CD-773/ADB5331A 取扱説明書
Contents
1. LIMIT2. 7 2 1 2
3. 2 6 1 1 Usia 10 80 3
4. ON IF IF CD 773 ADB5331A 22
5. W70mm x D54mm x H85mm H 91mm 0 3kg 1473562 3 51067 0300 I 51103 0500 51103 0600 2 50217 9101 5 50351 8100 261 M2 6 x 6 2 10 55Hz 0 15mm P P 10 2 2 2 DRIVE AN BE DRIVE PULSE ADDRESS DRIVE SCAN S DRIVE INDEX S DRIVE DRIVE 9 SCAN DRIVE INDEX DRIVE
6. 5 31 3 3 231 3 3 1 3 31 olololol olololo OIOIOIOIOIOIOIOIOIO O 93 0 1 SPECIAL SERIAL INDEX 36 0 1 SPECIAL SERIAL INDEX EXTEND ORIGIN SPEC SET CONSTANT SCAN MAX PULSE SET CHANGE POINT DATA SET CHANGE DATA SET AUTO CHANGE SET SPEC INITIALIZE5 SRATE SET SLSPD SET SHSPD SET SSRATE ADJUST SERATE ADJUST SCSPD1 ADJUST SCSPD2 ADJUST SRATE DOWN POINT SET S RATE SCAN S RATE SCAN S RATE INCREMENTAL INDEX S RATE ABSOLUTE INDEX DRIVE CALCULATE SRATE DRIVE CALCULATE ERROR STATUS READ 5 _ o 51
7. 10 COUNTER DATA2 PORT 23 5 2 COUNTER DATA2 PORT COUNTER DATA2 PORT L COUNTER DATA2 PORT DATA 00u X 01 H 11 COUNTER DATA3 PORT 24 MCC05v2 COUNTER DATA3 PORT COUNTER DATA3 PORT AB 05 01 22 24 00 COUNTER DATA3 PORT DAT
8. 1 AL t1 ms t L WRITE 1 READ AL 291 MF 1 t1 F USER 2
9. DATA 1BYTE 1BYTE 7 MCC05vV2 OFF 2 A 7
10. MF ON Z MF ON E OFF 6 8 O H A LED 70 C ED O LED CD 773 ADB5331A LED
11. SPEED 1ms ORG 0 ORG 1 ORG 2 ORG 3 ORG 4 ORG 5 ORG 10 NORG ORG 11 ORG 12 LIMIT ORG 4 ORG 5 ORG 10 ORG a b a c PULSE N gt 0 005 x CSPD CSPD Hz N 1 CSPD 5kHz N gt 0 005 x 5000 25 a LIMIT ORG 10 a b ORG 11 ORG 12 a ORG 11 ORG 12 ORG 8
12. DRIVE DRIVE I SEL IL IH 3 HOLD DRIVE 5 100 8 LIMIT STOP ILIMIT 2 USER PROGRAM LIMIT SENSOR ORIGIN LIMIT SENSOR ORIGIN DRIVE DRIVE 11 gt 8 PULSE PULSE CD 773 ADB5331A MOTOR DRIVE PULSE CW CCW DRIVER DRIVE DRIVE
13. C 40 C 80 RH 2 296 1 59 15mm 15mm CD 773 ADB5331A 15mm
14. O LED 77 6 9 32 22 3 73 78 6 10 RATE 1 RATE L TYPE ms 1000Hz oOITIO 1 1ID 2 RATE 211191821615 1403 77 101 M TYPE ms 1000Hz ms 1000Hz 0 1 2 3 4 5 6 7 8 o O ms 1000Hz 1000Hz 0 4 13 10 1 9 Hz 1 79 141312 11 10 I
15. 1 CW ORIGIN DRIVE 2 MARGIN TIME 3 DRIVE SENSOR TYPE 4 ORIGIN SENSOR ERROR 70 6 2 COUNTER COUNTER X Y 1 COUNTER 3 24BIT HARD COUNTER COUNTER PORT COMMAND COUNTER COMMAND COMMAND DRIVE PORT COMMAND COUNTER lt CWP CCWP PULSE DATA 1 2 3 WRITE PORT PULSE COUNTER PRESET COUNTER 0 24BIT PULSE COUNTER COUNT DATA STATUS3 PORT PLS COMP1 5 INT CONTROL 2 24BIT COMPARATOR 5ch 02 PULSE COUNTER INITIALIZE COMMAND 8 MASK COMMAND 24BIT COMPARE REGIST
16. 13 DRIVE DATA1 PORT 31 5 2 DRIVE DATA1 PORT 0A 04 01 22 31 00 00 X 01u Y 02 00 0 DRIVE DATA1 PORT 14 DRIVE DATA2 PORT 32 MCC05v2 DRIVE DATA2 PORT 0A 00 X 01
17. 6 1 5 2 ORG 0 5 11 12 1 ADDRESS 2 MCCO05Vv2 FLAG FLAG ON OFFSET PULSE ABSOLUTE INDEX DRIVE 6 1 4 DRIVE FLAG ON ADDRESS MCC05v2 USER X ADDRESS INITIALIZE COMMAND ADDRESS ADDRESS ABSOLUTE INDEX
18. 63 22 63 6 bk 64 64 64 64 Sr AP 65 Ei 65 8 69 27 7 7 7 7 7 7 7 7 7 70 70 8632 GOUNTER Bette 71 1 GOUNTER 71 2 ADDRESS COUNTER HH 72 3 PULSE COUNTER 72 D COMPARATOR EN 73 74 74 2 DRINE SEEED 7 3 SPEED DATA Hz ____ _ ___ 74 PAGE 6 4 75 1 COUNT 75 2 SPEED mee 75 DATA 75 6 5 gt gt gt 76 1 sassa assqa aqa s 76 2 76
19. 0 X 1 Y IIF IMF PULSE 0 INDEX DRIVE ADDRESS STATUS1 ERROR LSEND FSEND BIT SPEC INITIALIZE1 D BIT 1 0 SCAN ORIGIN INDEX DRIVE INCREMENTAL PULSE ABSOLUTE ADDRESS 83 7 ORG DRIVE ON OFF
20. 23 PORT 60 O PORT 02 DATA Y ON 03 01 22 60 w 02 00 02 PORT 63 6 6 1 1 ORG 0 1 2 3 4 5 10 11 12 9 COMMAND USER PROGRAM X Y
21. COMP2 STOP D 1 COMPARE REGISTER2 PULSE BIT 0 1 x 2 STOP STOP D 3 COMPARE REGISTER3 PULSE 0 1 COMP4 STOP D 5 COMPARE REGISTER4 PULSE BIT 0 1 COMP5 STOP D 7 COMPARE REGISTER5 PULSE BIT 0 1 40 4 ADDRESS INITIALIZE COMMAND COMMAND ADDRESS ADDRESS COUNTER DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y 07 D D7 ASS WRITE
22. RATE HSPD CW PULSE CWLM CCW PULSE CCWLM PULSE PULSE STATUS1 PORT LSEND 1 SPEC INITIALIZE1 COMMAND LIMIT STOP 76 6 6 DRIVE HOLD HOLD DRIVE t1 HOLD DRIVE DRIVE 150ms 2427 3 15ms HOLD OFF DHT2 ON _ DHT1 6 7 MF
23. IF AL AL REQUEST AL ADDRESS CHECK AL INITIALIZE PROGRAM CD 773 ADB5331A X ANSI C 1 CD 773 ADB5331A CD 773 ADB5331A X DRIVE COMMAND ALL WRITE as uz void xdall UC dt2 UC dt3 trs_ptr 0x08 REQUEST LENGTH SET trs_ptr 1 ADR1 SLAVE ADDRESS SET trs_ptr 2 TYPE_CD773 SLAVE TYPE trs_ptr 3 0 10 DRIVE COMMAND ALL WRITE REQUEST SET trs_ptr 4 AXIS X AXIS SET trs_ptr 5 com DRIVE COMMAND SET trs_ptr 6 DRIVE DATA1 SET 7 02 DRIVE DATA2 SET trs_ptr 8 43 DRIVE DATA3 SET request REQUEST START CD 773 ADB5331A
24. COMPARATOR STATUS READ COUNTER INITIALIZE COMMAND STATUS READ 5 6 3 PULSE COUNTER INITIALIZE COMMAND 6 2 4 COMPARATOR PLS PULSE 34 9 STATUS4 PORT 0 0 0 0 0 0 L 0 10 STATUS5 PORT SPEED CHANGE PORT D7 D2 1 0 3 0 2 0 0 0 SPEED CHANGE BUSY BIT 0 3 0 3 SPEED CHANGE BUSY BIT DATA 1 SPEED CHANGE COMMAD
25. 02 00 0 DRIVE DATA2 PORT 60 15 DRIVE DATA3 PORT MCCO05v2 DRIVE DATA3 PORT 0A 00 X 01u Y 02 00 0 DRIVE DATA3 PORT 16 STATUS1 PORT MCC05v2 STATUS1 PORT DRIVE 04 04 01 22 n 40 00
26. 1 2 3 5 1 S 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com
27. MCC05v2 DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE COMMAND PORT COMMAND MCC05v2 002710 10000 INCREMENTAL INDEX COMMAND DRIVE DATA1 PORT 00 DRIVE DATA2 PORT 27 DRIVE DATA3 PORT 10 DRIVE COMMAND PORT 14 08 01 22 10 00 14 00 27 10 DRIVE DATA3 PORT DATA DRIVE DATA2 PORT DATA DRIVE DATA1 PORT DATA DRIVE COMMAND PORT COMMAND 00u X 01 00 2 DRIVE COMMAND PORT 11 5 2 DRIVE COMMAN
28. 82 7 3 CD 773 ADB5331A MF LED 01 02 9 03 04 PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 0 PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 1 PULSE STATUS 0 6 IPULSE PULSE
29. 3 RC1 4 HOLD DRIVE HOLD SEL IDRIVE HOLD 2 15 OFF OFF 150ms DRIVE HOLD 24 5
30. 5 DRIVE DATA2 PORT 13 MCC05v2 DRIVE DATA2 PORT DATA DRIVE DATA2 PORT DRIVE DATA2 PORT DATA 00 aiX 01 101 oo 6 DRIVE DATA3 PORT 14 05 2 DRIVE DATA3 PORT DATA DRIVE DATA3 PORT AB 05 01 22 14 00 L DRIVE DATA3 PORT DATA 00 aiX 01
31. A lt MOTOR SEL 10L 5L 6 11 1 6 CCE 22 SC SB SA SC OFF SB SA 0 036 7 DRIVE DRIVE DRIVE 1 SEL IH IL 6 11 1 8 HOLD m _____ HPLD
32. AL AL IIF 1 USER 5 PC IF MF AL _ t1 COMMAND 2 gt lt 30 5822 sas xn 30 14 RS232C n BYTE 22BYTE 115 2Kbps 23 05 BYTE IF COMMAND
33. CD 773 ADB5331A 0004 2 AL 2 CD 773 ADB5331A r
34. NN SCAN DRIVE CONSTANT SCAN DRIVE 795 JOG DRIVE 6668 LIMIT DELAY TIME SD SCAN DELAY TIME JD 225255855 JOG DELAY TIME 5 X Y ORG 0 ORG 1 CCW LIMIT CW LIMIT LIMIT CW LIMIT a a _ _____ k HSPD 5 ___ _ 5 l lt lt 5 sp Spd 1 5 ED Ocsppi sp 4 0 i 1 gt 50 cspp i 11 11 1 ORG CW a ORG 1 CCW 65 1
35. OFF B LIMIT LIMIT NORMAL ON GND 4 a 1 1 1 1 2 1 3 1 4 1 5 2 2 1 2 2 2 3 3 3 1 3 2 3 2 3 4 3 5 4 4 2
36. 14 DRIVE 250KHz 15 DRIVE HOLD 85 8 8 1
37. EXTEND ORIGIN SPEC SET COMMAND PO ORG 10 CCW CW ORG 5 NORG OFF OFF J4 X J6 Y GND AWG22 28 EXTVCOM 6 CD 773 ADB5331A 22 4 4 1 1 S1 AL S1 IF 00 01 lt 14 lt lt 4 S1 2
38. L TYPE M TYPE H TYPE 3TYPE DATA URATE DRATE DATA TABLE USER DATA TABLE No TYPE SPEED RATE im TABLE 6 10 RATE MODE DATA MODE SPEED 10Hz 100kH LSPD SLSPD 10Hz 250kHz 10Hz 250kHz MODE 10Hz 250kHz SPEED 1Hz 100kHz 1Hz 250kHz 1Hz 250kHz 1Hz 250kHz 1000ms 1000Hz RATE BBB 1 0ms 1000Hz 50ms 1000Hz 0 05ms 1000Hz 5ms 1000Hz 0 005ms 1000Hz 1030ms 1000Hz 0 004ms 1000Hz 51Hz STEP 62Hz STEP 1kHz STEP 4kHz STEP 10kHz STEP 68kHz STEP 51Hz STEP 68kHz STEP
39. OFF ORG DRIVE CW PULSE INDEX DRIVE 2 23 2 16 2 7 29 PULSE COUNTER DFL COUNTER SPEED 2 23 2 16 2 7 29 SPEED DATA DATA No 8 DATA 3 SPEED DATA 9 5Hz DATA PLS COMPARE REGISTER
40. Su q Q X DRIVE COMMAND PORT WRITE xdcom UC trs_ptr 0x05 REQUEST LENGTH SET trs_ptr 1 ADR1 SLAVE ADDRESS SET trs_ptr 2 TYPE_CD773 SLAVE trs_ptr 3 0 11 DRIVE COMMAND PORT WRITE REQUEST SET trs_ptr 4 AXIS_X X AXIS SET trs_ptr 5 com DRIVE COMMAND SET request REQUEST START CD 773 ADB5331A X COUNTER COMMAND ALL WRITE sr tsi void xcall UC dt2 UC dt3 trs_ptr 0x08 REQUEST LENGTH trs_ptr 1 ADR1 SLAVE ADDRESS SET trs_ptr 2 CD773 SLAVE TYPE SET trs_ptr 3 0 20 COUNTER COMMAND ALL WRITE REQUEST SET trs_ptr 4 X AXIS trs_ptr 5 com COUNTER COMMAND SET trs_ptr 6 COUNTER DATA1 trs_ptr 7 dt2 MCC COUNTER DATA2 trs_ptr 8 dt3 MCC COUNTER
41. 4 2 POWER LED O_H A LED HOLD M2 6 x 6 M3 2 2 1 10 2 DRIVE DRIVE 1 SEL 1 SENSOR 2 1A 5 2 HOLD HOLD I ADJ 40 2 3A max 1 0A 24V 40C 80 RH GFEED 55 809 RH
42. AL MCC05v2 AL MCC05v2 COMMAND L COMMAND AL 4 AL AL 625000bps 0 AL bps 9765 39062 156250 625000 ms 12 60 300 060 0 ms 25 20 600 120 0 1
43. ORG 11 ORG 12 CCW LIMIT CW LIMIT LIMIT LIMIT CCWLM J CCWLM 2 HSPD 4 0 buz HS pip fl lt cspp 5 sp gt 5 55 gt cspp cspp 1 1 CCWLM CW a ORG CCW LIMIT CCWLM 1 1 CCWLM CW a ORG CCW LIMIT CCWLM 1 ORG 11 JOG DRIVE 1 ORG 11 ORG 12 ORG iz 2 ORG 11 ORG 12 LIMIT
44. CLOCK COUNTER CLOCK STEPPING MOTOR DRIVER 0 75A 5 STEPPING MOTOR DRIVER 2 AD 10 000 4 2 STEPPING MOTOR SENSOR 3 3 1 5 Y lt lt EF gt HOLD 000 5 ZZ
45. 16 3 16 17 1 AL J1 J2 17 2 J3 17 18 1 SENSOR J4 X J6 Y 18 4 MOTOR J5 X J7 Y 18 19 Po 19 2 SENSOR 19 20 1 20 2 MOTOR 20 3 SENSOR 21 23 1 1 23 2 S2 23 3 S3
46. 5 5 3 COUNTER COMMAND 5 7 COUNTER COMMAND 5 COUNTER DATA1 2 3 PORT WRITE COUNTER COMMAND DATA COUNT DATA PORT DRIVE DATA PORT PORT 32 6 STATUS1 PORT MCC05v2 PORT COMMAND STATUS BUSY BIT 0 STATUS COMMAND DRIVE BIT DREND BIT ERROR BIT BIT LSEND SSEND FSEND Ds D 1 DRIVE BIT DREND BIT ERROR BIT 0 LSEND BIT SSEND BIT FSEND BIT 0 COMMAND 1 DRIVE
47. PULSE COUNTER SPEED DATA DATA STATUS PULSE SPEED URATE DRATE GND ORG 1 ORG 3 CCWLM a ORG 2 3 4 5 ORG 0 1 ORIGIN DELAY SET COMMAND LD SD JD MARGIN TIME ORG ORG DRIVE ORG 3 ORG 5 ORG DRIVE a 1PULSE
48. ot 00 57 7 COUNTER COMMAND 20 MCC05v2 COUNTER DATA1 PORT 2 COUNTER DATA2 PORT COUNTER DATA3 PORT COUNTER COMMAND PORT COMMAND DATA MCC05v2 002710 10000 PULSE COUNTER PRESET COMMAND COUNTER DATA1 PORT 00 COUNTER DATA2 PORT 27 DATA3 PORT 10 COUNTER COMMAND PORT 00 01 22 20 00 00 00 27410 COUNTER DATA3 PORT DATA COUNTER DATA2 PORT DATA COUNTER DATA1 PORT DATA COUNTER COMMAND PORT COMMAND 00a X 01
49. 83 1 86 1 C 771 86 2 771 05 2 INITIALIZE PROGRAM 9 88 3 771 05 2 PROGRAM 88 8 2 91 8 3 COMMAND 92 92 2 DRIVE COMMAND 93 3 COMMAND 94 4 COUNTER COMMAND 94 1 1 1 AL USER PC ISA PCI USB RS232C IF IO
50. U C lt 1 PULSE PULSE STATUS1 PORT FSEND 1 FAST STOP COMMAND COMPARATOR COMP STOP 4 LIMIT x gt A LIMIT LIMIT
51. AL AL 5 1 AL AL DRIVE MCC05v2 MOTOR DRIVER 2 MCC05v2 2 DRIVE 2 X Y 5 4 PORT 4 COUNTER MCCO05v2 COUNTER ADDRESS COUNTER PULSE COUNTER 2 24BIT UP DOWN COUNTER COUNTER MCCO05v2 PULSE COUNT 6 2 COUNTER CD 773 ADB5331A COUNTER MCC05v2 PULSE
52. 34 8 STATUS3 PORT 34 9 STATUS4 PORT ______ ___ ___________ _ 35 10 STATUS5 PORT 35 11 MO PORT 35 5 5 COMMAND 36 1 DRIVE COMMAND 36 2 COMMAND 37 3 COUNTER COMMAND 37 5 6 DRIVE COMMAND 38 1 OPERATION COMMAND 38 2 SPEC INITIALIZE1 COMMAND 38 3 PULSE COUNTER INITIALIZE COMMAND 39 4 ADDRESS INITIALIZE COMMAND 41 5 RATE SET COMMAND 41 6 LSPD SET COMMAND
53. OR PULSE 2 MCC05v2 DATA 1 2 3 USER 1 2 PULSE PULSE STATUS1 PORT SSEND 1 SLOW STOP COMMAND COMPARATOR COMP STOP TYPE 3
54. COMMAND 200ns DRIVE DATA1 2 3 PORT DATA PORT SELECT COMMAND 1 PORT SELECT COMMAND DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT READ PORT DRIVE DATA1 2 3 PORT COMMAND COMMAND READ DATA PORT DRIVE DATA3 PORT READ COMMAND DRIVE DATA3 PORT READ ADDRESS READ SET DATA READ ERROR STATUS READ SERIAL INDEX CHECK 28 SLOW STOP COMMAND COMMAND FE DRIVE DRIVE COMMAND DRIVE COMMAND BUSY 0
55. DATA 3 SPEED DATA PORT SELECT COMMAND 54 5 7 COUNTER COMMAND 1 PULSE COUNTER PRESET COMMAND COMMAND oo H PULSE COUNTER COUNT INITIALIZE COUNTER COUNTER DATA1 2 3 PORT PRESET PORT WRITE COUNTER DATA1 2 3 PORT COUNTER DATA 2 PORT WRITE DATA1 PORT DATA2 PORT DATA3 PORT 07 D D D D D COUNTER DATA 22 20 PORT WRITE COUNTER COMMAND PRESET 0 FFFFFF 00 WRITE PRESET DATA 2 0 PRESET DATA PRESET DATA 10 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 10 0 10 8 388 607 2 PULSE COUNTER COMPARE REGISTER1 COMMAND COMMAND COMPARE REGISTER1 SET COUNTER DATA1 2 3 PORT COMPARE RS COU
56. 625000bps PULSE COUNTER PRESET PULSE COUNTER COMPARE REGISTER1 SET PULSE COUNTER COMPARE REGISTER2 SET PULSE COUNTER COMPARE REGISTER3 SET PULSE COUNTER COMPARE REGISTER4 SET COMMAND COUNTER COMMAND COMMAND 37 5 6 DRIVE COMMAND 1 NO OPERATION COMMAND COMMAND DREND ERROR BIT DRIVE DATA1 PORT DRIVE CONTROL DRIVE DATA1 PORT Y DATA1 PORT WRITE 1 COMMAND 01 DRIVE WRITE LIMIT STOP 01 D3 BIT 1 BIT DRIVE D
57. CD 773 ADB5331A MCC05v2 O PORT CD 773 ADB5331A MCC05v2 I O PORT COMMAND DATA 2 DATA BYTE DATA 1BYTE 1BYTE nBYTE 00
58. gt MCC05v2 gt STATUS INPUT 7 lt lt IMF AL 15 MCC05v2 COMMAND A IMF 5 1 5 IF AL 5 3 1 5 1 4 AL 625000bps 5 5 COMMAND COMMAND
59. 03 14 IF 29 5 3 1 CD 773 ADB5331A MCC05v2 IO PORT X Y AL 625000bps IF IF DATA 625000bps PORT DRIVE COMMAND MCC05v2 PORT D
60. AL __ MO PORT 0 0 0 0 0 0 YMF PORT MCC 5 5 6 COMMAND IMF IF IMF 30 2 MCC05v2
61. S RATE SCAN S RATE INDEX DRIVE DRIVE m SCAN S RATE SCAN DRIVE PULSE DRIVE INDEX S RATE INDEX 0 8 388 607 PULSE DRIVE 0 16 777 214 PULSE DRIVE SPEED 1Hz 250KHz 250KHz SPEED DATA Hz PULSE SPEED 1 250 000 Hz DRIVE SE SCAN DRIVE INDEX DRIVE SPEED INDEX DRIVE RATE IRATE RATE S RATE SCAN S RATE INDEX PULSE ADDRESS COUNT PULSE COUNT 24 PULSE COUNTER PULSE COUNT 5 COMPARE REGISTER I lt k COUNT COMPARE REGISTER1 COUNTER 0 DATA
62. BIT 11 UO PORT STEPPING MOTOR 1 MOTOR ON OFF PORT PORT DATA 2BIT DATA PORT MF DATA D D 1 XMF DATA 0 XMF X ON MOTOR OFF ON MOTOR OFF PORT PORT 2BIT G X Y MOTOR D 7 1 ON DATA ___ 1 PORT OFF NOT ACTIVE
63. DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D DATA1 PORT WRITE DATA2 PORT SLSPD WRITE B SLSPD 10 0A 250 000 30090 DATA3 PORT DRIVE TYPE WRITE SLSPD COMMAND 1 COMMAND 61 SLSPD 300Hz WRITE COMMAND SCSPD1 SCSPD2 SCSPD1 SCSPD2 SLSPD DATA DRIVE TYPE SLSLD DATA Hz 6 3 SPEED 20 SHSPD SET COMMAND COMMAND S RATE DRIVE SHSPD HIGH SPEED DRIVE DATA1 2 3 PORT SHSPD Hz 3 DATA DRIVE 1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D DATA1PORT 2 1 gt 27 mw 1 24 WRITE DATA2 PORT SHSPD DATA WRITE SHSPD DATA
64. 57 3 DATAT PORT 57 4 PORT 57 5 DRIVE DATA3 PORT 57 6 COUNTER COMMAND 58 7 COUNTER COMMAND PORT 58 8 COUNTER DATA1 PORT 59 9 COUNTER DATA2 PORT 59 10 COUNTER DATA3 PORT 59 PORT N 60 12 DRIVE DATA1 PORT 60 13 DRIVE DATA2 PORT 60 14 DRIVE DATA3 PORT 61 15 STATUS1 PORT 61 16 STATUS2 PORT 61 17 STATUS3 PORT 62 18 STATUS4 PORT 62 19 STATUSSIPORTI S Hl 62 20 VO PORT 63 21 MO PORT
65. O H A LED OH A LED 3 IM EZ x 2 t3 M3 U 2 CD 773 ADB5331A 3mm 3 2 1 AL 1 2 2 E zz 1473565 3 e CON 1473562 3 e CON 068 0 14mm 0 3mm 1 0 1 15 UL20276H 24 2P L L m J1 J2
66. aka 76 76 6 6 DRIVE HOLD 77 6 7 MF 77 6 8 XO H A LED 77 6 9 78 6 10 79 1 79 7 79 u ua DDN 80 EEE 80 nss 80 aii iii Pili il K a siasa 82 0 82 2 82 3 82 82 82 82 7 5
67. ORG CCW a ORG 1 CW ORG 2 CCW LIMIT CW LIMIT ORG sp icsPpT 50 Jp 5 sp i gt i 1 ORG CW a 1 CCW ORG 4 NEAR NEAR CCW LIMIT LIMIT NORG HSPD 50 gt 5 i ionsppi 1 1 icspp 1 1 iHSPD i 2 sp 1 2 ORG 3 LIMIT 5 LIMIT HSPD sp n gt i i i i Lp cspp Jp gt i Hspp i 1 gt 1
68. DRIVE 1 DRIVE 0 29 FAST STOP COMMAND COMMAND FF DRIVE COMMAND DRIVE COMMAND BUSY 0 DRIVE 1 DRIVE 0 53 30 COUNTER READ COMMAND PULSE ADDRESS COUNTER COUNT 1 COUNTER PORT SELECT DRIVE DATA1 2 3 READ PORT COUNT DATA ee 2 DATA1 PORT READ DRIVE DATA1 2 3 PORT OPT DATA2 PORT DATA1 PORT DATA2 PORT DATA3 PORT READ D 7 D D 2 1 DATA3 PORT READ COUNT DATA COUNT DATA 0 FFFFFF COUNT 2 COUNT DATA 10 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 10 0 10 8 388 607 3 1 PORT SELECT COMMAND PUL
69. O ON ON X J6 Y SEM AWG22 28 GND AWG22 28 4 CD 773 ADB5331A LIMIT ACTIVE OFF B LIMIT LIMIT GND PULSE ORG 11 ORG 12 CWLM CCWLM ORG 21 X Y ORG 0 ORG 1 ORG 2 ORG 3 CCW CW O OFF ORG 4 ORG 5 CCW ORG aa ON OFF J5 J7 Y 88 MOTOR PO J4 X J6 Y NORS AWG22 28 AWG22 28 GND AWG22 28 EXTVCOM CD 773 ADB5331A CD 773 ADB5331A PO ORG
70. 23 24 0 24 2 24 3 24 4 HOLD 22 2 1 24 5 25 6 25 7 DRIVE 25 8 HOLD 25 PAGE 5 26 1 26 2 26 3 1 27 4 AL
71. LIMIT X 68 6 X Y ORG 0 ORG 1 ORG 2 ORG 3 ORG 10 NORG ORG CCW LIMIT CCW CW gt 4 ORG 10 NORG ORG OFF ORG 4 ORG 5 NORG CCW LIMIT ORG MOTOR ORG ON MOTOR 1 ORG 4 ORG 5
72. PLS COUNTER1 01 00 X 01u Y 02 00 01 STATUS3 PORT 19 STATUS4 PORT 43 MCC05v2 STATUS4 PORT CD 773 ADB5331A STATUS4 PORT 0 00 04 01 22 43 00 nl 00 X 01u Y 02 00
73. 2 DRIVE SPEED SPEED CHANGE COMMAND SCAN INDEX DRIVE SPEED SPEED CHANGE COMMAND SPEED SPEED 1 URATE DRATE INDEX DRIVE SPEED 2 SPEED LSPD lt SPEED lt HSPD 3 SPEED CHANGE COMMAND SPEED CHANGE COMMAND SPEED CHANGE COMMAND STATUS5 PORT SPEED CHANGE SPEED CHANGE COMMAND 3 SPEED DATA Hz SPEED DATA HSPD LSPD CSPD SHSPD SLSPD Hz 3 DATA DATA 1 250 000 SPEED 1Hz 250kHz SPEED HSPD 10000 002710 HSPD 10000Hz MCCO05v2
74. CCW 1 ORG ORG ORG 10 CCW LIMIT CW LIMIT DELAY TIME sp NORG ORG ON 2 NORG CW a ORG CW b b CONSTANT SCAN DRIVE NORG ORG 67 1 CCW a ORG HIGH OFF NORG se case esp pt 1 sp gt ORG LOW ON NORG ORG 1 L TesF Fen N RATEHSPD ORG 11 12 ORG LIMIT
75. ON ORIGIN FLAG RESET COMMAND FLAG ABSOLUTE INDEX DRIVE DRIVE ORG DRIVE FLAG ON FLAG ON FLAG OFF DRIVE FSSTOP DRIVE COMPARATOR DRIVE LIMIT LIMIT ORG DRIVE STOP DEND ERROR ORIGIN ERROR ORG DRIVE ORG DRIVE ADDRESS 8 388 607 8 388 607 ORIGIN FLAG RESET COMMAND SPEC INITIALIZE4 COMMAND
76. 5 4 PORT CD 773 ADB5331A MCC05v2 O PORT PORT COMMAND DATA PORT X Y STEPPING MOTOR MF 1 IO PORT MCC05v2 PORT JO PORT DRIVE COMMAND PORT PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT COUNTER COMMAND PORT 3 COUNTER DATA1 PORT D7 0 0 0 0 0 0 gt nk MM COUNTER DATA2 PORT COUNTER DATA3 PORT DRIVE DATA1 PORT PORT DRIVE DATA2 PORT DRIVE DATA3 PORT STATUS1 PORT STATUS2 PORT STATUS3 PORT STATUS4 PORT STATUS5 PORT D7 01010 0 0 0 YMF PORT DATA PORT 1 DRIVE COMMAND PORT DRIVE COMMAND PORT
77. RATE No DATA3 PORT 06 RATE SET COMMAND COMMAND PORT COMMAND DATA2 3 PORT DATA2 PORT URATE No DATA3 PORT DRATE No COMMAND DATA COMMAND DRIVE DATA3 PORT COMMAND CODE DATA STATUS1 PORT ERROR BIT 1 SPEC INITIALIZE1 CODE COMMAND NAME CODE COMMAND NAME ABSOLUTE DATA SET DATA3 PORT READ PULSE COUNTER INITIALIZE PART PULSE SET 3 RATE SET 2 PART RATE SET 3 LSPD SET MARGIN TIME SET HSPD SET PEAK PULSE SET DFL COUNTER INITIALIZE SEND PULSE SET CW SOFT LIMIT SET SESPD SET CCW SOFT LIMIT SET SPEC INITIALIZE4 DFL DIVISION DATA SET EXTEND ORIGIN SPEC SET END PULSE SET CONSTANT SCAN MAX PULSE ESPD SET SRATE SET CSPD SET SLSPD SET OFFSET PULSE SET SHSPD SET ORIGIN DELAY SET SSRATE ADJUST SPEC INITIALIZE3 SERATE ADJUST RESOLUTION SET SCSPD1 ADJUST PART HSPD SET 3 SCSPD2 ADJUST COMMAND COMMAND I
78. a e w masan 2 INT MASK COMPARATOR ON OFF INT MASK COMMAND COMMAND COMMAND 5 COMPARATOR LATCH TYPE COMPARATOR LATCH PULSE COUNTER INTIALIZE COMMAND 5 PULSE COUNTER COMPARATOR LATCH TYPE COMPARATOR STATUS3 PORT READ STATUS3 PORT READ INT OUTPUT TYPE COMPARATOR
79. 1 1PULSE PULSE DRIVE INDEX DRIVE INCRE PULSE DRIVE MENTAL BE V CW 5000 DRIVE INDEX DRIVE ABSOLUTE ADDRESS DRIVE 7 5000 DRIVE 4 SCAN DRIVE SLSTOP DRIVE 5 SLSTOP S SCAN DRIVE SCAN DRIVE x DRIVE S RATE S INDEX DRIVE INDEX DRIVE ORG DRIVE m DRIVE DRIVE 1 9 SPEED SCAN INDEX DRIVE LSPD CHANGE HSPD SPEED DRIVE HSPD
80. HOLD IJADJ HOLD HOLD DRIVE HOLD 100 DRIVE HOLD HOLD HOLD HOLD DRIVE 100 100 5 50 0 10 0 0 1 2 3 4 567 8910 25 5 5 1 1 USER IF IMF AL CD 773 ADB5331A I F 80
81. IF 28 5 2 BYTE 5 8 1 BYTE COMMAND DATA 1BYTE 1BYTE 1BYTE 1BYTE nBYTE 01 0F 00 IF CD 773 ADB5331A 22 G
82. PULSE COUNTER INTIALIZE COMMAND 5 PULSE COUNTER COMPARATOR INT OUTPUT TYPE STATUS3 COUNTER COMMAND 50ns Fi OFF 1 MASK LATCH OUTPUT PULSE COUNTER INITIALIZE COMMAND PULSE 2 COMPARATOR PULSE COMPARATOR PULSE 5 6 3 PULSE COUNTER INITIALIZE COMMAND 5 6 26 INT MASK COMMAND STATUS3 PLS COMP5 gt 7 73 6 3 SPEED 1 DRIVE TYPE 5 2 DRIVE DATA MODE 2 DATA MODE
83. xabsindex void RATE SET COMMAND xmccrdy 5 RDY WAIT xdall 0 06 urate drate SET COMMAND OUT LSPD SET COMMAND xmccrdy 5 MCC05 RDY xdall 0 07 amp 1 1 UC amp lspd 2 UC amp lspd 3 LSPD COMMAND OUT HSPD COMMAND xmccrdy X AXIS MCCO5RDYWAIT xdall 0 08 0 amp hspd 1 UC 2 UC amp hspd 3 HSPD COMMAND OUT 7 ABSOLUTE INDEX DRIVE COMMAND xmccrdy 9 X AXIS MCC05 RDY WAIT xdall 0 15 UC amp absdt 1 UC amp absdt 2 UC amp absdt 3 ABSOLUTE INDEX DRIVE COMMAND OUT 89 ORIGIN DRIVE PROGRAM ORIGIN DRIVE URATE DRATE LSPD HSPD CSPD OFFSET PULSE LDELAY SDELAY JDELAY amp DATA DATA DRIVE DATA ORIGIN DRIVE DRIVE DATA DRIVE urate drat
84. 42 7 HSPD SET COMMAND 42 8 SET DATA READ COMMAND 43 9 JOG COMMAND 44 10 5 COMMAND 44 11 INCREMENTAL INDEX COMMAND 44 12 ABSOLUTE INDEX COMMAND _ 45 13 CSPD SET COMMAND 45 14 OFFSET PULSE SET COMMAND 46 15 ORIGIN COMMAND 46 16 SPEC INITIALIZE3 COMMAND 47 17 EXTEND ORIGIN SPEC SET COMMAND 48 18 SRATE SET COMMAND 48 19 SLSPD SET COMMAND 49 20 SHSPD SET COMMAND 49 21 S RATE SCAN COMMAND
85. PAGE 7 7 7 8 9 a 10 11 1 11 2 13 15 1 DRIVER 15 asas 15 16 SS 16 2
86. REQUEST START 86 CD 773 ADB5331A 1 UC xsts1read trs_ptr 0x04 REQUEST LENGTH SET trs_ptr 1 ADR1 SLAVE ADDRESS SET trs_ptr 2 CD773 SLAVE TYPE SET trs_ptr 3 0 40 STATUS1 PORT READ REQUEST SET trs_ptr 4 5 X AXIS SET request 0 REQUEST 5 return 2 PULSE COUNTER DATA READ PROGRAM 11 PULSE COUNTER COUNT RETURN long xcntred void long a xdcom 0xfc PULSE COUNTER PORT SELECT COMMAND OUT trs_ptr 0x04 REQUEST LENGTH SET trs_ptr 1 ADR1 SLAVE ADDRESS SET trs_ptr 2 CD773 SLAVE SET trs_ptr 3 0 30 DRIVE DATA PORT ALL READ REQUEST SET 7 trs_ptr 4 AXIS_X X AXIS SET request 0 REQUEST START 2 _ 2 COUNTER MSB IN amp 1 rev_ptr 3 8 4 COUNTER LSB IN if UC amp a 2 amp 0x80 0 SIGN ON amp 3 amp 3 0 00 return 87 2 CD 773 ADB5331A MCC05v2 INITIALIZE P
87. EXTVCOM SENSOR 24V Max150mA SENSOR SENSOR 2 MOTOR J5 X J7 Y ea 53426 0519 51103 0500 50351 8100 57295 5000 116 18 MOTOR X Y MOTOR 18 3 4 1 AL 5V 4709 1109 4709 ANN 777 42 037279 53 SS 5V TxD gt SE AAJ RTS gt RxD lt 777 AL 2 SENSOR X Y 24V EXTVCOM 24V 20 j
88. 100 1kqg cm 0 0980665N m 1N m 10 1972kg cm s 1rps 80 Fig 1 Fig 2 PK543 A MOTOR SEL 10L 544 MOTOR SEL 10L 0 75A PHASE DRIVE I SEL IH 0 75A PHASE DRIVE I SEL IH DC24V DC24V TORQUE N m INPUT CURRENT A TORQUE N m INPUT CURRENT 0 20 HOLD 40 0 04N m 5 0 0 20 HOLD 40 0 08N m 5 0 0 16 4 0 0 16 0 PULLOUT TORQUE PULLOUT TORQUE 3 0 0 12 3 0 2 0 0 08 2 0 0 041 CURRENT ET k 100 0 02 0 1 1 10 100 57 57 Fig 3 Fig 4 PK545 A MOTOR SEL 10L PK564 A MOTOR SEL 10L 0 75
89. PULSE S RATE DRIVE 5 DRIVE PULSE DRIVE S RATE DRIVE S RATE DRIVE 5 DRIVE 9 1 SOFT LIMIT CW CCW SOFT LIMIT END PULSE DRIVE INDEX DRIVE S RATE INDEX DRIVE DRIVE LOW SPEED PULSE DRIVE SPEED RATE CHANGE SCAN DRIVE CHANGE COMMAND DRIVE PULSE INDEX DRIVE DRIVE 14 2 3 X Y 1 DRIVER
90. 01 00 8 COUNTER COMMAND PORT 21 MCC05v2 COUNTER COMMAND PORT COMMAND PULSE COUNTER COMPARE REGISTER1 SET COMMAND DATA1 3 PORT COUNTER COMMAND PORT 01 COUNTER COMMAND PORT COMMAND 00 01 01 58 9 COUNTER DATA1 PORT 05 2 COUNTER DATA1 PORT DATA X MCC05v2 COUNTER DATA1 PORT AB 05 COUNTER DATA1 PORT DATA 00 X 01
91. DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y _ D7 D DATA1 PORT WRITE DATA2 PORT PULSE 0 FFFFFF WRITE CCW PULSE 2 DATA3 PORT WRITE PULSE PULSE 10 DATA1 PORT DATA2 PORT DATA3 PORT COMMAND 14 8 388 607 WRITE 10 0 10 8 388 607 44 12 ABSOLUTE INDEX COMMAND COMMAND 5 INDEX DRIVE DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y BS Do D PORT WRITE 2 ADDRESS 0 FFFFFF WRITE B ADDRESS 2 DATA3 PORT WRITE ADDRESS DATA1 PORT DATA2PORT DATA3 PORT COMMAND 15 FF FF WRITE 10 0 10 8 388 607 13 CSPD SET COMMAND ORIGIN DRIVE CSPD CONSTANT SPEED DRIVE DATA1 2 3 PORT CSPD
92. IMF AL IF 2 2 USER F CD 773 ADB5331A MCCO05v2 O PORT CD 773 ADB5331A MF USER
93. 50 I 3 2 71 24 250KHz 6 11 1 5 DRIVE 1 SEL MOTOR SEL A 543 544 545 OFF 101 564 566 ri w V H OFF OFF 10L 2 s 1 N m Ss Hz 360 _ STEP s Hz 0 722 60s 0 36 30s 7 fS 100
94. PORT 05 2 AL r COUNTER DATA ADDRESS 1 2 X DATA 1 PORT WRITE 05 01 04 22 1 00 gt 1 00 COUNTER DATA1PORT 00H gt PORT COUNTER DATA ADDRESS 2 X MCC05v2 2 PORT WRITE 05 01 01 23 00 27 gt 1 00 COUNTER DATA2PORT 27H gt COUNTER DATA ADDRESS 12 X DATA PORT WRITE 05 01 04 24 00 10 gt lo 00 COUNTER DATA3PORT 10H COUNTER COMMAND ADDRESS TYPE 2 A X DATA Y 00 05 01 04 21 1 00 00 lo 00 COUNTER COMMAND 00 9 ADDRESS 12 X COMMAND DATA1 2 3 gt 05 01 20 27 gt
95. DRIVE PULSE USER PROGRAM R A CRETE ET SSES NN 1 12 Ne V Si SS 9 SN 7 4 R 7 77775 7 gt gt MOTOR 26 3 AL USER AL F USER PROGRAM COMMAND OUTPUT
96. ORIGIN ERROR CONSTANT SCAN DRIVE JOG DRIVE PULSE PULSE STATUS1 PORT ERROR BIT 1 DRIVE ORIGIN DRIVE DRIVE ORG NORG CCW LIMIT ORIGIN DRIVE ORG NORG CW LIMIT MARGIN TIME ORIGIN DRIVE PULSE TIME ORIGIN DELAY DELAY 5ms 1 275s S RATE INDEX DRIVE PULSE HIGH SPEED
97. RATE SET COMMAND xmccrdy X AXIS 5 RDY WAIT 7 xdall 0 06 DUMY urate drate SET COMMAND OUT 9 LSPD SET COMMAND xmccrdy 0 X AXIS 05 RDY WAIT xdall 0 07 UC amp lspd 1 UC amp Ispd 2 UC amp Ispd 3 LSPD SET COMMAND OUT HSPD SET COMMAND xmccrdy 0 X AXIS MCC05 RDY WAIT xdall 0 08 UC amp hspd 1 UC amp hspd 2 UC amp hspd 3 fHSPD SET COMMAND OUT SCAN DRIVE COMMAND xmccrdy X AXIS 5 RDY WAIT xdcom 0x12 SCAN DRIVE COMMAND OUT 7 INDEX DRIVE PROGRAM INDEX DRIVE URATE DRATE LSPD HSPD DATA DATA DRIVE RATE SPEED DATA DRIVE ADDRESS INDEX DRIVE DRIVE RAM AREA urate drate RATE DATA TABLE No lspd hspd Hz SPEED DATA absdt ADDRESS
98. 2 PORT AL MCC05v2 COMMAND DATA 1 JOG COMMAND DATA PORT DATA COUNTER PRESET COMMAND MCCO05v2 PORT PULSE COUNTER PRESET COMMAND 00 002710 10000 COUNTER DATA1 PORT 00 COUNTER DATA2 PORT 27 COUNTER DATA3 PORT 10 r COUNTER COMMAND PORT 00 COUNTER DATA PORT DATA1 PORT DATA2 PORT DATA3 PORT D D D 2 L PRESET DATA 002710 10000PULSE
99. COMMAND 03 SPECIAL INDEX URATE DRATE COMMAND 2 SOFT LIMIT URATE DRATE SPECIAL SCAN 5 04 SERIAL INDEX 1 05 SOFT LIMIT 07 ORIGIN ERROR DRIVE 09 COMMAND DATA DATA READ COMMAND Y MODE RATE SET DATA1 PORT DATA DATA3 PORT DATA RESOLUTION HSPD PART PART PULSE PART PART PART SERIAL INDEX CHECK PART 0A DRIVE INDEX CHANGE 00 ORIGIN ERROR ERROR CODE STATUS1 PORT ERROR COMMAND COMMAND 3 COMMAND 25 SPEED CHANGE COMMAND COMMAND SCAN INDEX DRIVE SPEED COMMAND DRIVE DATA1 2 3 PORT SPE
100. FSEND BIT 1 SSEND BIT 1 COMPARE REGISTER1 COMPARE REGISTER1 COMPARE REGISTER COMPARE REGISTER1 CONTROL PULSE COUNTER INITIALIZE COMMAND COMPARE REGISTER1 PULSE COUNTER 0 COMPARE REGISTER1 COUNTER 1 2 3 PORT DATA COMPARE REGISTER1 72 4 COMPARATOR PULSE COUNTER 5 COMPARATOR STATUS3 PORT 4 USER CoMPARATOR 4 2 o gt STATUS3 0 A 25 5
101. PULSE COUNTER PLS COMPARE REGISTER RESET 800000 INITIALIZE DATA PLS COMPARE REGISTER STATUS COMPARE REGISTER COMP INT PULSE COUNTER INITIALIZE COMMAND SPEED 6 3 3 DRIVE TYPE DATA SPEC INITIALIZE1 DRIVE RATE DATA 84 13 MF ON HOLD 0
102. COMMAND COMMAND BIT 0 COMMAND BUSY BIT 1 1 DRIVE 1 DRIVE 1 3 COMMAND COMMAND DATA ERROR 1 3 ERROR ERROR STATUS READ COMMAND COMMAND BIT 0 3 DRIVE BIT 1 CWLM CCWLM DRIVE BIT 0 PULSE CWLM CCWLM SOFT LIMIT DRIVE 2 DRIVE BIT 1 SLOW STOP COMMAND DRIVE BIT 0 PULSE
103. J5 J7 20 3 SENSOR 50mm 10m ORG NORG LIMIT ORG 3 gt J lt gt gt OFF ON 53 453 sezoA LIMIT X Y CCW CW
104. ADDRESS ORG 0 3 11 12 OFFSET PULSE ADDRESS ORG 4 5 NORG OFFSET PULSE ADDRESS OFFSET PULSE 0 255PULSE OFFSET PULSE SET COMMAND OFFSET PULSE 0 3 9 2 0 11 1 ORG 2 12 ORG 3 ORG 4 ORG 5 ORG 10 ORG 11 12 LIMIT ORIGIN DRIVE CONSTANT SCAN SCAN JOG DRIVE IB JOG DRIVE JOG DRIVE 1 A B C 64 ORG NORG ON LOW NCAA
105. DRIVE SERIAL INDEX DRIVE DRIVE RATE SERIAL INDEX DRIVE DRIVE SCAN DRIVE INDEX DRIVE DRIVE 2 IDRIVE IINDEX INDEX DRIVE PULSE ADDRESS SCAN DRIVE AUTO CHANGE PULSE SPEED SPEED RATE S S DRIVE RATE SLSPD SHSPD S RATE SPEED DATA PULSE SPEED Hz Hz
106. PULSE COUNTER PORT SELECT COMMAND PULSE COUNTER PORT PULSE COUNT DATA DRIVE DATA1 2 3 PORT PULSE COUNTER PORT DATA 8 388 607 8 388 607 PULSE COUNTER 0 PULSE COUNTER PRESET COMMAND COUNTER 6 2 2 SPEED PORT SELECT COMMAND SPEED PORT DRIVE DATA1 2 3 PORT DRIVE SPEED DATA DATA SPEED SPEED Hz V READ DATA SPEED DATA EAS 3 9 5Hz 250kHz SPEED READ 9 5Hz DATA SPEED DRIVE DATA1 2 3 PORT PULSE COUNTER COUN
107. S2 AL S2 IF AL S2 9765bps 39062bps 156250bps 625000bps S2 1 4 OFF S2 S2 IF LRATE_ lt 3 S3 CD 773 ADB5331A ONOFF S3 AL ON OFF 23 573 1 CD 773 USB ADB5
108. SLOW STOP COMMAND DRIVE 2 DRIVE BIT 1 FAST STOP COMMAND DRIVE BIT 0 PULSE FAST STOP COMMAND DRIVE 2 1 BUSY 0 2 DRIVE DRIVE COMMAND 3 POWER ON DREND ERROR MAN BIT BUSY BIT 0 NOP COMMAND DREND ERROR MAN BIT 4 STATUS1 33 7 STATUS2 PORT PORT PO BIT ORG NORG CWLM CCW PO BIT CCWLM 0 0 dh 0 HIGH 1 LOW 0 Low 1 HIGH
109. 27 5 28 5 2 29 29 2 29 5 3 30 I 30 2 2 31 54 PORT 2 2 32 1 DRIVE COMMAND PORT 32 2 DRIVE 1 2 3 PORT WRITE 32 3 DRIVE DATA1 2 3 PORT READ 32 4 COUNTER COMMAND PORT 32 5 COUNTER DATA1 2 3 PORT WRITE 32 __ _________ ___________________ 33 7 STATUS2 PORT
110. CD 773 ADB5331A MCC05v2 STEP 5 0 75A 1 2 SENSOR 1 2 AL e CON 24V MOTOR 24V MOTOR SENSOR 266 2 1 3 AL IF AL CB 23 USB CD 773 ADB5331A IF T USB 5 STEPPING MOTOR sas Ilha CB 14 UL2027
111. PULSE COUNTER STOP ENABLE BIT COMPARE REGISTER1 5 0 1 STATUS OUTPUT D 1 PULSE COUNTER STATUS BIT COMPARE REGISTER1 5 0 COMPARATOR STATUS3 READ 1 COMPARATOR 1 COMPARATOR STATUS3 READ STATUS LATCH TRIGGER D 2 PULSE COUNTER STATUS BIT COMPARE REGISTER1 5 0 STATUS3 READ STATUS 1 STATUS3 READ STATUS
112. COMMAND F8 DATA3 PORT WRITE 07 D PLS COMP1 INT MASK PLS COMP2 INT MASK D 7 BIT 0 PLS COMP3 INT MASK D 6 D 5 PLS COMP4 INT MASK 0 PLS COMP5 INT MASK DRIVE DATA3 PORT BIT PLS COMP1 INT D 9 PULSE COUNTER COMPARATOR1 0 1 PLS COMP2 INT D 1 PULSE COUNTER COMPARATOR2 BIT 0 1 PLS COMP3 INT D 2 PULSE COUNTER COMPARATOR3 0 1 PLS COMP4 INT D 3 PULSE COUNTER COMPARATOR4 0 1 PLS COMP5 INT D PULSE COUNTER COMPARATOR5
113. 1 1 250 000 30090 DATAs PORT DRIVE TYPE WRITE SHSPD SET COMMAND 1 COMMAND 62 SHSPD 3000Hz WRITE 5 COMMAND SCSPD1 SCSPD2 SCSPD1 SCSPD2 SHSPD DATA DRIVE TYPE SHSLD DATA Hz 6 3 SPEED 49 21 S RATE SCAN COMMAND COMMAND CW DRIVE 70 CCW DRIVE S RATE SCAN DRIVE COMMAND 70 71 WRITE 22 INCREMENTAL 5 INDEX COMMAND S RATE INDEX DRIVE DRIVE 1 2 3 PORT PULSE DRIVE 1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT K D 9 7 D D Y mne pATA1 PORT WRITE PULSE 0 FFFFFF CCW
114. BIT 0 1 1 PULSE COUNTER INITIALIZE COMMAND COMPARATOR 2 BUSY 0 DATA3 PORT COMMAND COMMAND 52 27 PORT SELECT COMMAND COUNTER DATA PORT COMMAND COUNTER 6 2 1 COUNTER ADDRESS COUNTER PORT SELECT COMMAND COMMAND DRIVE DATA1 2 3 PORT ADDRESS COUNTER COUNT DATA READ PORT COMMAND PULSE COUNTER PORT SELECT COMMAND COMMAND FC DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT DATA READ PORT COMMAND COMMAND DRIVE DATA1 2 3 PORT PULSE SPEED DATA READ PORT COMMAND COMMAND DRIVE 2 3 PORT DATA
115. DRIVE COMMAND 5 5 1 DRIVE COMMAND 5 5 2 COMMAND 5 6 DRIVE COMMAND COMMAND COMMAND 2 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMAND DATA 3 DRIVE DATA1 2 3 PORT READ PORT COUNTER DATA DRIVE DRIVE DATA1 2 3PORT PULSE COUNTER PORT PORT SELECT COMMAND PULSE COUNTER ADDRESS COUNTER PORT SPEED DATA PORT PORT DATA ADDRESS READ COMMAND SET DATA READ ERROR STATUS READ DATA COMMAND STATUS1 BIT 0 COMMAND DRIVE DATA3 PORT COMMAND DRIVE DATA PORT 4 COUNTER COMMAND PORT PULSE COUNTER PRESET COMPARE REGISTER SET COMMAND PORT COUNTER COMMAND
116. O PORT 0 22 O PORT 51 PORT O XMF ON 1 XMF OFF 0 YMF ON 1 05 01 22 51 00 014 01 ACTIVE Low 00 ACTIVE High 01 00 XMF OFF 0 ON 1 YMF ON 1 01 00
117. STATUS BIT 39 DRIVE DATA2 PORT RELOAD ENABLE COMP1 STOP ENABLE DATA2 PORT D D 10 x _______ AUTO CLEAR ENABLE 01 2921 2225 BIT 0 DRIVE DATA2 PORT BIT AUTO CLEAR ENABLE D 3 0 1 ENABLE D BIT 0 1 COMP1 STOP TYPE D COMPARE REGISTER1 PULSE 0 1 DRIVE DATA3 PORT DATA3 PORT 07 D O STOP COMP4 STOP COMP5 STOP TYPE 26 2 5 2 2 BIT 0 DRIVE DATA3 PORT BIT
118. COUNT ADDRESS PULSE COUNTER COUNT DATA SPEED DATA HSPD LSPD RATE SPEC INITIALIZE USER PROGRAM DATA STEP 0 72 0 36 0 18 0 072 0 036 STEP SEL DRIVE 0 72 DRIVE 5 MOTOR 5L 101 CD 773 ADB5331A PO PO PO ORG AND ORG LED HOLD DHT SEL DRIVE HOLD MOTOR RC
119. DRIVE I SEL IH 0 75 DRIVE 1 SEL IH DC24V DC24V TORQUE m INPUT CURRENT A TORQUE N m INPUT CURRENT A 0 5 HOLD 40 0 10N m 5 0 0 5 HOLD 70 0 25N m 5 0 0 4 4 0 0 4 4 0 PULLOUT TORQUE 0 3RULLOUT TORQUE 5 9 0 2 2 0 0 2 2 0 0 1 INPUT CURRENT 2 1 0 0 1 INPUT CURRENT 1 0 E 3 LTLL TPUU U TUT fs FT fs u 0 02 0 1 1 10 100 0 02 0 1 1 10 100 87 Fig 5 PK566 A B MOTOR SEL 10L 0 75A PHASE DRIVEI SEL IH DC24V TORQUE N m INPUT CURRENT A 1 0 HOLD 40 0 34N m 5 0 0 8 4 0 PULLOUT TORQUE 0 6 3 0 0 4 2 0 0 2 1 0 0 02 0 1 1 10 100 57 81 A 7 1 1
120. PULSE 2 PULSE DATAs PORT PORT PULSE 10 DATA1 PORT DATA2 PORT DATA3 PORT WRITE 8 388 607 10 COMMAND 72 0 WRITE 10 8 388 607 23 ABSOLUTE S RATE INDEX COMMAND S RATE INDEX DRIVE DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT D D Y 2 PORT 08 WRITE R ADDRESS 0 FFFFFF DATA2PORT WRITE ADDRESS 2 ADDRESS DATA3 PORT ADDRESS 10 DATA1 PORT DATA2 PORT DATA3 PORT WRITE 8 388 607 10 COMMAND 73 0 WRITE 10 8 388 607 50 24 ERROR STATUS READ COMMAND COMMAND 2 STATUS1 PORT ERROR BIT 1 ERROR DRIVE DATA3 PORT ERROR HEX CODE 00 ERROR 01 COMMAND 02 SET READ
121. S INDEX CHANGE RATE CHANGE SPEED CHANGE INT MASK ADDRESS COUNTER PORT SELECT DFL COUNTER PORT SELECT PULSE COUNTER PORT SELECT SPEED PORT SELECT SLOW STOP FAST STOP PULSE COUNTER PRESET PULSE COUNTER COMPARE REGISTER1 SET PULSE COUNTER COMPARE REGISTER2 SET PULSE COUNTER COMPARE REGISTER3 SET PULSE COUNTER COMPARE REGISTER4 SET PULSE COUNTER COMPARE REGISTER5 SET DFL COUNTER PRESET DFL COUNTER COMPARE REGISTER1 SET DFL COUNTER COMPARE REGISTER2 SET gt x gt gt gt gt x gt x gt x gt gt x gt gt gt gt gt lt gt lt gt gt gt gt gt gt lt X 0 1 HEX CODE X 0 94 R2 1
122. 2 D DBIT 0 35 5 5 COMMAND COMMAND PORT 5 3 1 Z COMMAND X Y COMMAND IF MCC05v2 STATSU1 BIT 1 625000 bps 975 PULSE COMMAND PULSE COMMAND 1 DRIVE COMMAND 625000bps 00 NO OPERATION 0 32 01 SPEC INITIALIZE1 1 50 02 PULSE COUNTER INITIALIZE 0 33 03 ADDRESS INITIALIZE 0 33 06 RATE SET 0 36 07 LSPD SET 0 40 08 HSPD SET 0 39 0A SET DATA READ 0 34 10 JOG 0 35 11 JOG 0 35 12 SCAN 0 4 13 SCAN 0 4 14 INCREMENTAL INDEX 0 4 15 ABSOLUTE INDEX 0 4 1A CSPD SET 0 36 1B OFFSET PULSE SET 0 32 1 ORIGIN 0 4 20 SPEC INITIALIZE3 0 33 51 EXTEND ORGIN SPEC SET 0 33 60 SRATE SET 0 45 61 SLSPD SET 0 45 62 SHSPD SET 0 45 70 S RATE SCAN 0 4 71 S ATE SCAN 0 4 72 S RATE INCREMENTAL INDEX 0 4 73 S RATE ABSOLUTE INDEX 0 4 E2 ER
123. 51 CD 773 ADB5331A PO ORG ORG 4 ORG 5 DRIVE DATA1 PORT ORIGIN PO DRIVE DATA1 PORT DATA1 PORT Y 9O 0 0 0 10 10 10 DATA1 PORT WRITE 1 pATAs PoRT 00 WRITE ENABLE COMMAND 51 WRITE iz D D 3 0 D 0 7 0 PO ENABLE D 3 PO BIT 0 PO 1 PO DRIVE DATA3 PORT ORIGIN PULSE PORT 00 DRIVE DATA1 PORT PO DRIVE DATA3 PORT 00 COMMAND PO CD 77
124. DATA2 PORT ADDRESS 0 FFFFFF WRITE ADDRESS 2 DATAs PORT ADDRESS WRITE 21 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 COMMAND 10 WRITE 0 10 8 388 607 5 RATE SET COMMAND COMMAND DRIVE URATE DRATE DRIVE DATA2 PORT URATE DRIVE DATA3 PORT DRATE DATA No DRIVE 2 3 PORT Y DATA2PORT DATA2 PORT DATA3 PORT WRITE 27 27 2 PORT WRITE 18 DRATE COMMAND 06 URATE WRITE RATE SET COMMAND 1 URATE DRATE No 9 100ms 1000Hz RATE No DRIVE TYPE 6 3 SPEED RATE SET No 6 10 RATE 41 6 LSPD SET COMMAND COMMAND
125. MODE MODE COUNT PULSE COUNT PULSE COUNTER 24 DFL COUNTER 5 2 PULSE COUNT DFL COUNTER 2 COMPARATOR DFL COUNT PULSE COUNTER PULSE COUNTER COUNT COUNT COUNTER PORT SELECT COMMAND DFL COUNTER 5 2 PULSE COUNT 13 tt HB BL D PULSE 1 PULSE PULSE DRIVE START 1 PULSE 100 5 20 5 MOTOR 7 ORIGIN ORIGIN SENSOR TYPE ORG
126. SPEED DATA SPEED DATA F F 160 000 000 160 000 000 F J Hz 74 6 4 1 COUNT DATA PORT SELECT COMMAND k U ADDRESS COUNTER PORT ADDRESS COUNT DATA DRIVE DATA1 2 3 PORT ADDRESS READ COMMAND DATA 8 388 607 8 388 607 PULSE 0 ADDRESS INITIALIZE COMMAND
127. TOTAL150mA CWLM CCWLM B NORG ORG HIGH 0 8mA 18V HIGH LOW 2 5mA 6V LOW GND SENSOR 19 3 5 1 50mm CB 35 PS 2A TOTAL 6A max J3 gt 3 24V AWG18 24 4 2 GND 24V IN GND 1 FG FG AWG18 24 FG CD 773 ADB5331A E OUT 12 AWG22 GND GND 1_FG AWG
128. 50 22 INCREMENTAL S RATE INDEX COMMAND 50 23 ABSOLUTE S RATE INDEX COMMAND 50 24 ERROR STATUS READ COMMAND 51 PAGE 25ESPEED CHANGE SHIN 0 51 52 27 PORT SELECT CO 53 28 SLOW STOP COMMAND 53 29 FAST STOP COMMAND 25555 5222222222222222222222222222222222222222222222222222 5 53 30 222 54 7 54 57 COUNTER COMMAND 55 1 PULSE COUNTER PRESET COMMAND htt 55 2 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 55 3 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 55 4 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 55 5 PULSE COUNTER COMPARE REGISTER4 SET COMMAND 55 6 PULSE COUNTER COMPARE REGISTER5 SET COMMAND 55 56 1 DRIVE COMMAND 56 2 DRIVE COMMAND PORT
129. Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y _ D WRITE DATA2 PORT DATA WRITE CSPD 1 1 250 000 3D090 DATA3 PORT WRITE CSPD SET COMMAND 1 COMMAND CSPD 300Hz WRITE CSPD DRIVE CSPD DATA Hz 6 3 SPEED 45 14 OFFSET PULSE SET COMMAND ORIGIN DRIVE OFFSET PULSE DRIVE DATA3 PORT OFFSET PULSE DRIVE DATA3 PORT DATA3 PORT Y D 7 D 9 DATA3 PORT 2 7 20 WRITE COMMAND 18 OFFSET PULSE WRITE OFFSET PULSE 0 0 255 FF OFFSET PULSE 0 OFFSET PULSE SET COMMAND 15
130. 0 9 DRIVE TYPE BIT DRIVE TYPE L TYPE M TYPE H TYPE MODE MODE LIMIT STOP TYPE D 2 CWLM CCWLM LIMIT BIT 0 1 D3 3BIT 1 D3 BIT 0 DRIVE COMMAND STATUS1 BUSY ON 1 DREND OFF 0 38 3 PULSE COUNTER INITIALIZE COMMAND COMMAND PULSE COUNTER STATUS BUSY 0 DATA1 PORT Y D PORT 0 0 0 WRITE COMP STOP TYPE STATUS OUTPUT TYPE STATUS LATCH TRIGGER TYPE DRIVE DATA1 2 3 PORT PULSE COUNT DRIVE DATA1 PORT BT DATA2 PORT WRITE DATA3 PORT WRITE D 7 D3BIT 0 COMMAND 02 WRITE DRIVE DATA1 PORT BIT Rn r ZU 2 STOP
131. 07 DRIVE LSPD LOW SPEED DRIVE DATA1 2 3 PORT LSPD Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y PORT WRITE 2 DATA2 PORT LSPD DATA WRITE LSPD DATA 10 0A 250 000 30090 DATA3 PORT WRITE LSPD SET COMMAND 1 COMMAND 07 LSPD 300Hz WRITE LSPD DATA DRIVE TYPE LSPD DATA Hz 6 3 SPEED 7 HSPD SET COMMAND COMMAND DRIVE HSPD HIGH SPEED DRIVE DATA1 2 3 PORT HSPD Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y _ 0907 D DATA1 PORT WRITE DATA2PORT HSPD DATA WRITE B HSPD DATA 1 1 250 000 30090 PoR
132. 5 SET 91 8 3 COMMAND CD 773 ADB5331A AL DATA AL 5 2 MCC05v2 COMMAND DATA MCC05v2 COMMAND 5 5 COMMAND 1 HEX CODE 10 DRIVE COMMAND 56 11 DRIVE COMMAND PORT 56 12 DRIVE DATA1 PORT 57 13 DRIVE DATA2 PORT 57 DRIVE DATA3 PORT 57 20 COUNTER COMMAND 58 21 COUNTER COMMAND PORT 58 22 COUNTER DATA1 PORT 59 23 COUNTER DATA2 PORT 59 24 COUNTER DATA3 PORT 59 30 DRIVE COMMAND 60 31 DRIVE DATA1 PORT 60 32 DRIVE DATA2 PORT 60 33 DRIVE DATA3 PORT 61 40 STATUS1 PORT 61 STATUS2 PORT 61 42
133. PO D CD 773 ADB5331A PO ORIGIN SENSOR ORG NEAR ORIGIN SENSOR NORG CW LIMIT B CCW LIMIT B D0 BIT STATUS DATA 8 STATUS3 PORT PULSE COUNTER STATUS PORT PLS COMP1 BIT PLS COMP2 BIT PLS COMP3 BIT PLS COMP4 BIT PLS COMP5 BIT PLS OVF BIT 1 PLS COMP1 BIT PLS COMP2 BIT PLS COMP3 BIT PLS COMP4 BIT PLS 5 BIT PLS OVF BIT 0 0 PULSE COUNTER COMPARE REGISTER1 PULSE COUNTER COMPARE REGISTER2 PULSE COUNTER COMPARE REGISTER3 PULSE COUNTER COMPARE REGISTER4 PULSE COUNTER COMPARE REGISTER5 PULSE COUNTER
134. 01 00 002710H COUNTER PRESET COMMAND 00H gt COMMAND DATA1 DATA2 DATA3 USER PROGRAM MCC05v2 PCI USER PROGRAM MCCO5v2 DATA COMMAND MCCO5Vv2 PCI DLL MPL DATA CD 773 ADB5331A MCC05v2 USER MCC05v2 DLL MPL USER AL DLL MPL ALK MCCO5Vv2 PCI USER PROGRAM 31
135. ORG CD 773 ADB5331A PO ORG PO A N D ORG EXTEND ORIGIN SPEC SET COMMAND PO 1 3 10 11 12 DRIVE ORG 4 ORG 5 PO ORG 11 ORG 12 LIMIT LIMIT ORG 11 ORG 12 ORG 69 7 24V ORG NORG LIMIT LIMIT
136. 00 STATUS4 PORT 20 STATUS5 PORT 44 MCC05v2 STATUS5 PORT SPEED CHANGE 20 04 101 122 44 00 00 02 00 20 7 STATUS5 PORT 62 21 PORT so PORT Y MF ON 1 OFF 0 MF PORT 02
137. 1 MOTOR IMOTOR SEL DRIVE IL 0 175 IH 0 375A 51 HOLD DRIVE 5 100 MOTOR SEL IDRIVE IL 0 35A IH 0 75A 1011 IHOLD DRIVE 5 100 5 543 B 544 545 564 566 6 11 250KHz 2 1mA 6 1ms ON OFF OFF AL 2 1 15 01 6 11 24V 15 3 1 1 CD 773 ADB5331A
138. 15 X Y lt CD 773 7 ADB5331A made Japan 1 72 J4 J6 8 J5 J7 8 51 52 10 POWER LED HJ O H A LED 12 HOLD 1318 JL AL J1 J2 24V AL ADDRESS AL AL ONVOFF X Y RDY LED ST0 ST1 LED SENSOR X J6 Y J5 X J7 Y
139. DRIVE PORT COMPARE DATA PULSE COUNTER 5 COMPARE REGISTER COMPARATOR COUNT COUNTER REGISTER STATUS3 PORT COMPARATOR STATUS3 PORT READ COUNTER REGISTER STATUS3 PORT 5 COMPARATOR BIT INT MASK COMMAD COMPARATOR COMPARATOR PULSE PULSE
140. 00 01 02 00 04 STATUS1 PORT 17 STATUS2 PORT 71 5 2 STATUS2 PORT OFF 00 04 101 22 41 00 00 01 8 02 00 00 STATUS2 PORT 61 18 STATUS3 PORT 42 5 2 STATUS3 PORT
141. 22 28 FO 23 05 CD 773 ADB5331A MF CB 23 USB AL ON OFF DC 24V IF PCI CB 09 AL 2 MOTOR 5 MOTOR SEL 1 ON CD 773 ADB5331A J5 X J7 Y AWG22 28 AWG22 28 AWG22 28 AWG22 28 AWG22 28 10 MOTOR SEL 1 OFF J5 X J7 Y AWG22 28 AWG22 28 AWG22 28 AWG22 28 AWG22 28
142. 3 ADB5331A PO 18 SRATE SET COMMAND COMMAND S RATE DRIVE SRATE DRIVE DATA3 PORT SRATE DATA No DRIVE DATA3 PORT Y DATA3 PORT DATA3 PORT D D WRITE 12 20 COMMAND 60 WRITE SRATE No SRATE SET COMMAND 1 No 9 100ms 1000Hz COMMAND SSRATE SERATE SSRATE SERATE SRATE No DRIVE TYPE 6 3 SPEED SRATE SET No 6 10 RATE 48 19 SLSPD SET COMMAND COMMAND S RATE DRIVE SLSPD LOW SPEED DRIVE DATA1 2 3 PORT SLSPD Hz 3 DATA DRIVE DATA1 2 3 PORT
143. 331A ON OFF OFF ON gt o N 1 2 3 4 OFF OFF OFF lt H i EF ON ON S3 1 2 OFF S3 3 4 ON F ON IF 23 4 2 1 X Y OFF ON SPI SEL 2P R C SEL RC2 RC1 DHT SEL 2 DH1 MOTOR SEL 5L 10 lt SC UZ STEP SEL SB O H A LED DRIVE I SEL
144. 6H MOTOR Hm RS232C CE 44 A01CV mi SENSOR CB 07 SENSOR 5 ISA CWLM CCWLM ORG NORG CB 09 PCI cB 35 Ps pc24vIN gt 2 4 1 5 STEPPING DRIVER 1 5 STEPPING DRIVER OUT SENSOR X MCC05v2 DRIVE 5 STEPPING RA MOTOR DRIVER 4 0 75A Vv r gt 5 STEPPING MOTOR DRIVER 4 COUNTER 0 75A m Vv r gt BM NAH AN AO SENSOR N AL 3 2
145. A 00u X 01 Y 59 12 DRIVE DATA PORT L30 5 2 DRIVE DATA1 PORT 2 DRIVE DATA2 PORT DRIVE DATA3 PORT 01 Hx 02 H x 0A 04 01 22 30 00 00 X 01u Y 04 00 01 02 DRIVE DATA3 PORT DRIVE DATA2 PORT DRIVE DATA1 PORT
146. ALIZE COMMAND ADDRESS INITIALIZE COMMAND xmccrdy X AXIS 5 RDY WAIT xdall 0 03 0x00 0 03 0 8 ADDRESS INITIALIZE COMMAND COUNTER PRESET COMMAND xcall 0 00 0 00 0 03 0xe8 COUNTER PRESET COMMAND OUT COUNTER REGISTER1 SET COMMAND xcall 0 01 0 00 0 27 0 10 COUNTER REGISTER1 SET COMMAND OUT 7 3 C 771 MCC05v2 PROGRAM JOG DRIVE PROGRAM 41 DRIVE DATA JOG COMMAND 5 JOG DRIVE 7 tua 2 Un 251504 3 C V AV void void 9 5 5 RDY xdcom 0x10 JOG DRIVE COMMAND OUT 88 SCAN DRIVE PROGRAM SCAN DRIVE URATE DRATE LSPD HSPD DATA DATA DRIVE RATE SPEED DATA im urate drate RATE DATA TABLE No lspd hspd Hz SPEED DATA void xscan void
147. D PORT COMMAND SCAN COMMAND DRIVE COMMAND PORT 12 05 1 22 11 12 DRIVE COMMAND PORT COMMAND 00 01 56 4 DRIVE DATA1 PORT MCCO05v2 DRIVE DATA1 PORT DATA DRIVE DATA1 PORT 05 01 22 12 00 L h DRIVE DATA1 PORT DATA 00 X 01 sloo
148. ED Hz 3 DATA DRIVE DATA1 2 3 PORT HSPD SET COMMAND 1 COMMAND STATUS5 SPEED CHANGE Y BUSY BIT 0 DRIVE COMMAND DATA1 PoRT 2 STATUS1 PORT DRIVE 1 WRITE 2 2 SPEED DATA1 2 3 PORT WRITE DATA DATA3 PORT WRITE 3BYTE DATA DATAs PoRT WRITE 55 3 SCAN INDEX DRIVE COMMAND COMMAND 7 WRITE 51 26 INT MASK COMMAND COMPARATOR STATUS3 PORT 6 2 4 COMPARATOR COMMAND COMPARATOR COMMAND DRIVE DATA3 PORT INT MASK DATA3 PORT WRITE DRIVE DATA3 PORT
149. ER x 5ch COMP1 5 REG SET COUNTER COMMAND 01n 05H DFL COUNTER PRESET COUNTER PORT N COUNTER COMMAND 06H SELECT COMMAND ADDRESS 24BIT DFL COUNTER FAn DFL 1 L FCH PLS 4 DRIVE DFL DATA SELECTOR DATA1 2 3 READ PORT INT CONTROL 1 24 COMPARATOR 2ch STATUS3 PORT 09 DFL COUNTER DFL COMP1 2 INITIALIZE COMMAND 8 1 MASK COMMAND 24BIT COMPARE REGISTER x 2ch COMP1 2 REG SET COUNTER 07 08 ADDRESS DATA 24BIT ADDRESS COUNTER 1 03 ADDRESS INITIALIZE COMMAND DRIVE 5 24BIT DATA DATA1 2 3 WRITE PORT 71 2 ADDRESS COUNTER ADDRESS COUNTER MCCO5Vv2 PULSE ADDRESS COUNT PORT SELECT COMMAND k U ADDRESS COUNTER PORT ADDRESS DATA DRIVE DATA1 2 3 PORT STATUS1 BUSY BIT 0 ADDRESS READ COMMA
150. IL IH ON 2 2 RC2 IDHT SEL DRIVE HOLD DH1 41 IMOTOR SEL 10L DRIVE I SEL DRIVE DRIVE IH 7 IHOLD HOLD HOLD 40 1 2 A SPI SEL CW CCW CD 773 ADB5331A 1 1
151. J1 J2 2 J3 5 1 F G GND 53259 0329 5 24 GND 51067 0300 n DC 24V 50217 9101 57189 5000 AWG18 AWG24 14 3 0 17 3 3 1 SENSOR J4 X J6 Y 53426 0619 51103 0600 50351 8100 57295 5000 22 AWG28 1 15 1 8 SENSOR X Y ACTIVE OFF B NORMAL ON GND GND 24V GND GND SENSOR GND
152. MMAND 36 2 COMMAND COMMAND STATUS1 COMMAND 925000bps SPEED CHANGE INT MASK ADDRESS COUNTER PORT SELECT SPEED PORT SELECT SLOW STOP FAST STOP 1 1 1 1 PULSE COUNTER PORT SELECT 1 1 1 1 COMMAND 2 COMMAND DRIVE COMMAND COMMAND 3 COUNTER COMMAND PULSE COUNTER COMMAND PORT DATA COUNTER PORT PORT 5 3 1 DRIVE COMMAND PORT DRIVE DATA1 2 3PORT PORT
153. NCREMENTAL DATA SET a 1 COMMAND DATA PORT DATA PORT No COMMAND DRIVE DATA3 PORT READ 2 COMMAND MODE URATE DRATE DRIVE DATA1 PORT WRITE i 3 COMMAND PART DRIVE DATA1 PORT WRITE 4 DATA MIN MAX DATA X DATA DRIVE DATA 5 43 9 JOG COMMAND COMMAND CW DRIVE 10 CCW DRIVE JOG DRIVE 10 SCAN COMMAND COMMAND CW DRIVE 12 CCW DRIVE SCAN DRIVE INDEX DRIVE DRIVE 1 2 3 PORT PULSE
154. ND DATA 8 388 607 8 388 607 PULSE COUNTER 0 ADDRESS INITIALIZE COMMAND 3 PULSE COUNTER PULSE COUNT PULSE COUNTER MCCO5v2 PULSE COUNT PORT SELECT COMMAND PULSE COUNTER PORT PULSE COUNT DATA DRIVE 1 2 3 PORT DRIVE 1 2 3 PORT PULSE COUNT PORT DATA 8 388 607 8 388 607 PULSE 8 388 608 STATUS3 PORT OVF BIT 1 COUNTER 0 COUNTER COMMAND PULSE COUNTER PRESET COMMAND PULSE COUNT COMPARE PULSE COUNT COMPARE CONTROL PULSE COUNTER INITIALIZE COMMAND COMPARE REGISTER DATA COUNTER PORT COUNTER PORT
155. ND xmccrdy 5 RDY xdall 0 1 orgno f ORIGIN DRIVE COMMAND OUT 9 90 8 2 COMMAND DATA COMMAND DRIVE TYPE L TYPE SPEC INITIALIZE1 LIMIT STOP TYPE PULSE OUTPUT TYPE CW CCW PULSE SPEC INITIALIZE3 PULSE COUNTER MCC05v2 PULSE PULSE COUNTER INITIALIZE PLS COMP1 5 STOP ENABLE PLS COMP STOP TYPE STATUS OUTPUT TYPE COMPARATOR LATCH TYPE couNTER SELECT PORT PULsE COUNTER COUNTER PORT SELECT 00 PORT SELECT ADDRESS ADDRESS INITIALIZE COUNTER PULSE oFFsET PULSE PULSE PO PO EXTEND ORIGIN SPEC SET PULSE COUNTER PULSE COUNTER PRESET PULSE COUNTER 800000 PULSE COUNTER COMPARE COMPARE REGISTER1 5 REGISTER1
156. NDEX END PULSE SET ESPD SET CSPD SET OFFSET PULSE SET ORIGIN DELAY SET ORIGIN FLAG RESET ORIGIN SPEC INITIALIZE3 RESOLUTION SET PART HSPD BUFFER SET PART HSPD SET INCREMENTAL DATA SET ABSOLUTE DATA SET PART PULSE SET SERIAL INDEX CHECK PART RATE SET SPECIAL SERIAL INDEX CHECK MARGIN TIME SET PEAK PULSE SET SEND PULSE SET SESPD SET SPEC INITIALIZE4 SPECIAL SCAN1 SPECIAL SCAN1 SPECIAL SCAN2 SPECIAL SCAN2 SPECIAL INCREMENTAL INDEX1 SPECIAL ABSOLUTE INDEX1 SPECIAL INCREMENTAL INDEX2 SPECIAL ABSOLUTE INDEX2 SERIAL INDEX SERIAL INDEX O O O O O O O O O O Oo O O O O O IO gt
157. NTER DATA PORT WRITE COUNTER DATA1 2 3 PORT PPT COUNTER DATA DATA1 PORT DATA2 PORT DATA3 PORT B COUNTER PORT WRITE DATA 0 FFFFFF COUNTER COMMAND COMPARE DATA 2 01 WRITE 800000 COMPARE REGISTER1 SET COMMAND 3 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND COMPARE REGISTER2 SET 4 PULSE COUNTER COMPARE REGISTER3 SET COMMAND COMMAND COMPARE REGISTER3 SET 5 PULSE COUNTER COMPARE REGISTER4 SET COMMAND COMMAND 04 COMPARE REGISTER4 SET 6 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 05 COMPARE REGISTER5 SET 55 5 8 7 4 01 X 1 DRIVE COMMAND
158. ORG CCW a ORG 1 CW 112 a ORG HIGH OFF NORG b oG L f 11 4 1 8 r I gt a ORG LOW ON b Re sp NORG CW a ORG FI CW b gt NORG 1 CCW ORG 66 ORG 5 NEAR NEAR ORG ORG CCW LIMIT LIMIT NORG _ HSPD ORG sp cspp 1 sp gpD 9 iOcspp 1sp 2 NORG CW a CCW b NORG 1
159. ORIGIN COMMAND COMMAND 1 DRIVE DRIVE DATA1 PORT ORG 0 00 ORG 1 04 ORG 2 02 ORG 3 03 DATA1 PORT ORG 4 04 WRITE ORG 5 05 10 COMMAND 1 11 WRITE 12 DATA COMMAND ERROR DRIVE STATUS1 DREND BIT 1 LSEND SSEND FSEND BIT 0 04 ERROR LSEND SSEND FSEND 1 i DRIVE STATUS1 BIT 0 00 STATUS 1 46 16 SPEC INITIALIZE3 COMMAND COMMAND 20 PULSE DRIVE DATA2 PORT PULSE DRIVE DATA2
160. PORT Y __ DATA2 PORT 1 FF WRITE 0 0 O L DATA2 PORT WRITE PULSE OUTPUT 1 DATA3 PORT 071 2 WRITE B COMMAND 20 0 WRITE PULSE OUTPUT D 1 PULSE PULSE BIT 0 CWP CW PULSE CCWP CCW PULSE 1 CWP PULSE CCWP CW LOW CCW HIGH 1 DRIVE DATA1 PORT DATA3 PORT PORT FF 47 17 EXTEND ORIGIN SPEC SET COMMAND COMMAND
161. RIVE COMMAND PORT DRIVE COMMAND PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT COUNTER COMMAND MCC05v2 PORT COUNTER COMMAND PORT COUNTER COMMAND PORT COUNTER DATA1 PORT COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT COUNTER DATA3 PORT AL DRIVE DATA PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT AL 2 PORT STATUS1 PORT STATUS1 PORT STATUS2 PORT STATUS2 PORT STATUS3 PORT STATUS3 PORT STATUS4 PORT STATUS4 PORT STATUS5 PORT STATUS5 PORT AL O PORT I O 0 22ms VO 0 24ms 0 0 0 0 0 YMF XMF RT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT
162. ROGRAM CD 773 ADB5331A CD 773 ADB5331A INITIALIZE 8 2 DRIVE DRIVE TYPE L LIMIT STOP TYPE RDYINT TYPE PULSE COUNTER COMPARATOR PULSE COUNTER MCC05 DRIVE PULSE COUNT COMPARE REGISTER1 STATUS3 COMPARE REGISTER1 10000 2710 COMP STOP ADDRESS MOTOR ADDRESS 1000 3E8 PULSE COUNTER 1000 3 8 PRESET void xmcc05inz void SPEC INITIALIZE1 COMMAND 9 X AXIS MCC05 RDY WAIT xdall 0x01 0x28 DUMY DUMY SPEC INITIALIZE1 COMMAND OUT PULSE COUNTER INITIALIZE COMMAND xmccrdy X AXIS 5 RDY WAIT xdall 0 02 0 01 0 20 0 00 PULSE COUNTER INITI
163. ROR STATUS READ 0 33 O O O O O O D 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 _ gt 5 gt gt o 1 URATE DRATE COMMAND DRIVE ms 2 URATE DRATE 3 COMMAND DRIVE COMMAND CO
164. SE ADDRESS COUNTER i 2 DATA READ DRIVE DATA1 2 3 PORT DATA 31 SPEED READ COMMAND DRIVE SPEED DATA SPEED PORT SELECT DRIVE 1 2 3 PORT SPEED DATA DRIVE 1 2 3 PORT Y DATA1 PORT DATA2 PORT DATA3 PORT DATA1 PORT 2 07 D 9 DATA2 PORT READ SPEED 280 FFFFF8 1 DATA3 PORT PULSE SPEED DATA PULSE SPEED READ 0 SET _ 160 000 000 PULSE SPEED 2 PD READ DATA V 640 280 PULSE SPEED 09000 250 000 2 640 1 DRIVE 1 DRIVE SPEED E 2 DATA READ DRIVE DATA1 2 3 PORT
165. SPEED RATE INDEX DRIVE RATE 12 INo STOP DRIVE DRIVE DRIVE 5 STOP STOP COMMAND LIMIT PULSE COUNT COMPARATOR STOP CWLM CW DRIVE CWLM CCWLM CCW CCWLM DRIVE lt gt 2 CD 773 ADB5331A 2 2 1 USER DRIVE SCAN DRIVE DRIVE SPECIAL INDEX DRIVE INDEX
166. STATUS3 PORT 62 43 STATUS4 PORT 62 44 STATUS5 PORT 62 50 63 olo D 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 51 63 63 gt 0 92 2 DRIVE COMMAND PULSE COMMAND PULSE COMMAND HEX CODE COMMAND 00 NO OPERATION 38 01 SPEC INITIALIZE1 38 02 PULSE COUNTER INITIALIZE 39 03 ADDRESS INITIALIZE ADDRESS READ RATE SET LSPD SET HSPD SET DFL COUNTER INITIALIZE SET DATA READ CW SOFT LIMIT SET CCW SOFT LIMIT SET JOG JOG SCAN SCAN INCREMENTAL INDEX ABSOLUTE I
167. T WRITE HSPD COMMAND 1 COMMAND HSPD 3000Hz WRITE HSPD DRIVE HSPD DATA Hz 6 3 SPEED 42 8 5 DATA READ COMMAND COMMAND DATA1 PORT WRITE zz 2 3 DATA3 PORT WRITE COMMAND WRITE DATA1 PORT READ DATA2 PORT READ MCC05v2 SPEC SPEED DATA DRIVE DATA3 PORT WRITE DATA COMMAND DRIVE DATA1 PORT WRITE 2 3 DRIVE DATA3 PORT WRITE DATA3 PORT D 7 27 20 7 89 DATA COMMAND CODE DRIVE 1 2 3 PORT READ DATA DATA COMMAND DATA
168. TER PORT SPEED READ PORT SPEED DATA SPEED PORT SELECT COMMAND 3 DATA SET DATA READ COMMAND DATA SPEC INITIALIZE DATA DATA DATA 5 6 8 SET DATA READ COMMAND 75 6 5 1 USER USER PULSE Z 2 ILIMIT SENSOR
169. e RATE DATA TABLE No lspd hspd cspd Hz SPEED offset OFFSET PULSE Idelay sdelay jdelay DELAY TIME orgno void xorg RATE SET COMMAND xmccrdy 5 RDY WAIT xdall 0 06 urate drate SET COMMAND OUT LSPD SET COMMAND xmccrdy X AXIS MCC05 RDY WAIT xdall 0 07 0 amp lspd 1 UC amp lspd 2 UC amp lspd 3 LSPD SET COMMAND OUT HSPD SET COMMAND xmccrdy 5 RDY WAIT xdall 0 08 UC amp hspd 1 UC amp hspd 2 UC amp 3 SET COMMAND OUT CSPD SET COMMAND xmccrdy 5 MCC05 RDY xdall 1 amp cspd 1 UC amp cspd 2 UC amp cspd 3 CSPD COMMAND OUT OFFSET PULSE SET COMMAND xmccrdy 0 MCCO5RDYWAIT xdall 0x1b DUMY offset OFFSET PULSE SET COMMAND OUT ORG DELAY SET COMMAND xmccrdy X AXIS 5 RDYWAIT xdall Ox1c Idelay sdelay jdelay OFFSET DELAY TIME SET COMMAND OUT ORIGIN DRIVE COMMA
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