C-772 取扱説明書
Contents
1. A2. DALM J13 SIGOUT AL OS
3. 94 1 1 R1 11 1 COMMAND DATA COMMAND OO DO MCC300 INITIALIZE1 SENSOR TYPE ENCORDER TYPE 500 14 4 ERROR SET 5 MCC300 INITIALIZE2 SPEC INITIALIZE1 RATE TYPE RESOLUTION CWLM 100 us L1 TYPE RESOL 1 LIMIT SPEC INITIALIZE2 CCWLM LIMIT RDYINT STATUS1 PORT DRVEND 1
4. 3
5. J OR 1 2 3 4 5 6 7 COUNT PULSE SEL2 0 1 STBY 1 U U 2 0 COUNT PULSE SEL2 1 _ rT Se 0 2 V F D V Hz D 1 D x 100 F 20 000 000 Hz 50 ns 50 ns
6. lt 2 6 1 1 10 80 RH
7. 1 1 n 00n 1 1 00 n WW 01n C 772 02 03n
8. 4 4 294 967 294 HI0000_0004 HFFFF_FFFE 1 SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT STATUS4 PORT SPEED OVF 1 SPEED COUNTER INITIALIZE1 SPEED COUNTER INITIALIZE3 1 1 TE EE RE RE EE EE EE ET EAEB 1 1 XEA XEB COUNT NE 1 1 1 YEA YEB TYPE DIVISION 9 de PULSE gt D7 DO X a SEL Y A
9. LIMIT FSSTOP ACTIVE OFF B FSSTOP LIMIT NORMAL ON GND 4
10. CB 35 PS 2A TOTAL 6A max J3 AWG28 22 TDK FG AWG28 22 FG AWG28 22 X FG AWG28 22 CB 23 USB C 772 F CB 23 USB AL ON OFF DC 24V IF PCI IF CB 09 AL
11. 1 2 3 4 5 1 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc com TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com
12. STATUS1 PORT FSEND 1 FAST STOP FSSTOP DALM FSEND EN DRIVE COMMAND PORT COMMAND SLOW STOP COMMAND FAST STOP COMMAND 52 3 LIMIT STATUS1 PORT STBY 1 DRIVE 1 LIMIT LIMIT
13. gt lt gt CWP CCWP 2 OMP a CCWP B ik Nb a RE RS FE ON 4 CWP A CCWP B ll 1 2 1 1 FIRST PULSE TYPE 100us 20us 2us STATUS1 DRIVE CWP 1 EE 1 2 LSPD LSPD 31 3 1 kHz ms kHz
14. C 772 02 n 0 X 1 Y F IF PULSE 0 INDEX DRIVE ADDRESS STATUS1 ERROR LSEND FSEND BIT SERVO DEND NOT ACTIVE SCAN ORIGIN DRIVE INDEX DRIVE INCREMENTAL
15. MCC06 OFF 03 14 IF L773 7 3 AL 625000bps I F
16. DFL LATCH DATA PORT SELECT DRIVE DATA1 2 3 PORT COMP1 0 COMP1 200ns 1ms COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER 1 COMP1 200ns 1ms 67 7
17. ME2 ERR ES 1 MCC06 DRIVE COMMAND HH 2 MCCO6 DRIVE COMMAND HH 3 MCCO6 COUNTER COMMAND HH 4 MCCO6 COUNTER COMMAND HH 5 MGGS300 OMMAND censser se snenss snopes eng 6 MCC300 COMMAND HH PAGE 76 76 76 76 76 76 77 77 79 80 81 82 83 84 84 84 85 85 85 85 85 85 86 86 87 87 87 88 88 88 89 89 90 91 91 91 91 91 91 91 92 1 1 1 AL PC ISA PCI USB RS232C F IO C 772 MCC06 1 2 2 MCC06 32 SMHz
18. ORIGIN C 772 AL MCC06 MCC300 11 1 AL IF C 772 AL MCC06 SERVO SPEC DNED DRST DALM DO MCC300 INITIALIZE
19. mm 7mm 3 DIN M3 5 M3 2 2 DIN C 772 2mm M3 ae EE 1 1 lim 1 FE I gt Te 3 Ks 1 H 2 1 SV zo chs si ST x 1 mn Y En ERR DIN 00 3 2 1 50mm
20. 11 COMP1 COMP1 FSSTOP CWLM CCWLM LIMIT LIMIT DALM
21. 2 DATA1 DATA2 PORT MGG800IBSRI 1 1 AXIS STATUSTPORT 0 hot 2 DATA1 DATA2PORT CL LS RR OE 9 te FA ETS CESTIEIEIERS LISS ER LTS EST LCI TED LICEDI ES TRIAS ES EIT A STE C12 ER SISSIES ER A RR 2 IOG RT TD NS NI SGCANIR TO SOARINGARARRRRERRAARSASAANRAS RR RN 4 INDEX 5 ORIGIN R CE 6 ORIGIN AUTO DRST 7 DEND 8 LIMIT 9 LIMIT 92 0 MHRRRHRNERRRRRNHRNRPRSNHRRONRRRONSNHRRRSERORRRRRSNRSRRSDEGBERODRS RG 10
22. CCWLM STATUS1 PORT SSEND 1 LSEND 1 4 LIMIT STATUS1 PORT STBY 1 DRIVE 1 LIMIT LIMIT LIMIT CWLM CCWLM LIMI 2 STBY 1 STBY 1 DEND lt gt STBY 1 END PULSE DELAY SOFT LIMIT A CWLM
23. 20MHz COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 64 5 DRIVE DATA1 2 3 PORT READ PORT DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT
24. S INC STRAIGHT CP 2 INC SRATE STRAIGHT CP S 2 INC STRAIGHT CONST CP 2 S 2 CW INC CIRCULAR CP CCW INC SRATE CIRCULAR CP S CW INC SRATE CIRCULAR CP S CCW INC CIRCULAR CONST CP CW 0165 INC CIRCULAR CONST CP CCW 0166 INC SRATE CIRCULAR CONST CP S CW INC SRATE CIRCULAR CONST CP S
25. SCAN INDEX LSPD HSPD URATE DRATE END PULSE END PULSE END PULSE END PULSE ESPD END PULSE ESPD DELAY TIME END PULSE DELAY TIME SCAN INDEX SCAN INDEX LSP
26. 4 2 2 2 0 5 LSB 2 147 483 647 2 147 483 647 32 INDEX 2 2 2 1LSB 2LSB 2 147 483 647 2 147 483 647 32
27. CWLM STATUS1 PORT FSEND 1 LSEND 1 CCWLM CCWLM STATUS1 PORT FSEND 1 LSEND 1 53 6 8 SIGOUT ADRINT CNTINT DFLINT SPDINT 200ns 10 s 100 gx s 1ms
28. IF 4 3 S3 C 772 ON OFF S3 AL AL ON OFF OFF ON lt S3 1 2 S3 3 4 F IF
29. TOP SPEED DRIVE SPEED DRIVE DRIVE SHSPD DRIVE END PULSE DRIVE DRIVE DELAY TIME 2 5
30. 10 4 IINDEX 2 147 483 647 2 147 483 647 32 SCAN END PULSE END SEND PULSE ESPD SESPD INDEX ORIGIN ORIGIN ORG 0 5 10 11 12 9 ORG 0 5 10 ORG NORG Z
31. MCC06 2 2 2 A MCC06 4 32BIT 3 C 772
32. SCAREA3 SCAREA4 SCAREAS3 SCAREA4 O OS 39 6 6 ORIGIN ORIGIN ORG 0 5 10 11 12 9 ORG 0 5 10 ORG NORG Z PO AND ORG ORG 11 12 CWLM CCWLM ORG 11 12 CWLM CCWLM ORIGIN ORIGIN S ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT SCAN ORIGIN DELAY DELAY TIME MARGIN OFFSET CONSTANT SCAN
33. DRST ORIGIN LIMIT ORIGIN ERROR DRST DRST DEND DEND STATUS1 PORT EXT PULSE 1 DEND DRST DEND DEND STATUS2 PORT DEND BUSY 1 DEND ORIGIN LIMIT DNED STATUS1 PORT EXT PULSE 1 DEND DRST DEND ERROR
34. bps ms 12 60 3 00 060 0 ms 25 20 6 00 120 0 71 AL 0 1 bps 9765 39062 156250 625000 ms 128 00 32 00 8 00 200 128 ms 1 AL t1 _ 5 VF
35. lt gt ADRINT COMP1 COMP1 COMP2 COMP2 STATUS4 PORT COMP3 COMP3 INT FACTOR CLR lt gt CNTINT COMP1 COMP1 COMP2 COMP2 STATUS4 PORT COMP3 COMP3 INT FACTOR CLR lt gt DFLINT COMP1 COMP1 COMP2 COMP2 STATUS4 PORT COMP3 COMP3 INT FACTOR CLR lt gt SPDINT COMP1 COMP1 COMP2 COMP2 STATUS4 PORT COMP3 COMP3 INT FACTOR CLR
36. ADDRESS COUNTER INITIALIZE1 EXT PULSE 1 STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND D12 SPEED CBUSY CHANGE CHANGE 1 CHANGE CHANGE CHANGE 0 CHANGE CHANGE CHANGE SPEED CBUSY 0 CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE RATE CHANGE CHANGE A D13 INDEX CBUSY INDEX CHANGE
37. ecHHHH R2
38. 6 A 00m D 7 lt D3BIT 0 DALM MCC06 SERVO SPEC SET DALM SERVO SPEC SET A 8 2 MCC06 PORT 1 DRIVE COMMAND PORT PORT DRIVE COMMAND DRIVE COMMAND STATUS1 PORT BUSY 0 2 DRIVE DATA1 2 3 PORT DRIVE COMMAN
39. COUNTER MAX COUNT SET 1 2 STATUS4 PORT OVF 1 1 999 2 000 1 0 1 999 1000 STATUS4 PORT OVF 1 1001 1999 0 0 1999 1001 1000 STATUS4 PORT OVF 1 999 1 0 2 000 2 001 1 0 1 1000 1001 1001 STATUS4 PORT OVF 1 2000 0 0 2000 1001 1000 1000 STATUS4 PORT OVF 1 1 0 H 8000_0000 H 8000_0000 STATUS4 PORT OVF 1
40. 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF 2 STATUS4 PORT DFL OVF 1 DFL COUNTER INITIALIZE1 DFL COUNTER INITIALIZE3 I RT PP i EA EB 1 1 1 1 1 ED DIVISION IDIVISION 1 1 TI 0 EA YEA YEB h i 0 gt 2 EB 1 1 1 1 X 3 a Y 1
41. I F 1 X Y 625000bps PORT AL 0 49ms PORT DO 0 SEL2 SEL1 SELO PORT Do 0 0 SEL2 SEL1 SELO 2 MCC06 C 772 MCC06 X Y
42. HFFFF_FFFF SOFT LIMIT 68 6 12 1O I O PORT AL I O I O PORT PORT JO PORT 50 51n 54m 55W cz MO PORT 60u efn 6e4m esm 1 IO PORT OUT0 OUT1 WF CS I O PORT IO PORT D DATA DATA D D7 D Le euw xoauv Yeom xoom seom xeom o oori omsoor Xeom 1 1 ON DATA PORT PORT D
43. F AL X 1 1 1 1 1 1 1 1 t1 F 2 AL AL F 1 4
44. 2 0023 DFL COUNTER COMPARE REGISTER3 SET 3 002A DFL COUNTER MAX COUNT SET 0031 SPEED COUNTER COMPARE REGISTER1 SET 1 0032 SPEED COUNTER COMPARE REGISTER2 SET 2 0033 SPEED COUNTER COMPARE REGISTER3 SET 3 003A SPEED OVF COUNT SET QO 5 MCC300 COMMAND INITIALIZE1 SET DATA READ ERROR SET INITIALIZE2 6 MCC300 COMMAND OO ECLR 100 1
45. 32 8 DIN 1 2 C 772 1 1473562 3 2 AL e CON
46. 50 ns 50 ns 0 65 535 H 0000 H FFFF 65 535 0 COUNT LATCH SPEC SET 0 0 Me DRIVE COMMAND PORT COMMAND lt DRIVE DATA1 PORT D15 D0
47. 1 ZORG PO ORG 2 PO PO ORG ORIGIN SPEC SET ORG TYPE ORG PO AND ORG 10 CCW CW ORG OFF NORG J4 J5 AWG28 22 AWG28 22 LS_zweze 22 1 NORG ORG GND EXTVCOM C 772 1 ZORG 6 4 4 1 S1 AL S1 I F 00
48. 1ms Z C ZORG 10 s ORG 4 5 a b a c N ORG 4 ORG 5 N 0 002 x CSPD a a CSPD Hz N NORG NORG 1 C b C b b C b C_ ORG 0 1 _ oORe CSPD 5KHz b c b c C b c b N 0 002 x 5 000 10 ORG 1 ORG 0 ZORG ORG ORG ZORG ORG ZORG 51 6 7 LIMIT LIMIT STA
49. LPM K53 PML53 PM LSS8B _ PMT53 PM TS3B _ EE SPX301 EE SPX401 EE SX670A EE SX670A X Y CCW CW O ON O ON CCWLM GND EXTVCOM C 772 B GND A 77 77 77 6 6 ORG 11 ORG 12 24 X Y ORG 0 ORG 1 ORG 2 ORG 3 CCW CW WG28 22 WG28 22 C 772
50. 4 SPEC INITIALIZE1 COUNT PULSE SEL COUNTER INITIALIZE3 COUNT TYPE COUNTER INITIALIZE3 lt gt 0 280 2000 9 2 ee 0U38 00 2 6 gt COUNTER INITIALIZE3 8 STATUS4 PORT OVF
51. PULSE COUNTER PRESET PULSE COUNTER COMPARE REGISTER1 2 3 SET PULSE COUNTER PORT SELECT DRIVE DATA1 2 3 PORT 61 3 2 32 1 1 2
52. C 772 EXTVCOM DRSTCOM 3 2 2 DRST MF C 772 Vs gt C 772 V i ON 9 WW 24V V _ DRST MF GQ Vo DRST OUTO C 772 21 2 50mm 1
53. 3 STATUS3 PORT SIGOUT PORT D15 D14 D13 D9 D8 0 0 0 0 0 0 0 0 0 lO DS DAN lm Bl Nam 0 0 SIGOUT 0 0 0 0 0 D5 SIGOUT 1 SIGOUT SIGOUT HARD INITIALIZE1 CNTINT CNTINT DFLINT D0 D4 0 D6 D15 0 80 4 STATUS4 PORT PORT D13 SPDINT SPDINT SPDINT DFL DFLINT DFLINT DFLINT COMP3 COMP2 COMP2 COMP1 PE 2 D5 CNTINT CNTINT ADRINT ADRINT
54. DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 DRIVE DELAY TIME DRIVE DELAY TIME STATUS1 DRIVE DRIVE DELAY TIME 1 DEND DRIVE DELAY TIME STATUS1 DRIVE STATUS2 DEND DRIVE DELAY TIME 1 1 f RR RS 34 6 4
55. ERROR DRST SERVO SPEC SET DRST lt gt LIMIT CWLM CCWLM ORIGIN ORG NT ES ORIGIN SPEC SET ETECT NORG NORG PO ORG DETECT DEND PO Z ORG TYPE z 8 Z OR Z gt ORG PRESET ORIGIN PRESET ORIGIN SRATE PRESET ORIGIN PRESET PULSE PRESET ORIGIN PRESET PULSE PRE
56. ees SPEED lt gt COUNT PULSE SEL2 OF 32BIT CLR COUNT LATCH SPEC SET COUNT ENABLE TYPE lt gt AUTO CLEAR DRIVE DATA2 3 PORT ENABLE COUNTER DATA2 3 PORT ENABLE gt COMP1 COMP1 S PEED COUNTER COMPARE REGISTER1 lt COUNTER DATA2 3 gt RELOAD ENABLE gt SPEED COUNTER COMPARE REGISTER2 ME TYPE lt gt SPEED COUNTER COMP3 COMPARE REGISTER3 TYPE DRIVE COMMAND SPEED COUNTER INITIALIZE1 2 3 COUNTER COMMAND COMP2 COMP3 63 COUNT PULSE SEL
57. 1 1 1 1 n 01 OF 00 UMF C 772 02 C 772 MCC06 J O C 772 MCC06 I O 2
58. C 772 MCC06 SPEC INITIALIZE1 RATE MCC06 SPEC INITIALIZE2 MCCO06 SS0 SS1 MCC06 HARD INITIALIZE1 MCC06 SIGOUT COUNTER INITIALIZE1 INT COMP1 COUNTER INITIALIZE2 COMP2 COMP3 COUNTER INITIALIZE3 ADDRESS COUNTER PRESET PULSE COUNTER PRESET DFL COUNTER PRESET LSPD HSPD ORG SPEC SET ORIGIN DRIVE ORG CSPD SET ORIGIN ORG DELAY SET DELAY TIME MARGIN
59. ON 10mA Vce 0 6V 5V ND OFF 0 3mA 1 S X Y ON 2 OFF ON 24V OUT1x 15 2 1 ORG NORG CWLM CCWLM B 24V 150mA 24V 2V 2 Max150mA DEND PO DALM B 6 8K Q RNN 0 ROND IN10 IN11 IN12 IN13 IN14 IN15 IN16 IN17 FSSTOP B oo 6 8K Q 0 NO ON OFF ON 2 5mA FSSTOP OFF 0 8mA X Y MM EN RS422 EAIEB 5MHz 3 3 5 ZORG 100KHz 24V 24V 2 _
60. RATE 1 gt gt 1 kHz RATE RATE RATE TYPE SPEC INITIALIZE1 RATE RATE SET SRATE SET RATE TYPE RATE TYPE2 0 110 A 4 RATE DATA TABLE TABLE RATE TABLE RATE RATE TABLE RATE 8 ms kHz No ms kHz R ms kHz 8 ms kHz 47 0 43 39 36 33 30 27 24 22 20 18 16 15 13 12 11 RATE TYPE RATE ms kHz TABLE No Hz RES
61. 3 4 OFF ON OFF OFF ON ON OFF 03 13 ON OFF ON S1 IF 4 2 S2 AL S2 IF AL 72 9765bps OFF OFF 39062bps ON OFF 156250bps OFF ON 625000bps ON ON S2 1 4 S2 S2
62. CW SCAN CW DELAY TIME CONSTANT SCAN CW NORG CONSTANT SCAN CW ORG SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW ORG SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 49 7 ORG 11 CCW CCWLM CW
63. SLSPD SHSPD SURATE SDRATE SCAREA1 SCAREA2 SCAREA3 SCAREA4 SCAREA1 2 SCAREA3 4 SURATE S S SURATE SCAREA1 SURATE S S SURATE SCAREA2 SDRATE S SDRATE SCAREA3 SDRATE S S SDRATE SCAREA4 S END PULSE END PULSE
64. ORG ORG DRIVE ORG 3 ORG 5 ORG DRIVE 1PULSE OFF ORG DRIVE CW PULSE INDEX DRIVE PULSE COUNTER 2 31 216 215 lt 29 COUNTER C SPEED DATA SPEED DATA 2 31 2 16 DATA
65. S SDRATE SCAREA3 SCAREA4 SDRATE S SDRATE SCAREA4 SCAREA12 SCAREA12 SET SLSPD SHSPD SCAREA1 SCAREA2 SHSPD SHSPD SCAREA2 SURATE SCAREA1 1 1 A SLSPD SLSPD 42 SCAREA1 SCAREA2 SCAREA1 SCAREA2 SCAREA1 SCAREA2 d 5 5 C a SCAREA34 SCAREA34 SET SLSPD SHSPD SCAREA3 SCAREA4 SHSPD ease SHSPD es RS EE a SCAREA3 SCAREA3 SDRATE SDRATE 5 SLSPD SLSPD SA nT RE SCAREA3 SCAREA4
66. CNTINT AL OS 1 5 SS 1 MOJMP ms so 9 nene J10 911 AL J1 J2 24V J4 X J5 Y 1
67. RO gwez gm COMP3 gt COMP STOP COMP1 STOP 1 TYPE ENABLE 1 CoMP1 gt 1 1 COUNTER COMP MASK INT PULSE i INT TYPE COMP1 MASK 200ns 8 STATUS4 INT TYPE 1 COUNTER COMP MASK INT TYPE INT OR 1 COMP1 INT COMP GATE i 1 COMP2 3 SIGOUT SIGNAL OUT DRIVE DATA DRIVE DATA PORT COUNTER INITIALIZE1 COMMAND PORT WRITE DRIVE COMMAND DRIVE COMMAND PORT COUN
68. LIMIT CWLM CCWLM SOFT LIMIT SOFT LIMIT STBY 1 LIMIT DRIVE 1 STBY 1 LIMIT STBY 1 CWLM CCWLM STBY 1 SOFT LIMIT A CWLM CWLM STATUS1 PORT SSEND 1 LSEND 1 CCWLM
69. SCAN DELAY TIME CONSTANT SCAN CCW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CCW LIMIT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW ORIGIN CW CW CCW
70. 81 5 STATUS5 PORT PORT pt4 pq INDEX SPEED A 0 CSET 0 0 0 0 D7 D6 D5 XEA 0 0 0 0 D3 DO 0 D4 XEA D5 XEB D6 YEA D7 YEB XEA XEB YEA YEB 1 0 D11 D8 0 D12 SPEED CSET CHANGE 1 CHANGE 0 CHANGE CHANGE CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE RATE CHANGE CHANGE
71. IF PC t1 2 lt gt lt gt lt MF n 24 B 14 RS232 1 x 1 SN pc CB 14 115 2Kbps CB 23 USB lt 1 2ms lt 1 2ms USB FULL SPEED IF IF 7 7 2 1
72. 128 1 ms RATE CHANGE S INDEX 8 B A DALM
73. 215 229 SPEED DATA DATA DATA 3 SPEED DATA 9 5Hz STATUS DATA COMPARE REGISTER COUNTER COMPARE REGISTER 800000 INITIALIZE DATA COMPARE REGISTER STATUS COMPARE REGISTER COMP INT COUNTER INITIALIZE COMMAND PULSE SPEED SPEED 12 URATE DRATE RATE TYPE DATA
74. A D8 UP 1 0 UP 1 D9 DOWN 1 0 D10 CONST 1 0 2 X UP DOWN CONST D11 EXT PULSE 1 0
75. A B Z RS422 5 2 J10 X J11 Y J11 J10 nnnnnn nn nn nnn nnn 1 LL 53375 1000 51103 1000 50351 8100 57295 5000 AWG28 AWG22 1 15 1 8 J10 J11 II CW CW CCW CCW DRST OUT0 DRST OUTO DEND PO PO s RGWp pmpo cNo
76. ED a DRIVER CB 35 PS DC24IN gt DC 2 5 STEPPING DRIVER IN32 OUT32 UO DC 1 5 STEPPING DRIVER OUT AC 1 5 STEPPING DRIVER 1 4 J6 J10 gt X 4 32 3 3 3 X gt 3 4 32 3 J7 J11 Y 3 J1 3 3 Y A IA IA MA IV IIV IV IV IV IV INIV IV
77. 1 i 0 lt DFL COUNTER INITIALIZE1 2 D11 DFL OVF 1 0 DFL COUNTER PRESET D12 SPDINT COMP1 D13 SPDINT COMP2 D14 SPDINT COMP3 SPDINT COMP2 3 COMPARE REGISTER 1 2 3 1 WM 0 lt SPEED COUNTER INITIALIZE1 2 COMP2 COMP3 SPEED COUNTER INITIALIZE3 D15 SPEED OVF 1 0 SPEED COUNTER INITIALIZE3 COUNT ENABLE TYPE 000
78. END PULSE END PULSE S END PULSE SEND PULSE SESPD END PULSE END PULSE SESPD DELAY TIME END PULSE DELAY TIME 37 S END PULSE COMMAND DRIVE COMMAND CODE H 0042 SRATE SCAN 1 COMMAND CODE H 0111 DRIVE COMMAND ABS SRATE STRAIGHT CP ABS SRATE STRAIGHT CONST CP H 0043 SRATE SCAN 1 H 0113 H 0044 INC SRATE INDEX H 0151 INC SRATE STRAIGHT CP H 0045 ABS SRATE INDEX H 0153 INC SRATE STRAIGHT CONST CP 1 2 2 SPEC INITIALIZE3 END PULSE STOP MODE 1 lt gt 2 2 CP SPEC SET CIRCULAR CP MODE 0 lt gt S
79. F00D DRST OUT DRST 10ms ON FOOE FOOF F010 ADDRESS COUNTER INITIALIZE1 1 F011 ADDRESS COUNTER INITIALIZE2 2 F012 ADDRESS COUNTER INITIALIZE3 3 F014 PULSE COUNTER INITIALIZE1 1 F015 PULSE COUNTER INITIALIZE2 2 F016 PULSE COUNTER INITIALIZE3 3 F018 DFL COUNTER INITIALIZE1 1 F019 DFL COUNTER INITIALIZE2 2 F01A DFL COUNTER INITIALIZE3 3 F01C 1 F01D 2 F01E SPEED COUNTER INITIALIZE3 3 F023 COUNTER COMP MASK UP DOWN CONST CHANGE SPEED CHANGE SPEC SET SPEED CHANGE INDEX CHANGE SPE
80. CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW BO CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW ORIGIN CW
81. JOG PRESET ORIGIN PRESET OFFSET PULSE CSCAN ERROR PULSE JOG ERROR PULSE PRESET PULSE ORIGIN ORIGIN SCAN CONSTANT SCAN JOG 3 SCAN SCAN ORIGIN SRATE ORIGIN S CONSTANT SCAN ORIGIN CSPD JOG ORIGIN DELAY JOG DELAY TIME JOG CWLM CCWLM LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT
82. EAEB 1 1 SE 1 XEA XEB 1 1 1 1 1 YEA YEB I 1 DIVISION Ma 6 D7 DO X gt Y lt gt CLR COUNT LATCH SPEC SET 32BIT DRIVE DATA2 3 PORT AUTO CLEAR gt ENABLE COUNTER DATA2 3 PORT gt COMP1 gt COMP1 RELOAD ENABLE PULSE COUNTER COMPARE REGISTER1 lt COUNTER DATA2 3 gt gt COMP2 COMP2 PULSE COUNTER COMPARE REGISTER2 lt gt PULSE COUNTER COMP3 COMPARE REGISTERS TYPE COMP3 DRIVE COMMAND PULSE COUNTER INITIALIZE1 2 3
83. IF F C 772 MCC06 I O RATE C 772 F DRIVE MCC DRIVE D0
84. UL20276H 24 2P L L m J1 J2 J1 J2 2 J3 1 FG FLG GND i i 2 ISND 124 GND PS 50351 8100 57295 5000 AWG28 AWG22 1 15 1 8 3 J4 X J5 Y Ln J4 nnnnhnn nnnnhn 53375 0610 CW B 51103 0600 CCW B 50351 8100 3 NORG RE ER a AWG28 AWG22 J4 J5 GND 24V GND GND GND EXTV
85. DEND DEND STATUS1 PORT ERROR 1 DEND DEND TIME SET DALM DALM STATUS1 PORT 56 6 10 1 RM STATUS1 STATUS5 PORT 2
86. D11 ORIGIN FLG ORIGIN 1 0 79 D12 DRST DRST 1 0 D13 DEND DEND 1 D14 DALM DALM 1 D15 DEND BUSY DEND 1 DEND 0 DEND DEND BUSY DEND ERROR DEND BUSY 1 DEND
87. 1 ZORG ORG 4 ORG 5 CCW CW O OFF Z Z J6 J7 1 ZORG ZORG AWG28 22 J4 J5 1 _ NORG AWG28 22 ORG AWG28 22 S Jawoz8 gt 22 EXTVCOM 6 C 772 ORG Z C 1 ZORG 25 CCW CW gt ORG ON i Nore OFF PO R GND J10 J11 2 PO R GNG AWG28 22 J4 J5 ME OS AWG28 22 9ND AWG28 22 EXTVCOM C 772
88. A D13 INDEX CSET INDEX CHANGE 1 INDEX CHANGE 0 INDEX CHANGE CHANGE INDEX CHANGE INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE PLS INDEX CHANGE INDEX CHANGE A D14 0 D15 X 82 6 4 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 PORT PORT PORT PORT SELECT DRIVE COMMAND PORT DRIVE DATA1 DATA2 DATA3 PORT READ PORT PORT PORT SELECT PORT PORT
89. PULSE ABSOLUTE ADDRESS SERVO MOTOR DEND DEND ON STATUS1 BUSY BIT 0 92 7 ORG DRIVE ON OFF GND ORG 1 ORG 3 CCWLM ORG 2 3 4 5 ORG 0 1 ORIGIN DELAY SET COMMAND LD SD JD MARGIN PULSE SERVO MOTOR DEND DEND
90. COUNTER COUNTER INITIALIZE1 DFL EEB COUNT TYPE INT TYPE COMP GATE TYPE COMP STOP TYPE COMP DETECT TYPE DFL COMP1 INT ENABLE COMP1 INT COMP1 STOP ENABLE COMP1 AUTO CLEAR ENABLE COMP1 RELOAD ENABLE COMP1 COMP2 3 INT ENABLE COMP2 3 INT COUNTER INITIALIZE2 COMP2 3 STOP ENABLE COMP2 3 COMP2 3 TYPE ADDRESS PULSE SPEED DFL COMP2 gt COMP3 DIVISION 1 COUNTER INITIALIZE3 EXT PULSE TYPE 1 Ss COUNT PULSE SEL2 DFL SPEED 1 COUNT ENABLE TYPE SPEED COMP2 3 TYPE SPEED
91. 5 5 1 1 JOG JOG 1 JOG 2 SCAN SCAN SCAN 1 lt lt SCAN 28 3 INDEX INC INDEX
92. 625000bps AL PORT MCC06 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT Ki AL COUNTER COMMAND COUNTER COMMAND PORT 0 25ms COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT MCC06 PORT COUNTER COMMAND PORT COUNTER DATA1 PORT COUNTER DATA2 PORT COUNTER DATA3 PORT KU AL DRIVE DATA PORT 0 49ms 31 n DRIVE DATA1 PORT 0 46ms 046ms lt 046ms lt MCC06 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT AL 41 STATUS2 PORT 0 46ms STATUS2 PORT STATUS5 PORT 0 46ms STATUS5 PORT MCC06 PORT 74 3 IO C 772 IO I O MO X Y
93. 10 2 1 2 91 10 3 C 772 IF SI 5 WWW 04 n 2 01H 02n 03 n 3 PULSE
94. 8 388 607 8 388 607 24 INDEX 2 2 1 414 UP DOWN CONST CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE SPEED CHANGE SOFT LIMIT SRATE SCAN RATE CHAN
95. IO PORT PORT DATA DATA 8BIT DATA PORT PORT DATA I O PORT IO DATA IO DATA D7 D 9 1 IO PORT PORT 8BIT PORT OFF IO PORT D 7 D eu oOTo 1 ON I O ACTIVE LOW iPC C 772 AL 1 Tie 8 i 8 AL
96. ON MOTOR ORG 4 ORG 5 ORG STEPPING MOTOR DRIVER PO ORG PO AND ORG PO 1 SERVO MOTOR ORG Z C ZORG ORG C PULSE 10 s ORG 11 ORG 12 LIMIT LIMIT 24V ORG NORG LIMIT LIMIT
97. SCAN CONSTANT SCAN MARGIN CONSTANT SCAN MARGIN SCAN MARGIN MARGIN NORG ORIGIN MARGIN MARGIN ORIGIN DELAY SET MARGIN 41 DELAY TIME R1 ORIGIN LIMIT SCAN JOG DELAY TIME DELAY TIME 0 DELAY TIME DEND DELAY TIME ORIGIN DELAY ORIGIN DELAY SET ORIGIN DELAY TIME
98. COMMAND PORT lt DATA READ PORT SELECT H F041 gt WRITE DRIVE COMMAND PORT COMMAND H F041 DATA PORT DRIVE DATA PORT COMMAND CODE READ ERROR CODE 57 6 11 X Y 1 CWP CCWP 32 2 STATUS4 PORT ADDRESS OVF 1 X Y ADDRESS COUNTER INITIALIZE1 EAEB 1 1 XEA XEB 2 COUNT YEA YEB TY
99. IO ON DALM A I O 1 O 8 24V ON OFF ON OFF
100. J6 X J7 Y 2 J10 X J11 Y SIGNAL OUT CNTINT AL ADDRESS AL AL ONOFF RDY LED ST0 ST1 LED M3 DIN 2 M3 5 2
101. 8 2 MCC06 PORT 13 BRIVE COMMAND PORT i 2 DRIVE DATA1 2 3 PORT 3 COUNTER COMMAND PORT 4 COUNTER DATA1 2 3 PORT 939 MOE06 PORT ER Tu ro 1 STATUS1 PORT 2 STATUS2 PORT oR A RA A RAR eS STAT SS PORT EERE LEE LE EE RE STATUSA PORT RONNIE ee 5 STATUSS PORT SR ENNIS ER 8 4 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 PORT 85 MOBORINN EES EES ES EE EE EE Fs OPORT AREER GEIR 2 UO PORT 250A GR 8 6 MCC300 PORT ooo oa oa os 1 COMMAND PORT
102. D3 CCWLM CCWLM B 1 D4 D5 0 D6 CW SOFT LIMIT CW SOFT LIMIT 1 SOFT LIMIT CW SOFT LIMIT 0 SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 DEND SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT D7 CCW SOFT LIMIT CCW SOFT LIMIT 1 SOFT LIMIT CCW SOFT LIMIT 0
103. CW CCW CCW LIMIT CW LIMIT MP MARGIN LE a CCW 2 MP SCAN CCW SDLY SCAN DELAY TIME lt CONSTANT SCAN CCW 43 2 ORG 1 ORIGIN CCW CCW ORG 1 ORG CCW ORG 1 CW 1ms CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CCW
104. CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW CCW LIMIT Ne SCAN CW SDLY SCAN DELAY TIME CONSTANT SCAN NM CW SDLY 6 SCAN DELAY TIME gt JOG LE lm JDLY CW 45 4 ORG 3 ORIGIN CCW ORG 3 ORG 1 JOG CCW LIMIT CW LIMIT MP MARGIN
105. ORG 4 CCW LIMIT CW LIMIT MP MARGIN LE NORG ORG SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW NORG ORG SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW ORG 5 CCW LIMIT CW LIMIT MP MARGIN LE NORG ORG SCAN DELAY TIME CONSTANT SCAN CCW SCAN DE
106. DRIVE DATA3 PORT DATA1 DATA2 PORT DATA1 2 3 PORT DRIVE DATA3 PORT DATA1 2 3 PORT DATA1 2 3 PORT PORT SELECT PORT SELECT PORT SELECT PORT DATA READ PORT SELECT MCC SPEED PORT SELECT ADDRESS COUNTER PORT SELECT PULSE COUNTER PORT SELECT DFL COUNTER PORT SELECT SPEED COUNTER PORT SELECT ADDRESS LATCH DATA PORT SELECT
107. IMF 75 8 PORT C 772 MCC06 O I O PORT PORT COMMAND X Y X Y 8 1 PORT DO I O MCC06 SERVO D 7 D 0 0 0 0 0 L SELO SEL 1 SEL2 Z DALM pENp Po lpRsreuro oui 1 moo 5 7
108. ORIGIN 9 OFFSET PULSE ORIGIN SPEC SET ORIGIN FLG ENABLE 1 SET OFFSET ___SET RE PP SS CSCAN Ss a ORIGIN SPEC SET ERROR PULSE ENABLE 1 Re CONSTANT SCAN SET _SET np er Se a ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG ti ORIGIN SPEC ORIGIN SET 0 NE CONSTANT SCAN SET ORIGINDELAY DELAY TIME SET MARGIN ORIGIN PRES
109. 0065 ORIGIN JOG ERROR PULSE SET JOG 0068 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET 0070 ORIGIN ORIGIN 0071 SRATE ORIGIN S ORIGIN 0074 PRESET ORIGIN PRESET ORIGIN 0083 DEND TIME SET DEND 0089 SET DATA READ AUTO CHANGE DRIVE SET AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE CENTER POSITION SET 2 PASS POSITOIN SET 2 CP SPEC SET ABS STRAIGHT CP 2 S 2
110. 29 Ce oc 29 5 2 30 6 6 monnnorinthnettta OTN 31 1 31 1 SE EE EE ER NS ED EE Br 31 3 32 4 RATE DATA TABLE 32 RA PetwemensBtveaeuSieuaaroaieuthBruhaenoaeuihewiamSeveeewiieaeebeeswceesiseees 32 PAGE 6 2 LIMIT RDYINT 33 CHIMIE SHESNHNEBR NSRSe RE RG 33 2 RDYINT 33 9 asesose re ma elo Dis 34 6 45 1d
111. SPEC INITIALIZE1 RATE TYPE RATE DATA RATE TYPE MODE RESOLUTION DATA MODE RATE DATA RESOLUTION DATA 93 13 HSPD INDEX DRIVE INDEX LSPD INDEX SRATE INDEX END PULSE 15 PULSE DRIVE SOFT LIMIT OFT LIMIT SPEED SOFT LIMIT S RATE DRIVE DRIVE SRATE DOWN POINT SET COMMAND SRATE INDEX DRIVE S RATE DRIVE DRIVE STATUS1 ERROR BIT 1 SRATE INDEX DRIVE SRATE DOWN POINT SET COMMAND
112. 50351 8100 57295 5000 AWG28 AWG22 1 15 1 8 1 INC 2 OUT10 10 3 OUT11 11 4 OUT12 12 5 OUT13 13 6 OUT14 14 8 OUT16 16 9 OUT17 177 10 vcowNp GND nc _ _ R GND 24V GND GND FSSTOP B GND FSSTOP B A A 7 SIGNAL J13 9 2 mnnnn ho nnnn 13 XG4C 1031 MIL 10 CNT
113. Y ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 EXT PULSE 1 LIMIT LIMIT BUSY 0 lt SOFT RESET gt BUSY 1 BUSY 0 SOFT RESET DRIVE DATA3 PORT H 8000 N STATUS1 PORT BUSY 0 BUSY 1 BUSY 0 Y DRIVE COMMAND PORT H 0003 LN gt STATUS1 PORT BUSY 0 Y DRIVE COMMAND PORT H 000F LN gt X Y STATUS1 PORT
114. amp C 772 MN0013 2 AL 2 C 772 C 772 2 1 X 2 Y X
115. LSPD SET HSPD SET RATE SET LSPD HSPD URATE RATE DATA TABLE No DRATE RATE DATA TABLE No END PULSE 0 ESPD 300Hz ESPD DELAY 0 SLSPD 300Hz SHSPD 3000Hz SURATE RATE DATA TABLE No No H 18 100ms 1kHz SDRATE RATE DATA TABLE No No H 18 100ms 1kHz SCAREA1 H 0014 1 000msHz SCAREA2 H 0014 1 000msHz 300Hz 3000Hz No H 18 100ms 1kHzZ No H 18 100ms 1kHzZ END PULSE SET ESPD SET ESPD DELAY SET SLSPD SET SHSPD SET SRATE SET SCAREA12 SET SCAREA34 SET ous ERROR PULSE DRST ORG Z PO OR 0Hz ESPD DELAY SET RIGIN SPEC SET ORG CSPD SET ORG DELAY SET ORG CSPD 30 MARGIN 5 LIMIT DELAY SCAN DELAY 50ms JOG DELAY 20ms ORG OFFSET PULSE 100 ORG CSCAN ERROR HIFFFF_FFFF ORG CSCAN ERROR PULSE SET ORG JOG ERROR HIFFFF_FFFF ORG JOG ERROR PULSE SET DRST PO DEND D0 SERVO SPEC SET ORG OFFSET PULSE SET 95
116. B R GND DALM GND R GND 24V GND GND DALM B GND I O DALM ON DALM 18 6 J8 J9 J8 53375 1200 51103 1200 50351 8100 57295 5000 AWG28 AWG22 1 15 gt 1 8 6 IIN14 14 8 IN16 16 9 IIN17 177 10 INC IR GND FSSToP GND III J8 J9 J9 53375 1100 51103 1100
117. COMP1 COMPARE REGISTER1 COMP2 COMP3 DFL COUNTER INITIALIZE2 COMP TYPE COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 SIG OUT COMP1 1 COUNTER INITIALIZE1 1
118. 13 2 13 DRIVE 1 80 us 160 us 160 us 3 t5 16 DRIVE 1 80 us 160 us 160 us 12 12 3 13 1 POWER ON SERVO COMMAND IF DRST SERVO STATUS1 B
119. 100 s 7 DEND DEND BUSY DRIVE t6 115ps 3 CW t5 16 CCWP LT t5 16 lt gt c 15 3 DEND CR 300 s 88 8 LIMIT WR BUSY DRIVE SR 640 us t7 640 us 1 t3 72us 2 13 LIMIT CR 300 xs 9 LIMIT WR BUSY DRIVE Sm t3 lt 62ps 2 CCWP t3 lt
120. COMP3 ADDRESS COUNTER INITIALIZE1 2 3 ADDRESS COUNTER PRESET ADDRESS COUNTER PORT SELECT DRIVE DATA1 2 3 PORT ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL CWP CCWP 58 R2 XEA XEB YEA YEB 2 0 EA A 2 1 t2 t3 t4 gt 50 ns t1 12 200ns 13 14 20
121. 10 1 1 2 3 10 2 1 2 10 3 1 1 11 1
122. CCW SCAN DELAY TIME JOG CCW 46 5 ORG 4 ORG 5 ORG 4 ORG 5 NORG ORG ORG 4 ORG 5 NEAR ORIGIN ORIGIN ORG 4 ORG 5 NEAR ORIGIN ORIGIN CCW CW NORG 1 CCW 1ms CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN
123. CW CCW SCAN CCWLM LIMIT DELAY TIME LDLY 8 SCAN CW SDLY SCAN DELAY TIME Ne CONSTANT SCAN M CW CCW LIMIT 5 i lt SCAN CW SDLY SCAN DELAY TIME CONSTANT SCAN CW 47 ORIGIN R1 ORIGIN CCW CW ORG CONSTANT SCAN CSPDD 1ms
124. INDEX CHANGE 1 INDEX CHANGE INDEX CHANGE 0 INDEX CHANGE INDEX CHANGE INDEX CBUSY 0 INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE PLS INDEX CHANGE INDEX CHANGE A D15 D14 0 78 2 STATUS2 PORT ORIGIN PORT DEND ORIGIN A R R a DALM DEND DRST Z PO NORG ORG a D7 D6 D5 0 CW 0 0 FSSTOP 0 SOFT LIMIT SOFT LIMIT DO 0 D1 FSSTOP FSSTOP 1 D2 CWLM CWLM B 1
125. PC gt AL PC 70 7 7 1 1 2 USER PROGRAM 3 IF IF AL C 772 IIF 80 n IF AL
126. SIGOUT HARD INITIALIZE1 SIGOUT ON ON 100 PULSE SIGOUT CNTINT 200ns 10 s 100 s 1ms SIGOUT EE gt ISIGNAL QUT STATUS2 PORT D9 SIGOUT1 DALM gt 0 OFF 1 ON STATUS1 PORT DALM STBY gt STBY EXT PULSE gt EXT PULSE CONST ed gt CONST CNTINT DOWN gt DOWN UP gt UP SIGOUT ERROR gt ERROE DRIVE gt RE i RDYINT RDYINT 1 SPEC INITIALIZE2 _ COMP GATE TYPE RDYINT TYPE ADRINT DRVEND DRVEND 1 1 BUSY 0 SPEED SPDINT DFL 1 STATUS3 PORT SIGOUT STA
127. 0030 S 0031 SHSPD SET S 0032 0033 S SCAREA12 SET S 12 SCAREA34 SET S 34 SEND PULSE SET S END PULSE SESPD SET S END PULSE 003A 003E S S 0042 SRATE SCAN CW S 0043 SRATE SCAN CCW S 0044 INC SRATE INDEX S ABS SRATE INDEX S 97 R1 HEX CODE ORIGIN SPEC SET ORIGIN O ORIGIN CSPD SET CONSTANT SCAN ORIGIN DELAY SET MARGIN ORIGIN OFFSET PULSE SET OFFSET 0064 ORIGIN CSCAN ERROR PULSE SET CONSTANT SCAN
128. 1 TI 1 1 0 Bf BI DFL lt gt 1 CLR COUNT LATCH SPEC SET 2 2 ENABLE DRIVE DATA2 3 PORT EAR ENABLE COUNTER DATA2 3 PORT gt COMP1 COMP1 DFL COUNTER COMPARE REGISTER1 RELOAD wc ENABLE lt COUNTER DATA2 3 gt lt gt DFL COUNTER COMP2 COMP2 COMPARE REGISTER2 lt gt DFL COUNTER COMP3 COMP3 COMPARE REGISTER3 COMP DETECTION TYPE DFL COUNTER INITIALIZE1 2 3 DFL COUNTER PRESET DFL COUNT
129. SCAN DELAY TIME JOG CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW 50 9 R2 ORG 0 0RG 1 0RG 2 0RG 3 0RG 10 NORG ORG CCW LIMIT CCW CW OFF _oRe_o NORG ORG ORG 4 ORG 5 NORG CCW LIMIT ORG STEPPING MOTOR 1 ORG MOTOR
130. A PAGE 1 1 1 6 RUNDE MOAR EIEN STR RSET 6 1 3 6 4 1 7 1 5 9 2 2 1 10 2 2 10 ENE RE CRRA A REE RR 13 SS RA 15 3H 2ST 15 EN FE SSCS EERSTE RRR EHEC Rt 16 3 AE
131. DALM MCC06 SERVO SPEC SET DALM I O PORT IO PORT D 7 DATA DATA D9 D7 D ol o roanlxoanhorlsnl o To 6 Nseorlxeoml To 1 1 ON DATA PORT PORT DATA J10 J11 2 24V EN 8 1 65K Q RESET 4 _ LL DRST OUTO Le RESET nt 5END O_ 7 _DEND PO Enp le _ RiGND Le END i DALM Le ALM je _ R GND ALM 24V J6 J7 1 EXTVCOM L soN ER OUT1 S ON SON 1 S ON SN 69 2 IO PORT O IO 8
132. Sn SEE SRG RE GRE FERRE FS ET REE 35 5 SS seeseessecsinsesnssd nsession ees 37 66 9RIGIN SS RR 40 1 ORG 0 43 2 ORG 1 44 3 ORG 2 45 A ORG ETA DLR ES LEE CE ECE EE EE EE 46 8 ORG ORG 5 EADIE EE Ee 47 6 ORGAG NNN nenuteeesuen 49 7 ORG 11 50 8 ORG 12 50 9 0 ERO SR NS 51 6 7 52 0 SSS SA SN
133. 1 54 SIGOUT RDYINT ADRINT lt gt STATUS1 PORT DRVEND 1 STATUS1 PORT BUSY 0 COMP1 COMP2 COMP3 STATUS1 PORT BUSY 1 COMP1 COMP2 COMP3 0 SIGOUT STATUS3 PORT CNTINT COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 STATUS DFLINT SPDINT COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 COMP1 COMP2 COMP3 0 4 PORT
134. lt SSSNS0SANGSONSSSRISIEEGESNSISSSNDREIRSRSNSRNSRN 16 2 5 aeedeensthetntttaenlettatenlennlteeeentteeitneheeeies 17 1 AL J1 J2 17 U8 Hb edi ed kkt 17 3 J4 X J5 Y 17 4 1 J6 X J7 Y 18 5 2 J10 X J11 Y 18 6 J8 J9 19 7 SIGNAL J13 19 3 2 0 JNNNS239RSRGBB8RGEGRGRGRGR33GG5BSESRSGG323RGRS3RI63RSGDS83SSRGGGB38RGRGBSg 20 0 90SRMNNRNINANKORHSNNHSRERSNGNRRNSNNRNSNNNRNNSRERSERSRIENRRSES 20 2 2 SSO SEI
135. CP SPEC SET CIRCULAR CP MODE 0 lt gt 35 END PULSE 2 URATE DRATE LSPD ESPD END PULSE ESPD DELAY TIME EE DRIVE DELAY TIME INDEX INDEX END PULSE END PULSE END PULSE 0 END PULSE END PULSE ESPD EN
136. SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 DEND SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT SOFT LIMIT A D8 ORG ORG 1 D9 NORG NORG 1 D10 Z PO Z PO 1 PO Z
137. STATUS1 INDEX STATUS1 DRIVE BUSY 0 R A EE MZ VM RS EN TE 7 ECEAECDEECE 7 EEE EPCCCRRI ot 1 PULSE UUUL AL AL 625000bps 0 AL
138. CCW LIMIT CW LIMIT MP MARGIN LE CCW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 44 3 ORG 2 ORIGIN CCW ORG 2 ORG 0 JOG CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW
139. PORT DRIVE COMMAND PORT COMMAND UNI DRIVE DATA PORT PORT DATA PORT DRIVE DATA PORT READ a PORT PORT 3 DRIVE COMMAND PORT COMMAND EE DRIVE DATA PORT PORT DATA PORT DRIVE DATA PORT READ 0 PORT PORT 4 A DRIVE COMMAND PORT COMMAND
140. i DRIVE DATA2 PORT D31 D16 NR DRIVE DATA3 PORT D15 D0 SER PORT PORT 65 6 3 COMPARE REGISTER1 2 3 ON STATUS4 PORT COMP COMP1 CoMP1 STOP STOP TYPE ENABLE INT COUNTER TYPE COMP ip STATUS4 MASK COUNTER COMP MASK PULSE COMP1 _ COMP1 gt TYPE INT ENABLE COMP COMP2 COMP2 STOP STOP TYPE ENABLE INT COUNTER TYPE COMP NE STATUS4 MASK COUNTER COMP MASK PULSE COMP2 _ lt COMP2 gt
141. ABS INDEX lt ET 2 1 INDEX 4 ce SCANINDEX 5 2 R1 C 772 AL
142. COUNTER SELECT PORT PULSE COUNTER PORT SELECT ADDRESSCOUNTER H 0000_0000 ADDRESS COUNTER PRESET PULSE COUNTER H 0000_0000 PULSE COUNTER PRESET PULSE COUNTER H0000_0000 DFL COUNTER PRESET SPEED COUNTER H0000_0000 SPEED COUNTER COMPARE REGISTER1 2 3 H FFFF_FFFF COUNTER COMPARE REGISTER SET INT PULSE TYPE 200ns COUNTER COMPARE REGISTER1 2 3 H 8000_0000 COUNTER COMPARE REGISTER SET COUNTER MAX OVF COUNT SET H FFFF_FFFF COUNTER MAX OVF COUNT SET RATE DATA DATA SRATE DATA H 186A SRATE DATA SET 96 11 2 C 772 MCC06 STATUS1 PORT BUSY 0 MCC300 STATUS1 PORT H RDY 1 MCC06 DRIVE COMMAND MCC06 COUNTER COMMAND MCC300 COMMAND T MCCO06 DRIVE COMMAND MCC06 COUNTER COMMAND MCC300 COMMAND T 1 MCC06 DRIVE COMMAND PULSE
143. CW CWLM CCW ORIGIN CCW CW CCWLM 1 CCW 1ms SCAN CCWLM CCWLM CCW CCW LIMIT CW LIMIT MP MARGIN LE lt lt CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN
144. CWP L1 1 L1 Lf CCWP L 1 L1 L 1 eg 2 CWP CCWP En 2 60 R1 STATUS1 PORT EXT PULSE 1 ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 EXT PULSE 0 BUSY 0 BUSY 0 EXT PULSE 1 LIMIT LIMIT Lc gt STATUS2 PORT CWLM CCWLM 0 LN gt STATUS1 PORT BUSY 0
145. ORG OFFSET PULSE SET CSCAN ERROR PULSE SET CONSTANT SCAN JOG ERROR PULSE SET JOG ORIGIN 30 4 6 6 1 SPEC INITIALIZE1 RATE RATE SPEC INITIALIZE1 1 CWP CCWP
146. 2 6 OUT1 MF DRST 7 PO DEND 1 Z OUT1 SON DEND GND DEND LOW STATUS 1 BUSY BIT 0 DALM B GND 1 5V 150 150 24V DRSTCOM 1 65K 1 EXTVCOM 24 22 X Y J10 J11 2 CWP 1 NAM
147. END PULSE RI SHSPD SCAREA2 SCAREA3 SURATE SDRATE SCAREA1 SCAREA4 SLSPD SLSPD SESPD le PULSE 1 I 1 SESPD DELAY TIME lt DRIVE DELAY TIME INDEX SRATE INDEX SEND PULSE END PULSE SEND PULSE 0 S END PULSE END PULSE S END PULSE END PULSE 38
148. LE CW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW CCW LIMIT SCAN CCW SCAN DELAY TIME CONSTANT SCAN
149. PULSE LATCH DATA PORT SELECT DFL LATCH DATA PORT SELECT SPEED LATCH DATA PORT SELECT 83 8 5 IO PORT 1 UO PORT O 2 4 O PORT O PORT DATA DATA 6BIT DATA PORT PORT DATA O PORT D DATA DATA D 9 o o lypAlw xoauw vou Xoorr Youre Xooro 1 1 Do XOUT0 X OUTO D1 YOUTO Y OUTO D2 XOUT1 X OUT1 D3 YOUT1 Y OUT1 D4 XDALM X DALM D5 YDALM
150. 14 2 4 1 1 5o5 gt 5OW5W 5 5 S WW t 0 ad SM 2 26C31 RS422A i 24V DRST OUTO DRSTCOM 5V 15mA al2V 5 oo 3 DRSTCOM DRST OUTO a ON 30mA Vce 1V Max30mA OUTO MF 50mA Vce 2V OFF 0 1mA 1ms oY IEXTVCOM OUT1 GUTt 24V 20mA 8 929 MaoomA OUT10 OUT11 OUT12 OUT13 1 OUT1 OUT14 OUT15 OUT16 OUT17 1 Max30mA oN 24V Nch ON 30mA Vce 1V 50mA Vce 2V OFF 0 1mA Max30mA 1ms veoweNp ON OFF OFF ON 4 oo 5V a 30v MT LS06
151. 1ms IO IO IO 8 8 200mA AL DO PC 12 2 3 A 2 2 2 RATE 1 000ms kHz 0 016ms kHz 1 048 56ms kHz 0 0125ms kHz IELSPD ELSPD 5MHz
152. 625000bps AL VO PORT IO PORT PORT IO PORT D IO PORT 0 24ms 0 24ms 625000bps AL VO PORT IO PORT 0 0 0 0 YOUT1 XOUT1 YOUTO XOUTO IO PORT D7 Do OUT17 OUT16 OUT15 OUT14 OUT13 OUT12 OUT11 OUT10 PORT O PORT D7 DO IO PORT IO PORT 4 MCC300 C 772 MCC300 X Y 625000bps AL AXIS COMMAND AXIS COMMAND PORT 0 0 YDALM XDALM YOUT1 XOUT1 YOUTO XOUT0 DATA pATA IO PORT OUT17 OUT16 OUT15 OUT14 OUT13 9UT12 OUT11 OUT10 IO
153. M2 6 6 2 2 1 DC 24V 10 6 2 200mA 1 1 550mA max 10 C 40 8096RH 0 C 55 80 9 RH 5 6 W78mm x D85mm x H34 5mm H 44mm 2 2 1 2 2 2 4 1Hz 5MHz 1Hz
154. 1000ms 1kHz 0 016ms 1kHz JOG 1 SCAN INDEX 2 147 483 647 2 147 483 647 EA EB 3 5MHz 2 2 4 2 147 483 647 SCAN 1Hz 5 MHz 1 Hz 1 000 ms kHz 0 016 ms kHz RATE DATA TABLE No S
155. 51103 0300 _ _ _ 1 24V DRIVER SERVO 51103 1000 50351 8100 DIN 3 IM3 x5 2 EE EN M2 6 x 6 1 3 AL IF AL STEPPING or SERVO CB 23 USB C 772 DRIVER MOTOR IF USB O Rm jp e gt A EE CB 14 UL20276H RS232C CE 44 A01CV SENSOR lo C 772 CB 07 BUS IF ISA 1 ac CWLM CCWLM ORG NORG CB 09 PCI A EE
156. COMMAND PULSE STATUS DRIVE BIT BUSY BIT 0 4 PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 1 5 IPULSE PULSE PULSE STATUS BUSY BIT 0 ON IF IF
157. DERROR 0 0 H RDY MCC300 1 ECLR MCC300 1 D5 D3 0 D6 D7 DERROR 1 MCC06 MCC300 STATUS1 PORT DERROR MCC06 STATUS2 DALM MCC300 ECLR DERROR 0 2 DATA1 DATA2 PORT MCC300 DATA PORT 85 9 9 1 W
158. OFFSET PRESET INDEX INDEX CWLM CCWLM CWLM CCWLM SPEC INITIALIZE2 CWLM CCWLM LIMIT LIMIT ORIGIN 40 ORIGIN ORIGIN SPEC ORIGIN ORIGIN JOG Z INDEX
159. BUSY DRIVE CWP a CCWP ll t3 LIMIT CR 300 s 89 4 9 2 44 34 5 3 5 9 999 SOS Ee SS SOOOS 8 8 eeeeeeeeee LT N77 So OOS OS SS e eleeeeeee 29 5 20 29 5 73 79 90 10 AA 10 1 1
160. 32 3 DFLINT 1 20 MHz 1 32 3 SPDINT 32
161. BUSY 0 Y gt X Y BUSY 0 C 772 60 A 2 32 2 147 483 647 2 147 483 647 H 8000_ 0001 H7FFF_FFFF 2 STATUS4 PORT PULSE OVF 1 PULSE COUNTER INITIALIZE1 PULSE COUNTER INITIALIZE3 TNR ET ENR EEA
162. PO ORG NORG ORG 11 12 CWLM CCWLM 1 5 32 3 ADRINT 32 3 CNTINT 2
163. READ PORT SPEED LATCH DATA PORT SELECT READ PORT O O O O O O O O O _0 _ 99 3 MCC06 COUNTER COMMAND R1 0000 ADDRESS COUNTER PRESET O ADDRESS COUNTER MAX COUNT SET 0 4 MCC06 COUNTER COMMAND HEX CODE COMMAND NAME 0001 ADDRESS COUNTER COMPARE REGISTER1 SET 1 0002 ADDRESS COUNTER COMPARE REGISTER2 SET 2 0003 ADDRESS COUNTER COMPARE REGISTER3 SET 3 0010 PULSE COUNTER PRESET 0011 PULSE COUNTER COMPARE REGISTER1 SET 1 0012 PULSE COUNTER COMPARE REGISTER2 SET 2 001A PULSE COUNTER MAX COUNT SET 0020 DFL COUNTER PRESET
164. S S 4 S S S S SHSPD SCAREA2 SCAREA3 SURATE SDRATE SCAREA1 SCAREA4 Y SLSPD SLSPD 2 ee S SCAREA1 SURATE S S SURATE SCAREA1 SCAREA2 SURATE S S SURATE SCAREA2 SCAREAS3 SDRATE S
165. 12 PMP 13 87 t1 lt 200 ns t2 lt 146 us 1 13 lt 77ps 2 t2 13 t1 lt 200 ns 12 146 us 1 S 12 151 ps 1 t2 t1 lt 200 ns t2 lt 166 ps 1 S 12 171ps 1 13 77ps 2 t2 13 5 ORIGIN t1 lt 200 00 o ER 2 ii SS t2 lt 168 us 1 S t2 lt 173 1 DRIVE MS t2 CWP 7 MC CCWP 6 ORIGIN AUTO DRST 5RST 00 BUSY DRIVE t6 lt 115 ps 3 CWP 5 16 i i t5 10 ms 6 lt t5 ORG ORG 0 1 10 11 15 115 us 3 12 ORG 2 3 4 5 12 t5 JOG DELAY TIME 3 DRST
166. DRVEND 1 0 DRVEND 1 DEND DRVEND 1 D4 ERROR 1 0 ERROR STATUS READ 2 ERROR 1 A D5 LSEND LIMIT 1 STBY 1 DRIVE 1 L
167. Y DALM D6 D7 0 DRST OUTO0 DRST MCC06 STATUS2 PORT DALM B GND O DALM ON DALM MCC06 SERVO SPEC SET DALM O PORT O PORT D 7 D 0 Lo o o o Yeomi oomilYeu IXour 1 ON DRST DRST OUT PORTD 7 D BIT 0 PORT OFF 2 IO PORT O IO 8 IO PORT PORT DATA DATA 8B
168. 1 YBUSY 1 BUSY 0 STATUS1 PORT MAN 0 COUNTER COMMAND ADDRESS COUNTER PRESET COUNTER COMMAND ADDRESS COUNTER MAX COUNT SET D1 STBY 1 0 STBY SPEC SET STBY 2 X STBY SPEC SET STBY XSTBY 0 YSTBY 0 STBY STBY 1 STBY 1 STBY 0 A D2 DRIVE 1 0 D3
169. COMMAND NAME 0000 NO OPERATION 0001 SPEC INITIALIZE1 RATE 0002 SPEC INITIALIZE2 0003 SPEC INITIALIZE3 0007 DRIVE DELAY SET 0008 CW SOFT LIMIT SET CW 0009 CCW SOFT LIMIT SET CCW 0010 LSPD SET 0011 0012 0013 RATE SET 0018 END PULSE SET END PULSE 0019 ESPD SET END PULSE 001A 001E RATEDATASET 001F 0020 JOG CW 1 0021 JOG CCW 1 0022 SCAN CW 0023 CCW 0024 0025
170. IA MA O DRST OUT0 MF OUT1 S ON DALM DRST OUT0 MF OUT1 S ON DALM H MCC300 1 J13 lxsieouro XCNTINT YsieouT F YCNTINT J3 I O OUT10 OUT17 24V IN10 IN17 M gt FSSTOP 1 A AL AL AL AL AL AL
171. LIMIT LIMIT LIMIT LIMIT ORIGIN LIMIT ORIGIN CWLM CCWLM LIMIT CWLM CCWLM LIMIT ORIGIN SCAN CONSTANT SCAN JOG CWLM LIMIT LIMIT LIMIT LIMIT _ LIMIT CCWLM LIMIT ORG 11 ORG 12 CWLM CCWLM LIMIT ORIGIN CCW CCWLM CWLM LIMIT ORIGIN CW CWLM CCWLM LIMIT ORIGIN ORIGIN INDEX
172. RS485 RS485 oo 6 RS485 AYA 2 ID C 772 020 O00 1 15 J1 1 Fn 05 6 9765bps 39062bps 156250bps 625000bps J2 IDATA 8 RS485 STOR EWR NEO 5 24V 16 2 5 1 AL Sg UI 1 RS485 2 RS485 1473565 3 e CON S G AL GND 1473562 3 e CON 0 14mmz 0 3mm2 lt 1 0 1 15
173. 0 ns EB 4 1 12 t3 t4 200 ns 0 ti t2 t3 t4 gt 50 ns lt gt EA TITITITIHTITH lt gt 1 1 1 TTT TN EMIPEIEMIIIII a 1 IE EB Nd LL LL i I Cr Sr i WR GE PE 4 i EB f ll i f A 0 t1 2 14 gt 50 ns EB EE KM t3 zz 200 ns t3 gt 100 ns t1 2 t4 3 1 2 0 t3 t3 t1 12 14 gt 50ns lt gt NT RA mx 59 R1 ADDRES
174. 0m X Y J10 J11 2 i 4 CWP 1 AWG28 22 1CW i __ oN w CWP CW T CCWP CCW W KN CCWP CCW i _ 1 ET 150 9 DRSTCOM 6 DRST OUTO 6 1 RESET DEND PO END __ R GND 8l END DALM 9gl ALM 0 XX 1 MV R GND ALM RR J6 J7 1 24V AWG28 22 SO rsoN EXTVCOM i 1 OUT1 S ON SON ZORG z ZORG F G
175. 2 S 2 ABS CIRCULAR CP CW ABS CIRCULAR CP CCW ABS SRATE CIRCULAR CP S CW 0123 ABS SRATE CIRCULAR CP S CCW 0124 ABS CIRCULAR CONST CP CW ABS CIRCULAR CONST CP CCW ABS SRATE CIRCULAR CONST CP S CW ABS SRATE CIRCULAR CONST CP S CCW S 0133 ABS SRATE CIRCULAR2 CONST CP 8 0139 ABS SRATE CIRCULAR3 CP 8
176. 2 100 RR A RS 2 0 69 1 IIO PORT ee nme nn ss 69 2 UO PORT 70 CR 2 Gc 71 ER ee es ee ss se si soe es 71 2 aaa SD ESR 71 SAE NSS 71 4 ee 72 7 2 RARE ER 73 CD 73 2 ESS SANDS IA SD NSS SR SR SR 73 7 3 74 1 74 2 MCC06 74 SNOUT EA RTR NN NN NNNMNMNMMMMNMMMSMNM 75 4 MCC300 75 5 i NR RDS ST RR DR EEE 75 8 PORT 8 1 PORT
177. 4V DRSTCOM 1 65K 1 EXTVCOM 24 4 5K DRSTCOM 6 3 50mm 10m ORG NORG LIMIT ORG OFF ON
178. ATA J10 J11 2 TE EA A 24V 1 65K Q MF W DRSTCOM a DRST QUT96ME Le MF DEND PO PO jpo a X eb RGND Le _PO DALM L9 ALM _ R GND ALM 24V J6 J7 1 B OO CS W 6 NN UC cs 9 OUTO DRST 10ms ON FSSTOP DRST 10ms ON OUT1 SON DRST IO PORT DRST DRST OUT MCC06 STATUS2 PORT DALM O PORT MCC06 STATUS2 PORT
179. C SET INDEX CHANGE UP DRIVE DOWN DRIVE SPEED CHANGE RATE CHANGE RATE CHANGE INC INDEX CHANGE INDEX ABS INDEX CHANGE INDEX PLS INDEX CHANGE INDEX READ PORT DATA READ PORT SELECT READ PORT ADDRESS COUNTER PORT SELECT READ PORT PULSE COUNTER PORT SELECT READ PORT DFL COUNTER PORT SELECT READ PORT READ POR ADDRESS LATCH DATA PORT SELECT READ PORT PULSE LATCH DATA PORT SELECT READ PORT DFL LATCH DATA PORT SELECT
180. CCW ki 2 EE J J 2 EE J N 98 HEX CODE COMMAND NAME 0170 INC CIRCULAR2 CP 0171 INC SRATE CIRCULAR2 CP S 0172 INC CIRCULAR2 CONST CP 0173 INC SRATE CIRCULAR2 CONST CP S INC CIRCULAR3 CP INC SRATE CIRCULAR3 CP S INC CIRCULAR3 CONST CP INC SRATE CIRCULAR3 CONST CP S 2 MCC06 DRIVE COMMAND HEX CODE COMMAND NAME F001 HARD INITIALIZE1 SIG OUT F006 F007 HARD INITIALIZE7 F00C
181. COM 24V Max150mA B GND B A A 17 4 1 J6 X J7 Y 53375 0810 51103 0800 50351 8100 57295 5000 AWG28 AWG22 1 15 1 8 J6 J7 Z Z ls R 8 mm Il B 1 Il EXTVCOM ON 24V Max20mA
182. COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 DO ADRINT COMP1 D1 ADRINT COMP2 D2 ADRINT COMP3 COMPARE REGISTER 1 2 3 1 0 ADDRESS COUNTER INITIALIZE1 2 D3 ADDRESS OVF 1 0 ADDRESS COUNTER PRESET D4 CNTINT COMP1 D5 CNTINT COMP2 D6 CNTINT COMP3 COMPARE REGISTER 1 2 3 1 0 PULSE COUNTER INITIALIZE1 2 D7 PULSE OVF 1 0 PULSE COUNTER PRESET D8 DFLINT COMP1 D9 DFLINT COMP2 D10 DFLINT COMP3 COMPARE REGISTER 1 2 3
183. CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 8 ORG 12 CCW CCWLM CW CW CWLM CCW ORIGIN CCW ORG 12 ORG 11 JOG CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW
184. D PORT PORT 3 COUNTER COMMAND PORT PORT COUNTER COMMAND COUNTER COMMAND COUNTER COMMAND BUSY 0 ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET 4 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT PORT 76 8 3 MCC06 PORT 1 STATUS1 PORT PORT D15 D14 D13 INDEX SPEED A D7 D6 0 FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY 1 o Do BUSY 1 0 2 XBUSY
185. D HSPD URATE DRATE END PULSE END PULSE END PULSE END PULSE END PULSE END PULSE END PULSE ESPD END PULSE ESPD DELAY TIME END PULSE DELAY TIME END PULSE COMMAND COMMAND DRIVE COMMAND DRIVE COMMAND CODE CODE SCAN ABS STRAIGHT CP SCAN ABS STRAIGHT CONST CP INC INDEX INC STRAIGHT CP H 0025 ABS INDEX INC STRAIGHT CONST CP 2 2 1 SPEC INITIALIZE3 END PULSE STOP MODE 1 lt gt 2 2
186. D PULSE END PULSE END PULSE END PULSE ESPD 2 END PULSE LSPD lt lt END PULSE END PULSE END PULSE 36 6 5 S S 4 S S S END PULSE
187. DDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET STATUS1 PORT EXT PULSE 1 33 6 3 END PULSE DRIVE DELAY SET Re DRIVE DELAY SET DRIVE DELAY TIME END PULSE DRIVE DELAY TIME DRIVE DELAY TIME 0 LSPD SLSPD DRIVE DELAY TIME
188. E MF CS a se MF CS 00n A DALM MCC06 SERVO SPEC SET SEL 2 DRST DEND DALM DRST DRST 10 ms ON DRST DRST 10 ms ON FAST STOP FSSTOP LIMIT CWLM CCWLM DALM
189. ER COMPARE REGISTER1 2 3 SET DFL COUNTER PORT SELECT DRIVE DATA1 2 3 PORT 62 4 20 MHz 1 32 32 1 1
190. ET ORIGIN ORIGIN SPEC ORIGIN SET ORISIN CSPD CONSTANT SCAN SET ORIGIN DELAY DELAY TIME SET MARGIN EE TE PRESET ORIGIN PRESET SET PRESET ORIGIN 42 1 ORG 0 ORIGIN CCW CCW ORG 0 ORG CW ORG 1 CCW 1ms CCW LIMIT CW LIMIT MP MARGIN LE
191. GE 1 2 RATE CHANGE RATE CHANGE RATE RATE 13 5 INDEX CHANGE AUTO CHANGE SOFT LIMIT INC INDEX CHANGE INC INDEX ABS INDEX CHANGE ABS INDEX PLS INDEX CHANGE INC INDEX
192. IMIT STBY 0 DRIVE 0 LIMIT 0 ORIGIN LIMIT 2 LIMIT XLSEND 1 YLSEND 1 LIMIT LIMIT LIMIT CWLM CCWLM SOFT LIMIT SOFT LIMIT SOFT LIMIT A 77 gt D6 SSEND 1 STBY 1 DRIVE 1 STBY 0 DRIVE 0 0 2 X
193. INT GND 5V GND 5V 19 3 3 1 1 C 772 0 40 C 80 RH 2 C 772 C 772 7mm
194. IT DATA PORT PORT DATA IO PORT A IO DATA VO DATA D 7 D D mm 1 I O PORT PORT 8BIT PORT OFF I O PORT 1 ON 84 8 6 MCC300 PORT 1 COMMAND PORT PORT MCC300 2 DATA1 DATA2 PORT MCC300 PORT 8 7 MCC300 PORT 1 AXIS STATUS1 PORT MCC300 PORT D0 D1 D2 D 7 D 9 1 0 H RDY ECLR 0 0 0
195. LAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW NORG ORG SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW 48 6 ORG 10 ORIGIN CCW CW ORG 10 NORG ORG 1 CCW 1ms CCW LIMIT CW LIMIT MP SDLY MP MARGIN LE
196. OL L1 TYPE 50 1 L2 TYPE M1 TYPE M2 TYPE H1 TYPE H2 TYPE 3 6 2 LIMIT RDYINT SPEC INITIALIZE2 LIMIT RDYINT SPEC INITIALIZE2 1 1 LIMIT CWLM CCWLM 2 RDYINT RDYINT SIG OUT RDYINT STATUS1 PORT DRVEND 1 STATUS1 PORT BUSY 0 RDYINT RDYINT RDYINT STATUS1 PORT A
197. PE DIVISION gt ADDRESS COUNTER INITIALIZE3 CW CCW 2 147 483 647 2 147 483 647 H 8000_0001 H7FFF_FFFF 1 0s 2 EXT PULSE TYPE COUNT PULSE D7 DO DRIVE DATA2 3 PORT COUNTER DATA2 3 PORT 32BIT COMPARE REGISTER1 lt COUNTER DATA2 3 gt ADDRESS COUNTER ADDRESS COUNTER COMPARE REGISTER2 ADDRESS COUNTER COMPARE REGISTER3 gt COMP1 RELOAD ENABLE lt gt COMP2 TYPE lt gt COMP3 TYPE COMP1 gt COMP2
198. PORT D7 IN17 IN16 IN15 IN14 IN13 IN12 IN11 IN10 PORT MCC300 PORT AXIS COMMAND PORT AXIS DATA1 PORT AXIS DATA1 PORT gt gt gt AXIS DATA2 PORT AXIS DATA2 PORT AL AXIS DATA PORT AXIS DATA1 PORT 0 46ms lt AXIS DATA2 PORT AL IAXIS STATUS1 PORT o49ms A MCC300 PORT AXIS DATA2 PORT MCC300 PORT AXIS STATUS1 PORT 5 IF EO F
199. R C 772 COMMAND C 772 X Y X Y MCC06 X Y gt gt gt 1 12 DRIVE 1 80 us 160 us 160 us 3
200. S sa SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S SCAREA2 SURATE S SCAREA3 SDRATE S SCAREA4 SDRATE S S END PULSE SEND PULSE END PULSE SESPD END PULSE SESPD DELAY TIME END PULSE DELAY TIME 1 SRATE SCAN SRATE INDEX S SRATE SCAN INDEX
201. S COUNTER INITIALIZE1 EXT PULSE TYPE CWP CCWP EXT PULSE 1 STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND DRST DEND ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL EXT PULSE 1 B
202. S RR NAS ARREARS RS 52 2 oS adr Si de en dog 52 SFSKIMIE YE ORRIN 53 4 LIMIT 53 6 8 SRS SRS EE SES SE ES EE 54 6 9 SSS SEES SI SE ESE I gs 56 0 htthihtNRRONIRRNIINNNINNRIIRtatnPPaBPINHaHRta 56 2 ER RE ST I 56 00 2 9 009950O89GG GOdOHGGGBCGHSIKBSGGGO3BSGGGGORGBSIRGGOGSSIR3GG2G8SIkdcCG2K 57 oowHaNeRMRHENERPSRGRSNERERSEENENESSSREERESSSNSRES3F ES 57 2 RON NNN EN 30 a 03a Ss 57 0907 HHR 57 4 htNH a sia oe dss nao nn in 57 6 11 0 2 NNNNARINNNRRRGR RNNRRAGRNSIRSRSRANSASARIHBRGRSARISRSBRSS 58 CS sees ns dass 58 2 ea a at tat a A at ts 61 3 Ssssssssssessasm sss 62 4 0 EE SS 63 5 cesses np nrg re ep ns ore 65 6 sees a oa gs 66 0 8G AD EID DI EE 68
203. S TESS ESE ES EEE 20 3 sass RRR 20 Ci ee dd code doo oi 21 0 SR 21 2 22 92M 0 O MO SRIEB020PS 5 24 4 4 1 S1 27 27 3 0 53 27 5 5 1 28 1 JOG 28 2 SCAN 28 3 INDEX
204. SET ORIGIN PRESET OFFSET ORGIN SRATE ORIGIN PRESET ORIGIN SRATE PRESET ORIGIN OFFSET OFFSET PULSE OFFSET ERROR CONSTANT SCAN JOG ORIGIN STATUS1 PORT ERROR 1 CONSTANT SCAN CSCAN ERROR PULSE CONSTANT SCAN JOG JOG ERROR PULSE JOG MARGIN MARGIN
205. SSEND 1 YSSEND 1 SLOW STOP LIMIT CWLM CCWLM DALM A D7 FSEND 1 DRIVE 1 DRIVE 0 0 2 XFSEND 1 YFSEND 1 FSSTOP FAST STOP LIMIT CWLM CCWLM DALM
206. TER INITIALIZE1 COMMAND PORT WRITE DRIVE DATA DRIVE DATA PORT HARD INITIALIZE1 COMMAND SIGOUT PORT WRITE DRIVE COMMAND PORT HARD INITIALIZE1 COMMAND DRIVE COMMAND PORT WRITE 55 6 9 1 AL DO0 I O MCC06 SERVO MCC300 PORT moz pomwm 0 0 DEND DRST awoz pe prsr tn Gowgg E
207. TUS1 PORT EXT PULSE 1 1 STATUS1 PORT STBY 1 DRIVE 1 STATUS1 PORT SSEND 1 SLOW STOP DALM STBY 1 DRIVE 1 STBY 1 STBY 1 A 2 STATUS1 PORT BUSY 1
208. TUS4 PORT COMP1 coMP2 COMP2 COMP3 COMP3 x 4 COMP 4 x 3 TF a COUNTER INITIALIZE2_ COUNTER INITIALIZE1 COUNTER INITIALIZE1 COMP1 S DFL comP2 1 LCOMP3 gt SPEED ii Rs OR RT COUNTER COMP MASK COUNTER INITIALIZE1 INT COMP MASK INT TYPE COMP INT ENABLE COMP GATE TYPE COMP INT COMP1 HRP COMP2 INT ENABLE gt COMP2 1 DE A COMP3INT ENABLE gt COMP3 COUNTER INITIALIZE1 INT TYPE INT STATUS4 PORT COUNTER INITIALIZE1 STATUS4 PORT INT FACTOR CLR 1
209. TYPE INT INT ENABLE COMP COMP3 COMP3 STOP STOP TYPE ENABLE INT COUNTER TYPE COMP i STATUS4 MASK COUNTER COMP MASK PULSE COMP3 _ COMP3 gt TYPE INT ENABLE COMP STOP TYPE coMP1 COUNTER COMP MASK AINT COMP1 MASK COUNTER COMP MASK INT TYPE INT INT FACTOR CLR 1 COMP2 3 COMP2 COMP1 STOP ENABLE INT PULSE TYPE 200ns INT TYPE OR COMP1 INT ENABLE COMP GATE TYPE coMPs a 66 STATUS4
210. USY 1 STBY 1 DRIVE 0 STBY 0 DRIVE 1 STBY 1 DRIVE 0 STBY 0 DRIVE 1 COUNT PULSE SEL EXT PULSE 0 BUSY 0 COUNT PULSE SEL 00 EXT PULSE TYPE 2 STATUS1 PORT ERROR 1 ERROR 1 lt gt 2 EA i EB I el lt gt
211. USY k t1 lt 200ms t6 lt 20ms t2 gt 1s t7 100 s t3 t8 10ms 14 t9 50 s t5 COMMAND IF C 772 USER IF STATUS1 PORT BUSY BIT STATUS1 BUSY 0 SERVO SERVO DRST STATUS1 BUSY 0 COMMAND 86 2 JOG WR EN See lim 3 SCAN WR BUSY DRIVE CWP CCWP 4 INDEX WR ii BUSY come
212. VAR NI cw EE CWP a CCWP Ww w CCWP ON 8 4 1 150 nou DRST OUT0 6 MF 1 1 DEND PO re oN 2 2 ey R GND 8 1 DALM 9 sl R GND ALM J6 J7 1 1 no BR 3 K BR OUT1 C 772 3 1 2 6 OUTO MF 7 PO 1 Z OUT1 DALM B GND 1 5V 150 150 2
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