Home

MPL-34-02V2.00/AL2W32 MPL-35

Contents

1.
2.
3.
4. CPPIN
5. RSPD MCCO9 RSPD JOG JSPD RSPD x RESOL JSPD 1 F
6. 1 1 e AL I yo AL II 20Mbps 50m 10Mbps 100m Windows PCI C VX870 USB 9 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 Windows AL II PCI PCI Express AL II
7. X Y e OFF e CPPIN CPPIN STBY 1 CPPIN STBY 0 DRIVE 1 OFF OFF OFF OFF CPP STOP CPPIN CPPIN CPPOUT CPP STOP CPPIN CPPIN CPPOUT OFF 100 us OFF CPP STOP CPPOUT
8. e 1 414 CPP STOP ENABLE CPP STOP e CPP STOP CPP STOP CPPIN CPPIN CPP STOP ERROR STATUS CPP STOP ERROR 1 CPP STOP CPP STOP
9. CPPIN 86 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U U D Mccoon n np
10. AL i 3 MCM MCM MCM MCM MCM MCM MCM MCM 1 MCM INO IN1 MCM INO XDRIVE YDRIVE INo 0 0 D D INO IN1 MCM INO IN1 GPIOS3 SS1 1 GPIOS SS1
11. AL i 0 0 0 0 4 3 MCM I 4 3 1 0 0 MCM Motion Control Macro MCCO09 MCM e 1 INDEX SOUTO UD Y e e x soo L U X MCM SOUTO OS 9 2 SOUTO Y x SOUTO X MCM SIGNAL OUT SOUTO ON OFF
12. e ms SUL SUAREAQ Os TU T2 T8 TU ms UCYCLE 0 5 10 3 HSPD LSPD 1 SUH SUL TU ms ms T1 UCYCLE 0 5 10 3 SUL 2 ms T2 UCYCLE 0 5 10 3 HSPD LSPD 1 SUH SUL ms UCYCLE 0 5 10 3 SUH 2 HSPD LSPD gt SUH SUL ms SDL SDAREA Os TD 4 T5 T6 TD DCYCLE 0 5 10 3 HSPD EL
13. DO CPPOUT SEL0 D1 CPPOUT SEL1 D2 CPPOUT SEL2 CPPOUT SEL2 SEL1 SELO 0 0 0 0 0 1 0 1 0 2 0 000000 ces 1 0 0 080 00000000 2 1 0 1 3 1 1 0 E 1 1 1
14. e 0001 SPEC INITIALIZES3 SCAREA MODE SPEC INITIALIZES SCAREA MODE 0 DRIVE DATA1 PORT 015 INDEX MCCO9 9 SPEC INITIALIZES SCAREA MODE 1 DRIVE 2 PORT 023 INDEX INDEX INDEX 4 1 3 78
15. 4 3 5 MCM MCM 1 UNIT MCM START RAM STATUS1 MBUSY 0 MCM START RAM UNIT MCM START STATUS1 MBUSY 1 STATUS1 MRUN 0 gt 1 STATUS2 MRBUSY 0 gt 1 40 RAM RAM STATUS2 MRSTBY 1 RAM RAM RAM RAM gt H 01 H 3F COMREG FL 0 BUSY 1 SPEED CHANGE H C1 H C8 SPEED FL 0 INDEX CHANGE H C3 H CC H CD H CE INDEX FL 0 ADRINT COMPARE REGISTER1 SET H 88 STATUSA4 PORT ADRINT 0
16. DRIVE COMMAND MCO07 IWDrive DRIVE DATA MCO07 IWData DRIVE DATA 32 MC07 LWData DRIVE DATA1 PORT MC07 BWDriveData1 DRIVE DATA2 PORT MC07 BWbDriveData2 DRIVE COMMAND 32 7 LWbDrive DRIVE DATA MCO07 IRDrive DRIVE DATA 32 MCO07 LRDrive DRIVE DATA1 PORT MCO07 BRbDriveDatal1 DRIVE DATA2 PORT MCO07 BRbDriveData2 DRIVE COMMAND 32 MC07 LWRDrive DRIVE COMMAND PORT MC07 BWRDrive 1 1 MCC09 MPL 34 02v2 00 A
17. CPPIN CGOMMANDH39 SUB CIRCULAR CP COMMAND DRIVE STATUS PORT ERROR 0 N STATUSI PORT DRIVE STATUS1 PORT BUSY 0 BUSY 0 Y MC07_BRStatus1 0 PORT DRIVE DATA1 PORT WRITE DRIVE COMMAND COMMAND WRITE MC07 LWDrive DATA2 PORT 0 H 0000 1 0000 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 DO T _ PULSE _ CPP MASK _ DRIVE SEL ENABLE MODE DO DRIVE MODE 0 SCAN 1 INDEX D2 CPP MASK ENABLE CPPIN 0 1 0 CPPIN D4 PULSE SEL 0 1 YCP
18. ORG TYPE1 TYPEO 0 0 100000 BUDE MESES Lel222l2zss2222 222 ENDD D HL U D LU UU 1 o DRIVE 100000000 000000000000 cd s t 2 q rA 1 1 1 00000000 01 10 11 STATUS2 PORT ORGEND 1 D7 AUTO DRST ENABLE SPEC 2 DRST TYPE 4 3 ORG ORGEND 1 DRST 0 DRST 1 DRST 10 ms D15 D8 ORG DIVISION D7 DO ORG STOP TYPE ORG 07 H FF H FE H FD H O3 H
19. OUT1 1 GPIOS SS1 1 OUTI 1 GPIOS SS1 1 GPIOS SS1 0 MCM GPIO3 SS1 1 OUT1 0 OUT1 0 SS1 GPIO3 1 OUT1 0 SS1 GPIO3 0 GPIOS 1 MCM GPIOS SS1 0 551 OUTI adr 551 0 x D 551 0000 OUT1 551 0000 OUT1 SIGNAL OUT12 10808000 SPEC 0000000000000 JUMP STATUS3 PORTO 18 00000000 SIGNAL OUT gt 0 JUMP ENABLE 000000000 RAM SPEC SET 00000 EH 8801 5
20. SCAN INDEX e 0 0 X Y 1 2 5 6 X 0 3 4 7 Y munguununpnupnguunnuntrcewnnnn Pd 00000 0000 138 MPL
21. 5 COMMAND H22 LONG POSITION SET COMMAND y STATUS1 PORT N en onze 7 DRIVE STATUSI ERROR 0 Y LN DRIVE STATUS1 PORT BUSY o ES i gt MC07_BRStatus1 PORT DRIVE DATA1 PORT WRITE amp DRIVE DATA2 PORT DATA2 PORT WRITE 2 147 483 648 42 147 483 647 H 8000 0000 7 cw CCW 2 amp DRIVE COMMAND PORT COMMAND gt 07 LWDrive DRIVE DATA1 PORT DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D7 D6 D5 D4 D3 D1 DO lt
22. CPP MASK ENABLE CPPIN e CPPIN CPPIN ERROR 1 MCCO9 CPPIN OFF ERROR 1 100 us OFF CPPOUT SEL CPPOUT CPPIN CPPIN CPPOUT CPPIN CPPIN STATUS5 PORT CPP MASK 1 ERROR 0 CPP MASK 0 93 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np
23. MCCO9 550 MCCO9 550 SIGNAL1 SIGNAL2 IN0 24V I F IN1 24V SINO TTL SIN1 TTL SIN2 TTL SIN3 TTL SS0 SEL SIGNAL1 SIGNAL2 SS0 SIGNAL1 SS0 SIGNAL1 SIGNAL2 AND SS0 SIGNAL1 SIGNAL2 OR SS0 550 550 INO SSO IN1 Z 990 A SSO x INO 4 3 INT dye il SIGNAL1 SEL SIGNAL SIN1 e SIN2 SINS 1 MCC09 SS0 SEL sso SIGNAL2 SIGNAL2 SEL no 35 IO UNIT MCM SPEC2 SET MCM SPEC2 SS0 SPEC INITIALIZE2 SS0 SS0 SPEC INITIALIZE2 SS0 MCM SPEC2 MCCO9 SS0 GPIO2 SSO PAUSE STBY SPEED RATE CHANGE INDEX CHANGE RAM JUMP RAM NO OPERATION
24. DU tu Tr a PAARE a 0000000000 3A NCG PORT HI TEE Aen 9 2 2 EODEM oO nM RUN ON 10 2 2 1 MCC PORT LU LLL LU LU LLL Lou ee 10 DRIVE 2 eiaeaen 18 DRIVE DATA1 PORTA DAORA 14 DRIVE 2 PORTA 15 DRIVE 20 EIU PPM 15 16 DRIVE s DRIVE de DRIVE 18 Dm E DER s 20 21
25. MCC09 MCM 1 MCM 1 MCM e 1L MCM 3 2 SOUTO XDRIVE SOUTO XDRIVE 0 0 00 MCM MCM MCM e 1r rl MCM SPEC1 SET 0 000000 MCM 1 104 X Y 0000000 _ _ XDRIVE XONTINT 0000000 m Pe OC YDRIVE L XCNTINT 1 0 0 XCNTINT 1 0 0 0 XCNTINT 1 0 0 0 165 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELHI
26. 5 MHz 1LSB 8 388 608 0 8 388 6070 24 2 147 483 647 2 147 483 647 32 H 38 MAIN CIRCULAR CP 39 SUB CIRCULAR CP SPEC CPPOUT CPPIN CIRCULAR XPOSITION X CIRCULAR YPOSITION Y CIRCULAR PULSE CP SPEC CPPOUT CPPIN CIRCULAR XPOSITION X CIRCULAR YPOSITION Y CIRCULAR PULSE v unun 0000 137 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
27. INDEX CHANGE INDEX CHANGE SPEC SET INDEX CHANGE RFSPD INC INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE ABS INDEX CHANGE PLS INDEX CHANGE PLS INDEX CHANGE INDEX CHANGE STATUS5 PORT INDEX EP INDEX FL INDEX FL 0 INDEX CHANGE INDEX CHANGE SPEC SET INDEX FL 0 INDEX CHANGE INDEX CHANGE INDEX FL 1 INDEX EP 0 DRIVE 1 INDEX CHANGE INDEX FL O INDEX EP 1 INDEX CHANGE INC INDEX CHANGE INC INDEX ABS INDEX CHANGE ABS INDEX PLS INDEX CHANGE INC INDEX PLS INDEX CHANGE INC INDEX PLS INDEX CHANGE INC INDEX CHANGE PLS INDEX CHANGE INC INDEX INDEX CHANGE H 12 3 P 5 H 13 SCAN P 00 14 000000 INDEX UD D DD D H 15 ABS INDEX P 000000 1 DRIVE 1
28. MCM STATUS1 MERR 0 0 MBUSY 0 UNIT START UNIT MCM WRITE UNIT MCM READ STATUS D D STATUSTIIHODD DH DH STATUS1 10 0000 00000000 000 MERR 0 No Yes STATUS 1 100 00 0 MBUSY 0O 000000 No 000 MBUSY 0 Yes MERR 1 MBUSY 1 MERR 0 MBUSY 0 MCM STATUS1 MERR 0 0 MBUSY 0 UNIT MCM FSSTOP UNIT MCM SLSTOP UNIT MCM ERROR CLR 000 156 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
29. SEL3 SEL2 SEL1 SELO SIGNA 1 280 000000 0 0 0 0 INJ J 0 0 1 INDO 0 0 1 o 0 0 1 1 0 1 0 S 0 1 0 1 SIND 0 1 1 0 3000 0 1 1 1 SN 1 SI GNAL1 SIGNAL2 10 8 550 SEL 550 5812 SEL1 SELO 55800 d d 0000 0 0 0 5 0 0 1 0 1 0 5 1 5 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 x INO e gt INL scu sg 9915 SINL SN gt SI NB gt 550 SEL H gt 550 ganz 5 992 y gt psResul t RESU TI FALSI
30. PAGE 8 1 9 RR 108 1 RAM SPEC SET 108 2 RAM READ JUMP 110 3 RAM STOP 111 8 1 10 emm 112 1 RSPD DATA READ 112 3 2 03 556 113 3 2 1 00000000000 113 1 ADDRESS COUNTER MAX COUNT SET 113 3 2 2 114 1 PULSE COUNTER MAX COUNT SET 114 3 2 3 J 115 1 COUNT
31. Sanar s 000000 OUT2 0 2 OUT2 0000 OPERATIOND 0000000000000000 O OUT2 e OUT RDYINT RDYINT DRIVE T STATUS1 DRIVE UP STATUS1 UP DOWN 0 STATUS1 DOWN CONST STATUS1 CONST e MCM MCM MCM HARD INITIALIZE1 OUT 0 OUT OUT2 SPEC INITIALIZE3 STBY TYPE SPEED CHANGE SPEC SET SPEED CHANGE TYPE INDEX CHANGE SPEC SET INDEX CHANGE TYPE DFL COUNTER INITIALIZE1 COUNT START TYPE COUNT LATCH SPEC SET LATCH TYPE RAM SPEC SET NOP TYPE 167 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII Mccoonn np
32. INDEX MCC09 5 COMMAND HOA DOWN PULSE ADJUST COMMAND I STATUS1 PORT N en 25 DRIVE STATUS1 PORTO ERROR 0 EN DRIVE STATUS1 PORT BUSY o cw gt MC07_BRStatus1 DATA1 PORT DRIVE DATA1 PORT D15 DO WRITE amp DRIVE DATA2 PORT D23 D16 DATA PORT SCAREA MODE 0 D15 DO WRITE 32 768 32 7670 H 8000 H7FFF 2 SCAREA MODE 1 D23 DO 16 777 215 H 00 00000 FFFF em amp DRIVE COMMAND PORT COMMAND gt 07 LWDrive 0 DRIVE DATA1 PORT DRIVE DATA2 PORT 015 D14 D13 D12 D11 010 D9
33. hLhi t Axi sSel 4 M07 SEL XYZN 2 M07 SEL X psthi t Mnt at us UN T MM STATUS MM STATI MM ERES MMSTATU2 MMI 0 OO 00 0 B _DDDDDUDUDDDDDDDU 1 PORT D D 1 0 PCRID 1 0 P O D 1 0 P D DU D 5 014 D13 D12 Dil DLO 0 0 MERR MBUSY MERR MRUN 07 6 Di DL 0 0 MERR MERR MRUN X MBUSY 4 Y DB Z MBUSY 2 0 D12 MBUSY 2 0 1 0 58 MPL 34 02v2 00 AL2W
34. p e SCAREA SET SUAREA 0 SHAREA SET SUH 0 SPEC INITIALIZES SCAREA MODE 0 SUH UCYCLE e SCAREA SET SDAREA 0 SHAREA SET SDH 0 SPEC INITIALIZES SCAREA MODE 0 SDH DCYCLE 00 Phiphidi HSPD 0000000 000000 LSPD EDU ELSPD FsPD 00000 000000000 L utqa SPEC INITIALIZE3 SCAREA MODE
35. LSPD ELSPD 1000000 gt COMMAND 7 LOW SPEED SET COMMAND STATUS1 PORT N 25 9 DRIVE PORTO ERROR 0 Y DRIVE STATUS1 PORTO BUSY o E gt 07 BRStatust 1 PORT G DRIVE DATA1 PORT WRITE 32 7670 H 0001 7 400 25 0000 H O000 0 H 61A8 PORT amp DRIVE DATA2 PORT WRITE 32 7670 0000 0 7 DRIVE COMMAND PORTO COMMAND gt T D MC07 LWDrive 0 DRIVE DATA1 PORT e H o000 LESPD 1LI TIL TI LSPD 0 LSPD LSPD RSPD Hz LSPD x RESOL ELS
36. AL i LH D D 4 3 3 0 4 4 4000 x 4 2 4000 x 2 RAM 1 ROM RAM SSMAP 56 01vx xx
37. D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 GPIO2 GPIO2 GPIO2 GPIO2 1 i 1 4 TYPES TYPE2 TYPE1 TYPEO e H OOFF D3 DO 1 D7 D4 GPIO2 TYPE3 0 GPIO 2 TYPE2 TYPE1 TYPEO 0 0 0 0 ADRINT 4 0 0 0 1 ADRINT COMP2 STATUSA4 ADRINT COMP2 00000 0 0 1 0 ADRINT COMP3 STATUSA4 ADRINT COMP3 00000 29 1 9 iio 1___ XADRINT AND YADRINT YOO AND U 00 DU 0 1 0 0 XADRINT OR YADRINT 05500 060 0 1 0 1 DFLINT COMP1 STATUSA DFLINT COMP1 I 0000 0 1 1 0 DFLINT COMP2 STATUSA4 DFLINT COMP2 0000 0 1 1 1 DFLINT COMPS3 STATUSA4 DFLINT COMP3 HH D D 1 0 0 0 ERROR STATUS1 j ERROR HB 1 0 0 1 LSEND STATUS1 1 0 1 0 SSEND STATUS1 95 VR MON Tes zac FSEND STATUSTD FSENDD DD UD 1 1 0 0 SS0 STATUS5 SSO D L1 U Ll 1 1 0 1 DRVEND STATUS1 DRVEND I J B 1 1 1 0 0000
38. MCMHBHEB 00 00 x 2 4 ROM H FFFF FFFF FF RAM H FFFF FFFF FF 1 SPECO SET RAM MCM uud UNIT SPEC1 SET UNIT SPEC2 00 0000000000000 000 _ UNIT SPEC3 SETO UNIT SHEET UNIT MCM START UNIT FSSTOP UNIT SLSTOP 0 UNIT STATUS READ D INFO READ UNIT ERROR STATUS UNIT ERROR CLR _ UNIT MCM SPECO SETO
39. CPSPECSET CPPOUT CPPIN 0000 HUB 000000 9 DDDDDDD 2 000 XPOSITION SET X ut 000 YPOSITION SET Y ut 000 CIRCULAR PULSE 000 6 000000
40. 1 FSPD 1 2 HSPD x RESOL RESOL No RESOL RESOL 0000 RESOL RESOL RESOL No RESOL No RESOL No RESOL No RESOL H 0 1 H 4 2 H 8 50 H C 400 H 1 1 H 5 5 H 9 100 H D 400 H2 1 H 6 10 H A 200 H E 400 H 3 1 H 7 20 H B 400 H F 400 x RESOL 1 10 000 000 Hz 400 25 0000 H 0000 H 61A8 73 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D D Mccoonn np 3 LOW SPEED SET
41. HSPD RESOL COMMAND H06 HIGH SPEED SET COMMAND STATUS1 PORT on oo 7 DRIVE STATUS1 PORTO ERROR 0 Y BN DRIVE STATUS1 PORT BUSY E gt 07 BRStatust PORT DRIVE DATA1 PORT WRITE 00 32 7670 H 0000 7 400 25 0000 H O000 H 61A8 DATA PORT amp DRIVE DATA2 PORT RESOL No WRITE amp DRIVE COMMAND PORT COMMAND gt 07 LWDrive DRIVE DATA1 PORT e H OBB8 3 0000 3 000 Hz DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 E 5 _ _ _ _ _ D3 RESOL No e 3 HSPD o HSPD HSPD RSPD HSPD x RESOL
42. hLhi Axi s Sel M7 SEL X 500700 0 07 SEL Y sar p M7 SEL Z 500720 0 07 SEL A sarg 7_5 X Y 50700 50071 J M37 SEL X YZ 500700 sarig 50720 J M7 SEL X Z 500700 50020 M37 SEL XY A 500700 sarig saag J M7 SEL 500700 saag J M37 SEL XZ A 500700 SCUT2 saag 0 M7 SEL Y Z 50071 SOJI2 M37 Y 0071 SOUT2 sarg 0 M7 SEL Y A 00710 sarg M37 SEL XY ZA 500700 sarg 0 207 SELZA SOUT2 saag psthi UN T MM DI5 D13 D12 Dil SOUT SOJT SOUT 9 E 9 9 0 SEL2 SEL1 SELO D7 D6 D4 DL Do SI GNAL2 SEL SI GNAL1 SEL 43
43. UN T MM ST 02 1 STATUSI PORT BUSY 1 MOM MBUSY MBUSY 1 UN T MM SPEO SETI UN T MM SPECI SETI UN T MM SPEC SET UN T MM SPEG3 SETI UN T MM SHEET DW OQA UN T MM RAM WI TI UN T MM RAM DL X MN Y MUN Z MUN 2 0 2 0 10 Qr UN T MM STARTU MBUSY 0 gt 1 gt 1 ERI VE STATUS1 PCRT BUSY 1 MUN 1 De X MERR D6 Y MERR Z 2 0 D12 A MERR 2 0 1 UN T MM ERRCR QAR STATUS1 PCRI ERRCR 1 CRI G N STATUS CRI ERRCR 1 1 STATUS2 5 Di4 D13 D12 DL1 2 0 9 9 B MRBUSY D7 D6 D5 D4 DL Y X X 9 i MB SY B MRBUSY X MRBUSY D1 Y MRBUSY DB Z MRBUSY 2 0 D12 MRBUSY 2 0 RAM 1 DL X MsSSTBY Db Y Z 2 0 DI3 A 2 0 1 0 UN T MM FSSTCP UN T MM SLSTCP MERR
44. MCM OUT1 GPIO3 SS1 02 12 0 GPIOS SS1 0 GPIOS SS1 02 12 0 OUT1 551 00000 0000 0000o 551 00000 MCM MCM SIGNAL OUT 21000 SIGNAL OUT 00000 SIGNAL OUT SIGNAL OUT SPEC SET 0000000000000 JUMP TYPE STATUS3 GPIO3 10 00000000 JUMP ENABLE 0 00000000 ONE io RAM READ JUMP 0000000000000 0000000 SS1 1 8 JUMP TYPE STATUS3 PORTO RAM SPEC SET PI 551 0 RAM SPEC SET RAM READ JUMP BE H JUMP ENA
45. DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 ORG ORG ORG ORG ORG ORG ORG ORG DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION DIVISION D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D4 D3 D2 D1 D0 AUTO ORG ORG ORG ORG ORG ORG ORG DRST STOP STOP DETECT SIGNAL SIGNAL SIGNAL SIGNAL ENABLE TYPE1 TYPE0 EDGE TYPE3 TYPE2 TYPE1 TYPE0 e H 0008 00000000 D3 0 ORG SIGNAL TYPE3 0 ORIGIN ORG TYPE2 TYPE1 TYPEO 0 0 0 0 ORG D 0 0 0 1 ZPO D 0 0 1 0 000 0 0 1 1 ORG OR I I 0 1 0 0 D 0 1 0 1 0 0 1 1 0 000 0 0 1 1 1 JO 1 0 0 0 NORG I 0 1 0 0 1 1 0 1 0 SS0 1 1 0 0 e beds l 1 1 1 0 0000 1 1 1 1 ORG DEND ORG ORIGIN
46. 5 COMMAND HF8 INITIALIZE8 COMMAND FORT DRIVE DATA1 PORT WRITE Eo DRIVE COMMAND PORT COMMAND gt MC07_LWDrive DATA2 PORT 0 H 0000 n D 1 DRIVE DATA1 PORT D15 014 013 012 011 D10 D9 D8 CCWP CWP _ _ I i ACTIVE 0 ACTIVE 0 07 06 05 04 D2 D1 DO 1 1 1 1 1 1 e H OF3F D15 CCWP ACTIVE D14 CWP ACTIVE 0 1 CWP CCWP 7 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII 00 D D Mccoonn np 3 1 2 0000 00000000 SPEED RATE
47. INDEX INDEX SPEC INITIALIZES SCAREA MODE 1 D 0000p 52525252 5 ecce HSPD _______________ x LSPD ed ELSPD n INDEX 128 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 5 000000 UD m HSPD Un ELSPD 00000 Eggs ue eene n A LSPD M
48. MCM 9 RAM UN T SHEET AL2A 2 7760 200 7720 200 7721 200 7730 STATUSI 0 MBUSY 0 Gir BOQ 07 UDownl oadM cnS heet D DCRD Alhit VERD Sheet o 7_5 RESULT psResult VB Functi on 07 UDownl oadM nSheet ByVal AU t As Long ByVal SheetAb As Integer ByRef psResu lt As 7 S RESULT As ean VB NET Function M07 UDownl oadM nSheet ByVal Aunt As Integer ByVal Sheet o As Short ByVal psResu lt As M07 S RESULT As ean CX NET bool 07 UDownl oadMcnSheet ui nt Alhit ushort Sheet o ref M97 S RESULT psResul t hLhi t Sheet Nb 3 pshResul t RESULTT FALSI 47 2 3 4 RAMTI 1 D DI DI U
49. MCM SPEC MCM MCM SPECO SET MCC09 RAM UNIT MCM WRITE RAM UNIT MCM READ RAM SPEC1 SET MCM MCM SS1 SEL SS1 SEL 591 OUT1 ASSIGN 591 551 X INO 9 0000 gt INT 0000 L u ul lu D 0 580 UuHB 0 tvsso XOUT1 3 3 0000 3 1 r A 00000000000 C 581 XOUT1 ASSIGN MCC09 SS1 YOUT1 ASSIGN o wo sl sama 1 SS1 ZOUT1 ASSIGN 1 551 AOUT1 ASSIGN L 0000000 nnn uuu L 0000000
50. 152 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 0 0 0 0 MCCO9 INDEX Z x Y X Y INDEX X Y
51. q MO07 rShortPul V RD Dr MD7 S XY_PGI TI CN oscenterPosi t on M97 S XY P TI CN gs7arget Posi ti on LONG pShort Pul se S RESU T psResult VB Functi on 07 Get Gi rShortPul se ByVal Zr As Integer ByRef osCenterPosi tion As 007 S XY TI CN ByRef ps7arget Pos t on As 07 S XY POSITI ON ByRef pShort Pul se As Long ByRef osResult As 7 S RESULT As Bool ean Functi on 7 rShortPul se ByVal Or As Short ByRef osCenterPosi tion As 007 S XY PCBI TI CN ByRef ps7arget Pos tion As 07 S XY POSITI ON ByRef pShort Pul se As Integer ByRef osResult As 7 S RESULT As Bool ean bool 07 Get Ci rShortPul se ushort Zr ref 7 S XY TI CN pscent er Posi ti on ref 7 S XY PCBI TI CN ps7arget Posi t on ref int pShortPul se ref 7 S RESULT psResul t Dr CON OW M37 X oy psCent er Posi ti on X X 8 388 6070 48 388 60 x 0 0 psTarget Posi ti on X XJ 16 777 214 16 777 214 x 0 0 pShort Pul se psResul t RESU TI FALSI
52. CPPIN 5 COMMAND H 31 SUB STRAIGHT CP COMMAND y STATUS1 PORT N 3 DRIVE STATUSI PORT ERROR 0 Y SN DRIVE STATUS1 PORT BUSY o cw gt 07 BRStatust 0 DATAT PORT DRIVE DATA1 PORT WRITE COMMAND PORT DRIVE COMMAND PORT COMMAND WRITE gt MC07_LWDrive O DATA2 0 00000 0000 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 D0 PULSE CPP MASK DRIVE SEL ENABLE MODE D0 DRIVE MODE 0 SCAN 1 INDEX D2 CPP MASK ENABLE CPPIN 0 CPPIN 1 CP
53. MCM MCM MCM STATUS MBUSY 1 gt 0 MRUN 1 gt 0 MCM STATUS1 MBUSY 1 STATUS1 PORT ERROR 1 MCM STATUS2 MRBUSY 1 gt 0 MCM MCM MCM STATUS1 MBUSY 1 gt 0 MRUN 1 gt 0 MCM 163 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELI
54. 0 0 Y lt 0000000 gt COMMAND H29 CIRCULAR YPOSITION SET COMMAND yJ STATUS1 PORT 3 9 DRIVE STATUS1 PORTO ERROR 0 Y K DRIVE STATUS1 PORTO BUSY o EV gt MCO7 BRStatust DATA1 PORT DRIVE DATA1 PORT Y WRITE amp DRIVE DATA2 PORT Y DATA2 PORT WRITE 8 388 608 8 388 6070 H 80 0000 7 FFFF CW CCW 2 DRIVE COMMAND PORT COMMAND gt 07 LWDrive 0 DRIVE DATA1 PORT 015 D14 D13 012 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 lt gt A0 DRIVE DATA2 PORT 015 D14 D13 012 D11 D10 D9 D8 D7 D6 D5 DA D3 D2 D1 DO A23 lt 00000 000000 16 e H 00 0000 0 0
55. INC INDEX 3 COMMAND H CC INC INDEX CHANGE COMMAND N STATUS5 PORT AC INDEX FL 0 amp DRIVE STATUS5 PORT INDEX FL 0 Y gt MCO7 BRStatus5 0 DATA1 PORT DRIVE DATA1 PORT D15 DO WRITE DRIVE DATA2 PORT D31 D16 ne 2 147 483 647 42 147 483 647 H 8000 0001 H 7FFF FFFF CW CCW 2 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND gt 07 LWDrive 0 DRIVE DATA1 PORT INDEX CHANGE J 0 0 DRIVE DATA2 PORT NDEX CHANGE 105 3 ABS INDEX CHANGE ABS INDEX CHANGE
56. SCAN INDEX 186 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0000 MCCOS D L1 D D 3 00000000
57. e H FFFF FFFF 1 2 STATUS4 PORT PULSE OVF 1 STATUS4 PORT PULSE OVF 1 999 2 000 02 12 999 gt 1000 ADDRESS 1 1001 gt 19995 0 _ 0 gt 1999 gt 2 1001 gt 1000 ADDRESS OVF 1 gt 999 gt gt 12 0 2 000 2 001 09 1 1000 1001 1001 ADDRESS 1 20002 0 0 gt 2000 gt 2 1001 1000 1000 ADDRESS 1 2 2 12 0 114 3 2 3 0000000000000000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DRIVE 2 PORT READ 0
58. D15 D14 D13 D12 D11 D10 D9 D8 OUT3 OUT3 OUT3 OUT3 OUT2 OUT2 OUT2 OUT2 TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 D7 D6 D5 D4 D3 D2 D1 D0 OUT1 OUT1 OUT1 OUT1 OUTO OUTO OUTO OUTO TYPES TYPE2 TYPE1 TYPEO TYPES TYPE2 TYPE1 TYPEO e H EES31 0000 D3 DO OUTO TYPE3 0 CNTINT D7 D4 OUT1 0 RDYINT D11 D8 OUT 2 0 D15 D12 OUT3 0 OUTO 1 OUT2 3 TYPES TYPE2 TYPE1 TYPEO OUT0 1 2 3 H UU 0 0 0 0 ADRINT 0 0 0 1 00000000000 CNTINT HD 0 0 1 0 DFLINT DFLINTO D AG RDYNT I RbDYNTUD 0 1 0 0 STBY STATUS1 0 9 0 1 0 1 DRIVE STATUS1 0 1 1 0 nSPEED FL STATUS5 0 1 1 1 nINDEX FL STATUS5 INDEX FL 0000000 1 0 0 0 UP STATUS1 j 1 0 0 1 DOWN STATUS1 DOWN 1 0 1 0 CONST STATUS1 0 ee EXT PULSE STATUSTD EXT PULSEDL 1 1 0 0 nPULSE MASK STATUS2 PULSE MASKE BB UU D B 1 1 0 1 ORG SIGNAL STATUS2 ORG SIGNAL 1 1 1 0
59. 9 UNIT MCM STATUS READ STATUSI 2 MCMSTATUS2 1 1 0 PORT VO PORTO VO PORTO O O O PORTE B HD D MCM ERROR UNIT MCM ERROR STATUS READ ________ o AA A a a a e ERROR STATUS READ O 0 0 ERROR STATUS OT ESI ERROR STATUS ERROR 5 ORIGIN STATUS O 00000 175 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI U D Mccoon n np UU 51 000000 1 0000 N 0010 0000000 mnnn FSSTOP 0 CWLM 0 CCWLM 0 DALM ILC LT EJ 1E3 i HARD INITIALIZET D 0 O 2 1 HARD INITIALIZES 00
60. SPEED CHANGE o CONST DRIVE SPEED CHANGE Hz SPEED CHANGE x RESOL 1 10 000 000 Hz RATE CHANGE RATE CHANGE RATE SET UCYCLE DCYCLE us RATE CHANGE UCYCLE x 0 5 us us RATE CHANGE DCYCLE x 0 5 us SPEED RATE CHANGE 108 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np 3 1 8 INDEX CHANGE 00000 INDEX CHANGE 1 INDEX CHANGE SPEC SET INDEX CHANGE RFSPD 000000 gt COMMAND H C3 INDEX CHANGE SPEC SET COMMAND N STATUS5 PORT Et NC INDEX a _ STATUS5 PORT INDEX FL 0 Y MC
61. SPEED RATE CHANGE 141 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELI AL i SPEED CHANGE H 12 4SCAN H 13 SCAN 00 000000 14 000000 INDEX UD D DDD H 15 ABS INDEX P H 30 MAIN STRAIGHT CP P H 38 MAIN CIRCULAR CP _ P MANUAL 000 SCAN D D D DD D DRIVE 1 SPEED RATE CHANGE SPEED CHANGE
62. 551 AQI ASSI GN 2 0 551 D10 8 551 SEL 551 SEL2 SEL1 SELO 551 5511 0 0 o 0 0 1 0 1 o 0 1 1 amy goio 1 0 o 0000000000000 1 0 1 1 1 0000 1 1 1 0000 9 551 5 OJr1 551 551 ASSI GN 551 ASSI GN
63. 00000 X 000000 X 00000 GPIO3 SS1 i 0000000 X X OUT GPIO3 SS1 i e OUT1 MCM MCM MCM UL Uu utt UNIT SPEC1 0 551 OUT 5 6 0000 5510 000000000 0 551 SELO 00000000000 000000000000 HARD OUT TYPED 1 HARD INITIALIZE3 0 0 GPIO3 TYPED 0 5518 00000 00000 0 SPECI SETHHULBH HH BH HB 0 Ss OUT ASSIGNO 0000 8518 000000 0 551 HARD OUT 1 HARD INITIALIZE3 0 0 GPIO3 TYPED 0 5518 00000 591 GPIOS ORIGIN SPEC SET RAM SPEC SET NOP TYPE 8 171 ORG SIGNAL TYPE SS1 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np 4
64. FALSI 64 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D D Mccoonn np 51 3 1 1 00000000 1 HARD INITIALIZE1 SOUTO D MCM RAM DRIVE STATUS PORT BUSY 1 gt COMMAND H F1 HARD INITIALIZE1 COMMAND DRIVE DATA1 PORT WRITE COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND gt DD MC07 LWDrive B DATA2 0 DRIVE DATA1 PORT
65. 32 psData M7 Atalo DATA1 PORTO 015 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DIS 16000 015 DO 00 ps Det al 7 Atalo 2 015 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 531 lt Data 00 16000 031 016 D16 Girl VO D M97 Set Data DARD ata MCO7 S DATA posPx3ta VB Sub 07 SetData ByVal ta As Long ByRef posata As 07 S DATA VB Sub 7 Set Data ByVal sta As 1 nteger ByRef psrhta As M07 S DATA C NET void 7 SetData ui nt ta ref M7 S DATA posiata rata 32 psData 20 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np AL2A
66. 42 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T AL2A 2C 7760 205 7720 200 7721 2CD 7730 SPEC3 5 SOUT3 STATUSI 0 MBUSY 0 UN T MM SPEC3 5 SOUTX Gin BOQ 07 U5et 3 AU t Axi sSel S UN T MM SPEC pslhi tMn pec 7_5 RESULT psResult Function 07 USet Mcen pec3 ByVal ALUmt As Long ByVal 5 As Long ByRef pslhi As 007 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean VB NET Function 7 USet Mcen pec3 ByVal AUmt As Integer ByVal Ax sSe As Integer ByRef psLhi As 07 S UN T SPEC ByRef psResu lt As 7 S RESULT As ean CX NET bool 7 USet M n pec3 ui nt Alhit uint Axi sSel ref 07 S UN T SPEC psthi tM nspec ref M07 S RESULT t
67. 106 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U U D Mccoon n np 4 PLS INDEX CHANGE PLS INDEX CHANGE INC INDEX 41000000 gt COMMAND PLS INDEX CHANGE COMMAND N STATUS5 PORT AC INDEX FL 0 amp DRIVE STATUS5 PORT INDEX FL 0 Y gt MCO7 BRStatus5 0 DATA1 PORT DRIVE DATA1 PORT D15 DO WRITE DRIVE DATA2 PORT D31 D16 ne 2 147 483 647 42 147 483 647 H 8000 0001 H 7FFF FFFF CW CCW 2 COMMAND
68. 24 2 2 4 000000 1610 0000000060 AL I 0 000 MCCOS D D 2 D MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL2A 16 18 Gir V RD 207 Unsi gned16 SHORT Mta VB Function 07 Unsi gned16 ByVal As Short As UShort C NET ushort MO07 Unsi gned16 short Mta 16 16 25 1610 0000000060 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np AL2A 16 18 Gir SHORT 07 Si 16 V RD Mta VB E VB NET Function 207 Si gned16 ByVal 3ta As UShort As Short short M97 Si gnedl6 ushort Mta
69. 000000 gt COMMAND H BO RAM SPEC SET COMMAND DATA1 PORT WRITE DRIVE DATA1 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 NOP NOP NOP TYPE2 TYPE1 TYPEO 07 06 05 04 D3 D2 D1 DO JUMP JUMP JUMP JUMP JUMP JUMP ENABLE2 ENABLE1 ENABLEO TYPE2 TYPE1 TYPEO e 000 200000100 DO JUMP TYPEO D1 JUMP TYPE1 D2 JUMP TYPE2 RAM READ JUMP RAM RAM RAM READ JUMP TYPE2 TYPE1 TYPEO 900600 gt 0 0 0 0 0 1 STATUS3 2 00800000060 0 1 0 STATUS3
70. e OFF e CPPIN CPPIN STBY 1 CPPIN STBY 0 DRIVE 1 OFF OFF OFF OFF CPP STOP CPPIN CPPIN CPPOUT CPP STOP CPPIN CPPIN CPPOUT OFF 100 us OFF CPP STOP CPPOUT CPPOUT 134 000900 ogoogo MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
71. e H O0 1388 5 000 Hz 200 us FSPD 1 200 s 1 FSPD FSPD 0 FSPD FSPD RSPD x RESOL RSPD RSPD HSPD LSPD ELSPD 15 DRIVE2 12 0 RSPD FSPD RFSPD JSPD RSPD RSPD H O12C 300 10 000 000 0 FSPD A B OFF 50 ns 10 000 000 FSPD C D gt ON C x 50 ns FSPD FSPD 8 388 607 6 666 667 Hz OFF 50ns ON 50 ns 10 000 000 Hz 6 666 666 5 000 001 OFF 50ns ON 100 ns 6 666 666 Hz 5 000 000 4 000 001 OFF 100ns 100 ns 5 000 000 Hz 4 000 000 3 333 334 Hz gt OFF 100ns 150 ns 4 000 000 Hz 3 333 333 2 857 143 Hz gt 150ns 150 ns 3 333 333 Hz 72 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII 0 0 D D Mccoonn np 2 HIGH SPEED SET
72. 000000000 6 000000 uD 5 ____ LSPD dus 0000 ELSPD D EE ve ret x SCAN INDEX 7 0000000 00 1 7 0000 n 129 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI U D Mccoonn np 8 00000000 SCAREA MODE 0 e UD 0000 ELSPD 00000 unnn ss HSPD 00000 LSPD scaN INDExn n
73. E E EI pc 0000 CIRCULAR PULSE 9 SETDUUU 000 000000 0000 L DDDDDD CPPIN
74. CPPOUT CPPIN CPPOUT MAIN STRAIGHT CP SUB STRAIGHT CP 2 MAIN CIRCULAR CP SUB CIRCULAR CP CPPOUT CPPIN CPPOUT CPPOUT CP SPEC SET CPPOUT SEL CPPIN CPPIN 5 MHz
75. FIFO COMREG FL 10 COMREG EP 1 STATUS1 PORT ERROR 1 ERROR 0 COMREG FL 00 COMREG EP 1 BUSY 0 COMREG FL 0 BUSY 0 pu STATUS1 PORT N ERRORE 02 gt gt DRIVE STATUS1 PORT ERROR 0 Y N STATUS1 PORT DEED DRIVE STATUS1 PORT COMREG FL 0 Y DATA1 2 PORT
76. 41 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T SPEC AL2A 2C 7760 200 7720 200 7721 2CD 7730 MM SPEC2 Gir BOQ 07 UGet 2 D CRD ALhy t DICRD Axi sSel 07 S UN T MM SPEC poslhi tM nspec 7_5 RESULT psResult VB Function 07 Ucet Mcen pec2 ByVal AUt As Long ByVal Ax sSe As Long ByRef pslhi tM n pec As 07 S UN T SPEC ByRef psResu lt As 7 S RESULT As ean VB NET Function 07 Ucet Mcen pec2 ByVal AUvt As Integer ByVal Ax sSe As Integer ByRef psLhi tM En pec As 07 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean CX NET bool 7 UGet M n pec2 ui nt Alhit uint Axi sSel ref M07 S UNT MM SPEC psthi tM nspec ref M97 S RESULT 4 t hLhi t Axi s Sel 4 M7 SEL XY 2 7_5 X psthi t MtnSpec UN T MM SPEQ psResul t RESU FALSI
77. 83 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII 0 0 D Mccoonn np CPP MASK ENABLE CPPIN e CPPIN CPPIN ERROR 1 MCCO9 CPPIN OFF ERROR 1 100 us OFF CPPOUT SEL CPPOUT CPPIN CPPIN CPPOUT CPPIN CPPIN STATUS5 PORT CPP MASK 1 ERROR 0 CPP MASK 0
78. 68 GPIO 3 DRIVE STATUS1 PORT BUSY 1 COMMAND H F3 HARD INITIALIZE3 COMMAND DATAT PORT DRIVE DATA1 PORT WRITE DRIVE COMMAND PORT COMMAND gt 07 LWDrive DATA2 PORTU 0 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO GPIO3 GPIO3 8 GPIO3 TYPE2 TYPE1 TYPEO e HFF 000000010 D3 DO 1 D7 D4 GPIO3 TYPE3 0 Bugut GPIO 3 2 TYPE1 TYPEO GPIO 3 UO D D 0 0 0 0 CNTINT COMP1 STATUS4 J 0 0 0 1 CNTINT COMP2 STATUS4 J CNTINT COMP2 0000 0 0 1 0 CNTINT COMP3 STATUS4 J CNTINT COMP3 J 0000 1 XCNTINT YONTINT X00 YD D CNTINTO AND 000 0 1 0 0 XCNTINT OR YCNTINT YODO CNTINT OR 50 50 0 1 0 1 DFLINT COMP1 STATUSA DFLINT COMP1 I D UD 0 1 1 0 DFLINT COMP2 STATUSA4 DFLINT COMP2 0000 0 1 1 1 DFLINT COMP3 STATUSA4 DFLINT COMP3 J D D 1 0 0 0 ERRINT ERROR STATUS ERRINT J J 1 0 0 1 ORGEND STATUS2 ORGEND J D 1 0 1 0 COMREG EP STATUS1 COMREG J B VERUM tu ONT 1 coMREGFL STATUS1 coMREGFED DD UD 1 1 0 0 551 5 0 5100 000 1 1 0 1 nBUSY STATUS1 j 1 1 1 0 0000
79. MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 4 000000 1 414 X Y INDEX OFF 1 1414 1 1 414 1 s 26 ZR n n 2 L 9505 0 914 gt 05 5 10 00 1000 4 gt 4 gt 107 10 1 d V 2x 1000 Hz 1000 Hz ru LM gt M 000000 0 1000 Hz 10 000000 0 1000 Hz 10 1000Hz 1000Hz E 2 2 x 1000Hz 1000Hz DONU essri
80. 96 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U 0 D D Mccoonn np 1 CIRCULAR XPOSITION SET 0 0 lt 0000000 gt COMMAND H28 CIRCULAR XPOSITION SET COMMAND L Y STATUS1 PORT non 2 DRIVE STATUS1 PORTO ERROR 0 Y DRIVE STATUS1 PORTO BUSY 0 E E gt MCO7 BRStatust DATA1 PORT DRIVE DATA1 PORT WRITE amp DRIVE DATA2 PORT X DATA2 PORT WRITE 8 388 608 8
81. MCM RAM RAM RAM READ JUMP RAM RAM READ JUMP RAM SPEC SET JUMP TYPE RAM READ JUMP RAM READ JUMP 110 3 RAM STOP RAM I F 000000 gt COMMAND PORT MCM COMMAND H BF DRIVE COMMAND PORT COMMAND RAM STOP COMMAND MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np
82. 000 CPSPECSET CPPOUT CPPIN E 00001 000 XPOSITION SET x ut 000 YPOSITION SET Y ut 000 CIRCULAR PULSE 000 amp 000000 94 40 U m O 40 m 000 XPOSITION SET 000 YPOSITION SET 000 CIRCULAR PULSE SETDUUU CIRCULAR PULSE 000000 000000 CPPOUT CPPOUT SEL CPPIN SEL CPPIN MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np CPPOUT
83. AL II D3 ADDRESS CLR ENABLE 10000600 D4 PULSE LATCH TYPEO D5 PULSE LATCH TYPE1 D6 PULSE LATCH TYPE2 TYPE2 TYPE1 TYPEO 40000 gt 0 0 0 PULSE LATCH 000000000000 0 0 1 0000 0 1 0 STATUS3 PORT GPIO22025 18 0 D UU D t9 __ 1 0 0 STATUSS3 OUT2202 108 00000 1 0 1 1 1 0 1 1 1 D7 PULSE CLR ENABLE 0 1 D8 DFL LATCH TYPEO D9 DFL LATCH TYPE1 D10 DFL LATCH TYPE2 TYPE1 TYPEO 40000 gt 0 0 0 DFL LATCH DATA READ L L LL LL LL LL LL LL LL LL LI 0 0 1 U Du 0 1 0 STATUS3 PORT GPIO22025 18 0 D d d D ucl ep ede eie ORIGINO 0 000 __ 1 0 0 STATUSS3 OUT2202 10 00000 1 0 1 1 1 0 1 1 1 011 DFL CLR ENABLE 116 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np 3 2 4
84. 1000000 gt DRIVE COMMAND PORT COMMAND DATA1 2 PORT 0 0 COMMAND T D D D D PORT DRIVE DATA PORT D15 DO READ M G DRIVE DATA2 PORT D31 D16 gt T 7 LWRDrive D 0 DRIVE DATA1 PORT ADDRESS LATCH DATA READ PULSE LATCH DATA READ DRIVE 2 PORTO READ DFL LATCH DATA READ DRIVE DATA1 PORT READ 1 ADDRESS LATCH DATA READ DRIVE STATUS1 PORT BUSY 1
85. COMREG NOT FULL WAIT CCMEG NOT FULL VW TI O AL2A 2C 7760 200 7720 2CD 7721 2CD 7730 DRI VE STATUS1 PORT COMREG FULL BI T 0 DRI VE STATUS1 PCRI ERROR 1 q BOQ 07 BV i t Conn egNot Ful DV RD WIRD t 77 ne 7 5 RESU T 0 4 Functi on M 07 BV i t Com egNot Ful ByVal ADev As Long ByVal s Integer ByRef osResult As 7 S RESULT As Bool ean Function 7 BV i t Conn egNot Ful ByVal ADev As Integer ByVal V tTine As Short ByRef osResult As 7 S RESULT As Bool ean NET bool MOJ7 BV i t ConregNot Ful ui nt Av ushort
86. 1 1 158 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII Mccoon n np 4 3 4 MCM D D
87. e R K K Ps 1 2 2 1 5 1 Dem Ps KD 1 2 1 e 10 5 CCW R in 79 D 7 R 1 1 R 3 Ps 10 8 4 2 32 COW CIRCULAR PU 32 0 H FFFF FFEO CCW 1 1 3 5 7 CCW 0 2 4 6 1 3 5 7 e 20 5 Cw R int 14 6 D 14 R 1 25 Ps 1 20 145 4 14 5 5 D 58 cw CIRCULAR PU H 0000 003A CW 4 1 3 5 7 CW Co AL i 0 0 00 MCC09 nnn
88. 144 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U D D Mccoon n np B INC INDEX CHANGE 00 D HSPD 0000 ELSPD LSPD INC INDEX INC INDEX 000000 INC INDEX CHANGE J ABS INDEX CHANGE 0 0 D HSPD r 8 0 D ABS INDEX CHANGE Q 0000000 x ABS INDEX CHANGE B PLS INDEX CHANGE 0 0
89. 95 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np 00 CPPOUT CPPIN CPSPECSET CPPOUT SEL CPPIN CPPIN SEL CPPIN 000000 e CPPOUT CPPIN OCPSPECSET CPPOUT SEL CPPIN SEL CPPIN 000 XPOSITION SET 8 X 000 YPOSITION SET 000 CIRCULAR PULSE
90. SUAREA SDAREA COMMAND H09 SCAREA SET COMMAND STATUS1 PORT N on 25 9 DRIVE STATUS PORTO ERROR 0 Y LM DRIVE STATUS1 PORT BUSY E gt 07 BRStatust PORT DRIVE DATA1 PORT S WRITE amp DRIVE DATA2 PORT S DATA PORT 32 7670 H 0000 7 WRITE COMMAND PORT amp DRIVE COMMAND PORT COMMAND WRITE gt MC07_LWDrive 0 DRIVE DATA1 PORT e H 0000 00 SDAREA SUAREA SUH RES
91. 18 26 320 0000000000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np AL2A 32 32 Girl 07 Unsi gned32 LONG Mta VB VB NET Function 7 Unsi gned32 ByVal Data As Integer As U nt eger C NET uint MO 32 int 2 32 27 320 0000000000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np AL2A 32 32 giri LONG 07 Si gned32 D CFD Mta VB VB NET Function 27 Si gned32 ByVal As U nteger As Integer NET int MOJ Si gned32 uint ta
92. Sue LSPD ELSPD 00000 9 SPEC INITIALIZE3 SCAREA MODE 1 INDEX INDEX HSPD 1 gt lt 0000p LSPD 0000 ELSPD l INDEXB DDD DD 0000000 127 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np m inuunnnunuuuuununnnnn SPEC INITIALIZE3 SCAREA MODE 0 SUAREA D 0000 HSPD V SDAREA HSPD ELSPD 120 10 0 SDAREA HSPD ELSPD 2 0000 use ELSPD 000000000 000000 _
93. 101 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D Mccoonn np 3 1 7 SPEED CHANGE 00000 SPEED CHANGE 1 SPEED CHANGE SPEC SET SPEED CHANGE 41000000 gt COMMAND H C1 SPEED CHANGE SPEC SET COMMAND gt N STATUS5 PORT AC SPEED FL 0 DRIVE STATUS5 PORT SPEED FL 0 Y gt MCO7 BRStatus5 0 DRIVE DATA1 PORT WRITE COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND
94. 1 MCM SSMAP 56 01 MCM SSMAP 56 01 0 AL II MCCO9 MCM SSMAP 56 01 HELP MCM UNIT MCM SHEET DOWNLOAD ROM 1 RAM MCM UNIT MCM SPECO SET RAM ROM RAM MCCO9 16 DATA2 16 8 COMMAND DATA1 9 DRIVE DATA1 PORT DATA2 MCCO9 DRIVE DATA2 PORT COMMAND 9 DRIVE COMMAND PORT 000 RAM I D COMMAND COMMAND COMMAND COMMAND lt 16bit 16bit lt Bit MCM RAM 1 MCM MCM
95. Gir typedef struct 7 S AXI S ERROR STATUS WPD rror de WORD tcfrrorsStatus WORD AtcErrorStatusMask Qi gi nError Status y 7 S AXI S ERRCR STATUS VB Type 7 S AXI 5 MM ERRCR STATUS ErrorCoae As nteger McErrorStatus As nteger MccErrorSt at usMask As nteger Cri gi nError Status As nteger 7 S AXI S ERROR STATUS Structure M07 S AXI 5 ERROR STATUS Public rrorCode As short Public Mc rrorStatus As short Public Mc rrorStatusMask As short Public Q ginErrorStatus As short End Structure struct M07 S AXI S MM ERRCR STATUS publ i c ushort rorcae publ i c ushort Mc rror Status publ i c ushort Mc rrorSt at usMisk publ i c ushort gi nErrorStatus Error Code St atus ERRCR STATUS MckError St at usM sk ERRCR STATUS Qi gi nErrorSt at us CRI GN STATUS 61 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np UN T ERRCR STATUS LI l AL2A 2C 7760 200 7720 200 7721 2CD 7730
96. Hz SDH x RESOL Hz SDAREA x RESOL HSPD LSPD SUAREA SUAREA HSPD LSPD HSPD ELSPD SDAREA SDAREA HSPD ELSPD HSPD LSPD SUH SUAREA SUH HSPD LSPD SUAREA HSPD ELSPD SDH SDAREA SDH HSPD ELSPD SDAREA HSPD LSPD HSPD ELSPD SUAREA SDAREA SUH SDH 0 77 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np 7 DOWN PULSE ADJUST
97. UNIT SPEC 2 3 AXI S MM 0 0 AL2A 2C 7760 200 7720 200 7721 2CD 7730 Gir typedef struct M7 S AXI S SPEC WPD Spec 7 S AX S SPEG VB Type M97 S AXI S MM SPEC Spec As nteger End Type Structure 07 S AXI S SPEC Public Soec As Short End Structure C NET struct M07 S AXI S MM SPEC t public ushort Spec Spec SPECI 2 3 32 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np UN T SPEG I 0 0 AL2A 2C 7760 20D 7720 2CD 7721 20 7730 typedef struct M7 S UN T MM SPEC MO07 S S MM SPEC X MO07 S S MM SPEC X 7 S AX S MM SPEC Z MO07 S S MM SPEC y 07 5 UN T MM SPEG VB Type 207 S UN T SPEC X As S S MM SPEC Y As 7 S AXI S SPEC 2 As 7 S AXI S MM SPEC A As M97 S S M M
98. 152 133 7 Batea 134 U 135 181 25 181 26 521 uL 07 32 27 2 MD Si EOB 0 28 z MSMMINQIDOU MPLSANSMMINO 29 o NT U 30 31 MAS MSEJ DP 32 NT MLS NT MM
99. FALSI 52 AL I 0000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 UN T FSSTCRT 53 AL2A 2C 7760 200 7720 200 7721 200 7730 Gi BOO UFsstopM nt DRD DICRD Axi sSel 07 S RESULT psResult VB Function M07 UFsstopMcn ByVal AUmt As Long ByVal Ax sSe As Long ByRef psResu lt As M07 S RESULT As ean Function 7 UFsstopM cn ByVal Ahit As Integer ByVal Ax sSe As Integer ByRef psResu lt As M07 S RESULT As ean NET bool 7 UFsstopMe
100. SPEC INITIALIZE3 SCAREA 1 SUH SDH 4000000 gt COMMAND HOB SHAREA SET COMMAND STATUS1 PORT N N 25 9 DRIVE STATUS1 PORTO ERROR 0 Y 9 DRIVE STATUS1 PORTO BUSY 0 cw gt MC07_BRStatus1 DATA1 PORT G DRIVE DATA1 PORT WRITE DEOR amp DRIVE DATA2 PORT E 32 767 H 0000 7 COMMAND REL amp DRIVE COMMAND PORT COMMAND WRITE gt 07 LWDrive DRIVE DATA1 PORT e H 0000 suHgp 0000010 e H 0000 05 SPEC INITIALIZES SCAREA MODE 1 SUAREA SUH o RESOL Hz SUAREA x RESOL Hz SUH x RESOL SDAREA SDH DCYCLE RESOL
101. TYPE2 TYPE1 TYPEO DR o 0 ADDRESS LATCH 0 0 1 0 1 0 STATUS3 PORTO GPIO2 0 gt 10 00000 MMC RUE ORIGIN 1 0 0 STATUS8 PORTO OUT2 05 10 00000 1 0 1 0000 1 1 0 0000 1 1 1 115 0000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
102. 000 SHORT POSITION 000 000000 85 000 LONG POSITION D 000 SHORT POSITION LONG POSITION SETDUUU 0000 SHORT POSITION 000 L 000000 0000 L 000000 CPPOUT SEL CPPIN SEL CPPOUT CPPIN MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np CPPOUT
103. 154 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0000 2 000000000 MCM MCM STATUS1 MERR 0 MBUSY 0 UNIT MCM SPEC0 SET UNIT MCM SPEC1 SET UNIT MCM SPEC2 SET UNIT MCM SPEC3 SET UNIT MCM SHEET DOWNLOAD gt STATUS B D STATUS1 0 0 000000 MCM STATUS1 10 0 0 0 MERR 00 000000 0 No Yes STATUS 1 STATUS1 0 0 0 0 MBusY 00 000000 No MBUSY 0 Yes MERR 1 MBUSY 1 MERR 00 MBUSY 0 155 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0000 MCCOS DL D D D 3 0000000000
104. 0 SCAN 1 INDEX D1 CONST CP ENABLE D2 CPP STOP ENABLE CPP STOP 0 CPP STOP 1 0 CPP STOP D4 PULSE SEL 0 LONG POSITION 1 SHORT POSITION 90 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U D D Mccoonn np 4 SUB STRAIGHT CP 1
105. 160 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELI AL i 0 0 0 0 9 00000 MCM SPEC3 SET MCCO09 OUTO OUT1 SOUT UNIT SPEC3 SET MCM SPEC3 SOUTO XOUTO 9 3 YOUTO r r 1 g
106. MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI Mccoonn np MCCO9 RAM UN T MM RAM VN AL2A 2C 7760 202 7720 202 7721 2CD 7730 RAM MM STATUSI 0 MBUSY 00 MM STATUSI MBLSY 1 UN T MM SPEO SI ACCESS ENABLE 0 RAM RAM UN T MM ST 7_5 RESULT psResult VB Function 07 UWi teMcnivan ByVal AU t As Long ByVal Ax s As nteger BOL M97 D CRD Alhit VERD Axis 655 7 S GCMMNND DATA osCnatpat a ByVal Address As Long ByRef psChaL5sta As 7 S DATA ByRef psResu lt As 7 S RESULT As ean VB NET Function 7 UWi teMnRang ByVal AU t As Integer ByVal Axis As Short ByVal Address As Integer ByRef psChLSta As 07 S GOMMNND DATA ByRef osResult As 7 S RESULT As ean C NET bool 07
107. 1 FSPD SET COMMAND 05 FSPD SET COMMAND y STATUS1 PORT N en ones 2 DRIVESTATUS PORTU ERROR 0 N DRIVE STATUS1 PORT BUSY ES gt 07 BRStatust 0 DATA1 PORT DRIVE DATA1 PORT D15 DO WRITE amp DRIVE DATA2 PORT D22 D16 DATA PORT 8 388 607 00 00000 7 FFFF WRITE 1Hz COMMAND PORT WRITE amp DRIVE COMMAND PORT COMMAND gt D MC07 LWDrive 0 DRIVE DATA1 PORT DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 D9 D8 D6 D5 D4 D3
108. 39 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np UN T SPEC 5 AL2A 2 7760 200 7720 2CD 7721 200 7730 MM SPEC2 MM STATUS 0 UN T MM SPEC2 5 550 BOQ 07 USet 2 D CRD t DICRD Axi sSel 07 S UN T MM SPEC pslhi tM n pec 07 S RESULT psResult VB Function 07 USet Mcen pec2 ByVal AU t As Long ByVal Ax sSe As Long ByRef pslhi As 007 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean VB NET Function 7 USet Mcen pec2 ByVal ALhit As Integer ByVal Ax sSe As Integer ByRef pslhi As
109. gt MC07_LWDrive O DATA2 0 00000 0000 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO SPEED SPEED SPEED _ _ m _ CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 e H 0 D2 D0 SPEED CHANGE TYPE2 0 SPEED CHANGE D2 D1 D0 SPEED CHANGE 00000006060 0000 0 0 0 STATUS1 PORT DRIVE 10 0000 00000 0 0 1 DRIVE 1080 00000 0 STATUSS PORTO 0 100000 0006060 0 1 0 DRIVE 1 0 0 0 0 0 STATUS8 PORTO GPIO2202 1000060 0 11 1 DRVE TDUDUUUoRGNUDUUUU 1 0 0 DRIVE 1 0 0 0 0 O STATUSS PORTO OUT2202 100000 1 0 1 DRIVE 1 0 0 0 0 O STATUS8 PORTO OUT3 202 100000 1 1 0 x 1 1 1 t ES SPEED CHANGE 00000060 SPEED CHANGE SPEED RATE CHANGE SPEED RATE CHANGE I L1 B 0 102 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U 0 D Mccoonn np 2 SPEED RATE CHANGE SPEE
110. UNIT SOUT HARD INITIALIZE1 OUTO ERROR STATUS MASK 00 amp MCM ERROR STATUS MASK UD FSSTOP ERROR MASK SLSTOP ERROR MASK LSEND ERROR MASK UNIT START 1 0 uut RAM STOP MCM ERROR STATUS MASK ERROR STATUS MASK 00 2 FSSTOP ERROR MASK SLSTOP ERROR MASK LSEND ERROR MASK 1 MCM ERROR STATUS MAS K MCM UNIT MCM FSSTOP MCM UNIT MCM SLSTOP ERROR STATUS MASK RAM MCM 2 ERROR STATUS MASK MCM
111. qI typedef struct MO7 S UN T MM ERRCR STATUS 7 S AXI S ERRCR STATUS X 7 S AXI 5 MM ERROR STATUS Y 7 S AXI S ERROR STATUS Z 7 S AXI S STATUS y 07 S UN T ERROR STATUS VB Type M07 S UN T MM ERROR STATUS X As 5 5 ERRCR STATUS Y As 7 S AXI S ERRCR STATUS 2 As 07 S AXI S MM ERRCR STATUS A As 7 S 5 ERRCR STATUS End Type VB NET Structure M07 S UN T MM ERROR STATUS Public X As 7 S 5 ERRCR STATUS Public Y As 7 S AXI 5 ERROR STATUS Public Z As 7 S 5 ERROR STATUS Public As 7 S 5 ERRCR STATUS End Structure NET struct M07 S UN T MM ERROR STATUS 1 public MC07 S AXI S MM ERRCR STATUS X public MC07 S AXI 5 ERRCR STATUS Y public 7 S AXI S MM ERRCR STATUS Z public 7 S AXI 5 ERRCR STATUS 4 AXI 5 MM ERRCR STATUS AXI S MM ERRCR STATUS AXI S MM ERRCR STATUS AXI S MM ERRCR STATUS gt N lt gt gt N lt x 62 UN T ERRCR STATUS REAL MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np AL2A 2C 7760
112. 1 COUNT LATCH SPEC SET 000000 gt DATA1 PORT WRITE COMMAND PORT WRITE DRIVE STATUS1 PORT BUSY 1 COMMAND H E8 COUNT LATCH SPEC SET COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT DRIVE DATA1 PORT gt 07 LWDrive DATA2 PORT 0 0 H 0000 1 B1 B B COMMAND D15 014 013 012 011 010 09 D8 DFL DFL DFL DFL CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPE0 D7 D6 D5 04 2 D1 DO PULSE PULSE PULSE PULSE ADDRESS ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE TYPE2 TYPE1 TYPEO ENABLE TYPE2 TYPE1 TYPEO e 000 20000000 ADDRESS LATCH TYPEO D1 ADDRESS LATCH TYPE1 D2 ADDRESS LATCH TYPE2
113. BOL 7 UReadM nh nfo D CRD AUi t Axi 55 7 S UN T MM I 050 07 S RESULT pshResult VB Function M 07 UReadM cnh nf o ByVal AU t As Long ByVal Ax sSe As Long ByRef psLUhni nfo As M07 S UN T MMINO ByRef psResu lt As M07 S RESULT As ean VB NET Function 7 UReadM nh nf o ByVal AU t As Integer ByVal Ax sSe As Integer ByRef psLUhni nfo As M07 S UN T MMI NO ByRef psResu lt As 207 S RESULT As ean bool 7 UReadMcnh nf o ui nt Ahit uint Axi sSel ref 07 S UN T MMI NO psthi EM nf o ref M97 S RESULT psResul t hLhi t Axi s Sel 4 M7 SELXYZ A 2 07 SEL X psthi nf o MOM UN T MM I psResul t RESULT FALSI 81 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 LL TT ALII U D D Mccoonn np 2 3 2 SPEC 1 1 B1 D D D I MCM SPEC
114. D2 CWLM ACTIVE CWLM 0 1 D3 COWLM ACTIVE CCWLM 0 1 D6 DALM ACTIVE DALM 0 1 69 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np D9 ORG ACTIVE ORG 0 1 D10 NORG ACTIVE NORG 0 1 D
115. MM SPECI MM STATUSI 0 0 000000000 UN T MM SPECI 5 551 SEL 551 QUT1 ASSI QN 551 SEL q n 7 Uset Mn pec1 DWORD Alhit Axi sSel 7 5 UN T MM SPEC pslhi tMri pec M97 S RESUTT gpsResult VB Function 07 USet Mcen pecl ByVal AUmt As Long ByVal Ax sSe As Long ByRef asthi tM n pec As 007 S UN SPEC ByRef psResu lt As 207 S RESULT As ean Function 7 USet Mcen pecl ByVal ALhit As Integer ByVal Ax sSe As Integer ByRef psLUhi tM En pec As 07 S UN T SPEC ByRef psResu lt As 7 S RESULT As ean CX NET bool 7 USet M n pec1 uint Alhit uint Ax sSe ref 07 S UN T SPEC psthi tM n pec ref M97 S RESULT 4 t hLhi t Axi s Sel M7 SEL X XJ M7 SEL Y M7 SEL Z 21 M7 SEL M7 SEL X Y XI M7 SEL XY Z XI d Yd D z
116. 135 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII BD DD Mccoon 0000 2 00000000 2 147 483 647 2 147 483 647 32 H 30 MAIN STRAIGHT CP 31 SUB STRAIGHT 8 CPPOUT CPPIN LONG POSITION SHORT POSITION CP SPEC CPPOUT CPPIN LONG POSITION SHORT POSITION 20000 9000 9
117. 56 58 e UU 7 63 65 USO 00 66 5 PRM OPR B d d B D d d d 5 MOL URStatusIPentlo 68 5 1 178 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 u 00 B t E E E Qua ap aaa a
118. D22
119. UNIT MCM STATUS READ AX S MM STATUSO AL2A 2C 7760 200 7720 200 7721 2CD 7730 Gir typedef struct M7 S AXI S MM STATUS WRD Status WRD AbpDat 8 DWFD Mta y 07 S 5 STATUS VB Type M97 S AXI S MOM STATUS Status As nteger a s nteger Aata As Long End Type VB NET Structure 07 S AXI S STATUS Public Status As Short Public Abprhta As Short Public 2 As nteger End Structure NET struct 07 S AXI S STATUS t public ushort Status publ i c ushort AboL at a public uint 22 Stat us NopDsta Ata 56 UN T MM STATUS 0 0 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U U D Mccoonn n np AL2A 2C 7760 200 7720 200 7721 2CD 7730 typedef struct WORD n t at us 1 W
120. anna JE x TER im 1 MO e Mog 9 Q 3 5 MRR 1 H 0000 ERRCR ERRCR STATUS REAL STATUS ERRCR STATUS ERRCR STATUS 63 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoonn np CRI G N STATUS DI5 D14 D13 012 Dil ERROR ADDRESS SENSOR PULSE 0 0 0 0 0 ERRCR ERROR ERROR D7 D6 D5 D4 Di CR GN 0 0 0 ERROR 0 0 0 0 G N ERROR SENSOR ERROR ERROR PULSE ERROR ADDRESS ERROR H OOCR GN psResul t RESULT
121. HSPD w TAR e LSPD gus FSPD 140 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDI 4 1 6 0 0 CHANGE I CHANGE SPEED CHANGE INDEX CHANGE CHANGE 1 SPEED CHANGE SPEED CHANGE
122. 38 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T MMSPEC1 AL2A 2C 7760 200 7720 200 7721 20 7730 MM SPECI Gir BOQ 07 UGet Mcn pec1l D CRD ALhy t DICRD Axi sSel 07 S UN T MM SPEC pslhi tM nspec 07 S RESULT psResult VB Function 07 Ucet Mcen pecl ByVal AUt As Long ByVal Ax sSe As Long ByRef psLhi As 07 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean VB NET Function 07 Ucet Mcen pecl ByVal AUt As Integer ByVal 558 As Integer ByRef psLhi tM En pec As 07 S UN T SPEC ByRef psResu lt As 7 S RESULT As ean CX NET bool 07 UGet M n pec1 uint uint Axi sSel ref M07 S UNT MM SPEC psthi tM nspec ref M97 S RESULT psResul t hLhi t Axi s Sel 4 M7 SEL XY 2 7_5 X psthi t MtnSpec UN T MM SPEQ psResul t RESU FALSI
123. 4 gt SD SDL SDH P4 P5 P6 2 DCYCLE 0 5 10 6 RESOL 1 2 HSPD ELSPD 1 HSPD ELSPD SD SD ELSPD 1 6 SD SD SD SD 3 2 DCYCLE 0 5 10 6 RESOL 1 2 HSPD ELSPD 1 2 SD HSPD ELSPD 2 HSPD ELSPD 1 2 SD HSPD ELSPD RESOL DCYCLE 1 4 10 6 2 126 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 5 SPEC INITIALIZE3 SCAREA MODE 0 INDEX INDEX RR 0000 gt SDAREA HSPD ELSPD 12 SDAREA HSPD ELSPD 120 DD U
124. INDEX CHANGE INDEX CHANGE INDEX CHANGE INDEX FL 1 INDEX EP 1 INDEX CHANGE SPEC INITIALIZES DOWN PULSE MASK 1 SPEC INITIALIZES SCAREA MODE 1 STATUS1 PORT ERROR 1 DRIVE 1 LSEND 10 SSEND 10 FSEND 1 ORGEND 1 DRIVE212 0 SERVO RESET DOWN PULSE MASK 00 SCAREA MODE 0 ERROR DRIVE 0 INDEX FL 00 INDEX EP 1 INDEX CHANGE 143 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDI AL i 0 0 0 0
125. 32 28 2 3 0 000 MCM MCM 2 3 1 MCM 1 1 1 MCM AXI S MMINQI 0 l MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D D Mccoonn np AL2A 2C 7760 200 7720 200 7721 2CD 7730 MAN Gir typedef struct M07 S AXI S MMI Adress 07 S AX S VB Type M7 S AX S MM I NFO 00 As Long End Type VB NET Structure 07 S AXI S NO Public Aadress As nteger End Structure struct 07 S AXI S publ i c ui nt Aadress Address RAM 29 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np UN T MM I NFQJ LI AL2A 2C 7760 2CD 7720 205 7721 20 7730 qir typedef struct M7 S UN T MMINFO DWFD Sheet A5 7 5 AX
126. D2 CPP STOP ENABLE CPPIN CPP STOP ERROR STATUS CPP STOP ERROR 1 CPP STOP CPP STOP 92 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII 0 0 D Mccoonn np
127. FSPD RFSPD INDEX CHANGE STATUS1 PORT ERROR 1 LSEND 1 SSEND 1 FSEND 1 STATUS2 PORT ORGEND 1 147 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 00 00 4 1 7 000000 3 7
128. MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np 4 SOUTO 0000 SI GNAL1 SEL 0 SIGNAL2 SEL 0 SOJT SEL 0 SAJI 0001 SI GNAL1 SEL 1 SIGNAL2 SEL 0 SOJT SEL 0 SOUT2 00020 SI GNAL1 SEL 2 51 GNAL2 SEL 0 SOJT SEL 0 00030 SI GNAL1 SEL 3 SI GNAL2 SEL 0 SOJT SEL 00 2 SOUTO 0000 SI GNAL1 SEL 0 SIGNAL2 SEL 0 SOJT SEL 0 50071 0001 9 GNAL1 SEL 1 SI GNAL2 SEL 0 SOJT SEL 00 SOUT2 0000 SI GNAL1 SEL 0 SI GNAL2 SEL 0 SOJT SEL 0 SOUI3 0001 5 1 SEL 1 SI GNAL2 SEL 0 SOJT SEL 0 DB 0 0 SI 1 SEL D7 4 5 2 SEL 9 GNAL1 9 GNAL2 SEL3 SH2 SEL1 SELO SIGNLL 20 000000 41 0000 2 0 0 0 XOJTO 0 0 0 1 0 0 1 o zaro 0 0 1 1 0 1 0 0 0 1 0 1 You 0 1 1 0 zam 0 1 1 1 Am 1 x D10 8 SOJT SEL SOUTX SEL2 SEL1 SELO 5 0 0 0 5 0 0 1 SIGW1 5 0 1 0 91
129. VB C NETT ni ti al i dunmy 16 DR VE GMANDDOIDDODUDDDUU UU AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL C AL2A 2C 7760 200 7720 200 7721 2CD 7730 DRI VE DATAL PORT ERI VE 2 C NET hev psData psResul t BOQ I Wri ve DERD Av VERD Chd M07 S DATA psEata 07 S RESULT psResul t Functi on 07 I Wri ve ByVal ADev As Long ByVal ByRef osResult As 7 S RESULT As Bool ean Qm As 1 nteger ByRef osata As 07 S DATA Function 7 I Wi ve ByVal Av As Integer ByVal C As Short ByRef osata As M07 5 DATA ByRef osResult As 7 S RESULT As Bool ean bool 07 I Wri ve ui nt Av ushort Cj ref M07 S DATA psD ta ref S RESULT psResul t
130. 4 1 3 000000000 1 00000000 e FSPD Hz RFSPD T INDEX CHANGE Hz RESOL HSPD LSPD ELSPD JSPD JoG JSPD SCAN Hz RSPD RSPD HSPD LSPD ELSPD 15 DRIVE 12 0 RSPD FSPD RFSPD JSPD RSPD RSPD H 012C 300 e UCYCLE DCYCLE SUAREA SDAREA SUH SCAREA 1 SDH SCAREA MODE 1 e DOWN PULSE ADJUST 5 Hz0 0 HSPD x RESOL 0 LSPDx RESOL Hz 0 ELSPD x RESOL SPEED RATE CHANGE 0 SPEED CHANGE x RESOL Hz SUAREA x RESOL Hz SUAREA SUH x RESOL Hz SDAREA SDH x RESOL Hz SDAREA x RESOL 121 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDI D TET TL AL i 0000 2 000000 1 kHz ms kHz RATE 4 gt 4 gt
131. 37 AL I 0000 MCCOS DL D D D MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 e MMI I NJ IN MM I NI UM aooo 4 e nuuu uu 50D 550 Hunnn 0 550 xou HHH x 1 9 n L J SS1 XOJT1 ASSI GN 551 YOJT1 ASSI GN 0000 pss 51 SEL gt 551 1 551 AQUTI ASSI GN L 0000000 US 0000 L 0000000 0 s 0000 1 ZOUT1 AOUT1 SS1 ZOUT1 ASSIGN SS1 AOUT1 ASSIGNO 0 400 0000000000000 06000 psResul t RESU FALSI
132. CPPOUT CPPIN CPPOUT SEL CPPIN i CPPIN SEL CPPIN TU ag m CPPOUT CPPIN CPPOUT SEL CPPIN SEL CPPIN U 60 ogo 65 LONG POSITION SETDUUU 0000 SHORT POSITION ie 0000 LONG POSITION 6 SETDUUU
133. 133 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np
134. 16 UNIT MCM RAM READD us MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D D Mccoon n np PAGE 2 3 5 D D 50 AXIS START aJ 50 UNIT START cms 51 UNIT 0 52 UNIT 0 D mme 53 UNIT SLSTOP mme 54 UNIT ERROR
135. RAM JUMP RAM NO OPERATION 66 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U U D Mccoonn np 2 HARD INITIALIZE2 GPIO 2 DRIVE STATUS1 PORT BUSY 1 gt COMMAND H F2 HARD INITIALIZE2 COMMAND DATA1 PORT WRITE DRIVE DATA1 PORT COMMAND PORT WRITE DRIVE COMMAND COMMAND gt 0 0 MC07 LWDrive 0 DATA2 PORT 0 DRIVE DATA1 PORT
136. 168 IS 11 PUSE COUNTER MX CONT SET OPARE REG STERI SET 174 I H d D D D D cMwEREGSTEO SET 174 REG STERS SET 174 3 cu P COMMENT MUN 175 COVP1 T 184 o oe 176 OFL CANER IN TAU Z 179 OFL CANER IN TAU Z 182 185 OPARE REGSTEO SET 185 HUN OOMPARE REG STERS SET HA __ 185 3 FUNTCOPLADDNASE 186 COVP1 185 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI 0 000
137. 98 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELHI D TET LI AL I 0000 MCCOS DL DL D D 3 CIRCULAR PULSE SET X Y 1000000 COMMAND H2A CIRCULAR PULSE SET COMMAND STATUS1 PORT N nona 7 DRIVE STATUS1 PORTO ERROR 0 Y PU DRIVE STATUS1 PORTO BUSY o E gt 07 BRStatust 0 PORT G DRIVE DATA1 PORT WRITE DRIVE DATA2 PORT DATA2 PORT WRITE 2 147 483 648 2 147 483 6470 H 8000 0000 7 FFFF CW CCW 2 COMMAND PORT WRITE DRIVE COM
138. FALSI 15 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np AL2A 2 7760 200 7720 2CD 7721 2 D 7730 DRI VE 1 PCRI ERI VE 2 PCRIT Girl typedef struct M7 S DATA WIRD M7 mata 4 07 S DATA VB Type 07 S DATA MOZ LBta 1 To 4 As nteger End Type WB NET Structure M07 S DATA lt Mar shal As UnnanagedType ByVal Array Si zeConst 24 gt Publi c M 07 Data As Short Public Sub Initialize m M7 atal 3 End Sub End Structure C NET struct M7 S DATA 1 Marshal As UnnanagedType ByVal Array SizeConst 4 public ushort 7 Peta 07 S DATA ushort dumy 1 M7 Data new ushort 4 q q 7 Deta O 7 Data a 3 Vi sual Basi c M7 Data 1 M97 Data 4 sual Basic NEI 07 Data 0 0 07 Dat a 3 7 Data 010 7 Detal 3 MOZ Dsta 0 DRI VE DATA1 PORTO MOZ Dsta 1 DATA2 MOZ Dat a 2 MOZ Dat a 3
139. AXI S START DATA MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 2 2 7760 200 7720 200 7721 200 7730 q typedef struct MO7 S AXIS START DATA C NET Address Adar ess y M97 S AX S MM START DATA 07 S AXI S MM START DATA Address As Long End Type Structure M7 S AXI S MM START DATA Publ i c Aodress As Integer End Structure struct M07 S AX S START DATA 1 publ i c ui nt Address 50 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np UN T START DNA AL2A 2C 7760 2CD 7720 2CD 7721 2CD 7730 q typedef struct MD7 S UN T_MM START DATA 7 5 AXI 5 START DATA X M7 5 AXI 5 START DATA Y 27 S S START DATA Z M7 5 AXI 5 START DATA 07 S UN T MM START DATA VB Type 07 S UN T MM START DATA X As 07 S S START
140. SPEED RATE CHANGE SPEED FL 1 SPEED EP 1 SPEED CHANGE SPEC INITIALIZES SCAREA MODE 1 STATUS1 PORT ERROR 1 DRIVE 1 LSEND 10 SSEND 10 FSEND 10 ORGEND 1 INDEX INDEX CHANGE MANUAL SCAN DRIVE212 0 SERVO RESET SCAREA MODE 0 ERROR 0 DRIVE 0 SPEED FL 0 SPEED EP 1 SPEED CHANGE 142 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 2 INDEX CHANGE
141. 0 1000600 000 M COMM a Suara 5 108 c3 IRAM READ J UP SITO 10 DDDDUDDDDDUDDUDDU T RAM 0000000000000 MMMENEERECORIDUNRUL 102 SPEED CANH go 0000000000000 INEX SPEC SET 104 SPEED RATE EEEE 103 INCINEXORNE ____ A O 105 ABS INEX ONE EE Eo 106 PIS INEX OANE ID 107 STAG RED a 154 ERRCR STATUS 0000 MC SPEED READ a 156 MCSETDWARED 5 157
142. AL i 0 0 0 0 MCM 1 10 3 XDRIVE u YDRIVE ZDRIVE EDT s 166 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII Mccoonn np MCM OUT2 0 MCM OUT2 1 OUT2 0 5 JUMP TYPE STATUS3 PORT OUT2 108 00000000 JUMP ENABLE 0 00000000 RAM SPEC SET
143. SPEC3 MCC09 SOUT OUTO OUT1 161 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U U D Mccoonn np
144. aaa 99 0000000 READ NOT FUL W TJ U D D U 7 DDD D D Q SPEED RATED QO 07 S SPEED RATE 100 SPEED SPEED RATED DOOD 1 MO7 Set SpeedRate 102 a 0 D RESA No SPEEDJRATE O O O O 0 5 RATED O 000D 1 MO7_ReadSpeedRate I 103 0000000 0 sen n n B dd D a p DD U C DD D o POdTIONDD E E EUE I Me S ERE 104 cauuuuuuuugggguUuddu 5 1LL 2 105 DDDDDDDDDDDDDDDDBDD2IDDDDDDDDDDD cauuuuumuuggogugugudul d MOZ Inca rO 107 000000000000000 00002000000000000 a MD7 Gt rGenterPosition 109 MD7 IncFrombs 110 0000 00 000 0 1 ME GtGrShotPuilse _ 24 z quaNiUuUUDUUUDUOUUUUOU ________________________ 07 TAGSCGPRM 111
145. em m 100 200 300 4 2C 7760 X Y 2 2CD 7720 A5F31DE 2CD 7721 A5F41DE 2CD 7730 A5F31Q 11 X Y 2 E Lr Lr oa rbd MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U U D Mccoonn np
146. RESULT FALSI 14 2 PRO 00000 AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L AL2A 2C 7760 2CD 7720 2CD 7721 20 7730 Functi on 7 veDsta2 ByVal Av As Long ByRef orta As Integer VB NET Function 7 BRITi veDsta2 ByVal Av As Integer ByRef poata As Short DRI VE 2 PORTO ByRef As 7 S RESULT As Bool ean ByRef osResu t As 7 S RESULT As Bool ean Gir BOQ 07 veDat a2 DARD WDRD poata 07 S RESULT t C bool 07 BRDO i veDsta2 ui nt Dev ref ushort poata ref M7 S RESU T psResul t hev prata pshResul t RESULT
147. 101 3 1 7 SPEED CHANGED 00000 102 1 SPEED CHANGE SPEC SET 102 2 SPEED RATE CHANGE 103 3 1 8 INDEX CHANGED 00000 omes 104 1 INDEX CHANGE SPEC SET 104 2 INC INDEX CHANGE 105 3 ABS INDEX CHANGE 106 4 PLS INDEX CHANGE 107 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np
148. 55 2 3 6 sa 56 AXIS 0 I 56 UNIT STATUS D cm J 57 UNIT MOM STATUS READ D 58 2 3 7 00000000 eme 61 AXIS ERROR STATUS D 0 D 61 UNIT ERROR STATUS 0 D JT 62 UNIT ERROR STATUS READ 63 81 c mImMmMMMeeeeMMeeenee 65 844 00000000 eme 65 1 HARD INITIALIZE1 65 2 HARD INITIALIZE2 67 3 HARD INITIALIZES 68 4 HARD INITIALIZE7 69 5 HARD INITIALIZEB 71 3 1 2 000000000000 ce M M M MMeee 72 1 FSPD SET 72 2 HIGH SPEED SET 78 3 LOW SPEED SET 74 4 RATE SET 75 5 SCA
149. FALSI 18 DR VE DATA 1 D B B B B DU D U D D AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL C AL2A 2C 7760 200 7720 200 7721 2 D 7730 DRI VE 1 PORT ERI VE 2 C NET hev psData psResul t BOQ MO07_I RDO i ve 7 S DATA psLata 7_5 RESUT psResul t Functi on I RITi ve ByVal As Long ByRef posata As S DATA ByRef As 7 S RESULT As Bool ean Function 207 I RDri ve ByVal Av As Integer ByRef osata As M07 S DATA ByRef osResult As 7 S RESULT As Bool ean bool M007 I RIri ve ui nt ref 7 S DATA posata ref 7 S RESULT psAesul t RESULT FALSI 19 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np AL2A
150. WRITE gt MC07_LWDrive 0 0 DRIVE DATA1 PORT DRIVE DATA2 PORT e H FFFF FFFF 1 2 STATUS4 PORT ADDRESS OVF 1 STATUS4 ADDRESS OVF 1 999 2 000 02 12 999 gt 1000 ADDRESS 1 1001 gt 19995 0 0 gt 1999 gt 2 1001 1000 ADDRESS OVF 1 gt 9995 25 12 0 2 000 2 001 02 12 1000 1001 1001 ADDRESS 1 2000 gt 0 0 gt 2000 gt 1001 1000 1000 ADDRESS OVF 1 25 2 12 0 11
151. 00 HSPD 0000 em D D D 0 ELsPD PLS INDEX gt PLS INDEX CHANGE 0 0 145 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII 00 D D Mccoonn np m INDEX CHANGE D e INDEX CHANGE INDEX CHANGE D HSPD unun NC LSPD gugu 1 ELSPD 00000000 x INDEX CHANGE J INDEX CHANGE INDEX CHANGE HSPD LSPD PAL ELSPD 00000000 T INDEX CHANGE J 146 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
152. 0000 SHORT POSITION 000 L1 L1 L1 L1 L1 553 MCCO9 CPPIN CPPOUT CPPIN 87 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np 1 LONG POSITION SET
153. WRITE RAM STOP MCM RAM RAM RAM RAM STOP 111 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 3 1 10 RSPD 1 0000000 1 RSPD DATA READ RSPD DRIVE STATUS1 PORT BUSY 1 5 COMMAND HD6
154. 0 000_ UNIT WRITE 0 10000000000 _ UNIT RAM READ 10000000000 157 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 00 D D
155. 0 0000 M 1 ZOUTI AOUT1 S81 ZOUT1 ASSIGN SS1 AOUT1 INO SS0 IN1 SS0 UNIT SPEC1 SET SPEC1 HARD INITIALIZES GPIO3 591 SPEC1 MCCO9 581 GPIO3 881 159 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np MCM SPEC2 SET
156. 136 3 00000000 137 1 140 4 1 6 mmm 141 1 SPEED CHANGE 141 2 INDEX CHANGE 0 143 4 1 7 000000 eE TAAR re 148 1 000000000000000 000 MM 148 4 1 8 RSPD cms 149 4 2 0 00000 J J q 150 150 42 IM 151 4 3 MCM O 6R yI I ZII II I I I I I I I IIKWK TIDlII9SI9YKWI II KQWIWI I IZII RA T T uuu 152 4 3 1 n 152 4 3 2 MCM O ODO 0000 m MMMMmMMMeees 154 1 MCMODOO00000000 154 2 155 3 156 4 3 3 D D om 157 4 8 4 m MMMMMMMMMeeeievee 159 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII Mccoonn np 162 162 IM 163 3 cM 164 4 omm mmm eem 172 5
157. T vean 0000 00000 lt gt oe m 000 RESOL UCYCLE RATE RESOL DCYCLE RATE e RATE ms UCYCLE 7 RATE ms kHz kHz RESOL 2 ms UCYCLE 0 5 10 3 kHz 0 RESOL 10 3 e RATE ms RATE ms kHz kHz RESOL 2 ms DCYCLE 0 5 10 3 kHz 0 RESOL 10 3
158. 22 NO TENUERE 35 DRIVE E 2 2 3 POI RR EE 24 PULSE EUNDI 24 2 2 4 I Hm 25 eese rr 25 TO 26 asss us ssssssssssssssssasasnasasssssnassssaaanassa qa 27 28 2 3 MOM xu 58 29 AXIS MCM INFOQ er 28 UNIT MCM INFOM 36 UNIT INFO READ z 213 5 MEM SPECTI OO AAEE 32 UNIT MCM SPEC Q D eR UNIT SPECO SET N 34 UNIT SPECO GET 2 UNIT SPEC1 SETR I i UNIT pM B UNIT SPEC2 SET I uu UNIT 2 GET ab EET ds UNIT MOOM SPEGS SET do 47 UNIT SHEET DOWNLOAD D ds ABA RAMO 48 UNIT
159. Gir BOQ 07 UReadMcnfRan D CRD ALh t Axis Adaress 7 S COMAND DATA osCalbat a 7_5 RESULT psResult VB Functi on 7 UReadMcnRan ByVal ALh t As Long ByVal Axis As Integer ByVal Address As Long ByRef osChaLSsta As 7 S DATA ByRef psResu lt As M07 S RESULT As ean VB NET Function 7 UReadM cnRan ByVal AU t As Integer ByVal Axis As Short ByVal Address As Integer ByRef psChmLsta As 07 S GOMMNND DATA ByRef psResu lt As 7 S RESULT As ean bool 7 UReadMcrfman ui ushort Axis unit Address ref M07 5 COMAND DATA psCnhatDat a ref M97 S RESULT t hLhi t Axi 5 7_ 7_ 207 Z 207 Address RAM 00 3 999 x N lt P psResul t RESULTI FALSI 49 2 3 5 MCM 1 MCM
160. S O a 151 ISL sus sa 152 Rsm 10080 000000000000 E 150 0000000 PEE EM 150 0000000 187 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 188 D 1 2 TEL 042 664 5382 FAX 042 666 5664 E nail s support el ec i nc com TEL 042 664 5384 FAX 042 666 2031 anar 3Lov2 193 0834 0 Lar D D D 516 10 URL http www melec
161. 90 AB SPA OM RE os RM 91 TAUN O POLRES RR NIENTE V RES 100 Edu Ga 101 184 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 MCCOS D D 2 D 2 000000 0 000 16 28 94 94 E s gS asa acaulis EN A GU W A GN in RU QNT CT T m D NT CT E Gi ET ENT GU UN GU DU GU gs gs QU ue Oi d Gu Gu ec e uga 000 cawER PRESET LLL H8 scs 165 ADDRESS CANER IN TIA ZEL 160 163 ADDRESS CONTER MX CONT AT 13 ACR N COPARE REG STERI LHB 166 BO D D UO CO CO ADRI OPARE STERZ 166 ADR HL B D D UL OL UO CO 2000 ADRI REQ STERS SET HS esi 166 ADR B D D D UL OL UU 30 U ARNT __ 167 GOVP1 PULSE CONTER PRESET 13
162. AL i 0 0 00 Mccooer nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L ABS INDEX 5 COMMAND HCD INDEX CHANGE COMMAND STATUS5 PORT nn AC Mox n n DRIVE STATUS5 PORT INDEX FL 0 Y gt MCO7 BRStatus5 0 PORT DRIVE DATA1 PORT A15 A0 WAIE DRIVE DATA2 PORT A31 A16 DATAE dct 2 147 483 647 42 147 483 647 8000 0001 H7FFF FFFF WRITE 2 COMMAND FORT amp DRIVE COMMAND PORT COMMAND WRITE DRIVE DATA1 PORT v D D MC07 LWDrive 0 DRIVE DATA2 PORT INDEX CHANGE 0 0 NDEX CHANGE
163. 1 09 0 5 gt MASK CPPIN CPPIN CPP SEL MASK k CPPOUT SEL lt 0000000 k 1 2 EAO EBO X X ADDRESS COUNTER INITIALIZE1 X COUNT PULSE SEL EA1 EB1 X XOP EA1 EB1 CPPOUT EA1 EB1 Y Y ADDRESS COUNTER INITIALIZE1 Y COUNT PULSE SEL EA1 EB1 Y EBO EA1 EB1 CPPOUT D4 CPPIN SEL 0 1 CPPOUT 82 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDI T T AL i 3 1 5 0 0000000000000 0 0 CW CCW
164. ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 ABS INDEX CHANGE m INDEX CHANGE INDEX INDEX CHANGE INDEX ERROR 1 INDEX CHANGE INDEX INDEX CHANGE DRIVE 0
165. 122 B RATE DATA 000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoonn np RATE RESOL 1 RESOL 5 RESOL 10 RESOL 20 RESOL 50 RESOL 200 RESOL 400 ms kHz U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE 5 000 10 000 3 000 6 000 2 000 4 000 100 u ua aya a 500 1 000 5 000 10 000 300 600 3 000 6 000 12 000 200 400 2 000 4 000 8 000 Lor 20 1000 200 400 1000 50 100 500 1 000 2 000 5 000 30 60 300 600 1 200 3 000 12 000 20 40 200 400 800 2 000 8 000 16 000 EIE PS 200 40 1000 40001 6000 5 10 50 100 200 500 2 000 4 000 3 6 30 60 120 300 1 200 2 400 2 4 20 40 80 200 800 1 600 La ME XN MM M 2 0 5 1 5 10 20 50 200 400 0 3 3 6 12 30 120 240 0 2 2 4 8 20 80 160 0 1 1 PE 40 80 Q05 655 1 2 5 20 40 0 03 3 12 24 0 02 2 8 16 aku a sas saa s aa oS PS Bd 0 005 2 4 0 0025 1 2 0 00125 1 123 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DELI D TET TL AL i 0000 MCCOS DL DL D D 3 000000000
166. MCM RAM READ JUMP RAM RAM READ JUMP RAM SPEC SET JUMP TYPE RAM READ JUMP RAM READ JUMP amp RAM READ JUMP RAM SPEC SET RAM READ JUMP MCM 172 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
167. 00000000000 UD HSPD DUDUD Co LSPD DUUUD A 0000 M ELSPD 00000000000 D HSPD ren ELSPD LSPD 5 00000000000 180 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI Mccoon n np 4 1 4 ORIGIN ORG ORG ORG ZORG DEND PO NORG ORG ORIGIN SPEC SET ORG STATUS1 PORT DRIV
168. 1 1 1 1 0000 SIGNAL OUT GPIO 2 PAUSE STBY SPEED RATE CHANGE INDEX CHANGE RAM JUMP RAM NO OPERATION 67 3 HARD 9 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U U D Mccoonn np
169. D PAUSE 00 D DELAY TIME pnnnnnanrsenn 119 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 4 1 2 00000 1 00000000000000 0000 FSSTOP 0 CCWLM J 0 DALM D ORG 0 NORG I 0 PAUSE 1 CWP J HARD 2 70 0 0 0 HARD INITIALIZES 0 0 m EB COWP lJ PAUSE MCCO9 120 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII 00 D D Mccoonn np
170. MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL I U U D Mccoonn np 5 COMMAND H 38 MAIN CIRCULAR CP COMMAND y STATUSI PORT NN DRIVE STATUS1 PORT ERROR 20 ERROR 0 N Z STATUS1 PORT DRIVE STATUS1 PORT BUSY 0 BUSY 0 Y MCO7 BRStatust 0 DATATPORT DRIVE DATA1 PORT WRITE C
171. 180 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 00 00 000 FUL 22 SAs OREG FUL OMAND oo MOL Wi veb 00000 23 2 owe 00000000 0 15 MOZ EportgQose 127 MBLBRIEQE 128 7 129 0 0 130 131
172. 9 H 0000 0000 0 0 88 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np 2 SHORT POSITION SET 41000000 COMMAND H23 SHORT POSITION SET COMMAND y STATUS1 PORT N ng C 25 9 DRIVE STATUS1 PORTO ERROR 0 Y K DRIVE STATUS PORTO BUSY ES gt MC07_BRStatus1 0 PORT G DRIVE DATA1 PORT
173. AL i U D Mccoonn np 5 e MCM MCCO9 MCM MCM MCM MCCO9 0000 00000 H O1 SPEC INITIALIZE1 H87 ADDRESS COUNTER MAX COUNT SET s sl H88 ADRINT COMPARE REGISTER ADRNTUUDDDDDUDDDUUD s s H89 ADRINT COMPARE REGISTER2 SET 000000000000 H8A ADRINT COMPAREREGISTERSET ADRNTDDUDDDDUDDUUD 1 AH8C ADRINT COMP1 ADD DATA SET DI le H90 PULSE COUNTER PRESET s H9 PULSECOUNTER INITIALIZEI DUDDDUDDDDDDDUD H92 PULSE COUNTER NITIALZE2 1
174. I MOZ Radni t no 40 MEQUE 41 42 1 0000000000 000000 10000000000 43 m 45 I MBLUMXUitOomMde 46 MOUWEN 47 MOL UREN tOnmStatus 0 48 MOL UREN tOonmode 50 MOL 51 wozuexitemsau 52 guggggggggggga aiuuguuuaaeeeettlel L MS NISAS 54
175. AL I 00 D Mccoon n np B INDEX CHANGE JI D D INDEX CHANGE 2 opopo nij 22 0000 f y D INDEX CHANGE INDEX CHANGE INDEX CHANGE d DRIVE 0 STATUS1 DRIVE2 12 0 DRIVE 0 4 x BUSY 1 LSEND 00 SSEND 00 FSEND 00 ORGEND 00 ERROR 0
176. GPIO2 00 0000000 0 1 1 STATUS3 00800000060 1 0 0 STATUS3 2 18 0000000 1 0 1 0000 1 1 0 STATUS3 GPIO2 1 00000000 1 1 1 STATUS3 PORTO GPIO3 1 00000000 RAM RAM READ JUMP RAM READ JUMP JUMP ENABLE RAM READ JUMP RAM STATUS2 MRSTBY 1 108 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np D4 JUMP ENABLE0 D5 JUMP ENABLE1 D6 JUMP ENABLE2 RAM READ JUMP EN2 ENO 40000 gt utu 0 0 0 auiii 0 0 1 STATUS3 PO
177. Z X Y INDEX SOUTO X Y INDEX SIGNAL OUT X X X Y SOUTO MCM ON OFF 153 4 3 2 MCM J U B 00 MCM AL i 0 U 00 Mccooer nnn 1 UNIT SHEET DOWNLOAD RAM MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L MCM 0 UNIT
178. RESULT FALSI 17 DR VE DATA 1 D B B B B DU D U D D MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np AL2A 2C 7760 200 7720 200 7721 2 D 7730 DRI VE 1 PCRT ERI VE DATA2 C NET hev psta psResul t M307 W ta CRD MO7 5 DATA osData 7 S RESULT psResul t Functi on 07 I a ByVal As Long ByRef posata As S DATA ByRef osResult As 7 S RESULT As Bool ean Function 207 I a ByVal ADev As Integer ByRef psta As S DATA ByRef osResult As 7 5 RESULT As Bool ean bool 07 I W ta ui nt Av ref M07 S DATA posata ref M07 S RESULT psResul t RESULT
179. rn ADDRESS COUNTER MAX COUNT SET 0 0 0 PULSE COUNTER MAX COUNT SET 0 0 D COUNT LATCH SPEC SET 000 SPEC INITIALIZE 2 0 SPEC1 SET 215 SPEC2 SET 0 oura HARD INITIALIZE1 000 HARD INITIALIZE 1 D HARD INITIALIZES 00 0 SPEC3 SET 0 SOUT3 0 0 ouro t 95 PAUSE 0 SPEC INITIALIZE3 0 0 D D 551 SPEC1 SET 0 176 2 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U D D Mccoonn np 0 10000000 sm 1 oog nnu nn 00000 00000 RESOL HSPD LSPD ELSPD UCYCLE DCYCLE SUAREA SDAREA SUH SDH gau 1 No 3 3 000 300 300 200 200 1000 HIGH SPEED LOW SPEED SET RATE SET D 00 SCAREA SET SHAREA SET DOWN PULSE ADJUST I 1 Li 2 ORIGIN SPEC SETQ 000D H 0000 0000 H 0000 0000 00 0000 00 0000 00
180. GN 000 RWGNIIDDDDDDDDUDDDU _ 07 gStatus 5 112 IRIGNSTATUSI 000006060 RIAN SPEC SED 0000 1 Setagspe 114 RGNIDDDDDDDDDDDDD M7 Set Ogar gi nPulse 117 N SED D 118 ORI G N ERROR PUSE SED MEZ SetaggrorPuse 119 5 CRGNGTSET PUSE ____________________________ _ 7 SetagdfsetPuse 120 CRI G N PRESET PULSE Set gPresetPuse 121 1 07 RedagParam 122 FLAG RESE D U d MD7 ResetQgFlag 123 CRI G FLAG 5 J OqUGNIDUUUU M99 124 DDDDDD
181. OUT on nn n D GPIO3 amp RAM SPEC SET 881 0 SIGNAL OUT SPEC 5 JUMP TYPE STATUS3 PORTO GPIO3 00 00000000 JUMP RAM SPEC SET RAM READ JUMP GPIO3 SS1 0 GPIO3 SS1 1 SPEC 000000000000 JUMP TYPE STATUS8 GPIOS8 108 00000000 D JUMP ENABLE 000000000 AED UU e e SS0 1 8 SIGNAL 100000 e SPEC 000000000000 JUMP TYPE STATUS8 GPIOS8 00 00000000 D JUMP ENABLE 000000000 FUANSRERD SUME 5 o 5 OUT 000000 RAM SPEC SET GPIO S90 0 SIGNAL OUT RAM SPEC SET PIO SS0 1 SIGNAL OUT 170 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i D D D D 9
182. 3 1 3 ORIGIN 1 I 1 Li OR ORIGIN IGIN MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoonn np 1 ORIGIN SPEC SET ORIG N 3 IN 000000 gt COMMAND H OF ORIGIN SPEC SET COMMAND STATUS PORT NN E unu DRIVE STATUS PORT ERROR 0 Y m Q DRIVE STATUS1 PORT BUSY o E I gt MC07_BRStatus1 0 DRIVE DATA1 PORT WRITE DRIVE COMMAND PORT COMMAND gt J D MC07_LWDrive 0 DATA2 PORT 0 0
183. DRIVE COMMAND 32 DRIVE COMMAND PORT 1 MCCCO9 LATCH DATA READ 148 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII BD DD Mccoon 0000 4 1 8 RSPD
184. SPEED CHANGE SPEC SET SPEED CHANGE SPEED RATE CHANGE SPEED amp RATE CHANGE SPEED CHANGE STATUS5 SPEED EP SPEED FL SPEED FL 0 SPEED RATE CHANGE SPEED CHANGE SPEC SET SPEED FL 0 SPEED RATE CHANGE SPEED CHANGE SPEED FL 1 SPEED EP 0 DRIVE 1 SPEED RATE CHANGE SPEED FL 00 SPEED EP 1 SPEED RATE CHANGE SPEED CHANGE RATE CHANGE SUAREA 0 SDAREA 0 CHANGE INDEX CHANGE RATE SET UCYCLE DCYCLE 0 CONST DRIVE CONST DRIVE CONST DRIVE CONST DRIVE
185. 1 00000 UNIT MCM 0 SS OUT1 ASSIGNO 000 SS10000000 0 9515 HARD 3 3 GPIOS TYPE 0 5510 00000 E 00000 UNIT MCM 0 0 SS OUT 5510000 5 HARD INITIALIZE1 00 0 O OUT1 TYPED HARD INITIALIZES 00 0 O GPIOS TYPE 0 5510 00000 x MCM 551 ORIGIN SPEC SET ORG SIGNAL TYPE SS1 RAM SPEC SET NOP TYPE 8 169 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U U D Mccoonn np
186. 1 1 1 1 0000 00000000000 SIGNAL OUT GPIO 3 RAM JUMP RAM NO OPERATION MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoon n np 4 HARD INITIALIZE7 DRIVE STATUS1 PORT BUSY 1 000000 gt COMMAND H F7 HARD INITIALIZE7 COMMAND DATA1 PORT WRITE DRIVE DATA1 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND gt MC07_LWDrive O DATA2 0 00000 0000 DRIVE DATA1 PORT D15 014 013 012 011 010 09 08 PAUSE 4 4 i NORG ORG i ACTIVE 1 ACTIVE 1 ACTIVE 1 07 D6 D5 D4 D3 D2 D1 DO i DALM 1 1 CCWLM CWLM FSSTOP ACTIVE 1 ACTIVE 1 ACTIVE 1 ACTIVE 1 e H F7FE D1 T FSSTOP ACTIVE FSSTOP 0 1
187. 2 Rs 0000000 ADRESS 187 PUSECONER RED 55 187 L 187 ADDRESS LATCH READ HDC 117 PUSE LATCH DSTA RED 5 117 117 ERR STATS MSK I 153 ERRCR O ERROR STATUSO CAN A PE SET 15 186 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALI 0 000 Daun 000 D D 000 TARD LATI RR MEME 6 Dr d JL c 67 68 Tru rS 69 0 0 e n
188. 2CD 7720 200 7721 200 7730 C NET hLhi t Axi s Sel pslhi tMEni amp rror Stat us 07 UReadM n amp rror Stat us DWRD Alhi t DICRD Axi sSel 7 S UN T MM ERRCR STATUS osLhi 5 atus 207 S RESU T psResult Function 07 UReadM n amp rrorStatus ByVal Ut As Long ByVal Ax sSe As Long ByRef pslhi tMen amp rror Status As 07 S UN T MM ERRCR STATUS ByRef psResu lt As 7 S RESULT As ean Function M07 UReadM n amp rrorStatus ByVal Ahit As Integer ByVal Ax sSe As nteger ByRef psLhi tM in amp rror Status As 07 S UN ERRCR STATUS ByRef psResu lt As 7 S RESULT As ean bool M397 UReadM n amp rrorStatus ui nt uint Axi sSel ref 07 S UN T MM ERRCR STATUS psthi tM ri amp rror Stat us ref M97 S RESULT psResul t N 38 88 UN T MM ERRCR STATUS
189. AL I 0 0 0 9 3 1 4 000000000 9 CPPOUT CPPIN CPPOUT CPPIN CPPOUT 0000000000000000 MCC09 MCC09 CPPIN CPPOUT CPPIN CPPOUT 2000000 0 1 X Z Y A X Z Y A 5 COMMAND H20 CP SPEC SET COMMAND STATUS1 PORT N en 25 9 DRIVE STATUS1 PORTO ERROR 0 Y 9 DRIVE STATUS1 PORTO BUSY o ES i gt MC07_BRStatus1 DIA POR DRIVE DATA1 PORT WRITE E amp DRIVE COMMAND PORT COMMAND gt MC07 LWDrive O DATA2 PORT 0 Hooo0p B6 D D 0 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 DO CPPIN CPPOUT CPPOUT CPPOUT SEL SEL2 SEL1 SELO e 81 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np
190. COMMAND H DC ADDRESS LATCH DATA READ COMMAND 2 PULSE LATCH DATA READ DRIVE STATUS1 PORT BUSY 1 COMMAND H DD PULSE LATCH DATA READ COMMAND 3 DFL LATCH DATA READ DRIVE STATUS1 PORT BUSY 1 COMMAND H DE DFL LATCH DATA READ COMMAND 117 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoon n n np uuu 41000000 411 MCCO09 20 DRIVE STATUS1 COMREG EP COMREG FL BUSY 1 COMREG FL 0 DRIVE COMMAND PORT DRIVE 2 PORT
191. DRI VE STATUSA PRI D UU UU L M7 BR tatus 88 srAmea U I DU DRAE STATUSS WM BRStatus5 U a 90 SIATUS5 J BLU IRVSIAUIIDUUDUUDUUUU 1 MO BRStatusBuf o 93 0000000 ERI VE STATUS STATUS2 STATUS3 STATUS4 STATUS5 PORT CRI G N STATUS O D D 94 DATA PRT J DEDI GMANDPOT IDUD UDUDUD 1 07 0 95 0000000 Em ve cow J U Cd D U VE DATA PCRTTI D D D LO NP DNA PRM I U DD 1 07 BRibpData 96 0000000 NP DNA PRI DO DEDECUS 10 b ve DTA PROA VE DAT DR VE PRM 7 I I 11 pra DR VE DATE PRM D UU MEZ U U m pre DSTA 320 0 0000000 L MOZ LRO ve 13 m ve DTA PRU ERI VE DATA 00000000 INVE DNA PRT UDUDU MIZBRYivestal 14 b ve DATA I O D D DR VE DNA PRM UU UU MBZ BRriveta2 __ 15 0000000 dm ve PADA I GTETI 16 DATA1 PORTU VE 2
192. INDEX CHANGE 2 147 483 647 2 147 483 647 32 O 2 147 483 647 31 INDEX CHANGE 2 147 483 647 ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 INDEX CHANGE SCAN INC INDEX CHANGE ERROR STATUS INDEX ERROR 1 STATUS1 PORT ERROR 1 INC INDEX CHANGE SCAN ABS INDEX CHANGE
193. 0 e ms Os TU UCYCLE 0 5 10 3 HSPD LSPD 1 TU ms ms lt TD DCYCLE 0 5 10 3 HSPD ELSPD 1 TD 0 INDEX 1 124 4 5 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDI D TET TL AL i 0000 e SCAREA
194. 77 ref 7 S RESUT psResul t hLev V i t Ti ne 1ns 9 pshResul t RESULT FALS 22 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np DR VE CMAOD JI HL B D U B EDI D DT AL2A 2C 7760 200 7720 200 7721 2CD 7730 DRI VE DATA PORTO DRI VE DATA2 DRI VE CMD PORTO Gi BOQ 07 LWri veBuf DARD Avy S COMAND GalbstaBuf WIRD Count M07 S RESULT psResul t VB Functi on M07 LWri veBuf ByVal ADev As Long ByRef As 07 5 CCMANND DATA ByVal Count As nteger ByRef psResu t As 07 S RESULT As ean VB NET Function 7 LWri veBuf ByVal ADev As Integer ByVal ChnalataBuf As 07 5 DATA ByVal Count As Short ByRef As 07 S RESULT As Bool ean C NET bool MO97 LWIri veBuf ui nt Avy 7 5 COMAND DATA Cal ushort Count r
195. 79 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np D4 ORG DETECT EDGE ORG 0 ORG 02 1 1 0 ORG 1 gt 00 OFF D5 ORG STOP TYPEO D6 ORG STOP TYPE1
196. AL I 0 000 9 3 00000 1 000000 0 00000 000 000 000 MEME 159 0000 5 SPEC INT AUZEL 136 SPECINTIAI 2 137 c3 OM GOWM 5500 0 0 SPEC INTAUZE3 0 Ll 139 ERST DEN PO FORD rA 72 H H SPEED SET 73 LONSPEPD SET 74 5 SEI P dA 75 rag 0000000000 rasp 00 SAREA SET ee e adoa are Eee cet HERE 76 000000920 0000 0 0 000 900 000 0 00 SARADO U PUSE AD WT 78 SPREA 77 000000930 000000 0000090 000000 529000 5
197. Integer ByRef psResu lt As 7 S RESULT As ean Function M7 USet Mcen pecO ByVal ALhit As Integer ByVal Spec As Short ByRef psResu lt As M07 S RESULT As ean CX NET bool 7 USet M n pecO ui nt ushort Spec ref M07 S RESULT psResul t hUhi t Spec SPEQY 015 014 D13 D12 Dil 0 0 0 0 0 0 0 0 07 6 Di B DL 0 0 0 0 0 0 0 ACCESS ENABLE DO RAM ACCESS ENABLE UN T RAM W UN T M M RAM REAL psResul t RESULTI FALSI 34 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
198. RSPD DATA READ COMMAND ERE d DRIVE COMMAND PORT COMMAND DATA1 2 PORT 00000 TEL DRIVE DATA1 O RSPD 015 00 gt MC07_LWRDrive 15 RSPD DATA READ RSPD DRIVE DATA1 PORT READ RSPD RSPD HSPD LSPD ELSPD 15 STATUS1 PORT DRIVE 1 gt 0 RSPD FSPD RFSPD JSPD RSPD RSPD H O12C 300 112 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np 3 2 3 2 1 00000000000 1 ADDRESS COUNTER MAX COUNT SET DRIVE STATUS1 PORT BUSY 1 COMMAND H87 ADDRESS COUNTER MAX COUNT SET COMMAND DRIVE DATA1 PORT A15 A0 WRITE DATA2 PORT DRIVE DATA2 PORT A31 A16 WRITE 10 4 294 967 295 H 0000 0001 FFFF COMMAND FORT DRIVE COMMAND PORT COMMAND
199. STEPPING SERVO MOTOR CONTROLLER S OPTION MPL 34 02752 00 AL 2W32 MPL 35 o0 AL2W64 mmm 0008 AL i 0 000 MN0311 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 00 uuu LJ 1 E E E23 E73 3 EST E C3 L3 E3 C3 L3 L3 E EJ EST E MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 00 00 MCCOS D L1 D D ooo00000000000000 BL EH HE BUE EDD EEUU MEE UE EE
200. s s sss H97 PULSECOUNTER MAX COUNT SET DDUDDDDUDDDDDDDDDUHU H 9C CNTINT COMP1 ADD DATA SET COMP1 Ha DFL COUNTER PRESET DFL COUNTER INITIALIZES ss sss HA prLcouvrERINTALZE O HAS DFLCOUNTER INITIALIZES fi REEL DONE TW VIRI EHE Gss erect ME HAB DFLINTCOMPAREREGISTER SET sss d HA9 DFLINT COMPAREREGISTER SET DFLINTUUIIDDDDDDUDDDD sss d HAA X DFLINT COMPAREREGISTERSET s sss HAC COMP1 ADD DATA SET DFLINTI 1 ADD HH B HDI H C1 SPEED CHANGE SPEC SET SPEED CHANGE J HD6 RSPD DATA RSPDIIDDDDUU 22 22 a HD8 ADDRESS COUNTER READ _ o O O HD9 PULSE COUNTER sss DFL COUNTER READ HDC ADDRESS LATCH DATA READ _ HDD _ PULSE LATCH DATA READ ___ s l HDE DFLLATCH DATA READ HE5 _ ERROR STATUS MASK ERROR g 0 ERROR STATUSDOOD AE8 COUNT LATCH SPEC SET HF HARDINTALIZE OUT 0o10 000g OuT230 0000000 Yl
201. 0 MCM GPIO3 SS1 1 RAM SPEC SET 5 JUMP TYPE STATUS3 PORTO GPIOS 108 080000000 0 JUMP ENABLE 0 00000000 RAM READ JUMP rs RAM 0000000 S81 Ld 0 00000 X X GPIO3 SS1 e GPIO3 INO IN1 MCM MCM MCM UNIT SPEC1 SET SS1 SEL HARD INITIALIZE3 GPIO3 TYPE 1 0 SS
202. 1 59 NO CPERATI CN AL i 0000 MCCOS DL DL D D e O PORT I O PORT psResul t I O 1 PORTI MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 FALSI 60 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 LL TT ALII UU D D Mccoonn np 2 3 7 00000000 UNIT MCM ERROR STATUS READ AXI S ERRCR STATUSO AL2A 2C 7760 200 7720 200 7721 2CD 7730
203. 10 0 D 0 0 STATUS8 PORTO 2 0 108 0000 00000 M X h ATI 1 DRIVE 10 0 0 0 0 STATUS8 PORTO OUT2 05 100000 00000 1 0 1 DRIVE 1 0 0 O0 0 0 STATUS8 PORTO OUT3 02 100000 00000 1 1 0 z pape 0000 D15 D8 RFSPD D7 DO INDEX CHANGE 2550 H O0 1Hz RFSPD 20 H 14 RFSPD 0 RFSPD RFSPD RSPD x RESOL INDEXCHANGE L D LB D HD INDEX CHANGE SPEC SET Hl 00 INDEX CHANGE INDEX CHANGE INDEX CHANGE 104 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U U D Mccoonn np 2 INC INDEX CHANGE INC INDEX CHANGE
204. 84 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np CPSPECSET CPPOUT CPPIN 0000 Um 000000 9 000 LONG POSITION DD 000 SHORT POSITION 000 000000 CPSPECSET CPPOUT CPPIN 000 LONG POSITION Q SETDUUU
205. DATA Y As 07 5 AXI S MM START DATA 2 As 07 5 AXI S MM START DATA A As 07 S S START DATA End Type Structure M07 S UN T START DATA Publ X As 7 S S START DATA Public Y As 7 S AX S START DATA Public 2 5 7 S AX S START DATA Publ i c As M07 5 AXI S START DATA End Structure C NET struct M07 S UN T MM START DATA 1 publ i c 7 S AXI S START DATA X publ ic 7 S AXI S START DATA Y publ i c 7 S AX S START DATA Z publ i c 7 S AX S START DATA AXI S START AXI S START AXI 5 START AXI S START gt N lt x gt N lt gt 51 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T MM AL2A 2C 7760 200 7720 200 7721 2CD 7730 STATUS 0 07 DICRD Axi sSel 07 S UN T MM START DATA
206. MAIN STRAIGHT CP 1 41000000 gt COMMAND H 30 MAIN STRAIGHT CP COMMAND 3 4 STATUS1 PORT s ERROR 0 DRIVE STATUS1 PORT ERROR 0 Y EN Q DRIVE STATUS1 PORT BUSY 0 cw gt MC07_BRStatus1 0 0 DATA PORT DRIVE DATA1 PORT WRITE COMMAND PORT WRITE DRIVE COMMAND COMMAND gt D MC07 LWDrive O DATA2 PORT 0 Hoo00 1 D DRIVE DATA1 PORT D15 014 013 012 011 D10 D9 D8 07 D6 D5 D4 D3 D2 D1 D0 PULSE CPP STOP CONST CP DRIVE SEL ENABLE ENABLE MODE D0 DRIVE MODE
207. Ui teMcnRang ui nt Alhit ushort Axis unit Address ref 07 5 GOMMNND DATA psCmat at a ref M97 S RESULT psResul t hlhi t Axi s M97 X M97 Y M97 Z 27 A Address RAM 3 999 psanatat a psResul t RESULT FALSI 48 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T RAM READ AL2A 2C 7760 200 7720 200 7721 2CD 7730 STATUS 0 MBUSY STATUSI UN T MM SPECO S RAM 55 ENABLE 0
208. WRITE DRIVE DATA2 PORT DATA2 PORT WRITE 2 147 483 648 2 147 483 6470 H 8000 0000 H7FFF FFFF CW CCW 2 DRIVE COMMAND PORT COMMAND gt 07 LWDrive COMMAND PORT WRITE DRIVE DATA1 PORT DRIVE DATA2 PORT D15 D14 D13 D12 D11 D10 D9 D7 D6 D5 D4 D3 D1 DO lt e H 0000 0000 0 0 IV 89 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 3
209. psthi tMenstart Data M97 S RESUTT psResult VB Function M07 UStartMcen ByVal Alh t As Long ByVal 556 As Long ByRef psLhi tM Entart Lata As 07 S UN T START DATA ByRef psResu lt As M07 S RESULT As ean VB NET Function 07 UstartMcn ByVal Alh it As I nteger ByVal Ax sSe As Integer ByRef psLhi tMEnstart Lata As 07 S UN T START DATA ByRef osResult As 7 S RESULT As ean C NET bool MO97 UStartMcn ui nt AU uint Axi sSel ref M07 S UN T MM START DATA psthi t Ment art Data ref M97 S RESULT 4 t hLhi t Axi s Sel M97 SEL X SEL Y SEL Z 27 SEL A M97 SEL X Y M97 SEL X Z M97 SEL X A M97 SEL Y Z M37 SEL Y A M37 SELZ A D YU M97 SEL X Y Z D zy M97 SEL XY A D AJ M97 SEL X Z A D zy M97 SELY ZA D AJ M97 SEL XY ZA 2 MAE uai Zl A Boss psthi tirn tart Ota UN T START DATA pshResul t RESU
210. 0 COMREG FL 00 STATUS3 PORTO 2 108 0000000 1 1 1 COMREG FL 00 STATUS3 PORTO GPIO3S 1 00000000 RAM NO OPERATION BUSY 1 RAM STATUSS PORT RAM READ STBY 1 109 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np 2 RAM READ JUNP RAM 000000 gt COMMAND H B9 RAM READ JUMP COMMAND DATA1 PORT DRIVE DATA1 PORT 11 WRITE 3 9990 H F9F De UN DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D14 D13 RAM READ JUMP RAM SPEC SET JUMP ENABLE RAM READ JUMP MCM MCM
211. 02 H 01 H 00 000 256 255 254 4 3 2 100000 ORG DIVISION H 00 ORG ORG DIVISION ORG ORG DIVISION H FF 256 ORG ORIGIN SPEC SET ORG STOP TYPE 01 10 11 DRIVE 0 80 MPL 35 02v2 00 AL2W64 000900 ogoogo MPL 34 02v2 00 AL2W32 0000
212. 1 CNTINT COMPARE REGISTER1 SET H 98 STATUSA4 PORT CNTINT COMP1 0 gt 1 DFLINT COMPARE REGISTER1 SET H A8 STATUSA4 PORT DFLINT COMP1 0 gt 1 RAM READ JUMP H BC RAM SPEC SET JUMP TYPE 162 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoonn np 2 MCM RAM STOP RAM MCM RAM STOP MCM STATUS2 MRBUSY 1 gt 0 MCM MCM MCM STATUS1 MBUSY 1 gt 0 MRUN 1 gt 0 RAM STOP MCM RAM STOP NO OPERATION NO OP
213. 200 7721 20 7730 Functi on M07 BWri veDstal ByVal Lev As Long ByRef 5 Integer VB NET Function 7 BWri veDetal ByVal Av As Integer ByRef poata As Short DRI VE 1 PCRIT ByRef t As 7 S RESULT As Bool ean ByRef As 7 S RESULT As Bool ean Gir BOQ 07 BWri veDst al D CRD Dev WDRD poata 07 S RESULT t C NET bool 07 BWO i veDatal ui nt Lev ref ushort poata ref 7 S RESUTT psResul t hev prata pshResul t RESULT FALSI 11 VE DATA2 PRO 00000 AL i 0 0 00 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL C AL2A 2C 7760 200 7720 200 7721 20 7730 Function M07 BWri veData2 ByVal ADev As Long ByRef 5 As Integer VB NET Function 7 BWri veDsta2
214. 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U D Mccoonn np
215. 388 6070 H 80 0000 7 CW CCW 2 amp DRIVE COMMAND PORT COMMAND gt 07 LWDrive 0 DRIVE DATA1 PORT 015 D14 013 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO A15 lt gt A0 DRIVE DATA2 PORT 015 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 DA D3 D2 D1 DO A39 16 H 00 0000 97 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i UU D Mccoonn np 2 CIRCULAR YPOSITION SET
216. AL i U 0 D Mccoonn np UN T MM SPEO AL2A 2C 7760 200 7720 200 7721 2CD 7730 SPEC C NET hLhi t pSpec psResul t BOQ 07 UGet Mcn pecO D CRD ALhy t VERD pSpec S RESU T posResult Functi on 07 Ucet Mcen pecO ByVal ALhit As Long ByRef pSpec As Integer ByRef psResu lt As M07 S RESULT As ean Function 7 UGet Mcn pecO ByVal Ut As Integer ByRef pSpec As Short ByRef psResu lt As M307 S RESULT As ean bool 07 Ucet Mcn pecO ui nt ALh t ref ushort oSpec ref 207 S RESU T 4 t RESULT FALSI 35 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T 2C 7760 200 7720 200 7721 2CD 7730
217. ByVal Av As Integer ByRef poata As Short DRI VE 2 PORTO ByRef As 7 S RESULT As Bool ean ByRef osResult As 7 S RESULT As Bool ean qir BOQ 07 BWri veDat 2 DARD Dev WDRD oPsta 07 S RESULT psResul t CX bool 07 BWO i veData2 ui nt Lev ref ushort poata ref M7 S RESU T psResul t hev prata psResul t RESULT FALSI spo DR VE DNA 320 00000000 AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL C AL2A 2C 7760 200 7720 20D 7721 200 7730 C NET hev prata psResul t BOQ 07 _ LRD i ve ADev pP3ta 07 S RESULT psResul t DRI VE DATAL PCRIT ERI VE 2 Functi on M 07 LRIri ve ByVal Av As Long ByRef pL5ta As Long ByRef osResult As 7 S RESULT
218. PORT WRITE DRIVE COMMAND PORT COMMAND gt 07 LWDrive 0 DRIVE DATA1 PORT INDEX CHANGE J 0 0 DRIVE DATA2 PORT NDEX CHANGE 107 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoonn np 3 1 9 RAM I F D RAM I F SSMAP 65 MCM RAM MCM RAM MCM 1 RAM SPEC SET RAM READ JUMP NO OPERATION
219. PRD I 00000000000 GMAmHUUUUUDUDUDU 2 17 paa IRVDNAIUUIUUDUDUUUU 18 DR ve DOTA PR ER VE DATA 0000000000000 _ _______ 19 0000000000 Em ve 1 PRRITER 2 179 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ILU AL I 0 000 U DD ara aaa maaa mama A S A a aa a a a aa a a aa 000 000 00000001 50 0022 22 20 320 00000000 5 2 4 1 200000001 Gt ta I 9 000212 21 2 000 0 322 000000000000 READ VWA DD 7 BM itDri amp 97 D D D 0 READY STATUS1 BUSY 7 98
220. R 20 00000 0 1 1 1 0 0 1 0 1 1 1 0 1 1 1 SOUTX 44 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np SOUTO XOUTO P YOUTO 9 5 1 ZOUIO gt 1 AQUIO gt SI 1 X e J SI 1 SEL YOJT1 1 7 1 1 AQUI gt SQOUT SEL V SOJTO L y y y SI 2 SEL pesa y 1 ZOUTO AOUTO ZOUT1 AOUT1 0 4 psResul t RESUL FALSI 45 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U U D Mccoonn n np UN T SPEG AL2A 2C 7760 200 772
221. S MMI NO X M37 S AX S MMINO X M37 S AX S MMINOZ M37 S AX S MMIN O A 07 S UN T MMI VB Type M97 S UNT MMI Sheet AD As nteger X As 207 S AX S MMINFO Y As M97 S AX S 2 As 07 S AX S MMINFO A As M97 S AX S MMINFO End Type Structure MD7 S UN T MMI Public Sheet b As Short Public X As M97 S AXIS I FO Public Y As 7 S AXIS FO Public ZAs M7 S AXIS INFO Public As M7 S AXIS INFO End Structure C NET struct M97 S UN T MMI NO t public ushort Sheet b publ ic M7 S AX S MMINO X publ ic M7 S AX S MMINFO Y publ ic M7 S AX S MMINO Z publ ic M07 S AX S MMI NO 4 Sheet Ab UN T MM SHEET AXI S MMI NQ AXI S MMI NQ AXI S MMI NQ AXI S MMI NQ gt N lt x Sheet Ab H OOFF 30 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np UN T MMINO READ AL2A 2C 7760 200 7720 200 7721 2CD 7730
222. SET SUAREA SHAREA SET SUH SPEC INITIALIZES SCAREA MODE 0 SUH SUH SUAREA SUAREA SUH UCYCLE e SCAREA SET SDAREA SHAREA SET SDH SPEC INITIALIZES SCAREA MODE 0 SDH SDH SDAREA SDAREA SDH DCYCLE D HSPD LSPD FSPD SUAREA or SUH 1 UAREA 0000 00000 SDAREA SDAREA or SDH 0000 ELSPD D SPEC INITIALIZE3 SCAREA MODE 0 125 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TTL ALII U 0 D Mccoonn np
223. SPEC End Type VB NET Structure 07 S UN T SPEC Publ X As M07 S AX S SPEC Public Y As M07 S AX S SPEC Public Z As 7 S AX S SPEC Publ i c As M07 S AX S SPEC End Structure C NET struct M07 S UN T SPEC t publ ic M07 S AXI S MM SPEC X publ i c 7 S AXI S MM SPEC Y publ ic M07 S AXI S MM SPEC Z publ i c M07 S AX S MM SPEC 4 STO SOUT1 52 53 AXI S SPEG AXI S MM SPEG AXI S SPEG AXI 5 SPEG gt N lt x gt N lt gt anana 33 UN T SPEO AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L AL2A 2C 7760 200 7720 200 7721 2CD 7730 MM STATUS MR 0 qir BOQ 07 USet Mcn pecO D CRD Alhit WRD Spec 07 S RESULT gpsResul t Function 07 USet Mcen pecO ByVal AUmt As Long ByVal Spec
224. SPEC1 SET I 0 HARD INITIALIZE1 0 00 HARD INITIALIZES 0 0 0 Q MCM UNIT SPEC3 SET I 0 HARD INITIALIZE1 0 00 UNIT MCM SPEC1 SS1 HARD INITIALIZE1 OUT1 HARD INITIALIZE3 GPIO3 551 MCM
225. WRITE COMMAND DRIVE DATA1 2 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 118 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np e INDEX JOG iesu STATUS PORT PAUSE 1 INDEXO B INDEX STBY 1 c 0 FSPD DELAY TIME soco 0o D JOG nn PAUSE 0 STATUS1 PORT PAUSE 0 0 gt JOG 5558855 000
226. c 173 4 3 6 00000 175 5 1 000000 EE 176 EPIIT UG 176 2 177 5 2 B M M EE 178 53 000000 ele mmmMmMMmMMMMMeeeeweel 183 gt 183 185 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D D Mccoonn np uuu
227. inc com c1509
228. 0 200 7721 2CD 7730 MM SPEC3 Gir BOQ MO07 UGet Mcn pec3 D CRD ALhy t DICRD Axi sSel 07 S UN T MM SPEC pslhi tM n pec 07 S RESULT psResult VB Functi on 07 Ucet Mcen pec3 ByVal AU As Long ByVal Ax sSe As Long ByRef psLhi tM En pec As 07 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean VB NET Function 07 Ucet Mcen pec3 ByVal AUvt As Integer ByVal Ax sSe As Integer ByRef psLhi tM n pec As 07 S UN T SPEC ByRef psResu lt As M07 S RESULT As ean CX NET bool 07 UGet M n pec3 ui nt Alhit uint Axi sSel ref M07 S UN T MM SPEC tM nspec ref M97 S RESULT 4 t hLhi t Axi s Sel M7 SEL pslhi UN T MM SPEG pshResul t RESU FALSI 46 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 2 3 D n HB DD UHT
229. 00 0000 LONG POSITION SHORT POSITION SET 0 0 0 CIRCULAR XPOSITION SET 0 0 D D CIRCULAR YPOSITION SET 0 D D D CIRCULAR PULSE DEX CHANGE Dn STATUS1 PORT DRIVE HE D D STATUS1 PORT DRIVE 1000 177 SPEED CHANGE SPEC INDEX CHANGE SPEC SETO 0 0 0 AL I 0 000 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 9 2 0 00 000 To E S G d s edo DU D M a M pectet cud SU CU UU M M EUM A MU M M E MU M EU MC M C EDI ECCE PP EU rU GI Gr UI Ste ca SS a HU Mes HE de Grae A 000 c ESL 32 lBDUDDUDUDBDUDUDBDBUD ira 35 ca RI VE COMAND PCRITIERI VE DATA1 PORTOORI VE 2 O00000000000 100000000000 207 S STATUS DATA 36 VE STATUSI PORT ER VE PORT EN POR D D LL D EH LE HU 37 LLLMBLEMrewmet m 39
230. 007 S UN T SPEC ByRef psResu lt As 7 S RESULT As ean CX NET bool 7 M n pec2 ui nt Alhit uint Axi sSel ref M07 S UNT MM SPEC psthi tM nspec ref M97 S RESULT 4 t hLhi t Axi s Sel M97 SEL X X M97 SEL Y M97 SEL Z 07 SEL A M97 SEL X Y XI YO M7 SEL XY Z XI D Yid ual M7 SEL X Z XI I 4 M7 SEL XY A XI Eu Yid J AJ M7 SEL XI I M7 SEL X Z A M27 SEL Y Z 0 24 07 SEL Y ZA Yun 1 M7 SEL Y A AD M27 SEL XY ZA yoo zoo M27 SEL Z A 200 psthi t UN T MM SPEQ D15 Di4 D13 D12 Dil DLO 550 550 550 0 9 p 9 SEL2 SEL1 SELO 07 D6 D4 Di SI 2 SEL SI GNAL1 SEL 40 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0000 MCCOS DL DL D D X 0000 SIGNAL1 SEL 0 SIGNAL2 SEL 0 550 SE H 0001 SI GNAL1 SEL 1 5 GNAL2 SEL 0 550 SE Z2 0400 SI GAL1 SEL 0 SIGNAL2 SEL 0 550 SE A 0400 SI 1 SEL 0 5 GNAL2 SEL 0 550 SE D3 0 5 1 SEL 07 4 SI 2 SEL SI 4 1 SI GNAL2
231. 1 MCM 551 GPIOS ORIGIN SPEC SET ORG SIGNAL TYPE SS1 RAM SPEC SET NOP TYPE GPIO3 164 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np
232. 15 PAUSE ACTIVE PAUSE 0 PAUSE 1 STBY 1 PAUSE 0 STBY 015 PAUSE 70 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TP AL i U 0 D D Mccoon n np 5 HARD INITIALIZE8 DRIVE STATUS1 PORT BUSY 1
233. 3 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 3 2 2 0000000000 1 PULSE COUNTER MAX COUNT SET DRIVE STATUS1 PORT BUSY 1 lt 0000000 gt 97 PULSE COUNTER MAX COUNT SET COMMAND DRIVE DATA1 PORT 015 WRITE DATA2 PORT DRIVE DATA2 PORT 031 016 WRITE 10 4 294 967 295 0000 0001 FFFF TQ DRIVE COMMAND PORT COMMAND WRITE gt 07 LWDrive 0 0 DRIVE DATA1 PORT DRIVE DATA2 PORT
234. 32 32 D31 D30 D29 D28 027 D26 D25 D24 D23 D22 D21 D20 D19 D18 D17 D16 psta 000000000000 00 07 61 DNA2 PORTE 015 D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D1 DO psta 0000000000000 07 ptaro eq 0 DNA1 PR C L1 015 lt qI l DARD 7 Get Inta 07 S DATA posata VB Functi on 07 Get Dasta ByRef posata As 07 S DATA As Long VB NET Function M7 Get Data ByRef posata As 07 S DATA As I nteger NET Unt 7 Get Data ref 7 S DATA posata psData 32 21 2 2 2 MCC09 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 1522 Kem AL I H 0 B MCCO9 COMREG FL BIT 0
235. 32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np
236. 55 HOC 144 1 1 JOG PUSE Ei 145 J 00000000000 Misc Hlc a e 79 4 145 146 D A S 147 9 0 D co AEEA TETEE E o E 147 SONI DDD D D LS SE 148 149 D PD 146 3t J SPD SCANT 000000 uo Meus eem 146 0 J SPD SCAN L1 U DD D EDI 152 RSTO O O O O 10nsc 00000000 183 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 og 000000 000 0 000 000 PEORES SEE 8l 0 20 10 000 RIP CT PPS 88 SPERT PODIE ON e E 89 m S 97 98 99
237. 7 BRStatust PORT DRIVE DATA1 PORT WRITE amp DRIVE DATA2 PORT DATA PORT 10 16 3830 0001 H 3FFF WRITE EN amp DRIVE COMMAND PORT COMMAND gt MC07_LWDrive 0 DRIVE DATA1 PORT e UCYCLE UCYCLE 0 15 us UCYCLE x 0 5 us 0 5 us 8 1915 ms DCYCLE 0 DCYCLE DCYCLE UCYCLE us DCYCLE x 0 5 us 0 5 us 8 1915 ms 75 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoonn np 5 SCAREA SET
238. As Bool ean Function 7 LRIri ve ByVal Av As Integer ByRef pta As Integer ByRef osResult As 7 S RESULT As Bool ean bool M007 LRD i ve ui nt prev ref uint pata ref M07 S RESULT pshesul t 5 mm PORTO RESULT FALSI 219 VE DATAL PRD 00000 AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L AL2A 2C 7760 20 7720 200 7721 20 7730 Functi on 7 veDstal ByVal Av As Long ByRef pData As Integer VB NET Function 7 veDstal ByVal Av As Integer ByRef poata As Short DRI VE 1 PORTO ByRef osResult As 7 S RESULT As Bool ean ByRef osResult As 7 S RESULT As Bool ean BOQ 07 BRLri 1 DARD Dev WDRD oPsta 07 S RESULT t CK bool M97 BRO i veDatal ui Dev ref ushort poata ref 5 RESU T psResul t hev prata pshResul t
239. BLE 000000000 GPIOS SS1 1 OUT1 Oooo o 0000000 X DD x 000000 X GPIO3 SS1 n 250ns 168 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0000 e OUT CNTINT CNTINT RDYINT RDYINT DRIVE STATUS1 DRIVE UP STATUS1 UP DOWN STATUS1 DOWN CONST STATUS1 CONST MCM MCM MCM UNIT SPEC1 0 95195 000 HARD INITIALIZE1 0 O OUT1 TYPED
240. D RATE CHANGE 5 COMMAND HC8 SPEED RATE CHANGE COMMAND y AC STATUSS PORT 5 DRIVE STATUS5 PORT SPEED FL o SPEED FL 0 Y gt MCO7 BRStatus5 0 PORT DRIVE DATA1 PORT WRITE 00 32 7670 H 0000 H7FFF 400 25 0000 H O000 H 61A8 G DRIVE DATA2 PORT 16 3830 00000 H 3FFF COMMAND PORT amp DRIVE COMMAND PORT COMMAND WRITE gt 07 LWDrive 0 DRIVE DATA1 PORT SPEED CHANGE 0 0
241. DLL MCC09 2C 7760 2CD 7720 A5F31DE 2CD 7721 A5F41DE 2CD 7730 5F31Q MCC07 Windows 32 MPL 34 02v2 00 AL2W32 Windows 64 MPL 35 02v2 00 AL2W64 MPL 35 02v2 00 AL2W64 Windows 64 Motion Contorl Macro MCM OS MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoon n np MCCO7 MCCO9 MCCO7 MCCO9 MCCO7 MCCO9 2 1 PORTO 000000000000
242. E 1 ORG STATUS2 PORT ORGEND 1 STATUS1 PORT J SSEND FSEND ORIGIN SPEC SET 000 ORG ORG ORG oRG ORIGIN D SIGNAL DETECT gt STOP DIVISION _ gt EDGE TYPE gt STATUS2 0 0 gm ORIGINO 000000000000 ORG 4 gt ORG ORG DETECT EDGE 0 ORG 02 1 ORG STOP TYPE 01 ORG ORG DIVISION H 02 ORG ORIGIN SCAN SCAN INDEX ORIGIN ORG HSPD i 00000 00000 unn AN LSPD A 0000 E
243. ERATION H FFFF OPERATIOND 000 000000000000 00000000000 HFFFF0 000 NO OPERATION RAM STOP C RAM 3 999 3 999 RAM STOP MCM RAM STOP MCM STATUS MBUSY 1 UNIT MCM FSSTOP UNIT MCM SLSTOP MCM STATUS2 MRBUSY 212 0
244. HARDINTALIZE7 OOOO sss ssl H F8 HARD INITIALIZE8 173 0000000 1 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 MCCOS D D 2 D CNTINT COMPARE REGISTER1 UNIT START 0 000 CNTINT COMPARE REGISTER1 SET CNTINT COMPARE REGISTER1 SET CNTINT COMPARE REGISTER1 SET r A N COMPARE REGISTER1 X X X MBUSY EE 174 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL I 0000 MCCOS DL DL D D 4 3 6 00000
245. L2W32 MPL 35 02v2 00 AL2W64 D TP ALII U D Mccoonn np 2 2 000000 2 2 1 PORT I 00000 VE DATA 320 00000000 AL2A 2C 7760 200 7720 20 7721 2CD 7730 DRI VE PORT ERI VE 2 C NET hev prata psResul t 07 LVPsta DCRD Av pPsta 07 S RESULT psResult Function 07 LVPsta ByVal Av As Long ByRef pL5ta As Long ByRef osResu lt As M07 S RESULT As ean Function M97 LVPeta ByVal Av As Integer ByRef pota As Integer ByRef osResult As M07 S RESULT As ean bool 07 LW ta uint ref uint pata ref 7 S RESUTT 4 t 16 DRI VE 2 16 DRI VE 1 PCRIT RESUTI FALSI 10 VE 1 PRO 00000 AL i 0 0 00 Mccoor nnn MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TEL L AL2A 2C 7760 2CD 7720
246. LATCH SPEC SET 115 32 4 Mee 117 1 ADDRESS LATCH DATA READ 117 2 PULSE LATCH DATA READ 117 3 DFL LATCH DATA READ 117 118 4 11 00000000 mw 118 4 1 2 33633 120 190 121 1 00000000 121 2 0800000 122 3 000000000 124 4 195 199 129 7 0000000 129 8 00000000 130 4 1 4 ORIGIN MCCO9 Mmmm 131 4 1 5 133 1 133 2 00000000
247. LSPD 5 _ oRnG D n N 1 2 13 131 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D Mccoonn np ORIGIN CONSTANT SCAN JSPD SCAN JOG SCAN INDEX ORIGIN ORG 132 4 1 5 0000800 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL I U U D Mccoon n np 1 000000000 MCCO9 CPPIN CPPOUT CPPOUT
248. MAND PORT COMMAND gt MC07_LWDrive J DRIVE DATA1 PORT DRIVE DATA2 PORT 0000 00 4 1 5 4 PULSE CW CCW 99 4 MAIN CIRCULAR CP 1
249. O07 BRStatus5 DATA1 PORT WRITE DRIVE DATA1 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND gt 7 LWDrive O DATA2 0 DRIVE DATA1 PORT D15 D14 D13 D12 D11 D10 D9 D8 RFSPD RFSPD RFSPD RFSPD RFSPD RFSPD RFSPD RFSPD 07 D6 D5 D4 D3 D2 D1 DO 07 D6 D5 D4 D3 D2 D1 DO INDEX INDEX INDEX _ CHANGE CHANGE CHANGE TYPE2 TYPE1 TYPE0 e H 1400 20000000 2 INDEX CHANGE TYPE2 0 INDEX CHANGE D2 D1 DO INDEX STATUS PORT DRIVE 100000 00000 1 100000000 STATUS PORTO OUT8 05 10 0000 00000 0 1 0 DRIVE
250. O2 0 gt 1000000 STATUS3 PORTO OUT2 05 1000000 STATUS8 POR
251. OL Hz SUAREA x RESOL Hz SUAREA SUH x RESOL SDAREA SDH 0 DCYCLE RESOL Hz SDAREA SDH x RESOL Hz SDAREA x RESOL SPEC INITIALIZES SCAREA MODE 0 HSPD LSPD 2 SUAREA HSPD ELSPD 2 SDAREA SDAREA HSPD ELSPD 1 2 76 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D D Mccoonn np 6 SHAREA SET
252. OMMAND PORT DRIVE COMMAND PORT COMMAND WRITE o MC07_LWDrive DATA2 PORT 0 DRIVE DATA1 PORT D15 014 013 012 011 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 DO E _ PULSE CPP STOP CONST CP DRIVE SEL ENABLE ENABLE MODE DO DRIVE MODE 0 SCAN 1 INDEX D1 CONST CP ENABLE 0 1 D2 CPP STOP ENABLE CPP STOP 0 CPP STOP 1 CPP STOP D4 PULSE SEL 0 1 Y YCP 100 5 SUB CIRCULAR CP 1 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U D D Mccoonn np
253. ORD Ment atusZ 07 S AXI S STATUS X 07 5 AXI S MM STATUS 07 S AXI S MM STATUS Z 07 5 AXI S MM STATUS WPD Gn WRD n WORD n xpli n y 07 5 UN T MM STATUS VB Type S UN T MM STATUS 7 S UN T MM STATUS VB NET NET Structure M07 S UN T MOM STATUS Public Mn tatus1 As Short Public AMn tatus2 As Short Publ i c X As 7 S S STATUS Public Y As 7 S S STATUS Public 2 As 7 S S STATUS Publ i c As M07 S S STATUS Public Gn As Short Public C r pO n As Short Public Exp n As Short Public As Short End Structure struct M7 S UN T STATUS MnStatus1 As nteger Mtn tatus2 As nteger public ushort 1 X As S AX S MM STATUS publ ic ushort Mn tatus2 Y As M97 S AXI S MM STATUS publ i c 7 S AXI S MM STATUS X 2 As 7 S AXI S MM STATUS publ i c 7 S AXI S MM STATUS Y A As M97 S AXI S MM STATUS publ i c 7 S AXI S MM STATUS Z n As nteger publ i c 7 S AXI S STATUS A C n As Integer public ushort G7 n As nteger publ ic ushort p i n Expl n As nteger publ i c ushort 0 n End Type publ ic ushort xp1i n Mn tatus1 STATUS Mn tatus2 S
254. PD 0 ELSPD ELSPD LSPD Hz ELSPD x RESOL FSPD FSPD 2 HSPD x RESOL 74 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 0 D Mccoonn np 4 RATE SET UCYCLE DCYCLE COMMAND H08 RATE SET COMMAND STATUS1 PORT N on 2 gt 9 DRIVE STATUS1 PORTO ERROR 0 Y BN DRIVE STATUS1 PORT BUSY E gt 0
255. PIN D4 PULSE SEL 0 LONG POSITION 1 SHORT POSITION 91 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 DEDIT D TET LI AL i 0000 MCCOS DL DL D D 3 1 6 0000000000000 CW CCW DO DRIVE MODE D1 CONST CP ENABLE
256. REA SET 76 6 SHAREA SET 77 7 DOWN PULSE ADJUST 78 3 1 3 ORIGIND O O00000 m mmMMeeeee 79 1 ORIGIN SPEC SET 79 3 4 4 000000000 m m MmMmMMeMeee 81 1 CP SPEC SET 81 3 1 5 00 000000000000 83 1 LONG POSITION SET mM 88 2 SHORT POSITION SET 89 3 MAIN STRAIGHT 91 4 SUB STRAIGHT 92 3 1 6 00000000000000 c M M M M MMee 93 1 CIRCULAR XPOSITION SET 94 2 CIRCULAR YPOSITION SET 98 3 CIRCULAR PULSE SET 99 4 MAIN CIRCULAR 100 5 SUB CIRCULAR CP
257. RTO OuT2 0000000000 OuT2 1000000000 0 1 0 STATUS3 PORTO GPIO2 0000000000 PI02 1000000000 0 1 1 STATUS3 PORTO 1000000000 1 0 0 STATUS3 PORTO 0 2 1000000000 1 0 1 1 1 0 STATUS3 PORTO 2 1000000000 2 0000000000 1 1 1 STATUS3 PORTO 108 00000000 0000000000 RAM READ JUMP RAM READ JUMP D8 NOP TYPEO D9 NOP TYPE1 D10 TYPE2 NO OPERATION TYPE2 TYPE1 TYPEO 0000 gt 0 0 0 COMREG FL 00 0000000 0 0 1 0 1 0 COMREG FL 00 STATUS8 PORTO 2 000000000 0 1 1 COMREG FL 00 STATUS3 PORTO GPIO3 00 0000000 1 0 0 COMREG FL 00 STATUS8 PORTO OUT2 108 0000000 1 0 1 1 1
258. SPD 0 FSPD RSPD x RESOL FSPD INDEX CHANGE RFSPD 0 RFSPD RSPD x RESOL RFSPD HSPD 0 HSPD RSPD x RESOL HSPD LSPD o LSPD RSPD x RESOL LSPD ELSPD 0 ELSPD ELSPD LSPD RSPD FSPD JSPD RSPD H O12C 300 RSPD RSPD DATA READ FPSD HSPD LSPD 2 RSPD RSPD RATE o MCCO9 RSPD UE BECHER E D NE E DDD LSPD o 000 HSPD 0 1 q E EA Mm i RES EN MED GE INDEX D 0 n nnn nnn n 5 149 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 00 0 Mcco nnnm 4 2 000000 4 2 1 000000000 9 1 999 2 000 1 STATUS4 PORT OVF 1 v 02 12 399925 10005 1001 19995 0 02 1999 gt 1001 1000 gt 99
259. SPD 1 SDH SDL TD ms T4 DCYCLE 0 5 10 3 SDH 2 ms T5 DCYCLE 0 5 10 3 HSPD ELSPD 1 SDH SDL ms T6 DCYCLE 0 5 10 3 SDL 2 8 ELSPD SDH SDL 0 INDEX 1 SUL SUAREA P1 P2 P3 1 UCYCLE 0 5 10 6 RESOL 1 2 HSPD LSPD 1 HSPD LSPD SUH HSPD SUL LSPD 1 6 SUH SUL SUH SUL 3 1 P1 LSPD 1 3 SUL RESOL T1 10 3 P2 HSPD SUH LSPD SUL RESOL 1 2 T2 10 3 HSPD 1 3 SUH RESOL T3 10 3 HSPD LSPD gt SUH SUL SDL SDAREA P4 P5 P6 ADJUST PULSE 2 DCYCLE 0 5 10 6 RESOL 1 2 HSPD ELSPD 1 HSPD ELSPD SDH HSPD SDL ELSPD 1 6 SDH SDL SDH SDL 3 2 3 HSPD ELSPD 1 HSPD ELSPD 6 85 HSPD SDL ELSPD SDH SDL SDH SDL 3 RESOL DCYCLE 1 12 10 6 2 P4 HSPD 1 3 SDH RESOL 4 10 3 P5 HSPD SDH ELSPD SDL RESOL 1 2 T5 10 3 P6 ELSPD 1 3 SDL RESOL T6 10 3 SDL HSPD ELSPD IV CD
260. SPEC UNT MM SPED SED 7 34 MM SPEO D U l TOES E 000 35 00000000 00 we seeaor 0000000 UN T J 7 0 36 MM seag D U D UNT MM SEG GET J d MOT UEMS 0 39 spear muda UNT SPEO aoaaa d MOT SEMSE 0000 40 UNTMMSEQ EMD I d MOT UMSE 000 2 addat 0000000 181 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i 0 000 00 000 NT MM SEG SEU MD Set Mense 000 43 MM sprech E U U NT MM SEG EMD 46 5 0000000 UNT MOM SEET DOMO D 07 UbwioadenSheet 47 NT 7 48 NT MO 49 AAS MOM START DAD DO
261. TATUS2 X X 0 AXI S STATUS Y Yl O AXI S MM STATUS 2 Z AXI S MOM STATUS A A AXI S MM STATUS Gin 1 0 I p i n 1 0 0 PORT n 1 0 0 0 PR Expli n 1 PORT 57 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL I 0 000 UN T MM STATUS READ AL2A 2C 7760 200 7720 200 7721 2CD 7730 BOL M39 UReadMenStatus DWIRD Axi 558 7 S UN T STATUS psUhi at us 207 S_RESU T psResult VB Function 07 UReadM n t atus ByVal AUmYt As Long ByVal Ax sSe As Long ByRef pslhi tentatus As 007 S UN T STATUS ByRef psResu lt As M07 S RESULT As ean VB NET Function 7 UReadM nStatus ByVal AUYt As I nteger ByVal Ax sSe As Integer ByRef psLhi As 07 S UN T STATUS ByRef psResu lt As M07 S RESULT As ean bool 7 UReadMcnStatus ui nt Alhit uint Ax sSe ref 07 S UN T MM STATUS gsLhi tMtnStatus ref M07 S RESU T psResul t
262. TO OUT3 02 10800000 COUNT LATCH SPEC SET GPIO2 990 SPEC INITIALIZE2 550 550 INO X 580 IN1 Y 550 0 COUNT LATCH SPEC SET e LL PUE PN INO IN1 Windows OS AL II INDEX DD ganan ganan Y i UD lt INDEXDDDDDDDDDDD DDDDDDD wexnanaun J i 0 COUNTER INITIALIZE 0 DD 000 i STOP TYPED DD D D DD H0 D COMPIUDD X 100000001 COUNT LATCH SPEC SETO 00000 0000000 950 0 gt 1000000 00 0000 000000 XXX O000000000000000000 0 1 2 ln 1 1 0000 151 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 000900 ogoogo
263. ef S RESULT psResul t Cnalat aBuf Qt aBuf 0 1 CnalDat aBuf 7 8 aBuf 8 CnalDat aBuf 15 Count 8 pshResul t RESULT FALSI 23 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 D TT ALII U 0 D Mccoonn np 2 2 3 000000000 0000000 AL2A 2C 7760 200 7720 200 7721 200 7730 0 0 4 1 5 4 0 0 SE 2 147 483 6480 42 147 483 647
264. gt gt 1 gt 0 STATUS4 PORT OVF 1 e 2 000 2 001 1 STATUS4 PORT OVF 1 02 12 100025 10012 2000 0 02 200025 1001 gt 100025 gt 12 0 STATUS4 PORT OVF 1 STATUS4 PORT OVF 1 COUNTER MAX COUNT SET ABS INDEX OVF 150 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL i U 0 D Mccoon n np 4 2 2 0000000000000000 LATCH DATA READ 0000 gt 000000 LATCH READ0O 000000000000 0000 STATUS3 PORTO OUT3 0 gt 1000000 STATUS3 PORTO GPI
265. l stopMen DARD DI RD Axi sSel 07 S RESULT psResult VB Function 07 stopM cn ByVal Ut As Long ByVal Ax sSe As Long ByRef psResu lt As M07 S RESULT As ean Function 7 stopMcn ByVal As Integer ByVal Ax sSe As Integer ByRef psResu lt As 207 S RESULT As ean CX NET bool 7 stopMem uint PU t uint Axi sSe ref M97 S RESULT psResul t hlhi t Axi s Sel M97 SEL X X M97 SEL Y M97 SEL Z M97 SEL A M97 SEL X Y XI YO M7 SEL XY Z XI D Yid Z M7 SEL X Z XI I 4 M7 SEL XY A X0 Yid u AJ M7 SEL X A XI I M7 SEL X Z A XI Hu Zl uU AJ M27 SEL Y Z 4 M7 SEL Y Y 0 Z A 7 5 Yo J M7 SEL XY XI EB YU Zu A M27 SELZ A Z J A pshResul t RESULT FALSI MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 AL I 0000 UN T MM ERRCR AL2A 2C 7760 200 7720 2CD 7721 2027730 qir M397 Ud D CRD Alhit DICRD Axi sSel 07 S RESULT psResult VB Function 07 Ud rMcn amp rr
266. m ui nt Ahit uint Axi 558 ref M97 S RESULT t hLhi t Axi s Sel M37 SEL X XJ M37 SEL Y M27 SEL Z z M37 SEL A A M97 SEL X Y XI YO M7 SEL XY Z XI D Yid Z M7 SEL X Z XI lI 4 M7 SEL XY A XI D Yid J AJ M37 SEL X A X1 0 Ad M37 SEL X Z A X1 d zi D AJ M27 SEL Y Z Dai M37 SEL Y ZA 1 M7 5 YU J M7 SEL XY ZA XI EB Yi uU Zu A M27 SELZ A Z J A pshResul t RESULT FALSI AL i D D D D MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 UN T 515 54 AL2A 2 7760 200 7720 200 7721 200 7730 Gir
267. or ByVal Ahit As Long ByVal Ax sSe As Long ByRef psResu lt As 207 S RESULT As ean VB NET Function 07 Ud rMcn amp rror ByVal As Integer ByVal Ax sSe As Integer ByRef psResu lt As 7 S RESULT As ean NET bool 7 Ud uint Ahit uint 55 ref M97 S RESULT psResul t hLhi t Axi s Sel M37 SEL X XJ M37 SEL Y M27 SEL Z z M37 SEL A A M37 SEL X Y x1 D YU M27 SEL XY Z x1 Yn n 4 M27 SEL X Z nna M37 SEL X Y A x1 D Yn n Ag M27 SEL X A X1 M37 SEL X Z A M27 SEL Y Z Yg D Zi M37 SEL Y ZA 1 M7 5 AI M7 SEL XY ZA X D YigualuA M27 SEL Z A 2 0 pshResul t RESULT FALSI 55 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 LH ID AL i 0 000 MCCOS D D 2 D 2 3 6 0 0 000
268. ra E E Ae aaa aaa u ut u ut aGl iB un OoPRUUUUUU M9ZUrtQT 0 70 al in un oPRTGgUDUDU LMMzurtaQT 0 n 0000 1 UD DDD 1 MZ Uti 72 al nunyoPmmnpnno 73 74 M7 BQ ose 75 _ 76 GQMADZUDUDUUDUUUUU M1Wrive a 79 ve P 2 COMAND PRI V7 BWriveomand 80 0000000 RE DRI VE STATUSI D D U 7 o 81 OA ve STATUS DRI VE STATUS2 PRI D UU UU L M U U 85 b ve STATU D DRI VE STATUS3 PRI D UD UU M07 BRStatus3 a 87 sramss DB DO
269. sou LLL MOLS AA S MOM START DATA _____ 50 NT MM START DIAJ DO 75 L 51 NT MM SART 0 52 NT 5 UNTMMSSIE ID 7 5 0 54 UNTMMERR QNID ___ 55 AAS MM STATS DD a MD S qS MM STA 56 NT 57 5 MD UeadMr amp atus 58 AAS MM ERR STATUSI DD MD S ERROR STATS 6l UNT MOM ERR STAUS U D MD S UN T ERROR 62 UNT MOM ERROR STATUS READ D0 UeadMn amp rrorstatus 63 182 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64
270. t 1 AOUTO gt SIGNAL1 e SIGNAL SEL YOUT1 gt 1 ZOUTI e gt 1 gt SOUT SEL SOUTO L y 3 SIGNAL2 SIGNAL2 SEL 7 y y 1 OUTO OUT1 HARD INITIALIZE1 OUTO 1 TYPES TYPE2 TYPE1 TYPEO 0 0 0 0 ADRINT ADRINT 0 0 0 1 CNTINT CNTINT J 0 0 1 0 DFLINT DFLINTE D EUN RDYINT 1 1 g 0 1 0 0 STBY STATUS1 j 9 0 1 0 1 DRIVE STATUS1 0 1 1 0 nSPEED FL STATUS5 0 1 1 1 nINDEX FL STATUS5 1 0 0 0 UP STATUS1 0 1 0 0 1 DOWN STATUS1 DOWN J U 1 0 1 0 CONST STATUS1 CONST D Hl 00 ud gud EXT PULSE _ STATUSTD PULSED HD DD ______ 1 1 0 0 nPULSE MASK STATUS2 PULSE 5 00000 D D 1 1 0 1 ORG SIGNAL STATUS2 ORG SIGNAL D LI 1 1 1 0 1 1 1 1 U D uu OUTO CNTINT OUT1 RDYINT SOUT SOUT SIGNAL1 SEL 4 2 SOUTO XOUTO XONTINT XOUTO XONTINT SOUT1 YOUTO YONTINT YOUTO YONTINT SOUT2 ZOUTO ZOCNTINT XOUTO XONTINT SOUT3 AOUT0 ACNTINT YOUTO YONTINT
271. u 07 SEL X Z XI zi M7 SEL XY A XI d Yd D 07 SEL X A XI U Ad SEL X Z A Xi d zi DAD M07 SEL Y Z 0 4 M7 SELY ZA Yo 0 Z1 D Ad SEL Y A 7_5 XY Z A Xi d Yu D zi 07 SEL Z A 110 36 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 000900 ogoogo ALI l U Hj MCC09 1 n psthi t MEnspec UN T MM 015 014 013 012 Di D 551 551 551 0 0 0 0 9 SEL2 SEL1 SELO D Di D 551 551 551 551 0 zan van ASSIN ASSIQN ASSIGN H 0000 551 XANI ASSI GN 551 1 Dl 551 YANI ASSI GN SS1 YONI enun 1 D 551 ZANI ASSI GN 2 0 551
272. unun 00000000000 1 1 1 1 SIGNAL OUT 65 MPL 34 02v2 00 AL2W32 MPL 35 02v2 00 AL2W64 ALII U 0 D Mccoon n np SIGNAL UNIT SPECS3 SET OUT1 4 2 SOUTO XOUTO XONTINT XOUTO XCNTINT SOUTI YOUTO YONTINT YOUTO YONTINT SOUT2 ZOUTO ZONTINT XOUTO SOUTS3 AOUTO ACNTINT YOUTO YONTINT OUT 2 3 PAUSE STBY SPEED RATE CHANGE INDEX CHANGE

Download Pdf Manuals

Related Search

Related Contents

C-PRO GIGA  Wireless LAN Device Series  Manuel d`instructions  WARNING: STRANGULATION HAZARD: WARNING  Linear Pendulum Rangefinder for Education By  Version Fiduciaire  

Copyright © All rights reserved. Failed to retrieve file