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C-V870 取扱説明書(コマンド編)

Contents

1. A
2. X Y 11 COMMAND H0130 ABS CIRCULAR2 CP COMMAND 12 SRATE S ABS SRATE CIRCULAR2 CP COMMAND 13 CONST
3. 2 000 1
4. 0 0 STBY 1 140 7 13 2 R1 0 00 X Y X Y CW CCW 2 2 CP SPEC X Y
5. A 1 PAGE IO PORT 1 1 MCC06 PORT 9 1 2 HENSA PORT 9 1 3 HARD CONFIGURATION PORT 9 PORT 2 1 MCC06 PORT
6. LIMIT COMREG STOP MODE BUSY 0 COMREG EP 1 ERROR FSEND HARD INITALIZE2 GPIO0 ERROR GPIO1 FSEND MASK INT FACTOR MASK lt SPDINT TYPE SPEED COUNTER INITALIZE1 OUT3 SPDINT HARD INITIALIZE1 INT2 SPDINT MASK INT FACTOR MASK
7. 1 5 000 000 H0000 0001 H004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0 RATE RATE DATA TABLE No DRIVE DATA2 PORT D15 DO 0 DRIVE DATA3 PORT D15 D8 URATE No DRIVE DATA3 PORT D7 D0 DRATE No SPEED CHANGE RATE RATE CHANGE RATE SPEC INITIALIZE1 RATE TYPE RATE 133 3 AUTO CHANGE DRIVE SET AUTO CHANGE
8. COUNT PULSE SEL2 1 D11 0 0 D12 COUNT PULSE SEL2 0 1 1 D13 COMP2 TYPE2 COMP2 0 1 1
9. 10 1 DRIVE COMMAND PORT 10 2 DRIVE DATA1 2 3 PORT 10 3 COUNTER COMMAND PORT 10 4 COUNTER DATA1 2 3 PORT 10 5 STATUS1 PORT 10 6 STATUS2 PORT
10. PLS INDEX CHANGE END PULSE 131 7 10 AUTO CHANGE 1 CHANGE POINT SET lt gt COMMAND H 00B0 CHANGE POINT SET COMMAND DATA1 PORT DRIVE DATA2 PORT D15 D8 WRITE D7 DO0 No 0 DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 LD STATUS1 PORT BUSY 0 Y ene DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D7 lt gt DO D7
11. 1 DFL COUNTER PRESET lt gt COMMAND H0020 DFL COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT D31 D16 WRITE COUNTER DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D31 D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO H 0000 0000 H 8000_0000
12. 2 3 2 1 SPEC INITIALIZE1 RATE lt gt COMMAND H 0001 SPEC INITIALIZE1 COMMAND DATA3 PORT WRITE Lw AA gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D13 D12 D1 Do pg 199 De i a 0 1 Wo OUTPUT OUTPUT TYPE1 TYPE0 DO PULSE OUTPUT TYPE0 D1 PULSE OUTPUT TYPE1 CWP CCWP TYPE1 TYPE0 CWP CCWP 0 0 0 1 ll CE 2 soon aap
13. LSPD HSPD URATE DRATE ENDPULSE END PULSE END PULSE END PULSE ESPD END PULSE 1 LSPD SET lt gt COMMAND H0010 LSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 TAS PORT DRIVE DATA3 PORT D15 D0 NE 1 5 000 000 H 0000_0001 H 004C_4B40 Ln 3 STATUS1 PORT BUSY 0 BUSY
14. HARD CONFIGURATION PORT D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 SPDINT COMP1 2 3 TYPE1 TYPE0 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR AND 0 0 0 1 1 0 1 1 D10 COMP STOP TYPE COMP1 COMP2 COMP3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 SPDINT 0 COMP1 SPDINT 1 COMP1 SPDINT D13 COMP1 STOP ENABLE COMP1 0 COMP1
15. 0 0 1 2 CW CW MULTICHIP CIRCULAR CP COMMAND 2 2 CCW COW COMMAND H 01A1 MULTICHIP CIRCULAR CP COMMAND 3 2 SRATE CW S CW MULTICHIP SRATE CIRCULAR CP COMMAND 4 2 SRATE CCW S CCW MULTICHIP SRATE CIRCULAR CP COMMAND 5 2 CONST CW CW
16. A 7 DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME DRIVE DELAY TIME 0 LSPD SLSPD DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 17 3 4 SCAN INDEX
17. 132 2 CHANGE DATA SET lt gt CHANGE DATA SET COMMAND DATA1 PORT DRIVE DATA2 PORT D15 D8 WRITE D7 DO0 No sr DRIVE DATA2 PORT D31 D16 DATA3 PORT WRITE N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 DO STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De Ds D4 ps p2 p1 po D7 lt DO D7 No gt DO H 00 H7F H 00 DRIVE DATA2 PORT D15 D14
18. X X X CENTER POSITION X SET X X Y 52 0 0
19. INC CIRCULAR3 CONST CP COMMAND 16 SRATE CONST S INC SRATE CIRCULAR3 CONST CP COMMAND 7 lt gt Y DATA1 PORT WRITE Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA1 PORT WRITE X DATA2 PORT WRITE N Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE X STATUS1 PORT BUSY 0 X COMMAND PORT WRITE Y DRIVE DATA1 PORT 1 Y Y DRIVE DATA2 PORT 1 Y 2 Y Y DRIVE DATA3 PORT 2 Y X DRIVE DATA1 PORT 1 X X DRIVE DATA2 PORT 1 X 2 X
20. ELSPD SET DOWN POINT SET DOWN POINT SET S S SELSPD SET S SRATE DOWN S POINT SET S S SRATE DOWN POINT
21. SS0 5 SENSOR INDEX1 SENSOR INDEX1 COMMAND H0094 SENSOR INDEX1 COMMAND 6 SRATE SENSOR INDEX1 S SENSOR INDEX1 COMMAND H009C SRATE SENSOR INDEX1 COMMAND SENSOR INDEX2 SS0 7 SENSOR INDEX2 SENSOR INDEX2 COMMAND H0095 SENSOR INDEX2 COMMAND 8 SRATE SENSOR INDEX2 S SENSOR INDEX2 COMMAND H009D SRATE SENSOR INDEX2 COMMAND SENSOR INDEX3 SS0
22. DRIVE DATA1 2 3 PORT READ 0 1 COUNTER LATCH SPEC SET lt gt COMMAND HF028 COUNTER LATCH SPEC SET COMMAND DATA3 PORT NR 6 WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 SPEED SPEED SPEED SPEED DFL DFL DFL DFL CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 ENABLE TYPE2 TYPE1 TYPE0 PULSE PU
23. 1 2 2 COMMAND H0150 INC STRAIGHT CP COMMAND 2 SRATE 2 S 2 COMMAND H 0151 INC SRATE STRAIGHT CP COMMAND 3 CONST 2 2 INC STRAIGHT CONST CP COMMAND 4 SRATE CONST 2 S 2 COMMAND H 0153 INC SRATE STRAIGHT CONST CP COMMAND 50 lt 2 gt Y DATA2 PORT Y DRIVE DATA2 PORT Y Aa Y DRIVE DATA3 PORT Y
24. 1 ADDRESS COUNTER PRESET lt gt COMMAND H0000 ADDRESS COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT A31 A16 WRITE COUNTER DATA3 PORT A15 A0 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF SO 0 2 BUSY 0 STATUS1 PORT BUSY 0 Y RN COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A31 gt A16 COUNTER DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO A0 A15 H 0000 0000 H 8000_0000
25. 5 4 90 8 N STATUS1 PORT STBY 1 STATUS1 PORT STBY 1 Y 8 Ne
26. ABS SRATE CIRCULAR3 CONST CP COMMAND gt Y DRIVE DATA2 PORT 2 Y WRITE Y DRIVE DATA3 PORT 2 Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT 2 X X NE X DRIVE DATA3 PORT 2 X X DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 Y X Re X STATUS1 PORT BUSY 0 Y X COMMAND PORT WRITE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do 2 Y
27. 2 0023 DFL COUNTER COMPARE REGISTER3 SET 3 002A DFL COUNTER MAX COUNT SET oO 0031 SPEED COUNTER COMPARE REGISTER1 SET 1 0032 SPEED COUNTER COMPARE REGISTER2 SET 2 0033 SPEED COUNTER COMPARE REGISTER3 SET 3 003A SPEED OVF COUNT SET QO 8 2 HARD CONFIGURATION 0001 HARD CONFIGURATION1 SIGNAL OUT3 0 SIGNAL OUT3 0 0004 HARD CONFIGURATION4 SIGNAL IN3 0 MCC06 0005 HARD CONFIGURATION5 O 0 1 0010 PAUSE SET SPEC PAUSE ON PAUSE ON 0011 PAUSE CLR SPEC PAUSE OFF PAUSE OFF
28. AUTO CHANGE DRIVE SET 134 6 AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE lt gt COMMAND H 00BA AUTO CHANGE INC INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO DATA3 PORT Oi 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y TS DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 p1o pe ps
29. PRESET ORIGIN ORIGIN ORIGIN FLG 1 PRESET INDEX PRESET INDEX SCAN DELAY TIME ORIGIN 0 5 10 11 12 H00 H 05 HOA HO0B HOC 9 3 PRESET ORIGIN PRESET ORIGIN COMMAND H0074 PRESET ORIGIN COMMAND 4 SRATE PRESET ORIGIN S PRESET ORIGIN SRATE PRESET ORIGIN COMMAND lt PRESET ORIGIN gt DRIVE DATA3 PORT D15 D8 0 D7 DO0 ORIGIN Eee STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po DATA3 PORT WRITE DRIVE COMMAND PORT C
30. 0 1 CPPOUT D14 D15 0 0 138
31. COUNT PULSE SEL CWP CCWP D15 D11 0 0O 75 4 8 X Y Z A 1 PULSE COUNTER INITIALIZE1 PULSE COUNTER INITIALIZE1 COMMAND R2 lt gt DATA3 PORT WRITE COMMAND PORT WRITE COMMAND HF014 DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT RELOAD ENABLE CNTINT PULSE TYPE1 AUTO CLEAR ENABLE CNTINT PULSE TYPE0 D13 COMP1 STOP ENABLE CNTINT TYPE1 D12 D11 D9 D8 COMP1 INT ENABLE CNTINT TYPE0 D3 COUNT TYPE1 COM
32. 2 2 STATUS1 PORT STBY 1 STATUS1 PORT STBY 1 Y 2 141
33. 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 TYPE1 TYPEO COMP3 0 0 COMPARE REGISTER3 0 1 gt COMPARE REGISTER3 1 0 COMPARE REGISTER3 1 1 D15 D8 0 0 78 3 PULSE COUNTER INITIALIZE3 lt gt COMMAND H F016 PULSE COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 D5 D4 D3 D2 D1 DO D7 D0 DIVISION D7 D0
34. 23 3 7 S 24 1 SLSPD SET 24 2 SHSPD SET 25 3 SRATE SET 25 4 SCAREA12 SET 26 5 SCAREA34 SET
35. ABS CIRCULAR2 CONST CP COMMAND 14 SRATE CONST S ABS SRATE CIRCULAR2 CONST CP COMMAND gt Y DATA2 PORT Y DRIVE DATA2 PORT Y MANI Y DRIVE DATA3 PORT Y Y DATA3 PORT ia X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y X 4 STATUS1 PORT gt X STATUS1 PORT BUSY 0
36. 0 1 1 S SRATE DOWN POINT SET 4 4 111 D5 SRATE INDEX MODE SRATE INDEX 0 SRATE INDEX 1 SRATE INDEX 1 SRATE DRIVE TYPE 1 S SRATE DOWN POINT SET D6 SRATE STOP MODE S 0 1 1 SRATE
37. lt gt HENSA INITIALIZE2 COMMAND HENSA DATA1 PORT HENSA DATA1 PORT WRITE HENSA DATA2 HENSA DATA2 PORT PORT WRITE 4W R N HENSA STATUS1 HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y HENSACOMMAND HENSA COMMAND PORT COMMAND PORT WRITE HENSA DATA1 PORT D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 D9 DATA D8 HENSA DATA2 PORT D7 DATA gt DO 5 10000 13 STEP 1 5 0 72 500 1000 2000 5000 10000 20000 50000 100000 200000 400000 500000 400 800 1600 3200 6400 12800 25600 51200 102400 204800 409600 1 STEP
38. POR D13 SPDINT SPDINT DFL DFLINT WT DFLINT COMP1 OVF COMP3 COMP2 COMP2 COMP1 COMP3 COMP1 OVF COMP3 9 STATUS5 PORT COMP2 COMP1 PORT bt3 D2 pt po 59 ps SPEED SA 2 SPDINT COMP3 CNTINT CNTINT COMP2 CCWMS CWMS SS1 SS0 10 PORT 1 PORT 1 1 1 1 10 DRIVE DATA1 2 3 PORT PORT PORT 2 2 HENSA PORT
39. 10 7 STATUS3 PORT 10 8 STATUS4 PORT 10 9 STATUS5 PORT 10 10 DRIVE DATA1 2 3 PORT 11 2 2 HENSA PORT 11 1 HENSA COMMAND PORT
40. S C V870 X Z Y A X X Y Z A MCC06 Y Z A 2 Z X Z A X Y Z X CP SPEC SET I 3 X Z X Y Z A X Z 2 2 CP SPEC SET RR RR
41. 119 NARD NALKESE SR SE SSNS SS 119 2 ARIDI NAEREL RR SSS 119 8GRTAMIT gt eer eS ER 120 COWESORT EMI SET A SRN ER Et 120 CC SOFTLIMIT SE SRR 120 6 SENSOR DRIVE SN RR NE RR RR RR 121 MASSOR SGN ERT SE 121 SENSOR SC SA NR NS RT 121 3 SRATE SENSGRSGANT RS 33290 0309200 0092033 eee 121 SRATE SENSORISGANS tS SSR SSR 121 5 SESORINDEE SR 122 SRETE SENSORINDEXTIR St FS 122 SENSORINDEXSR SD SEG EGR SECE SNEE IESEE SEIIRE 122 8 SRATEE3SENSORIINDEX2P IG 122 EENSORINDEXSIRS NC TS 122 10 SRATE SENSORINDEXS ES GND RHE TE HST 122 7 URI DOWNLCONST CAANGE 0 SS SS 124 DC SREC SE CR ANN 124 UPDRNE SR EN EE 125 DONN DORNE TR SR CS ES ES SS 125 GONSTORNE SS ENDSERSRUSISN0S0SN0SS OS 6 125 2 8 DIGNIAINGE SU BSI 126 8PEEB GMANGESSBEC SE SRS35333S8SSS8S388SSSSSSSSSSCSSSS dase8dse3sessse8 126 20 SPEED CHANCE SR RG 127 8 RATECHANGE SR HARRI ENN PANN 127 NDEX GHANGE SEE EE 128 ANDEX CHANGE SPECSET SERIE RR 128 NEINDECCHANEE SO SS 129 RESENDEX ENHANCES SA CS 130 ENDERCHANGE SS RS 131 6SABTOUGHMANG 2 RIRS RRR RR IR 132 MCHANGE PONT SET SR SR CE 132 2 GMANGEE DAEAS
42. INDEX 9 SENSOR INDEX3 SENSOR INDEX3 SENSOR INDEX3 COMMAND 10 SRATE SENSOR INDEX3 S SENSOR INDEX3 COMMAND H O09E SRATE SENSOR INDEX3 COMMAND 122 lt SENSOR INDEX1 2 3 gt DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO DATA3 PORT 0 0 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT INDEX CBUSY 0 STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 Dp1 p0Ol
43. 256 255 254 2 4 3 2 1 COUNT TYPE D15 D8 0 0 TO 4 9 X Y Z A R2 1 DFL COUNTER INITIALIZE1 lt gt COMMAND HF018 DFL COUNTER INITIALIZE1 COMMAND AS DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND D15 D14 D13 D12 D11 D10 D9 D8 RELOAD AUTO COMP1 COMP1 COMP COMP COMP COMP ENABLE CLEAR STOP INT DETECT STOP GATE GATE ENABLE ENABLE ENABLE TYPE TYPE TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO NN 2 DFLINT DFLINT COUNT COUNT SN HP 2 TYPE1 TYPE0 TYPE1 TYPE0 eS 5 TYPE1 TYPE0 SEL 1
44. 11 2 HENSA DATA1 2 PORT 11 3 HENSA STATUS1 PORT 11 4 HENSA DATA1 2 PORT 11 2 3 HARD CONFIGURATION PORT 11 1 HARD CONFIG COMMAND PORT 11 2 HARD CONFIG DATA1 2 3 PORT 11 3 SIGNAL STATUS PORT HH 11 4 HARD CONFIG DATA1 2 3 PORT
45. lt gt COMMAND HF011 ADDRESS COUNTER INITIALIZE2 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO eoups coupes cowpz cowez TYPE1 TvPEo TvPE1 TypEo ENABLE ENABLE ERNA BE RD DO COMP2 INT ENABLE COMP2 ADRINT 0 COMP2 ADRINT 1 COMP2 ADRINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 TYPE1 TYPE0 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2
46. 20 2 ESPD SET 20 3 ESPD DELAY SET 21 3 6 22 1 JOG 22 095 065 ee aos 22 3 SCAN 22 4 SCAN 22 5 INEDX 23 6 INEDX
47. 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 2 PULSE COUNTER INITIALIZE2 lt gt COMMAND HF015 PULSE COUNTER INITIALIZE2 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT
48. D9 SIGNAL OUTA CNTINT D10 SIGNAL OUTB DFLINT SIGNAL OUTA SIGNAL OUTB 0 1 CNTINT DFLINT D12 DRST OUT DRST 0 1 DRST D7 D0 0 D11 0 D15 D13 0 65 4 4 1 SERVO SPEC SET DRST DEND DALM COMMAND H0082 DRIVE DATA3 PORT N STATUS1 PORT BUSY 0 lt
49. INT FACTOR CLR A 62 4 2 R2 PCI INTA INT FACTOR MASK EE COUNTER INITIALIZE1 COMP STOP COMP1 STOP TYPE ENABLE COMP1 COUNTER COMP MASK INT PULSE TYPE 4AINT COMP1 200ns STATUS34 INT TYPE COUNTER COMP MASK MASK STATUS4 PORT INT TYPE OR
50. 31 ORIGIN ERROR PULSE SET 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 1 ORIGIN SPEC SET ORIGIN lt gt ORIGIN SPEC SET COMMAND COMMAND H0060 DATA3 PORT WRITE S DRIVE DATA3 PORT u s gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 ORG ORG NORG NORG ORG O
51. 1 END PULSE SET END PULSE lt gt COMMAND H0018 END PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 D0 DATA3 PORT sn 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y NS DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO END PULSE DRIVE DATA3 PORT D31 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 END PULSE gt DO H 0000 0000 0 END PULSE
52. 96 PULSE COUNTER PRESET GSR RS oh AAS II I A 96 2 PULSE COUNTER COMPARE REGISTER1 SET 96 3 PULSE COUNTER COMPARE REGISTER2 SET 96 4 PULSE COUNTER COMPARE REGISTER3 SET 96 5 PULSE COUNTER MAX COUNT SET 97 8 80 2 6 39 SRNR 98 1 DEL COUNTER PRESET 3 TSR SE RDS Rs 98 2 DFL COUNTER COMPARE REGISTER1 SET 98 3 DFL COUNTER COMPARE REGISTER2 SET 98 4 DFL COUNTER COMPARE REGISTERS SET hm 98 5 DFE COUNTER MAX COUNT SET YR SADA 99 5 4 100 1 SPEED COUNTER COMPARE REGISTER1 SET 100 2 SPEED COUNTER COMPARE REGISTER2 SET 100 3 SPEED COUNTER COMPARE REGISTER3 SET
53. CPPIN 2 5 MHz CPP STOP 0 CPP STOP 1 CPP STOP CPPIN 0 CPPIN 1 CPPIN CPP STOP CPP STOP ENABLE 1 CPPOUT CPPIN CPPIN 2 CPPOUT
54. 0 1 D13 D11 D13 D11 0 1 INTA A 61 2 INT FACTOR MASK R2 PCI INTA GPIO1 0 ERROR FSEND INT3 C V870 FSSTOP0 COMMAND HF021 DRIVE DATA3 PORT
55. RATE DATA RATE DATA SET URATE DRATE SET RATE SET RATE DATA SET S 2 0 SPEC INITIALIZE1 SRATE DATA SRATE DATA SET SURATE SDRATE SET S SRATE SET SRATE DATA SET 1 SPEC INITIALIZE1 RATE TYPE RATE TYPE RESOL D7 0 RESOLUTION lt gt COMMAND H 0001 SPEC INITIALIZE1 COMMAND DATA3 PORT RITE DRIVE DATA3 PORT AR STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND
56. 000 SPEED OVF 000 SPEED COUNTER INITIALIZE3 COUNT PULSE SEL2 87 COUNT PULSE SEL2 0 1 1
57. 2 X Y lt gt COMMAND H0100 CENTER POSITION SET COMMAND Y DATA2 PORT Y DRIVE DATA2 PORT Y AM Y DRIVE DATA3 PORT Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X X DATA2 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y 4 STATUS1 PORT Y STATUS1 PORT BUSY 0 X DATA3 PORT WRITE BUSY 0 Y X STATUS1 PORT X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8
58. GPIO0 ERROR GPIO1 FSEND INT2 SPDINT INT FACTOR CLR D15 D10 0 0 112 2 HARD INITIALIZE2 SPEC INITIALIZE3 COMREG ENABLE GPIO1 0 lt gt COMMAND HF002 HARD INITIALIZE2 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 1 1 1 1 1 1 1 1 GPIO1 GPIO1 GPIO1 GPIO1 GPIO0 GPIO0 GPIO0 GPIO0 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 D3 D0 GPIO0 TYPE3 0 D7 D4 GPIO1 TYPE3 0
59. gt COMMAND H 0061 ORIGIN CSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 A DRIVE DATA3 PORT D15 D0 a 1 5 000 000 H 0000_ 0001 H 004C_4B40 Li SS gt STATUS1 PORT BUSY 0 Y MM DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 D23 EER gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO H 0000_012C 300 Hz H 0000_0320 800 Hz lt JP1 gt CSPD 1Hz 5 MHz 1 Hz 0 1 Hz 5 M 5 MHz 3 ORIGIN DELAY SET DELAY TIME
60. 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 TYPE1 TYPE0 COMP3 COMPARE REGISTER3 lt COMPARE REGISTER3 COMPARE REGISTER3 SPEED COUNTER INITIALIZE3 COMP3 TYPE2 D15 D8 0 0 86 3 SPEED COUNTER INITIALIZE3 lt gt COMMAND H F01E SPEED COUNTER INITIALIZE3 COMMAND DATA3 PORT R WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 CoMP3 cowp gt COUNT COUNT COUNT COUNT 0 TYEE BE2 PULSE 0 ENABLE ENABLE ENABLE SEL2 TYPE2 TYPE1 TYPEO D7 D6 D5 D4 D3 D2 D1 Do DIVISION DIVISION DIVISION DIVISION DIVISION
61. INT FACTOR CLR 1 1 INT2 ADRINT 1 ADRINT PULSE TYPE D6 ADRINT PULSE TYPE0 D7 ADRINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPE0 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs HARD CONFIGURATION PORT D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 ADRINT COMP1 2 3 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR
62. lt gt COMMAND H0064 ORIGIN CSCAN ERROR PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE BR DRIVE DATA3 PORT D15 D0 WRITE 1 2 147 483 647 H 0000_0001 H7FFF_FFFF STATUS1 PORT BUSY 0 N STATUS1 PORT BUSY 0 Y COMMAND PORT RE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pe ps p7 pe Ds D4 D3 D2 D1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D15 DO H 7FFF FFFF 0 1 6 ORIGIN JOG ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1
63. mh 2 SESPD SET S END PULSE lt gt COMMAND H0039 SESPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 O et 2 Ts DRIVE DATA3 PORT D15 D0 1 5 000 000 H0000_0001 H 004C_4B40 OT STATUS1 PORT BUSY 0 Y 0 DRIVE COMMAND PORT COMMAND 27 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 0 RR A ET Rd DRIVE DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 SESPD DO H0000 012C 300 Hz SESPD 1 Hz 5 MH
64. 8 MULTICHIP STRAIGHT CP MULTICHIP SRATE STRAIGHT CP S MULTICHIP CIRCULAR CP 2 CW MULTICHIP CIRCULAR CP 2 CCW 01A2 MULTICHIP SRATE CIRCULAR CP S 2 CW 01A3 MULTICHIP SRATE CIRCULAR CP S 2 CCW 01A4 MULTICHIP CIRCULAR _ CONST CP 2 CW 01A5 MULTICHIP CIRCULAR CONST CP 2 CCW 01A6 MULTICHIP SRATE CIRCULAR CONST CPIS 2 CW MULTICHIP SRATE CIRCULAR CONST CP S 2 CCW 152 2 MCC06 DRIVE COMMAND F001 OUT0 SIGNAL OUTA B F006 HARD INITIALIZE2 GPIO F006
65. INDEX 0 CPPOUT SCAN 1 CPPOUT INDEX CPPOUT CPPOUT
66. INC INDEX CHANGE INC INDEX CHANGE END PULSE 129 3 ABS INDEX CHANGE ABS INDEX lt gt COMMAND HF03D ABS INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 MAN DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT _ WOW c3 a STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO A31 INDEX CHANGE
67. 46 11 48 12 SRATE 48 80 NASGONSIE 95R2RRSESNSANRDNRN2RSSROS2RYSRSSGHeRBA2SS 48 14 SRATE CONST 48 15 49 1 SRATE 49 17 CONST 49 18 SRATE CONST 49 34 2 50 5 2 nn OO 50 2 SRATE 2 50 3 CONST 2 50 4 SRATE CONST 2 50 PAGE 3 15 2 52 1
68. 2 0 1 0 END PULSE 1 DRIVE DELAY TIME END PULSE D7 D5 0 0 D8 XCPP STOP ENABLE X D12 YCPP STOP ENABLE Y 2 CPP STOP ENABLE 0
69. 100 4 SPEEDIOVWRICOUNTSE 101 6 1 102 1 HARD GONFIGURATION1 102 2 HARD CONFIGURATIONS SF CLE REAR ees 104 3 MARBUGONEIGURATIONS NN 105 4 HARD 3CONFIGURATIONG ST RE a hh ER ta 106 107 SETSPEC SE SS PH 107 PAUSE SET SPEG a RR A AER 108 PAUSECLURSREG A SSN CE RG 109 RAUSE A TO DSS SSIS NS 110 6 3 HARD CONFIGURATION 110 1 HARD CONFIGURATION SET DATA READ 110 PAGE 7 a36aad Saas 111 SPEC ES EN 111 RARDANITISLZES SR BRTRESSSSSSRRENSRGSRNRSERR 113 900 RAI 6 GE BE88S28EGSeSSsBBREEBSEEB6SEEeEGE ass 114 SPEC NEC ER RR 114 9 RATE DATA SET BEEN 115 SRATE DA SBT RN SS 115 3 10 RE SS SS SS 116 ESBD SE RN EE 116 OL DOWN POINT SET RD RE CS NN CE EE EE 117 SSRD SEE TR RS ITI GI 117 A SRATEDOWN POINTSET 3 SE NRNMUNUNNUSNUNUNONUNOO NLIA 118 7 4
70. 2 S 2 ABS CIRCULAR CP CW ABS CIRCULAR CP CCW ABS SRATE CIRCULAR CP S CW 0123 ABS SRATE CIRCULAR CP S CCW 0124 ABS CIRCULAR CONST CP CW ABS CIRCULAR CONST CP CCW ABS SRATE CIRCULAR CONST CP S CW ABS SRATE CIRCULAR CONST CP S CCW S 0133 ABS SRATE CIRCULAR2 CONST CP S 0138
71. 1 0 1 SS1 1 1 0 1 1 1 SS0 SS1 SPEC INITIALIZE2 SENSOR SSO SS1 D15 SPEED CLR ENABLE 0 1 4 13 1 ADDRESS LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT ADDRESS LATCH DATA PORT SELECT COMMAND 2 PULSE LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04D PULSE LATCH DATA PORT SELECT COMMAND 3 DFL LATCH DAT
72. A lt gt COMMAND HF001 DATA3 PORT WRITE COMMAND PORT WRITE DRIVE DATA3 PORT HARD INITIALIZE1 COMMAND DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND D11 D10 D9 D8 SIGNAL SIGNAL SIGNAL SIGNAL OUTB OUTB OUTB OUTB TYPE3 TYPE2 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 Do ONE EN SI NE og Se 300 eu TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 D3 D0 OUTO0 TYPE3 0 ADRINT D7 D4 SIGNAL OUTA TYPE3 0 CNTINT D11 D8 SIGNAL OUTB TYPE3 0 DFLINT D15 D12 OUT3 TYPE3 0 RDYINT OUT0 SIGNAL OUTA SIGNAL OUTB OUT3 SPDINT 0 0 1 1 OUT3
73. INTA INT3 R1 lt gt RDYINT STBY RDYINT 1 STATUS1 PORT STBY 1 COMREG EP STATUS5 PORT COMREG EP 1 nCOMREG FL STATUS5 PORT COMREG FL 0 A INT FACTOR CLR MAN DALM SS0 SS1 STATUS1 PORT MAN 1 STATUS2 PORT DALM 1 STATUS5 PORT SS0 1 STATUS5 PORT SS1 1 INT FACTOR CLR ADRINT CNTINT DFLINT SPDINT ADRINT 1 CNTINT 1
74. TYPE1 TYPEO 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 D4 SSO TYPE0 D5 SS0 TYPE1 SS0 TYPE1 TYPE0 SS0 0 0 CHANGE UP DOWN CONST DRIVE 0 1 1 0 1 1 MCC06 SS0 SENSOR SENSOR
75. lt gt COMMAND H0023 SCAN COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 22 5 INDEX CW CCW lt gt COMMAND H 0024 INC INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF a CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y PG DRIVE COMMAND PORT COMMAND
76. H8000_0000 STATUS4 PORT DFL OVF 1 2 DFL COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0021 DFL COUNTER COMPARE REGISTER1 SET COMMAND 3 DFL COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 coMMANp H 0022 DFL COUNTER COMPARE REGISTER2 SET COMMAND 4 DFL COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0023 DFL COUNTER COMPARE REGISTER3 SET COMMAND 98 lt gt HK DATA2 PORT i COUNTER DATA2 PORT D31 D16 2 COUNTER DATA3 PORT D15 D0 COMMAND PORT WRITE COUNTER DATA2 PORT COUNTER COMMAND PORT COMMAND
77. SR RS Ea 41 1 2 41 2 SRATE nik Rss 41 CONST2 CTA 41 4 SRATE CONST 2 41 3 13 2 43 1 CENTER POSITION SET 3 ER edd EE Tags ats ti ds 44 2 PASS POSITION SET 3 TR oe Toe nad 45 CW er 46 7 CCW 3Rheihiehe28Peehe19Kieipedieesastekenenetieeesieee 46 5 SRATE CW 46 6 SRATE CCW 46 CONST CW 46 8 CONST CCW 46 9 SRATE CONST CW 46 10 SRATE CONST CCW
78. S SRATE SCAN SRATE INDEX S S SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S SCAREA2 SURATE S SCAREA3 SDRATE S SCAREA4 SDRATE S ENDPULSE S END PULSE SEND PULSE END PULSE SESPD END PULSE SESPD DELAYTIME END PULSE
79. D10 11 NORG DETECT TYPE0 1 0 NORG D12 13 ORG DETECT TYPE0 1 0 ORG ORG D15 D14 0 0O ORG NORG PR ORIGIN SPEC SET RR RN ETECT NoRe Po DEND PO DEND NORG NORG ORG DETECT PO Z ORG TYPE ORG ORG ORG Z OR ORG gt Z Z ORG PO ORIGIN SPEC SET COMMAND OR AND 34 2 ORIGIN CSPD SET CONSTANT SCAN
80. 200 65 535 H 00C8 HFFFF 1 PORT 0 Y COMMAND PORT WRITE STATU SS STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D15 URATE DATA gt DO H 186A H 0753 lt JP1 gt DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO DO DRATEDATA gt H 186A H 0753 lt JP1 gt 200 200 3 SRATE DATA SET SPEC INITIALIZE1 RATE TYPE S SURATE DATA SDRATE DATA COMMAND H 003E lt gt SRATE DATA SET COMMAND DATA2 PORT DRIVE DATA2 PORT SURATE RATE DATA WRITE a BE DRIVE DATA3 PORT SDRATE RA
81. DRST 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 JOG DELAY TIME JOG DELAY TIME x5ms 0 1 275 ms JOG 1 JOG DELAY TIME JOG JOG DELAY TIME JOG JOG DELAY TIME
82. lt gt INT FACTOR MASK COMMAND DATA3 PORT WRITE COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D8 INT3 INT3 GPIO1 GPIO0 INT2 INT2 INT2 INT2 1 1 SPDINT DFLINT CNTINT ADRINT ME FSEND ERROR MASK MASK MASK MASK MASK MASK D7 D6 D5 D4 D3 D2 D1 DO INT1 INT1 INT1 INT1 INTO INTO INTO INTO SS1 SS0 DALM MAN nCOMREG FL COMREG EP STBY RDYINT MASK MASK MASK MASK MASK MASK MASK MASK HFFFF D11 DO0 INTA 12 0 1 D13 D12 0 1 INT3 0 INTA INT3 INT2 0
83. 2 FAST STOP STATUS1 PORT STBY 1 DRIVE 1 gt COMMAND H FOOF FAST STOP COMMAND COMMAND PORT DRIVE COMMAND PORT COMMAND STATUS1 PORT EXT PULSE 1 3 17 1 NO OPERATION STATUS STATUS1 PORT DRVEND STATUS1 PORT ERROR STATUS5 PORT CPP MASK lt gt COMMAND H0000 NO OPERATION COMMAND N STATUS1 PORT Sr 4 STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 59 4 4 1 PCI INTA PCI INTA INT2 0
84. CPPIN CPPOUT CPPIN CPPIN CPP STOP CPPIN CPP STOP STATUS1 PORT ERROR 1 137 CPPIN CPP STOP ENABLE 1 CPPIN CPPOUT CPPIN
85. X DATA1 PORT X DRIVE DATA2 PORT X WRITE X X DATA2 PORT X DRIVE DATA3 PORT X WRITE X DATA3 PORT 8 388 607 8 388 607 H 80_0001 H7F_FFFF WRITE CW CCW 2 4 STATUS1 PORT STATUS1 PORT BUSY 0 BUSY 0 COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 Y gt A8 Y DRIVE DATA2 PORT D7 D6 D5 Y gt AO A23 lt Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 Y gt AO
86. 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 po coMPs coups OM ON SOMES GOMES ON ROME TyPE1 TvPEo 5 20 DXBE0SISA MM ENABLE ENABLE ENABLE ENABLE D0 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 TYPE1 TYPEO COMP2 0 0 COMPARE REGISTER2 0 1 gt COMPARE REGISTER2 1 0 COMPARE REGISTER2 1 1 D4 COMP3 INT ENABLE COMP3 CNTINT 0 COMP3 CNTINT 1 COMP3 CNTINT D5 COMP3 STOP ENABLE COMP3
87. 2 DATA READ PORT SELECT DRIVE DATA1 2 3 PORT READ PORT DATA READ PORT SELECT COMMAND PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT ERROR STATUS READ SET DATA READ 69 3 ERROR STATUS READ R2 STATUS1 PORT ERROR 1 gt COMMAND H0088 ERROR STATUS READ COMMAND i N STATUS1 PORT BUSY STATUS1 PORT BUSY 0 0 Y COMMAND PORT N STATUS1 PORT BUSY DRIVE COMMAND PORT COMMAND H 0088 WRITE STATUS1 PORT BUSY 0 0 Y lt DATA READ PORT SELECT
88. 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 INDEX ORG 10 SCAN ORIGIN STATUS2 PORT ORIGIN FLG ORIGIN FLG 0
89. TYPE1 TYPE0 0 0 EA EB 1 0 1 EA EB 2 1 0 D4 DFLINT TYPE0 D5 DFLINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT DFLINT COMP1 2 3 COMP1 2 3 0 0 0 1 STATUS4 PORT 1 0 1 1 DO CIR DFLINT PULSE TYPE D6 DFLINT PULSE TYPE0 D7 DFLINT PULSE TYPE1 COMP1 2 3
90. 1 3 GPIO7 CS 00 DALM DALM MCC06 DALM SERVO SPEC SET DALM 1 DALM STATUS3 PORT GPIO7 D7 D3 0 68 4 6 1 MCC SPEED PORT SELECT DRIVE DATA1 2 3 PORT READ MCC06 PORT lt gt COMMAND H F040 MCC SPEED PORT SELECT COMMAND COMMAND PORT VRE DRIVE COMMAND PORT COMMAND DATA2 PORT NS ES DRIVE DATA2 PORT D23 D16 DATA3 PORT Se 8 a DRIVE DATA3 POR
91. D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D31 lt gt D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO gt H 8000 0000 DFL COUNTER INITIALIZE1 COMP DETECT TYPE COMP DETECT TYPE 0 0 2 147 483 647 H 0000_0000 H7FFF_FFFF COMP DETECT TYPE 1 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 H 8000_0000 5 DFL COUNTER MAX COUNT SET lt gt COMMAND H 002A DFL COUNTER MAX COUNT SET COMMAND DATA2 PORT BE COUNTER DATA2 PORT D31 D16 BOD COUNTER DATA3 PORT D15 D0
92. DRST 10ms ON DRST SIGNAL OUT 67 4 5 R2 1 HENSA INITIALIZE1 HENSA PORT 2 COMMAND H 01 HENSA INTIALIZE1 COMMAND lt gt DATA2 PORT HENSA DATA2 PORT WRITE LL NAN lt N HENSA STATUS1 HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y COMMAND PORT WRITE HENSA COMMAND PORT COMMAND HENSA DATA2 PORT 0 0 0 0 0 TYPE TYPE TYPE D2 D0 MOTOR TYPE SEL2 0 MOTOR TYPE 1 6
93. JOG lt gt COMMAND H0065 ORIGIN JOG ERROR PULSE SET COMMAND AD DRIVE DATA2 PORT D31 D16 WRITE DATA3 PORT DRIVE DATA3 PORT D15 D0 WRITE 1 2 147 483 647 H 0000_0001 H7FFF_FFFF S N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO D16 D31 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D15 lt gt DO H7FFF FFFF 0 1 38 7 ORIGIN PRESET PULSE SET
94. 26 PAGE 3 8 S END PULSE 27 0 SENBDIBMESESED Ro 27 2 SESPD SE NR NN RA 27 90 SESPD DELAY2S KG RN 28 93 lt 29 0 SRATE SCAN 29 2 SRAWEISGAN 3 RR 29 3 1k SRATE INEDX 29 4 SRATE INEDX 30 3 10 ORIGIN 31 ORIGIN SPEGIS SRD 32 2 ORIGIN CSPD SET SRR SR 35 NORIGIN DELAY SET RR RS 35 ORIGIN OFFSET PUESE SET OR RAIN 37 5 ORIGIN CSCAN ERROR PULSE SET ZN AHA TARE RGAE 38 6 ORIGIN JOG ERROR PULSE SET 38 70RIGIN PRESET RULSE SET ST GE REG SS GEE ES se 39 3 11 ORIGIN 40 CORIGNAE SA TE REE HN OR 40 rERATEGAGN FAD SN SNP NFS SENSERSSEEeSEREHSRPEReees 40 PRESEHGRGIN ES TRE 40 4 SRATE RRESETIORIGINPE CR RR 40 3
95. PAUSE ON 2 D10 D8 D10 D8 SIGNAL OUT SEL2 0 PAUSE ON SIGNAL OUTA SIGNAL OUTB SEL2 SEL1 SELO PAUSE ON SIGNAL OUTA SIGNAL OUTB 0 0 0 X SIGNAL OUTA SIGNAL OUTA CNTINT 0 0 1 X SIGNAL OUTB SIGNAL OUTB DFLINT 0 1 0 Y SIGNAL OUTA 0 1 1 Y SIGNAL OUTB Z SIGNAL OUTA Z SIGNAL OUTB A SIGNAL OUTA A SIGNAL OUTB 108 3 PAUSE CLR SPEC HARD CONFIGURATION4 PAUSE PAUSE OFF HARD CONFIGURATION PORT PAUSE OFF lt gt COMMAND H 0011 PAUSE CLR SPEC COMMAND SH HARD CONFIG DATA1 PORT Ri HARD CONFIG DATA2 PORT COMMAND PORT WRITE HARD CONFIG COMMAND PORT
96. 1 s 65 535ms H0001 HFFFF 1 s 105 4 HARD CONFIGURATION4 J2 SIGNAL IN3 0 J1 SENSOR0 SENSOR1 MCC06 COMMAND H 004 HARD CONFIGURATION4 COMMAND lt gt DATA1 PORT HARD CONFIG DATA1 PORT WRITE DATA2 PORT HARD CONFIG DATA2 PORT WRITE COMMAND PORT WRITE HARD CONFIG COMMAND PORT COMMAND HARD CONFIG DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO SIGNAL IN SIGNAL IN SIGNAL IN 0 0 0 0 0 SE SE HARD CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 ASS1 ASS0 ASLSTOP APAUSE ZSS1 ZSS0 ZSLSTOP ZPAUSE D7 D6 D5 D4 D3 D1 DO YSS1 YSS0 YSLSTO
97. X DRIVE DATA1 PORT X DRIVE DATA2 PORT X X DRIVE DATA3 PORT X 8 388 607 8 388 607 H 80_0001 H7F_FFFF CW CCW 2 Y Y X X Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X DRIVE COMMAND PORT COMMAND A23 lt Y D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A8 Y DRIVE DATA2 PORT D13 D12 D11 D10 D9 Y gt Y DRIVE DATA3 PORT D8 D7 D D5 D4 D3 D2 D1 Do a23
98. X DRIVE DATA3 PORT 1 X 8 388 607 8 388 607 H 80_0001 H 7F_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X DRIVE COMMAND PORT COMMAND Y DRIVE DATA1 PORT A23 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO 1 Y A8 Y DRIVE DATA2 POR D13 D12 D11 D10 D9 lt 1 Y gt T Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 D1 Do ss 2 Y gt A16 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 X DRIVE DATA1 POR T 2 Y AO D14 D11 D10 pg D8 D7 pe Ds D15 A2
99. END PULSE END PULSE END PULSE INDEX END PULSE END PULSE 0 END PULSE 2 ESPD SET END PULSE lt gt COMMAND H0019 ESPD SET COMMAND 00 0 DRIVE DATA2 PORT D15 D8 0 D7 DO D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0 WRITE 1 5 000 000 HI0000_ 0001 H004C_4B40 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND
100. DFLINT 1 SPDINT 1 GPIO0 ERROR STATUS3 PORT GPIOO ERROR 1 GPIO1 FSEND STATUS3 PORT GPIO1 FSEND 1 INT FACTOR CLR INT FACTOR CLR INT3 0 STATUS3 PORT ON OFF ON INT3 A INTA INT gt INTA OR gt INT2 0 gt INT3 FSSTOP eis INT FACTOR lt MASK INT FACTOR lt gt
101. 67 15 CONST 57 16 SRATE CONST 57 6 2n 280 RTR anSRS se 59 SOW STOR ST RE OE usea keikdeayt 59 FAST STOR SE MF RE A A 59 OO RR NR 59 1 NOORPERATION SD ZR 59 4 1 PCI INTA 60 1 INT FACTOR GER YR RA A 61 INT RA CTORMASK TR SC RS RS EASING ST 62 2 hn 63 0 COUNTER GOMP MASK RE SS 63 43 64 13 HARD INITIALIZE Ta A ARREARS 64 OSIGNAL OUT TT 03 65 4 P A SARSSSSDSNEDESESSSDDDRS 66 1 SERVO SPEC SET 66 DEND TMESEE SR REE 67 1 1 67 5 68 0 MENSAINIMAEI 2 SN 68 ot a 0 To POOR 0 69 MCE SREED PORT SR ER RR 69 2 DATA REAB EORT2SELECT RSTRNT 69 SERRORSTATUS READ RS CCEA N
102. DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 SESPD DELAY TIME 0 END PULSE END PULSE DRIVE 1 28 3 9 S 1 SRATE SCAN CW lt gt COMMAND H0042 SRATE SCAN COMMAND N STATUS1 PORT _ BUSY 0 STATUS1 PORT BUSY 0 Y RR DRIVE COMMAND PORT COMMAND 2 SRATE SCAN
103. 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs HARD CONFIGURATION PORT D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 CNTINT COMP1 2 3 COMP1 OR COMP2 OR COMP3 COMP1 OR COMP2 AND COMP3 COMP1 AND COMP2 OR COMP3 COMP1 AND COMP2 AND COMP3 OR AND 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
104. 0000 012C 300 Hz H 0000 0320 800 Hz lt JP1 gt ELSPD 1Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 116 2 DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1 lt gt COMMAND HO001F DOWN POINT SET COMMAND N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DOWN POINT SET DOWN POINT SET DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3
105. 1 1 1 1 SIGNAL OUT3 SIGNAL OUT0 HARD CONFIGURATION OUTO SIGNAL OUT INT TYPE SIGNAL OUT 64 2 SIGNAL OUT SIGNAL OUT SIGNAL OUTA
106. 2 HARD CONFIG DATA1 2 3 PORT CONFIG DATA1 PORT DATA2 PORT DATA3 PORT CONFIG COMMAND PORT PORT PORT 3 SIGNAL STATUS PORT J2 SIGNAL OUT3 0 SIGNAL IN3 0 O PORT PORT D15 D14 D13 D9 D8 SIGNAL SIGNAL SIGNAL SIGNAL 1 AINO ZINO YINO XINO IN1 INo D7 D6 A A SGNE SIGNAL AO0mO 200m0 WOUWO KO000 5 1 8 2 4 HARD CONFIG DATA1 2 3 PORT CONFIG DATA1 PORT DATA2 PORT DATA3 PORT CONFIGURATUIN COMMAND PORT PORT 11 3 DRIVE R2 3 1 C V870
107. ADDRESS COUNTER PRESET PULSE COUNTER PRESET DFL COUNTER PRESET LSPD HSPD HMI ORG SPEC SET ORIGIN DRIVE ORG CSPD SET ORIGIN ORG DELAY SET DELAY TIME MARGIN ORG OFFSET PULSE SET CSCAN ERROR PULSE SET CONSTANT SCAN JOG ERROR PULSE SET JOG ORIGIN ORIGIN
108. Y a DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 D1 Do DEND TIME D15 H FFFF 0 DEND TIME 5 ms 3 DRST OUT SERVO SPEC SET DRST TYPE 00 DRST 10 ms ON lt gt COMMAND HF00D DRST OUT COMMAND COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRST 10 ms ON DRST 10 ms DRST ON 10 ms ON DRST FSSTOP LIMIT
109. lt gt COMMAND HF03E PLS INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 MAN DRIVE DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT Ss _ WOW lt a STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 INDEX CHANGE gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO D15 INDEX CHANGE
110. we HARDCONFIG COMMAND PORT COMMAND HARD CONFIG DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 SIGNAL SIGNAL 0 0 0 0 0 0 OUT OUT SEL 1 SELO0 HARD CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 DO H0001 1 xs HARD CONFIG DATA1 PORT DO SIGNAL OUT SEL0O0 D1 SIGNAL OUT SEL1 SIGNAL OUT SEL1 SELO SIGNAL OUT 0 0 SIGNAL OUT0 0 1 SIGNAL OUT1 1 0 SIGNAL OUT2 1 1 SIGNAL OUT3 D15 D2 0 0 HARD CONFIG DATA2 PORT
111. CW SENSOR SCAN1 COMMAND HO0090 SENSOR SCAN1 COMMAND 2 SENSOR SCAN1 CCW SENSOR SCAN1 COMMAND H 0091 SENSOR SCAN1 COMMAND 3 SRATE SENSOR SCAN1 S CW SENSOR SCAN1 COMMAND H0098 SRATE SENSOR SCAN1 COMMAND 4 SRATE SENSOR SCAN1 S CCW SENSOR SCAN1 COMMAND H0099 SRATE SENSOR SCAN1 COMMAND lt SENSOR SCAN1 gt i STATUS1 PORT BUSY 0 Y COMMAND POR WRITE DRIVE COMMAND PORT COMMAND 121 SENSOR INDEX1 INDEX
112. CW SOFT LIMIT COMMAND H0008 CW SOFT LIMIT SET COMMAND H7FFF FFFF 2 CCW SOFT LIMIT SET SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 CCW SOFT LIMIT COMMAND H 0009 CCW SOFT LIMIT SET COMMAND H8000 0001 lt gt DATA2 PORT DRIVE DATA2 PORT SOFT LIMIT A31 A16 WRITE SN DATA3 PORT a PORT SOFT LIMIT A15 A0 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF SI 2 8 2 BUSY 0 STATUS1 PORT BUSY 0 Y PE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO SOFT LIMIT DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 Dr D D5 D4 D3 D2 D1 Do SOFT LIMIT
113. D15 DO0 0 1 STATUS4 PORT COUNTER COMP MASK 63 4 3 1 HARD INITIALIZE1 J1 OUT0 OUTO J2 SIGNAL OUT3 0 SIGNAL OUTA SIGNAL OUTB R1 OUT3 SPDINT
114. H xx21 2 759 250 124 H xx22 H xx30 H xx31 END PULSE H xx32 END PULSE HFFFF_FFFF END PULSE H xx33 END PULSE H xx50 ORIGIN H xx51 ORIGIN ERROR H xx52 CPP STOP H xx53 INDEX CHANGE H xx5
115. NN STATUS1 PORT BUSY 0 X X DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE Y DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 Y A8 Y DRIVE DATA2 PORT D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D21D1 DO A7 lt Y AO A23 Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 TTP A15 lt Y A0 X DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A23 lt X A8 X DRIVE DATA2 PORT Ra D14 D13 D12 D11 D10 pg pe pz pe ps D4 ps D2 pt DO A7 X AO IIA23 lt X gt A16 X DRIVE DATA3 PORT D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO
116. PAUSE OFF 1 HARD CONFIGURATION4 PAUSE PAUSE OFF 2 SIGNALOUTA B PAUSE OFF 2 D10 D8 D10 D8 SIGNAL OUT SEL2 0 PAUSE OFF SIGNAL OUTA SIGNAL OUTB SEL2 SEL1 SELO PAUSE ON SIGNAL OUTA SIGNAL OUTB 0 0 0 X SIGNAL OUTA SIGNAL OUTA CNTINT 0 0 1 X SIGNAL OUTB SIGNAL OUTB DFLINT 0 1 0 Y SIGNAL OUTA 0 1 1 Y SIGNAL OUTB Z SIGNAL OUTA Z SIGNAL OUTB A SIGNAL OUTA A SIGNAL OUTB 109 4 PAUSE R3 PAUSE ON PAUSE OFF lt gt COMMAND H 0012 PAUSE COMMAND DATA2 PORT HARD CONFIG DATA2 PORT COMMAND PORT WRITE HARD CONFIG DATA2 PORT HARD CONFIG COMMAND PORT COMMAND D15 D14 D13 D12 D11 D10 D9 D8 0
117. TYPE1 TYPE0 0 0 EA EB 1 0 1 EA EB 2 0 EA EB 4 1 1 EA EB 76 D4 CNTINT TYPE0 D5 CNTINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT CNTINT COMP1 2 3 TYPE1 TYPE0 COMP1 2 3 INT FACTOR CLR 1 1 NT2 CNTmiNT 1 CNTINT PULSE TYPE D6 CNTINT PULSE TYPE0 D7 CNTINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPEO
118. 1 0 1 1 D11 D10 0 0 D13 D12 SIGNAL OUT3 TYPE1 0 SIGNAL OUT3 TYPE1 TYPE0 SIGNAL OUT3 0 0 0 1 1 0 1 1 D15 D14 0 0 104 3 HARD CONFIGURATION3 SIGNAL OUT3 0 lt gt COMMAND H0003 HARD CONFIGURATION3 COMMAND DATA1 PORT 1 HARD CONFIG DATA1 PORT SIGNAL OUT DATA2 PORT 40 HARD CONFIG DATA2 PORT
119. 1 HENSA COMMAND PORT PORT PORT H RDY 1 HENSA INITIALIZE H RDY ECLR 2 HENSA DATA1 2 PORT PORT 3 HENSA STATUS1 PORT PORT D7 D6 D5 D4 D3 PD2 DT DO 0 0 0 0 0 0 0 I 4 HENSA DATA1 2 PORT HENSA DATA PORT 2 3 HARD CONFIGURATION PORT 1 HARD CONFIG COMMAND PORT PORT CONFIGURATION COMMAND C V870 PORT
120. 1 2 DATA ES DATA ERROR 7 2 7 2 DATA 2 10 0A 146 4 HENSA INITIALIZE5 1 lt gt HENSA INITIALIZE5 COMMAND HENSA DATA1 HENSA DATA2 PORT PORT WRITE HENSA DATA2 HENSA DATA2 PORT PORT WRITE NAN N HENSA STATUS1 HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y HENSACOMMAND HENSA COMMAND PORT COMMAND PORT WRITE HENSA DATA1 PORT D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 D12 1 DATA D8 HENSA DATA2 PORT D7 D6 D5 D4 D3 D2 D1 DO D7 lt 1 DATA gt DO 2 5 1rps H C7 5 HENSA INITIALIZE6 2
121. DATA2 PORT DRIVE DATA2 PORT COMMAND CODE DATA2 PORT READ DATA3 PORT DRIVE DATA3 PORT COMMAND CODE DATA3 PORT READ DATA PORT 0 COMMAND CODE COMMAND DRIVE COMMAND COMMAND DRIVE COMMAND CODE CODE H 0001 SPEC INITIALIZE1 H 0060 ORIGIN SPEC SET H 0002 SPEC INITIALIZE2 H 0061 ORIGIN CSPD SET SPEC INITIALIZE3 ORIGIN DELAY SET DRIVE DELAY SET ORIGIN OFFSET PULSE SET CW SOFT LIMIT SET ORIGIN CSCAN ERROR PULSE SET CCW SOFT LIMIT SET H 0010 LSPD SET H 0011 HSPD SET ELSPD SET H 0068 H 0080 ORIGIN JOG ERROR PULSE SET ORIGIN PRESET PULSE SET STBY SPEC SET SERVO SPEC SET RATE SET DEND TIME SET END PULSE SET CHANGE POINT SET ESPD SET H 001A ESPD DELAY SET RATE DATA SET H 010F CANGE DATA SET CP SPEC SET X SLSPD SET SHSPD SET SELSPD SET H 0033 SRATE SET H 0034 SCAREA12 SET SCAREA34 SET SEND PULSE SET
122. RDYINT TYPE3 TYPE2 TYPE1 TYPE0 OUT0 3 SIGNAL OUT 0 0 0 0 ADRINT ADRINT RDYINT 0 0 0 1 CNTINT CNTINT 0 0 1 0 DFLINT DFLINT 0 0 1 1 _ SPDINT SPDINT 0 1 0 0 RDYINT RDYINT 0 1 0 1 STBY STATUS1 STBY 0 1 1 0 DRIVE STATUS1 DRIVE 0 1 1 1 ERROR STATUS1 ERROR 1 0 0 0 UP STATUS1 UP 1 0 0 1 DOWN STATUS1 DOWN 1 0 1 0 CONST STATUS1 CONST el 0 1 EXTPULSE STATUS1 EXT PULSE 1 1 0 0 MAN STATUS1 MAN 1 1 0 1 DALM STATUS2 DALM 1 1 1 0
123. 15 D6 SS1 TYPE0 D7 SS1 TYPE1 SS1 TYPE1 TYPE0 SS1 0 0 CHANGE UP DOWN CONST DRIVE MCC06 es KS SS1 SENSOR SENSOR SS1 SENSOR SS1 TYPE SS0 SS1 MCC06 UP DOWN CONST CHANGE SPEED CHANGE INDEX CHANGE SS0 SS1 UP DOWN CONST DRIVE SS0 SS1 UP DOWN CONST CHANGE SS1 SSO CHANGE 0 0 11
124. 84 D4 SPDINT TYPE0 D5 SPDINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT SPDINT COMP1 2 3 TYPE1 TYPE0 COMP1 2 3 a 0 1 STATUS4 PORT 1 0 1 1 INT2 SPDINT 1 SPDINT PULSE TYPE D6 SPDINT PULSE TYPE0 D7 SPDINT PULSE TYPE1 COMP1 2 3 TYPE1 TYPE0 0 0 200 ns 0 1 10 us 1 0 100 us 1 1 1 000 hs
125. CPPOUT CPPOUT 136 1 RATE CP SPEC SET DRIVE TYPE X Y 1 RATE DATA 100 65 535 2 RATE DATA 200 65 535 D3 0 0O D4 CIRCULAR CP MODE 2
126. DELAY TIME Ns 1 SLSPD SET S lt gt COMMAND H0030 SLSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 D7 DO0 D23 D16 WRITE DATA3 PORT DRIVE DATA3 PORT D15 D0 WRITE 1 5 000 000 HI0000_0001 H004C_4B40 Ln A RR STATUS1 PORT BUSY 0 BUSY 0 Y 1 32 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po 0 0 0 0 0 0 0 0 D23 SLSPD gt D16 DRIVE DATA3 PORT DO DS SLSPD H 0000_012C 300 Hz H 0000_0320 800 Hz lt JP1 gt
127. 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 TYPE ORG ORG 4 5 ORIGIN SPEC SET NORG DETECT TYPE NORG ORG 11 12 CCWLM CWLM ORG 10 INDEX 37 5 ORIGIN CSCAN ERROR PULSE SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN
128. 0 COMP3 DFLINT 1 COMP3 DFLINT D5 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 PPETLTPE9 COMP3 HHH COMPARE REGISTER3 COMPARE REGISTER3 COMPARE REGISTER3 D15 D8 0 0 2 3 DFL COUNTER INITIALIZE3 lt gt COMMAND H F01A DFL COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT COUNT DIVISION 0 0 0 PULSE 0 0 0 NP SEL2 D7 D6 D5 D4 D3 D2 D1 DO DIVISION DIVISION DIVISION DIVISION DIVISION
129. C V870 HARD INITIALIZE1 OUT3 OUT3 RDYINT MCC06 C V870 11 1 HENSA HENSA INITIALIZE1 HENSA HENSA INITIALIZE1 MCC06 SERVO SPEC DNED DRST DALM HENSA HENSA INITIALIZE1 MCC06 SE
130. DRIVE DATA3 PORT STATUS1 PORT BUSY 0 D15 D14 D13 D12 D11 D10 pg ps p7 D6 D5 D4 ps D2 p1 L po D7 URATE No gt DO D7 DRATE No DO URATE No H 18 100 ms kHz H 25 30 ms kHz lt JP1 gt DRATE No H 18 100 ms kHz H 25 30 ms kHz lt JP1 gt URATE DRATE 1 000 ms kHz 0 016 ms kHz SPEC INITIALIZE1 RATE TYPE RATE RATE DATA TABLE No URATE DRATE RATE No RATE TYPE RATE RATE 19 3 5 END PULSE END PULSE END PULSE
131. Hz D 1 D x 100 F 20 000 000 Hz 50 ns 50 ns T Dx 1 T 3 D S 1F 50 ns F 20 000 000 Hz 100 R2 4 SPEED OVF COUNT SET lt gt COMMAND H 003A SPEED OVF COUNT SET COMMAND CS COUNTER DATA2 PORT OVF D31 D16 gt 3 oN 6 SD COUNTER DATA3 PORT OVF D15 D0 WRITE 4 4 294 967 295 H 0000_0004 HFFFF_FFFF COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4
132. ORIGIN STATUS1 PORT ERROR 1 CONSTANT SCAN ORIGIN CSCAN ERROR PULSE SET JOG ORIGIN JOG ERROR PULSE SET ORIGIN CSCAN ERROR PULSE ORIGIN JOG ERROR PULSE 2 147 483 647 ci 33 D6 AUTO DRST ENABLE SERVO SPEC SET DRST lt gt DRST 0 DRST 1 DRST 10 ms DRST 1 DEND lt gt CONSTANT SCAN JOG DEND D7 LIMIT END ENABLE LIMIT CWLM CCWLM ORIGIN
133. R2 1 SPEED COUNTER INITIALIZE1 SPDINT TYPE1 0 SPDINT A COMMAND HF01C lt gt SPEED COUNTER INITIALIZE1 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT RM DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 RELOAD AUTO COMP1 COMP1 COMP COMP COMP ENABLE CLEAR STOP INT 1 STOP GATE GATE ENABLE ENABLE ENABLE TYPE TYPE1 TYPE0 7 DR SPDINT SPDINT COUNT COUNT SN 0 Ce WS TYPE1 TYPE0 TYPE1 TYPE0 0 ES TYPE1 TYPE0 SEL 1 SELO DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 D2 D3 X SEL1
134. 0 1 DATA3 H FFFF C V870 Do SLSTOP D8 DEND D1 FSSTOP1 D9 DALM D2 CWLM D10 SS0 D3 CCWLM D11 SS1 D4 ORG D5 NORG D6 PO Z D7 D12 D13 D14 D15 1 HARD INITIALIZE7 100 s J2 FSSTOP2 MAN CWMS CCWMS 119 7 5 SOFT LIMIT 1 CW SOFT LIMIT SET SPEC INITIALIZE3 SOFT LIMIT ENABLE 1
135. STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D12 D11 D9 D8 COMREG cowneo MopE FNABLE D7 D6 D5 D4 D3 D2 D1 DO SRATE SRATE SRATE END PULSE SOFT LIMIT END LSPD END PULSE 0 STOP INDEX DRIVE STOP ENABLE ENABLE TYPE MODE MODE TYPE MODE DO D1 D2 D3 D4 END PULSE TYPE END PULSE _0 1 CW CCW 0 0 INDEX END PULSE 1 0 INDEX END PULSE 0 INDEX END PULSE END PULSE
136. H 0000 0000 X DRIVE DATA2 PORT A31 lt X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 D Ds D4 D3 D2 D1 DO A15 X AO H0000 0000 X Y 45 X Y
137. WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF COMMAND PORT WRITE 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D11 D8 A31 D13 D12 D10 D9 D7 De D5 D4 ps D2 D1 L po gt A16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO H 8000 0000 H 8000_0000 5 ADDRESS COUNTER MAX COUNT SET lt gt COMMAND H 000A ADDRESS COUNTER MAX COUNT SET COMMAND DATA2 PORT IN COUNTER DATA2 PORT A31 A16 sk ES COUNTER DATA3 PORT A15 A0 WRITE GE 1 1 1 4 294 967 295 HI0000_ 0001 HFFFF_FFFF NO STATUS1 PORT BUSY 0
138. amp C V870 MNO0025 4 PCI 4 C V870 C V870 A
139. DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO 6 INDEX CW CCW COMMAND H0025 ABS INDEX COMMAND lt gt DATA2 PORT DRIVE DATA2 PORT A31 A16 WRITE DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001
140. OUTO0 TYPE 1 149 8 C V870 MCC06 STATUS1 PORT BUSY 0 HENSA STATUS1 PORT H RDY 1 MCCO06 DRIVE COMMAND MCC06 COUNTER COMMAND HENSA COMMAND MCC06 DRIVE COMMAND MCC06 COUNTER COMMAND HENSA COMMAND HARD CONFIGURATION COMMAND 8 1 MCC06 1 MCC06 DRIVE PULSE COMMAND NAME 0 0000 NO OPERATION 0001 SPEC INITIALIZE1 RATE 0002 SPEC INITIALIZE2 LIMIT SS0 SS1 RDYINT 0009 CCW SOFT LIMIT SET CCW 0011 HSPD SET 0018 END PULSE S
141. Y DATA3 PORT AI X DRIVE DATA2 PORT X X DATA2 PORT WRITE X DRIVE DATA3 PORT X Ao 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 Y STATUS1 PORT BUSY 0 Y X STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT RE X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 lt Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A15 Y gt AO X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A31 lt X gt A1
142. CENTER POSITION X X X X X X PASS POSITION X X X Y HFFFF_FFFF 43 1 CENTER POSITION SET X
143. D16 DRIVE DATA3 PORT D31 D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 L po D15 lt gt DO SENSOR INDEX1 2 CW CCW SENSOR INDEX3 SS0O SS0 CW CCW 0 123 7 7 UP DOWN CONST
144. PAUSE ON PUASE 1 STBY 1 PAUSE OFF PUASE 0 STBY 0 PAUSE HARD CONFIGURATION4 MCC06 STBY SPEC SET MCC06 STBY STBY TYPE 000 PAUSE 0 STBY 0 1 STBY SPEC SET MCC06 STATUS1 PORT STBY 0 STBY lt gt COMMAND H0080 STBY SPEC SET COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT i CS gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO STBY STBY TYPE2 TYPE1 DO STBY TYPEO D1 STBY TYPE1 D2 STBY TYPE
145. Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO 2 Y X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 2 X A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 2 X gt 40 X Y 49 3 14 2 X S X
146. 230 3 10 ORIGIN ORIGIN SCAN ORIGIN INDEX PRESET INDEX ORIGIN ORIGIN ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT SCAN ORIGIN DELAY DELAY TIME MARGIN OFFSET PULSE OFFSET CSCAN ERROR PULSE CONSTANT SCAN JOG ERROR PULSE JOG PRESET PULSE PRESET ORIGIN PRESET
147. 0 COMP1 DFLINT 1 COMP1 DFLINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 81 2 DFL COUNTER INITIALIZE2 lt gt COMMAND HF019 DFL COUNTER INITIALIZE2 COMMAND DATA
148. CCW lt gt COMMAND H0043 SRATE SCAN COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y ee DRIVE COMMAND PORT COMMAND 3 SRATE INDEX CW CCW lt gt COMMAND H0044 INC SRATE INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 DO DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND
149. X Y 1 CW CW COMMAND H0160 INC CIRCULAR CP COMMAND 2 CCW CCW COMMAND H 0161 INC CIRCULAR CP COMMAND 3 SRATE CW S CW COMMAND H 0162 INC SRATE CIRCULAR CP COMMAND 4 SRATE CCW S CCW COMMAND H 0163 INC SRATE CIRCULAR CP COMMAND 5 CONST CW CW COMMAND H0164 INC CIRCULAR CONST CP COMMAND 6
150. 0 LIMIT ORIGIN 1 LIMIT ORIGIN LIMIT ORIGIN STATUS1 PORT LSEND 1 LIMIT END ENABLE 1 ORIGIN LIMIT END ENABLE 0 LSEND 0 SCAN D8 ORG TYPE0 D9 ORG TYPE1 ORG TYPE1 TYPEO ORG 0 0 ORG 0 1 PO Z 1 0 ORG PO Z AND PO 1 1 ORG PO Z OR ORG Z ORG Z OR ORG Z Z ORG ORG PO OR ORG PO AND
151. 11 DRIVE 895 NN NNNNNNNNSNNNISN mn neetT et 12 32 sssensionetonstonniesnioneoneionsoeeseer Aids hres 13 1 SPEC INITIALIZE1 13 2 SPEC INITIALIZE2 15 3 3 HH 17 1 DRIVE DELAY SET 17 3 4 HH 18 1 LSPD SET HH 18 2 HSPD SET 19 3 RATE SET 19 3 5 END PULSE 20 1 END PULSE SET
152. H8000_0000 STATUS4 PORT ADDRESS OVF 1 2 ADDRESS COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND HO001 ADDRESS COUNTER COMPARE REGISTER1 SET COMMAND 3 ADDRESS COUNTER COMPARE REGISTER2 SET COMPARE REISTER2 COMMAND H0002 ADDRESS COUNTER COMPARE REGISTER2 SET COMMAND 4 ADDRESS COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0003 ADDRESS COUNTER COMPARE REGISTER3 SET COMMAND 94 lt gt R2 DATA2 PORT COUNTER DATA2 PORT A31 A16 AU COUNTER DATA3 PORT A15 A0 DATA3 PORT
153. 3 3 1 DRIVE DELAY SET DELAY TIME DRIVE DELAY TIME ORIGIN lt gt COMMAND H0007 DRIVE DELAY SET COMMAND DRIVE DATA3 PORT DRIVE DELAY TIME AE 0 65 535 H 0000 HFFFF DO DRIVE DELAY TIME x20us 0 1 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y RN DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D15 DRIVE DELAY TIME gt DO H 09C4 50 ms DRIVE DELAY TIME END PULSE
154. F031 SPEED CHANGE SPEC SET SPEED CHANGE F033 INDEX CHANGE SPEC SET INDEX CHANGE DOWN DRIVE CONST DRIVE SPEED CHANGE RATE CHANGE RATE CHANGE INC INDEX CHANGE INDEX INDEX PLS INDEX CHANGE INDEX F040 MCC SPEED PORT SELECT READ PORT F041 DATA READ PORT SELECT READ PORT F048 ADDRESS COUNTER PORT SELECT READ PORT DFL COUNTER PORT SELECT READ PORT SPEED COUNTER PORT SELECT READ POR ADDRESS LATCH DATA PORT SELECT READ PORT PULSE LATCH DATA PORT SELEC
155. 0139 ABS SRATE CIRCULAR3 CP S 8 EE EE J J 1 2 EE J N 151 HEX CODE 2 0151 INC SRATE STRAIGHT CP S 2 INC CIRCULAR CP CW INC CIRCULAR CP CCW INC SRATE CIRCULAR CP S CW 0163 INC SRATE CIRCULAR CP 0164 INC CIRCULAR CONST CP INC CIRCULAR CONST CP CCW INC SRATE CIRCULAR CONST CP S CW INC SRATE CIRCULAR CONST CP INC CIRCULAR2 CP 0179 INC SRATE CIRCULAR3 CP S
156. MULTICHIP CIRCULAR CONST CP COMMAND 6 2 CONST CCW CCW MULTICHIP CIRCULAR CONST CP COMMAND 7 2 CONST SRATE CW S CW MULTICHIP SRATE CIRCULAR CONST CP COMMAND 8 2 CONST SRATE CCW S CCW MULTICHIP SRATE CIRCULAR CONST CP COMMAND 142 2 gt Y DATA1 PORT WRITE Y DRIVE DATA1 PORT Y Y DRIVE DATA2 PORT Y Y DATA2 PORT Y SU Y DRIVE DATA3 PORT Y Y DATA3 PORT IE X DRIVE DATA1 PORT X
157. SOFT LIMIT SOFT LIMIT 120 7 6 SENSOR SENSOR S SENSOR Seo SENSOR SENSOR SCAN1 SS0 SS1 1 SENSOR SCAN1
158. Y gt A16 D15 D14 D13 D12 D11 D10 D9 D8 D7 D 6 D5 D4 1D3 D21D1 Do A15 Y AO X DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 1D7 D6 D5 D4 D3 D2 D1 po A23 lt X gt A8 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps pr De ps D4 ps D2 pt DO A7 X AO A23 X A16 X DRIVE DATA3 PORT D4 D3 D2 D1 po D15 D14 D13 D12 D11 D10 De De Dr De Ds A15 lt X gt AO 0O 0 54
159. Y N X STATUS1 PORT X STATUS1 PORT BUSY 0 BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 Y gt A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 p10 pg pe p7 pe ps p4 D3 D2 D1 DO A15 Y AO X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 lt X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 p10 pg pe p7 pe ps p4 D3 D2 D1 DO A15 X AO X Y 47
160. 20 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D23 ESPD gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 ESPD gt DO H 0000_012C 300 Hz H 0000_0320 800 Hz lt JP1 gt ESPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 ESPD DELAY SET END PULSE DELAY TIME lt gt COMMAND H 001A ESPD DELAY SET COMMAND DATA3 PORT DRIVE DATA3 PORT ESPD DELAY TIME 0 65 535 H 0000 H FFFF WR NOT gt ESPD DELAY TIME x 20 us 0 1 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y ME DRIVE COMMAND PORT COMMAND
161. DATA3 PORT DATA1 2 3 PORT 89 4 SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT lt gt COMMAND H F04B SPEED COUNTER PORT SELECT COMMAND COMMAND PORT ware DRIVE COMMAND PORT COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 i DRIVE DATA3 PORT D15 D0 PORT PORT DRIVE DATA2 PORT D15 D14 D13 D12 p11 p1o D9 pslp7 pe lps p4 pslpzlp1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6
162. H 0000 0000 X Y 42 3 13 2 X S X X Y X Y X Y X Y X X
163. TYPE1 TYPE0 0 0 200 ns 0 1 10 ps 6 2 HARD CONFIGURATION PORT 000 us D8 COMP GATE TYPE0 D9 COMP GATE TYPE1 DFLINT COMP1 2 3 TYPE1 TYPE0 0 0 COMP1 OR COMP2 OR COMP3 0 1 COMP1 OR COMP2 AND COMP3 1 0 COMP1 AND COMP2 OR COMP3 1 1 COMP1 __ AND COMP2_AND _ COMP3 OR AND D10 COMP STOP TYPE COMP1 2 3 0 1 D11 COMP DETECT TYPE COMP1 2 3 0 1 D12 COMP1 INT ENABLE COMP1 DFLINT
164. WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 D4 D3 p2 p1 po A31 A16 N DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De Ds D4 D3 A15 lt gt AO HFFFF_FFFF AUTO CHANGE DRIVE SET 135 7 11 X Y X Z
165. 0 0 X Y 9 COMMAND H0170 INC CIRCULAR2 CP COMMAND 10 SRATE S COMMAND H 0171 INC SRATE CIRCULAR2 CP COMMAND 11 CONST INC CIRCULAR2 CONST CP COMMAND 12 SRATE CONST S
166. COMPARE REGISTER2 Oo O D4 COMP3 INT ENABLE COMP3 ADRINT 0 COMP3 ADRINT 1 COMP3 ADRINT D5 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 COMP3 COMPARE REGISTER3 gt COMPARE REGISTER3 COMPARE REGISTER3 D15 D8 0 0 74 3 ADDRESS COUNTER INITIALIZE3 lt gt COMMAND H F012 ADDRESS COUNTER INITIALIZE3 COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT WRITE
167. DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D16 D31 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 gt DO 2 4 SRATE INDEX CW CCW lt gt COMMAND H0045 ABS SRATE INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 WRITE DRIVE DATA3 PORT A15 A0 DATA3 PORT
168. 0 0 D5 D4 D3 D1 DO AXIS AXIS 0 0 0 0 0 0 SEL1 SELO HARD CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 SIGNAL SIGNAL SIGNAL 0 0 0 0 0 OUT SEL2 OUT SEL1 OUT SELO D7 D6 D5 D4 D3 D2 D1 DO PAUSE PAUSE 0 0 0 0 0 0 SET SET TYPE1 TYPE0 HARD CONFIG DATA1 PORT D0 AXIS SELO D1 AXIS SEL1 PAUSE ON SEL1 SELO PAUSE ON 0 0 X MCC06 PAUSE ON 0 1 Y MCC06 PAUSE ON 1 0 Z MCC06 PAUSE ON 1 1 A MCC06 PAUSE ON HARD CONFIG DATA2 PORT D1 D0 PAUSE SET TYPE1 0 PAUSE ON PAUSE ON 1 PAUSE ON 1 HARD CONFIGURATION4 PAUSE PAUSE ON 2 SIGNALOUTA B
169. 0 0 0 SPEED CHANGE 0 0 1 CNTINT 1 0 1 0 DFLINT 1 aa 1 SPDINT 1 1 0 0 SSO 1 0 1 SS1 1 1 0 1 1 1 SSO SS1 SPEC INITIALIZE2 126 2 SPEED CHANGE lt gt COMMAND HF038 SPEED CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 DRIVE DATA3 PORT D15 DO0 DATA3 PORT WRITE 1 5 000 000 H0000_0001 004C_4B40 N STATUS1 PORT i WW 3 SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT
170. 0012 PAUSE PAUSE ON OFF 0020 HARD CONFIGURATION SET DATA READ HARD CONFIGURATION 0021 GPOUT OUT0 4 QO 8 3 HENSA 1 HENSA COMMAND ON mil 02 HENSA INITIALIZE2 03 HENSA INITIALIZE3 04 HENSA INITIALIZE4 1 2 05 HENSA INITIALIZE5 1 06 HENSAINITIALIZE6 2 HENSA 2 HENSA COMMAND EO ECLR 154 R4 1
171. 1 2 3 4 5 1 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc com TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com ecHHHH
172. WRITE HARD CONFIG DATA2 PORT COMMAND CODE DATA2 PORT DATA2 PORT READ a gr o HARD CONFIG DATA2 PORT COMMAND CODE DATA3 PORT DATA3 PORT RS SEA DATA3 PORT H 0000 DATA PORT 0 HARD CONFIG COMMAND CODE COMMAND DRIVE COMMAND CODE H 0001 HARD CONFIGURATION1 H 0002 HARD CONFIGURATION2 H 0003 HARD CONFIGURATION3 1 H 0004 HARD CONFIGURATION4 1 H 0005 HARD CONFIGURATION5 H 0010 PAUSE SET SPEC H 0011 PAUSE CLR SPEC 110 PA 7 1 1 SPEC INITIALIZE3 END PULSE SOFT LIMIT S N lt gt COMMAND H0003 SPEC INITIALIZE3 COMMAND DATA3 PORT 1 DRIVE DATA3 PORT
173. X Y 2 1 2 1 2 X Y 15 COMMAND H 0138 ABS CIRCULAR3 CP COMMAND 16 SRATE S ABS SRATE CIRCULAR3 CP COMMAND 17 CONST ABS CIRCULAR3 CONST CP COMMAND 18 SRATE CONST S
174. 0 0 X SIGNAL OUTB SIGNAL OUTA CNTINT 0 1 0 Y SIGNAL OUTA SIGNAL OUTB DFLINT 0 AI JE 1 5 Y SIGNAL OUTB 1 0 0 Z SIGNAL OUTA 1 0 1 Z SIGNAL OUTB 1 1 0 A SIGNAL OUTA 1 1 1 A SIGNAL OUTB D3 0 0 102 D4 D6 SIGNAL OUT1 SEL2 0 MCC06 SIGNAL OUTA SIGNAL OUTB SIGNAL OUT1 SEL2 SEL1 SELO SIGNAL OUT1 0 0 0 X SIGNAL OUTA 0 0 X SIGNAL OUTB SIGNAL OUTA CNTINT 0 1 0 Y SIGNAL OUTA SIGNAL OUTB DFLINT 0 1 1 Y SIGNAL OUTB 1 0 0 Z SIGNAL OUTA 1 0 1 Z SIGNAL OUTB 1 1 0 A SIGNAL OUTA 1 1 1 A SIGNAL OUTB D7 0 0 D8 D10 SIGNAL OUT2 SEL2 0 MCC06 SIGNAL OUTA SIGNAL OUTB SIGNAL OUT2 0 0 0 X SIGNAL OUTA
175. 0 0 X SIGNAL OUTB SIGNAL OUTA CNTINT 0 1 0 Y SIGNAL OUTA SIGNAL OUTB DFLINT a i Y SIGNAL OUTB 1 0 0 Z SIGNAL OUTA 1 0 1 Z SIGNAL OUTB 1 1 0 A SIGNAL OUTA 1 1 1 A SIGNAL OUTB D11 0 0 D14 D12 SIGNAL OUT3 SEL2 0 MCC06 SIGNAL OUTA SIGNAL OUTB SIGNAL OUT3 0 0 0 X SIGNAL OUTB 0 0 1 X SIGNAL OUTA SIGNAL OUTA CNTINT 0 1 0 Y SIGNAL OUTA SIGNAL OUTB DFLINT 0 1 1 Y SIGNAL OUTB 1 0 0 Z SIGNAL OUTA 1 0 1 Z SIGNAL OUTB 1 1 0 A SIGNAL OUTA 1 1 1 A SIGNAL OUTB D15 0 0 HARD CONFIGURATION PORT HARDpcoNrleuRaloNt MCC06 HARD CONFIG DATA2 PORT X SIGNAL OUTA X SIGNAL OUTB Y SIGNAL OUTA Y SIGNAL OUTB Z SIGNAL OUTA Z SIGNAL OUTB A SIGNAL OUTA A SIGNAL OUTB X SIGNAL OUTA X SIGNAL OUTB Y SIGNAL OUTA Y SIGNAL OUTB Z SIGNAL OUTA Z SIGNAL OUTB HARD
176. DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 ESPD DELAY TIME gt DO H 0000 ESPD DELAY TIME END PULSE 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 21 3 6 1
177. ORIGIN CONSTANT SCAN SCAN 1 Z ORIGIN ORG 0 5 ORG DETECT TYPE ORG ORG 11 12 CWLM CCWLM ORG 10 ORIGIN FLG ENABLE INDEX 0 INDEX 1 INDEX ORIGIN STATUS2 PORT ORIGIN FLG 1
178. lt gt MD NUMSN ent DEND ERROR 22 4 0 DEND ERROR la us 1 1 D4 DALM TYPE0 D5 DALM TYPE1 DALM DALM TYPE1 TYPE0 DALM SIGNAL OUT D15 D6 0 0 66 2 DEND TIME SET SERVO SPEC SET DEND TYPE 01 DEND ERROR DEND lt gt COMMAND H0083 DEND TIME SET COMMAND DRIVE DATA3 PORT DEND TIME ME 1 65 535 H 0001 HFFFF DEND TIME x5ms 5ms 327 675 ms N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0
179. 0 0 5 DO OUTO TYPE 0 MCC06 PORT 1 HARD CONFIGRATION PORT HARD CONFIGURATION PORT OUTO INO SIGNAL STATUS PORT 2 GPOUT OUTO COMMAND H021 GPOUT COMMAND lt gt DATA2 PORT HARD CONFIG DATA2 PORT DATA WRITE CE HARD CONFIG COMMAND PORT COMMAND CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D1 DO PT pd Pd 4oun DO XOUTO D1 YOUT0 D2 ZOUTO D3 AOUTO 0 OUTO 1 OUTO SIGNAL STATUS PORT OUTO HARD CONFIGURATION5
180. H 8000_0000 5 PULSE COUNTER MAX COUNT SET lt gt DATA2 PORT WRITE DATA3 PORT WRITE COMMAND PORT WRITE COMMAND H 001A COUNTER DATA2 PORT D31 D16 PULSE COUNTER MAX COUNT SET COMMAND COUNTER DATA3 PORT D15 D0 1 4 294 967 295 HI0000_ 0001 HFFFF_FFFF COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D 6 D5 D4 D3 D21D1 Do D31 D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 Dt DO D15 lt gt DO HFFFF_FFFF 97 5 3 R2 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT
181. ORIGIN ORIGIN SPEC ORIGIN SET ORISN CSPD CONSTANT SCAN SET ORIGIN DELAY DELAY TIME SET MARGIN ORIGIN ORIGI IN SPEC ORIGIN SPEC ORIGIN SET ON CONSTANT SCAN SET ORIGIN DELAY DELAY TIME SET MARGIN EE PRESETORIGIN PRESET SET PRESET ORIGIN
182. Y COMMAND PORT WRITE COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D8 D10 pe D7 De D5 D4 D3 D2 D1 po A31 gt A16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A15 A0 HFFFF FFFF 95 5 2 R2 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 1 PULSE COUNTER PRESET lt gt COMMAND H0010 PULSE COUNTER PRESET COMMAND DATA2 PORT COUNTER DATA2 PORT D31 D16 WRITE COUNTER DATA3 PORT D15 D0
183. gt ECLR COMMAND COMAND PORT WRITE HENSA COMMAND PORT COMMAND MCC06 STATUS2 DALM SERVO SPEC SET DALM ECLR ECLR MCC06 DALM 7 16 HENSA 1 HENSA SET DATA READ HENSA PORT DATA lt gt COMMAND H 10 HENSA SET DATA READ COMMAND DATA2 PORT HENSA DATA2 PORT COMMAND WRITE 1 3 ET HENSA STATUS1 PORT H RDY 1 H RDY 1 Y COMMAND PORT HENSA COMMAND PORT COMMAND WRITE DATA1 PORT HENSA DATA1 PORT DATA
184. 1 COUNT PULSE SEL0 COUNT PULSE SEL1 COUNT PULSE SEL2 1 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 1 X SEL2 SEL1 SELO D0 D1 1 X Y XEA XEB YEA YEB Y X XEA XEB YEA YEB X Y 80 D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB
185. CLR a YY COMP INT TYPE gt SIGNAL OUTA B STATUS4 60 1 INT FACTOR CLR R2 PCI INTA INT3 GPIO1 FSEND GPIO ERROR INT2 SPDINT lt gt COMMAND HF020 INT FACTOR CLR COMMAND DATA3 PORT RTE DRIVE DATA3 PORT COMMAND PORT NN DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D8 INT3 INT3 GPIO1 GPIO0 INT2 INT2 INT2 INT2 1 1 SPDINT DFLINT CNTINT ADRINT UM FSEND ERROR CLR CLR CLR CLR CLR CLR D7 D6 D5 D4 D3 D2 D1 DO INT1 INT1 INT1 INT1 INTO INTO INTO INTO SS1 SS0 DALM MAN nCOMREG FL COMREG EP STBY RDYINT CLR CLR CLR CLR CLR CLR CLR CLR D11 DO0 INTA
186. CW 53 2 1GGW eoteittd8ededtedsv eeeggheeshegivaaanackaeaeairaseos 53 3 SRATE CW 53 4 SRATE CCW 53 5 CONST CW 53 6 CONST CCW 53 7 SRATE CONST CW 53 8 SRATE CONST CCW 53 55 10 SRATE 55 11 CONST 55 12 SRATE CONST 55 8 SR a sns 67 14 SRATE
187. D31 D16 MAN DRIVE DATA3 PORT D15 D0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF CW CCW 2 N STATUS1 PORT Ss _ WW lt NpEx CBUsy 9 STATUS1 PORT INDEX CBUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 INDEX CHANGE gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO D15 NDEX CHANGE
188. 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 APAUSE ZPAUSE YPAUSE XPAUSE D3 D0 PAUSE ON OFF 0 PAUSE OFF 1 PAUSE ON D15 D4 0 PAUSE SET SEPC PAUSE CLR SPEC 6 3 HARD CONFIGURATION 1 HARD CONFIGURATION SET DATA READ HARD CONFIGURATION lt gt COMMAND H0020 HARD CONFIGURATION SET DATA READ COMMAND SR HARD CONFIG DATA1 PORT COMMAND CODE 1 CN HARD CONFIG DATA2 PORT COMMAND CODE COMMAND PORT HARD CONFIG COMMAND PORT COMMAND H0020
189. 3 CW CW ABS CIRCULAR CP COMMAND 4 CCW CCW COMMAND H 0121 ABS CIRCULAR CP COMMAND 5 SRATE CW S OCW COMMAND H 0122 ABS SRATE CIRCULAR CP COMMAND 6 SRATE CCW S CCW COMMAND H0123 ABS SRATE CIRCULAR CP COMMAND 7 CONST CW CW ABS CIRCULAR CONST CP COMMAND 8 CONST CCW CCW ABS CIRCULAR CONST CP COMMAND 9
190. 36 4 ORIGIN OFFSET PULSE SET ORIGIN SPEC SET ORIGIN FLG ENABLE 1 OFFSET lt gt COMMAND H0063 ORIGIN OFFSET PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT OFFSET D31 D16 WRITE DRIVE DATA3 PORT OFFSET D15 D0 DATA3 PORT 0 2 147 483 647 H 0000_0000 H7FFF_FFFF WRITE Eee STATUS1 PORT BUSY 0 Y 1 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D31 OFFSET gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do DO OFFSET H 0000_ 0064 100 D15 OFFSET
191. CP SPEC SET LSPD HSPD ELSPD RATE DOWN POINT SET 3 SELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 S lt gt COMMAND H0032 SELSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 Rl A BR DRIVE DATA3 PORT D15 D0 WRITE 1 5 000 000 HI0000_0001 H004C_4B40 N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 pt L po 0 0 0 0 0 0 0 0 a Ia ad DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3
192. D15 D8 1 GPIOO ERROR 1 0 0 0 GPIO1 FSEND 1 0 1 1 TYPE3 TYPE2 TYPE1 TYPE0 GPIO1 0 0 0 0 0 ADRINT COMP1 STATUS4 ADRINT COMP1 0 0 1 ADRINT COMP2 STATUS4 ADRINT COMP2 0 0 1 0 ADRINT COMP3 STATUS4 ADRINT COMP3 0 0 1 1 AppRESSOVF STATUS4 ADDRESS OVF 0 1 0 0 CNTINT COMP1 STATUS4 CNTINT COMP1 0 1 0 1 CNTINT COMP2 STATUS4 CNTINT COMP2 0 1 1 0 CNTINT COMP3 STATUS4 CNTINT COMP3 0 1 1 1 PULSE OVF STATUS4 PULSE OVF 1 0 0 0 STATUS1 ERROR 1 0 0 1 STATUS1 LSEND 1 0 1 0 STATUS1 SSEND 5 50 ON SEND STATUS1 FSEND 1 1 0 0 XADRINT AND YADRINT X Y ADRINT AND 1 1 0 1 XCNTINT AND YCNTINT X Y CNTINT AND 1 1 1 0 1 1 1 1 113 7 2 RATE NR SPEC INITIALIZE1
193. DFLINT 1 0 1 1 SPDINT 1 1 1 1 1 SS0 SS1 OO SS0 SS1 SPEC INITIALIZE2 SENSOR SSO SS1 D11 DFL CLR ENABLE 0 1 D14 D12 SPEED LATCH TYPE2 0 YR EYRE TRE 020 0 0 0 SPEED LATCH DATA PORT SELECT 0 0 1 CNTINT 1 0 1 0 DFLINT 1 UL NM SPDINT 1 1 0 0 SS0
194. gt COMMAND HF036 CONST DRIVE COMMAND N STATUS1 PORT Sh WW 3 SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 125 7 8 SPEED CHANGE 1 SPEED CHANGE SPEC SET SPEED CHANGE COMMAND HF031 lt gt DATA3 PORT WRITE SPEED CHANGE SPEC SET COMMAND DRIVE DATA3 PORT N STATUS1 PORT WW SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 SPEED SPEED SPEED 0 0 0 0 0 CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO SPEED CHANGE TYPE0 D1 SPEED CHANGE TYPE1 D2 SPEED CHANGE TYPE2 SPEED CHANGE D15 D3 0 0 TYPE2 TYPE1 TYPE0 SPEED CHANGE
195. A15 lt X gt AO O 0 56 1 2 1 2 X Y 13 COMMAND H0178 INC CIRCULAR3 CP COMMAND 14 SRATE S COMMAND H0179 INC SRATE CIRCULAR3 CP COMMAND 15 CONST
196. LIMIT CPP STOP MANUAL SCAN MAN OFF DRST lt gt DRST 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 HFFFF_FFFF ERROR PULSE ENABLE ERROR 0 ERROR 1 ERROR ERROR CONSTANT SCAN JOG
197. RATE TYPE RATE RATE SURATE SDRATE 8 RATE RATE SURATE SDRATE 8 gt SURATE SDRATE RATE RATE DATA TABLE No SURATE SDRATE RATE No RATE TYPE RATE RATE 5 4 SCAREA12 SET S SCAREA1 SCAREA2 lt gt COMMAND H0034 SCAREA12 SET COMMAND DATA2 PORT DRIVE DATA2 PORT SCAREA2 WRITE DRIVE DATA3 PORT SCAREA1 DATA3 PORT 0 65 535 H 0000 HFFFF WRITE Hz x 50 Hz 0 3 276 750 Hz SS STATUS1 PORT BUSY 0 Y Mi DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15
198. HF041 gt COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND H F041 DATA2 PORT DRIVE DATA2 PORT READ COMMAND CODE DATA3 PORT DRIVE DATA3 PORT ERROR CODE READ ERROR CODE STATUS1 PORT ERROR 0 STATUS1 PORT ERROR DRIVE DATA3 PORT ERROR CODE ERROR CODE H xx00 H xx01 H xx02 H xx03 X Y H xx04 DRIVE TYPE 000 2 H xx05 H xx06 H xx
199. PRESET ORIGIN PRESET ORIGIN PRESET lt gt COMMAND H0068 ORIGIN PRESET PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT PRESET D31 D16 WRITE DRIVE DATA3 PORT PRESET D15 D0 DATAS PORT IE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF R NZ SSDGHBRE CW CCW 2 STATUS1 PORT BUSY 0 BUSY 0 Y RI DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D16 PRESET DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 D15 PRESET gt DO H 0000 0000 0 39 3 11
200. SLSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 24 2 SHSPD SET S lt gt COMMAND H 0031 SHSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 TA ORT DRIVE DATA3 PORT D15 DO WRITE 1 5 000 000 H0000 0001 H 004C_4B40 SS STATUS1 PORT BUSY 0 Y NN DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D23 SHSPD D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 lt SHSPD gt DO H 0000 0BB8 3 00
201. gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A0 A15 INDEX CHANGE HFFFF_FFFF ABS INDEX CHANGE ABS INDEX CHANGE END PULSE 130 4 PLS INDEX CHANGE INC INDEX
202. 0 0 X Y X Y CW CCW X Y 2 X X 0 X Y 2 X Y
203. 1 COMP1 COMP1 COMPARE REGISTER1 D14 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 85 2 SPEED COUNTER INITIALIZE2 lt gt COMMAND H F01D SPEED COUNTER INITIALIZE2 COMMAND DATA3 PORT R WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 COMP3 COMP3 COMP3 COMP3 COMP2 COMP2 COMP2 C
204. SRATE CONST CW S CW ABS SRATE CIRCULAR CONST CP COMMAND 10 SRATE CONST CCW S CCW ABS SRATE CIRCULAR CONST CP COMMAND 46 gt Y DATA2 PORT Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y Y DATA3 PORT WRITE X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X X DATA3 PORT 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF WRITE 2 Y hs I Y STATUS1 PORT BUSY 0 BUSY 0
205. STATUS4 PORT gt COMP1 INT COMP GATE INT FACTOR CLR gt ENABLE TYPE 1 SIGNAL OUTA B COMP2 3 coMPz DE CoMP3 ee 1 COUNTER COMP MASK lt gt COUNTER COMP MASK COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND PORT RTE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 SPDINT SPDINT SPDINT DFLINT DFLINT DFLINT 1 COMP3 COMP2 COMP1 1 COMP3 COMP2 COMP1 MASK MASK MASK MASK MASK MASK D7 D6 D5 D4 D3 D2 D1 DO CNTINT CNTINT CNTINT ADRINT ADRINT ADRINT COMP3 COMP2 COMP1 COMP3 COMP2 COMP1 MASK MASK MASK MASK MASK MASK HFFFF
206. 7 12 0 0 CW CCW CP SPEC X Y S Z X Z A X Y Z X 3522 CP SPEC SET OC OS X Z X Y Z A X Z Nt CP SPEC SET RR 0 0
207. CONST CCW CCW COMMAND H 0165 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 H 0167 INC SRATE CIRCULAR CONST CP COMMAND 53 lt gt Y DATA1 PORT WRITE Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA1 PORT WRITE X DATA2 PORT WRITE X DATA3 PORT WRITE N Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT WRITE Y DRIVE DATA1 PORT Y DRIVE DATA1 PORT Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y
208. DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 p4 ps D2 p1 DO D7 SCAN DELAY TIME gt DO D7 lt JOG DELAY TIME gt DO HOA04 50 ms 20 ms MARGIN 1 0 65 535 SCAN CONSTANT SCAN MARGIN CONSTANT SCAN MARGIN SCAN MARGIN MARGIN NORG ORIGIN MARGIN DELAY TIME DELAY TIME 0 DELAY TIME DEND DELAY TIME LIMIT DELAY TIME LIMIT DELAY TIME x5ms 0 1 275 ms LIMIT LIMIT DELAY TIME
209. PORT DRIVE COMMAND DRIVE COMMAND 2 DRIVE DATA1 2 3 PORT DRIVE COMMAND PORT 3 COUNTER COMMAND PORT PORT COUNTER COMMAND 4 COUNTER DATA1 2 3 PORT COUNTER COMMAND 5 STATUS1 PORT PORT D13 PORT SPEED EXT CBUSY PULSE CONST DOWN UP ERROR DRVEND DRIVE STBY BUSY 6 STATUS2 PORT CW SOFT LIMIT CCW SOFT LIMIT 7 STATUS3 PORT PORT 0 ORIGIN OUT3 SPDINT SIGNAL OUTB D13 FSSTOP2 D13 0 ET OUTA 8 i DRST PO Z NORG ORG FSSTOP2 CCWLM CWLM FSSTOP1 SLSTOP 0 0 0 CPIOT SPIO0 FSNED ERROR OUT0 INT2 INT1 INT0 8 STATUS4 PORT
210. STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 RDYINT RDYINT 0 0 0 0 0 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 DO CCWLM CCWLM CWLM TYPE1 TYPE0 TYPE1 DO CWLM TYPE0 D1 CWLM TYPE1 CWLM TYPE1 TYPE0 CWLM ORIGIN LIMIT LIMIT 1 LIMIT LIMIT 1 LIMIT LIMIT ORIGIN SCAN CONSTANT SCAN JOG CW LIMIT ORG 11 ORG 12 CW LIMIT har D2 CCWLM TYPE0 D3 CCWLM TYPE1 CCWLM
211. lt gt HENSA INITIALIZE6 COMMAND HENSA DATA1 HENSA DATA2 PORT PORT WRITE HENSA DATA2 HENSA DATA2 PORT PORT WRITE 4W EN TC HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y HENSACOMMAND HENSA COMMAND PORT COMMAND PORT WRITE HENSA DATA1 PORT D8 HENSA DATA2 PORT 2 5 0 8rps HF9 DATA DATA 350 x x 10 x 10 5 1rps 0 72 DATA 0 1 199 H C7 147 7 15 1 ECLR lt
212. 0 0 COMP2 D14 COMP3 TYPE2 COMP3 0 1 1 0 0 COMP3 D15 0 0 88 4 11 1 ADDRESS COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F048 ADDRESS COUNTER PORT SELECT COMMAND 2 PULSE COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF049 PULSE COUNTER POR
213. 139 1 COMMAND H0190 MULTICHIP STRAIGHT CP COMMAND 2 SRATE S COMMAND H 0191 MULTICHIP SRATE STRAIGHT CP COMMAND lt gt Y DATA1 PORT RTE Y DRIVE DATA1 PORT X DATA1 PORT WRITE X DRIVE DATA1 PORT DATA2 PORT DRIVE DATA2 PORT WRITE DRIVE DATA3 PORT DATA3 PORT WRITE 2 147 483 647 2
214. AND D10 COMP STOP TYPE COMP1 2 3 0 1 D11 1 1 D12 COMP1 INT ENABLE COMP1 ADRINT 0 COMP1 ADRINT 1 COMP1 ADRINT D13 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMPARE REGISTER1 D14 0 0 D15 RELOAD ENABLE COMP1 0 COMP1 1 COMP1 Py 2 2 ADDRESS COUNTER INITIALIZE2
215. END PULSE TYPE 1 END PULSE STOP MODE END PULSE 0 END PULSE 1 END PULSE 1 SCAN END PULSE END LSPD ENABLE END LSPD 0 END LSPD 1 END LSPD 1 ELSPD SET SELSPD SET 1 DOWN POINT SET SRATE DOWN POINT SET SOFT LIMIT ENABLE SOFT LIMIT 0 SOFT LIMIT 1 SOFT LIMIT 1 CW SOFT LIMIT CCW SOFT LIMIT SRATE DRIVE TYPE S
216. WRITE 1 4 294 967 295 H 0000_ 0001 HFFFF_FFFF COMMAND PORT BE COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 D1 L po D31 gt D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO D15 DO HFFFF FFFF 99 5 4 R2 20MHz COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 1 SPEED COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0031 SPEED COUNTER COMPARE REGI
217. CHANGE 1 UDC SPEC SET UP DOWNCONST CHANGE lt gt COMMAND HF030 UDC SPEC SET COMMAND A DRIVE DATA3 PORT N STATUS1 PORT Ne LU LU STATUS1 PORT SPEED CBUSY 0 Y RN DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 CONST CONST TYPE2 TYPE1 0 DOWN DOWN DOWN 0 UP UP UP TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 UPTYPE2 0 UP DRIVE CHANGE D6 D4 DOWN TYPE2 0 DOWN DRIVE CHANGE D10 D8 CONST TYPE2 0 CONST DRIVE CHANGE D15 D11 D7 D3 0 0 0 0 0 CHANGE 0 0 1 CNTINT 1 0 1 0
218. DATA3 PORT es 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COMMAND PORT WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 D4 D3 p2 p1 po D31 D16 COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 lt gt DO H 0000 0000 H 8000_0000 H 8000_0000 STATUS4 PORT PULSE OVF 1 2 PULSE COUNTER COMPARE REGISTER1 SET COMPARE REGISTER1 coMMANp H 0011 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 3 PULSE COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2
219. DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATAS3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATAS3 PORT 2 PORT HENSA COMMAND PORT KN STATUS5 PORT PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA DATA1 PORT HENSA DATA2 PORT 1 HeE ue 2 PORT HARD_ CONFIG COMMAND PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA2 PORT SIGNAL STATUS PORT HARD CONFIG DATA1 PORT HARD CONFIG DATA1 PORT H E4 HARD CONFIG DATA2 PORT HARD CONFIG DATA2 PORT H E6 HARD CONFIG DATA3 PORT HARD CONFIG DATA3 PORT HE8 HEA HEC HEE 2 PORT 2 1 MCC06 PORT 1 DRIVE COMMAND PORT
220. INC SRATE CIRCULAR2 CONST CP COMMAND 55 lt gt Y DATA1 PORT Y DRIVE DATA1 PORT Y Ai Y DRIVE DATA2 PORT Y Y DATA2 PORT Y WRITE Y DATA3 PORT Y DRIVE DATA3 PORT Y Al X DRIVE DATA1 PORT X X DATA1 PORT X DRIVE DATA2 PORT X WRITE X X DATA2 PORT X DRIVE DATA3 PORT X 8 388 607 8 388 607 H 80_0001 H7F_FFFF X DATA3 PORT CW CCW 2 WRITE Y STATUS1 PORT BUSY 0 N STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0
221. ITE 1 5 000 000 H0000 0001 H004C_4B40 WR I NM STATUS1 PORT BUSY 0 Y we DRIVECOMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 ps D7 De D5 p4 ps D2 pt L po 0 0 0 0 0 0 0 0 D23 HSPD D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do HSPD H 0000 0BB8 3 000 Hz H 0000 2710 10 000 Hz lt JP1 gt HSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 RATE SET URATE DRATE lt gt COMMAND H0013 RATE SET COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 URATE No WRITE DRIVE DATA3 PORT D7 D0 DRATE No N STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND
222. Y A 1 CP SPEC SET X X Y lt gt COMMAND HO010F CP SPEC SET COMMAND X DATA3 PORT WRITE X DRIVE DATA3 PORT Y STATUS1 PORT BUSY 0 Y STATUS1 PORT BUSY 0 Y N X STATUS1 PORT X STATUS1 PORT BUSY 0 BUSY 0 Y X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 YMULTICHIP YCPP STOP 0 0 XMULTICHIP XCPP STOP CP MODE ENABLE CP MODE ENABLE D7 D6 D5 D4 D3 D2 D1 DO 8 5 a CIRCULAR 6 DRIVE DRIVE DRIVE CP MODE TYPE2 TYPE1 TYPE0 D2 D0 DRIVE TYPE2 0 X Y TYPE2 TYPE1 TYPE0 X Y
223. gt SERVO SPEC SET COMMAND gt STATUS1 PORT BUSY 0 Y SV DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO DEND DEND DRST TYPE1 TYPE0 TYPE1 DO DRST TYPE0 D1 DRST TYPE1 DRST TYPE1 TYPE0 DRST 0 10 ms gt DRST OUT 1 SIGNAL OUT 00 10 11 DRST OUT DRST D2 DEND TYPE0 D3 DEND TYPE1 DEND TYPE1 TYPE0 DEND 0 0 DEND
224. lt gt COMMAND HO00B7 AUTO CHANGE DRIVE SET COMMAND h SUN gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET AUTO CHANGE DRIVE SET CHANGE POINT SET CHANGE DATA SET AUTO CHANGE SCAN 4 AUTO CHANGE SCAN CW SCAN AUTO CHANGE COMMAND H 00B8 AUTO CHANGE SCAN COMMAND 5 AUTO CHANGE SCAN CCW SCAN AUTO CHANGE COMMAND H O0B9 AUTO CHANGE SCAN COMMAND AUTO CHANGE SCAN gt SN gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND
225. 8 Tr 2 BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO a D31 SEND PULSE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do D15 SEND PULSE Pf DO H 0000 0000 0 END PULSE END PULSE END PULSE SEND PULSE SRATE INDEX END PULSE SEND PULSE 0 S END PULSE
226. COMMAND HARD CONFIG DATA1 PORT 0 0 0 0 0 0 0 0 DS AXIS AXIS 0 0 0 0 0 0 SEL1 SELO HARD CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 SIGNAL SIGNAL SIGNAL 0 0 0 0 0 OUT SEL2 OUT SEL1 OUT SELO D7 D6 D5 D4 D3 D2 D1 DO PAUSE PAUSE 0 0 0 0 0 0 CLR CLR TYPE1 TYPE0 HARD CONFIG DATA1 PORT Do AXIS SELO D1 AXIS SEL1 PAUSE OFF SEL1 SELO PAUSE OFF 0 0 X MCC06 PAUSE OFF 0 1 Y MCC06 PAUSE OFF 1 0 Z MCC06 PAUSE OFF 1 1 A MCC06 PAUSE OFF HARD CONFIG DATA2 PORT D1 D0 PAUSE CLR TYPE1 0 PAUSE OFF PAUSE OFF 1
227. Ii EE SR 133 AUTO CHANGE DRIVE SET SR gt RRS SG 134 EREAUTOCHANGE SCAN EST ES 134 TO CHANGE SERN RE SIE RN EE 134 RUGCAANGE NCINDE CE ES YHSHNRSRINHRSBBHARSRBEENESRBSBERERRSSRSRSSHSEERBAHRSRK 135 AUTO CNANGEABS NBER ST 135 PAGE EZ 2 136 GPSPEC SE SS 3 136 42 33033 06e0 16499914s4m RGR ERE 139 0 NatRNtE GRIGG PNGSaRGRG 140 2 SRANE 2 NNSNNNNNNNSNRNSNNNNNNNNNNDNNNND Ss 140 7 13 2 141 1 7 2 CW 30e te 142 2 6CW 2 oe 142 9 22 SRATE CWW 2 SS 142 9 2 SRATECCW 00 142 5 2 CONST CW SS 142 6 OONSTICCW 142 7 2 CONST SRATE CW 142 8 2 CONST SRATE CCW 142 9 EEN RM RDNSMMdNMRMHKMRUSMRYRUSSRSRRBSB she
228. STBY 1 0 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF CW CCW 2 0 65 535 H 0000 HFFFF 1 ms DRIVE DATA2 PORT D15 DO0 0 1 5 000 000 HI0000_ 0001 H004C_4B40 1 Hz DRIVE DATA2 PORT D15 D8 0
229. WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y NN DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 gt AO HFFFF_FFFF
230. 00 0 1 UP DRIVE 01 10 1 0 DOWN DRIVE 1 1 CONST DRIVE 1 UP DOWN CONST DRIVE 0 STATUS1 PORT DRIVE 1 SPEED CBUSY 0 D8 RDYINT TYPE0 D9 RDYINT TYPE1 RDYINT TYPE1 TYPE0 RDYINT 0 0 STATUS1 PORT DRVEND 1 0 1 STATUS1 PORT BUSY 0 1 0 1 1 RDYINT RDYINT STATUS1 PORT ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET STATUS1 PORT EXT PULSE 1 D15 D10 0 0 16
231. DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 EXT EXT EXT 0 0 0 0 0 PULSE PULSE PULSE TYPE2 TYPE1 TYPE0 EXT EXT EXT DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 DO D7 D0 EXT DIVISION D7 D0 XEA XEB YEA YEB D7 D0 HFF HFE HFD H 03 H 02 H01 H 00 COUNT TYPE D8 EXT PULSE TYPE0 D9 EXT PULSE TYPE1 D10 EXT PULSE TYPE2 TYPE0 TYPE2 TYPE0 0 100 ns 1 0 2 0 ps 200 ns 1 1 5 0 us 0 500 ns 1 0 10 us 1 1 0 us 1 1 20 us
232. SRATE SET RATE TYPE 1 7 RATE DATA TABLE RATE A 7 D7 0 0 D15 D8 RESOL D7 DO RESOL 1 0 1 RATE TYPE RESOLUTION A 7 14 2 SPEC INITIALIZE2 CWLM CCWLM SS0 SS1 RDYINT lt gt COMMAND H0002 SPEC INITIALIZE2 COMMAND DRIVE DATA3 PORT N STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE
233. X Y HFFFF_FFFF 2 X Y 1 2 2 COMMAND H 0110 ABS STRAIGHT CP COMMAND
234. X DRIVE DATA1 PORT A23 X D14 D13 D12 D11 D10 pe ps D7 De Ds D4 D3 D2 D1 DO A8 X DRIVE DATA2 PORT D13 D9 D8 D7 D Ds D4 D3 D2 D1 Do A7 X AO A23 X A16 X DRIVE DATA3 PORT D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 X AO 0 0 143 7 14 HENSA INITIALIZE1 1 HENSA INITIALIZE2
235. CPPIN STATUS5 PORT CPP MASK 1 CPP MASK 1 CPPIN 2 CPP MASK 1 D10 D11 0 0O D9 XMULTICHIP CP MODE X D13 YMULTICHIP CP MODE Y 0 SCAN 1 INDEX 0 SCAN 1
236. D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 SCAREA2 H0014 1 000 Hz H 003C 3 000 Hz lt JP1 gt DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 ps D7 pe D5 D4 D3 D2 D1 L po D15 SCAREA1 gt DO H 0014 1 000 Hz H 003C 3 000 Hz lt JP1 gt 5 SCAREA34 SET S S SCAREA3 SCAREA4 lt gt COMMAND H0035 SCAREA34 SET COMMAND DATA2 PORT DRIVE DATA2 PORT SCAREA3 WRITE DRIVE DATA3 PORT SCAREA4 DATA3 PORT 0 65 535 HI0000 HFFFF WRITE Hz x 50 Hz 0 3 276 750 Hz wsrrom STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 p
237. D2 D1 Do SELSPD H 0000 012C 300 Hz H 0000 0320 800 Hz lt JP1 gt SELSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5 M 5 MHz 117 4 SRATE DOWN POINT SET SPEC INITIALIZE3 1 END LSPD ENABLE 1 SRATE DRIVE TYPE 1 SRATE INDEX MODE 1 SRATE STOP MODE 1 S lt gt COMMAND H003F SRATE DOWN POINT SET COMMAND N STATUS1 PORT SS BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND SRATE DOWN POINT SET SRATE DOWN POINT SET SRATE
238. DFLINT 1 0 1 1 SPDINT 1 1 0 0 SS0 1 0 1 SS1 1 1 0 1 1 1 SSO SS1 SPEC INITIALIZE2 124 2 UP DRIVE lt gt COMMAND HF034 UP DRIVE COMMAND h RE STATUS1 PORT SPEED CBUSY 0 SPEED CBUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 3 DOWN DRIVE lt gt COMMAND HF035 DOWN DRIVE COMMAND S N TATUS1 PORT ST WW SPEED CBUSY 0 STATUS1 PORT SPEED CBUSY 0 Y te DRIVE COMMAND PORT COMMAND 4 CONST DRIVE lt
239. DRIVE DATA2 PORT Y IE Y DRIVE DATA3 PORT Y Y DATA3 PORT X DRIVE DATA2 PORT X X DATA2 PORT X DRIVE DATA3 PORT X WRITE X DATA3 PORT 2 147 483 647 2 147 483 647 H 8000 0001 H7FFF_FFFF WRITE 2 Y 2 _ 7 3 8 N NE Y STATUS1 PORT BUSY 0 BUSY 0 X STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do Y Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A15 Y gt AO
240. H7FFF_FFFF 2 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y Rc DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO A31 lt gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A0 A15 HFFFF_FFFF 6 0 3 7 S S
241. coMMANp H 0012 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 4 PULSE COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0013 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 96 lt gt DATA2 PORT WRITE DATA3 PORT WRITE COMMAND PORT WRITE R2 COUNTER DATA2 PORT D31 D16 COUNTER DATA3 PORT D15 D0 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF 2 COUNTER COMMAND PORT COMMAND COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO gt COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 lt gt DO H 8000 0000
242. BUSY 0 X COMMAND PORT X DRIVE COMMAND PORT COMMAND WRITE Y DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A31 Y A16 Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 pe Ds D4 D3 D2 Dt DO A15 Y A0 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A31 X A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 lt X A0 X Y 48 X Y 1
243. D1 DO D15 gt DO H 0002 50 100 ns XEA XEB YEA YEB x50ns 0 3 277 us 0 50 ns 0 3 3MHz 5MHz 2 HARD INITIALIZE7 lt gt COMMAND HF007 HARD INITIALIZE7 COMMAND DATA3 PORT DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 1 1 1 1 SS1 SS0 DALM DEND ACTIVE ACTIVE ACTIVE ACTIVE D1 DO D4 D3 D2 PO Z NORG ORG CCWLM CWLM FSSTOP1 SLSTOP ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE H FFFF ACTIVE ACTIVE D15 D0
244. D3 D2 D1 Do D16 OVF COUNTER DATA3 PORT D15 D14 D13 D12 D11 D10 pg ps D7 pe D5 D4 D3 D2 D1 DO D31 D15 lt OVF gt DO HFFFF FFFF STATUS4 PORT SPEED OVF 1 101 6 6 1 1 HARD CONFIGURATION1 MCC06 HARD INITIALIZE1 SIGNAL OUTA B J2 SIGNAL OUT3 0 COMMAND H 0001 HARD CONFIGURATION1 COMMAND lt gt DATA2 PORT 6 TE HARD CONFIG DATA2 PORT a HARD CONFIG DATA3 PORT COMMAND PORT VRITE HARD CONFIG COMMAND PORT COMMAND HARD CONFIG DATA2 PORT SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL 0 OUT3 OUT3 OUT3 0 OUT2 O
245. D7 D Ds D4 D3 D2 D1 Do Y Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps p7 D Ds D4 D3 D2 D1 DO A15 Y gt AO H 0000 0000 X DRIVE DATA2 PORT A31 X A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pe ps D7 De Ds D4 D3 D2 D1 DO A15 lt X gt AO H0000 0000 X Y 44 2 PASS POSITION SET X 2 X Y lt gt COMMAND H0101 PASS POSITION SET COMMAND Y DATA2 PORT Y
246. DIVISION DIVISION DIVISION D7 D6 D5 D4 D3 D2 D1 DO D7 D0 DIVISION D7 D0 DIVISION TYPE 256 255 254 1 4 3 2 1 COUNT TYPE PULSE COUNTER INITIALIZE3 D8 DIVISION TYPE 0 1 1 2 D11 D9 0 0 D12 COUNT PULSE SEL2 0 1 D15 D13 0 0O 83 4 10 X Y Z A
247. DIVISION DIVISION DIVISION D7 De D5 D4 D3 D2 D1 Do D7 D0 DIVISION D7 D0 COUNT PULSE SEL2 COUNT TYPE D8 COUNT ENABLE TYPE0 D9 COUNT ENABLE TYPE1 D10 COUNT ENABLE TYPE2 TYPE2 TYPE1 TYPE0 lll90 ls0 0 0 1 CNTINT 1 0 1 0 DFLINT 1 0 1 1 SPEED COUNTER INITIALIZE3 1 0 0 SS0 1 0 1 SS1 AAD 1 1 1 SS0 SS1 SPEC INITIALIZE2
248. HARD INITIALIZE1 SIGNAL OUTB HARD INITIALIZE1 DRST SERVO SPEC SET OUTO HARD CONFIGURATION PORT O A lt gt SIGNAL OUT COMMAND DATA3 PORT A DRIVE DATA3 PORT COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 DRST SIGNAL SIGNAL 0 0 0 OUT 0 OUTA OUT0O D7 D6 D5 D4 D3 D1 DO 0 0 0 0 0 0 0 0 H0000 D8 OUT0 OUTO0 0 1 OUTO ADRINT HARD INITIALIZE1
249. HENSA DATA1 PORT READ DATA 0 DATA2 PORT HENSA DATA2 PORT DATA HENSA DATA2 PORT READ HENSA DATA2 PORT COMMAND DATA HEX CODE COMMAND NAME 01 HENSA INITIALIZE1 02 HENSA INITIALIZE2 03 HENSA INITIALIZE3 04 HENSA INITIALIZE4 05 HENSA INITIALIZE5 06 HENSA INITIALIZE6 148 7 17 IO 1 HARD CONFIGURATION5 OUT0 INO OUT0 COMMAND H 005 HARD CONFIGURATION5 COMMAND lt gt DATA2 PORT HARD CONFIG DATA2 PORT DATA WRITE Ca HARD CONFIG COMMAND PORT COMMAND CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 D7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0
250. SESPD SET SESPD DELAY SET SRATE DATA SET H 003E 71 4 7 R2 X Y Z A 1 ADDRESS COUNTER INITIALIZE1 lt gt COMMAND HF010 ADDRESS COUNTER INITIALIZE1 COMMAND DATA3 PORT _ WRITE DRIVE DATA3 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 RELOAD COMP1 COMP1 COMP COMP COMP ENABLE 0 STOP INT 1 STOP GATE GATE ENABLE ENABLE TYPE TYPE1 TYPE0 ADRINT PULSE TYPE1 ADRINT PULSE TYPE0 ADRINT TYPE1 ADRINT TYPE0 D0 COUNT PULSE SEL0 D1 COUNT PULSE SEL1 CWP CCWP X SEL1 SELO 0 0 1
251. WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 ps D2 p1 L po 0 0 0 0 0 0 0 0 D23 SPEED CHANGE gt D16 DRIVE DATA3 PORT D15 lt SPEED CHANGE gt DO SPEED CHANGE SPEED CHANGE 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 RATE CHANGE RATE URATE DRATE RATE CHANGE RATE lt gt COMMAND HF03A RATE CHANGE COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 URATE No MS DRIVE DATA3 PORT D7 D0 DRATE No RUNAT STATUS1 PORT SPEED CBUSY 0 SPEED CBUSY 0 Y DRIVE COMMAND PORT COMMA
252. 147 483 647 H 8000_0001 H7FFF_FFFF wm CW CCW 2 STATUS1 PORT 9 STATUS1 PORT BUSY 0 BUSY 0 MM DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE Y DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 pe ps D7 D Ds D4 D3 D2 D1 DO A31 gt A16 X DRIVE DATA1 PORT De Dr7 De Ds D4 D3 D2 D1 Do A15 A0 DRIVE DATA2 PORT D14 D13 D12 D11 D10 D9 De D7 De Ds D4 D3 D2 D1 DO A31 gt A16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO A15 A0 0O 0
253. 2 SRATE 2 S 2 COMMAND H 0111 ABS SRATE STRAIGHT CP COMMAND 3 CONST 2 2 COMMAND H 0112 ABS STRAIGHT CONST CP COMMAND 4 SRATE CONST 2 S 2 COMMAND H 0113 ABS SRATE STRAIGHT CONST CP COMMAND 41 lt 2 gt Y DATA2 PORT WRITE Y DATA3 PORT WRITE X DATA2 PORT WRITE X DATA3 PORT WRITE N Y STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 X COMMAND PORT WRITE Y DRIVE DATA2 PORT Y Y DRIVE DATA3 PORT Y X DRIVE DATA2 PORT X X DRIVE DATA3 POR
254. 360 DATA _STEP 1 1 5 0 72 10 000 DATA 0 72 0 036 1 19 H13 2 2 0 9 3 200 DATA 0 9 0 1125 1 8 HO08 144 2 HENSA INITIALIZE3 lt gt HENSA INITIALIZE3 COMMAND HENSA DATA2 HENSA DATA2 PORT PORT WRITE 1 M N HENSA STATUS1 HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y HENSACOMMAND HENSA COMMAND PORT COMMAND PORT WRITE HENSA DATA2 PORT D7 lt DATA gt DO H 03 5 500 2 400 500 1000 2000 5000 10000 0 9 2 400 80
255. D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D16 DRIVE DATA3 PORT D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 D14 D15 lt gt DO H 00 H 7F H0000 0000 D7 DO RATE H02 H03 HOF H 02 H 03 No
256. DRIVE TYPE SRATE INDEX MODE 1 S SRATE DOWN POINT SET D7 0 D8 COMREG ENABLE 0 1 1 STATUS5 PORT COMREG EP COMREG FL 0 COMREG EP 1 COMREG FL 1 D9 COMREG STOP MODE LIMIT 0 1 LIMIT 0 1
257. MARGIN lt gt COMMAND H0062 ORIGIN DELAY SET COMMAND DATA1 PORT DRIVE DATA1 PORT MARGIN 0E MARGIN 0 65 535 HO0000 HFFFF DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 LIMIT DELAY TIME DATA3 PORT DRIVE DATA3 PORT D15 D8 SCAN DELAY TIME WRITE D7 DO0 JOG DELAY TIME a DELAY TIME 0 255 H 00 H FF 4 AR gt STATUS1 PORT BUSY 0 02 A DRIVE COMMAND PORT COMMAND 35 DRIVE DATA1 PORT R2 D15 D14 D13 D12 D11 D10 D9 Ds D7 De ps p4 ps p2 p1lpo D15 MARGIN gt DO H0005 5 DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 Ds D4 D3 D21D1 DO 0 0 0 0 0 0 0 0 D7 LIMIT DELAY TIME gt DO H 003C 300 ms
258. SEL 00 10 11 ADDRESS COUNTER INITIALIZE3 EXT PULSE TYPE D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB TYPE1 TYPE0 0 0 EA EB 1 0 1 EA EB 2 MUSE cl EA EB 4 1 1 1 EA EB 7 D4 ADRINT TYPE0 D5 ADRINT TYPE1 COUNTER COMP MASK COMP1 2 3 STATUS4 PORT ADRINT COMP1 2 3 TYPE1 TYPE0 COMP1 2 3 5 0 1 STATUS4 PORT 1 0
259. SELO 0 0 X 0 1 Y 1 0 XEA XEB 1 1 YEA YEB Y SEL1 SELO 0 0 Y 0 1 X 1 0 XEA XEB 1 1 YEA YEB X Y COUNT PULSE SEL 1 OR COUNT TYPE0 COUNT TYPE1 XEA XEB YEA YEB TYPE1 TYPE0 0 0 EA EB 1 0 1 EA EB 2 1 0 EAJEB 4 1 1 EA EB
260. SELO0 D0 D1 COUNT PULSE SELO0 COUNT PULSE SEL1 COUNT PULSE SEL2 0 DFL COUNTER INITIALIZE3 COUNT PULSE SEL2 0 X SEL2 SEL1 SELO 2 1 0 0 0 X XEA XEB 0 0 1 X YEA YEB 0 1 0 X Y XEA XEB YEA YEB Y SEL2 SEL1 SELO 2 1 0 0 0 Y YEA YEB 0 0 1 Y XEA XEB 0 1 0 Y X 0 1 1 YEA YEB XEA XEB X Y 2
261. SET 1 ELSPD SET SPEC INITIALIZE3 END LSPD ENABLE 1 lt gt COMMAND H0012 ELSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0 WRITE 1 5 000 000 HI0000_0001 004C_4B40 N STATUS1 PORT BUSY 0 STATUS1 PORT BUSY 0 Y i DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 D23 ELSPD gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 lt ELSPD DO
262. 0 1600 3200 6 400 360 x 4 5 0 72 500 DATA 0 72 0 18 1 3 HO3 DATA 2 0 9 400 DATA 0 9 0 225 1 3 HO3 145 3 HENSA INITIALIZE4 1 2 lt gt COMMAND H 04 HENSA INITIALIZE4 COMMAND HENSA DATA1 HENSA DATA2 PORT 1 PORT WRITE HENSA DATA2 HENSA DATA2 PORT 2 PORT WRITE 4W lt N HENSA STATUS1 HENSA STATUS1 PORT H RDY 1 PORT H RDY 1 Y HENSACOMMAND HENSA COMMAND PORT COMMAND PORT WRITE HENSA DATA1 PORT 2 DATA DO 1 3 6 H05 2 7 2 HOA
263. 0 Y A DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D23 LSPD gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 1D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D15 lt LSPD gt DO H 0000 012C 300 Hz H 0000 0320 800 Hz lt JP1 gt LSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 418 ESPD DELAY TIME END PULSE DELAY TIME 2 HSPD SET lt gt COMMAND H 0011 HSPD SET COMMAND DATA2 PORT DRIVE DATA2 PORT D15 D8 0 WRITE D7 DO0 D23 D16 DATA3 PORT DRIVE DATA3 PORT D15 DO0
264. 0 D9 D8 INDEX INDEX INDEX 0 0 0 0 0 CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 DO INDEX CHANGE TYPE0 D1 INDEX CHANGE TYPE1 D2 INDEX CHANGE TYPE2 INDEX CHANGE D15 D3 0 0 TYPE1 TYPE0 INDEX CHANGE INDEX CHANGE CNTINT 1 DFLINT 1 SPDINT 1 SSO SS1 i ca SSO SS1 SPEC INITIALIZE2 128 2 INC INDEX CHANGE INC INDEX lt gt COMMAND HF03C INC INDEX CHANGE COMMAND DATA2 PORT DRIVE DATA2 PORT
265. 0 Hz H 0000 2710 10 000 Hz lt JP1 gt SHSPD 1 Hz 5 MHz 1 Hz 0 1 Hz 5M 5 MHz 3 SRATE SET S SURATE SDRATE lt gt COMMAND H0033 SRATE SET COMMAND DATA3 PORT DRIVE DATA3 PORT D15 D8 SURATE No WRITE DRIVE DATA3 PORT D7 D0 SDRATE No I A STATUS1 PORT BUSY 0 Y 2 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO D7 SURATE No DO D7 lt SDRATE No gt DO SURATE No H 18 100 ms kHz H 25 30 ms kHz lt JP1 gt SDRATE No H18 100 ms kHz H 25 30 ms kHz lt JP1 gt SURATE SDRATE 1 000 ms kHz 0 016 ms kHz SPEC INITIALIZE1
266. 07 RATE TYPE H xx08 RATE TYPE H xx09 SOFT LIMIT SOFT LIMIT H xx0A H xx0B H FFFF_FFFF H xx0C ADDRESS OVF 1 H x0D OFFSET ORIGIN FLG ENABLE 1 ORIGIN H xx10 H xx11 H xx12 H xx20 3 2
267. 1 X Y XEA XEB YEA YEB Y Y X XEA XEB YEA YEB X Y 01 10 11 STATUS1 PORT BUSY 0 01 10 11 STATUS1 PORT EXT PULSE 1 BUSY 1 EXT PULSE 1 00 01 10 11 00 EXT PULSE 0 BUSY 0 COUNT PULSE
268. 12 D11 D10 D9 Ds D7 pe D5 D4 ps D2 p1 DO D31 lt gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO H 0000 0000 PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 0 65 535 H 0000 H FFFF 65 535 0 COUNTER LATCH SPEC SET 0 93 5 COUNTER R2 5 1 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT
269. 12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 SCAREA3 gt DO H 0014 1 000 Hz H 003C 3 000 Hz lt JP1 gt DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 DO SCAREA4 H 0014 1 000 Hz H 003C 3 000 Hz lt JP1 gt D15 6 3 8 S END PULSE S END PULSE END PULSE 1 SEND PULSE SET S END PULSE lt gt COMMAND H0038 SEND PULSE SET COMMAND DATA2 PORT DRIVE DATA2 PORT D31 D16 WRITE DRIVE DATA3 PORT D15 D0 a 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 ar
270. 144 NENSA NT RZES SE EE EE TE ES 144 OMENSA NT CE RR 145 HENSA NALREA SR Sheep 146 AMENSAINIT AEE CN 147 NNSA NT ES RR 147 a me 148 LEOMR RR SE 148 NEN RE ARR RR RR RR 148 NENSASET DATA READ 3 SR ER RR RR RAR ENE 148 A NNN R EIR 149 CMARD CONFIGURATIONS SR 8 RSBPSBSSSDSSEE2EC SF 149 CROUT ST RSA TR 149 8 MCCOE TT GE HO 150 CNGCCOE A DVE RS 150 NCC EAD RN SR 153 OF NCCOE RE CUNTER SE ESE SE SE EE ST 154 MGG06 GOUNTE SEE EE 154 2 HARDIGONRIGURAIIGNBK2 RNNSSNNSSEINSSOSRPRINENGGNNNd dd 154 NNER RN 154 EN XR SR DHP36033 SSRE33S3353SBG 154 OMENSK GL RE 154 1 IO PORT 1 1 MCC06 PORT DRIVE COMMAND PORT PORT STATUS1 PORT Y 18 COUNTER_ COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT HE COUNTER_DATAS PORT DRIVE COMMAND PORT STATUS5 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATAS3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATAS3 PORT DRIVE COMMAND _ PORT STATUS5 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT
271. 2 STATUS1 PORT STBY 0 STBY STBY 1 STBY 0 TYPE1 STBY PAUSE 0 STBY 0 0 0 1 0 1 0 ON 1 0 1 0 0 1 0 1 1 1 0 1 1 1 D15 D3 0 0 107 2 PAUSE SET SPEC HARD CONFIGURATION4 PAUSE PAUSE ON HARD CONFIGURATION PORT PAUSE ON lt gt COMMAND H0010 PAUSE SET SPEC COMMAND SN HARD CONFIG DATA1 PORT Ri HARD CONFIG DATA2 PORT COMMAND PORT WRITE HARD CONFIG COMMAND PORT COMMAND HARD CONFIG DATA1 PORT 0 0 0 0 0 0
272. 3 D13 D12 D4 D3 D2 D1 po 1 X AS8 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 pg ps pr De ps D4 ps D2 pt DO A7 1 X gt AO A23 2 X gt A16 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 pg D8 D7 pe D5 D4 D3 D2 D1 po A15 lt 2 X gt AO O 0 58 3 16 R2 1 SLOW STOP STATUS1 PORT STBY 1 DRIVE 1 lt gt COMMAND H FOOE SLOW STOP COMMAND COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND STATUS1 PORT EXT PULSE 1
273. 3 PORT RE DRIVE DATA3 PORT COMMAND PORT IE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 0 0 0 0 0 0 0 0 COMP3 COMP3 COMP3 COMP3 COMP2 COMP2 COMP2 COMP2 TYPE1 TYPE0 2 TYPE1 TYPE0 MM 0 ENABLE ENABLE ENABLE ENABLE D0 COMP2 INT ENABLE COMP2 DFLINT 0 COMP2 DFLINT 1 COMP2 DFLINT D1 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D2 COMP2 TYPE0 D3 COMP2 TYPE1 COMP2 COMP2 COMPARE REGISTER2 gt COMPARE REGISTER2 COMPARE REGISTER2 IO D4 COMP3 INT ENABLE COMP3 DFLINT
274. 5 lt gt DEND ERROR H xx80 EXT PULSE 1 70 4 SET DATA READ lt gt COMMAND H 0089 SET DATA READ COMMAND N STATUS1 PORT SS SS STATUS1 PORT BUSY 0 Y es 4 o RB DRIVE DATA1 PORT No No WRITE DATA3 PORT DRIVE DATA3 PORT COMMAND CODE WRITE a 0 DRIVE COMMAND PORT COMMAND H 0089 SNS STATUS1 PORT BUSY 0 BUSY 0 lt DATA READ PORT SELECT H F041 gt COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND H F041 DATA1 PORT DRIVE DATA1 PORT COMMAND CODE DATA1 PORT READ
275. 6 X DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D Ds D4 D3 D2 D1 Do A15 X A0 0 0 51 3 15 2 X S X 0 0 X Y X Y CW CCW X Y X Y
276. A PORT SELECT DRIVE DATA1 2 3 PORT READ PORT DFL LATCH DATA PORT SELECT COMMAND 4 SPEED LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND HF04F SPEED LATCH DATA PORT SELECT COMMAND lt gt MD DRIVE COMMAND PORT COMMAND a 0 DRIVE DATA1 PORT D15 D0 SE DRIVE DATA2 PORT D31 D16 ZN DRIVE DATA3 PORT D15 DO PORT PORT DRIVE DATA1 PORT D12 D11ID10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DOl D15 DO H0000 DRIVE DATA2 PORT D15 D14 D13 p
277. AN1 SENSOR INDEX1 SENSOR INDEX1 SENSOR INDEX2 SENSOR INDEX2 SENSOR INDEX3 SENSOR INDEX3 SRATE SENSOR SCAN1 CCW S SENSOR SCAN1 SRATE SENSOR INDEX1 S SENSOR INDEX1 SRATE SENSOR INDEX2 S SENSOR INDEX2 SRATE SENSOR INDEX3 S SENSOR INDEX3 AUTO CHANGE DRIVE SET AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE 00BB AUTO CHANGE ABS INDEX ABS INDEX AUTO CHANGE 0100 CENTER POSITION SET 2 PASS POSITOIN SET 2 CP SPEC SET ABS STRAIGHT CP 2 S 2
278. CONFIGURATION2 A SIGNAL OUTA HARD CONFIGURATION3 A SIGNAL OUTB HARD CONFIG DATA3 PORT AND SIGNAL OUTA SIGNAL OUTB SIGNAL OUT1 SIGNAL OUTA SIGNAL OUT2 SIGNAL OUTB SIGNAL OUT3 SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB 103 2 HARD CONFIGURATION2 SIGNAL OUT3 0 gt COMMAND H 0002 HARD CONFIGURATION2 COMMAND DATA2 PORT WRITE HARD CONFIG DATA2 PORT OR HARDCONFIG COMMAND PORT COMMAND WRITE HARD CONFIG DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 SIGNAL SIGNAL SIGNAL SIGNAL 0 0 OUT3 OUT3 0 0 OUT2 OUT2 TYPE1 TYPE0 TYPE1 TYPE0 SIGNAL SIGNAL SIGNAL SIGNAL 0 0 OUT1 OUT1 0 0 OUTO OUT0 TYPE1 TYPE0 TYPE1 TYPE0 D1 D0
279. CW S INC SRATE INDEX S ABS SRATE INDEX S 150 ORIGIN SPEC SET ORIGIN ORIGIN CSPD SET CONSTANT SCAN ORIGIN DELAY SET MARGIN ORIGIN OFFSET PULSE SET OFFSET 0064 ORIGIN CSCAN ERROR PULSE SET CONSTANT SCAN 0065 ORIGIN JOG ERROR PULSE SET JOG 0068 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET 0070 ORIGIN ORIGIN 0071 SRATE ORIGIN S ORIGIN 0074 PRESET ORIGIN PRESET ORIGIN 0080 STBY SPEC SET STBY 0082 SERVO SPEC SET DRST DEND DALM 0083 DEND TIME SET DEND CW SENSOR SCAN1 SENSOR SCAN1 CCW SENSOR SC
280. D5 D4 D3 D2 D1 DO D15 DO H 0000 0000 PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 4 4 294 967 294 HI0000_ 0004 HFFFF_FFFE H 0000 0000 HFFFF_FFFF 90 4 12
281. DOWN POINT SET SPEC INITIALIZE1 SPEC INITIALIZE3 CP SPEC SET SLSPD SHSPD SELSPD SRATE SCAREA12 SCAREA34 S SRATE DOWN POINT SET 118 7 4 1 1 HARD INITIALIZE6 XEA XEB X HARD INITIALIZE6 YEA YEB Y HARD INITIALIZE6 lt gt COMMAND H F006 HARD INITIALIZE6 COMMAND DATA3 PORT DRIVE DATA3 PORT ME 0 65 535 H 0000 HFFFF R2 DO COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2
282. ET END PULSE 0019 ESPD SET END PULSE 001A ESPD DELAY SET END PULSE CW 1 CCW 1 CW CCW SLSPD SET S SHSPD SET S SELSPD SET S S SCAREA34 SET S 34 SEND PULSE SET S END PULSE SESPD SET S END PULSE SESPD DELAY SET 8 END PULSE S S SRATE SCAN CW S SRATE SCAN C
283. HARD INITIALIZE6 F007 HARD INITIALIZE7 F00C SIGNALOUT _ FO0D SS 0 4 0 FOOF FAST STOP 0 On 1 F010 F011 ADDRESS COUNTER INITIALIZE2 2 F012 ADDRESS COUNTER INITIALIZE3 3 F014 F015 2 F016 PULSE COUNTER INITIALIZE3 3 F018 DFL COUNTER INITIALIZE1 1 F019 DFL COUNTER INITIALIZE2 2 F01A F01C SPEED COUNTER INITIALIZE1 1 F01D SPEED COUNTER INITIALIZE2 2 F01E SPEED COUNTER INITIALIZE3 3 F020 INTA INT2 0 F030 UDC SPEC SET UP DOWN CONST CHANGE
284. IOSH 70 4 SET DATA READ oniononesosot nada aera s 71 72 1 ADDRESS COUNTER INITIALIZET a SE eft tod isd de dict ded RGGI 72 2 ADDRESS COUNTER INITIAEIZE2 3 RDS Rd 74 3 ADDRESS COUNTER NACE ARA RASA RRA SAR 75 8 8866 iBT REHEARING 76 1 PULSE COUNTER INITIALIZE1 76 2 Ua COMNIERINIIANIZ 002R eaNaNRN SNS seaNssResSos saseSosas 78 3 PULSE COUNTER INITIALIZES Foios iene er edn aie 79 49 80 1 DFL GOUNTER INITIALIZET 3 SE ed Td Sd ddd dud Td ded Tad aad adda 80 DEL GOUNTER INITIALIZES RR Tt 82 3 BEE OUNTERIINIIIAEZES REN 83 4 10 84 1 SPEED COUNTER INITIALIZE1 84 2 SREEBDNGOUNII INIEIAEIZ 3 R ARANDA 86 3 SPEEDXGOUNIERIINIEIALIZES 262202er622020er2 30cHO2 20cH2 09H90 20 87 PAGE 4
285. JOG CW 1 lt gt COMMAND H 0020 JOG COMMAND N STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT COMMAND 2 JOG CCW 1 lt gt COMMAND H 0021 JOG COMMAND u s SGS gt STATUS1 PORT BUSY 0 BUSY 0 Y COMMAND PORT WRITE STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 3 SCAN CW lt gt COMMAND H0022 SCAN COMMAND N STATUS1 PORT ES BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 4 SCAN CCW
286. LSE PULSE PULSE ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH 0 LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 D2 D0 ADDRESS LATCH TYPE2 0 0 0 0 ADDRESS LATCH DATA PORT SELECT 0 0 1 CNTINT 1 0 1 0 DFLINT 1 URI lsS lo SPDINT 1 1 0 0 SS0 1 0 1 SS1 1 1 0 1 1 1 SS0 SS1 SPEC INITIALIZE2 SENSOR SSO SS1 D3 0 0 91 D6 D4 PULSE LATCH TYPE2 0 Type2 TYPE1 T
287. ND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 Ds D7 De D5 p4 ps D2 pt L po D7 URATE No DO D7 DRATE No gt DO URATE DRATE RATE TYPE RATE RATE DATA TABLE No URATE DRATE RATE No RATE TYPE RATE RATE RATE CHANGE 127 7 9 INDEX CHANGE 1 INDEX CHANGE SPEC SET INDEX CHANGE lt gt COMMAND HF033 INDEX CHANGE SPEC SET COMMAND DATA3 PORT WRITE DRIVE DATA3 PORT MMS STATUS1 PORT INDEX CBUSY 0 INDEX CBUSY 0 Y 9 DRIVE COMMAND PORT COMMAND DRIVE DATA3 PORT D15 D14 D13 D12 D11 D1
288. No gt DO H00 H7F H 00 DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 L po D31 gt D16 DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 po D15 DO H 00 H7F H0000_0000 D7 DO No 1 ms 1 1
289. OMMAND 0 0 0 0 0 0 0 0 D7 ORIGIN gt DO ORIGIN 40 3 12 2 X S X X Y X Y X Y 2 X X 0
290. OMP2 TYPE1 TYPE0 2 0 TYPE1 TYPE0 MM 0 ENABLE ENABLE ENABLE ENABLE DO0 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 TYPE1 TYPE0 COMP2 COMPARE REGISTER2 COMPARE REGISTER2 COMPARE REGISTER2 SPEED COUNTER INITIALIZE3 COMP2 TYPE2 D4 COMP3 INT ENABLE COMP3 SPDINT 0 COMP3 SPDINT 1 COMP3 SPDINT D5 COMP3 STOP ENABLE COMP3
291. ORIGIN R2 ORIGIN ORIGIN 0 5 10 11 12 H 00 H 05 HOA HOB HOC 9 1 ORIGIN ORIGIN ORIGIN COMMAND 2 SRATE ORIGIN S ORIGIN SRATE ORIGIN COMMAND lt ORIGIN gt DATA3 PORT WRITE STATUS1 PORT BUSY 0 Y COMMAND PORT WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D D5 D4 D3 D2 1D1 DO DRIVE DATA3 PORT D15 D8 0 D7 DO0 ORIGIN STATUS1 PORT BUSY 0 DRIVE COMMAND PORT COMMAND 0 0 0 0 0 0 0 0 D7 ORIGIN gt DO ORIGIN
292. P STOP TYPE P2 COUNT TYPE0 COMP GATE TYPE1 COMP GATE TYPE0 D1 DO COUNT PULSE SEL1 COUNT PULSE SELO DO COUNT PULSE SEL0 D1 COUNT PULSE SEL1 X SEL1 SELO 0 0 X 0 Y 1 0 XEA XEB 1 YEA Y EB Y SEL SELO Y X XEA XEB YEA YEB X Y D2 COUNT TYPE0 D3 COUNT TYPE1 XEA XEB YEA YEB
293. P YPAUSE XSS1 XSS0 XSLSTOP XPAUSE SIGNAL IN3 0 SENSOR0 Z MCC06 SS0 SENSOR1 A MCC06 SS0 HARD CONFIG DATA1 PORT D2 D0 SIGNAL IN TYPE2 0 SEL2 SEL1 SELO 0 0 0 SIGNAL INO 0 0 SIGNAL IN1 0 1 0 SIGNAL IN2 0 1 1 SIGNAL IN3 1 0 0 SENSOR0 1 0 1 SENSOR1 1 1 0 1 1 1 D3 D15 0 0 HARD CONFIG DATA2 PORT D15 D0 DATA1 DATA2 0 1 106 6 2
294. PORT COMMAND DRIVE DATA3 PORT D13 1 RESOL RESOL D1 DO tsE OUTPUT OUTPUT TYPE1 TYPE0 D6 D4 RATE TYPE2 0 L1 TYPE RATE TYPE RATE TYPE2 0 110 D15 D8 RESOL D7 D0 RESOL 1 RESOLUTION RATE TYPE RESOLUTION 1 255 H01 HFF 0 1 114 2 RATE DATA SET SPEC INITIALIZE1 RATE TYPE URATE DATA DRATE DATA COMMAND H 001E RATE DATA SET COMMAND DRIVE DATA2 PORT URATE RATE DATA lt gt DATA2 PORT WRITE DATA3 PORT WRITE N 4 S gt DRIVE DATA3 PORT DRATE RATE DATA
295. RG 0 0 DETECT DETECT DETECT DETECT TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 LIMIT END ENABLE AUTO DRST ENABLE D5 ERROR PULSE ENABLE D4 ORIGIN FLG ENABLE D3 SENSOR ERROR TYPE1 D2 SENSOR ERROR TYPE0 JOG SENSOR TYPE ORIGIN START DIRECTION DO ORIGIN START DIRECTION ORIGIN 0 CCW 1 CW D1 JOG SENSOR TYPE JOG 0 1 92 D2 D3 D4 D5 SENSOR ERROR TYPE0 R2 SENSOR ERROR TYPE1 CONSTANT SCAN DELAY TIME 0 STATUS1 PORT ERROR 1
296. RVO SPEC DRST DALM DEND HENSA HENSA INITIALIZE A MCC06 SPEC INITIALIZE1 RATE MCC06 SPEC INITIALIZE2 MCC06 SS0 SS1 RDYINT MCC06 HARD INITIALIZE1 MCC06 SIGNAL OUTA B OUT3 RDYINT HARD CONFIG HARD CONFIGRATION TC COUNTER INITIALIZE1 INT COMP1 COUNTER INITIALIZE2 COMP2 COMP3 COUNTER INITIALIZE3
297. SIGNAL OUT0 TYPE1 0 SIGNAL QUTO ITPEt YEol SIGNALOUTO D3 D2 0 0 D5 D4 SIGNAL OUT1 TYPE1 0 SIGNAL OUT1 SIGNAL OUT1 0 0 0 1 1 0 1 1 D7 D6 0 0 D9 D8 SIGNAL OUT2 TYPE1 0 SIGNAL OUT2 TYPE1 TYPEO SIGNAL OUT2 0 0 0 1
298. STER1 SET COMMAND 2 SPEED COUNTER COMPARE REGISTER2 SET COMPARE REGISTER2 coMMANp H 0032 SPEED COUNTER COMPARE REGISTER2 SET COMMAND 3 SPEED COUNTER COMPARE REGISTER3 SET COMPARE REGISTER3 coMMANp H 0033 SPEED COUNTER COMPARE REGISTER3 SET COMMAND lt gt i COUNTER DATA2 PORT D31 D16 i RI COUNTER DATA3 PORT D15 D0 4 4 294 967 294 H 0000_ 0004 HFFFF_FFFE COMMAND PORT COUNTER COMMAND PORT COMMAND WRITE COUNTER DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 Dpelpslp4 pslp2lp1lpol D31 lt gt D16 COUNTER DATA3 PORT D14 D13 D12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 DO HFFFF FFFF V F D V
299. T READ PORT F04E DFL LATCH DATA PORT SELECT READ PORT SPEED LATCH DATA PORT SELECT READ PORT a _ _0 _ O O O O 93 _0 _ 153 3 MCC06 COUNTER COMMAND R1 0000 ADDRESS COUNTER PRESET O ADDRESS COUNTER MAX COUNT SET 0 4 MCC06 COUNTER COMMAND HEX CODE 1 ADDRESS COUNTER COMPARE REGISTER2 SET 2 0003 ADDRESS COUNTER COMPARE REGISTER3 SET 3 0010 PULSE COUNTERPRESET 1 2 001A PULSE COUNTER MAX COUNT SET 0020 DFL COUNTER PRESET
300. T D15 D0 ee PORT PORT D23 gt D16 DRIVE DATA3 PORT D15 D14 D13 p12 D11 D10 pg ps p7 pe D5 D4 D3 D2 D1 DO D15 lt gt DO 1 Hz PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT X STATUS1 PORT DRIVE 0 STATUS1 PORT EXT PULSE 1
301. T X 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 Y STATUS1 PORT BUSY 0 X STATUS1 PORT BUSY 0 X DRIVE COMMAND PORT COMMAND Y DRIVE DATA2 PORT D15 A31 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO Y ES Y DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 1D3 D21D1 DO A15 lt Y gt AO 0000 0000 X DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De p5 D4 p3 p2lp1lpo A31 lt X ND X DRIVE DATA3 PORT D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 pOl D15 A15 D14 X A0
302. T SELECT COMMAND 3 DFL COUNTER PORT SELECT DRIVE DATA1 2 3 PORT READ PORT COMMAND H F04A DFL COUNTER PORT SELECT COMMAND COMMAND PORT IE DRIVE COMMAND PORT COMMAND DATA2 PORT 8 DRIVE DATA2 PORT D31 D16 DATA3 PORT NR DRIVE DATA3 PORT D15 D0 Me PORT PORT DRIVE DATA2 PORT D15 D14 D13 p12 D11 D10 D9 Ds D7 pe D5 D4 ps D2 Dt Do D31 gt D16 DRIVE DATA3 PORT D15 H0000 0000 DO PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT
303. TE DATA WRITE i i 200 65 535 H 0080 H FFFF N STATUS1 PORT Ne SS STATUS1 PORT BUSY 0 Y HE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 De D5 D4 D3 D2 D1 DO D15 SURATE DATA DO 186A H 0753 lt JP1 gt DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D2 D8 D7 D6 D5 D4 D3 lt SDRATE DATA D15 H 186A H 0753 lt JP1 gt 200 200 S SCAREA1 4 SURATE SDRATE 8 RATE RATE RATE DATA 65 535 115 7 3
304. UT2 OUT2 SEL2 SEL 1 SELO0 SEL2 SEL 1 SELO D7 D6 D5 D4 D3 D2 D1 DO SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL 0 OUT1 OUT1 OUT1 0 OUT0 OUT0 OUT0 SEL2 SEL 1 SEL0 SEL2 SEL 1 SELO HARD CONFIG DATA3 PORT SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL 0 OUT3 OUT3 OUT3 0 OUT2 OUT2 OUT2 SEL2 SEL 1 SELO SEL2 SEL1 SELO D7 D6 D5 D4 D3 D2 D1 DO SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL SIGNAL 0 OUT1 OUT1 OUT1 0 OUT0 OUT0 OUT0 SEL2 SEL 1 SEL0 SEL2 SEL 1 SELO HARD CONFIG DATA2 PORT HARD CONFIG DATA3 PORT DATA2 DATA3 2 AND DATA2 DATA3 DATA2 DATA3 AND D2 D0 SIGNAL OUT0 SEL2 0 MCC06 SIGNAL OUTA SIGNAL OUTB SIGNAL OUT0 SEL2 SEL1 SELO SIGNALOUTO 0 0 0 X SIGNAL OUTA
305. YPEO 7 0 0 0 PULSE LATCH DATA PORT SELECT 0 0 CNTINT 1 0 1 0 DFLINT 1 IO 0 8 a SPDINT 1 1 0 0 SS0 1 0 1 SS1 1 1 0 1 1 1 SS0 SS1 SPEC INITIALIZE2 SENSOR SSO SS1 D7 PULSE CLR ENABLE 0 1 D10 D8 DFL LATCH TYPE2 0 TYPE2 TYPE1 TYPE0 0 0 0 DFL LATCH DATA PORT SELECT 0 0 1 CNTINT 1 0 1 0
306. mm 89 0 ABBRESSiGOUNTERBORT S EC NR i sd NNN St nt 89 2 PUESE GOUNTER PORT SELECT SF san 89 JBL COUNTER PORT SELECT TR RD DSDNA 89 4 SPEED COUNTER PORT SEEECT ST SR RRR SC SSS 90 4 12 91 COUNTER EATEM SPEG SET CE RR RR 91 413 93 1 ADDRESS LATCH DATA PORT SELECT 93 2 PULSE LATCH DATA PORT SELECT 3 oe i raat 93 BRE LRTCD DATA PORT SELECT 2 Re Radha hn aisle ibn Sah ln hs 93 ASPEED CATON DATA PORT SEEECT SR CII 93 COUNTER NNN mn 94 1 ADDRESS COUNTER PRESET 3 SR iad RS Ee 94 2 ADDRESS COUNTER COMPARE REGISTER1 SET 94 3 ADDRESS COUNTER COMPARE REGISTER2 SET 94 4 ADDRESS COUNTER COMPARE REGISTER3 SET 94 5 ADDRESS COUNTER MAX COUNT SET 95 5 2
307. p7 pe D5 D4 D3 D2 D1 po D15 lt DO AUTO CHANGE DRIVE SET 7 AUTO CHANGE ABS INDEX ABS INDEX AUTO CHANGE lt gt COMMAND H 00BB AUTO CHANGE ABS INDEX COMMAND DATA2 PORT DRIVE DATA2 PORT A31 A16 ASS DRIVE DATA3 PORT A15 A0 DATA3 PORT WRITE 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 2 N a STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND
308. u 1 0 A B 4 1 1 A B MAA D2 FIRST PULSE TYPE0 D3 FIRST PULSE TYPE1 1 TYPE1 TYPE0 1 100 ps 20 ps 2ps LSPD 0 D4 RATE TYPE0 D5 RATE TYPE1 D6 RATE TYPE2 RATE TYPE1 TYPE0 RATE TYPE RATE ms kHz Hz L1 TYPE L2 TYPE M1 TYPE M2 TYPE 51 H1 TYPE 20 H2 TYPE 5 1 1 048 56 50 12 750 L1 TYPE RATE SET S
309. z 1Hz 0 1 Hz 5M 5 MHz 3 SESPD DELAY SET S END PULSE DELAY TIME lt gt COMMAND H 003A SESPD DELAY SET COMMAND DATA3 PORT DRIVE DATA3 PORT SESPD DELAY TIME NE 0 65 535 H 0000 HFFFF SN rs SESPD DELAY TIME x20ps 0 1 310 7 ms BUSY 0 STATUS1 PORT BUSY 0 Y COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA3 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 Do SESPD DELAY TIME H0000 SESPD DELAY TIME S END PULSE SESPD DELAY TIME END PULSE DELAY TIME END PULSE

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