STATUS1 PORT STBY 1 2
109. 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 p12 D11 p10 pg pe Dr De pslp4 pslp2 p1lbpol jelelelelolele om smors DRIVE DATA3 PORT D15 D14 D13 D12 D11 Di0 pg De p7 De Ds D4 D3 D2 D1 po D15 SELSPD gt DO H 0000 012C 300 Hz H 0000 0320 800 Hz lt DSEL gt SELSPD 1Hz 5 MHz 1 Hz 0 1 Hz M MHz 50 MCC06 lt gt 4 2 2 SRATE DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1 SRATE DRIVE TYPE 1 SRATE INDEX MODE 1 SRATE STOP MODE 1 S lt gt COMMAND H003F SRATE DOWN POINT SET COMMAND i STATUS1 PORT BUSY 0 COMMAND PORT WRITE SRATE DOWN POINT SET
110. DRIVE DATA3 PORT D15 DO STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p15 p14 D13 p12 p11 p1O pg pe Dr pe lpslp4 pslp2 p1lbpol D7 gt DO D7 No gt DO H00 H7F H 00 DRIVE DATA2 PORT p15 p14 D13 p12 D11 Di0 pg pe p7 De ps p4 pslp2 p1lbpol D31 D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pg pe Dr pe ps p4 D3 D2 D1 po D15 gt DO H 00 H 7F H 0000 0000 1 No
111. PULSE 1 SCAN END PULSE 35 D2 D3 D4 D5 D6 D7 MCC06 lt gt END LSPD ENABLE END LSPD 0 ENDLSPD 1 END LSPD 1 ELSPD SET SELSPD SET 1 DOWN POINT SET SRATE DOWN POINT SET SOFT LIMIT ENABLE SOFT LIMIT 0 SOFT LIMIT 1 SOFT LIMIT 1 CW SOFT LIMIT CCW SOFT LIMIT SRATE DRIVE TYPE S 0 1 1 S
112. YCPP STOP ENABLE Y 2 CPP STOP ENABLE 0 CPP STOP 0 CPP STOP 1 CPP STOP CPPIN 0 CPPIN 1 CPPIN CPP STOP CPP STOP ENABLE 1 CPPIN CPPIN 2 CPP STOP STATUS1 PORT ERROR 1
113. lt gt 6 X Y X Y MCC06 X Y gt gt gt t12 DRIVE 1 80 us 160 ps 160 us 3 3 2 13 DRIVE 1
114. p7 De pslp4 pslp2 p1lbpol D7 gt DO D7 No gt DO H00 H7F H 00 DRIVE DATA2 PORT p15 p14 D13 D12 D11 p10 pg pe p7 De ps p4 pslp2 p1lbpol D31 D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 D9 pe p7 pe ps p4 ps p2 p1 Do D15 DO H00 H7F H0000 0000 67 MCC06 lt gt 1 RATE
115. 1 COMMAND WRITE a STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D10 Do De RESOL RESOL RESOL RESOL RESOL RESOL RESOL RESOL D7 D6 D5 D4 D3 D2 D1 DO p6 Ds p4 ps p2 Di po FIRST FIRST PULSE PULSE PULSE PULSE OUTPUT OUTPUT DRIVE DATA3 PORT STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND D 5 RATE TYPE2 RATE RATE TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 D6 D4 RATE TYPE2 0 L1 TYPE RATE TYPE RATE TYPE2 0 110 D15 D8 RESOL D7 D0O RESOL 1 RESOLUTION RATE TYPE RESOLUTION 1 255 HO1 HFF 0 1 41 MCC06 lt gt 3 3 2 RATE DATA SET SPEC INITIALIZE1I RATE TYPE
116. 5 MCC06 lt gt 2 5 1 UP DOWN CONST CHANGE UP DOWN CONST CHANGE CHANGE CHANGE CHANGE SS0 SS1 UP DOWN CONST CHANGE SS0 SS1 CHANGE SPEC INITIALIZE2 SSO SS1 CHANGE UP DOWN CONST CHANGE UP DRIVE DOWN DRIVE CONST DRIVE
117. 8 6 AUTO CHANGE ABS INDEX 71 4c9c SE ORNPNWSS 72 49 RR 73 4105 09905050900 ood 75 40 99090 76 78 5 1 DOWN POINT SET 78 5 2 SRATE DOWN POINT SET 78 DAR TT CNA A RR 79 6 1 CHANGE HH 79 25 INDEKGNANG 7 79 6 3 SENSOR SCAN1 80 6 4 SENSOR INDEX1 80 6 5 2SENSORIINDEBX2 oe Ta 81 6 6 SENSOR INDEX3
118. ATA3 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 WRITE STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND Y DRIVE DATA1 PORT p15 p14 D13 p12 p11 p10 pg pe Dr pel ps p4 pslp2 p1lbpol A31 A16 X DRIVE DATA1 PORT p15 D14 D13 D12 D11 D10 pe pe Dr De Ds D4 D3 D2 D1 po A15 gt AO DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe p7 pelps p4 pslp2 p1lbpol A31 gt A16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 D9 pe p7 De ps p4 D3 D2 D1 Do A15 AO
119. C06 lt gt t1 lt 200 ns t2 lt 168 us 1 S t2 lt 225 us 1 t2 1 SS0 2 BUSY DRIVE 0 TL A _ mml 7 640 us t7 640 us 1 6 4 SENSOR INDEX1 W 1 BUSY DRIVE WR EE CCWP Mo SS0 80 t1 lt 200 ns t2 lt 173 us 1 S t2 231 us 1 12 MCC06 lt gt 6 5 SENSOR INDEX2 t1 lt 200 ns nW 8 2 lt 174 ps 1 2 8 DRIVE 2 231 us 1 CWP t3 95us 2 1 2 t3 ee me SSO SENSOR SCAN1 6 6 SENSOR INDEX3 t1 lt 200 ns nW
120. D15 D3 0 0 54 MCC06 lt gt SPEED CHANGE 0 0 0 SPEED CHANGE CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIOO 1 GPIO4 1 0 0 0 SS0 SS1 SPEC INITIALIZE2 SENSOR SSO0 SS1 4 4 2 SPEED CHANGE lt gt COMMAND H F038 SPEED CHANGE COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16
121. E DATA DRATE RATE DATA S RESOLUTION SURATE DATA SURATE RATE DATA SDRATE DATA SDRATE RATE DATA RATE CHANGE RATE RATE SPEC INITIALIZEI RATE TYPE SPEC INITIALIZE1 RESOLUTION RATE DATA SET S SRATE DATA SET RESOLUTION RATE DATA 2 RATE RATE ms R x 0 016 1 RATE kHz OSN kHz D kHz 0 05xD D RESOLUTION 1 255 R RATE DATA 200 65 535
122. FT LIMIT 2 SOFT LIMIT S S S SRATE INDEX S INDEX S S BUSY 1 8 STATUSS PORT END PULSE
123. LIMIT SOFT LIMIT SOFT LIMIT ORIGIN ORIGIN gt CW SOFT LIMIT lt CCW SOFT LIMIT HFFFF_FFFF ORIGIN SOFT LIMIT ORIGIN STATUS2 PORT CW SOFT LIMIT 0 CCW SOFT LIMIT 0 SOFT LIMIT SOFT LIMIT SOFT LIMIT SOFT LIMIT STATUS2 PORT CW SOFT LIMIT CCW SOFT LIMIT 10 MCC06 lt gt 2 3 S
124. NGE SPEED CHANGE SPEED CHANGE SPEC SPEED CHANGE SPEED CHANGE STATUS1 PORT SPEED CBUSY 0 SPEED CHANGE SPEED CBUSY 1 SPEED CHANGE SPEED CBUSY 0 SPEED CHANGE SPEED CHANGE 4 4 1 SPEED CHANGE SPEC SET SPEED CHANGE lt gt COMMAND HF031 SPEED CHANGE SPEC SET COMMAND WRITE SPEED CBUSY 0 Y DRIVE DATA3 PORT STATUS1 PORT SPEED CBUSY 0 SPEED SPEED SPEED CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO SPEED CHANGE TYPE0 D1 SPEED CHANGE TYPE1 D2 SPEED CHANGE TYPE2 SPEED CHANGE
125. R x 16 000 2 ms F 20 000 000 Hz 39 RATE DATA TABLE RESOL 1 RESOL 5 RESOL 10 RESOL 20 RESOL 50 RESOL 200 RATE DATA RATE DATA RATE DATA RATE DATA RATE DATA RATE DATA RATE ms kHzZ 62 500 51 250 42 500 35 000 29 375 24 375 20 625 16 875 13 750 11 250 9 375 7 500 6 250 5 125 4 250 3 500 2 938 2 438 2 063 1 688 1 375 1 125 938 750 625 513 425 350 294 244 206 40 58 750 48 750 41 250 33 750 27 500 22 500 18 750 15 000 12 500 10 250 8 500 7 000 5 875 4 875 4 125 3 375 2 750 2 250 1 875 1 500 1 250 1 025 850 700 588 488 413 338 275 225 56 250 46 875 37 500 31 250 25 625 21 250 17 500 14 688 12 188 10 313 8 438 6 875 5 625 4 688 3 750 3 125 2 563 2 125 1 750 1 469 1 219 1 031 844 688 563 469 375 313 256 213 MCC06 lt gt 58 750 48 750 41 250 33 750 27 500 22 500 18 750 15 000 12 500 10 250 8 500 7 000 5 875 4 875 4 125 3 375 2 750 2 250 1 875 1 500 1 250 1 025 850 700 588 488 413 338 275 225 MCCO06 lt gt 3 3 1 SPEC INITIALIZE1 RESOLUTION RATE TYPE RESOL D7 0 RESOLUTION gt COMMAND H 0001 SPEC INITIALIZE
126. RATE SURATE SDRATE SLSPD SELSPD SLSPD HANGE C GE SHSPD SURATE SLSPD ci SLSPD SELSPD SPEED CHANGE i CHANGE C GE SPEED CHANGE S S SCAREA2 SPEED CHANGE S S SCAREA4 1 MCC06 lt gt 2 5 3 RATE CHANGE RATE CHANGE RATE CHANGE RATE CHANGE SPEC INI
127. TIALIZE1 RATE TYPE RATE CHANGE RATE CHANGE RATE RATE STATUS1 PORT SPEED CBUSY 1 RATE CHANGE DRATE SS0 SS1 CHANGE UP DRIVE DOWN DRIVE CONST DRIVE RATE CHANGB RATE CHANGE COMMAND COMMAND DE DRIVE COMMAND CODE DRIVE COMMAND SCAN H O0O0BS8 AUTO CHANGE SCAN SCAN H O00B9 AUTO CHANGE SCAN AUTO CHANGE ABS INDEX MANUAL SCAN 1 ea SCAN RATE CHANGE INCINDEX HOOBA AUTOCHANGEINCINDEX
128. VE DATA2 PORT X X DRIVE DATA3 PORT X 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 Y STATUS5 PORT COMREG FL 0 X STATUS5 PORT COMREG FL 0 X DRIVE COMMAND PORT INC STRAIGHT CP COMMAND 14 MCC06 lt gt 2 5 CHANGE CHANGE CHANGE CHANGE lt 2 U D C SPEED RATE INC INDEX ABS INDEX PLS INDEX IO 0 OHANee CHANGE SCAN SCAN END LSPD INDEX END LSPD A INDEX S CHANGE S
129. X Y X Y 5 1 DOWN POINT SET Hz Hz Hz END LSPD ENABLE 1 us Ax4 46 50 ps 500 5 2 SRATE DOWN POINT SET A Hz Hz Hz Hz Hz 228 Hz _ Hz Hz SE Hz END LSPD ENABLE 1 us A x 9 48 97 ps 500 END LSPD ENABLE 1 SRATE DRIVE TYPE 1 us B C x 9 48 97 ps B C 100 500 END LSPD ENABLE 1 SRATE INDEX MODE 1 us B C x 27 3 3 460 ps B C 100 500 78 MCC06
130. X1 INDBEX SS0 SENSOR INDEX2 SSO DOWN CHANGE SENSOR INDEX3 SSO INDEX AUTO CHANGE 128 1 ms
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