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取扱説明書 (設計者用)

Contents

1. EA0 EBO EA1 EBI 2 CWP CCWP 32 3
2. HARD INITIALIZE4 5 0 _ 63 us 0 15 LOW HIGH _ _ 15 us 0 0
3. MCC06 lt gt gt 1 10 NEAT SN 14 SS O l phu sapssapananasanaqanaqanaqasa qasa ask as aaa esas oaa aaa saa ss 14 ul Sor SS 15 16 s 16 ll 17 3 9 21 4 PORT 23 4 1 USER CPU MCC06
4. 4 4 294 967 294 0000 0004 H FFFF FFFE 1 SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT STATUS4 PORT SPEED OVF 1 3 COMPARE REGISTER1 2 3 STATUS4 PORT COMP1 COMPARE REGISTER1 C
5. 13 3 1 DC 85 RH 1 13 3 2 60 RH 058 13 3 3 30
6. DRIVE DATA 2 3 PORT READ 0 9 8 1 COUNT LATCH SPEC SET lt gt COMMAND H F028 COUNT LATCH SPEC SET COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT
7. SCAN 1 lt lt SCAN 1 _ 40 MCC06 lt gt 5 1 2 INDEX INC INDEX ABSINDEX
8. HFFFF_FFFF 85 MCC06 lt gt 7 5 S S S SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S SCAREA2 SURATE S SCAREA3 SDRATE S
9. 1LSB 2LSB 2 147 483 647 2 147 483 647 32 8 388 607 8 388 607 24 2 X S 2 CENTER POSITION X Y PASS POSITION X Y CCW 1 L Z l mis
10. DEND DRST lt gt lt 2 END PULSE END PULSE 2 END PULSE END PULSE SOFT LIMIT SOFT LIMIT SOFT LIMIT CHANGE 5 4 1 2 2
11. HF018 DFL COUNTER INITIALIZE1 RELOAD ENABLE COMP1 AUTO CLEAR ENABLE COMP1 COMP1 STOP ENABLE COMP1 COMP1 INT ENABLE COMP1 DFLINT COMP DETECT TYPE COMP1 2 3 COMP STOP TYPE COMP1 2 3 D9 COMP GATE TYPE1 COMP1 2 3 DFLINT COMP1 2 3 08 TYPEO DFLINT PULSE TYPE1 _ COMP1 2 3 200 ns D6 DFLINT PULSE om DFLINT TYPE1 DFLINT COMP1 2 3 DFLINT TYPEO COUNT TYPE1 EA1 1 1 3845 COUNT
12. X h 2 4 B X X X Y 112 MCC06 lt gt 7 11 1 0 0
13. 1 2 3 4 5 1 2 G E mail s support melec inc TEL 042 664 5382 FAX 042 666 5664 TEL 042 664 5384 FAX 042 666 2031 193 0834 51
14. EEE EE EE asya ES INT3 0 INT3 0 li HPO EE EE es ce HOC a i j C 245 MCC06 lt gt 16 4 DRIVE COMMAND COMMAND UP DOWN CONST SPEED CHANGE __ _ _ _ __ j j INDEX CHANGE Is sss S H F039 EE GO 55 2 3 5 Pa IE rss E E E 246 R2 1
15. lt INDEX l 1 ammauchmemmemi l amma 5 1 3 JOG 1 1 JOG 5 1 4 UU SCAN INDEX 41 MCC06 lt gt 5 2
16. 8 16 BUSSELO 8 16 MCCO6 MCC06 END PULSE END LSPD SOFT LIMIT S UP DOWN CONST CHANGE SPEED CHANGE RATE CHANGE INDEX CHANGE SENSOR AUTO CHANGE 13 MCC06 lt gt 2 2 1 3 3V 20 MHz CKIO 20 MHz CKIO nRESET gt nRST nRST g lt gt CPP CPPOUT XCP CPPIN BUSSEL1 gt
17. 226 14 MCCO6 C define BYTE unsigned char define CHAR char define WORD unsigned short define SHORT short define DWORD unsigned long define LONG long define VOID Void SPEED typedef struct _S SPEED_PARAM URateNo BYTE DRateNo DWORD DWORD Hspd 1S_SPEED_PARAM CP POSITION typedef struct LONG X LONG Y 1S_CP_POSITION 0RG typedef struct _S_ORG_PARAM DWORD Cspd DWORD OffsetPulse WORD MarginPulse BYTE LimitDelayTime BYTE ScanDelayTime BYTE JogDelayTime S_ORG_PARAMW VOID Mcc06Inz VOID VOID X Jog VOID UP No DOWN No LSPD HSPD POSITION Y POSITION CONSTANT SPEED OFFSET PULSE MARGIN PULSE LIMIT DELAY TIME SCAN DELAY TIME J0G DELAY TIME VOID X_Scan S_SPEED_PARAM psSpeedP
18. X Y 1 COMMAND H 0170 INC CIRCULAR2 CP COMMAND 2 SRATE S COMMAND H0171 INC SRATE CIRCULAR2 CP COMMAND 3 CONST COMMAND H0172 INCCIRCULAR2 CONST CP COMMAND 4 SRATE CONST S COMMAND HO0173 INC SRATE CIRCULAR2 CONST CP COMMAND 115
19. TYPE1 TYPE0 STATUS1 PORT ERROR 1 ORIGIN CONSTANT SCAN SCAN ORIGIN ORG 0 5 ORG DETECT ORG 11 12 CWLM CCWLM ORG 10 121 D4 D5 MCC06 lt gt R1 ORIGIN FLG ENABLE INDEX 0 INDEX 1 INDEX ORIGIN
20. 7 4 1 SCAN CW lt gt COMMAND H0022 SCAN COMMAND 7 STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 7 4 2 SCAN CCW lt gt COMMAND H 0023 SCAN COMMAND STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 83 MCC06 lt gt 7 4 3 INDEX CW CCW
21. COUNT PULSE SEL2 COUNT 197 MCC06 lt gt D8 COUNT ENABLE TYPE0 D9 COUNT ENABLE TYPE1 D10 COUNT ENABLE TYPE2 CNTINT 1 DFLINT 1 SPEED COUNTER INITIALIZE3 SSO0 SS1 GPIO0 1 GPIO4 1 0 0 0 0 0 1 0 1 SS0 SS1 SPEC INITIALIZE2 SENSOR
22. COUNT TYPE 173 MCC06 lt gt D8 EXT PULSE TYPE0 D9 EXT PULSE TYPE1 D10 EXT PULSE TYPE2 0 COUNT PULSE SEL CWP CCWP 015 011 0 0 4 COUNT PULSE SEL COUNT
23. COMP1 COMP2 COMP3 DFLINT COMP1 DFL LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT DRIVE COMMAND DFL COUNTER INITIALIZE1 2 3 COUNTER COMMAND 183 MCC06 lt gt INITIALIZE
24. 2 2 SCAN 1 Hz 5 MHz 1 Hz 1 000 ms kHz 0 016 ms kHz RATE DATA TABLE No S INDEX 2 147 483 647 2 147 483 647 32 G SCAN
25. COUNT PULSE SEL2 1 D11 0 0 D12 COUNT PULSE SEL2 0 1 1 198 MCC06 lt gt D13 COMP2 TYPE2 COMP2 0 1 1 0
26. 1 CW CW COMMAND H0120 ABS CIRCULAR CP COMMAND 2 CCW CCVW COMMAND H0121 ABS CIRCULAR CP COMMAND 3 SRATE CW S CW COMMAND H0122 ABS SRATE CIRCULAR CP COMMAND 4 SRATE CCW S CCW COMMAND HO0123 ABS SRATE CIRCULAR CP COMMAND 5 CONST CW CW COMMAND H0124 ABS CIRCULAR CONST CP COMMAND 6 CONST CCW
27. COUNTER COMMAND ADDRESS COUNTER PRESET 6 1 DSEL DSEL DSEL nRST BUSY MCC06 DSEL 1 DSEL 0 66 MCC06 lt gt 6 2 SPEC INITIALIZE1 RATE lt gt COMMAND 0001 SPEC INITIALIZE1 COMMAND WRITE STATUS1 PORT BUSY WRITE DRIVE DATA3 PORT pe p8 RESOL RESOL RESOL SM RESOL RESOL RESOL D7 D6 D5 D3 D1 DO DRIVE DATA3 PORT STATUS1 PORT BUSY 0
28. CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 57 MCC06 lt gt ORG 4 ORIGIN ORIGIN
29. DFL OVF ADDRESS OVF DFLINT COMP3 ADRINT COMP3 DFLINT COMP2 ADRINT COMP2 DFLINT COMP1 ADRINT COMP1 STATUS5 CHANGE PORT PORT X CPP MASK CPPOUT INDEX CSET CHANGE SPEED CSET CHANGE CPPOUT MANUAL SCAN STATUS4 PORT PORT SPEED OVF PULSE OVF SPDINT COMP3 CNTINT COMP3 SPDINT COMP2 CNTINT COMP2 SPDINT COMP1 CNTINT COMP1 CPPIN MANUAL SCAN COMREG FL COMREG EP
30. PAUSE STATUS1 PORT PAUSE 0 ORIGIN END PULSE INDEX CHANGE MANUAL SCAN JOG PAUSE PAUSE CPPOUT STBY 0 139 MCC06 lt gt 8 2 1 STBY SPEC SET STATUS1 PORT STBY 0 STBY lt gt COMMAND 0080 STBY SPEC SET COMMAND WRITE STATUS1 PORT DRIVE DATA3 PORT STATUS1 PO
31. lt gt COMMAND H F00E SLOW STOP COMMAND DRIVE COMMAND PORT COMMAND 7 13 2 FAST STOP lt gt COMMAND HF00F FAST STOP COMMAND DRIVE COMMAND PORT COMMAND 7 14 7 14 1 NO OPERATION STATUS STATUS1 PORT DRVEND STATUS1 PORT ERROR STATUS5 PORT CPP MASK lt gt COMMAND H0000 NO OPERATION COMMAND STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 133 MCC06 lt gt 8 X H Y X Y 8 1
32. 84 MCC06 lt gt 7 4 4 INDEX CW CCW lt gt COMMAND H 0025 ABS INDEX COMMAND WRITE 2 DRIVE DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT A31 A16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT 015 p14 D13 D12 D11 Di0 5 1 A16 DRIVE DATA3 PORT D15 p14 D13 p12 D11 Di0 pe De Ds pt po 15 AO
33. JOG 1 10 MCC06 lt gt 2 2 2 0 5 LSB 2 147 483 647 2 147 483 647 32 INDEX 2 2 2 1LSB 2LSB
34. UP DOWN CONST CHANGE SPEED CHANGE INDEX CHANGE 550 SS1 UP DOWN CONST DRIVE 50 SS1 UP DOWN CONST CHANGE SS1 UP DRIVE 11 00 DOWN DRIVE 01 10 CONST DRIVE 1 UP DOWN CONST DRIVE 0 STATUS1 PORT DRIVE 1 SPEED CBUSY 0 CHANGE gt MCC06 lt gt R1 D8 RDYINT TYPE0 D9 RDYINT TYPE1 RDYINT RDYINT STATUS1 PORT DRVEND 1
35. SEND PULSE END PULSE SEND PULSE 0 S END PULSE END PULSE S END PULSE END PULSE 45 MCC06 lt gt 5 4 X X Y
36. 13 2 1 220 230 230 3 13 2 2 30 508 260 150 180 1 5 5 s N2 225 MCC06 lt gt 13 3 MCC06
37. HFFFF_FFFF 96 MCCO06 lt gt 7 8 2 X S X X Y X Y X Y 2 X X
38. 91 MCC06 lt gt 7 6 2 SESPD SET S END PULSE gt COMMAND H 0039 SESPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 2 DRIVE DATA3 PORT 015 00 DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE 1 5 000 000 H0000_ 0001 H 004C_4B40 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D12 D11 D10 pg pe p7 pe Ds p2 D1 po s o lt DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe De Ds D4 pt po D15 SESPD ON DO H0000 012C 300 Hz 0000 0320 800 Hz lt DSEL gt SESPD 1 Hz 5 MHz 1 Hz
39. BUSY 0 EXT PULSE 1 LIMIT ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 gt STATUS1 PORT BUSY 0 Y EXT PULSE 1 LIMIT LIMIT BUSY 0 lt SOFT RESET gt BUSY 0 SOFT RESET gt STATUS1 PORT BUSY 0 BUSY 1 BUSY 0 DRIVE DATA3 PORT 8000 Y
40. INT FACTOR CLR INT2 DFLINT 1 DFLINT PULSE TYPE 186 MCC06 lt gt D6 DFLINT PULSE TYPE0 D7 DFLINT PULSE TYPE1 2 3 0 0 0 1 1 0 1 1 D8 COMP TYPE0 D9 COMP GATE TYPE1 DFLINT COMP1 2 3 1 TYPEO COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 COMP3 COMP1 AND COMP2 COMP3 COMP1 AND COMP2 COMP3 OR AND D10 COMP STOP TYPE COMP1 2 3
41. 32 CCW 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF FFFF 2 ADDRESS COUNTER PORT SELECT rq DRIVE DATA1 2 3 PORT STATUS4 PORT ADDRESS OVF 1 3 COMPARE REGISTER1 2 3 STATUS4 PORT COMP1
42. DRIVE COMMAND SPEED COUNTER INITIALIZE1 2 3 COUNTER COMMAND 191 MCC06 lt gt INITIALIZE RELOAD ENABLE COMP1 COMP1 COMP1 COMP1 2 3 IE Si ilis SPDINT PULSE TYPE1 1 2 3 2 pe SPDINT PULSE TYPE0 CO 2 3 SP
43. BUSY 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF Y 2 WRITE COUNTER DATA2 PORT p15 p14 D13 D12 piti Di0 pg pa De ps D4 pt A31 16 STATUS1 PORT BUSY 0 COUNTER COMMAND PORT COMMAND COUNTER DATA3 PORT p15 D14 D13 D12 D11 D10 pa pe ps p4 pt A15 0 H0000 0000 H8000 0000 H8000 0000 STATUS4 PORT ADDRESS OVF 1 207 MCC06 lt gt R1 10 2 2 1 ADDRESS COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 0001 A
44. ORIGIN CONSTANT SCAN DELAY TIME MARGIN PRESET ORIGIN PRESET PRESET ORIGIN ORIGIN SPEC SET ORIGIN FLG ENABLE 1 OFFSET ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG 120 MCC06 lt gt 7 12 1 ORIGIN SPEC SET ORIGIN lt gt COMMAND 0060 O
45. 148 8 5 2 HARD INITIALIZE3 149 8 6 ME SQ ESE Eo tn et Te Ei 150 8 6 1 SIGNAL OUT 150 87 7 23 J 24 J 2 151 8 7 1 HARD INITIALIZE4 152 8 7 2 HARD INITIALIZE5 153 8 7 3 HARD INITIALIZE6 154 8 8 tt et 155 8 8 1 HARD INITIALIZE7 155 MCCO06 lt gt 89 156 8 0 1 SPEED PORT SELECT Ro i 156 NE 157 8 10 1 DATA READ PORT SELECT 157 84022 ERROR STATUS READ
46. ORIGIN STATUS1 PORT ERROR 1 CONSTANT SCAN ORIGIN CSCAN ERROR PULSE SET JOG ORIGIN JOG ERROR PULSE SET 122 MCC06 lt gt D6 AUTO DRST ENABLE SERVO SPEC SET DRST gt DRST 0 DRST 1 DRST 10 ms 1 DEND gt CONSTANT SCAN JOG DEND D7 LIMIT END ENABLE LIMIT CWLM CCWLM ORIGIN 0 LIMIT ORIGIN
47. 48 MCC06 lt gt 5 5 ORIGIN ORIGIN ORG 0 3 10 11 12 9 ORG 0 5 10 ORG NORG ZPO NORG ORG 11 12 CWLM CCWLM NORG ORIGIN SPEC SET NORG DETECT ORG ORIGIN SPEC SET ORG DETECT TYPE ORG 11 12 CWLM CCWLM ORIGIN ORIGIN S ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT SCAN ORIGIN DELAY DELAY TIME MARG
48. DRST DEND DALM m OUT3 0 RDYINT COMP GPIO7 0 GPIO0 GPIO4 MCC06
49. 238 16 2 3 DSEL 239 16 2 4 ORIGIN 239 16 3 DRIVE COMMAND 240 16 4 DRIVE COMMAND 245 MCC06 lt gt MCC06 Melec Controller 06 I C 3 3 V 20 MHz 1 2 MCC06 CPU USER CPU MCC06 MOTOR DRIVER MOTOR gt 1 CONTROL BUS USER 8 16 BIT CPU DATA BUS MOTOR DRIVER i HP MCC06 2 1 2
50. COMP1 OR COMP2 OR COMP3 COMP1 COMP2 COMP3 COMP1 AND COMP2 COMP3 OR AND 0 0 COMP1 OR COMP2 COMP3 1 1 179 MCC06 lt gt D10 COMP STOP TYPE COMP1 2 3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 CNTINT 0 COMP1 CNTINT 1 COMP1 CNTINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1
51. 1 MANUAL SCAN CWMS CCWMS MANUAL SCAN MANUAL SCAN SCAN CHANGE SLSTOP FSSTOP SS0 SS1 DALM LIMIT CWFSLM CCWFSLM CWLM CCWLM SS1 SS0
52. 6 0 X Y X Y CW CCW X Y 2 X X X X Y 109 MCC06 lt gt 7 10 1 2
53. COMMAND H 017A INC CIRCULAR3 CONST CP COMMAND 4 SRATE CONST S COMMAND H 017B INC SRATE CIRCULAR3 CONST CP COMMAND 117 MCC06 lt gt lt gt D Y DRIVE DATA1 PORT 1 Y Y DRIVE DATA2 PORT 1 Y 2 Y Y DRIVE DATA3 PORT 2 Y Y DATA3 PORT WRITE WRITE WRITE X h DATA3 PORT WRITE Z Y STATUS1 PORT BUSY 0 L X Bl STATUS1 PORT BUSY 0 gt X DRIVE DATA1 PORT 1 X 5 X DRIVE DATA2 PORT 1 X 2 X X DRIVE DATA3 PORT 2 X
54. 40 1 2 INDEG 41 SED 41 1 4 41 42 5 2 1 SCAN INDEX 42 5 2 2 END PULSE 42 MCC06 lt gt 3 F 2 2 ESS 44 5 3 1 1 SRATE SGAN SRATE INDEX mm 44 93322 PULSE eo 44 EN 46 P 46 a qasaqa saca sua 47 e S SUSSIDSDIDIN 48 5 5 ORIGIN 49 3636 6 9 03 6 Gacaeaeacds 51 A 2 7 7 7 2 7 2 3 2 2 53 5 5 3 2 55 1 326363636343634363634343436363636343635343 56 5 525 Cs 57 SR 57 5 5 6 10 26 3S 293 3G GG SG
55. COMP1 0 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER1 COMP1 195 MCC06 lt gt 9 6 2 SPEED COUNTER INITIALIZE2 lt gt COMMAND HF01D SPEED COUNTER INITIALIZE2 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND Ka
56. DFL LATCH DATA PORT SELECT CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIO0 1 GPIO4 1 SR ES s SS0 SS1 SPEC INITIALIZE2 SENSOR 550 SS1 D11 DFL CLR ENABLE 0 1 203 MCC06 lt gt D14 D12 SPEED LATCH TYPE2 0 SPEED LATCH DATA PORT SELECT
57. 0 MANUAL SCAN DRVEND 1 DEND DRST lt gt DRVEND 1 Ds D4 D5 D6 D7 MCC06 lt gt ERROR 1 0 MANUAL SCAN ERROR STATUS READ 2 ERROR 1 LSEND LIMIT 1 STBY 1 DRIVE 1 LIMIT
58. A3 A0 nXCS nYCS 15 00 DS tRD 1 1 AR tRR tRA D7 D0 tDW _ tCW WC tWW A3 A1 PORT tAR gt 52 tRcyc gt 124 ns A3 A1 PORT 16 tWcyc 102 ns 8 tWcyc gt 152 ns COMMAND PORT PORT tWA AR 127 ns MCC06 lt gt 13 13 1 13 2 MCC06
59. ESPD DELAY TIME END PULSE DELAY TIME END PULSE DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 ESPD DELAY TIME 0 END PULSE END PULSE DRIVE 1 z 82 MCC06 lt gt 7 4 SCAN INDEX
60. 0 COMP2 D14 COMP3 TYPE2 COMP3 0 1 0 0 COMP3 D15 0 0 COUNT PULSE SEL CU K q C H CP 1 2 3 4 5 6 7 OR COUNT PULSE SEL2 0 1 STBY nv 2 3 4 5 6 7 j
61. 83 pQ 2 2 2 2 2 2 83 7 SCAN 83 7 29 INDEX 0 09090PnP PD DD 84 ERARINDEXGR 2 85 E FS 86 7 5 1 SLSPD SET 86 7 5 2 SHSPD SET 87 7 5 3 SRATE SET 88 54 SGAREAI2SET lt lt 89 7 5 5 SCAREA34 SET 90 S END PULSE 91 7 6 4 SEND PULSE 91 2 SESPD SESI NR 92 SESRPD PDEAT SE RR 93 000 94 ck NSRAEISGANUR NA 94 7 7 2 SRATESGAN
62. X Y 1 CW CW COMMAND H0160 INC CIRCULAR COMMAND 2 CCW CCVW COMMAND H0161 INC CIRCULAR CP COMMAND 3 SRATE CW S CW COMMAND H0162 INC SRATE CIRCULAR CP COMMAND 4 SRATE CCW S CCW COMMAND HO0163 INC SRATE CIRCULAR CP COMMAND 5 CONST CW CW
63. COMP1 OR COMP2 OR COMP3 COMP1 COMP2 COMP3 COMP1 AND COMP2 COMP3 OR AND 0 0 COMP1 OR COMP2 COMP3 1 1 194 MCC06 lt gt D10 COMP STOP TYPE COMP1 COMP2 COMP3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 SPDINT 0 COMP1 SPDINT ISI 1 COMP1 SPDINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1
64. 0 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER1 COMP1 9 5 2 DFL COUNTER INITIALIZE2 lt gt COMMAND H F019 DFL COUNTER INITIALIZE2 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND COMP3 Ka coMPz 2 2 2 ENABLE ENABLE DO C
65. 99 MCC06 lt gt 7 9 2 X S X X Y X Y X Y X Y X X X CENTER POSITION X
66. ADRINT 12 MCC06 lt gt 32 3 CNTINT 2 32 3 DFLINT 1
67. Hxx11 12 20 3 2 21 2 759 250 124 22 PULSE END PULSE HFFFF_FFFF END PULSE END PULSE H xx30 H xx31
68. gt COMMAND HF003 D INITIALIZE3 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D13 D12 D11 Do pg pa GPIO7 GPIO7 GPIO7 GPIO6 GPIO6 GPIO6 GPIO6 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 67 6 ps 94 6 9 GPIO5 GPIO5 GPIO5 GPIO5 GPIO4 GPIO4 GPIO4 GPIO4 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 D3 D0 GPIO4 TYPE3 0 D7 D4 GPIO5 TYPE3 0 D11 D8 GPIO6 TYPE3 0 D15 D12 GPIO7 TYPE3 0 GPIO7 4 TYPE3 TYPE2 TYPE1 TYPE0 GPIO7 4 DFLINT COMP1 DFLINT COMP2 DFLINT COMP3 DFL OVF SPDINT COMP1 SPDINT COMP2 SPDINT COMP3 SPEED OVF nDRIVE CONST nSPEED CBUSY nINDEX CBUSY XDFLINT AND YDFLINT XSPDINT AND YSPDINT O O O 1 1 1 1 0 0 0 0 gt gt P gt gt
69. 2 CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CCW LIMIT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME
70. CCWLM STATUS1 PORT SSEND 1 LSEND 1 5 7 4 LIMIT LIMIT LIMIT CWFSLM CCWFSLM LIMIT CWLM CCWLM STATUS1 PORT STBY 1 DRIVE 1 2 STBY 1 STBY 1 DEND lt gt STBY 1 END PULSE DELAY CWFSLM CWFSLM STATUS1 PORT FSEND 1 CCWFSLM
71. STATUS1 PORT ERROR 1 ERROR 1 gt 22150 EA A3 k 1 1 EB gt f 1 CCWP CCWP 2 CWP L f ab CCWP 2 175 MCC06 lt gt R1 STATUS1 PORT EXT PULSE 1 ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 EXT PULSE 0 BUSY 0
72. TYPE1 TYPE0 SS0 SS1 CHANGE UP DOWN CONST DRIVE MCCO06 SS0 lt gt SENSOR SENSOR D6 SS1 TYPE0 D7 SS1 TYPE1 SS1 TYPE1 550 SS1 CHANGE UP DOWN CONST DRIVE MCC06 SS1 lt gt SENSOR SENSOR SS1 SENSOR SS1 TYPE 550 SS1 MCC06
73. 100 MCC06 lt gt 7 9 1 CENTER POSITION SET X 2 X Y gt COMMAND H0100 CENTER POSITION SET COMMAND Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X OF nk 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 STATUS1 PORT BUSY 0 L X STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 X 2 gt S COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 P
74. SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S S SURATE SCAREA1 SCAREA2 SURATE S S SURATE SCAREA2 SCAREA3 SDRATE S S SDRATE SCAREA3 SCAREA4 SDRATE S SDRATE SCAREA4 5 3 2 S END PULSE S END PULSE
75. 117 lt gt 7 12 ORIGIN 119 7 12 1 ORIGIN SPEC SET 121 7 12 2 ORIGIN CSPD SET 124 7 12 3 ORIGIN DELAY SET 125 7 12 4 ORIGIN OFFSET PULSE SET 127 7 12 5 ORIGIN CSCAN ERROR PULSE SET 128 7 12 6 ORIGIN JOG ERROR PULSE SET 129 7 12 7 ORIGIN PRESET PULSE SET 130 7 12 8 ORIGIN 131 7 12 9 PRESET ORIGIN 132 7 13 133 7 13 1 SLOW STOP 133 7 13 2 FAST STOP 133 2 0 32 0 TRESS ERE SS 133 7 14 1 NO OPERATION
76. LSPD HSPD URATE DRATE 7 2 1 LSPD SET lt gt COMMAND H0010 LSPD SET COMMAND DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 DRIVE DATA3 PORT 015 00 1 5 000 000 H0000 0001 004 4840 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 012 pg p7 pe p5 p4 p2 Di po ors DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pa pe ps D4 pt D15 LSPD F Do H 0000 012C 300 Hz H 00
77. CCWFSLM STATUS1 PORT FSEND 1 CWFSLM CCWFSLM STATUS1 PORT LSEND CWLM CWLM STATUS1 PORT FSEND 1 LSEND 1 CCWLM CCWLM STATUS1 PORT FSEND 1 LSEND 1 LIMIT 65 MCC06 lt gt 6 X W Y
78. ADRINT PULSE TYPE ADRINT PULSE TYPE0 ADRINT PULSE TYPE1 COMP1 2 3 COMP GATE TYPE0 COMP GATE TYPE1 ADRINT COMP1 2 3 1 COMP1 OR COMP2 COMP3 1 COMP2 AND COMP3 1 2 1 AND 2 AND OR AND 170 MCC06 lt gt D10 COMP STOP TYPE COMP1 2 3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 ADRINT 0 COMP1 ADRINT 1
79. CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIO0 1 GPIO4 1 0 0 0 0 ZS s SS0 SS1 SPEC INITIALIZE2 SENSOR 550 SS1 D15 SPEED CLR ENABLE 0 1 9 9 9 9 1 ADDRESS LATCH DATA PORT SELECT DATA1 2 3 PORT READ PORT COMMAND HF04C ADDRESS LATCH DATA PORT SELECT COMMAND 9 9
80. COUNTER INITIALIZE3 lt gt UU rrrrrrT 1 3 3 0 7 lt gt i 1 1 i 2 COUNTER INITIALIZE3 8 174 MCC06 lt gt R1 EXT PULSE TYPE CWP CCWP EXT PULSE 1
81. 104 MCC06 lt gt 7 9 4 X Y 1 COMMAND H 0130 ABS CIRCULAR2 CP COMMAND 2 SRATE S COMMAND H0131 ABS SRATE CIRCULAR2 CP COMMAND 3
82. 23 4 2 16 PORT 7 MMMNNNMNNMNNNNNN 0 24 4 3 8 PORT 25 26 4 4 1 DRIVE COMMAND PORT 26 4 4 2 DRIVE DATA1 2 3 PORT WRITE 26 4 4 3 COUNTER COMMAND PORT 26 424 4 COUNTER DATA S PORT sssssssssssscssscssscssscssscssscsss 26 4 5 PORT 27 2520 SEATUSTIEORN ssssssssssssssssssssssssssspssasssssssosssasssssss 28 4 5 2 2 5 5 5 4 54 4 4 4 4 4 4 32 4 5 3 STATUS3 PORT 34 2524 STATUSA RORT sssssscscssscosscscsssssessssscssssssssssscsssesss 35 4 5 5 STATUS5 PORT 37 4 5 6 DRIVE DATA1 2 3 PORT READ 39 5 40 si 524 2 E ISIBIKS 23 40 5 1 1 SCAN
83. COMMAND H003A SPEED OVF COUNT SET COMMAND COUNTER DATA2 PORT OVF D31 D16 SE COUNTER DATA3 PORT OVF 015 00 4 4 294 967 295 H0000_ 0004 HFFFF_FFFF COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT p15 p14 D13 D12 D11 Di0 pg pe 5 D31 OVF D16 COUNTER DATA3 PORT p15 p14 D13 p12 D11 Di0 pg pe De ps p4 D15 OVF F Do HFFFF FFFF STATUS4 PORT SPEED OVF 1 V Hz D 1 0 x 100 F 20 000 000 Hz 50 ns 50 ns
84. 176 9 4 1 PULSE COUNTER INITIALIZE1 178 9 4 2 PULSE COUNTER INITIALIZE2 181 9 4 3 PULSE COUNTER INITIALIZES WPRHPPPHPTPTRF 182 9 5 2 O eo eo TS ho 183 9 5 1 COUNTER INITIALIZE1 185 925 2 DFE COUNTERINITIALIZE2 9 SS RE ES 188 985523 DFL COUNTERAINITIALIZES 2 rE s 190 986 RRS 191 926 1 SPEED COUNTER INITIALJZE1 SA u sm 193 9 6 2 SPEED COUNTER INITIALIZE2 2 02223323 c c cuc seus sasa 196 9 6 3 SPEED COUNTER INITIALIZE3 197 TET CE SE RE S 200 9 7 1 ADDRESS COUNTER PORT SELECT 200 9 7 2 PULSE COUNTER PORT SELECT 200 9 7 3 COUNTER PORT SELECT 200 9 7 4 SPEED COUNTER PORT SELECT 201 202 EOS COUNT SET p uui 202 MCC06 lt gt 204 9 9 1 ADDRESS LATCH DATA PORT SELECT 204 9 9 2 PULSE L
85. ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL CWP CCWP COUNTER COMMAND 167 MCC06 lt gt INITIALIZE HIF010 ADDRESS COUNTER INITIALIZE1 RELOAD ENABLE COMP1 pi C COMP1 STOP ENABLE COMP1 COMP1 INT ENABLE COMP1 ADRINT
86. STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRST TYPE0 D1 DRST TYPE1 DRST DRST 10 ms g ESE DRST OUT SIGNAL OUT 00 10 11 DRST OUT DRST DRST DEND lt gt DELAY DRST 10 ms DRST ORIGIN LIMIT ORIGIN ERROR SENSOR
87. 0 22 0 05 0 08 Q LO gt Lo 1200 03 5 IHRRRHRRRRRRRIE 0 50 0 10 mm 236 MCC06 lt gt 16 16 1 144 QFP 0 5 mm 22 0 x 22 0 x 1 70 mm 55 125 C 20 75 C 3 3 037 160 mA 3 16 4 8 2 i Z 4 1 Hz 5 MHz 1048 56 0 016 ms kHz 2 147 483 647 2 147 483 647 INDEX SCAN INDEX JOG 1 ORIGIN
88. CCW COMMAND H 0125 ABS CIRCULAR CONST CP COMMAND 7 SRATE CONST CW S CW COMMAND H0126 ABS SRATE CIRCULAR CONST COMMAND 8 SRATE CONST CCW S CCW COMMAND HO0127 ABS SRATE CIRCULAR CONST CP COMMAND 103 MCC06 lt gt gt WRITE Y DATA3 PORT WRITE WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 7 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT X
89. CW CCW lt gt COMMAND 0045 ABS SRATE INDEX COMMAND WRITE 2 DRIVE DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT A31 A16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT 015 p14 D13 D12 D11 Di0 5 1 A16 DRIVE DATA3 PORT D15 p14 D13 p12 D11 Di0 pe De Ds pt po 15 AO
90. OB D 225 Ca aS SSS u i i K bi 225 13 2 225 SI 226 14 227 umasapa maaa 2 229 14 2 JOG 231 SCAN TEED 231 14 4 ABS INDEX 232 14 5 ABS CIRCULAR 233 14 6 ORIGIN 234 14 7 ADDRESS COUNTER 235 15 236 16 237 1 237 16 2 238 16 251 655 woo On os 238 16 2 2
91. T T s D S 1 50 ns F 20 000 000 Hz 217 MCC06 lt gt 11 X HH Y X Y MCC06 X Y gt gt gt t12 DRIVE 1 80 us 160 us 160 us 13 3
92. NORG CONSTANT SCAN CW lt lt gt ORG SCAN U H CW splY SCAN DELAY TIME CONSTANT SCAN CW CCW ORG SCAN CCWLM LIMIT DELAY TIME SCAN CW SDLY SCAN DELAY TIME CONSTANT SCAN CW MP 60 MCC06 lt gt 5 5 7 ORG 11 CCW CCWLM CW CW CWLM CCW ORIGIN CCW
93. 0 1 1 2 D11 D9 0 0 D12 COUNT PULSE SEL2 0 1 015 013 0 0 190 MCC06 lt gt 9 6 20 MHz 1 32 32 1 1
94. SET X sss X X X X PASS POSITION X SET X 2 279 X Y HFFFF_FFFF
95. STATUS4 PORT PULSE OVF 1 3 COMPARE REGISTER1 2 3 STATUS4 PORT COMP1 COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 CNTINT
96. 0 COMP3 1 COMP3 196 MCC06 lt gt D6 COMP3 TYPE0 D7 TYPE1 COMP3 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 BX Z SPEED COUNTER INITIALIZE3 COMP3 TYPE2 015 08 0 0 9 6 3 SPEED COUNTER INITIALIZE3 lt gt COMMAND H F01E SPEED COUNTER INITIALIZE3 COMMAND DRVE DATA3 PORT DRIVE DATA3 PORT ma T pe J em em COUNT COUNT COUNT PULSE ENABLE ENABLE ENABLE SEL2 TYPE2 TYPE1 TYPE0 DZ eo eo DIVISION eo Bon DIVISION 05 01 D7 D0 DIVISION D7 D0
97. 1 INT FACTOR CLR INT ENABLE COMP2 STOP ENABLE COMP2 INT coup PULSE STATUS4 H MASK PE COUNTER COMP MASK po INT _____ TYPE COMP2 COMP INT FACTOR CLR INT GATE INT ENABLE TYPE COMP3 STOP ENABLE COMP3 TYPE STATUS4 COUNTER COMP MASK INT I TYPE COMP3 INT FACTOR CLR INT ENABLE COMP GATE TYPE COMP GATE TYPE COMP1 INT ENABLE COMP2 INT ENABLE COMP3 INT ENABLE INT 165 MCC06 lt gt 9 2 EA0 EB0 EBI 2 0 0 9 2 1
98. DRIVE DATA1 2 3 PORT STATUS4 PORT DFL OVF 1 3 COMPARE REGISTER1 2 3 STATUS4 PORT COMP1 REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3
99. PORT PORT DRIVE DATA2 PORT D15 p14 D13 p12 Dp11 p10 pg pa De 29 lt C agama C sim DRIVE DATA3 PORT 15 p14 D13 D12 D11 p10 pg pa ps D4 pa pt D15 1 Hz PORT DRIVE DATA3 PORT DATA DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT X STATUS1 PORT DRIVE 0 STATUS1 PORT EXT PULSE
100. 0 COMP3 1 COMP3 172 MCC06 lt gt D6 COMP3 TYPE0 D7 TYPE1 COMP3 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 BX D15 D8 0 0 9 3 3 ADDRESS COUNTER INITIALIZE3 lt gt COMMAND HF012 ADDRESS COUNTER INITIALIZE3 COMMAND DRIVE DATA3 PORT COMMAND PORT DRIVE DATA3 PORT 2 1 TYPE0 aon sn wa sn won sn wan D1 D7 D0 EXT DIVISION D7 D0 EA0 EA1 EBI
101. DELAY TIME END PULSE DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 SESPD DELAY TIME 0 END PULSE END PULSE DRIVE 1 93 MCC06 lt gt 7 7 S S S SRATE SCAN SRATE INDEX S 7 7 1 SRATE SCAN
102. EB1 X Y EA0 EB0 EA1 EB1 1 0 COMREG EP SPEC INITIALIZE3 COMREG ENABLE 1 1 EMPTY COMREG ENABLE 0 0 1 COMREG FL SPEC INITIALIZE3 COMREG ENABLE 1 1 8 FULL COMREG ENABLE 0 0 7 COMREG ENABLE 0 COMREG EP 1 COMREG FL 1 lt gt 3 MCC06 lt gt D10 CPPIN X Y
103. 0 1 Hz SM MHz 92 MCC06 lt gt 7 6 3 SESPD DELAY SET S END PULSE DELAY TIME lt gt COMMAND H003A SESPD DELAY SET COMMAND DRIVE DATA3 PORT SESPD DELAY TIME WRITE 0 65 535 0000 HFFFF G STATUS1 PORT BUSY 0 SESPD DELAY TIME x 20 us 0 1 310 7 ms Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 D12 pit Di0 pg De ps pa pt D15 SESPD DELAY TIME 0 HO0000 SESPD DELAY TIME S END PULSE SESPD DELAY TIME END PULSE
104. 2 147 483 647 2 147 483 647 32 8 388 607 8 388 607 24 INDEX 2 2 1 414 END PULSE ORIGIN ORIGIN ORG 0 5 10 11 12 9 ORG 0 5 10 ORG NORG ZPO NORG ORG 11 12 CWLM CCWLM
105. BUSY 1 gt D1 STBY 1 0 STBY SPEC SET STBY 2 X STBY SPEC SET STBY XSTBY 0 0 STBY STBY 1 STBY 1 STBY 0 D2 DRIVE CWP CCWP 1 0 DRVEND 1
106. DRIVE COMMAND PORT COMMAND p2 pi FIRST PULSE PULSE PULSE PULSE OUTPUT OUTPUT TYPE1 TYPE0 TYPE1 TYPE0 PULSE OUTPUT TYPE0 D1 PULSE OUTPUT TYPE1 CCWP ON sa 2 amp 0 4 A B A B D2 FIRST PULSE TYPE0 D3 FIRST PULSE TYPE1 1 1 100 us 20 ps 2 ps LSPD JOG FIRST PULSE
107. HARD 2 6 151 MCC06 lt gt 8 7 1 HARD INITIALIZE4 gt COMMAND HF004 HARD INITIALIZE4 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 p2 pt po p p ZPO ZPO ZPO ZPO ORIGIN ORIGIN ORIGIN ORIGIN FILTER3 FILTER2 FILTER1 FILTERO0 FILTER3 FILTER2 FILTER1 FILTERO0 106 DP5 p4 C pa Dp1 po LIMIT LIMIT LIMIT LIMIT STOP STOP STOP STOP FILTER3 FILTER2 FILTER1 FILTER0 FILTER3 FILTER2 FILTER1 FILTERO0 D3 D0 STOP FILTER3 0 SLSTOP FSSTOP 07 04 LIMIT FILTER3 0 CWLM CCWLM CWFSLM CCWFSLM 011 08 ORIGIN FILTER3 0 ORG NORG 0 0 1 0 0 127 us 1 191 us 1 255 us 1 511 us O O
108. SB URATE bbb gt 250ms BUSY ON OFF CWMS ON OFF lt WMS a CCWMS OFF CCWMS BUSY MAN CWMS BUSY MANUAL SCAN CWMS OFF BUSY BUSY MAN 63 MCC06 lt gt 5 7 LIMIT LIMTT 5 7 1 SLOW ST
109. DRIVE DATA3 PORT D15 D8 0 D7 D0 ORIGIN STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND IIEIEIEIEIIPCECOTEZTeP ORIGIN F 131 MCC06 lt gt R1 7 12 9 PRESET ORIGIN ORIGIN ORIGIN FLG 1 PRESET INDEX PRESET INDEX SCAN DELAY TIME ORIGIN 0 5 10 11 12 H 05 9 1 PRESET ORIGIN PRESET ORIGIN COMMAND H0074 PRESET ORIGIN COMMAND 2 SRATE PRESET ORIGIN S PRESET ORIGIN
110. OffsetPulse MarginPulse LimitDelayTime ScanDelayTime JogDelayTime DELAY TIME ORG TYPE ORIGIN 14 7 ADDRESS COUNTER X ADDRESS COUNTER READ LONG XAddrCntRead VOID LONG ADDRESS COUNTER PORT SELECT COMMAND W_X_DRV_CMD_PORT 0xf048 ADDRESS COUNTER READ now_addr R_X_DRV_DT2_PORTO lt lt 16 now_addr R_X_DRV_DT3_PORTO return now_addr Y ADDRESS COUNTER READ LONG YAddrCntRead VOID LONG now_addr ADDRESS COUNTER PORT SELECT COMMAND W_Y_DRV_CMD_PORT 0xf048 ADDRESS COUNTER READ now_addr R_Y_DRV_DT2_PORT lt lt 16 now_addr R_Y_DRV_DT3_PORT return now_addr 235 MCC06 lt gt 15 LQFP2020 144 MELEC INC MCC06 22 0 0 3
111. CW CCWLM 1 CCW SCAN CCWLM CCWLM CCW CCW LIMIT CW LIMIT MARGIN LE CW S SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW
112. HFFFF 1 2 STATUS4 PORT ADDRESS OVF 1 HFFFF_FFFF SOFT LIMIT STATUS4 PORT ADDRESS OVF 1 999 2 000 1 0 1 999 1000 ADDRESS OVF 1 1001 1999 0 0 1999 1001 1000 ADDRESS OVF 1 999 1 0 2 000 2 001 1 0 1 1000 1001 1001
113. STBY 0 DRIVE 0 LIMIT 0 MANUAL SCAN ORIGIN LIMIT 2 LIMIT XLSEND 1 YLSEND 1 LIMIT LIMIT LIMIT CCWLM SOFT LIMIT SOFT LIMIT SSEND 1 STBY 1 DRIVE 1 STBY 0 DRIVE 0 0 MANUAL SCAN 2 XSSEND 1 YSSEND 1 SLOW STOP
114. PORT PORT 4 4 1 DRIVE COMMAND PORT PORT DRIVE COMMAND DRIVE COMMAND STATUS1 PORT BUSY 0 BUSY 1 STATUS5 PORT COMREG FL 0 STATUS1 PORT MAN 1 CHANGE HPF030 H F03F STATUS1 PORT SPEED CBUSY 0 INDEX CBUSY 0 gt 8 DRIVE COMMAND DRIVE C
115. X Y MCCOe DE 1 1 SPEC INITIALIZE1 RATE SPEC INITIALIZE2 CWLM CCWLM SS0 SS1 RDYINT DRIVE DELAYSET DELAY TIME ADDRESS COUNTER INITIALIZE1 ADRINT COMP1 ADDRESS COUNTER INITIALIZE2 COMP2 COMP3 ADDRESS COUNTER INITIALIZE3
116. ADDRESS COUNTER INITIALIZE1I EXT PULSE 1 STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND D12 SPEED CBUSY CHANGE CHANGE 1 CHANGE CHANGE CHANGE 0 CHANGE CHANGE CHANGE SPEED CBUSY 0 CHANGE SPEED CBUSY 1 CHANGE lt gt CHANGE UP DRIVE _ DOWN DRIVE CONST DRIVE SPEED CHANGE CH
117. 1 CPPIN CPPIN CPPOUT 0 MANUAL SCAN CPPIN X Y CPP MASK 1 OR CPPIN 2 CP SPEC SET CPPIN CPPIN lt gt D15 X 38 MCC06 lt gt 4 5 6 DRIVE DATA1 PORT DATA2 PORT DATA3 PORT READ PORT PORT PORT SELECT DRIVE COMMAND PORT DRIVE DATA1 DATA2 DATA3 PORT READ PORT PORT PORT SELECT
118. 2 13 DRIVE 1 80 us 160 us 160 us 3 t5 t6 DRIVE 1 80 us 160 us 160 us 12 12 3 13 11 1 nRESET nRST vce Z Vcc min 10 ms 218 11 2 SCAN nW BUSY DRIVE CWP ni i CCWP 11 11 3 INDEX nW BUSY DRIVE 1 12 3
119. SPEED COUNTER INITIALIZE1 2 COMP2 COMP3 SPEED COUNTER INITIALIZE3 D15 SPEED OVF 1 0 SPEED COUNTER INITIALIZE3 COUNT ENABLE 000 36 MCC06 lt gt 4 5 5 STATUS5 PORT CHANGE PORT CPP INDEX 8 8 MASK CSET GSBE SOS LN D7 p D4 p p p D0 SS0 SSO 1 SS1 SS1 1 CWMS CWMS 1 CCWMS CCWMS 1
120. COMP3 COMPARE REGISTER3 gt COMPARE REGISTER3 COMPARE REGISTER3 BX gt D15 D8 0 0 189 MCC06 lt gt 9 5 3 DFL COUNTER INITIALIZE3 lt gt COMMAND HF01A DFL COUNTER INITIALIZE3 COMMAND D DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND Ku DIVISION PULSE TYPE SEL2 99 2 IE pp 0086221 D7 D6 D5 D3 D1 D0 D7 D0 DIVISION D7 D0 DIVISION TYPE _ COUNT TYPE ADDRESS COUNTER INITIALIZE3 D8 DIVISION TYPE
121. EA1 EB1 0 Y YINP YCP 0 X XINP XCP 1 1 EA1 EB1 YINP YCP 01 10 1 STATUS1 PORT BUSY 0 01 10 11 STATUS PORT EXT PULSE 1 BUSY 1 EXT PULSE 1 00 01 10 11 00 EXT PULSE 0 BUSY 0 10 11 ADDRESS COUNTER INITIALIZE3 EXT PULSE TYPE 169 D2 D3 D
122. INDEX CHANGE MANUAL SCAN JOG PAUSE PAUSE PAUSE PAUSE 2 9 4 5 2 MCC06 lt gt STATUS2 PORT ORIGIN PORT D15 D4 D3 p2 pt po p p DEND ORIGIN D7 D p p p p CCW CW SOFT LIMIT SOFT LIMIT CCWFSLM CWFSLM CCWLM CWLM FSSTOP SLSTOP D0 SLSTOP SLSTOP 1 FSSTOP FSSTOP 1 CWLM 1 CCWLM CCWLM 1 CWFSLM CWFSLM
123. 12 766us S 12 lt 788 us 12 983us S 12 1 044 us 1 936us S 12 lt 991 us 11 6 STBY PAUSE t1 lt 200 ns nW 12 12 PAUSE 1 x 50 ns lt t7 lt 150 ns PAUSE 7 50 ns BUSY STBY DRIVE _ Wp CCWP 1 le PAUSE 0 STBY DRIVE CWP CCWP t7 220 MCCO06 lt gt 11 7 ORIGIN NE s 12 lt 199 us 1 BUSY S DRIVE t2 lt 205 us 2 CWP PE CCWP 11 11 8 ORIGIN AUTO DRST DRIVE t6 lt 61ps 3 CWP EE t5 16 CCWP
124. 2 0 LSB 2 147 483 647 2 147 483 647 32 2 X S 20 9 END PULSE END PULSE 46 MCC06 lt gt 5 4 2 2 2 2
125. CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN
126. CW lt gt COMMAND 0042 SRATE SCAN COMMAND STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE 7 7 2 SRATE SCAN CCW lt gt COMMAND 0043 SRATE SCAN COMMAND Pa STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 94 MCC06 lt gt 7 7 3 SRATE INDEX CW CCW lt gt COMMAND 0044 INC SRATE INDEX COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D
127. STATUS2 PORT ORIGIN FLG 1 ORIGIN OFFSET PULSE SET OFFSET OFFSET ORIGIN FLG ENABLE 1 ORIGIN FLG 1 ORIGIN ORIGIN INDEX 2 ORIGIN FLG ENABLE 0 ORIGIN FLG 0 INDEX ORIGIN FLG ENABLE 0 ORG 10 ORIGIN TINDEX ORG 10 SCAN ORIGIN STATUS2 PORT ORIGIN FLG
128. D8 UP MCC06 lt gt UP 1 1 0 D9 DOWN 1 0 D10 CONST 1 0 2 X DOWN CONST D11 EXT PULSE CCWP 1 0
129. 60 58372 sasana sss saus Bapa 61 5 5 8 66 sama ama ama ama aa 62 5 6 MANUAL SCAN CWMS CCWMS 63 DS i P l i l D Ds 64 Sos Uu S s s 64 9922 pas 64 5 7 3 LIMIT 65 65 6 66 66 6 2 gt SPECINITIALIZ ET a A ES hs 67 AES S Ru 67 D2 3 1 67 sp BR QD 0 STRTSHS Td 69 RATE DATA TABLE 70 b SPEC NITIALIZ E 2 NAM 71 D0 3 LIMIT CWLM CCWLM
130. COMP STOP TYPE COMP1 2 3 D9 COMP GATE TYPE1 COMP1 2 3 ADRINT COMP1 2 3 s 08 C ONMP GATE 2 3 OR ADRINT PULSE TYPE1 MP1 2 2 pe ADRINT PULSE TYPE0 J CO 3 ADRINT TYPE1 ADRINT 1 2 ADRINT TYPE0 CO 3 COUNT TYPE1 COUNT PULSE SEL1 po COUNT PULSE SELO INP CP H F011 ADDRESS COUNTER INITIALIZE2 DS D7 COMP3TYPE1 es COMP2 r lt S gt _ COMP2TYPE1 SS DO CoMP2INT ENABLE COMP2 ADRINT H F012 ADDRESS COUNTER INITIALIZE3 D10 EXTPULSETYPE2 D9 EXTPULSETYPE1 D8 EXTPULSETYPEO D7 EXTDMISIOND7 De EXTDIVISIOND6 D5 EXTDMISIOND5 D3 EXTDMISIOND3 D2 EXTDIVISIOND2 D1 EXTDIVISIOND
131. XPAUSE 0 YPAUSE 0 Y X X XSS0 Y YSS0 2349 MCC06 lt gt 8 3 DRST DEND DALM DRST DEND DALM 8 3 1 SERVO SPEC SET DRST DEND DALM lt gt COMMAND H0082 SERVO SPEC SET COMMAND DRIVE DATA3 PORT STATUS1 PORT BUSY x COMMAND PORT WRITE DRIVE DATA3 PORT pe bs Db D po DALM DEND DEND DRST DRST TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0
132. 015 00 16 0 1 INT3 0 INT FACTOR CLR INT lt gt INT lt gt MASK CLR STATUS4 COMP INT TYPE INT 137 MCC06 lt gt 8 1 3 COUNTER COMP MASK lt gt COMMAND HF023 COUNTER COMP MASK COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DO p SPDINT SPDINT SPDINT DFLINT DFLINT DFLINT COMP3 COMP2 COMP1 COMP3
133. amp MCC06 gt MN0015 2 MCC06 lt gt MCCO6 MCC06 MCC06 lt
134. CCW LIMIT SCAN CW 2 SDLY SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG JDLY CW 282 MCC06 lt gt 5 6 MANUAL SCAN MAN CWMS CCWMS MAN CWMS CCWMS MANUAL SCAN MANUAL SCAN SCAN CHANGE MANUAL SCAN BUSY MAN STATUS1 PORT MAN 1 CWMS CCWMS MANUAL SCAN MANUAL SCAN MAN
135. 16 DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT 015 00 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G 2 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 012 D11 D10 ps pe D5 p2 D1 po H0000 0000 0 END PULSE END PULSE END PULSE SEND PULSE SRATE INDEX END PULSE SEND PULSE 0 S END PULSE
136. CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 54 MCC06 lt gt 5 5 3 ORG 2 ORIGIN CCW ORG 2 ORG 0 JOG LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME
137. LIMIT LIMIT ORIGIN SCAN CONSTANT SCAN JOG CW LIMIT ORG 11 ORG 12 CW LIMIT D2 CCWLM TYPE0 CCWLM TYPE1 CCWLM CCWLM ORIGIN 0 0 LIMIT LIMIT 0 1 LIMIT LIMIT 1 0 LIMIT 1 1 LIMIT ORIGIN SCAN CONSTANT SCAN JOG CCW LIMIT ORG 11 ORG 12 CCW LIMIT 71 MCC06 lt gt R1 04 550 TYPE0 05 550 TYPE1 880
138. Rup Rdown C TTL Rup TTL 2 mA 20 MCC06 lt gt 3 3 nRST Ci C __ __ 1 _ 801 CKIO D15 D8 gt 8 2 e semi 1 2 C res AS AO C RRR mw z L n L X Y _ BUSSELO gt Rdown BUSSEL1 gt XDSEL Z X
139. X Y 1 2 2 COMMAND H0150 INC STRAIGHT CP COMMAND 2 SRATE 2 S 2 COMMAND 0151 INCSRATE STRAIGHT CP COMMAND 3 CONST 2 2 COMMAND H 0152 INC STRAIGHT CONST CP COMMAND 4 SRATE CONST 2 S 2 COMMAND H0153 INC SRATE STRAIGHT CONST CP COMMAND 110 MCC06 lt gt lt 2 gt WRITE WRITE WRITE WRITE 7 Y STATUS1 PORT BUSY 0 X STAT
140. 2 DRIVE 1 74 MCC06 lt gt DRIVE DELAY TIME DRIVE DELAY TIME STATUS1 DRIVE DRIVE DELAY TIME 1 1 1 1 amp DEND lt gt DRIVE DELAY TIME STATUS1 DRIVE STATUS2 DEND DRIVE 1 1 1 75 MCC06 lt gt 7 X H Y X Y 7 1 JOG
141. DRIVE COMMAND PORT COMMAND Ka coMp2 2 2 2 TYPE1 1 ENABLE ENABLE DO COMP2 INT ENABLE COMP2 ADRINT 0 COMP2 1 COMP2 ADRINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 gt COMPARE REGISTER2 D4 COMP3 INT ENABLE COMP3 ADRINT 0 COMP3 1 COMP3 ADRINT D5 COMP3 STOP ENABLE COMP3
142. H0000 012C 300 Hz 0000 0320 800 Hz lt DSEL gt ESPD 1 Hz 5 MHz 1 Hz 0 1 Hz SM MHz 81 MCC06 lt gt 7 3 3 ESPD DELAY SET END PULSE DELAY TIME lt gt COMMAND H001A ESPD DELAY SET COMMAND DRIVE DATA3 PORT ESPD DELAY TIME WRITE 0 65 535 H 0000 HFFFF STATUS1 PORT BUSY 0 ESPD DELAY TIME 20 us 0 1 310 7 ms Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg 05 D15 ESPD DELAY TIME DO HO0000 ESPD DELAY TIME END PULSE
143. 94 7 3 SRATE INDEX SS RR 95 7 7 4 SRAT INDEX 96 97 7 8 1 2 98 2 100 7 9 1 CENTER POSITION SET 101 7 9 2 PASS POSITION SET 102 7 9 3 103 7 9 4 105 7 9 5 107 2 109 7 10 1 2 110 2 112 7 11 1 113 7 11 2 115 7 11 3
144. 4 8 4 1 1 16 BUSSELO BUSSEL1 AO USER CPU LOW HIGH LOW LOW 4 1 2 8 BUSSELO BUSSEL1 D15 D8 USER CPU 8 Bit Data Bus M I i 0 1 DO LOW HIGH A3 4 Bit Address Bus 5 jJ A0 asss nCS Chip Select LOW HIGH 4 2 4 2 1 nXCS O O O O MCC06 lt gt 16 PORT PORT nXCS O O O O O k O nYCS
145. CWLM CCWLM SOFT LIMIT SOFT LIMIT STATUS1 PORT STBY 1 DRIVE 1 STBY 1 LIMIT DRIVE 1 STBY 1 LIMIT STBY 1 CWLM CCWLM STBY O CWLM CWLM STATUS1 PORT SSEND 1 LSEND 1 CCWLM
146. DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 p2 po p Dp RELOAD AUTO COMP1 COMP1 COMP COMP COMP COMP ENABLE CLEAR STOP INT DETECT STOP GATE GATE ENABLE ENABLE ENABLE TYPE TYPE TYPE1 TYPE0 D pe p p p p po DFLINT DFLINT COUNT COUNT Ne dd PULSE PULSE TYPE1 TYPE0 TYPE1 TYPE0 PULSE PULSE TYPE1 TYPE0 SEL 1 SELO DO COUNT PULSE SELO D1 COUNT PULSE SEL1 COUNT PULSE SEL2 0 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 0 X X EA0 X EA1 EB1 X Y YOP EA1 EB1 O O Y 0 0 Y YOP EA1 EB1 1 Y YOP 0 Y YOP X 1 EA1 EB1
147. SCAN DELAY TIME CONSTANT SCAN CW 61 MCC06 lt gt 5 5 8 ORG 12 CCW CCWLM CW CW CWLM CCW ORIGIN CCW ORG 12 ORG 11 JOG CCW LIMIT CW LIMIT MARGIN CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW
148. 0 1 D11 COMP DETECT TYPE COMP1 2 3 0 1 D12 COMP1 INT ENABLE COMP1 DFLINT 0 COMP1 DFLINT 1 COMP1 DFLINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 187 MCC06 lt gt D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1
149. COMP1 COMP1 DFL COUNTER COMPARE REGISTER1 RELOAD lt COUNTER DATA2 3 gt RE gt DFL COUNTER COMP2 COMP2 COMPARE REGISTER2 TYPE gt DFL COUNTER COMP3 COMP3 COMPARE REGISTER3 TYPE COMP DETECTION TYPE 9 1 5 SPEED lt gt CLR COUNT LATCH SPEC SET COUNT PULSE SEL2 WI 32BIT COUNT ENABLE TYPE gt DRIVE DATA2 3 PORT NE COUNTER DATA2 3 PORT gt COMP1 COMP1 SPEED COUNTER COMPARE REGISTER1 RELOAD lt COUNTER DATA2 3 gt ENABLE gt SPEED COUNTER COMP2 COMP2 COMPARE REGISTER2 gt SPEED COUNTER COMP3 COMP3 COMPARE REGISTER3 TYPE 164 MCC06 lt gt 9 1 6 COMP1 STOP ENABLE COMP1 COMP STATUS4 2 NSR 4 COUNTER COMP MASK lt COMP1 gt i INT
150. Do 0002 50 100 ns X HARD INITIALIZE6 EBO x 50 ns 0 3 277 us G O 50 ns Y HARD INITIALIZE6 EBI x50ns 0 3 277 us 0 50 ns 154 MCC06 lt gt 8 8 8 8 1 HARD INITIALIZE7 lt gt COMMAND H F007 HARD INITIALIZE7 COMMAND DRVE DATAS PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D13 D12 D11 Do p p ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE pz s CP DB2 pt po 21 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HFFFF
151. MANUAL SCAN SCAN 32 3 32 3 32 3 32 3 SLSTOP FSSTOP LIMIT CWFSLM CCWFSLM CCWLM SS0 SS1 INT3 0 PAUSE DRST DEND DALM OUT3 0 COMP GPIO7 0 EA1 EB1 237 MCC06 lt gt 16 2 X Y X Y
152. 67 MCC06 lt gt gt lt gt CCWP x asr x cwp i CCWP 255601821525 x A 4 7 CCWP B 8 3 4 x A T x CCWP B f 2 1 1 FIRST PULSE STATUS1 STBY CCWP STATUS1 DRIVE 1 2 LSPD 774 Z 7274 7 SPD 21 Z PR TO STATUS1 DRIVE CWP SNE 1 J 2
153. BUSY DRIVE CWP _ t lt 94 us 2 CCWP 13 t3 BUSY DRVE CCWP s 222 MCC06 lt gt 12 12 1 12 2 DC 20 75 C GE EE m m na We ve so ss L se Tv L C C d 120 160 mA Vee 33V CLK 20 MHz VH 20 Vee03 TL VL 03 08 v VH 07xVec Vect03 v CLK CMOS AVT Q 3 V G ee 24 Vm v 1 a munam _ IPU 200 bA Rip Wn cov Pu 0 209 we _ 6 de pr OW t uno 12 3 AC 12 3 1 Vcc 3 3 0 3 V Ta 20 75 C 5 12 me ttL 15 ns CLK LTr 5 ms tf _ 5 ms 223 MCC06 lt gt R1 12 3 2
154. COMMAND H 0075 SRATE PRESET ORIGIN COMMAND lt PRESET ORIGIN gt DATA3 PORT WRITE BUSY 0 Y cd WRITE DRIVE DATA3 PORT p15 D14 D13 D12 D11 pio pg pe De ps pt DRIVE DATA3 PORT 015 08 0 D7 D0 ORIGIN STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND IIEIEIPIEIIECECOTEZZTeP ORIGIN 132 MCC06 lt gt 7 13 STATUS1 PORT EXT PULSE 1 7 13 1 SLOW STOP STATUS1 PORT STBY 1 DRIVE 1
155. H xx04 DRIVE TYPE 000 2 05 06 07 H xx08 RATE TYPE H xx09 SOFT LIMIT SOFT LIMIT H xx0A HFFFF_FFFF H x0C ADDRESS OVF 1 OFFSET ORIGIN FLG ENABLE 1 ORIGIN H xx0B H xx0D H xx0E H xx0 H xx10
156. 0 0 0 YOP COUNT PULSE SEL 2 1 185 MCC06 lt gt R1 DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 COUNT PULSE SEL2 1 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 1 X SEL2 SEL1 sELo 1 EA1 EB1 1 0 X 1 0 Y YOP 1 1 EA0 1 1 Y SEL2 SEL1 sELo 1 1 0 0 Y YOP 1 0 1 X
157. COMP1 PULSE LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT DRIVE COMMAND PULSE COUNTER INITIALIZE1 2 3 COUNTER COMMAND 176 MCC06 lt gt INITIALIZE HF014 PULSE COUNT
158. CW 58 MCC06 lt gt ORG 5 ORIGIN ORIGIN CCW CW ORG CONSTANT SCAN CSPD CCW LIMIT CW LIMIT MP MARGIN BeiDAODE NORG ORG SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW NORG ORG SCAN DELAY TIM
159. END PULSE 0 END PULSE 80 MCC06 lt gt 7 3 2 ESPD SET END PULSE gt COMMAND H 0019 ESPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 2 DRIVE DATA3 PORT 015 00 DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE 1 5 000 000 H0000_ 0001 H 004C_4B40 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D12 D11 D10 pg pe p7 pe Ds p2 Di po DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe De 5 D15 ESPD DO
160. STATUS4 PORT INT FACTOR CLR lt gt STATUS4 PORT INT FACTOR CLR lt gt STATUS4 PORT INT FACTOR CLR lt gt STATUS4 PORT INT FACTOR CLR ADRINT CNTINT DFLINT SPDINT STATUS4 PORT ADRINT CNTINT DFLINT SPDINT COUNTER INITIALIZE1 2 135 MCC06 lt gt 8 1 1 INT FACTOR CLR INT3 0 16 lt gt COMMAND HF020 INT FACTOR CLR COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D14 D3
161. DEND DEND STATUS2 PORT DEND BUSY 1 lt gt ORIGIN LIMIT lt gt MANUAL SCAN OFF STATUS1 PORT EXT PULSE 1 lt DEND ERROR DEND DEND STATUS1 PORT ERROR 1 DEND DEND TIME SET D4 DALM TYPE0 D5 DALM TYPE1 DALM
162. EA _ 8 2800 12 13 14 gt 50 ns t1 t2 2 200 ns t3 gt 200 ns EB N N 400 11 t2 13 14 gt 200 ns I I 11 12 13 4 gt 50 ns gt lt gt _ a 8 1 2 _ oO a EB x T 4 Jb f 9 2 2 EA N x 11 12 14 gt 50 ns EE Q 13 gt 200 ns 11 12 14 gt 50 ns 13 t3 13 gt 100 ns gt 1 lt gt L f L i i 166 MCC06 lt gt 93 CWP CCWP
163. SLSPD SCAREA3 SCAREA4 SCAREA4 SCAREA3 SCAREA4 EAR PUP EE C b d 90 MCC06 lt gt 7 6 S END PULSE S END PULSE S END PULSE SEND PULSE END PULSE SESPD END PULSE SESPD DELAY TIME END PULSE DELAY TIME 7 6 1 SEND PULSE SET S END PULSE gt COMMAND 0038 SEND PULSE SET COMMAND DATA2 PORT WRITE WRITE BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT p15 p14 D13 p12 p11 p10 pg pe De Ds p3 pt po D31 lt SEND PULSE
164. XX Y gt COMMAND H0101 PASS POSITION SET COMMAND Ir Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y Ir X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X IT OF nk 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 STATUS1 PORT BUSY 0 L X STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 X 2 gt S COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 p14 D13 p12 ii Di0 pg pe De Ds p Do A31 lt lt Y 16 Y DRIVE DATA3 PORT p15 D14 D13 D12 piti
165. CW 51 MCC06 lt gt ORIGIN CW CW CCW CW ORG 0 ORG CCW ORG 1 CW CCW LIMIT CW LIMIT MP MARGIN LE CCW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CW SCAN CWLM 2 LDLY LIMIT DELAY TIME SCAN 3
166. 1 1 0 1 1 1 EA1 EB1 XOP YOP COUNT PULSE SEL D2 COUNT TYPE0 D3 COUNT TYPE1 EA0 EAI EBI TYPE1 TYPEO EA EB 1 EA EB 2 EA 4 EA EB D4 DFLINT TYPE0 D5 DFLINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT DEFLINT COMP1 2 3 ITYPE1 TYPE0 COMP1 2 3 STATUS4 PORT STATUS4 L PORT STATUS4 PORT STATUS4 L PORT
167. 1 1 3 3V 3 3V 0V TTL TTL 4 mA nRST MCCO06 17 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA TTL TTL TTL TTL TTL TTL 3 2 BUSSELO BUSSEL 1 CPPOUT nRESET NMIN MD0 MD1 MD2 MD3 nRST MCCO06 X Y 1 1 VCC VCC 3
168. 550 SS1 000 SPEED OVF 000 SPEED COUNTER INITIALIZE3 COUNT PULSE SEL2 COUNT PULSE SEL2 0 1 1
169. JOG SPEC INITIALIZEI FIRST PULSE 100 us FIRST PULSE 11 LSPD G 7 1 1 JOG CW 1 lt gt COMMAND H0020 JOG COMMAND STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 7 1 2 JOG CCW 1 lt gt COMMAND H0021 JOG COMMAND STATUS1 PORT BUSY 0 COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 76 MCC06 lt gt 7 2
170. X PORT N 4 2 2 Y PORT nYCS nXCS 1 1 1 1 1 1 1 1 O O O O O O O O O O O O TS a aS ku O DRIVE COMMAND PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT COUNTER COMMAND PORT COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT STATUS2 PORT STATUS3 PORT STATUS4 PORT STATUS5 PORT nXCS Y PORT Sk O O Ot DRIVE COMMAND PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT COUNTER COMMAND PORT COUNTER DATA1 PORT
171. t5 ORG ORG 0 1 10 11 t5 59 ps 3 12 ORG 2 3 4 5 12 5 80 JOG DELAY TIME 3 11 9 DEND DEND 0 BUSY et DRIVE CE 52 t6 lt 58 3 CWP raka t5 16 CCWP t5 6 gt t5 3 DEND 221 MCC06 lt gt 11 10 LIMIT nW _ JL 1 SLSTOP BUSY DRIVE CWP A EE NO9E 5 640 us lt 17 lt 640 ps 1 13 lt 116 us 2 13 11 11 LIMIT nw FSSTOP
172. COMMAND H0164 INC CIRCULAR CONST CP COMMAND 6 CONST CCW CCW COMMAND HO0165 INC CIRCULAR CONST CP COMMAND 7 SRATE CONST CW S CW COMMAND H0166 INC SRATE CIRCULAR CONST CP COMMAND 8 SRATE CONST CCW S CCW COMMAND HO0167 INC SRATE CIRCULAR CONST CP COMMAND 113 MCC06 lt gt lt gt D Y DRIVE DATA1 PORT Y WRITE Y DRIVE DATA2 PORT Y Y WRITE Y DATA3 PORT WRITE Y DRIVE DATA3 PORT Y WRITE WRITE X DATA3 PORT WRITE Y STATUS1 PORT BU
173. H0000 0000 PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 4 4 294 967 294 0000 0004 HFFFF_FFFE H 0000_0000 H FFFF_FFFF V F D V Hz D 1 Z D 100 F 20 000 000 Hz 50 ns 50 ns 201 MCC06 lt gt 9 8
174. 2 INT3 0 OUT3 0 INT3 0 INT3 0 16 4 OR 16 INT FACTOR CLR INT FACTOR MASK OUT3 0 OUT3 0 HARD INITIALIZEI RDYINT ADRINT CNTINT DFLINT SPDINT ADRINT CNTINT DFLINT SPDINT 3 COUNTER COMP MASK INT3 0 RDYINT RDYINT 1 STBY STATUS1 PORT STBY 1 INT FACTOR CLR COM
175. 5 2 1 SCAN INDEX SCAN INDEX LSPD HSPD URATE DRATE 5 2 2 END PULSE END PULSE END PULSE END PULSE ESPD END PULSE ESPD DELAYTIME END PULSE DELAY TIME END PULSE COMMAND COMMAND DRIVE COMMAND DRIVE COMMAND H 0022 SCAN H 0110 ABS STRAIGHT CP H 0023 SCAN H 0112 ABS STRAIGHT CONST CP INCINDEX HO150 INCSTRAGHICP HO025 ABSINDEX HO152 INCSTRAIGHTCONSTCP _ j 2 2 SPEC INITIALIZE3 END PULSE STOP 1 lt gt 2 2
176. ADRINT COMP1 MASK ADDRESS COUNTER 1 000 0x3e8 MCCO6 INITIALIZE VOID Mcc06Inz VOID X SPEC INITIALIZE1 COMMAND W_X_DRV_DT3_PORT 0x012c READY_WAIT_XO W_X_DRV_CMD_PORT 0x0001 Y SPEC INITIALIZE1 COMMAND W Y_DRV_DT3 PORT 0x012c READY_WAIT YO W Y_DRV_CMD_PORT 0x0001 X ADDRESS COUNTER INITIALIZE1 COMMAND W_X_DRV_DT3_PORT 0x1800 W_X_DRV_CMD_PORT 0xf0O10 Y ADDRESS COUNTER INITIALIZE1 COMMAND W Y_DRV_DT3 _PORT 0x1800 W Y_DRV_CMD_PORT 0xfO10 X ADDRESS COUNTER COMPARE REGISTER1 SET COMMAND W X CNT _DT2 PORT 0x0001 W X CNT_DT3_PORT 0x86a0 W X CNT_CMD_PORT 0x0001 229 Y ADDRESS COUNTER COMPARE REGISTER1 SET COMMAND W Y_CNT_DT2 PORT 0x0001 W Y_CNT_DT3 PORT 0x86a0 W Y_CNT CMD _PORT 0x0001 X COUNTER COMP MASK COMMAND W_X_DRV_DT3_PORT Oxfffe W_X_DRV_CMD_PORT 0xf023 Y COUNTER COMP MASK COMMAND W Y_DRV_DT3 PORT Oxfffe W Y_DRV_CMD 0 023 X ADDRESS COUNTER PRESET COMMAND W X CNT _DT2 PORT 0x0000 W X CNT_DT3_PORT 0x03e8 W X CNT_CMD_PORT 0x0000 Y ADDRESS COUNTER PRESET COMMAND W Y_CNT_DT2 PORT 0x0000 W_Y_CN
177. D15 pg SPEED SPEED SPEED SPEED DFL DFL DFL DFL CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ENABLE TYPE2 TYPE1 TYPE0 65 pe PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 ADDRESS LATCH TYPE2 0 ADDRESS LATCH DATA PORT SELECT CNTINT 1 DFLINT 1 O O SPDINT 1 SS0 SS1 GPIO0 1 GPIO4 1 SS0 SS1 SPEC INITIALIZE2 SENSOR 550
178. D31 h D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pelps p4 D2 po 015 gt DO H7FFF FFFF 0 1 129 MCC06 lt gt 7 12 7 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET ORIGIN PRESET lt gt COMMAND 0068 ORIGIN PRESET PULSE SET COMMAND DRIVE DATA2 PORT PRESET D31 D16 DRIVE DATA3 PORT PRESET D15 D0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 BUSY 0 _ STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE D
179. D9 DFLINT COMP2 COMPARE REGISTER2 D10 DFLINT COMP3 COMPARE REGISTER3 1 0 DFL COUNTER INITIALIZE1 2 D11 DFL OVF 1 0 DFL COUNTER PRESET D12 SPDINT COMP1 COMPARE REGISTER1 D13 SPDINT COMP2 COMPARE REGISTER2 D14 SPDINT COMP3 COMPARE REGISTER3 1 0
180. SEND PULSE END PULSE SESPD END PULSE SESPD DELAY TIME END PULSE DELAY TIME S END PULSE COMMAND COMMAND CODE DRIVE COMMAND K DRIVE COMMAND H 0042 SRATE SCAN H 0111 ABS SRATE STRAIGHT CP H 0043 SRATE SCAN H 0113 ABS SRATE STRAIGHT CONST CP H 0044 INC SRATE INDEX H 0151 INC SRATE STRAIGHT CP H 0045 ABS SRATE INDEX H 0153 INC SRATE STRAIGHT CONST CP 2 2 SPEC INITIALIZE3 PULSE 1 gt 2 2 CP SPEC SET CIRCULAR 0 lt gt 44 MCC06 lt gt S END PULSE SCAREA2 SCAREA3 SURATE 1 cp EEEEEEE CCEECEEA EEEE SESPD DELAY TIME lt gt I DRIVE DELAY TIME INDEX SRATE INDEX
181. gt COMMAND H002A DFL COUNTER MAX COUNT SET COMMAND COUNTER DATA2 PORT D31 D16 COUNTER DATA3 PORT D15 D0 WRITE 1 4 294 967 295 H 0000_0001 HFFFF_FFFF COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 p11 po pg ps pe ps ps p2 D1 po D31 D16 COUNTER DATA3 PORT p15 p14 D13 p12 D11 Di0 pe De Ds D4 p2 pt po D15 lt n P As 9 s UlOhpo HFFFF FFFF 1 2 STATUS4 PORT DFL OVF 1 STATUS4 PORT DFL
182. 217 11 218 11 1 nRESET nRST 218 11 2 SCAN 219 INDEX E TA RGR 219 MT ESS SS 219 Issuu u U 5 gt 220 STDYOPADSE 2 4 4 44444445454 4 A 220 221 11 8 ORIGIN AUTO DRST 221 DEND 221 11 10 LIMIT 222 11 11 LIMIT 222 12 223 223 12 2 DC SR 223 12 35 AG ps 223 12 3 1 00 00t Fa 223 Sam l R 224 MCC06 lt gt 13
183. CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW 55
184. COUNTER COMMAND ADDRESS COUNTER PRESET COUNTER COMMAND ADDRESS COUNTER MAX COUNT SET D15 PAUSE PAUSE STBY 1 1 STBY 1 0 STBY 1 PAUSE PAUSE 1 PAUSE PAUSE 0 PAUSE 1 STBY 1 PAUSE PAUSE PAUSE 0 PAUSE ORIGIN END PULSE
185. 0 0 1 0 0 127 us 1 191 us 1 255 us 1 511 us 1 023 us 2 047 us 4 095 us 8 191 us O O 1 1 1 1 O O 0 1 D15 D12 MAN FILTER3 0 MAN CWMS CCWMS 0 0 1 0 0 12 7 ms 19 1 ms 25 5 ms O O oO 51 1 ms 102 3 ms 204 7 ms 409 5 ms 819 1 ms O IO O O 0 0 1 ms 153 MCC06 lt gt 8 7 3 HARD INITIALIZE6 EA0 X HARD INITIALIZE6 EA1 EB1 Y HARD INITIALIZE6 gt COMMAND HF006 HARD INITIALIZE6 COMMAND DRIVE DATA3 PORT ME 0 65 535 H 0000 HFFFF G WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pa 05 p2 pt D15
186. 1 LIMIT ORIGIN LIMIT ORIGIN STATUS1 PORT LSEND 1 LIMIT END ENABLE 1 ORIGIN LIMIT END ENABLE 0 LSEND 0 SCAN D8 TYPE0 D9 ORG TYPE1 ORG ZPO ORG ZPO AND ORG ZPO OR D10 DETECT TYPE0 D11 NORG DETECT TYPE1 NORG NORG ZPO NORG ZPO AND NORG ZPO OR D12 ORG DETECT TYPE0 013 DETECT TYPE1 ORG TYPE1 ORG ORG NORG ORG NORG AND ORG NORG OR 123 MCC06 lt gt D15 D14 0 0 ORG NORG 7 12 2 ORIGIN CSPD SET CONSTA
187. DRIVE DATA2 PORT 2 DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND H 008A STATUS1 PORT BUSY 0 lt DATA READ PORT SELECT gt DRIVE COMMAND PORT COMMAND HF041 DRIVE DATA1 PORT 1 DRIVE DATA2 PORT 2 DRIVE DATA3 PORT 3 161 lt gt 9 X Y X Y 9 1 9 1 1 EXT PULSE TYPE OP
188. A16 X DRIVE DATA3 PORT 015 D14 D13 D12 D11 pio pg pe De ps D4 pt X Y 108 Y DRIVE DATA2 PORT 2 Y Y DRIVE DATA3 PORT 2 Y X DRIVE DATA2 PORT 2 X X DRIVE DATA3 PORT 2 X 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 MCC06 lt gt 7 10 2 X S X
189. DRST 150 MCCO06 lt gt 8 7 HARD INITIALIZE4 5 8 HARD INITIALIZE6e EB0 X HARD INITIALIZE6 EA1 EB1 Y HARD INITIALIZE6 sss sana ha 0 0 0 0 0 0 H HL
190. ADDRESS OVF 1 2000 0 0 2000 1001 1000 1000 ADDRESS OVF 1 gt 1 0 209 MCC06 lt gt R1 10 3 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 10 3 1 COMMAND H0010 PULSE COUNTER PRESET COMMAND COUNTER DATA2 PORT D31 D16 2 COUNTER DATA3 PORT D15 D0 DATA3 PORT ho WRITE lt 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 015 p14 D13 D12 D11 Di0 pe ps D4 pt D31 D16 COUNTER DATA3 PORT p15 D14 D13 D12 D11 D10
191. DEND 1 DEND 0 DEND DEND ERROR DEND BUSY 1 5392 MCC06 lt gt 4 5 3 STATUS3 PORT PORT D15 p2 pt po p p GPIO7 GPIO6 GPIO5 GPIO4 GPIO3 GPIO2 GPIO1 GPIO0 Dr D D p p p p OUT3 OUT2 OUT1 OUT0 INT3 INT2 INT1 INT0 DO INTO D1 INT1 D2 INT2 D3 INT3 INT3 0 1 0 INT 3 0 0 D4 OUTO D5 OUT1 D6 OUT2 D7 OUT3
192. PORT PORT DRIVE DATA3 PORT DATA DATA2 PORT DATA1 2 3 PORT DRIVE DATA3 PORT DATA1 2 3 PORT DATA1 2 3 PORT PORT SELECT PEORT SELECT 8 DRIVE DATA3 L PORT DRIVE DATA1 H L PORT DRIVE DATA2 H L PORT DRIVE DATA3 H PORT DRIVE DATA3 L PORT DRIVE DATA3 L PORT DATA1 2 PORT PORT SELECT PORT MCC SPEED PORT SELECT DATA READ PORT SELECT ADDRESS COUNTER PORT SELECT PULSE COUNTER
193. psCenterPosition X Y X Y 233 MCC06 lt gt psTarGetPosition X Y 14 6 X Y ORIGIN ORIGIN URATE DRATE LSPD HSPD CSPD OFFSET PULSE MARGIN PULSE LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME ORIGIN ORIGIN X ORG DRIVE VOID X OrgDrive S_SPEED_PARAM S_ORG_PARAM psOrgParam BYTE OrgType RATE SET COMMAND W_X_DRV_DT3_PORT WORD psSpeedParam gt URateNo lt lt 8 WORD psSpeedParam gt DRateNo READY_WAIT_XO X CMD_PORT 0x0013 LSPD SET COMMAND DRV_DT2_PORT WORD psSpeedParam gt Lspd gt gt 16 W_X_DRV_DT3_PORT WORD psSpeedParam gt Lspd READY_WAIT_XO CMD_PORT 0x0010 HSPD SET COMMAND W_X_DRV_DT2_PORT
194. 20 MHz 1 32 3 SPDINT 32
195. COMMAND H0110 ABS STRAIGHT CP COMMAND 2 SRATE 2 S 2 COMMAND H0111 ABS SRATE STRAIGHT CP COMMAND 3 CONST 2 2 COMMAND H0112 ABS STRAIGHT CONST CP COMMAND 4 SRATE CONST 2 S 2 COMMAND H0113 ABS SRATE STRAIGHT CONST CP COMMAND 98 MCC06 lt gt lt 2 gt WRITE WRITE WRITE 2 147 483 647 2 147 483 647 H 8000_0001 2 7 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT
196. COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 ADRINT COMP1 ADDRESS LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT DRIVE COMMAND ADDRESS COUNTER INITIALIZE1 2 3
197. CP SPEC SET CIRCULAR 0 lt gt 42 MCC06 lt gt END PULSE NSR SS De Ss URATE DRATE LSPD END PULSE 1 1 ESPD DELAY TIME lt DRIVE DELAY TIME INDEX INDEX END PULSE END PULSE END PULSE 0 END PULSE END PULSE
198. SIGNAL OUT GPIO4 GPIOS GPIO4 MCC06 149 STATUS4 DFLINT COMP1 STATUS4 DFLINT COMP2 STATUS4 DFLINT COMP3 STATUS4 DFL OVF STATUS4 SPDINT COMP1 STATUS4 SPDINT COMP2 STATUS4 SPDINT COMP3 STATUS4 SPEED OVF STATUS1 DRIVE STATUS1 CONST STATUS1 SPEED CBUSY STATUS1 INDEX CBUSY X Y DFLINT AND X Y SPDINT AND MCC06 lt gt 8 6 8 6 1 SIGNAL OUT lt gt COMMAND HF00C SIGNAL OUT COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D12 D11
199. X X DRIVE DATA3 PORT X Y STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 p14 D13 p12 D11 Di0 pg pe De Ds D4 p po A31 Y 16 Y DRIVE DATA3 PORT p15 D14 D13 D12 pit Di0 pg pe pe ps D4 pt A15 Y DRIVE DATA2 PORT p15 D14 D13 D12 D11 D10 De Ds p2 pt A31 X A X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pa 05 15 X 0 X Y
200. lt gt COMMAND 0024 INC INDEX COMMAND WRITE DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT D31 D16 2 DRIVE DATA3 PORT 015 0 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 ps D4 pt D31 D16 DRIVE DATA3 PORT D15 p14 D13 D12 D11 Di0 pg pe De ps p4 ps p2 p1lbpol D15 gt DO
201. 0 0 STATUS1 PORT BUSY 0 1 1 RDYINT RDYINT STATUS1 PORT STATUS1 L PORT ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET MANUAL SCAN STATUS1 PORT EXT PULSE 1 015 010 0 0 73 MCC06 lt gt 6 4 DELAY TIME 6 4 1 DRIVE DELAY SET DELAY TIME DRIVE DELAY TIME ORIGIN lt gt COMMAND 0007 DRIVE DELAY SET COMMAND DRIVE DATA3 PORT DRIVE DELAY TIME 0 65 535 H0000 HFFFF BUSY 0 DRIVE DELAY TIME 20 us 0 1 310 7 ms Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND
202. SCAN DELAY TIME gt JOG la CCW CCW LIMIT SCAN CCW 3 2 SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW 56 MCC06 lt gt 5 5 5 ORG 4 ORG 5 ORG 4 ORG NORG ORG ORG 4 ORG NEAR ORIGIN ORIGIN ORG 4 ORG 5 NEAR ORIGIN ORIGIN CCW CW NORG 1 CCW
203. SENSOR 550 SS1 D15 D3 0 0 140 MCC06 lt gt 1 STBY SPEC SET X STBY 000 PAUSE 0 STBY 0 Y STBY 000 PAUSE 0 STBY 0 X XPAUSE XSTBY 1 X Y __ PE YPAUSE YSTBY u Y X Y PAUSE X Y X Y STATUS1 PORT STBY 1 X Y PAUSE XPAUSE 0 YPAUSE 0 Y 141 MCC06 lt gt 2 STBY SPEC SET X STBY 000 PAUSE 0 STBY 0 Y STBY
204. YOP EA1 EB1 Y YOP X EA1 EB1 YOP COUNT PULSE SEL 1 OR 193 D2 D3 D4 D5 D6 D7 D8 D9 MCC06 lt gt R1 COUNT TYPE0 COUNT TYPE1 EA0 EA1 EB1 EA EB 1 EA EB 2 EA EB 4 EA EB SPDINT TYPE0 SPDINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 POR
205. gt SOFT LIMIT gt D8 ORG 1 D9 NORG NORG 1 D10 ZPO ZPO 1 D11 ORIGIN FLG ORIGIN 1 0 D12 DRST DRST 1 0 D13 DEND DEND 1 D14 DALM DALM 1 D15 DEND BUSY SERVO SPEC SET DEND gt
206. Rup YDSEL Z _ Y Rup CPPOUT L CPPIN JRXD ue _ _ SDE H EO 100ns 1 EO L 1 Et 100ns _ 1 Et L 1 Z H L nRST nRST STATUS1 PORT BUSY STATUS1 PORT BUSY MCC06 lt
207. gt La ana aaa COUNT PULSE SEL2 1 mm w s i 8 4 5 6 7 2 4 6 199 MCC06 lt gt 9 7 9 7 1 ADDRESS COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F048 ADDRESS COUNTER PORT SELECT COMMAND 9 7 2 PULSE COUNTER PORT SELECT DRIVE DATA 2 3 PORT READ PORT COMMAND H F049 PULSE COUNTER PORT SELECT COMMAND 9 7 3 DFL COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF04A DFL COUNTER PORT SELECT COMMAND lt gt D DRIVE COMMAND PORT COMMAND
208. 015 0 0 1 HARD INITIALIZE7 CWFSLM CCWFSLM MAN PAUSE 155 MCC06 lt gt 8 9 8 9 1 MCC SPEED PORT SELECT DRIVE DATA1 2 3 PORT READ 2 MCC06 PORT lt gt COMMAND HF040 MCC SPEED PORT SELECT COMMAND D DRIVE COMMAND PORT COMMAND Tr DRIVE DATA2 PORT D23 D16 DRIVE DATA3 PORT 015 00
209. 8 3 3 DRST OUT SERVO SPEC SET DRST 00 10 11 DRST 10 ms lt gt COMMAND H F00D DRST OUT COMMAND DRIVE COMMAND PORT COMMAND DRST 10 ms DRST 10 ms DRST 10 ms 146 MCC06 lt gt 8 4 OUT3 0 8 4 1 HARD INITIALIZE1 OUT3 0 lt gt COMMAND HF001 HARD INITIALIZE1 COMMAND D DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE
210. CCW CW ORG CONSTANT SCAN CSPD CCW LIMIT CW LIMIT MP MARGIN BeiDAODE NORG ORG SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW NORG ORG SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG
211. SLSTOP LIMIT CWLM CCWLM 550 SS1 DALM FSEND 1 DRIVE 1 DRIVE 0 0 MANUAL SCAN 2 XFSEND 1 YFSEND 1 FSEND 29 FAST STOP FSSTOP CWFSLM CCWFSLM LIMIT CWLM CCWLM SS0 551 DALM
212. gt H 0150 H 0151 H 0152 H0153 HO154 H 015F XX P 29436 MCC06 lt gt 16 3 DRIVE COMMAND a lt 2 gt 5 CW INC S CCW INC CW INC INC CIRCULAR CONST CP 1 P CCW INC S CW INC S CCW INC Hoi6F ss asi lt 2 gt H0173 sssi H0178 INC CIRCULAR3 CP INC H0179 INC SRATE CIRCULAR3 CP S INC H017A INC CIRCULAR3 CONST CP 1 P H017B INC SRATE CIRCULAR3 CONSTCP I P 7 H017F ___ gt _ 2U S h H 0180 IE H018F ______ ___ lt gt H 0190 MULTICHIP STRAIGHT CP gt _ _ _ _ j C 2 s _ Z j __ 2 ____ CW INC CCW INC S CW INC S
213. CWMS CCWMS ON MAN OFF gt ON CWMS MANUAL SCAN MAN 1 CCWMS OFF CWMS ON MANUAL SCAN SCAN OFF MANUAL SCAN CWMS OFF ON CWMS CCWMS MANUAL SCAN MAN 1 CWMS OFF CCWMS ON MANUAL SCAN SCAN OFF MANUAL SCAN CCWMS OFF gt ON CCWMS MANUAL SCAN JOG 1 SCAN
214. J LSPD x u LSPD gt 68 MCC06 lt gt D4 TYPEO D5 RATE TYPE1 D6 TYPE2 RATE ms kHz Hz RESOL L1 TYPE 1 000 3 3 50 L2 TYPE 200 0 68 250 M1 TYPE 100 0 33 500 M2 TYPE 51 0 16 1 000 H1 TYPE 20 0 068 2 500 H2 TYPE 5 1 0 016 10 000 1 048 56 0 0125 50 12 750 0 1 0 1 _ 1 7 RATE DATA TABLE RATE RATE SET S SRATE SET D7 0 0 015 08 RESOL 07 RESOL 1 RATE TYP
215. JE pp CIH Ce ADDRESS COUNTER INITIALIZE3 D15 D8 0 0 182 MCC06 lt gt 9 5 2 32 1 1 2 2 147 483 647 2 147 483 647 H 8000 0001 H 7FFF FFFF 2 DFL COUNTER PORT SELECT
216. SHSPD 1 Hz 5 MHz 1 Hz 0 1 Hz SM MHz 87 MCC06 lt gt 7 5 3 SRATE SET S SURATE SDRATE gt COMMAND H 0033 SRATE SET COMMAND WRITE STATUS1 PORT BUSY 0 Y WRITE DRIVE DATA3 PORT p15 D14 D13 D12 pti pio pe ps pt DRIVE DATA3 PORT D15 D8 SURATE No DRIVE DATA3 PORT D7 D0 SDRATE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND D7 SURATE DO D7 SDRATE DO SURATE No 1 SDRATE No 1 H 18 100 ms kHz H 25 30 ms kHz lt DSEL gt H 18 100 ms kHz H 25 30 ms kHz lt DSEL gt mi SURATE SDRATE 1 000 ms kHz 0 016 ms kHz SP
217. gt ADDRESS COUNTER COMP2 COMPARE REGISTER2 TYPE COMP2 gt ADDRESS COUNTER COMP3 COMPARE REGISTER3 TYPE COMP3 9 1 3 _ PULSE lt gt CLR COUNT LATCH SPEC SET 32BIT DRIVE DATA2 3 PORT AUTO CLEAR ENABLE COUNTER DATA2 3 PORT lt gt COMP1 COMP1 PULSE COUNTER 5 COMPARE REGISTER1 RELOAD lt COUNTER DATA2 3 gt gt PULSE COUNTER COMP2 COMP2 COMPARE REGISTER2 TYPE gt PULSE COUNTER COMP3 COMP3 COMPARE REGISTER3 TYPE 163 MCC06 lt gt 9 1 4 1 DFL 1 lt gt 1 CLR COUNT LATCH SPEC SET 2 _ENABLE DRIVE DATA2 3 PORT i 5 s AUTO CLEAR COUNTER DATA2 3 PORT gt
218. kT FNN O ss inu sis miss 2 1 3 0 DRIVE DELAY TIME lt 0 00 X Y 47 MCC06 lt gt X STATUS1 PORT ERROR 1 2 1 2
219. lt gt 11 4 JOG nW BUSY DRIVE CWP NE ti 2 1 tf3 lt lt BUSY DRIVE CCWP X t1 219 MCC06 lt gt 1 lt 200 ns 12 lt 167 us S 12 lt 225 us 12 1 lt 200 ns 12 lt 186 us S t2 lt 245 us 3 lt 92 2 12 13 t1 lt 200 ns 12 lt 164 us 3 lt 92 2 12 13 MCCO06 lt gt 11 5 11 lt 200 ns 2 lt BUSY t3 lt 118 us DRIVE s r t2 t3 1 527us S 12 584 us 2 1 428us S 12 lt 485 us 2 1 818us S 12 lt 873 us
220. 133 8 134 8 1 INT3 0 134 8 1 1 INT FACTOR CLR 136 8 1 2 INT FACTOR MASK 137 8 1 3 COUNTER COMP MASK 138 8 2 STBY PAUSE 139 8 2 1 STBY SPEC SET 140 DRST DEND DALN 144 8 3 1 SERVO SPEC SET 144 8 3 2 DEND TIME SET 146 8 3 3 OUT 146 8 4 OUT3 0 147 8 4 1 HARD INITIALIZE1 147 8 5 GPIO7 0 148 8 5 1 HARD INITIALIZE2
221. CPPIN 1 0 D11 CPPOUT X Y CPPOUT 1 0 D12 SPEED CSET CHANGE 1 CHANGE 0 CHANGE CHANGE CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE CHANGE CHANGE UP DOWN CONST DRIVE 550 SS1 D13 INDEX CSET INDEX CHANGE 1 INDEX CHANGE 0 INDEX CHANGE CHANGE INDEX CHANGE INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE _ PLS INDEX CHANGE D14 CPP MASK CPPIN
222. MANUALSCAN Rup 63ms MANUALSCAN O Rup_ 51 STBY Rup 5 1 Lip Am 1 1 CNTNT NT ll OUT3 C RopyiNT GPOo H Rupl Rupl ls 2 lesl ssl epPlO8 H GPIO4 H 6 Rupl GPIO5 H Rupl GPlO6 H Plo7 H L I 2 097 MCC06 lt gt 4 PORT 4 1 USER CPU MCC06 BUSSEL0 1 8 16 BUSSEL0 1 nRST MCC06 BUSSEL1 3 16
223. SCAREA4 SDRATE S 7 5 1 SLSPD SET S lt gt COMMAND H0030 SLSPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 Rd WRITE a sx E DRIVE DATA3 PORT 015 1 5 000 000 0000 0001 H 004C_4B40 BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT 015 D14 D13 D12 D11 Di0 pg pe Ds D1 o e e s s DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pe De ps p4 D3 pt D15 SLSPD DO H0000 012C 300 Hz 0000 0320 800 Hz lt DSEL gt SLSPD 1 H
224. pt D31 D16 COUNTER DATA3 PORT p15 D14 D13 D12 D11 D10 Dr Ds D4 pa D2 D1 po_ 015 gt DO H0000 0000 H8000 0000 HS8000 0000 STATUS4 PORT DFL OVF 1 213 MCC06 lt gt 10 4 2 1 DFL COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 0021 DFL COUNTER COMPARE REGISTER1 SET COMMAND 2 DFL COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND H 0022 DFL COUNTER COMPARE REGISTER2 SET COMMAND 3 DFL COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 0023 DFL COUNTER COMPARE REGISTER3 SET
225. 0 COUNT LATCH SPEC SET 0 205 MCC06 lt gt R1 10 X Y X Y 10 1 COUNTER COMMAND COMMAND l lt gt j 1 H0002 2 200 ns H0003 3 200 ns ii 7 H000A ADDRESS COUNTER COUNT 45 ps H000B S s __ WSA 22 5 H 000F H 0010 PULSE COUNTER PRESET H 0000_ 0000 200 ns 0011 PULSE COUNTER COMPARE REGISTER1 SET 1 HH8000 0000 200ns 0012 PULSE COUNTER COMPARE REGISTER2 SET 2 H 8000 0000 200ns 0013 PULSE COUNTER COMPARE REGISTER3 SET 3 H8000 0000 200ns _ H 0019 001 PULSE COUNTER COUNT SET FFFF_FFF 2 Ho 2 s s
226. 5777 7 COUNT PULSE SEL1 2 1 2 COUNT PULSE SELO 2 0 49 1 019 DFL COUNTER INITIALIZE2 DiS 07 COMP3TYPE1 es COMP2 gt DO CoMP2INT ENABLE coMP2 DFLINT HPFO1A DFLCOUNTERINITIALIZES ii D12 COUNTPULSE SEL2 D11 D8 DIVISIONTYPE 1 _ D7 psSlOND7 De _ DVSIOND6 Ds pslOND5 DS _ pMSIOND3 DP2 DVSIOND2 D1 DVSIOND1 ID psloNPpO 184 MCC06 lt gt 9 5 1 DFL COUNTER INITIALIZE1 lt gt COMMAND H F018 DFL COUNTER INITIALIZE1 COMMAND DRIVE DATA3 PORT
227. H F016 PULSE COUNTER INITIALIZE3 De DVSIOND6 PD2 DVSIOND2 D1 DVSIOND1 ID pvsloNPpO 177 MCC06 lt gt 9 4 1 PULSE COUNTER INITIALIZE1 lt gt COMMAND HF014 PULSE COUNTER INITIALIZE1 COMMAND DRVE DATA PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT po p ps Loap AUTO coMP1 coMPt COMP COMP COMP CLEAR STOP INT 1 STOP GATE GATE D3 ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 D pe p pn p p p po CNTINT CNTINT COUNT COUNT 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 SELO DO COUNT PULSE SELO D1 COUNT PULSE SEL1 X SEL1 0 X 1 Y YOP
228. ORIGIN FLG 0 LIMIT CPP STOP MANUAL SCAN MAN OFF DRST lt gt ORIGIN ORIGIN SPEC SET ORIGIN SPEC SET SENSOR ERROR ORIGIN SPEC SET ERROR PULSE SERVO SPEC SET DEND ERROR ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET H FFFF_FFFF ERROR PULSE ENABLE ERROR 0 ERROR 1 ERROR ERROR CONSTANT SCAN JOG
229. TTL Rup TTL TTL TTL Rdown TTL Rup CMOS TTL Rup TTL Rup CMOS TTL 4 mA TTL 4 mA TTL 4 mA TTL 4 mA TTL 4 mA TTL Rup TTL 4 mA TTL 4 mA TTL Rup TTL Rup TTL 2 nRST BUSY MCCO6 18 3 2 MCC06 lt gt EA1 EB1 XSLSTOP XFSSTOP XCWFSLM XCCWFSLM XCWLM XCCWLM VCC GND XNORG XORG YSLSTOP YFSSTOP YCWFSLM YCCWFSLM YCWLM YCCWLM 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 YSS1 YDRST YDEND YDALM XGPIO2 XGPIO3 VCC X X X LIMIT X LIMIT LIMIT LIMIT 3 3V
230. gt COMMAND 0088 ERROR STATUS READ COMMAND STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DATA2 PORT READ DATA3 PORT READ STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 0088 STATUS1 PORT BUSY 0 lt READ PORT SELECT gt DRIVE COMMAND PORT COMMAND HF041 DRIVE DATA2 PORT COMMAND CODE DRIVE DATA3 PORT ERROR CODE ERROR CODE STATUS1 PORT ERROR 0 STATUS1 PORT ERROR 157 MCC06 lt gt DRIVE DATA3 PORT ERROR CODE ERROR H xx00 H xx01 02 H xx03 X Y
231. CCW SCAN DELAY TIME CONSTANT SCAN CCW 8 sDLY SCAN DELAY TIME lt CONSTANT SCAN dia _ CCW lt CW LIMIT ma SCAN n CCW SCAN DELAY TIME 2 CONSTANT SCAN x CCW 9 SDLY SCAN DELAY TIME CONSTANT SCAN CCW 52 MCC06 lt gt 5 5 2 ORG 1 ORIGIN CCW CCW ORG 1 ORG CCW ORG 1 CW
232. ESPD ESPD DELAY TIME _ 001 DATA SET H001F DOWN POINT SET RATE DATA H0020 JOG P JOG 164 us H 0021 JOG P JOG 164 us H 0023 F s gt H 0026 LHO0861 Ho037 HOO 165 ps SCAN P SCAN 167 ps INC INDEX ABS INDEX EE HOF 203ms 89 203ms 90 EY S S RATE S S S END PULSE S SESPD S SESPD DELAY TIME 2 20 2008028 8 0 0 0 H 003E SRATE DATA SET H003F SRATE DOWN POINT SET P 6 135 S SRATE D
233. X X Y HFFFF_FFFF 97 MCC06 lt gt 7 8 1 2 X Y 1 2 2
234. HI0000 OBB8 3 000 Hz H 0000 2710 10 000 Hz lt DSEL gt HSPD 1 Hz 5 MHz 1 Hz 0 1 Hz SM MHz 78 MCC06 lt gt 7 2 3 RATE SET URATE DRATE lt gt COMMAND HO0013 RATE SET COMMAND DRIVE DATA3 PORT 015 08 URATE NE DRIVE DATA3 PORT 07 00 DRATE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 D12 pit pio pg pe pe ps pa pt D7 URATENo gt DO D7 DRATE DO No H 18 100 ms kHz H 25 30 ms kHz lt DSEL gt DRATE No H 18 100 ms kHz H 25 30 ms kHz lt DSEL gt URATE DRATE 1 000 ms kHz 0 016 ms
235. MCC06 UP DOWN CONST CHANGE SENSOR 41 MCC06 lt gt INT3 0 INT3 0 16 4 OR 16 4 4 STBY STBY
236. gt DELAY TIME LIMIT DELAY TIME LIMIT DELAY TIME x5ms 0 1 275 ms LIMIT LIMIT DELAY TIME SERVO SPEC SET DRST lt gt DRST lt gt LIMIT DELAY TIME SCAN DELAY TIME SCAN DELAY TIME x5ms 0 1 275 ms SCAN SCAN DELAY TIME CONSTANT SCAN SCAN DELAY TIME INDEX SCAN DELAY TIME PRESET INDEX SCAN DELAY TIME CONSTANT SCAN DRST lt gt CONSTANT SCAN DEND ORIGIN CSPD DELAY T
237. gt 3 3 X Y X Y Um I Vo P BUSY H L STATUS1PORT BUSY CW H L CCWP H L SLSTOP H 63us FSSTOP H 63ps O Rupu CWFSLM H 63us LIMIT Ru CCWFSLM 63uS LIMIT Rup 63DS LIMIT O Rup 63ps LIMIT O Rup 63pS ORIGIN Rup 63pS ORIGIN Rup_ _6 3 ORIGIN O Rp _ Gs 1O Rupu 63ps 1O Rupu 28 Gs 1O Rupu 63DS 1O Rupu 63ms __ Rup 63ms
238. po p p INT3 INT3 INT3 INT3 INT2 INT2 INT2 INT2 GPIO5 GPIO4 GPIO1 GPIO0 SPDINT DFLINT CNTINT ADRINT CLR CLR CLR CLR CLR CLR CLR CLR 505 1 pa 1 5 INT1 INT1 INT1 INT1 INTO SS1 550 DALM MAN nCOMREG FL COMREG EP RDYINT CLR CLR CLR CLR CLR 015 0 16 0 1 136 MCC06 lt gt 8 1 2 INT FACTOR MASK INT3 0 16 COMMAND HF021 INT FACTOR MASK COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT INT3 INT3 INT3 INT3 INT2 INT2 INT2 INT2 GPIO5 GPIO4 GPIO1 GPIO0 SPDINT DFLINT CNTINT ADRINT MASK MASK MASK MASK MASK MASK MASK MASK Dp7 p D4 p p mn p INT1 INT1 INT1 INTO INTO SS0 DALM MAN nCOMREG FL COMREG EP RDYINT MASK MASK MASK MASK MASK MASK HFFFF
239. 1 CCWFSLM CCWFSLM 1 CW SOFT LIMIT SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CW SOFT LIMIT 1 SOFT LIMIT CW SOFT LIMIT 0 MANUAL SCAN CCW SOFT LIMIT SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CCW SOFT LIMIT 1 SOFT LIMIT CCW SOFT LIMIT 0 MANUAL SCAN 2 SOFT LIMIT SOFT LIMIT 2 SOFT LIMIT 1 280 MCC06 lt
240. Rup TTL Rup TTL Rup TTL Rup TTL Rup TTL Rup TTL 4 mA TTL TTL TTL 4 mA TTL Rup TTL Rup B B B TTL TTL 2 mA Rup Rdown 19 3 2 MCC06 lt gt XGPIO6 XGPIO7 YGPIO2 YGPIO3 YGPIO6 YGPIOZ XGPIO0 XGPIO1 XGPIO4 XGPIO5 YGPIO0 YGPIO1 YGPIO4 YGPIO5 VCC GND XMAN XCWMS XCCWMS XPAUSE YMAN YCWMS YCCWMS YPAUSE COMP COMP COMP COMP COMP COMP 3 3V 0V X X X X ADRINT CNTINT DFLINT RDYINT ADRINT CNTINT DF
241. SS1 202 MCC06 lt gt D3 0 0 D6 D4 PULSE LATCH TYPE2 0 PULSE LATCH DATA PORT CNTINT 1 DFLINT 1 SPDINT 1 SS0 SS1 GPIO0 1 GPIO4 1 0 0 0 0 1 0 1 SS0 SS1 SPEC INITIALIZE2 SENSOR 550 SS1 D7 PULSE CLR ENABLE 0 1 010 08 DFL LATCH TYPE2 0
242. X Y X Y PORT STATUS1 PORT PAUSE STBY FSEND MAN SSEND INDEX CBUSY CHANGE LSEND LIMIT SPEED CBUSY CHANGE ERROR EXT PULSE DRVEND CONST DRIVE DOWN STBY UP BUSY STATUS2 ORIGIN PORT PORT DEND BUSY DEND CCW SOFT LIMIT SOFT LIMIT DALM CW SOFT LIMIT SOFT LIMIT DEND CCWFSLM LIMIT DRST CWFSLM LIMIT ORIGIN FLG ORIGIN CCWLM LIMIT ZPO ORIGIN CWLM LIMIT NORG ORIGIN FSSTOP ORG ORIGIN SLSTOP STATUS3 PORT PORT
243. Xx Y 1 X Y 2 1 2 1 2 X Y 1 COMMAND HO0138 ABS CIRCULAR3 CP COMMAND 2 SRATE S COMMAND 0139 ABS SRATE CIRCULAR3 CP COMMAND 3 CONST
244. coMp2 2 2 2 TYPE1 1 ENABLE ENABLE DO COMP2 INT ENABLE COMP2 CNTINT 0 COMP2 CNTINT 1 COMP2 CNTINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 gt COMPARE REGISTER2 D4 COMP3 INT ENABLE COMP3 CNTINT 0 COMP3 CNTINT 1 COMP3 CNTINT D5 COMP3 STOP ENABLE COMP3 0
245. 8 388 607 8 388 607 H 80_0001 H7F_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA1 PORT p15 D14 D13 D12 D11 Di0 pg pe pe Ds D4 pt A23 1 Y A8 Y DRIVE DATA2 PORT 015 D14 D13 D12 pti Dr 05 pa D2 pt po lt 1 Y gt AO 2 Y gt 16 Y DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps pt 15 n 2 Y AO X DRIVE DATA1 PORT p15 D14 D13 D12 D11 D10 ps p4 pt X DRIVE DATA2 PORT p15 p14 p13 p12 p11lp1O D9
246. LIMIT LIMIT ORIGIN ORIGIN LIMIT LIMIT LIMIT 12 ps STATUS1 DRVE LIMIT X 12 ps DRIVE 0 12 ps 12 ps 50 MCC06 lt gt 5 5 1 ORG 0 ORIGIN CCW CCW ORG 0 ORG CW ORG 1 CCW
247. MCC06 lt gt 3 STBY SPEC SET X STBY 100 PAUSE 0 XSS0 STBY 0 Y STBY 100 PAUSE 0 YSS0 STBY 0 XSS0 Me XPAUSE XSTBY P X Y YSS0 YPAUSE Y PAUSE X Y PAUSE X Y X Y STATUS1PORT STBY 1 X Y PAUSE XPAUSE 0 YPAUSE 0 lt XSS0 X Z YSS0 Y X Y STBY 1 X Y PAUSE PAUSE
248. MCC06 lt gt 5 5 4 ORG 3 ORIGIN CCW ORG 3 ORG 1 JOG LIMIT CW LIMIT MP MARGIN LE CW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CCW spLY SCAN DELAY TIME 6 CONSTANT SCAN CCW
249. 0 ADDRESS COUNTER INITIALIZE1 2 D3 ADDRESS OVF 1 0 ADDRESS COUNTER PRESET D4 CNTINT COMP1 COMPARE REGISTER1 D5 CNTINT COMP2 COMPARE REGISTER2 D6 CNTINT COMP3 COMPARE REGISTER3 1 0 PULSE COUNTER INITIALIZE1 2 D7 PULSE OVF 1 0 PULSE COUNTER PRESET 35 MCC06 lt gt D8 DFLINT COMP1 COMPARE REGISTER1
250. 015 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt 15 Y 0 X DRIVE DATA1 PORT D15 D14 D13 D12 D11 Dio De Ds D2 X DRIVE DATA2 PORT D45 D14 D13 D12 D11 ps p7 De Ds D1 lt X AO A23 X gt 16 X DRIVE DATA3 PORT 015 D14 D13 D12 D11 D10 p7 pelps p4 p3 pzlp1lpol 15 X Ao 0 0 114 MCC06 lt gt 7 11 2 0 0
251. CCW INC MULTICHIP CIRCULAR CONST CP P CW INC MULTICHIP CIRCULAR CONST CP P CCW INC S CW INC S CCW INC ___ XX P 244 MCC06 lt gt 16 4 DRIVE COMMAND COMMAND _ OUT3 0 200ns 147 GPIO3 0 GPIO7 4 CC S EE 5 see say s 172 ui iii 182 0 pp
252. CONST COMMAND H0132 ABS CIRCULAR2 CONST CP COMMAND 4 SRATE CONST S COMMAND HO0133 ABS SRATE CIRCULAR2 CONST CP COMMAND 105 MCC06 lt gt gt WRITE Y DATA3 PORT WRITE WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 7 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X Y STATUS1 PORT BUSY 0 X
253. SS0 SS1 CPP STOP MANUAL SCAN OFF 144 MCC06 lt gt lt DRST DEND DEND STATUS1 PORT EXT PULSE 1 lt FAST STOP FSSTOP CWFSLM CCWFSLM LIMIT CWLM CCWLM 550 551 DALM D2 DEND TYPE0 D3 DEND TYPE1 DEND DEND DEND DEND ERROR DEND lt gt gt DEND ERROR
254. 0 0 ADRINT COMP1 STATUS4 ADRINT COMP1 ADRINT COMP2 STATUS4 ADRINT COMP2 ADRINT COMP3 STATUS4 ADRINT COMP3 ADDRESS OVF STATUS4 ADDRESS OVF CNTINT COMP1 STATUS4 CNTINT COMP1 CNTINT COMP2 STATUS4 CNTINT COMP2 CNTINT COMP3 STATUS4 CNTINT COMP3 PULSE OVF STATUS4 PULSE OVF ERROR STATUS1 ERROR LSEND STATUS1 LSEND SSEND STATUS1 SSEND FSEND STATUS1 FSEND XADRINT AND YADRINT X Y ADRINT AND XCNTINT AND YCNTINT X Y CNTINT AND O O O O O O 1 1 1 1 0 0 0 0 gt gt gt B gt O SIGNAL OUT GPIO0 GPIO1 MCC06 148 8 5 2 HARD INITIALIZE3 MCC06 lt gt GPIO7 4
255. 001 PAUSE 0 YCNTINT 1 STBY 0 X XPAUSE 5 X _ YCNTINT YPAUSE J Y PAUSE X Y PAUSE X Y X Y STATUS1PORT STBY 1 X Y PAUSE XPAUSE 0 YPAUSE 0 YCNTINT 1 G Y X Y STBY 1 X Y PAUSE PAUSE XPAUSE 0 YPAUSE 0 Y X X Y YCNTINT 1 142
256. 0V ORIGIN ORIGIN ORIGIN CHANGE CHANGE LIMIT LIMIT LIMIT LIMIT 3 3V 0V ORIGIN ORIGIN ORIGIN CHANGE CHANGE COMP COMP FAJ Rup Rdown TTL TTL TTL Rup TTL
257. 1 COMP1 COMP1 0 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER1 COMP1 180 MCC06 lt gt 9 4 2 PULSE COUNTER INITIALIZE2 lt gt COMMAND H F015 PULSE COUNTER INITIALIZE2 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND Ka
258. CONSTANT SCAN CCW 53 MCC06 lt gt ORIGIN CW CW CCW CW ORG 1 ORG CW ORG 1 CCW CCW LIMIT CW LIMIT MP MARGIN LE CCW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CW SCAN CWLM LDLY LIMIT DELAY TIME SCAN
259. H xx32 H xx33 H xx50 ORIGIN 51 ORIGIN ERROR 52 CPP STOP H xx53 INDEX CHANGE 54 55 lt gt DEND ERROR 56 INDEX CHANGE INDEX H xx57 80 EXT PULSE 1 158 R1 MCC06 lt gt 8 10 3 SET DATA READ gt COMMAND H 0089 SET DATA READ COMMAND STATUS1 PORT BUSY 0 Y DATA1 PORT WRITE DATA3 PORT WRITE COMMAND PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DATA1 PORT READ DATA2 PORT READ DATA3 PORT READ STATUS1 PORT BUSY 0 D
260. M END PULSE lt END PULSE END PULSE END PULSE END PULSE lt lt END PULSE END PULSE END PULSE 43 MCC06 lt gt 5 3 S S 4 S S S 5 3 1 SRATE SCAN INDEX S SRATE SCAN INDEX
261. PORT PORT DRIVE DATA1 PORT p15 p14 D13 D12 D11 Di0 pg pa ps p4 pslp2 p1lbpol 015 _ po 0000 DRIVE DATA2 PORT LD15 D13 D12 pe Dp7 Dpe Dp5 p4 D3 D2ID1IDOI DRIVE DATA3 PORT p15 D14 D13 p12 D11 Di0 pe pe ps p4 pslp2 p1lbpol D15 lt 7 7 D0 H0000 0000 PORT DRIVE DATA3 PORT DATA DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 0 65 535 0000 HFFFF 65 535
262. STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A31 lt n Y gt A1t6 Y DRIVE DATA3 PORT 015 p14 DS p12 DR pg 05 15 Y X DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 pe De ps pa pt A31 X 16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe 05 A15 X 0 X Y 106 MCC06 lt gt 7 9 5
263. X DRIVE DATA3 PORT X Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A31 lt n Y gt A1t6 Y DRIVE DATA3 PORT 015 p14 DS p12 DR pg 05 15 Y X DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 pe De ps pa pt A31 X 16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe 05 A15 X 0 X Y
264. pe pe 05 pa D2 pt D15 DO H0000 0000 H8000 0000 HS8000 0000 STATUS4 PORT PULSE OVF 1 210 MCC06 lt gt R1 10 3 2 1 PULSE COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 0011 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 2 PULSE COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND 0012 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 3 PULSE COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 0013 PULSE COUNTER COMPARE REGISTER3 SET COMMAND lt gt COUNTER DATA2 PORT
265. 1 023 us 2 047 us 4 095 us 1 1 1 1 8 191 us O O O 1 us D15 D12 ZPO FILTER3 0 ZPO 0 0 1 0 0 O O oO 0 0 0 0 0 0 1 us 152 MCC06 lt gt 8 7 2 HARD INITIALIZE5 gt COMMAND H F005 HARD INITIALIZE5 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 p2 pt po pe p MAN MAN MAN MAN GPIO GPIO GPIO GPIO FILTER3 FILTER2 FILTER1 FILTERO0 FILTER3 FILTER2 FILTER1 FILTERO0 DS span Bl 0 602 SENSOR SENSOR SENSOR SENSOR SERVO SERVO SERVO SERVO FILTER3 FILTER2 FILTER1 FILTERO0 FILTER3 FILTER2 FILTER1 FILTERO0 D3 D0 SERVO FILTER3 0 DEND DALM D7 D4 SENSOR FILTER3 0 SS0 SS1 011 08 GPIO FILTER3 0 GPIO0 GPIO1 GPIO4 GPIO5
266. 2 2 759 250 124 lt gt lt gt 5 4 3 2 2 1 414 2 1 i 1 414 1 1 414 1 j 0 914 x
267. COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 p11 po p9 ps pe ps ps p2 D po D31 D16 COUNTER DATA3 PORT p15 p14 D13 D12 D11 Di0 pg pe ps p4 ps p2 p1lbpol D15 n bo HFFFF FFFF 1 2 STATUS4 PORT PULSE OVF 1 STATUS4 PORT PULSE OVF 1 999 2 000 1 0 gt 1 999 1000 PULSE OVF 1 1001 1999 0 0 1999 1001 1000 PULSE OVF 1 999 1 0
268. D14 D13 D12 D11 D10 ps p4 ps p2 p1lbpol A15 U AO H8000 0000 H8000 0000 208 MCC06 lt gt R1 10 2 3 lt gt COMMAND 000 ADDRESS COUNTER MAX COUNT SET COMMAND WRITE 2 COUNTER DATA3 PORT A15 A0 DATA3 PORT WRITE 1 4 294 967 295 H 0000_0001 HFFFF_FFFF COUNTER DATA2 PORT A31 A16 STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 015 p14 D13 p12 p11 Di0 pg pe Ds p po A31 At6 COUNTER DATA3 PORT 015 p14 D13 p12 D11 Di0 pe ps p4 pslp2 p1lbpol A15
269. DSEL SESPD DELAY TIME ORIGIN CSPD 16 2 4 ORIGIN ORIGIN SPEC SET ORIGIN DELAY SET DSEL 0 LOW 300 Hz 3 000 Hz 300 Hz 800 Hz No H 18 100 ms kHz No H 18 100 ms kHz 0 300 Hz H 0000 300 Hz 3 000 Hz 300 Hz No H 18 100 ms kHz No H 18 100 ms kHz H0014 1 000 Hz H0014 1 000 Hz H0014 1 000 Hz H0014 1 000 Hz 0 300 Hz H0000 300 Hz 800 Hz ORIGIN START DIRECTION JOG SENSOR TYPE ERROR 1 ORIGIN ORIGIN FLG ENABLE ERROR PULSE ENABLE ERROR AUTO DRST ENABLE DRST LIMIT ORIGIN SENSOR ERROR TYPE LIMIT END ENABLE ORG TYPE ZPO OR 11 NORG DETECT TYPE NORG ORG DETECT TYPE ORG ORG ZPO OR ORIGIN CSPD SET 300 Hz DSEL 0 800 Hz DSEL 1 MARGIN 05 5 LIMIT DELAY TIME H 3C 300 ms SCAN DELAY TIME 50 ms JOG DELAY TIME H 04 20 ms ORIeINOFFSETPULSES
270. Yop BUSSEL0 gt YINP XDSEL gt YDSEL gt D15 0 gt A3 0 gt nR gt YOP nW gt EOP E1P X X gt lt lt gt X nXCS nYCS SDE TxD CPP RxD YCP XOP EOP Y amp Y EA0 gt lt gt lt gt gt Y EA1 EB1 14 2 2 MCC06 lt gt X Y gt XSLSTOP gt XFSSTOP gt XCWFSLM gt XCCWFSLM gt XCWLM gt XCCWLM gt XORG XNORG XZPO XDEND gt XDALM gt XSS0 XSS1 XMAN XCWMS XCCWMS XGPIO1 0 XGPIO5 4 XGPIO3 2 XGPIO7 6 XPAUSE XDRST 0 XOUT3 0 XBUSY lt amp j
271. nn DRIVE DATA2 PORT 031 016 DRIVE DATA3 PORT 015 00 7775 5 PORT PORT DRIVE DATA2 PORT p15 D14 D13 D12 D11 D10 pa pe 05 p2 pt D31 D16 DRIVE DATA3 PORT p15 p14 D13 p12 D11 p10 pe De 5 D15 PFP DO HO0000 0000 PORT DRIVE DATA3 PORT DATA DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 200 MCC06 lt gt 9 7 4
272. 0 DALM INT1 OUT3 0 145 MCC06 lt gt D15 D6 0 0 8 3 2 DEND TIME SET SERVO SPEC SET DEND TYPE 01 DEND ERROR DEND lt gt COMMAND 0083 DEND TIME SET COMMAND DRIVE DATA3 PORT DEND TIME 1 65 535 H0001 HFFFF DEND TIME x5ms 5 ms 327 675 ms BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pa pe 05 pt D15 DEND TIME 0 HFFFF G 0 DEND TIME 5 ms
273. 1 A7 lt 1 X gt AO es 2 X gt 16 X DRIVE DATA3 PORT 015 D14 D13 D12 D11 D10 pe 1 05 pa pt 15 2 X gt AO 0 0 118 MCC06 lt gt 7 12 ORIGIN S ORIGIN SCAN ORIGIN INDEX PRESET INDEX ORIGIN ORIGIN ORIGIN ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT S
274. 1 1 DIVISION D7 D0 XINP XCP X YINP YCP Y X YOP Y DIVISION DIVISION 1 X TYPE D7 DO YOP Y 2 1 1 DIVISION DIVISION TYPE D7 D0 1 X YOP Y 1 1 X YOP Y 162 MCC06 lt gt 9 1 2 32BIT DRIVE DATA2 3 PORT COUNTER DATA2 3 PORT gt COMP1 COMP1 ADDRESS COUNTER COMPARE REGISTER1 RELOAD lt COUNTER DATA2 3 gt ENABLE
275. 8 STATUS L PORT STATUS H PORT STATUS L PORT STATUS H PORT STATUS L PORT STATUS L PORT STATUS H L PORT MCC06 lt gt 4 5 1 STATUS1 PORT PORT D15 D13 p2 pt po p pa INDEX SPEED EXT oe cBusY cusy DOWN D7 p p D4 p p pn p FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY DO BUSY 1 0 2 XBUSY 1 YBUSY 1 BUSY 0 STATUS1 PORT MAN 0 COUNTER COMMAND ADDRESS COUNTER PRESET COUNTER COMMAND ADDRESS COUNTER MAX COUNT SET
276. COMMAND H 013A ABS CIRCULAR3 CONST CP COMMAND 4 SRATE CONST S COMMAND H 013B ABS SRATE CIRCULAR3 CONST CP COMMAND 107 MCC06 lt gt gt WRITE Y DATA3 PORT WRITE WRITE WRITE 7 STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 Ik Ik 2 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe De Ds pt po A31 lt n 2 Y 16 Y DRIVE DATA3 PORT D15 p14 D13 D12 D11 Di0 pg De De Ds D4 p po A15 2 Y X DRIVE DATA2 PORT p15 D14 D12 D11 D10 pelps p4 ps pzlp1lpol A31 2 X
277. COMP1 ADRINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 0 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER1 COMP1 171 MCC06 lt gt 9 3 2 ADDRESS COUNTER INITIALIZE2 lt gt COMMAND HF011 ADDRESS COUNTER INITIALIZE2 COMMAND DRIVE DATA3 PORT
278. I le P 242 MCC06 lt gt 16 3 DRIVE COMMAND H 0100 H0101 ABS 2 j I ____ j s 2 H 010F lt 2 gt H0110 527 H0111 584 us H0112 527 us H 0113 S ABS 584 ps H 0114 H 011F 9 lt 2 H0120 796 ps H0121 818 ps 103 0122 S CW ABS 857 ps 103 H0123 S CCW ABS CW ABS ABS CIRCULAR CONST CP 1 P CCW ABS S CCW ABS _ gt C U U s i 775 j _ 28827 2 72 gt ____ ABS S ABS ABS S ABS TE _ 7 H0138 ABS CIRCULAR3 CP ABS H0139 H013A H013B HO1361 OR H 0140 DS ota a j j lt 2
279. OUT3 0 1 0 D8 GPIOO D9 GPIO1 D10 GPIO2 011 GPIO3 D12 GPIO4 D13 GPIO5 D14 GPIO6 015 GPIO7 GPIO7 0 1 0 34 MCC06 lt gt 4 5 4 STATUS4 PORT PORT D15 po SPDINT SPDINT SPDINT DFLINT i COMP3 COMP2 1 COMP3 COMP2 coMP1 D p p p D _ PUL E CNTINT CNTINT ADRINT ADRINT OVF COMP3 COMP2 COMP1 COMP3 COMP2 COMP1 DO ADRINT COMP1 COMPARE REGISTER1 D1 ADRINT COMP2 COMPARE REGISTER2 D2 ADRINT COMP3 COMPARE REGISTER3 1
280. SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ EORT gt COMMAND H F04B SPEED COUNTER PORT SELECT COMMAND D DRIVE COMMAND PORT COMMAND Tr DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT 015 00 PORT PORT DRIVE DATA2 PORT D15 p14 p13 p12 p11lp1O pg pe De Ds p2 pt po D31 P D16 DRIVE DATA3 PORT 015 p14 D13 D12 pit pg pe ps pt Do
281. STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND DRST DEND ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL EXT PULSE 1 BUSY 1 STBY 1 DRIVE 0 STBY 0 DRIVE 1 STBY 1 DRIVE 0 STBY 0 DRIVE 1 COUNT PULSE SEL EXT PULSE 0 BUSY 0 COUNT PULSE SEL 00 EXT PULSE 2
282. WORD psSpeedParam gt DRateNo READY_WAIT XO W_X DRV_CMD_PORT 0x0013 LSPD SET COMMAND W_X DRV_DT2_PORT WORD psSpeedParam gt Lspd gt gt 16 WX DRV DT3_PORT WORD psSpeedParam gt Lspd READY_WAIT_XO W_X DRV_CMD_PORT 0x0010 HSPD SET COMMAND DRV_DT2_PORT WORD psSpeedParam gt Hspd gt gt 16 WX DRV DT3_PORT WORD psSpeedParam gt Hspd READY_WAIT XO W_X_DRV_CMD_PORT 0x0011 CENTER POSITION SET COMMAND W_X_ DRV_DT2_PORT WORD psCenterPosition gt X gt gt 16 W_X_ DRV_DT3_PORT WORD psCenterPosition gt X W_Y_DRV_DT2_PORT WORD psCenterPosition gt Y gt gt 16 W_Y_DRV_DT3_PORT WORD psCenterPosition gt Y READY_WAIT XO READY_WAIT_YO W_X_ DRV_CMD_PORT 0x0100 ABS CIRCULAR CP COMMAND W_X_ DRV_DT2_PORT WORD psTarGetPosition gt X gt gt 16 W_X_ DRV_DT3_PORT WORD psTarGetPosition gt X W_Y_DRV_DT2_PORT WORD psTarGetPosition gt Y gt gt 16 W_Y_DRV_DT3_PORT WORD psTarGetPosition gt Y READY_WAIT_XO READY_WAIT_YO DRV_CMD_PORT 0x0120 SPEED psSpeedParam URateNo DRateNo RATE DATA TABLE No Lspd Hspd Hz
283. X STATUS4 H PORT X STATUS5 L PORT X STATUS5 H PORT _ _ _ o o o SE ss O x x NO zx gt 0 1 0 1 0 1 0 1 O iO O IO O s ss x 4 3 2 Y PORT D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 D7 D0 D15 D8 nYCS nXCS Y PORT PORT X 25 MCC06 lt gt 4 4 PORT X WI Y X Y PORT
284. XCWP 9 XCCWP XOP XOP lt gt XINP lt XCP YOP E1P INDEX lt CPP lt lt 15 MCC06 lt gt 3 Wm Q su BB 3 1 Sr LE Ps S lt 5 m mQ O C C C cC Q A m mQ O C C O L m lt gt lt gt gt gt gt gt gt gt gt gt D gt gt gt gt gt gt gt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt gt lt gt gt lt gt lt gt 100 90 80 X6PI06 07 lt 110 Y6PI02 70 YDsEL YGP103 XDSEL YGP106 YCCWP 07 YCWP VCC TI GND XCCWP XCWP XOUT1 nRST XOUT2 YBUSY X0UT3 lt 120 XBUSY YOUT0 60 GND YOUT1 VCC YOUT2 CKIO YOUT3 TW VCC MCC06 GND CLK XGPI00 WD3 XGPI01 WD2 04 WD1 XGPI05 130 Y6PI00 50 NMIN Y6PI01 nRESET Y6PI04 GND YGP105 VCC VCC SDE GND TxD XMAN RxD XCWMS TU XCCWNS CPPIN XPAUSE 140 CPPOUT YMAN
285. 1 156 MCC06 lt gt 8 10 DATA READ PORT SELECT ERROR STATUS READ STATUS1 PORT ERROR 1 SET DATA READ DATA BUS CHECK USER CPU MCC06 8 10 1 DATA READ PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF041 DATA READ PORT SELECT COMMAND PORT DRIVE DATA3 PORT DATA DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 8 10 2 ERROR STATUS READ STATUS1 PORT ERROR 1 lt
286. 1 1 O O 2 h gt o SIGNAL OUT z 447 MCC06 lt gt 8 5 GPIO7 0 8 5 1 HARD INITIALIZE2 GPIO3 0 lt gt COMMAND HF002 HARD INITIALIZE2 COMMAND D DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D12 D11 GPIO3 GPIO3 GPIO3 GPIO3 GPIO2 GPIO2 GPIO2 GPIO2 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 382 ON GPIO1 GPIO1 GPIO1 GPIO1 GPIO0 GPIO0 GPIO0 GPIO0 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 D3 D0 GPIOO TYPE3 0 D7 D4 GPIO1 TYPE3 0 D11 D8 GPIO2 TYPE3 0 D15 D12 GPIO3 TYPE3 0 GPIO3 0 GPIO3 0
287. 2 000 2 001 1 0 1 1000 1001 1001 PULSE OVF 1 2000 0 0 2000 1001 1000 1000 PULSE OVF 1 1 0 212 MCC06 lt gt R1 10 4 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 10 4 1 COMMAND H0020 DFL COUNTER PRESET COMMAND COUNTER DATA2 PORT D31 D16 2 COUNTER DATA3 PORT D15 D0 DATA3 PORT ho WRITE lt 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 015 p14 D13 D12 D11 Di0 pe ps D4
288. 40 BUSSEL1 YCWMS BUSSELO YCCWMS O nYCS YPAUSE 144 nXCS 1 10 20 30 OO mQ lt CN QQ Q cO LO lt lt C m O cN m HF CO m m m cC lt lt lt w lt lt lt 5 5555555585 5 5 gt lt gt gt gt gt gt gt gt 55 16 3 2 MCC06 lt gt N N F Rdown A YINT2 VCC GND D15 SADR4 D14 SADR3 D13 SADR2 D12 SADR1 D11 SADRO D10 nPCRC D9 SBR1 D8 SBRO Y Y 3 3V 0V 7
289. COMP2 COMP1 MASK MASK MASK MASK MASK CNTINT CNTINT CNTINT ADRINT ADRINT COMP3 COMP2 COMP1 COMP3 COMP2 COMP1 MASK MASK MASK MASK MASK MASK HFFFF G D15 DO0 0 1 STATUS4 PORT COMP1 COMP1 STOP ENABLE COUNTER COMP MASK STATUS4 lt COMP1 gt COMP1 INT ENABLE COUNTER COMP MASK COUNTER INITIALIZE COMP2 3 INT 138 MCC06 lt gt 8 2 STBY PAUSE STBY STBY STBY SPE
290. DATA3 PORT D15 D12 D11 Dp OUT3 OUT3 OUT3 OUT3 OUT2 OUT2 OUT2 OUT2 TYPE3 TYPE2 TYPE1 TYPEO TYPE2 TypE1 TYPE0 Fa u si s OUT1 OUT1 OUT1 OUT1 OUT0 OUT0 TYPE3 TYPE2 TvpE1 TYPEO TYPE2 TvpE1 TYPE0 D3 D0 OUT0 TYPE3 0 ADRINT D7 D4 OUT1 TYPE3 0 CNTINT D11 D8 OUT2 TYPE3 0 DFLINT D15 D12 OUT3 TYPE3 0 RDYINT OUT3 0 OUT3 0 0 0 ADRINT ADRINT CNTINT CNTINT DFLINT DFLINT SPDINT SPDINT RDYINT RDYINT STBY STATUS1 STBY DRIVE STATUS1 DRIVE ERROR STATUS1 ERROR UP STATUS1 UP DOWN STATUS1 DOWN CONST STATUS1 CONST EXT PULSE STATUS1 EXT PULSE MAN STATUS1 MAN DALM STATUS2 DALM O O O o 0 0 0 0 1 1
291. DI0S DO ID D5 D4 D3 DRST OUT3 OUT2 OUT1 OUT0 OUT OUT OUT OUT OUT D _ 15 D DP4 D3 p p p GPIO7 GPIO6 GPIO5 GPIO4 GPIO3 GPIO2 GPIO1 GPIO0 OUT OUT OUT OUT OUT OUT OUT OUT H0000 D15 D0 0 1 SIGNAL OUT GPIO3 0 HARD INITIALIZE2 GPIO7 4 HARD INITIALIZE3 OUT3 0 HARD INITIALIZE1 DRST SERVO SPEC SET GPIO3 0 GPIO7 4 OUTO ADRINT OUT1 CNTINT OUT2 DFLINT OUT3 RDYINT
292. DRIVE COMMAND PORT 0003 STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT H000F X Y STATUS1 PORT BUSY 0 Y lt gt X Y BUSY 0 nRESET 175 A MCC06 lt gt 94 32 2 147 483 647 2 147 483 647 H 8000 0001 H 7FFF FFFF 2 PULSE COUNTER PORT SELECT rq DRIVE DATA1 2 3 PORT
293. Di0 pg pe pe ps D4 pt H0000 0000 X DRIVE DATA2 PORT 15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A31 X A16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt 15 X 0 H0000 0000 X Y 102 MCC06 lt gt 7 9 3 X Y
294. MCCO6_TOP_ADDRESS 0x04 define R_X_DRV_DT3_PORTO inpw MCCO6_TOP_ADDRESS 0x06 define R_X_ST2_PORTO inpw MCCO6_TOP_ADDRESS 0x08 define R_X_ST3_PORTO inpw MCCO6_TOP_ADDRESS 0x0a define R_X_ST4_PORTO inpw MCCO6_TOP_ADDRESS Ox0c define R_X_ST5_PORTO inpw MCCO6_TOP_ADDRESS OxOe define READY_WAIT_XO while R_X_ ST1_PORTO amp 0x0001 Y DRIVE COMMAND PORT WRITE define W_Y_DRV_CMD_PORT outpw MCCO6_TOP_ADDRESS 0 10 define W_Y_DRV_DT1_PORT data outpw MCCO6_TOP_ADDRESS 0 12 data define W_Y_DRV_DT2_PORT data outpw MCCO6_TOP_ADDRESS 0 14 data define DRV_DT3 _PORT data outpw MCCO6_TOP_ADDRESS 0 16 data define W_Y CNT CMD outpw MCCO6_TOP_ADDRESS 0x18 cmd define W_Y_CNT_DT1_PORT data outpw MCCO6_TOP_ADDRESS Oxla data define W_Y_CNT_DT2_PORT data outpw MCCO6_TOP_ADDRESS 0x1c data define W_Y_CNT_DT3_PORT data outpw MCCO6_TOP_ADDRESS Oxle data define R_Y_ST1_PORT O inpw MCCO6_TOP_ADDRESS Ox10 define R_Y_DRV_DT1_PORTO inpw MCCO6_TOP_ADDRESS 0x12 define R_Y_DRV_DT2_PORT inpw MCCO6_TOP_ADDRESS 0 14 define R_Y_DRV_DT3_PORT inpw MCCO6_TOP_ADDRESS 0x16 define R_Y_ST2 PORT O inpw MCCO6_TOP_ADDRESS 0x18 define R_Y_ST3_PORTO inpw MCCO6_TOP_ADDRESS Oxla define R_Y_ST4_PORTO inpw MCCO6_TOP
295. No L1 TYPE 00 L2 TYPE H 11 H 4C M1 TYPE H 18 H 54 M2 TYPE i H 1F H 5B H1 TYPE H 29 H 64 H2 TYPE H 37 H 73 70 MCC06 lt gt 6 3 SPEC INITIALIZE2 CWLM CCWLM SS0 SS1 RDYINT lt gt COMMAND 0002 SPEC INITIALIZE2 COMMAND WRITE STATUS1 PORT BUSY COMMAND PORT WRITE DRIVE DATA3 PORT STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 22 TYPE1 TYPE0 HB pe ps SS1 SS1 550 5122 i 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 DO TYPE0 D1 TYPE1 CWLM CWLM ORIGIN LIMIT LIMIT LIMIT LIMIT
296. ORG 11 12 CCWLM CWLM ORG 10 INDEX 127 MCC06 lt gt 7 12 5 ORIGIN CSCAN ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN lt gt COMMAND H0064 ORIGIN CSCAN ERROR PULSE SET COMMAND DATA2 PORT WRITE DRIVE DATA2 PORT D31 D16 _ 78 sss DRIVE DATA3 PORT D15 D0 WRITE 1 2 147 483 647 0000 0001 H7FFF_FFFF G BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 p10 pg pe 05 D31 h
297. OVF 1 999 2 000 1 0 1 999 1000 DFL OVF 1 1001 1999 0 0 1999 1001 1000 DFL OVF 1 999 gt 1 0 2 000 2 001 1 0 1 1000 1001 1001 DFL OVF 1 2000 0 0 2000 1001 1000 1000 DFLOVF 1 gt 1 0 215 MCC06 lt gt R1 10 5 20MHz COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 10 5 1 1 SPEED COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND 0031 SPEED COUNT
298. TYPE2 COUNT ENABLE TYPE1 COUNT ENABLE TYPE0 DIVISION D7 DIVISION D6 DIVISION D5 D9 74 De D5 DIVISION D4 D3 po DIVISION D3 DIVISION D2 DIVISION D1 DIVISION D0 192 MCC06 lt gt 9 6 1 SPEED COUNTER INITIALIZE1 lt gt COMMAND HF01C SPEED COUNTER INITIALIZE1 COMMAND DRVE DATA PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT po p ps Loap AUTO coMP1 coMPt COMP COMP COMP CLEAR STOP INT 1 STOP GATE GATE D3 ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 D pe p pn p p Dp po SPDINT SPDINT COUNT COUNT 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 SELO DO COUNT PULSE SELO D1 COUNT PULSE SEL 1 X X Y
299. coMp2 2 2 2 TYPE1 1 ENABLE ENABLE DO COMP2 INT ENABLE COMP2 SPDINT 0 COMP2 SPDINT 1 COMP2 SPDINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 COMPARE REGISTER2 COMPARE REGISTER2 SPEED COUNTER INITIALIZE3 COMP2 TYPE2 D4 COMP3 INT ENABLE COMP3 SPDINT 0 COMP3 5 1 COMP3 SPDINT D5 COMP3 STOP ENABLE COMP3
300. kHz SPEC INITIALIZE1 RATE TYPE G RATE DATA TABLE URATE DRATE RATE No RATE RATE RATE 79 MCC06 lt gt 7 3 END PULSE END PULSE END PULSE END PULSE END PULSE ESPD END PULSE ESPD DELAY TIME END PULSE DELAY TIME 7 3 1 END PULSE SET END PULSE lt gt COMMAND H 0018 END PULSE SET COMMAND DATA2 PORT WRITE DRIVE DATA3 PORT D15 D0 DATA3 PORT PE 2 147 483 647 2 147 483 647 H
301. lt gt i _0000 H 0020 2 H0021 1 2 H0022 2 H0023 3 200 ns 1 H002 200 ns 1 _ lt gt 000 C H0031 1 200 ns H0032 2 200 ns H0033 3 200 ns Ho034 Ho039 vv H003A H 003F Ma 5 gt 206 MCC06 lt gt R1 10 2 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 10 2 1 lt gt COMMAND H0000 ADDRESS COUNTER PRESET COMMAND COUNTER DATA2 PORT A31 A16 WRITE COUNTER DATA3 PORT A15 A0 WRITE
302. m 003C 300 ms DRIVE DATA3 PORT p15 D14 D13 D12 D11 1 D10 pa pe ps p4 pt D7 SCAN DELAY TIME DO D7 JOG DELAY TIME gt DO HO0A04 50 ms 20 ms 1 MARGIN SCAN CONSTANT SCAN MARGIN NORG ORIGIN MARGIN MARGIN 1 0 65 535 CONSTANT SCAN MARGIN SCAN MARGIN MARGIN 125 MCC06 lt gt 2 DELAY TIME DELAY TIME 0 DELAY TIME SERVO SPEC SET DEND gt DEND lt
303. 0 SCAN1 HO0091 0992 _ _ H 0094 INDEX1 H 0095 INDEX2 H 0096 INDEX3 17 11 H 0098 S SCAN1 H 0099 S SCAN1 HO09A Ho09B H 009C S INDEX1 H 009D S INDEX2 H009E S INDEX3 H009F OO H 00B0 CHANGE POINT SET H O0B1 CHANGE DATA SET H00B7 AUTO CHANGE DRIVE SET AUTO CHANGE ll gt lt AUTOCHANGE gt ABS INDEX oo S Basa G j s EE 21228 2880 s _ a 5 ES x j xx j a x j _ cg j 0 se s
304. 0 1 EA1 EB1 Y SEL j 2 0 Y YOP 1 X 0 1 EA1 EB1 YOP COUNT PULSE SEL 178 D2 D3 D4 D5 D6 D7 D8 D9 MCC06 lt gt R1 COUNT TYPE0 COUNT TYPE1 EA0 EA1 EBI EA EB 1 EA EB 2 EA EB 4 EA EB CNTINT TYPE0 CNTINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT CNTINT
305. 00 0320 800 Hz lt DSEL gt LSPD 1Hz 5 MHz 1 Hz 0 1 Hz 5 M MHz 17 MCC06 lt gt 7 2 2 HSPD SET gt COMMAND H 0011 HSPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 2 DRIVE DATA3 PORT 015 00 DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE 1 5 000 000 H0000_ 0001 H 004C_4B40 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D12 D11 D10 pg p7 pe ps p2 D1 po S DRIVE DATA3 PORT p15 p14 D13 p12 D11 Di0 pe ps D4 pt D15 HSPD m Do
306. 1 00 ExXTpMSIONDO 168 MCC06 lt gt 9 3 1 ADDRESS COUNTER INITIALIZE1 lt gt COMMAND HF010 ADDRESS COUNTER INITIALIZE1 COMMAND DRIVE DATA3 PORT DRIVE PORT DRIVE DATA3 PORT p2 pu po pg ps COMP1 COMP1 COMP COMP COMP STOP INT STOP GATE GATE ENABLE ENABLE TYPE TYPE1 TYPE0 ADRINT ADRINT COUNT COUNT SOT 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 SELO DO COUNT PULSE SELO D1 COUNT PULSE SEL1 CWP CCWP X SEL1 SELO X XINP XCP Y YINP YCP
307. 16 2 DRIVE DATA3 PORT 015 0 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 ps D4 pt D31 D16 DRIVE DATA3 PORT D15 p14 D13 D12 D11 Di0 pg pe De ps p4 ps p2 p1lbpol D15 gt DO 95 MCC06 lt gt 7 7 4 SRATE INDEX
308. 16 2 1 SPEC INITIALIZE1 co 1 100 us H SPEC INITIALIZE3 m sus CP SPEC SET Y Y UDC SPEC SET 16 2 2 INT3 0 16 HPFFFF HFFFF HFFFF H0000 0110 HARD INITIALIZE4 0110 0110 0110 HARD INITIALIZE5 6 3 ms X HARD INITIALIZE6 238 MCC06 lt gt R1 16 2 3
309. 2 PULSE LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04D PULSE LATCH DATA PORT SELECT COMMAND 9 9 3 DFL LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF04E DFL LATCH DATA PORT SELECT COMMAND 9 9 4 SPEED LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF04F SPEED LATCH DATA PORT SELECT COMMAND 204 MCC06 lt gt lt gt DRIVE COMMAND PORT COMMAND SS DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT 015 00
310. 2 CWLM CCWLM SS0 SS1 RDYINT H 0003 SPEC INITIALIZE3 DELAY TIME W RATESET RATE SET RATE st co x END PULSE ESPD SET ESPD EE RATE DATA S S S S RATE S S H0038 SEND PULSE SET S END PULSE 91 H 0039 SESPD SET S SESPD 92 H 003A SESPD DELAY SET S SESPD DELAY TIME 93 H 003E SRATE DATA SET S SRATE DATA ORIGIN MAR
311. 3 PORT p15 D14 D13 D12 D11 D10 pe pe ps p4 pt 015 OFFSET DO H0000 0064 100 OFFSET ORIGIN OFFSET ORIGIN SPEC SET ORIGIN START DIRECTION 0 OFFSET ORIGIN SPEC SET ORIGIN START DIRECTION 1 OFFSET ORIGIN ORG 0 3 ORIGIN SPEC SET ORG DETECT ORG ORG 4 5 ORIGIN SPEC SET NORG DETECT
312. 3V OV VCC GND VCC GND VCC 20 MHz VCC VCC 20 MHz 3 3V OV X STATUS1 PORT BUSY Y STATUS1 PORT BUSY X A X B VCC Y B X 2 Y 2 MCC06 lt gt TTL TTL TTL Rdown TTL Rdown TTL 4 mA TTL Rup TTL F Rup TTL TTL 4 mA TTL 4 mA CMOS
313. 4 D5 D6 D7 D8 D9 MCC06 lt gt R1 COUNT TYPE0 COUNT TYPE1 EA0 EA1 EBI EA 1 EA EB 2 EA EB 4 EA EB ADRINT TYPE0 ADRINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT ADRINT COMP1 2 3 STATUS4 PORT STATUS4 L PORT STATUS4 PORT STATUS4 L PORT INT FACTOR CLR INT2 ADRINT 1
314. 6 10 URL http www melec inc com cHHHH
315. 71 D4 7 550 SS1 72 D8 9 RDYINT 73 DELAY TIME SE ssrssssssssrssssasussasassacssassssupas 74 6 4 1 DRIVE DELAY SET 74 7 SSS 76 7 1 JOG 76 7 1 1 JOG 76 7 1 2 JOG 76 7 2 7 3 7 4 7 5 7 6 7 8 7 9 7 10 lt gt 2 7 77 Ts ESPD SET m m 77 122 0 HSPD SET S 2 78 2 3 E sea p saus esas usus su suu 79 END PULSE 80 7 3 1 ENDIPULSE SET a RT 80 73 2 GESPD SET SZ sesama saa sasa 81 7 3 3 ESPD DELAY SET 82
316. 8000_0001 H 7FFF_FFFF 2 BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT p15 p14 D13 p12 p11 p10 pe De ps p4 ps p2 p1lbpol D31 lt END PULSE D16 DRIVE DATA2 PORT D31 D16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 012 D11 D10 p7 pe p5 p2 D1 po HO0000 0000 0 END PULSE END PULSE END PULSE END PULSE INDEX END PULSE
317. ANGE CHANGE UP DOWN CONST DRIVE 550 SS1 30 MCC06 lt gt D13 INDEX CBUSY INDEX CHANGE INDEX CHANGE 1 INDEX CHANGE d INDEX CHANGE 0 INDEX CHANGE INDEX CHANGE INDEX CBUSY 0 INDEX CHANGE gt INDEX CHANGE INC INDEX CHANGE A ABS INDEX CHANGE PLS INDEX CHANGE D14 MAN MANUAL SCAN 1 MANUAL SCAN 0 MANUAL SCAN BUSY 0 MAN MAN 1 MAN MAN 0 MAN 1 CWMS CCWMS MANUAL SCAN 1
318. ATA S 240 MCC06 lt gt R1 16 3 DRIVE COMMAND Ho040 ii S SCAN S SCAN S INC INDEX S ABS INDEX 245us 96 _ j ee 2 _ MARGIN DELAY TIME CSCAN JOG LH00661 r _ _ EE H0068 _ ORIGIN S ORIGIN PRESET ORG S PRESET ORG HooF DEND Ho087 _ H008A DATA BUS CHECK P 241 MCC06 lt gt 16 3 DRIVE COMMAND H 009
319. ATA2 PORT D15 p14 D13 p12 Di1 Di0 pe De ps p4 pslp2 p1lpol D31 PRESET D DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pe pe ps p4 pz D15 PRESET Do HO0000 0000 0 130 MCC06 lt gt 7 12 8 ORIGIN ORIGIN 0 5 10 11 12 H 05 HOA 9 1 ORIGIN ORIGIN COMMAND H0070 ORIGIN COMMAND 2 SRATE ORIGIN S ORIGIN COMMAND H0071 SRATE ORIGIN COMMAND lt ORIGIN gt WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT 015 p14 D13 D12 D11 D10 pg pe
320. ATCH DATA PORT SELECT 204 9 9 3 DFL LATCH DATA PORT SELECT 204 9 9 4 SPEED LATCH DATA PORT SELECT 204 SS S DOD U D 206 10 1 COUNTER COMMAND 206 da a a a ada ee 207 10 21 207 10 2 2 208 1028 oononnnonnetnTn OR 209 10 3 210 10 3514 A 210 10 3 2 211 10 3 3 212 10 4 ese 213 10421 RU RNNNNSERNSERNSSSPSRRESRRESRRESRSESSERES 213 10 422 Si 22557 asss S Eu Su sr Sumu Susu Su Eu Su Su EE Eu Su Es s 214 10450 215 10 5 216 10 5 1 216 10 5 2
321. C SET STBY PAUSE STBY STBY STATUS1 PORT STBY STBY 1 STATUS1 PORT PAUSE 0 STBY STBY 0 STBY STBY 1 STBY 1 STBY 0 PAUSE PAUSE STATUS1 PORT PAUSE 1 PAUSE STATUS1 PORT PAUSE 0 PAUSE 1 STBY 1 PAUSE
322. CAN ORIGIN DELAY DELAY TIME MARGIN OFFSET PULSE OFFSET CSCAN ERROR PULSE CONSTANT SCAN JOG ERROR PULSE JOG PRESET PULSE PRESET ORIGIN PRESET ORIGIN i NE s 220 ORIGIN SPEC I RIGIN SET ORIGIN ORIGIN CSPD _ i ORIGIN CSPD CONsTANT SCAN SET ORIGIN DELAY DELAY TIME SET 1 MARGIN 119 MCC06 lt gt PRESET ORIGIN PRESET PULSE SET
323. COMMAND lt gt D COUNTER DATA2 PORT D31 D16 COUNTER DATA3 PORT D15 D0 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 15 p14 D13 D12 D11 Di0 pe 5 D31 R Dp 6 COUNTER DATA3 PORT 015 p14 D13 D12 D11 Di0 pe 5 DO D15 H 8000 0000 DFL COUNTER INITIALIZEI COMP DETECT COMP DETECT TYPE 0 0 2 147 483 647 0000 0000 H7FFF_FFFF G COMP DETECT TYPE 1 2 147 483 647 2 147 483 647 8000 0001 H7FFF_FFFF G 2 H8000 0000 R1 MCC06 lt gt R1 10 4 3 lt
324. COMP1 2 3 ITYPE1 TYPE0 COMP1 2 3 STATUS4 PORT STATUS4 L PORT STATUS4 PORT STATUS4 L PORT INT FACTOR CLR NTINT 1 CNTINT PULSE TYPE CNTINT PULSE TYPE0 CNTINT PULSE TYPE1 COMP1 2 3 COMP GATE TYPE0 COMP GATE TYPE1 CNTINT COMP1 2 3
325. COMP3 1 COMP3 181 MCC06 lt gt D6 COMP3 TYPE0 D7 TYPE1 COMP3 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 BX D15 D8 0 0 9 4 3 PULSE COUNTER INITIALIZE3 lt gt COMMAND HF016 PULSE COUNTER INITIALIZE3 COMMAND DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 7 9 D D4 p p D po eo DIVISION DaoN DIVISION D5 D1 D7 DO DIVISION D7 D0 _ COUNT
326. COUNTER DATA2 PORT COUNTER DATA3 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT STATUS2 PORT STATUS3 PORT STATUS4 PORT STATUS5 PORT 24 43 8 PORT PORT 16 8 D15 D8 8 D7 DO MCC06 lt gt PORT 8 8 4 3 1 X PORT nXCS nYCS X PORT X DRIVE COMMAND L PORT X DRIVE COMMAND H PORT X DRIVE DATA1 L PORT X DRIVE DATA1 H PORT X DRIVE DATA2 L PORT X DRIVE DATA2 H PORT X DRIVE DATA3 L PORT X DRIVE DATA3 H PORT X COUNTER COMMAND L PORT X COUNTER COMMAND H PORT X COUNTER DATA1 L PORT X COUNTER DATA1 H PORT X COUNTER DATA2 L PORT X COUNTER DATA2 H PORT X COUNTER DATA3 L PORT X COUNTER DATA3 H PORT X STATUS1 L PORT X STATUS1 H PORT X DRIVE DATA1 L PORT X DRIVE DATA1 H PORT X DRIVE DATA2 L PORT X DRIVE DATA2 H PORT X DRIVE DATA3 L PORT X DRIVE DATA3 H PORT X STATUS2 L PORT X STATUS2 H PORT X STATUS3 L PORT X STATUS3 H PORT X STATUS4 L PORT
327. D16 DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pelps p4 D2 po 015 gt DO H7FFF FFFF 0 1 128 MCC06 lt gt 7 12 6 ORIGIN JOG ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG gt COMMAND H 0065 ORIGIN JOG ERROR PULSE SET COMMAND DATA2 PORT WRITE DRIVE DATA2 PORT D31 D16 _ 78 sss DRIVE DATA3 PORT D15 D0 WRITE 1 2 147 483 647 0000 0001 H7FFF_FFFF G BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 p10 pg pe 05
328. D31 D16 WRITE COUNTER DATA3 PORT D15 D0 DATA3 PORT WRITE 0 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT p15 D14 D13 D12 D11 D10 pe pe ps pa pt D31 16 COUNTER DATA3 PORT D45 014 013 p12 D10 D9 ps pe ps pa p2 pt po H8000 0000 H8000 0000 211 MCC06 lt gt R1 10 3 3 lt gt COMMAND H001A PULSE COUNTER MAX COUNT SET COMMAND COUNTER DATA2 PORT D31 D16 COUNTER DATA3 PORT D15 D0 WRITE 1 4 294 967 295 H 0000_0001 HFFFF_FFFF
329. DDRESS COUNTER COMPARE REGISTER1 SET COMMAND 2 ADDRESS COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND 0002 ADDRESS COUNTER COMPARE REGISTER2 SET COMMAND 3 ADDRESS COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 0003 ADDRESS COUNTER COMPARE REGISTER3 SET COMMAND lt gt COUNTER DATA2 PORT A31 A16 WRITE COUNTER DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000_0001 H 7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 015 D14 D13 D12 D11 D10 pe pe ps p4 pa D2 pt A31 A16 COUNTER DATA3 PORT p15
330. DINT TYPE1 PDINT COMP1 2 SPDINT TYPE0 S CO 2 3 COUNT TYPE1 DER EA1 EB1 1 COUNT PULSE SEL1 _ COUNT PULSE SELO sa 010 SPEED COUNTER INITIALIZE2 COMP3 TYPE1 COMP3 TYPE0 COMP3 STOP ENABLE COMP2 COMP3 INT ENABLE COMP2 SPDINT COMP2 TYPE1 COMP2 TYPE0 COMP2 STOP ENABLE COMP2 COMP2 INT ENABLE COMP2 SPDINT COMP3 COMP3 COMP2 COMP2 O Solo 1 SPEED COUNTER INITIALIZE3 5 o COMP3 COMP2 1 II C A D10 COUNT ENABLE
331. DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pa pelps p4 pslp2 p1lbpol D15 DRIVE DELAY TIME s Do H09C4 50 ms DRIVE DELAY TIME END PULSE INDEX CHANGE DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME 0 LSPD SLSPD DELAY TIME DRIVE 1 DELAY TIME 160 us
332. E RESOLUTION RESOLUTION lt 1 kHz ms kHz RATE 1 gt gt i lt RATE TWS RATE 69 MCC06 lt gt DATA TABLE TABLE RATE TABLE RATE TABLE RATE RATE No ms kHz 25 ms kHz RATE RATE RATE ms kHz TABLE
333. E CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW 59 MCC06 lt gt 5 5 6 ORG 10 ORIGIN CCW CW ORG 10 NORG ORG 1 CCW CCW LIMIT CW LIMIT MP MARGIN LE lt lt CW T SCAN x n CW DELAY TIME CONSTANT SCAN CW
334. EC INITIALIZE1 RATE TYPE RATE RATE SURATE SDRATE 8 RATE gt SURATE SDRATE 8 gt SURATE SDRATE gt RATE RATE DATA TABLE SURATE SDRATE RATE No RATE RATE RATE 88 MCC06 lt gt 7 5 4 SCAREA12 SET S S GCAREA1 SCAREA2 lt gt COMMAND H0034 SCAREA12 SET COMMAND DRIVE DATA2 PORT SCAREA2 DRIVE DATA3 PORT SCAREA1 WRITE BUSY 0 Y COMMAND PORT WRITE 0 65 535 H 0000 G Hz x 50 Hz 0 3 276 750 Hz STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 POR
335. ER COMPARE REGISTER1 SET COMMAND 2 SPEED COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 SPEED COUNTER COMPARE REGISTER2 SET COMMAND 3 SPEED COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND 0033 SPEED COUNTER COMPARE REGISTER3 SET COMMAND lt gt COUNTER DATA2 PORT D31 D16 COUNTER DATA3 PORT D15 D0 4 4 294 967 294 0000 0004 HFFFF_FFFE G COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT 015 p14 D13 D12 D11 Di0 pe 5 D31 D16 COUNTER DATA3 PORT 015 D14 D13 D12 D11 D10 pe pz pe ps p2 HFFFF FFFF G 216 MCCO06 lt gt R1 10 5 2
336. ER INITIALIZE1 RELOAD ENABLE COMP1 AUTO CLEAR ENABLE COMP1 COMP1 STOP ENABLE COMP1 COMP1 INT ENABLE COMP1 CNTINT p A C ____ COMP STOP TYPE COMP1 2 3 D9 COMP GATE TYPE1 I COMP1 2 3 CNTINT COMP1 2 3 x gy i AE CO 2 3 OR CNTINT PULSE TYPE1 1 2 2 pe CNTINT PULSE TYPE0 CO 3 CNTINT TYPE1 CNTINT COMP1 2 CNTINT CO 3 COUNT TYPE1 COUNT PULSE SEL1 o H F015 PULSE COUNTER INITIALIZE2 DS As jh 7 77 77 D7 5 COMP2 COMP2TYPE1 DO COMP2INT ENABLE COMP2 CNTINT
337. ET ___ 100 ORIGINCSCANERRORPULSESET H7FFFFFFF ORIGINJOGERRORPULSESET H7FFFFFFF ORIeINPRESETPULSESET HO0000000 239 16 3 COMMAND CODE H0000 NO OPERATION H 0001 SPEC INITIALIZE1 H 0002 SPEC INITIALIZE2 H 0003 SPEC INITIALIZE3 MCC06 lt gt DRIVE COMMAND 46 us CWLM CCWLM 550 SS1 RDYINT Ho0004 _______ c rc r r j 0007 DRIVE DELAY SET H 0008 CW SOFT LIMIT SET H 0009 CCW SOFT LIMIT SET DELAY TIME SOFT LIMIT SOFT LIMIT _ E H 0010 LSPD SET H 0011 HSPD SET H 0012 ELSPD SET H 0013 RATE SET RATE F ass n 67ps go U b END PULSE
338. GIN DELAY TIME CSCAN JOG 129 PRESET ORIGIN 130 II H 0080 STBY SPEC SET STBY H0082 SERVO SPEC SET DRST DEND DALM H 0083 DEND TIME SET DEND H 00B0 CHANGE POINT SET H 00B1 CHANGE DATA SET H 010F CP SPEC SET 160 MCC06 lt gt 8 10 4 DATA BUS CHECK USER CPU MCC06 lt gt STATUS1 PORT BUSY 0 DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE COMMAND PORT WRITE STATUS1 PORT BUSY 0 COMMAND PORT WRITE DATA1 PORT READ N ERROR Y Y DATA1 WRITE READ Y DATA2 PORT READ DATA2 WRITE READ Y DATA3 PORT READ DATA3 WRITE READ Y PASS COMMAND 008 DATA BUS CHECK COMMAND STATUS1 PORT BUSY 0 DRIVE DATA1 PORT 1
339. IME DELAY TIME x5ms 0 1 275 ms JOG 1 JOG DELAY TIME JOG JOG DELAY TIME JOG JOG DELAY TIME 126 MCC06 lt gt 7 12 4 ORIGIN OFFSET PULSE SET ORIGIN SPEC SET ORIGIN ENABLE 1 OFFSET lt gt COMMAND H0063 ORIGIN OFFSET PULSE SET COMMAND WRITE DRIVE DATA3 PORT OFFSET D15 D0 WRITE 0 2 147 483 647 H0000_0000 H7FFF_FFFF G BUSY 0 Y COMMAND PORT WRITE DRIVE DATA2 PORT OFFSET D31 D16 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 p12 D11 Di0 ps p4 pslp2 p1lbpol D31 6ESEE D16 DRIVE DATA
340. IN ORIGIN ORIGIN SCAN CONSTANT SCAN JOG 3 SCAN SCAN ORIGIN SRATE ORIGIN S CONSTANT SCAN ORIGIN CSPD JOG ORIGIN DELAY JOG DELAY TIME JOG Came 1 2 ouum SmeumT_ SRe2 oF 8 m LNW LM Lemes oNw m WM SRe4 2 oF moLNW out nes 2 LMT AmOuMT_ s LIMIT LIMT 49 MCC06 lt gt ORIGIN LIMIT ORIGIN CWL
341. LINT RDYINT 3 3V 0V COMP COMP COMP COMP COMP COMP COMP COMP 3 3V 0V MANUAL SCAN MANUAL SCAN STBY MANUAL SCAN MANUAL SCAN STBY F F Rup Rdown 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA 2 mA C C C C C HI 777 777 HI HI 77 777 xV H B TTL TTL 2 mA
342. M CCWLM LIMIT CWLM CCWLM LIMIT ORIGIN SCAN CONSTANT SCAN JOG CWLM CCWLM LIMIT ORG 11 ORG 12 CWLM CCWLM ORIGIN CCW CCWLM CWLM LIMIT ORIGIN CW CWLM CCWLM LIMIT ORIGIN INDEX PRESET INDEX ORIGIN INDEX CWLM CCWLM CWLM CCWLM SPEC INITIALIZE2 CWLM CCWLM
343. MCC06 lt gt lt gt D Y DRIVE DATA1 PORT Y Y DRIVE DATA2 PORT Y Y WRITE Y DRIVE DATA3 PORT Y Y DATA3 PORT WRITE WRITE WRITE X h DATA3 PORT WRITE STATUS1 PORT BUSY 0 X Bl STATUS1 PORT BUSY 0 gt gt X DRIVE DATA1 PORT X DRIVE DATA2 PORT X X X DRIVE DATA3 PORT X 8 388 607 8 388 607 H 80_0001 H7F_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND
344. NT SCAN lt gt COMMAND H 0061 ORIGIN CSPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 WRITE 07 00 D23 D16 DRIVE DATA3 PORT 015 00 WRITE 014 1 5 000 000 HI0000 0001 H 004C_4B40 BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 014 D12 D10 pg Dr pe Ds D2 D1 po DRIVE DATA3 PORT 015 p14 D13 p12 D11 Di0 pg pe ps p4 pt D15 CSPD U DO HO0000 012C 300 Hz 0000 0320 800 Hz lt DSEL gt CSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5 MHz 124 MCC06 lt gt 7 12 3 ORIGIN DELA
345. OMMAND H PORT DRIVE COMMAND L PORT DRIVE COMMAND L PORT DRIVE COMMAND 4 4 2 DRIVE DATA1 PORT DATA2 PORT DATA3 PORT WRITE DRIVE COMMAND PORT PORT 4 4 3 COUNTER COMMAND PORT PORT COUNTER COMMAND COUNTER COMMAND STATUS1 PORT BUSY 0 STATUS1 PORT MAN 1 ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET COUNTER COMMAND 8 COUNTER COMMAND COUNTER COMMAND H PORT COUNTER COMMAND L PORT COUNTER COMMAND L PORT COUNTER COMMAND 4 4 4 COUNTER DATA1 PORT DATA2 PORT DATA3 PORT COUNTER COMMAND PORT PORT 26 MCC06 lt gt R1 4 5 PORT
346. OMP2 COMP3 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 SPDINT COMP1 SPEED LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT
347. OMP2 INT ENABLE COMP2 DFLINT 0 COMP2 DFLINT 1 COMP2 DFLINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 188 D2 D3 D4 D5 D6 D7 MCC06 lt gt COMP2 TYPE0 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 COMPARE REGISTER2 COMP3 INT ENABLE COMP3 DFLINT 0 COMP3 DFLINT 1 COMP3 DFLINT COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 COMP3 TYPE0 COMP3 TYPE1 COMP3
348. OP SLSTOP SS0 SS1 DALM STATUS1 PORT STBY 1 DRIVE 1 STBY 1 DRIVE 1 STBY 1 STBY 1 STATUS1 PORT SSEND 1 5 7 2 FAST STOP FSSTOP SS0 SS1 DALM STATU
349. ORT p15 D14 D13 p12 p11 p10 pg De Ds D4 p po A31 Y 16 Y DRIVE DATA3 PORT 015 D14 D13 D12 D11 Di0 pg pe De ps D4 pt 15 Y 0 H0000 0000 X DRIVE DATA2 PORT 015 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A31 X A16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe De ps D4 pt A15 XX gt 0 H0000 0000 X Y 101 MCC06 lt gt 7 9 2 PASS POSITION SET 2
350. ORT BUSY 0 BUSY 1 RDYINT ADRINT COMP1 COMP2 COMP3 OUT3 0 COMP1 COMP2 COMP3 0 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 COMP1 COMP2 COMP3 0 OUT3 0 STATUS3 PORT RDYINT SPEC INITIALIZE2 RDYINT COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 ADRINT CNTINT DFLINT SPDINT lt gt
351. PORT COMMAND Y DRIVE DATA1 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A23 Y A8 Y DRIVE DATA2 PORT lp15 D14 D13 D12 D11 pelp7 De ps D2 pt po lt Y gt AO As Y gt 16 Y DRIVE DATA3 PORT 015 D14 D13 D12 D11 Di0 pg pa pe ps D4 pt 15 Y 0 X DRIVE DATA1 PORT p15 D14 D13 D12 D11 D10 pg pe pe ps D4 pa pt 23 X 8 X DRIVE DATA2 PORT p15 p14 p13 p12 1p11lp1O po pa pe ps pt lt X AO es X gt 16 X DRIVE DATA3 PORT 015 D14 D13 D12 D11 D10 pe pelps Dp4 pt 15 amp R BjHh
352. PORT SELECT DFL COUNTER PORT SELECT SPEED COUNTER PORT SELECT ADDRESS LATCH DATA PORT SELECT PULSE LATCH DATA PORT SELECT DFL LATCH DATA PORT SELECT SPEED LATCH DATA PORT SELECT 39 MCC06 lt gt 5 X H Y X Y 5 1 5 1 1 SCAN SCAN
353. PPTT TI sl sus uo S usss 157 S UBAIAREAD 159 8 10 4 DATA BUS CHECK 161 On sS 162 OR n ae a oi 162 9 1 1 162 9 1 2 163 9 1 3 163 9 1 4 164 9 1 5 164 9 1 6 165 NO OM RE 166 924 2007 3 0 0 PP PP0 166 9 2 2 166 9 3 167 9 3 1 ADDRESS COUNTER INITIALIZE1 169 9 3 2 ADDRESS COUNTER INITIALIZE2 172 9 3 3 ADDRESS GOUNTER INITIALIZES 5 ot 173 94
354. READY_WAIT_XO X DRV_ CMD_PORT 0x0011 ABS INDEX COMMAND W_X_DRV_DT2_PORT WORD AbsData gt gt 16 W_X_DRV_DT3_PORT WORD AbsData READY_WAIT_XO W_X_DRV_CMD_PORT 0x0025 SPEED psSpeedParam URateNo DRateNo RATE DATA TABLE Lspd Hspd Hz AbsData 232 MCC06 lt gt 14 5 ABS CIRCULAR CP URATE DRATE LSPD HSPD CIRCULAR DRIVE VOID AbsCirCp S_SPEED_PARAM psCenterPosition psTarGetPosition RATE SET COMMAND WX DRV DT3_PORT WORD WORD psSpeedParam gt URateNo lt lt 8
355. REG STATUS5 PORT COMREG 1 nCOMREG FL STATUS5 PORT COMREG FL 0 STATUS1 PORT MAN 1 STATUS2 PORT DALM 1 INT FACTOR CLR STATUS5 PORT SS0 1 STATUS5 PORT SS1 1 ADRINT ADRINT 1 CNTINT CNTINT 1 INT FACTOR CLR DFLINT DFLINT 1 SPDINT SPDINT 1 STATUS3 PORT GPIO0 1 STATUS3 PORT GPIO1 1 INT FACTOR CLR STATUS3 PORT GPIO4 1 STATUS3 PORT GPIO5 1 INT3 0 STATUS3 PORT ON gt OFF gt ON 134 MCC06 lt gt OUT3 0 lt gt STATUS1 PORT STATUS1 PORT DRVEND 1 STATUS1 P
356. RIGIN SPEC SET COMMAND WRITE STATUS1 PORT BUSY 0 Y WRITE DRIVE DATA3 PORT BI DS QB2 _ DO pe Be6 ORG ORG NORG NORG DETECT DETECT DETECT DETECT sis 1 TYPE0 TYPE1 TYPE0 D D _ D D p p D p DRIVE DATA3 PORT STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND LIMIT AUTO ERROR ORIGIN SENSOR SENSOR JOG ORIGIN END DRST PULSE FLG ERROR ERROR SENSOR START ENABLE ENABLE ENABLE ENABLE TYPE1 TYPE0 TYPE DIRECTION DO ORIGIN START DIRECTION ORIGIN 0 CCW 1 CW D1 JOG SENSOR TYPE JOG 0 1 D2 SENSOR ERROR TYPE0 D3 SENSOR ERROR TYPE1 CONSTANT SCAN DELAY TIME
357. RIVE DATA1 PORT No No DRIVE DATA3 PORT COMMAND CODE DRIVE COMMAND PORT COMMAND 0089 STATUS1 PORT BUSY 0 lt DATA READ PORT SELECT gt DRIVE COMMAND PORT COMMAND HF041 DRIVE DATA1 PORT COMMAND CODE DATA1 PORT DRIVE DATA2 PORT COMMAND CODE DATA2 PORT DRIVE DATA3 PORT COMMAND CODE DATA3 PORT DATA PORT 0 159 MCC06 lt gt R1 COMMAND CODE COMMAND gt H 0001 SPEC INITIALIZE1 H0002 SPEC INITIALIZE
358. RT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D2 STBY STBY STBY TYPE2 TYPE1 TYPE0 DO STBY TYPE0 D1 STBY TYPE1 D2 STBY TYPE2 STATUS1 PORT STBY 0 STBY STBY 1 STBY 0 PAUSE 0 STBY 0 PAUSE 0 CNTINT 1 STBY 0 PAUSE 0 DFLINT 1 STBY 0 PAUSE 0 SPDINT 1 STBY 0 PAUSE 0 SS0 STBY 0 PAUSE 0 SS1 STBY 0 PAUSE 0 GPIOO0 1 STBY 0 PAUSE 0 GPIO4 1 STBY 0 O 0 0 0 0 SE s O SS0 SS1 SPEC INITIALIZE2
359. S1 PORT BUSY 1 STATUS1 PORT FSEND 1 FSEND 12 ns STATUS1 DRIVE 12D8 2 DRIVE 0 12 ps 12 ps 64 MCC06 lt gt 5 7 3 LIMIT LIMIT LIMIT LIMIT
360. SCAN COMMAND READY_WAIT W_X_ DRV_ CMD_PORT 0 0022 SPEED psSpeedParam URateNo DRateNo RATE DATA TABLE Lspd Hspd Hz 231 MCC06 lt gt 14 4 ABS INDEX INDEX URATE DRATE LSPD HSPD INDEX X X ABS INDEX DRIVE VOID X AbsIndex S_SPEED_PARAM psSpeedParam LONG AbsData RATE SET COMMAND W_X_DRV_DT3_PORT WORD psSpeedParam gt URateNo lt lt 8 WORD psSpeedParam gt DRateNo READY_WAIT X DRV_ CMD_PORT 0 0013 LSPD SET COMMAND W_X DRV_DT2_PORT WORD psSpeedParam gt Lspd gt gt 16 W_X_DRV_DT3_PORT WORD psSpeedParam gt Lspd READY_WAIT_XO DRV_ CMD_PORT 0x0010 HSPD SET COMMAND W_X DRV_DT2_PORT WORD psSpeedParam gt Hspd gt gt 16 W_X_DRV_DT3_PORT WORD psSpeedParam gt Hspd
361. SCAREA4 lt gt COMMAND 0035 SCAREA34 SET COMMAND DRIVE DATA2 PORT SCAREA3 DRIVE DATA3 PORT SCAREA4 WRITE BUSY 0 Y COMMAND PORT WRITE 0 65 535 0000 G Hz x 50 Hz 0 3 276 750 Hz STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p15 p14 D13 D12 D11 Di0 pg pa ps D4 pt D15 SCAREA3 D0 H0014 1 000 Hz H 003C 3 000 Hz lt DSEL gt DRIVE DATA3 PORT p15 D14 D13 D12 D11 D10 pe pe ps p4 ps D2 pt D15 SCAREA4 DO H0014 1 000 Hz H 003C 3 000 Hz lt DSEL gt SLSPD SHSPD SCAREA3 SCAREA4 SHSPD SHSPD oev SSBD asas
362. SY 0 X Bl STATUS1 PORT BUSY 0 gt gt X DRIVE DATA1 PORT X DRIVE DATA2 PORT X X X DRIVE DATA3 PORT X 8 388 607 8 388 607 80 0001 H7F_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA1 PORT 015 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A23 Y 8 Y DRIVE DATA2 PORT lp15 D14 D13 D12 D11 De 05 D2 lt Y AO A23 Y gt 16 Y DRIVE DATA3 PORT
363. T 015 D14 D13 D12 D11 D10 pe ps p4 ps p2 p1lbpol D15 SCAREA2 DO H 0014 1 000 Hz H 003C 3 000 Hz lt DSEL gt DRIVE DATA3 PORT 015 D14 D13 D12 pit D10 De ps D4 pa D2 pt D15 SCAREA1 DO H0014 1 000 Hz H 003C 3 000 Hz lt DSEL gt SLSPD SHSPD SCAREA1 SCAREA2 1 1 MS RATA A SCAREA1 SCAREA1 a Z Sau aus SLSPD SCAREA1 SCAREA2 SCAREA1 SCAREA2 SCAREA1 SCAREA2 as aG 7 Q EE 3 w a d b 89 MCC06 lt gt 7 5 5 SCAREA34 SET S S GCAREA3
364. T SPDINT COMP1 2 3 ITYPE1 TYPE0 COMP1 2 3 STATUS4 PORT STATUS4 L PORT STATUS4 PORT STATUS4 L PORT INT FACTOR CLR INTz SPDINT 1 SPDINT PULSE TYPE SPDINT PULSE TYPE0 SPDINT PULSE TYPE1 COMP1 2 3 COMP GATE TYPE0 COMP GATE TYPE1 SPDINT COMP1 2 3
365. T_DT3_PORT 0x03e8 W_Y_CNT_CMD_PORT 0x0000 230 MCC06 lt gt MCC06 lt gt 14 2 JOG JOG X X 206 DRIVE VOID X Jog VOID READY_MWAIT_XO W_X_ DRV_ CMD_PORT 0x0020 14 3 SCAN SCAN URATE DRATE LSPD HSPD X X SCAN DRIVE VOID X Scan S_SPEED_PARAM psSpeedParam RATE SET COMMAND W_X_DRV_DT3_PORT WORD psSpeedParam gt URateNo lt lt 8 WORD psSpeedParam gt DRateNo READY_WAIT_XO X DRV_ CMD_PORT 0x0013 LSPD SET COMMAND DRV_DT2_PORT WORD psSpeedParam gt Lspd gt gt 16 W_X_DRV_DT3_PORT WORD psSpeedParam gt Lspd READY_WAIT_XO CMD_PORT 0x0010 HSPD SET COMMAND W_X_DRV_DT2_PORT WORD psSpeedParam gt Hspd gt gt 16 WX DRV DT3_PORT WORD psSpeedParam gt Hspd READY_WAIT_XO DRV_ CMD_PORT 0x0011
366. US1 PORT BUSY 0 Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF G CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X Bl COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT p15 D14 D13 D12 D11 Di0 pg pe pe ps D4 pt A31 lt n Y gt A1t6 Y DRIVE DATA3 PORT 015 p14 DS p12 DR pg 05 15 Y X DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 p
367. WORD psSpeedParam gt Hspd gt gt 16 W_X_DRV_DT3_PORT WORD psSpeedParam gt Hspd READY_WAIT_XO DRV_ CMD_PORT 0x0011 ORIGIN CSPD SET COMMAND DRV_DT2_PORT WORD psOrgParam gt Cspd gt gt 16 WX DRV_DT3_PORT psOrgParam gt Cspd READY_WAIT_XO X DRV_ CMD_PORT 0x0061 ORIGIN DELAY SET COMMAND DRV_DT1_PORT psOrgParam gt MarginPulse W_X_DRV_DT2_PORT WORD psOrgParam gt LimitDelayTime W_X_ DRV_DT3_PORT WORD psOrgParam gt ScanDelayTime lt lt 8 WORD psOrgParam gt JogDelayTime READY_WAIT_X W_X_ DRV_ CMD_PORT 0x0062 ORIGIN OFFSET PULSE SET COMMAND W_X_DRV_DT2_PORT WORD psOrgParam gt 0ffsetPulse gt gt 16 W_X_DRV_DT3_PORT WORD psOrgParam gt OffsetPulse READY_WAIT_X X CMD_PORT 0x0063 234 MCC06 lt gt ORG DRIVE COMMAND W_X_DRV_DT3_PORT WORD OrgType READY_WAIT_X W_X_ DRV_ CMD_PORT 0x0070 SPEED psSpeedParam URateNo DRateNo RATE DATA TABLE No Lspd Hspd Hz ORG psOrgParam Cspd Hz
368. Y SET DELAY TIME MARGIN gt COMMAND H 0062 ORIGIN DELAY SET COMMAND DRIVE DATA1 PORT MARGIN MARGIN 0 65 535 H 0000 HFFFF G DRIVE DATA2 PORT D15 D8 0 D7 D0 E LIMIT DELAY TIME DATA2 PORT WRITE DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 D8 SCAN DELAY TIME D7 D0 E DELAY TIME DELAY TIME 0 255 H00 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 015 D14 D13 D12 D11 Di0 pe ps p4 ps p2 p1lbpol D15 MARGIN Do H 0005 5 DRIVE DATA2 PORT D15 p14 D13 p12 Dp11 p10 pg pe De s C
369. _ADDRESS Oxlc define R_Y_ST5_PORT O inpw MCCO6_TOP ADDRESS Oxle define READY_WAIT_YO while R_Y_ST1_PORTO amp 0x0001 228 14 1 MCC06 lt gt X Y PULSE OUTPUT TYPE FIRST PULSE TYTPE LSPD RATE TYPE M1 TYPE RESOL 1 COUNT PULSE SEL INP CP COUNT TYPE EB 1 ADRINT TYPE ADRINT PULSE TYPE 200 us COMP GATE TYPE COMP1 OR COMP2 OR COMP3 COMP STOP TYPE COMP1 INT ENABLE COMP1 ADRINT COMP1 STOP ENABLE COMP1 RELOAD ENABLE COMP1 ADDRESS COUNTER COMPARE REGISTER1 100 000 0 186 0
370. aram VOID X_AbsIndex S_SPEED_PARAM psSpeedParam LONG AbsData MCC06 lt gt VOID AbsCirCp S_SPEED_PARAM psCenterPosition S_CP_POSITION psTarGetPosition VOID X OrgDrive S_SPEED_PARAM S_ORG_PARAM psOrgParam BYTE OrgType LONG XAddrCntRead VOID LONG YAddrCntRead VOID 227 MCC06 lt gt PORT READ WRITE define MCCO6_TOP_ADDRESS 0x2000 X DRIVE COMMAND PORT WRITE define W_X_DRV_CMD_PORT outpw MCCO6_TOP_ADDRESS 0 00 define W_X_DRV_DT1_PORT data outpw MCCO6_TOP_ADDRESS 0 02 data define W_X_DRV_DT2_PORT data outpw MCCO6_TOP_ADDRESS 0x04 data define W_X_DRV_DT3_PORT data outpw MCCO6_TOP_ADDRESS 0 06 data define W_X CNT_CMD_PORT outpw MCCO6_TOP_ADDRESS 0 08 cmd define W_X_CNT_DT1_PORT data outpw MCCO6_TOP_ADDRESS 0x0a data define W_X_CNT_DT2_PORT data outpw MCCO6_TOP_ADDRESS 0x0c data define W_X_CNT_DT3_PORT data outpw MCCO6_TOP_ADDRESS 0x0e data define R_X_ST1_PORTO inpw MCCO6_TOP_ADDRESS 0x00 define R_X_DRV_DT1_PORTO inpw MCCO6_TOP_ADDRESS 0x02 define R_X_DRV_DT2_PORTO inpw
371. e De ps pa pt A31 X 16 X DRIVE DATA3 PORT p15 D14 D13 D12 D11 Di0 pg pe ps D4 pt A15 lt T X A 0 0 111 MCC06 lt gt 7 11 2 X S X 6 0 X Y X Y CW CCW
372. g X B 7 F LZ Ao 0 0 116 MCC06 lt gt 7 11 3 1 2 1 2 X Y 1 COMMAND 0178 CIRCULAR3 CP COMMAND 2 SRATE S COMMAND 0179 SRATE CIRCULAR3 CP COMMAND 3 CONST
373. z 5 MHz 1 Hz 0 1 Hz 5 M MHz 86 MCC06 lt gt 7 5 2 SHSPD SET S gt COMMAND H 0031 SHSPD SET COMMAND DRIVE DATA2 PORT D15 D8 0 D7 D0 D23 D16 2 DRIVE DATA3 PORT 015 00 DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE 1 5 000 000 H0000_ 0001 H 004C_4B40 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D12 D11 D10 pg p7 pe p5 p4 p2 p po DRIVE DATA3 PORT p15 p14 D13 D12 D11 Di0 pg ps p4 ps p2 p1lbpol D15 SHSPD Do HI0000 0BB8 3 000 Hz H 0000 2710 10 000 Hz lt DSEL gt

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