C-V872 取扱説明書
Contents
1. 10 2 12. LIMIT FSSTOP ACTIVE OFF B FSSTOP LIMIT NORMAL ON GND 3 A
3. lt ET 2 INDEX 4 ce SCANINDEX 46 7 2 C V872 HARD INITIALIZE1
4. 1 Z 2 24V 2V 24V 400mA CWLM CCWLM FSSTOP1 2 ACTIVE OFF FSSTOP B A A 3 SENSOR10
5. 2 6 1 1 10 80 RH 3
6. STATUS1 PORT SSEND 1 SLOW STOP SENSOR SLSTOP SLSTOP SS0 SS1 DALM STBY 1 DRIVE 1 STBY 1 STBY 1 2 STATUS1 PORT BUSY 1 STATUS1 PORT FSEND 1
7. PULSE COUNTER INITIALIZE1 PULSE COUNTER INITIALIZE3 EA EE NR RE RE EA EB 1 XEA XEB YEA YEB COUNT TYPE 1 DIVISION 07 COUNT PULSE X Y _ PULSE lt gt COUNTLATCH SPEC ENABLE 32BIT DRIVE DATA2 3 PORT lt ENABLE COUNTER DATA2 3 PORT lt gt COMP1 COMP1 PULSE COUNTER COMPARE
8. PAGE 1 1 1 6 70 6 6 1 4 7 1 5 9 2 2 1 PCI
9. IO IN OUT 1 24V ON OFF ON OFF MCC06 MCC06 STATUS2 PORT DALM HENSA HA
10. C V872 or gt a 2 X1 1m 2m 3m 5m CB 25 B4C gt gt 4 10 Z1 9 Windows 2000 4 Windows XP RM 0 X1 Y1 Z1 8 1 LIMIT 1m 2m 3m 5m CB 25 B4C X2 Y2 Z2 2 LIMIT 7 173 5 1 4 CWMS CCWMS FSSTOP 1 Il
11. DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D15 D0 DRIVE DATA2 PORT D31 D16 DRIVE DATA3 PORT D15 D0 PORT PORT 100 6 3 COMPARE REGISTER1 2 3 ON STATUS4 PORT COMP COMP1 CoMP1
12. OFF ON 5 V VV LPMtss PML53B PM T5S PM TS3B _ EE SPX301 EE SPX401 EE SX670A EE SX670A 2 X1 CCW CW O ON ON EXTV X1CWLM X1CCWLM C V872 B GND A 8 6 ORG 11 ORG 12 3
13. 2 110 10 3 PULSE 0 INDEX DRIVE PULSE COMMAND ADDRESS PULSE STATUS1 ERROR LSEND FSEND BIT STATUS DRIVE BIT BUSY BIT 0 SERVO DEND ACTIVE PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 1 PULSE SCAN ORIGIN DRIVE PULSE INDEX DRIVE INCREMENTAL PULSE ABSOLUTE ADDRESS
14. 2 X1 S 69 2 2 2 2 1 LSB 2 LSB 2 147 483 647 2 147 483 647 32 8 388 607 8 388 607 24 INDEX X1 2Z1 X2 Z2
15. 32 3 CNTINT 2 32 3 DFLINT 1 20 MHz 1 32 3
16. COMP1 COMP1 FSSTOP1 X1 Y1 Z1 A1 J1 FSSTOP2 2 2 72 2 J2 FSSTOP J3 CWLM CCWLM LIMIT LIMIT J1 J2 SENSOR SENSOR Z1 Z2 A1 A2 1 X2 Y1 Y2 J1 J2 INO
17. S S END PULSE S SLSPD SHSPD SURATE SCAREA1 2 SDRATE SCAREA3 4 SCAREA1 SURATE S SCAREA2 SURATE S SCAREA3 SDRATE 5 SCAREA4 SDRATE S 5 END PULSE SEND PULSE END PULSE 2 SESPD PULSE SESPD DELAY TIME END PULSE DELAY TIME
18. DEND lt gt lt gt 2 END PULSE PULSE 2 END PULSE PULSE SOFT LIMIT SOFT LIMIT SOFT LIMIT 5 1 2 2 2
19. 1 SRATE SCAN SRATE INDEX S SRATE SCAN INDEX 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
20. 2 SIGNAL OUTA B HARD INITIALIZE1 SIGNAL OUTA 1SIGNAL OUTA 1SIGNAL OUTA 1SIGNAL SIGNAL 1SIGNAL OUTA 1SIGNAL OUTA 1SIGNAL OUTA SIGNAL OUTB 1SIGNAL OUTB 1SIGNAL OUTB 1SIGNAL OUTB SIGNAL OUTB 1SIGNAL OUTB 1SIGNAL OUTB 1SIGNAL OUTB J1 1 1 Y1 21 A1 X1OUTO X1 Y1OUTO0 Y1 Z1OUTO Z1 A1OUTO A1 MCCO6 ADRINT gt J2 X2 2 72 2 SIGNAL OUTA SIGNAL OUTB X2OUTO X2 200 Y2 2200 0 22 A2OUTO0 2 MCCO6 ADRINT SIGNAL OUT3 0
21. A INT3 0 INT2 0 12 INT OR INTA INT3 HARD INITIALIZE2 ERROR GPIO1 FSEND INT3 14 INT FACTOR CLR INT FACTOR MASK A lt gt RDYINT RDYINT 1 STBY STATUS1 PORT STBY 1 INT FACTOR CLR COMREG STATUS5 PORT COMREG 1
22. SCAN INDEX SCAN INDEX LSPD HSPD URATE DRATE END PULSE PULSE END PULSE END PULSE END PULSE END PULSE PULSE ESPD PULSE ESPD DELAY TIME END PULSE DELAY TIME END PULSE COMMAND COMMAND DRIVE COMMAND
23. INDEX ERROR DRST SERVO SPEC SET DRST lt gt LIMIT CWLM CCWLM ORIGIN ORG EE ORIGIN SPEC SET RE ETECT NORG NORG PO ORG DETECT DEND PO Z ORG TYPE z OR Z gt ORG PRESET ORIGIN PRESET ORIGIN SRATE PRESET ORIGIN PRESET PULSE
24. COUNTER COMMAND 98 COUNT PULSE SEL 1 2 3 4 5 6 7 COUNT PULSE SEL2 0 1 STBY 1 1 2 0 COUNT PULSE SEL2 1 2 EE
25. 0133 ABS SRATE CIRCULAR2 CONST CP S 0138 0139 ABS SRATE CIRCULAR3 S 5 2 J 116 HEX CODE 2 0151 INC SRATE STRAIGHT CP S 2 0152 INCSTRAIGHTCONSTCPD _ 0153 INCSRATE STRAIGHTCONSTCP INC CIRCULAR CP CW INC CIRCULAR CP CCW INC SRATE CIRCULAR CP S CW 0163 INC SRATE CIRCULAR CP 0164 INC CIRCULAR CONST CP INC CIRCULAR CONST CP
26. 7 ORIGIN WR 7 BUSY gt 3 12 lt 350 us 1 2 300 us 1 lt 630 us 1 2 785 us 12 lt 620 us 772 ps 44 lt 4 5 S 12 lt 355 us S lt 305 ps S lt 635 us S lt 790 ps S 2 lt 625 us S lt 777 us 1 lt 200 ns 2 lt 168 ps 1 S 0 lt 173 ps 1 DRIVE t2 CWP MR CCWP 8 ORIGIN AUTO DRST BUSY 3 DRIVE CCWP t6 lt 115 ps 3 t5 16 5 15 ORG 0 1 10 11 15 lt 115 us 3 12 ORG 2 3 4 5 12 t5 JOG DELAY TIME 3 DRST 100 s
27. 2 PCI 107 170 C V872 MCC06 MCC06 32 5MHz 32 1 2 IC V872 1 1 3
28. COMP1 COUNTER DATA2 3 PORT COMPARE REGISTER 1 COMP1 200ns HARD CONFIGURATION COMMAND 65 535ms 102 7 4 COUNT PULSE SEL COUNTER INITIALIZE3 COUNT COUNTER INITIALIZE3
29. CCWLM STATUS1 PORT FSEND 1 LSEND 1 7 8 9 MANUAL SCAN 1 J3 SEL D SEL C SEL B SEL A MANUAL SCAN SEL_D SEL SEL_B SEL Y1 Z1 1 SR Gi 2 MANUAL SCAN J3 CWMS CCWMS MANUAL SCAN MANUAL SCAN JP1 JP2 OFF SET HSPD SET MCC06 STATUS1 PORT MAN 0 BUSY 0 MAN ON
30. EXT PULSE CWP CCWP EXT PULSE 1 STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND DRST ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL EXT PULSE 1 BUSY 1 STBY 1 DRIVE 0
31. X1 CENTER POSITION 0 X1 Z1 X2 Z2 SET Z1 X2 Z2 X1 X1 21 X2 72 X1 PASS POSITION X1 Z1 X2 Z2 SET X1 71 X2 Z2 70 CCW
32. 24 42 25 RI 25 2 26 4 3 27 1 27 sea 27 0 lt 28 5 PORT 5 1 MCC06 PORT 30 5 2 HENSA PORT 31 5 3 HARD CONFIGURATION 31 6 PORT 6 1 MCC06 PORT
33. HARD CONFIGURATION2 SIGNAL OUT3 0 HARD CONFIGURATION3 SIGNAL OUTA RDYINT ADRINT gt STATUS1 PORT DRVEND 1 STATUS1 PORT BUSY 0 COMP1 COMP2 COMP3 STATUS1 PORT BUSY 1 COMP1 COMP2 COMP3 0 OUTB CNTINT COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 SIGNAL DFLINT SPDINT COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 COMP1
34. 8 9 MANUAL SCAN 8 11 1 MAN L SIGNAL IN PAUSE SS0 SS1 SLSTOP 21 3 CN1 A33 3 3V A34 FRAME 5 GND B32 B33 C BE 2 B35 IRDY B36 3 3V B37 DEVSEL SERR B43 3 3V A14 VaUX A B C BE 1 A15 A16 RST V I O 44 A45 3 3V A46 AD 13 A17 GNT A47 AD 11 A48 GND 4 B4 AD 14 B4 12 4 18 49 AD 09 M66EN A19 A50 Key B19 A2 AD 30 A51 Key 3 3V A52 C BE 0 A AD 28 53 3 3V B20 B21 B22 B23 A54 AD O06 A55 AD 04 56 GND AD 02 B 3 3V B AD 05 B AD 03 IDSEL A57 3 5 AD 00 56 C BE 3 B GND 59 5 5 5 AD 08 5 5 5 5 2 2 2 2 2 2 ND 0 1 22 3 AD 26 25 26 7 3V 8 8 AD 22 A59 V 1 70 0 ND 61 G 4 5 6 GND 7 8 B49 B50 Key B52 B53 4 5 7 GND 8 1 B V 1 0 B 4 B 1 AD 18 5V A62 5
35. 2 X STBY SPEC SET STBY XSTBY 0 YSTBY 0 STBY STBY 1 STBY 1 STBY 0 D2 DRIVE 1 0 D3 DRVEND 1 0 MANUAL SCAN DRVEND 1 SERVO SPEC SET DEND 1
36. PAUSE FAST STOP PAUSE PAUSE PAUSE CLR PAUSE OFF PAUSE X1 1 21 A1 RESET1 X2 2 Z2 2 RESET2 88 3 SIGNAL OUTA SIGNAL OUTB PAUSE PAUSE OFF PAUSE ON OFF ONIOFF PAUSE ON OFF HARD CONFIGURATION4 PAUSE PAUSE ON OFF PAUSE SPEC PAUSE SET SPEC PAUSE OFF
37. PAUSE INO OUTO0 1O IO A 2 HARD CONFIG DATA1 2 3 PORT HARD CONFIG DATA1 PORT DATA2 PORT DATA3 PORT HARD CONFIG COMMAND PORT PORT PORT 3 SIGNAL STATUS1 PORT J3 SIGNAL OUT3 0 SIGNAL IN3 0 PORT PORT 1 1 21 A1 013 D9 A X1INO SIGNAL SIGNAL SIGNAL SIGNAL IN3 IN2 IN1 INO SIGNAL 1 SIGNAL SIGNAL SIGNAL A1OUTO0 2100 0 Y1OUTO X1OUTO OUT3 OUT2 OUT1 OUT0 D3 D0 SIGNAL OUT3 0 SIGNAL OUT3 0 SIGNAL OUT
38. SPEED COUNTER INITIALIZE3 COUNT ENABLE TYPE 000 39 9 STATUS5 PORT PORT 013 D9 pe INDEX SPEED COMREG COMREG A CSET CSET PD FL EP D7 D6 D5 00 550 SS0 1 D1 SS1 SS1 1 02 CWMS CWMS 1 D3 CCWMS CCWMS 1 1 04 05 06 07 YEB 1 0 D8 COMREG SPEC INITIA
39. DFL COUNTER INITIALIZE1 2 3 DFL COUNTER PRESET DFL COUNTER COMPARE REGISTER1 2 3 SET DFL COUNTER PORT SELECT DRIVE DATA1 2 3 PORT DFL COUNTER COMPARE REGISTER3 COMP3 97 4 20 MHz 1 32 32 1
40. FAST STOP FSSTOP1 FSSTOP2 FSSTOP LIMIT CCWLM DALM DRST ORIGIN LIMIT ORIGIN ERROR SERVO SPEC SET DRST DEND DEND STATUS1 PORT EXT PULSE 1 DEND 84 DEND DEND STATUS2 PORT DEND BUSY 1 DEND
41. HARD CONFIGURA TION PORT 2 AND J3 SIGNAL OUTO X1CNTINT Y1CNTINT X1DFLINT Y1DFLINT HARD CONFIGURATION1 2 3 J3 SIGNAL OUT3 0 1SIGNAL OUT1 SIGNAL OUT2 SIGNAL OUT3 78 SIGNAL OUTA SIGNAL OUTB HARD CONFIGURATION1 SIGNAL OUT3 0 ON ON 100 PULSE 0 SIGNAL CNTINT 200ns MCC06 SIGNAL OUT3 SIGNAL OUTO i OUT3 0 CNTINT 1 s 65 535ms HARD CONFIGURATION 2 X
42. FAST STOP FSSTOP1 1 Y1 21 A1 FSSTOP2 2 Y2 Z2 2 FSSTOP SS0 SS1 DALM FSEND DRIVE COMMAND PORT COMMAND SLOW STOP COMMAND FAST STOP COMMAND 7 3 LIMIT STATUS1 PORT STBY 1 DRIVE 1 LIMIT LIMIT LIMIT CWLM CCWLM SOFT LIMIT
43. CHANGE HPF030 STATUS1 PORT SPEED CBUSY 0 INDEX CBUSY 0 A 2 DRIVE DATA1 2 3 PORT DRIVE COMMAND PORT PORT 3 COUNTER COMMAND PORT PORT COUNTER COMMAND COUNTER COMMAND COUNTER COMMAND BUSY 0 ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET COUNTER COMMAND 4 COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT PORT 299 5 STATUS1 PORT PORT
44. X1 Z1 X2 Z2 STATUS1 PORT ERROR 1 2 1 2 2 2 759 250 124 lt gt gt
45. X1 71 2 22 Y1 A1 Y2 2
46. 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 PO NORG ORG 11 12 CWLM CCWLM 1 MANUAL SCAN
47. PULSE SERVO MOTOR DEND STATUS BUSY BIT 0 DEND ON STATUS1 BUSY BIT 0 DEND TIME SET ERROR ORG DRIVE ON GND ORG 1 ORG 3 CCWLM ORG 2 3 4 5 ORG 0 1 ORIGIN DELAY SET COMMAND MARGIN PULSE SERVO MOTOR DEND DEND
48. 1 1 CoUNT COUNT YEA YEB PULSE X 3 SEL Y COUNT PULSE SEL2 COUNT ENABLE TYPE gt DRIVE DATA2 3 PORT COUNTER DATA2 3 PORT 32BIT S PEED COUNTER COMPARE REGISTER1 lt COUNTER DATA2 3 gt SPEED COUNTER COMPARE REGISTER2 SPEED COUNTER COMPARE REGISTER3 DIVISION D7 DO SPEED lt gt CLR COUNTLATCH SPEC SET ENABLE AUTO CLEAR ENABLE gt COMP1 COMP1 _ RELOAD ENABLE gt COMP2 COMP2 gt COMP3 TYPE COMP3 DRIVE COMMAND SPEED COUNTER INITIALIZE1 2 3
49. END PULSE 0 END PULSE PULSE ESPD END PULSE END PULSE PULSE PULSE ESPD 2 END PULSE LSPD lt lt PULSE END PULSE END PULSE 53 8 5 5 S 4 S
50. ORG ORG DRIVE ORG 3 ORG 5 ORG DRIVE 1PULSE OFF ORG DRIVE CW PULSE INDEX DRIVE PULSE COUNTER 2 lt 279 2 2 COUNTER 111 7 ISPEED SPEED 2 3 02 DATA
51. PRESET ORIGIN PRESET PULSE PRESET 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
52. MARGIN MARGIN SCAN CONSTANT SCAN MARGIN CONSTANT SCAN MARGIN SCAN MARGIN MARGIN NORG ORIGIN MARGIN MARGIN ORIGIN DELAY SET MARGIN 58 DELAY TIME ORIGIN LIMIT SCAN DELAY TIME DELAY TIME 0 DELAY TIME SERVO SPEC SET DEND DEND
53. 2 1LSB 2 LSB 2 147 483 647 2 147 483 647 32 8 388 607 8 388 607 24 INDEX 2 2 1 414 32 3 ADRINT
54. STATUS1 DRIVE CWP 1 2 LSPD LSPD 48 3 1 kHz ms kHz RATE 1 gt gt 1 kHz RATE RATE SPEC INITIALIZE1 RATE RATE SET SRATE
55. X1 Y1 71 1 2 Y2 22 A2 1 CWP CCWP 32 CCW 2 147 483 647 2 147 483 647 8000 0001 H7FFF_FFFF 2 STATUS4 PORT ADDRESS OVF 1 ADDRESS COUNTER INITIALIZE3 1 1 0 s EXT PULSE ADDRESS COUNTER INITIALIZET
56. SPDINT 32 12 5 8 LIMIT SENSOR DALM
57. 80 us 160 us 160 us 3 t5 16 DRIVE 1 80 us 160 us 160 us 12 12 13 13 1 RESET 8 1 5ms 10 5 CWP 2 gt 5 1 0ms t3 5ms 50 CCWP PCI BUS STATUS1 BUSY 104 2 PCI READ PCI CLK 33MHz 1 2 3 5 6 8 9 10 12 13 14 16 FRAME AD 31 0 3 0 IRDY DEVSEL TRDY LCLK LADDRESS LCS LRD PD LDATA E gt WRITE TLFLFLFFLFLFLFLFLFLF
58. 1ms CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT SCAN CW SCAN DELAY TIME CONST
59. 1 4 4 294 967 294 HI0000_0004 HFFFF_FFFE 1 SPEED COUNTER PORT SELECT DRIVE DATA1 2 3 PORT STATUS4 PORT SPEED OVF 1 EAEB XEA XEB SPEED COUNTER INITIALIZE1
60. lt gt 1 0 1 2 30 1 2 TUHDUHHUHHUHHUH 2 1 2 1 2 7 6 lt gt COUNTER INITIALIZE3 8 STATUS4 PORT OVF COUNTER MAX COUNT SET 1 2 STATUS4 PORT OVF 1 1 999 2 000 1 0 1 999 1000 STATUS4 PORT OVF 1
61. 1 2 2 147 483 647 2 147 483 647 8000 0001 H7FFF_FFFF 2 STATUS4 PORT DFL OVF 1 DFL COUNTER INITIALIZE1 DFL COUNTER INITIALIZE3 Nm DE EAIEB 1 1 1
62. 21 PAUSE ON X1 CNTINT Z1 HARD CONFIG PORT PAUSE ON PAUSE ON PAUSE OFF PAUSE ON ON PAUSE Z1 X1 X1 X1 SIGNAL OUTA cNriNT Z1 PAUSE OFF Z1PAUSE PAUSE ON Z1STBY Z1 PAUSE SET SPEC Z1 PAUSE ON PAUSE PAUSE SPEC Z1 PAUSE OFF X1 SIGNAL CNTINT PAUSE PAUSE ON Z1 PAUSE PAUSE ON MCC06 STATUS1 PAUSE 1 1
63. SCAN DELAY TIME JOG 1 JDLY CW 62 4 ORG 3 ORIGIN CCW ORG 3 ORG 1 JOG CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW CCW SCAN CCWLM LIMIT DELAY TIME S
64. 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 CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 8 ORG 12 CCW CCWLM
65. 74 MP RT 74 8 9 MANUALSGAN 75 75 2 75 77 8 11 78 78 89 PAGE ISERIES 84 1 84 2 84 86 1 87 2 88 3 89 4 PAUSE 90 8 14 91 91 os 91 3 91
66. 3 2 2 1 414 2 1 1 414 1 1 414 1 1 1 1 0 5 1 0 5 1 0 914 0 5 72 8 8 LIMIT LIMIT STATUS1 PORT EXT PULSE 1 1 STATUS1 PORT STBY 1 DRIVE 1
67. 3 0010 PULSE COUNTERPRESET 1 2 001A PULSE COUNTER MAX COUNT SET 0020 DFL COUNTER PRESET 2 0023 DFL COUNTER COMPARE REGISTER3 SET 3 002A DFL COUNTER COUNT SET oO 0031 SPEED COUNTER COMPARE REGISTER1 SET 1 0032 SPEED COUNTER COMPARE REGISTER2 SET 2 0033 SPEED COUNTER COMPARE REGISTER3 SET 3 003A SPEED OVF COUNT SET 5 HARD CONFIGURATION COMMAND
68. 1ms CCW LIMIT CW LIMIT MARGIN LE CW SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW CCW LIMIT SCAN CCW SCAN DELAY TIME CONSTANT SCAN
69. COUNTER INITIALIZE2 COUNTER INITIALIZE1 COUNTER INITIALIZE1 DFL SPEED COMP TYPE COMP STOP TYPE COMP STOP ENABLE COMP COMP2 INT ENABLE COMP3INT ENABLE COMP1 gt lt COMP2 2 lt COMP3 gt lt OR COUNTER COMP MASK COMP MASK INT TYPE COMP INT ENABLE COMP GATE TYPE COMP1 COMP2 COMP3 1 COUNTER INITIALIZE1 INT TYPE INT STATUS4 PORT COUNTER INITIALIZE1 STATUS4 PORT INT PULSE TYPE INT FACTOR CLR 1 INT SIGNAL OUTA B HARD CONFIGURATION1 SIGNAL OUT3 0 SIGNAL OUT3 0 SIGNAL OUTA B
70. 1 0 INT 2 0 0 PCI INTA INT3 ERROR or FSEND INT3 1 0 INT3 INT3 INT FACTOR MASK GPIO0 GPIO1 SPEED COUNTER INITIALIZE1 SPDINT TYPE INT3
71. INC INDEX ABS INDEX CHANGE ABS INDEX PLS INDEX CHANGE INC INDEX AUTO CHANGE 128 1 ms RATE CHANGE 14 5 SOFT LIMIT IO M
72. CHANGE CHANGE MCC06 STATUS1 PORT MAN 1 SPEED CBUSY 0 SPEED CHANGE A MAN MANUAL SCAN ON STATUS1 PORT BUSY 0 ON STATUS1 PORT 1 CWMS CCWMS MANUAL SCAN MANUAL SCAN MAN OFF CWMS CCWMS MAN OFF gt ON CWMS MANUAL SCAN STATUS1 PORT 0 CCWMS OFF MANUAL SCAN SCAN OFF
73. HARD INITIALIZE2 ERROR GPIO1 FSEND HARD INITIALIZE1 OUT3 SPDINT INT FACTOR CLR INT3 A OUT0 OUTO 1 0 J1 J2 ADRINT ADRINT SIGNAL OUTA CNTINT SIGNAL OUTB DFLINT SIGNAL OUTA SIGNAL OUTB 1 0
74. SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW CCW SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME JOG CW CCW LIMIT SCAN CW SDLY SCAN DELAY TIME CONSTANT SCAN CW
75. CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED CHANGE SPEED CHANGE SOFT LIMIT SRATE SCAN RATE CHANGE RATE CHANGE RATE CHANGE RATE RATE INDEX CHANGE INC INDEX CHANGE
76. NORG 1 CCW 1ms CCW LIMIT CW LIMIT MARGIN LE CW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW lt CCW SCAN CCWLM LIMIT DELAY TIME LDLY 8 SCAN CW SDLY SCAN DELAY TIME CONSTANT SCAN CW CCW LIMIT J SCAN 0 CW
77. 32 1 DRIVE COMMAND PORT 32 2 DRIVE DATA1 2 3 PORT 32 3 COUNTER COMMAND PORT 32 4 COUNTER DATA1 2 3 PORT 32 5 STATUS1 PORT 33 6 STATUS2 PORT 36 7 STATUS3 PORT 38 8 STATUS4 PORT 39 9 STATUS5 PORT 40 10 DRIVE DATA1 2 3 PORT 41 PAGE 62 42 0 HENSA GOMMANDPORT RSS SFS TL 42 2 HENSAIDATA12 PORT 42 5 MENSASTA T
78. CCW INC SRATE CIRCULAR CONST S CW INC SRATE CIRCULAR CONST CP INC CIRCULAR2 CP 0171 INCSRATECIRCULAR2CP 0172 INCCIRCULAR2CONSTCP 0173 INCSRATECIRCULAR2 CONSTCP _ 0179 INC SRATE CIRCULAR3 CP S 017A INCCIRCULAR3 CONSTCP 5 MULTICHIP STRAIGHT CP MULTICHIP SRATE STRAIGHT CP S MULTICHIP CIRCULAR CP 2 CW MULTICHIP CIRCULAR CP 2 CCW 01A2 MULTICHIP SRATE CIRCULAR CP S 2 CW 01A3 MULTICHIP SRATE CIRCULAR CP S 2 CCW 01A4 MULTICHIP CIRCULAR _ CONST 2 CW 01A5 MULTICHIP CIRCULAR CONST 2 CCW 01A6 MUL
79. i DEND DRST cis lpRsr SON 1 GPlo7 CS 00a DALM MCC06 SERVO SPEC SET SEL 1 DALM STATUS3 PORT GPIO7 A 2 DRST DEND DALM DRST 10 ms ON DRST DRST 10 ms ON
80. 1 5 RDY LED JP1 JP2 JP3 JP4 872 JP3 JP4 gt 51 PCI 5V 3 3V 24V 100 x 2 0 8mm J1 X1 Y1 Z1 A1 J2 X2 Y2 Z2 A2 1m 2m 3m 5m TTL MCC06 PAUSE SENSOR 550 551 SLSTOP
81. 3 DRIVE COMMAND PORT COMMAND EE DRIVE DATA PORT PORT DATA PORT DRIVE DATA PORT READ PORT PORT 4 DRIVE COMMAND PORT COMMAND COMMAND PORT READ PORT SELECT 041 gt WRITE 2 DRIVE COMMAND PORT COMMAND H F041 DATA PORT DRIVE DATA PORT COMMAND CODE READ ERROR CODE 91 8 15
82. LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT LIMIT ORIGIN LIMIT ORIGIN CWLM CCWLM LIMIT CWLM CCWLM LIMIT ORIGIN SCAN CONSTANT SCAN JOG CWLM CCWLM LIMIT ORG 11 ORG 12 CWLM CCWLM ORIGIN CCW CCWLM CWLM LIMIT ORIGIN CW CWLM CCWLM LIMIT ORIGIN
83. OFF OFF 9 ZORG RS422 2200 5MHz 3MHz ZORG 100KHz SIGNAL IN3 INO SEL_D A CWMS CCWMS FSSTOP SIGNAL IN3 SIGNAL INO CWMS CCWMS FSSTOP TTL CMOS 10 Ss LS06 17 2 6 1 J1 J2 HDRA E100W1LFDT1EC SL HDRA E100MA1 HDRA E100M1 100 1m 2m 3m 5m J1 X1 Y1 21 1 24V EXTV
84. D13 D12 PT INDEX SPEED CBUSY CBUSY WM 6 D7 D6 DM FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY 1 BUSY 1 0 2 XBUSY 1 YBUSY 1 BUSY 0 STATUS1 PORT 0 COUNTER COMMAND ADDRESS COUNTER PRESET COUNTER COMMAND ADDRESS COUNTER MAX COUNT SET BUSY 1 A D1 STBY 1 0 STBY SPEC SET STBY
85. 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 1ms Z C ZORG 10 s ORG 4 5 a b
86. PAUSE CLR PAUSE OFF PAUSE X1 1 21 1 RESET1 X2 2 22 2 RESET2 90 8 14 1 STATUS1 STATUS5 PORT 2 PORT DRIVE COMMAND PORT COMMAND UNI DRIVE DATA PORT PORT DATA PORT DRIVE PORT READ PORT PORT
87. 1 JOG 2 SCAN SCAN 8 1 1 SCAN 1 lt lt SCAN 45 3 INDEX INC INDEX ABS INDEX
88. Hz D 1 0 100 F 20 000 000 Hz 50 ns 50 ns 20MHz COUNTER DATA1 2 3 PORT COUNTER COMMAND PORT 99 5 DRIVE DATA1 2 3 PORT READ PORT DRIVE DATA3 PORT DAT
89. 1 D9 NORG NORG 1 D10 PO Z PO Z 1 HENSA INITIALIZE1 Z HENSA INITIALIZE1 36 D11 ORIGIN FLG ORIGIN 1 0 D12 DRST DRST 1 0 D13 DEND DEND 1 D14 DALM DALM
90. BUSY DRIVE CCWP t3 gt gt LIMIT CR 300 5 108 9 2 MAX2 6 1 5 2 Q 48 oo 4 nN IO gt LL J 1 02 mm 109 10 10 1 1
91. ORIGIN LIMIT DNED STATUS1 PORT EXT PULSE 1 DEND DRST DEND ERROR DEND DEND STATUS1 PORT ERROR 1 DEND DEND TIME SET DALM DALM STATUS1 PORT 85 8 13 STBY PAUSE PAUSE ON PUASE 1 STBY 1 PAUSE OFF PUASE 0 STBY 0
92. lt gt 2 2 CP SPEC SET CIRCULAR 0 lt gt S PULSE SHSPD SCAREA2 SCAREA1 SURATE SCAREA3 SDRATE SCAREA4 SLSPD INDEX SESPD DELAY TIME DRIVE DELAY 6 SESPD le PULSE SRATE INDEX SEND PULSE END PULSE SEND PULSE PULSE S
93. DRIVE DATA DRIVE DATA PORT COUNTER INITIALIZE1 PORT WRITE DRIVE COMMAND DRIVE COMMAND PORT COUNTER INITIALIZE1 PORT WRITE DRIVE DATA DRIVE PORT HARD INITIALIZE1 SIGNAL OUTA B PORT WRITE DRIVE COMMAND DRIVE COMMAND PORT HARD INITIALIZE1 PORT WRITE HARD CONFIG HARD CONFIG DATA PORT SIGNAL OUT3 0 DATA PORT WRITE HARD CONFIG HARD CONFIG COMMAND PORT HARD CONFIGURATION1 COMMAND PORT WRITE HARD CONFIGURATION1 HARD CONFIGURATION2 HARD CONFIGURATION3 HARD CONFIGURATION MCC06 COUNTER INITIALIZE1
94. SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT D7 SOFT LIMIT CCW SOFT LIMIT 1 SOFT LIMIT CCW SOFT LIMIT 0 SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 SERVO SPEC SET DEND DRST SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT 2 SOFT LIMIT SOFT LIMIT SOFT LIMIT A D8 ORG ORG
95. 0 11 12 13 gt 50 ns lt gt lt gt RRB _ wa LTLTATLLTLfTLfL1 i 4 100ns 11 t2 t4 gt 100 ns BA t3 gt 200 ns 0 lt gt lt gt gt lt 11 12 14 gt 50 ns 13 gt 200 ns t3 3 100ns 11 12 14 gt 100 ns lt gt lt gt 0 11 12 14 gt 50 ns t3 gt 100 ns 93 ADDRESS COUNTER INITIALIZE1
96. 2 gt 2 SPEED DATA DATA STATUS DATA COMPARE REGISTER COUNTER COMPARE REGISTER INITIALIZE DATA COMP REGISTER STATUS COMPARE REGISTER COMP INT COUNTER INITIALIZE COMMAND PULSE SPEED SPEED URATE DRATE DATA SPEC INITIALIZE1 RATE TYPE RATE DATA RATE TYPE MODE RESOLUTION DATA
97. PAUSE PAUSE INO DALM J3 STATUS 1 s 65 535ms 1 s OS X1 Y1 CNTINT DFLINT Z1 A1 2 2
98. UP 1 D9 DOWN 1 0 D10 CONST 1 0 2 X CONST D11 EXT PULSE 1 0 ADDRESS COUNTER INITIALIZE1 EXT PULSE 1 STATUS1 PORT BUSY STBY DRIVE ERROR LSEND FSEND EX
99. X1 Y1 0 CNTINT SIGNAL OUTO DATA2 DATA3 PORT 80 SIGNAL SIGNAL OUTB STATUS2 PORT DALM STATUS1 PORT STBY EXT PULSE CONST DOWN UP ERROR DRIVE DRVEND SIGNAL OUT 0 OFF 1 ON DALM STBY EXT PULSE CONST DOWN UP ERROE HARD INITIALIZE1 SIGNAL OUT TYPE gt CNTINT SIGNAL OUTA SIGNAL OUTB RDYINT SPEC INITIALIZE2 RDYINT TYPE DRVEND 1 1 BUSY 0 COMP GATE TYPE SPEED DFL ADRINT SPDINT COMP 4 3 RDYINT STATUS3 PORT SIGNAL OUTA STATUS4 PORT
100. DRIVE DRIVE SHSPD DRIVE END PULSE DRIVE DRIVE DELAY TIME 1 112 11 11 1 COMMAND 1 3 6 HENSA INITIALIZE4 2 7 2 1 1 0rps HENSA INITIALIZE5 2 0 8rps HENSA INITIALIZE6 HARD INITIALIZE1 HARD CONFIGURATION1 SIGNAL OUT1 SIGNAL OUT2 X1 SIGNAL OUTB DFLINT SIGNAL OUT3 Y1 SIGNAL OUTB DFLINT SIGNAL OUT3 0 HARD
101. DRIVE DELAY TIME DRIVE DELAY TIME 0 LSPD SLSPD DRIVE DELAY TIME DRIVE DELAY TIME DRIVE 1 DELAY TIME 160 us 2 DRIVE 1 DRIVE DELAY TIME DRIVE DELAY TIME STATUS1 DRIVE DRIVE DELAY TIME 1 f 3 DEND DRIVE DELAY TIME STATUS1 DRIVE STATUS2 DRIVE DELAY TIME 0 1 NN 51
102. PAUSE SIGNAL IN0 SIGNAL IN3 SENSOR10 SENSOR11 SENSOR20 SENSOR21 MCC06 MCCO06 MCCO6 v1 2 IS2 Y2 22 2 HARD CONFIGURA TION PORT J3 lsleNAL INo SIGNAL IN SIGNAL IN1 SIGNAL IN2 SIGNAL IN3 HARD CONFIG4 J1 sENsOR10 Z1SENSOR SENSOR SENSOR11 A1SENSOR J2 sENsOR20 Z22SENSOR SENSOR SENSOR21 A2SENSOR SIGNAL IN3 0 HARD CONFIG HARD CONFIG DATA PORT SIGNAL IN3 0 DATA PORT WRITE HARD CONFIG HARD CONFIG COMMAND PORT HARD CONFIGURATION4 COMMAND PORT WRIT
103. 0 5 LSB 2 147 483 647 2 147 483 647 32 INDEX X1 1 X1 2Z1 X2 Z2 X1 Z1 2 Z2 20 9 9 0 5 10 15 20 END PULSE END PULSE
104. ORIGIN SPEC SET ORG TYPE ORG PO AND PO Z A ORG 10 CCW CW ORG NORG OFF 1 EXTV X1NORG X1ORG X1ZORG X1ZORG X1ZORG X1ZORG C V872 2 5 MO PORT 5 1 MCC06 PORT 3 STATUS1 PORT COUNTER_COMMAND PORT COUNTER_DATA1 PORT DRIVE COMMAND PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATAS3 PORT DRIVE COMMAND _ PORT STATUS5 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA
105. INT TYPE INT PULSE TYPE 200ns COMP GATE TYPE COMP1 2 3 OR COMP STOP TYPE COMP1 2 3 COMP DETECT TYPE DFL COMP1 INT ENABLE COMP1 INT COMP1 STOP ENABLE COMP1 AUTO CLEAR ENABLE COMP1 RELOAD ENABLE COMP1 COMP2 3 ENABLE COMP2 3 INT COUNTER INITIALIZE2 2 3 STOP ENABLE COMP2 3 2 3 ADDRESS PULSE SPEED DFL COMP2 gt COMP3 lt 1 COUNTER INITIALIZE3 EXT PULSETYPE _ 1gs SPEED 1 SPEED SPEED PULSE COUNTER H 0000_0000 PULSE COUNTER PRESET PULSE COUNTER H 0000_0000 DFL COUNTER PRES
106. Y1 CW 84 82 83 Y1 CCW A1CCWP Y1CCWP Y1 CCW A1CCWP A1 CCW Y1DRSTCOM Y1OUT1 Y1DRST Y1DRST 24V Y1 1 A1DRSTCOM A1OUT1 A1DRST A1DRST 24 A1 1 Y1 PO 4 A1PO A1DEND A1 PO 4 Y1 A 5 A1EA A1 A 5 91 92 A1 2 A1 1 Y1ZORG Y1ZORG Y1 Z FSSTOP1 1 1 21 A1 N C D GND 5V GND PF 14 15 18 19 20 22 25 26 27 30 31 35 36 37 42 43 44 RESET1 gt N C 6 100 D GND 5V GND 6 19 J2 X2 Y2 22 A2
107. lt SDLY SCAN DELAY TIME CONSTANT SCAN CW 64 ORIGIN ORIGIN CCW CW CONSTANT SCAN CSPDD 1ms 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 CON
108. Z2CCWP Z2 CCW X2CCWP X2 CCW Z2CCWP Z2 CCW X2DRSTCOM X2DRST 24V Z2DRSTCOM Z2DRST 24V Z2OUT1 Z2DRST 22 1 X2PO X2DEND X2 PO Z2PO Z2DEND Z2 PO 4 N C _ ____ 22 Z2 Z2 X2ZORG Z2ZORG X2ZORG Y2CCWP Y2 CCW A2CCWP A2 CCW Y2DRSTCOM Y2DRST 24V 87 A2DRSTCOM A2DRST 24V Y2OUT1 Y2DRST Y2 1 88 A2OUT1 A2DRST A2 1 Y2PO Y2DEND Y2 PO 89 A2PO A2DEND 2 PO 4 N C 90 N C Y2 A 5 91 A2EA A2 A 5 5 92 A2EA A2
109. 0 Y1 Z1 A1 X2 Y2 Z2 A2 D12 SPEED CSET CHANGE 1 CHANGE 0 CHANGE CHANGE CHANGE CHANGE UP DRIVE DOWN DRIVE CONST DRIVE SPEED NGE RATE CHANGE CHANGE UP DOWN CONST DRIVE SS0 SS1 CHANGE A 40 D13 INDEX CSET INDEX CHANGE 1 INDEX CHANGE 0 INDEX CHANGE CHANGE INDEX CHANGE INDEX CHANGE INC INDEX CHANGE ABS INDEX CHANGE PLS
110. 0 1 119 1 1 2 3 4 5 1 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc
111. CW SCAN CCW SCAN GND 5V GND SIGNAL IN0 SEL SEL AB C D SIGNAL IN1 SEL B SIGNAL IN2 SEL C PAUSE SS0 SS1 SLSTOP 1 SIGNAL IN3 SEL D SIGNAL X1 CNTINT SIGNAL OUT1 Y1 CNTINT SIGNAL OUT2 X1 DFLINT SIGNAL OUT3 Y1 DFLINT GND 5V 5V 20 GND GND 5V CWMS CCWMS
112. PAUSE HARD CONFIGURATION PORT PAUSE J1 SENSOR10 SNESOR11 J2 SENSOR20 SNESOR21 PAUSE J3 SIGNAL IN IN0 IN1 IN2 IN3 PAUSE PAUSE PAUSE STATUS1 PORT PAUSE 0 ORIGIN END PULSE INDEX CHANGE MANUAL SCAN JOG
113. EA EB 3 3MHz 2 2 4 3 SCAN 1 Hz 5 MHz 1 Hz 1 000 ms kHz 0 016 ms kHz RATE DATA TABLE No S INDEX
114. 1 SIGNAL OUT 0 D11 D8 SIGNAL IN3 0 SIGNAL IN3 0 1 SIGNAL IN SIGNAL IN 0 D7 D4 A1OUT0 Z1OUT0 Y1OUT0 X1OUT0 0 X1INO 0 D15 D12 A1INO Z1INO 1 1 21 A1 OUTO INO 1 0 OUTO INT STATUS 0 A 4 HARD CONFIG DATA1 2 3 PORT HARD CONFIG DATA1 PORT DATA2 PORT DATA3 PORT HARD CONFIGURATUIN COMMAND PORT PORT 49 5 SIGNAL STATUS2
115. CCW SCAN DELAY TIME CONSTANT SCAN CCW ORIGIN CW CCW CCW LIMIT CW LIMIT MARGIN LE CCW SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 61 3 ORG 2 ORIGIN CCW ORG 2 ORG 0 JOG CCW LIMIT CW LIMIT MP MARGIN LE CW SCAN CW
116. INT FACTOR lt gt MASK INT FACTOR lt gt CLR 4 SIGNAL OUTA B COMP STATUS4 77 8 11 1 MCC06 OUTO SIGNAL OUT HARD CONFIGURATION J3 J3 SIGNAL OUT3 0 SIGNAL OUT3 0 MCC06 SIGNAL OUTA B MCC06 SIGNAL OUTA B ADRINT CNTINT DFLINT SPDINT STBY DRIVE ERROR HARD INITIALIZE1 1 s lt 65 535ms 1 s
117. Z1 SENSOR11 A1 SENSOR20 72 SENSOR21 A2 SENSOR SS0 SS1 SENSOR A 4 PO DEND STEPPING PO SERVO 5 RS422 6 GND GND GND JP3 JP4 J1 J2 D GND
118. amp 872 MN0069 1 C V872 C V872 8 1 X1 2 Y1 3 Z1 4 A1 5 X2 6 Y2 7 Z2 8 A2
119. MANUAL SCAN CWMS OFF ON CWMS CCWMS MANUAL SCAN STATUS1 PORT MAN 0 CWMS OFF CCWMS ON MANUAL SCAN SCAN CCWMS OFF MANUAL SCAN CCWMS OFF ON CCWMS 75 MANUAL SCAN lt Y1 gt JOG 1 SCAN HSPD URATE DRATE 2905esas JOG SCAN 250ms gt SEL_A oFF SEL_B ION SEL _C ION SEL D ON
120. S S SDRATE SCAREA4 S END PULSE PULSE END PULSE END PULSE S END PULSE SEND PULSE SESPD END PULSE PULSE SESPD DELAY TIME END PULSE DELAY TIME 54 5 0 PULSE COMMAND CODE H 0042 SRATE SCAN 1 H 0043 DRIVE COMMAND SRATE SCAN 1 DRIVE COMMAND ABS SRATE STRAIGHT CP ABS SRATE STRAIGHT CONST CP H 0044 H 0045 INC SRATE INDEX ABS SRATE INDEX INC SRATE STRAIGHT CP INC SRATE STRAIGHT CONST CP 2 2 1 SPEC INITIALIZE3 PULSE 1
121. SHSPD SHSPD RS EE a SCAREA3 SCAREA3 SDRATE SDRATE SLSPD SLSPD SCAREA3 SCAREA4 SCAREA3 SCAREA4 SCAREAS3 SCAREA4 56 8 6 ORIGIN ORIGIN ORG 0 5 10 11 12 9 ORG 0 5 10 ORG NORG 2 PO AND ORG ORG 11 12 CWLM CCWLM ORG 11 12 CWLM CCWLM ORIGIN ORIGIN S ORIGIN SPEC ORIGIN ORIGIN CSPD CONSTANT SCAN
122. Z1STBY Z1 PAUSE SET SPEC X1 71 PAUSE ON PAUSE PAUSE SPEC X1 71 0 PAUSE OFF PAUSE PAUSE PAUSE ON X1 21 PAUSE PAUSE ON MCC06 STATUS1 PAUSE 1 1 1 Z1 1 Z1 STATUS1 PORT STBY 1 6 PAUSE PAUSE OFF X1 Z1 PAUSE PAUSE X1 Z1 MCC06 STATUS1 PAUSE 0 0 PAUSE ON PAUSE ON PAUSE PAUSE PAUSE ON
123. 1 D15 DEND BUSY DEND 1 DEND 0 DEND DEND BUSY DEND ERROR DEND BUSY 1 SERVO SPEC SET DEND 7 STATUS3 PORT PORT pts ps GPIO7 GPIO1 GPIO0 A INO 0 0 0 0 0 FSNED ERROR D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D7 D6 D5 OUT3 SIGNAL SIGNAL INT3 1 OUTO ERROR INT2 INT1 INTO SPDINT OUTB OUTA mm mo INT0 INT1 INT2 INT2 0
124. 107 9 DEND DEND BUSY DRIVE 6 lt 115 ps 3 5 16 CCWP t5 i tt6 gt t5 3 DEND CR 300 s 10 LIMIT WR BUSY DRIVE 2 __ 640 us lt 17 lt 640 us 1 13 72us 2 13 LIMIT CR 300 xs 11 LIMIT WR lt BUSY DRIVE CWP 3 lt 62 2 2 t3 lt
125. 110 eo 110 NNN 110 NS 111 11 SN 113 115 1 DRE 115 MCCOE DRIME COMMAND 118 3 MECCOE HNCOUNTER COMMANDN Sed doe 119 4 MCC06 COMMANED 222 383432334 303338 4 3833 Sd Sd GRISEA I in 119 AARDCONAGURATIONICOMMAND Ce 119 6 MENSA iCOMMAND ese 119 CS 55 119 1 1 1 C V872 PCI R2 2 PCI 8 2 X1 Y1 Z1 A1 X2 Y2 Z2 A2 2 X1 Y1 Z1 A1 X2 Y2 Z2 A2
126. FG C V872 J1 J2 J1 C V872 J2 43 4 CB 25 B4C C V872 EXTV ON OFF DC 24V C V872 DRSTCOM 4 2 DRST MF C V872 V gt C V872 i ON 24V V _ Vo 1 a
127. MCC06 8 2 2 2 1 8 FIFO MCC06 4 32BIT 3 C V872
128. CCW 65 6 ORG 10 ORIGIN CCW CW ORG 10 NORG ORG 1 CCW 1ms CCW LIMIT CW LIMIT MP SDLY MARGIN LE CW SCAN CW DELAY TIME CONSTANT SCAN CW NORG CONSTANT SCAN CW ORG
129. DRVEND 1 D4 ERROR 1 0 MANUAL SCAN ERROR STATUS READ 2 ERROR 1 D5 LSEND LIMIT 1 STBY 1 DRIVE 1 LIMIT STBY 0 DRIVE 0 LIMIT 0 MANUAL SCAN ORIGIN LIMIT 2 LIMIT XLSEND 1 YLSEND 1 LIMIT
130. 003A SESPD DELAY 003E SRATEDATA 5 003F SRATEDOWN POINT 8 SRATE SCAN CCW 5 INC SRATE INDEX S ABS SRATE INDEX S 115 HEX CODE ORIGIN SPEC SET ORIGIN ORIGIN CSPD SET CONSTANT SCAN ORIGIN DELAY SET MARGIN ORIGIN OFFSET PULSE SET OFFSET 0064 ORIGIN CSCAN ERROR PULSE SET CONSTANT SCAN 0065 ORIGIN JOG ERROR PULSE SET JOG 0068 ORIGIN PRESET PULSE SET PRESET ORIGIN PRESET 0070 ORIGIN ORIGIN 0071 SRATE ORIGIN S ORIGIN 0074 PRESET ORIGIN PRESET ORIGIN 0080 STBY SPEC SET
131. ORIGIN INDEX OFFSET PRESET INDEX INDEX CWLM CCWLM CWLM CCWLM SPEC INITIALIZE2 CWLM CCWLM LIMIT LIMIT ORIGIN 57 ORIGIN ORIGIN SPEC ORIGIN ORIGIN JOG Z
132. SLSTOP D1 FSSTOP FSSTOP J3 X1 Y1 21 A1 FSSTOP1 J1 X2 Y2 22 A2 FSSTOP2 J2 1 D2 CWLM CWLM B 1 D3 CCWLM CCWLM B 1 D4 D5 0 D6 SOFT LIMIT CW SOFT LIMIT 1 SOFT LIMIT CW SOFT LIMIT 0 MANUAL SCAN SPEC INITIALIZE3 SOFT LIMIT ENABLE 1 SERVO SPEC SET DEND DRST
133. 0 GND Z1CWP Z1 CW 5 X1CWP X1CCWP 5V 66 COM Z1CWP Z1CCWP 5V 7 8 X1 CW 6 Z1CWP Z1 CW X1 CCW 69 Z1CCWP 21 CCW 22 X1DRSTCOM X1OUT11DRST X1 CCW Z1CCWP Z1 CCW X1DRST 24V 71 Z1DRSTCOM Z1DRST 24V X1 1 Z1OUT1 Z1DRST Z1PO Z1DEND Z1 1 Z1 PO Z1 5 Z1 5 29 gt 12 X1ZORG X1 7 X1 Z 5 80 Z1ZORG Z1 5 79 Z1ZORG Z1 Z G Z1 2 Y1CCWP Y1 CW
134. 30V SIGNAL OUT3 OUT0 1506 ON 10mA Vce 0 6V 1 5 J3 ON IL 3 Gs 2 1 24V 2V wy 1 1 ORG NORG 6 8K Q 7 DEND DALM A FSSTOP1 2 FSSTOP1 FSSTOP2 RESET1 RESET2 SENSOR10 SENSOR11 SENSOR20 SENSOR21 2 RS422 26C32 10K Q 470PF 5V GND HC14 J3 26C31 GND NORG PO DEND INO DALM SENSOR10 SENSOR11 RESET1 SENSOR20 SENSOR21 RESET2 A FSSTOP1 FSSTOP2 CWLM CCWLM B 6 8K CWLM CCWLM 2 5mA OFF 0 8mA __ 1ms RESET1 RESET2 5ms
135. 5 DRIVE DELAY TIME 0 0 X Y 2 X1 Z1 X2 72 S 2 CENTER POSITION X Y PASS POSITION X Y 71
136. ORIGIN DELAY DELAY TIME MARGIN OFFSET PULSE OFFSET CSCAN ERROR PULSE CONSTANT SCAN JOG ERROR PULSE JOG PRESET PULSE PRESET ORIGIN PRESET 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
137. PORT PORT SELECT PORT PORT 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 C
138. 2 SS0 SS1 MCC06 550 551 CHANGE UP CONST DRIVE C V872 MCC06 SS0 SS1 HARD CONFIGURATION1 CHANGE A 550 551 MCC06 UP DOWN CONST CHANGE SPEED CHANGE INDEX CHANGE 3 RDYINT RDYINT PCI INTA SIGNAL OUT3 0 RDYINT STATUS1 PORT DRVEND 1 STATUS1 PORT BUSY 0 RDYINT RD
139. A 5 Y2EB 5 A2EB A2 Y2EB 5 A2EB A2 Y2ZORG Y2 Z 5 A2ZORG A2 Y2ZORG Y2 Z 5 96 A2ZORG A2 Z 5 7 FSSTOP2 2 2 22 2 98 2 X2 Y2 Z2 A2 N C 99 D GND 5V GND ID GND 5V GND ID 90 2 J3 XG4C 2031 XG4M 2030 MIL 20P 1 5m H MAN L 1 2 GND GND 5V GND MAN PCI FSSTOP CWMS
140. DALM DALM SENSOR10 11 20 21 MCC06 UP DOWN CONST CHANGE SENSOR Z1 Z2 A1 A2 1 2 1 2 4 SENSOR 550 SS1 2 SENSOR
141. EA EB 1 1 9 2 COUNT XEB COUNT DIVISION PULSE nN YEA YEB D7 DO X Y 4 32BIT DRIVE DATA2 3 PORT COUNTER DATA2 3 PORT lt gt COMP1 COMP1 ADDRESS COUNTER COMPARE REGISTER1 lt COUNTER DATA2 3 gt RELOAD ENABLE gt ADDRESS COUNTER COMP2 gt COMP2 COMPARE REGISTER2 TYPE gt ADDRESS COUNTER COMP3 gt COMP3 COMPARE REGISTER3 ADDRESS COUNTER INITIALIZE1 2 3 ADDRESS COUNTER PRESET ADDRESS COUNTER PORT SELECT
142. X1 ORG 0 ORG 1 ORG 2 ORG 3 CCW CW 41 EXTV X1NORG X1ORG 24V PS X1ZORG X1ZORG X1ZORG X1ZORG C V872 4 5 CCW CW NORG O OFF EXTV X1NORG X1ORG 24V PS X1ORG X1ZORG Z X1ZORG C V872 CCW CW lt ORG ON 6 OFF PO R GND 41 EXTV X1NORG X1ORG X1ZORG X1ZORG X1PO DEND X1ZORG X1ZORG C V872 PO ORG
143. CW SCAN DELAY TIME JOG CW 67 9 R1 ORG 0 0RG 1 0RG 2 0RG 3 0RG 10 NORG ORG LIMIT CCW 7 27 CW OFF _oRe_o NORG ORG ORG 4 ORG 5 NORG CCW LIMIT ORG STEPPING MOTOR 1 ORG MOTOR ON MOTOR ORG 4 ORG 5 STEPPING MOTOR DRIVER PO ORG PO AND
144. OUT3 OUT3 RDYINT C V872 MCC06 C V872 11 1 HENSA HENSA INITIALIZE1 HENSA HENSA INITIALIZE1 MCC06 SERVO SPEC DNED DRST DALM HENSA HENSA INITIALIZE1 MCC06 SERVO SPEC DRST DALM
145. PORT H 60 H 6F H70 H7F H 80 H 8F H 90 H 9F I O PORT HENSA X2 Y2 1 221 2 1 1 A HB0 H BF 1 gt amp IO 1 Y1 amp IO 1 2 21 amp I O 1 1 amp O 1 RESET1 FSSTOP1 1 1 21 A1 RESET1 SENSOR10 11 J2 SENSOR20 21 2 2 amp IO 1 Y2 amp IO 1 gt 72 amp IO 1 42 amp IO 1 RESET2 FSSTOP2 2 2 Z2 2 PCI
146. X1 Z1 X1 Z1 STATUS1 PORT STBY 1 X1 SIGNAL CNTINT 71 0 PAUSE Z1 MCC06 STATUS1 PAUSE 0 0 PAUSE ON PAUSE ON PAUSE PAUSE PAUSE ON PAUSE FAST STOP PAUSE PAUSE PAUSE CLR PAUSE OFF PAUSE X1 1 21 A1 RESET1 X2 2 Z2 2 RESET2 89
147. 22 60 6 5 B62 S5V 3 C V872 3 1 S1 S1 C V872 C V872 1 0 C V872 2 2 2 51 3 2 JP1 JP2 1 2 MANUAL SCAN JP1 JP2 J3 MANUAL
148. INT TYPE INT PULSE 200ns 82 2 HARD CONFIGURATION J1 SENSOR10 SENSOR11 J2 SENSOR20 SENSOR21 MCC06 J3 SIGNAL IN3 SIGNAL INO MCC06 SS0 SS1 SENSOR SS0 SS1 UP DOWN CONST CHANGE SS0 SS1 PAUSE PAUSE
149. EXT PULSE 1 LIMIT LIMIT BUSY 0 lt SOFT RESET gt BUSY 1 1 1 21 1 X2 Y2 Z2 A2 BUSY 0 SOFT RESET MCCO06 2 DRIVE DATA3 PORT 8000 STATUS1 PORT BUSY 0 BUSY 1 BUSY 0 DRIVE COMMAND PORT 0003 STATUS1 PORT BUSY 0 DRIVE COMMAND PORT H 000F Z1 A1 X2 Y2
150. PASS POSITOIN SET 2 CP SPEC SET ABS STRAIGHT CP 2 S 2 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 5
151. LIMIT LIMIT CWLM CCWLM SOFT LIMIT SOFT LIMIT SOFT LIMIT A 83 06 SSEND 1 STBY 1 DRIVE 1 STBY 0 DRIVE 0 0 MANUAL SCAN 2 XSSEND 1 YSSEND 1 SLOW STOP LIMIT CWLM CCWLM 550 SS1 DALM HARD CONFIGURATION SLSTOP D7 FSEND 1
152. MODE RATE DATA RESOLUTION DATA HSPD INDEX DRIVE INDEX 2 ILSPD INDEX SRATE INDEX END PULSE 3 PULSE DRIVE SOFT LIMIT 4 ISOFT LIMIT SPEED SOFT LIMIT S RATE DRIVE DRIVE SRATE DOWN POINT SET COMMAND SRATE INDEX DRIVE STATUS1 ERROR BIT 1 S RATE DRIVE DRIVE SRATE INDEX DRIVE SRATE DOWN POINT SET COMMAND DRIVE SPEED
153. SIGNAL OUT3 0 OUT3 SPDINT GPIO0 ERROR GPIO1 FSEND OUT3 SPDINT GPIO0 ERROR GPIO1 FSEND 1 0 INT3 OUT3 SPDINT ERROR FSEND INT3 D14 D10 0 D15 GPIO7 INO 1 0 DALM PORT 38 8 STATUS4 PORT PORT D13 SPDINT SPDINT DFL
154. 4 LIMIT STATUS1 PORT STBY 1 DRIVE 1 LIMIT LIMIT LIMIT CWLM CCWLM LIMIT 2 STBY 1 STBY 1 DEND lt gt STBY 1 PULSE DELAY CWLM CWLM STATUS1 PORT FSEND 1 LSEND 1 CCWLM
155. S S SURATE SCAREA2 SCAREAS3 SDRATE S S SDRATE SCAREA3 SCAREA4 SDRATE S SDRATE SCAREA4 SCAREA12 SCAREA12 SET SLSPD SHSPD SCAREA1 SCAREA2 SHSPD 95222 SHSPD SCAREA2 SURATE SCAREA1 A SLSPD SLSPD SCAREA1 SCAREA2 SCAREA1 SCAREA2 SCAREA1 SCAREA2 d 5 C _ SCAREA34 SCAREA34 SET SLSPD SHSPD SCAREA3 SCAREA4
156. STATUS4 PORT COMP3 COMP3 INT FACTOR CLR lt gt SPDINT COMP1 COMP1 COMP2 COMP2 STATUS4 PORT COMP3 COMP3 INT FACTOR CLR COMP1 COMPARE REGISTER1 COMP2 COMP3 DFL COUNTER INITIALIZE2 COMP COMP1 COMP2 COMP3
157. nCOMREG FL STATUS5 PORT COMREG FL 0 STATUS1 PORT 1 DALM STATUS2 PORT DALM 1 INT FACTOR CLR SS0 STATUS5 PORT SS0 1 SS1 STATUS5 PORT SS1 1 ADRINT ADRINT 1 CNTINT CNTINT 1 INT FACTOR CLR DFLINT DFLINT 1 SPDINT SPDINT 1 GPIO0 ERROR STATUS3 PORT GPIO0 ERROR 1 GPIO1 FSEND STATUS3 PORT GPIO1 FSEND 1 INT FACTOR CLR INT3 0 STATUS3 PORT ON gt OFF ON INTA STATUS3 INT gt OR INTA INT2 0 gt INT3 FSSTOP lt gt
158. 4 PAUSE PAUSE ON OFF ON OFF SENSOR10 1 21 PAUSE ON 1 21 PAUSE ON 4 PAUSE OFF 2 3 SIGNAL IN3 HARD CONFIGURATION4 SIGNAL IN2 SIGNAL IN1 SENSOR10 6 SIGNAL INO SENSOR10 SENSOR11 Y1 21 A1 2 Y2 72 SENSOR20 SENSOR20 OFF PAUSE OFF X1 Z1 SENSOR10 PAUSE ON X1 X1PAUSE X1STBY X1 Z1 Z1PAUSE Z1STBY Z1 HARD CONFIGURATION4 SENSOR10 PAUSE X1 Z1 X1 Z1 PAUSE ON PAUSE SET
159. COMP1 COMP2 COMP3 SIGNAL OUTA B COMP1 1 COUNTER INITIALIZE1 1 DFL LATCH PORT SELECT DRIVE DATA1 2 3 PORT COMP1 0 COMP1 200ns HARD CONFIGURATION COMMAND 65 535ms
160. CW CW CWLM CCW ORIGIN CCW ORG 12 ORG 11 JOG CCW LIMIT CW LIMIT MARGIN LE CW SCAN CW 2 SCAN DELAY TIME CONSTANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 6 SCAN DELAY TIME JOG CW CCW LIMIT SCAN CW SCAN DELAY TIME CONSTANT SCAN
161. PAUSE HARD CONFIGURATION4 MCC06 STBY SPEC SET MCC06 STBY STBY 000 PAUSE 0 STBY 0 STBY STATUS1 PORT STBY STBY 1 STATUS1 PORT PAUSE 0 STBY STBY 0 STBY STBY 1 STBY 1 STBY 0 PAUSE PAUSE ON STATUS1 PORT PAUSE 1 PAUSE OFF STATUS1 PORT PAUSE 0 PAUSE 1 STBY 1 PAUSE
162. SDRATE RATE DATA TABLE No No H 18 100ms 1kHz H 25 30ms 1kHz JP1 JP2 SCAREA1 0014 1 000msHz H 003C 3 000Hz SCAREA12 SET JP1 JP2 SCAREA2 H 0014 1 000msHz H 003C 3 000Hz JP1 JP2 SCAREA3 H 0014 1 000msHz H 003C 3 000Hz SCAREA34 SET JP1 JP2 SCAREA4 H 0014 1 000msHz H 003C 3 000Hz JP1 JP2 SEND PULSE SET 113 COMMAND ORIGIN STRAT DIRECTION CCW ORIGIN SPEC SET JOG SENSOR TYPE ERROR PULSE DRST ORG Z PO OR ORG CSPD 300HZ800Hz JP1 JP2 ORG CSPD SET SCAN DELAY 50ms JOG DELAY 20ms ORG OFFSET PULSE 100 ORG OFFSET PULSE SET ORG CSCAN ERROR HFFFF_FFFF ORG CSCAN ERROR PULSE SET ORG JOG ERROR HFFFF_FFFF ORG JOG ERROR PULSE SET SERVO SPEC SET 327 675ms COUNTER COUNTER INITIALIZE1 DFL EAEB SPEED COUNT TYPE 1
163. STBY 0 DRIVE 1 STBY 1 DRIVE 0 STBY 0 DRIVE 1 COUNT PULSE SEL EXT PULSE 0 BUSY 0 COUNT PULSE SEL 00 EXT PULSE 2 STATUS1 PORT ERROR 1 ERROR 1 lt gt 2 EA EB el lt gt CWP 7 1 CCWP L 1
164. 8 4 SCAN INDEX LSPD HSPD URATE DRATE PULSE END PULSE END PULSE PULSE ESPD PULSE ESPD DELAY TIME END PULSE DELAY TIME
165. CW SOFT LIMIT SET CW HSPD SET ELSPD SET RATE SET END PULSE SET END PULSE END PULSE 001A ESPD DELAY SET END PULSE 001E RATE DATA SET 001F DOWN POINT SET 0023 SCAN CCW 0024 INC INDEX 0025 ABS INDEX S 5 SELSPD SET S SRATE SET S SCAREA12 SET S 12 SCAREA34 SET S 34 S END PULSE S END PULSE
166. F041 DATA READ PORT SELECT READ PORT F048 ADDRESS COUNTER PORT SELECT READ PORT DFL COUNTER PORT SELECT READ PORT SPEED COUNTER PORT SELECT READ POR ADDRESS LATCH DATA PORT SELECT READ PORT PULSE LATCH DATA PORT SELECT READ PORT F04E DFL LATCH DATA PORT SELECT READ PORT SPEED LATCH DATA PORT SELECT READ PORT a _ 8087 118 3 MCC06 COUNTER COMMAND 0000 ADDRESS COUNTER PRESET ADDRESS COUNTER COUNT SET 0 4 MCC06 COUNTER COMMAND HEX CODE 1 ADDRESS COUNTER COMPARE REGISTER2 SET 2 0003 ADDRESS COUNTER COMPARE REGISTER3 SET
167. a c N ORG 4 ORG 5 N 0 002 x CSPD CSPD Hz N NORG NORG 1 b C b b b C_ ORG 0 7 CSPD 5KHz amp b b b b N 0 002 5 000 10 1 ORG ZORG ORG ORG ZORG ORG ZORG 68 8 7 X1 Z1 X2 Z2 X1 Y1 Z1 A1 X2 Y2 Z2 A2
168. SCAN CW SCAN DELAY TIME CONSTANT SCAN CW CCW ORG SCAN CCWLM LIMIT DELAY TIME SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 66 7 ORG 11 CCW CCWLM CW CW CWLM CCW ORIGIN CCW CW CCWLM 1 CCW
169. 24v RESET RESET 4 25 2 X1 1 17 0 1550 X1CWP X1CWP X1CCWP ccw X1CCWP X1DRSTCOM X1OUT1 DRST X1OUTO X1INO DALM 24VGND X1PO DEND 24VGND C V872 8 150 Q 2 1 BR 1 2 150 150 3 24V 21 X1DRSTCOM 24V MF WW 57 X1OUTODRST MF 96 2 4 3 1 ORG NORG LIMIT
170. 25 91 8 15 92 ENED 92 96 97 4 98 100 101 7 103 9 EE ER 104 SRI 104 105 9 Oe 106 SOANNR EE SREESo 106 SS 106 6 UNI 107 DOR RII 107 8 ORIGIN AUTO DRST 107 9 DEND 108 RIETI 108 108 109 10 110 110 110 110 109
171. DELAY TIME ORIGIN DELAY ORIGIN DELAY SET ORIGIN DELAY TIME ORIGIN OFFSET PULSE ORIGIN SPEC SET ORIGIN FLG ENABLE 1 SET 1 OFFSET CSCAN ORIGIN SPEC SET ERROR PULSE ENABLE 1 CONSTANT SCAN SET ORIGIN SPEC SET ERROR PULSE ENABLE 1 JOG SUSMN IE ORIGIN SET __1 ORISN CSPD CONSTANT SCAN SET ORIG
172. ORIGIN END PULSE INDEX CHANGE MANUAL SCAN PAUSE PAUSE PAUSE PAUSE A 35 gt 6 STATUS2 PORT ORIGIN PORT pts pt ps DEND ORIGIN A DEND DRST PO NORG ORG susy ee D7 D6 D4 D2 DO 0 0 CCWLM CWLM FSSTOP SLSTOP SOFT LIMIT SOFT LIMIT 00 SLSTOP SLSTOP 1 HARD COFIGURATION
173. UP DOWN CONST DRIVE SS0 SS1 CHANGE A 34 D13 INDEX CBUSY INDEX CHANGE 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 D14 MAN MANUAL SCAN 1 MANUAL SCAN 0 MANUAL SCAN BUSY 0 J3 MAN 1 J3 MAN MAN 0 MAN 1 CWMS CCWMS MANUAL
174. Z2 A2 STATUS1 PORT BUSY 0 gt X1 Y1 Z1 A1 X2 Y2 Z2 A2 BUSY 0 C V872 J1 RESET1 J2 RESET2 RESET RESET1 C V872 X1 Y1 21 A1 HARD CONFIG RESET2 C V872 X2 Y2 Z2 A2 95 2 32 2 147 483 647 2 147 483 647 8000 0001 H7FFF_FFFF 2 STATUS4 PORT PULSE OVF 1
175. SIGNAL OUT3 0 4 MM SIGNAL IN3 0 4 1 CN1 1 INTA ADRINT CNTINT DFLINT SPDINT RDYINT STATUS1 FLG I I x F PORT 32 3 H00 HOF 3 3 3 H10 H 1F H 20 H2F H 30 H 3F I O PORT HENSA X1 Y1 1 Z1 A1 1 40 H 50 H 5F PORT 6 HARD CONFIGURATION SIGNAL OUT SIGNAL IN INO 1 OUTO 1 HE0 H EF MCC06
176. 11 1 1 XEA 1 EA 11 2 EB X Y 1 ii gt COUNTLATCH SPEC i 1 2 DRIVE DATA2 3 PORT 32BIT COUNTER DATA2 3 PORT gt COMP1 COMP1 DFL COUNTER COMPARE REGISTER1 lt COUNTER DATA2 3 gt gt COMP2 COMP2 DFL COUNTER COMPARE REGISTER2 gt COMP3 COMP DETECTION TYPE
177. COMMAND NAME 0001 HARD CONFIGURATION1 SIGNAL OUT3 0 0002 HARD CONFIGURATION2 SIGNAL OUT3 0 0003 HARD CONFIGURATION3 SIGNAL OUT3 0 0004 HARD CONFIGURATION4 SIGNALIN3 0 MCCO6 0006 HARD CONFIGURATION6 CPP 0010 PAUSE SET SPEC PAUSE ON PAUSE ON HARD CONFIGURATION 0021 GPOUT OUT0 8 6 HENSA COMMAND COMMAND NAME HENSA INITIALIZE1 1O 02 HENSA INITIALIZE2 HENSA INITIALIZE3 04 HENSA INITIALIZE4 1 2 HENSA INITIALIZE5 1 HENSA INITIALIZE6 2 HENSA SET DATA READ HENSA 7 HENSA COMMAND ECLR
178. DRIVE DATA1 2 3 PORT ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL CWP CCWP 92 XEA XEB YEA YEB 2 100ns EA A 2 02 13 14 gt 100 ns 1 12 gt 200 13 14 gt 200 ns EB 4 12 13 14 gt 200 ns 0 11 12 t3 14 2 12 13 4 gt 50 ns 1 12 gt 200 ns t3 14 gt 200 ns 42006 amp 1 13 14 gt 200 ns 100ns 11 12 13 14 gt 100 ns
179. PAUSE PAUSE CPPOUT STBY 0 86 1 SIGNAL IN3 0 SENSOR10 SENSOR11 SENSOR20 SENSOR21 PAUSE PAUSE HARD CONFIGURATION4 SENSOR10 PAUSE 1 Z1 SIGNAL IN3 HARD CONFIGURATION4 SIGNAL IN2 SIGNAL IN1 PAUSE 1 9 8 SIGNAL INO SENSOR10 SENSOR11 SENSOR20 SENSOR21 X1 Y1 Z1 A1 X2 Y2 1Z2 2 SENSOR10 PAUSE X1 X1PAUSE X1STBY X1 Z1 Z1PAUSE Z1STBY
180. X2CWLM X2 CW Z2CWLM Z2 CW X2CCWLM X2 CCW Z2CCWLM Z2 CCW X2NORG X2 Z2NORG Z2 X2 22 Y2CWLM Y2 A2CWLM 2 CW Y2CCWLM Y2 CCW A2CCWLM A2 CCW Y2NORG Y2 A2NORG A2 Y2ORG Y2 A2ORG A2 SENSOR21 21 A2SENSOR 3 2 X2 0 Y2OUT0 Y2 0 Z2OUTO0 Z2 0 A2OUT0 A2 0 EXTVGND GND EXTVGND X2CWP X2CCWP 5V Z2CWP Z2CCWP 5V X2 CW 6 Z2 CW 7 X2 CW 68 Z2 CW X2CCWP X2 CCW
181. DRIVE COMMAND CODE CODE SCAN ABS STRAIGHT CP SCAN ABS STRAIGHT CONST CP INC INDEX INC STRAIGHT CP ABS INDEX INC STRAIGHT CONST CP 2 2 1 SPEC INITIALIZE3 PULSE 1 lt gt 2 2 CP SPEC SET CIRCULAR 0 lt gt 52 PULSE URATE DRATE LSPD ESPD END PULSE ESPD DELAY TIME DRIVE DELAY TIME INDEX INDEX PULSE PULSE
182. END PULSE END PULSE 55 0 END S S 4 5 S S S SHSPD SCAREA2 SCAREA3 SURATE SDRATE SCAREA1 4 Y SLSPD SLSPD S SCAREA1 SURATE S S SURATE SCAREA1 SCAREA2 SURATE
183. STATUS1 PORT BUSY MAN ON OFF CWMS ON OFF lt CCWMS gt CCWMS OFF BUSY MAN CWMS ON BUSY MANUAL SCAN CWMS OFF BUSY BUSY MAN 76 8 10 INTA INT2 0 INTA INT3
184. 1 F01D SPEED COUNTER INITIALIZE2 2 F01E SPEED COUNTER INITIALIZE3 3 F020 INTA INT2 0 F030 UDC SPEC SET UP DOWN CONST CHANGE F031 SPEED CHANGE SPEC SET SPEED CHANGE F033 INDEX CHANGE SPEC SET INDEX CHANGE DOWN DRIVE CONST DRIVE SPEED CHANGE RATE CHANGE RATE CHANGE INC INDEX CHANGE INDEX INDEX PLS INDEX CHANGE INDEX F040 MCC SPEED PORT SELECT READ PORT
185. 18 X1 CW X1 CCW Z1CWLM Z1 Z1 CCW Z1 Z1 A1 CW A1 CCW A1 11 A1SENSOR 2 3 X1 0 Z1CCWLM Z1NORG Y1CWLM Y1 CW Y1 CCW Y1 Y1 10 Z1SENSOR A1CWLM Y1CCWLM A1CCWLM Y1NORG A1NORG SENSOR10 SENSOR11 X1IN0X1DALM X1OUTO Y1INO Y1DALM Y1 0 Y1OUTO0 Y1 0 Z1IN0 Z1DALM Z1 0 Z1OUTO0 Z1 0 A1IN0 A1DALM A1 0 A1OUTO0 EXTVGND 6 X1 CW EXTVGND A1
186. 8 1 SPEC INITIALIZE1 RATE RATE SPEC INITIALIZE1 1 CCWP gt lt gt CCWP 2 CWP A CCWP B 4 CWP A CCWP B 2 1 1 FIRST PULSE 100us 20us 2us
187. HA2 HA4 H A6 HA8 HAA HAC HENSA STATUS1 PORT HENSA DATA1 PORT HENSA_ DATA2 PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA STATUS1 PORT Z2 HENSA DATA1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT HENSA COMMAND PORT HENSA STATUS1 PORT HENSA DATA1 PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA DATA2 PORT 2 HARD_CONFIG COMMAND_PORT 31 PORT 6 1 MCC06 PORT 1 DRIVE COMMAND PORT PORT DRIVE COMMAND DRIVE COMMAND STATUS1 PORT BUSY 0 BUSY 1 STATUS5 PORT COMREG FL 0 STATUS1 PORT MAN 1
188. Z1 HARD CONFIGURATION4 SENSOR10 PAUSE X1 Z1 SENSOR10 ON PAUSE ON MCC06 STATUS1 PAUSE 1 1 X1 Z1 1 71 0 STATUS1 PORT STBY 1 SENSOR10 OFF SENSOR10 OFF X1 21 0 PAUSE X1 Z1 MCC06 STATUS1 PAUSE 0 PAUSE ON PAUSE ON PAUSE PAUSE PAUSE ON PAUSE PAUSE FAST STOP P
189. 1001 1999 0 0 1999 1001 1000 STATUS4 PORT OVF 1 999 gt 1 0 2 000 2 001 1 0 1 1000 1001 1001 STATUS4 PORT 1 2000 0 0 gt 2000 1001 1000 1000 STATUS4 PORT OVF 1 1 gt 0 H 8000_0000 H 8000_0000 STATUS4 PORT OVF 1 HFFFF_FFFF SOFT LIMIT 103 9 9 1 WR C V872 COMMAND X1 Y1 71 1 2 2 22 A
190. SOFT LIMIT STBY 1 LIMIT DRIVE 1 STBY 1 LIMIT STBY 1 CWLM CCWLM STBY 1 CWLM CWLM STATUS1 PORT SSEND 1 LSEND 1 CCWLM CCWLM STATUS1 PORT SSEND 1 LSEND 1
191. Z2 2 ADRINT SPDINT 1355 2 4 A X1 Y1 Z1 A1 2 2 Z2 A2 2 X1 Y1 Z1 A1 2 2 Z2 A2 2 RATE 1 000ms kHz 0 016ms kHz 1 048 56ms kHz 0 0125ms kHz 3 3MHz 5MHz IUP DOWN CONST
192. COMP2 COMP3 0 81 COUNTER INITIALIZE1 COMP STOP COMP1 STOP 1 ENABLE CoMP1 gt 1 COUNTER COMP MASK INTPULSE INT COMP1 1 MASK 1 200ns gt STATUS4 1 INT TYPE 1 COUNTER COMP MASK INT TYPE sTATUS4 PORT OR STATUS4 PORT COMP1 INT COMP GATE i INT FACTOR CLR ENABLE TYPE 1 COMP2 3 gt SIGNAL OUTA B coMP2 ii COMP3 ES SIGNAL OUTA B SIGNAL OUT3 0
193. DATA TABLES SENESESGBSssagSeg as 49 RATE 22 49 8 2 LIMIT RDYINT 50 D NNNNNNNNN easees 50 2 880 881 50 3 RDYINT 2 50 51 52 54 86 ORIGIN 57 60 61 RN RS 62 63 5 ORG 4 ORG 5 gt 64 ER NE SIR GSR 66 67 67 aeRO ete to 68 69 taisei i 69 2 70 72 73 1 73 73 3 LIMIT
194. J3 MAN CWMS CCWMS MANUAL SCAN MANUAL SCAN SCAN CHANGE 11 No 4 5 2 2 2 2 0 5 LSB 15 2 147 483 647 2 147 483 647 32 INDEX 2
195. PORT PD7 D6 D5 D4 D3 D2 D1 DO 0 0 0 0 0 0 0 DO H RDY HENSA 1 0 D15 D1 0 4 HENSA DATA1 2 PORT HENSA DATA PORT HENSA DATA PORT HENSA COMMAND PORT A 42 6 3 HARD CONFIGURATION PORT 1 HARD CONFIG COMMAND PORT PORT CONFIGURATION COMMAND C V872 PORT C V872 J3 SIGNAL OUT3 0 SIGNAL OUT3 0 J3 SIGNAL IN3 0 J1 J2 SENSOR10 11 20 21
196. 22 A2 HARD CONFIGURATION1 SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB HARD CONFIGURATION PORT HARD CONFIGURATION1 HARD CONFIG DATA2 PORT X1 X1 Y1 Y1 Z1 Z1 A1 A1 X2 X2 Y2 Y2 Z2 Z2 A2 2 SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB 2 HARD CONFIG DATA3 PORT 1 HARD CONFIGURATION2 HARD CONFIGURATION3 X1 X1 Y1 Y1 Z1 Z1 A1 A1 X2 X2 Y2 Y2 Z2 Z2 A2 2 SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUTA SIGNAL OUTB SIGNAL OUT1 SIGNAL OUT2 SIGNAL OUT3 1 HARD CONFIG DATA2 PORT HARD CONFIG DATA3 PORT AND
197. DEND HENSA HENSA INITIALIZE A MCC06 SPEC INITIALIZE1 RATE MCC06 SPEC INITIALIZE2 MCC06 550 551 RDYINT MCC06 HARD INITIALIZE1 MCC06 SIGNAL OUTA B OUT3 RDYINT HARD CONFIG HARD CONFIGRATION COUNTER INITIALIZE1 INT COMP1 COUNTER INITIALIZE2 COMP2 COMP3 COUNTER INITIALIZE3 ADDRESS COUNTER PRESET PULSE COUNTER PRESE
198. INDEX CHANGE INDEX CHANGE A D14 CPP MASK CPPIN 1 CPPIN CPPIN CPPOUT 0 MANUAL SCAN CPPIN X1 Z1 1 X2 2 Z2 A2 CPP MASK 1 OR CPPIN 2 CP SPEC SET CPPIN CPPIN A D15 X 10 DRIVE DATA1 2 3 PORT PORT PORT PORT SELECT DRIVE COMMAND PORT DRIVE DATA1 DATA2 DATA3 PORT READ PORT
199. L1 L 1 2 CWP CCWP 2 94 STATUS1 PORT EXT PULSE 1 ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 EXT PULSE 0 BUSY 0 BUSY 0 EXT PULSE 1 LIMIT LIMIT gt STATUS2 PORT CWLM CCWLM 0 ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL 00 LN gt STATUS1 PORT BUSY 0 Y
200. REGISTER1 RELOAD lt COUNTER DATA2 3 gt ENABLE gt PULSE COUNTER COMP2 COMP2 COMPARE REGISTER2 TYPE gt PULSE COUNTER COMP3 COMP3 COMPARE REGISTER3 1 9 DRIVE COMMAND PULSE COUNTER INITIALIZE1 2 3 PULSE COUNTER PRESET PULSE COUNTER COMPARE REGISTER1 2 3 SET PULSE COUNTER PORT SELECT DRIVE DATA1 2 3 PORT 96 3 2 32 1
201. SCAN JP1 2 JP1 2 300 Hz 800 Hz HSPD 3 000 Hz 10 000 Hz 300 Hz 800 Hz Q 18 100 ms kHz 25 30 ms kHz 18 100 ms kHzZ H 25 30 ms kHz END PULSE 0 0 ESPD 300 Hz 800 Hz ESPD DELAY TIME H 0000 H 0000 SLSPD 300 Hz 800 Hz SHSPD 3 000 Hz 10 000 Hz SELSPD 300 Hz 800 Hz SURATE 18 100 ms kHz 25 30 ms kHz SDRATE 18 100 ms kHz 25 30 ms kHz SCAREA1 H 0014 1 000 Hz H 003C 3 000 Hz SCAREA2 H 0014 1 000 Hz H 003C 3 000 Hz SCAREA3 H 0014 1 000 Hz H 003C 3 000 Hz SCAREA4 H 0014 1 000 Hz H 003C 3 000 Hz SEND PULSE 0 0 SESPD 300 Hz 800 Hz SESPD DELAY TIME H 0000 H 0000 ORIGIN CSPD 4 4 1 CB 25 B4C lt 2 GND TDK
202. SPEC PAUSE SPEC X1 Z1 PAUSE OFF PAUSE SENSORO ON PAUSE ON MCC06 STATUS1 PAUSE 1 1 1 Z1 1 Z1 0 STATUS1 PORT STBY 1 PAUSE 1 21 PAUSE OFF PAUSE PAUSE OFF X1 21 PAUSE X1 Z1 MCC06 STATUS1 PAUSE 0 0 PAUSE ON PAUSE ON PAUSE PAUSE PAUSE ON PAUSE FAST STOP PAUSE PAUSE
203. STOP gt TYPE ENABLE INT COUNTER TYPE COMP STATUS4 MASK COUNTER COMP MASK PULSE COMP1 _ lt 1 gt TYPE INT ENABLE COMP COMP2 COMP2 STOP STOP TYPE ENABLE INT COUNTER TYPE COMP STATUS4 MASK COUNTER COMP MASK PULSE COMP2 COMP2 gt TYPE INT INT ENABLE COMP COMP3 COMP3 STOP STOP TYPE ENABLE INT COUNTER TYPE COMP STATUS4 MASK COUNTER COMP MASK PULSE COMP3 _ lt COMP3 gt TYPE INT ENABLE COUNTER INITIALIZE1 COMP1 STOP 1 ENABLE coMP1 gt COUNTER COMP MASK INTPULSE tAINT TYPE COMP1 MASK 1 200ns gt STATUS4 1 INT TYPE COUNTER COMP MASK INT OR STATUS4 PORT COM
204. TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com
205. 0 RH 4 0 2kg 10 2 3 No 1 8 8 2 x 4 X1 Y1 Z1 A1 X2 Y2 Z2 A2 2 x 4 CX1 Y1 Z1 A1 2 2 Z2 A2 2 2 4 1Hz 5MHz 1Hz 1000ms 1kHz 0 016ms 1kHz JOG 1 SCAN INDEX 2 147 483 647 2 147 483 647
206. 1 Y1 Z1 X1 SIGNAL OUTA CNTINT Y1 SIGNAL CNTINT C V872 SIGNAL OUTO ON INITIALIZE1 INT TYPE STATUS4 PORT INT FACTOR CLR 1 Y1 4 X1 Y1 Z1 98 100 2 2 2 0 0 SIGNAL OUTA CNTINT Y1 FACTOR 2 SIGNAL OUTO 1 5 65 536 1 s Z1 ON 79 MCC06 X1 X1 Y1 Y1 Z1 Z1 A1 A1 X2 X2 Y2 Y2 22
207. 1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATAS3 PORT DRIVE COMMAND PORT STATUS5 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE_ DATA3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATAS3 PORT DRIVE COMMAND PORT STATUS5 PORT STATUS1 PORT DRIVE DATA1 PORT DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE DATA2 PORT DRIVE DATA3 PORT DRIVE DATA3 PORT COUNTER_COMMAND PORT STATUS2 PORT COUNTER_DATA1 PORT STATUS3 PORT COUNTER_DATA2 PORT STATUS4 PORT COUNTER_DATA3 PORT 7 STATUS5 PORT He0 H82 H84 H 86 H88 HeE H90 H92 H94 H96 H98 H9A H9C H9E gt 4 Im 30 2 PORT 2 HENSA COMMAND PORT H 40 40 PORT HENSA STATUS1 PORT 5 2 HENSA PORT H 42 HENSA DATA1 PORT 42 HENSA DATA1 PORT H44 X1 HENSA COMMAND PORT HENSA DATA1 PORT HENSA DATA2 PORT HENSA COMMAND H4E 21 HENSA COMMAND PORT X2 HENSA DATA1 PORT HENSA DATA2 PORT 44 46 48 H4C H 50 H 52 H 54 H 56 H 58 H 5A H 5C H 5E
208. 10 2 2 10 2 3 11 2 4 14 2 5 16 16 17 GR eR gt 18 1 J1 J2 18 2 J3 21 22 3 3 1 S1 23 3 2 JP1 JP2 24 4 4 1
209. 2 MCC06 X1 Y1 Z1 A1 8 2 2 Z2 A2 gt gt gt 1 12 DRIVE 1 80 us 160 us 160 us 13 13 2 13 DRIVE 1
210. A1 DATA2 PORT DATA1 2 3 PORT DATA3 PORT DATA1 2 3 PORT 50 ns 50 ns 0 65 535 0000 H FFFF 65 535 0 COUNT LATCH SPEC SET 0 0
211. ANT SCAN CW SCAN DELAY TIME CONSTANT SCAN CW 5 ORIGIN CW CW CCW CCW LIMIT CW LIMIT MP MARGIN LE CCW MP SCAN 0 CCW SDLY SCAN DELAY TIME lt CONSTANT CCW 60 2 ORG 1 ORIGIN CCW CCW ORG 1 ORG CCW ORG 1
212. AUSE PAUSE PAUSE CLR PAUSE OFF PAUSE X1 1 21 A1 RESET1 X2 2 Z2 2 RESET2 87 2 HARD CONFIGURATION PORT PAUSE PAUSE ON OFF PAUSE PAUSE ON OFF X1 Z1 HARD CONFIG PORT PAUSE ON PAUSE ON wy Z2 PAUSE OFF ease OFF PAUSE 1 Z1 X1 21 X1 1 X1PAUSE X1STBY X1 Z1 Z1PAUSE
213. CAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW CCW LIMIT SCAN CCW SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW 63 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
214. CC06 8 DRIVE COMMAND FIFO DRIVE COMMAND COUNTER COMMAND S INDEX B A IO INO OUT0 MCC06 PORT 8 HARD CONFIGURATIO
215. CONFIGURATION2 SIGNAL OUT3 0 1 s HARD CONFIGURATION3 HARD CONFIGURATION4 SIGNAL IN1 SIGNAL IN2 SIGNAL IN3 SENSOR10 Z1 SS0 MCCO6 CPP SPEC INITIALIZE1 100 gs RATE TYPE L1 TYPE RESOLUTION RESOL 1 CWLM LIMIT SPEC INITIALIZE2 CCWLM LIMIT SS0 SENSOR 550 SS1 SENSOR SS1 RDYINT STATUS1 PORT DRVEND 1 LSPD 300Hz 800Hz JP1 JP2 LSPD SET HSPD 3000Hz 10 000Hz JP1 JP2 HSPD SET URATE TABLE No No H 18 100ms 1kHz H 25 30ms 1kHz RATE SET JP1 JP2 DRATE RATE DATA TABLE No No H 18 100ms 1kHz H 25 30ms 1kHz JP1 JP2 SLSPD 300Hz 800Hz JP1 JP2 SLSPD SET SHSPD 3000Hz 710 000Hz JP1 JP2 SHSPD SET SURATE RATE DATA TABLE No No H 18 100ms 1kHz H 25 30ms 1kHz SRATE SET JP1 JP2
216. DRIVE 1 DRIVE 0 0 MANUAL SCAN 2 XFSEND 1 YFSEND 1 FSSTOP1 1 Y1 21 A1 FSSTOP2 X2 Y2 Z2 A2 FSSTOP STOP LIMIT CWLM CCWLM SS0 SS1 DALM D8 UP 1 0
217. E 83 8 12 1 HENSA INITIALIZE1 MCC06 SERVO SPEC MCC06 SERVO SPEC SET DALM DRST HENSA COMMAND PORT HENSA COMMAND HENSA COMMAND PORT HENSA INITIALIZE1 bu _ DRIVEDATA DRIVE PORT SERVO SPEC PORT WRITE HENSA COMMAND PORT MOTOR TYPE SEL2 SEL1 SELO DALM ouT0
218. ET SPEED COUNTER H 0000_0000 HFFFF_FFFF H8000_0000 COUNTER MAX OVF COUNT SET HFFFF FFFF DATA H 186A 0753 JP1 JP2 SRATE DATA H 186A 0753 JP1 JP2 SRATE DATA SET 114 11 2 C V872 MCC06 STATUS1 PORT BUSY 0 HENSA STATUS1 PORT H RDY 1 MCCO06 DRIVE COMMAND MCC06 COUNTER COMMAND HENSA COMMAND MCCO06 DRIVE COMMAND MCC06 COUNTER COMMAND HENSA COMMAND HARD CONFIG COMMAND 1 MCC06 DRIVE COMMAND PULSE COMMAND NAME 0000 NOOPERATION 0001 SPEC INITIALIZE1 RATE SPEC INITIALIZE2 LIMIT SS0 SS1 RDYINT SPEC INITIALIZE3 DRIVE DELAY SET
219. IN DELAY DELAY TIME SET 2 MARGIN ORIGIN PRESET ORIGIN ORIGIN SPEC ORIGIN SET _ Se CONSTANT SCAN SET _1 ORIGIN DELAY DELAY TIME SET MARGIN EE TE PRESETORIGIN PRESET SET 6 PRESET ORIGIN 59 1 ORG 0 ORIGIN CCW CCW ORG 0 ORG CW ORG 1 CCW
220. INT DFLINT 1 COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 D5 CNTINT CNTINT ADRINT ADRINT COMP3 COMP2 COMP1 OVF COMP3 COMP2 COMP1 00 ADRINT COMP1 D1 ADRINT COMP2 02 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 DFL
221. INT COMP1 D9 DFLINT COMP2 D10 DFLINT COMP3 COMPARE REGISTER 1 2 3 1 0 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 0 SPEED COUNTER 2 1 2 COMP2 COMP3 SPEED COUNTER INITIALIZE3 D15 SPEED OVF 1 0
222. LFLRR FRAME EBM REP WS PP AD 31 0 3 0 IRDY DEVSEL 1 TRDY LADDRESS LCS LWR LDATA 105 3 JOG 5 INDEX WR BUSY 0 106 t1 lt 200 ns 12 lt 146 us 1 3 lt 77 us 2 12 13 t1 lt 200 ns 2 lt 146 ps 1 S 2 lt 151 ps 1 12 t1 lt 200 ns 12 166pus 1 S 12 171ps 1 13 lt 77 ps 2 12 13 6 1 lt 200 ns WR 13 lt 77 ps BUSY DRIVE 2 2
223. LIZE3 COMREG ENABLE 1 1 EMPTY COMREG ENABLE 0 0 1 D9 COMREG FL SPEC INITIALIZE3 COMREG ENABLE 1 1 8 FULL COMREG ENABLE 0 0 7 COMREG ENABLE COMREG 1 COMREG FL 1 A D10 CPPIN CPPIN 1 0 X1 Y1 Z1 A1 X2 Y2 Z2 A2 D11 CPPOUT CPPOUT 1
224. MIL PCI X1 Z1 A1 X2 Y2 22 2 LED RDY LED J3 MCC06 MCC06 LOW JP3 JP4 J1 JP2 50 100 GND D GND D GND 2 2 1 PCI PCI Local Bus Specification R
225. N PORT DALM 15 2 5 1 1 _ WW 26 1 RS422A 26C31 ___ __ __ 24V MS Nch lt OO Max30mA ON ON 30mA Vce 1V 50mA Vce 2V OFF 0 1mA 1ms ET OUT1 DRST DRSTCOM 5V 15mA 2V 24V DRSTCOM 8 382 1 OUT1 DRST ON 30mA Vce 1V OUTO MF 50mA Vce 2V OFF 0 1mA EXTVGND 1ms ON SIGNAL 3
226. OUNTER PORT SELECT ADDRESS LATCH PORT SELECT PULSE LATCH PORT SELECT DFL LATCH DATA PORT SELECT SPEED LATCH DATA PORT SELECT 41 6 2 HENSA PORT 1 HENSA COMMAND PORT PORT PORT H RDY 1 HENSA INITIALIZE H RDY ECLR 2 HENSA DATA1 2 PORT PORT 3 HENSA STATUS1 PORT
227. P1 INT COMP GATE INT FACTOR CLR ENABLE TYPE 1 2 3 gt SIGNAL OUTA CoMP2 CoMPs a 101 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
228. PORT O PORT PORT 2 X2INO AtiNo 2 amp 2 0 2 D3 D0 D7 D4 011 08 015 012 7200 Y20UTO x2ouTo ATouTo z1ouTo Y1ouTo xtouTo 57 3 A1OUT0 Z1OUT0 Y1OUT0 X1OUTO 0 A2OUT0 Z2OUT0 Y2OUT0 X2OUTO 0 Z1INO Y1INO X1INO 0 A2INO Z2INO Y2INO X2INO 0 OUTO INO 1 0 OUTO0 INT STATUS 0 IO A 44 7 7 1 1 JOG JOG
229. RD CONFIGURATION C V872 SIGNAL OUT3 0 SIGNAL IN3 0 SENSOR10 11 20 21 MCC06 O HARD CONFIGURATION PORT OS
230. SCAN MAN 1 COUNTER COMMAND ADDRESS COUNTER PRESET COUNTER COMMAND ADDRESS COUNTER MAX COUNT SET D15 PAUSE PAUSE STBY 1 1 STBY 1 0 STBY 1 PAUSE ON PAUSE 1 PAUSE OFF PAUSE 0 PAUSE ON OFF HARD CONFIGURATION PAUSE 1 STBY 1 PAUSE PAUSE PAUSE 0 PAUSE
231. SET RATE TYPE2 0 110 A 4 RATE DATA TABLE TABLE RATE TABLE RATE RATE TABLE RATE ms kHz No ms kHz ms kHz ms kHz 5 RATE TYPE ms kHz TABLE No RESOL L1 TYPE 1 000 3 3 L2 TYPE 200 0 68 1 100 0 33 2 51 0 16 1 20 0 068 2 5 1 0 016 49 8 2 LIMIT RDYINT SPEC INITIALIZE2 LIMIT SS0 SS1 RDYINT SPEC INITIALIZE2 1 1 LIMIT CWLM CCWLM
232. STANT 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 DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG CCW NORG ORG SCAN DELAY TIME CONSTANT SCAN CCW SCAN DELAY TIME JOG
233. STBY 0082 SERVO SPEC SET DRST DEND DALM 0083 DEND TIME SET DEND SENSOR SCAN1 SENSOR SCAN1 SENSOR SCAN1 SENSOR INDEX1 SENSOR INDEX1 SENSOR INDEX2 SENSOR INDEX2 SENSOR INDEX3 SENSOR INDEX3 SRATE SENSOR SCAN1 CCW S SENSOR SCAN1 SRATE SENSOR INDEX1 S SENSOR INDEX1 SRATE SENSOR INDEX2 S SENSOR INDEX2 SRATE SENSOR INDEX3 S SENSOR INDEX3 AUTO CHANGE DRIVE SET AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE SCAN SCAN AUTO CHANGE AUTO CHANGE INC INDEX INC INDEX AUTO CHANGE 00BB AUTO CHANGE ABS INDEX ABS INDEX AUTO CHANGE 0100 CENTER POSITION SET 2
234. T DFL COUNTER PRESET LSPD HSPD ORG SPEC SET ORIGIN DRIVE ORG CSPD SET ORIGIN ORG DELAY SET DELAY TIME MARGIN ORG OFFSET PULSE SET CSCAN ERROR PULSE SET CONSTANT SCAN JOG ERROR PULSE SET JOG ORIGIN 47 8
235. T PULSE FSSTOP1 X1 Y1 21 A1 FSSTOP2 X2 Y2 Z2 2 FSSTOP 550 551 ON EXT PULSE D12 SPEED CBUSY CHANGE CHANGE 1 CHANGE CHANGE CHANGE 0 CHANGE CHANGE CHANGE SPEED CBUSY 0 CHANGE UP DRIVE DRIVE CONST DRIVE SPEED CHANGE RATE CHANGE CHANGE SPEED CBUSY 1 CHANGE
236. TICHIP SRATE CIRCULAR CONST CPIS 2 CW MULTICHIP SRATE CIRCULAR CONST 5 2 CCW 117 2 MCC06 DRIVE COMMAND F001 OUT0 SIGNAL OUTA B F006 HARD INITIALIZE2 GPIO F006 HARD INITIALIZE6 F007 HARD INITIALIZE7 F00C SIGNALOUT _ FO0D 0 8 FAST STOP On 1 010 011 ADDRESS COUNTER INITIALIZE2 2 F012 ADDRESS COUNTER INITIALIZE3 3 F014 F015 2 F016 PULSE COUNTER INITIALIZE3 3 F018 DFL COUNTER INITIALIZE1 1 F019 DFL COUNTER INITIALIZE2 2 F01C SPEED COUNTER INITIALIZE1
237. USERORTS RR 42 4 HENSATDAIAT 2PORT 42 39 HARD CONFIGURATIGN 6 43 1 COMMAND PORE 2525 5 43 2 HARD CONFIG 1 2 3 PORT 43 3 SIGNAL STATUSPGRT GE 43 4 HARD CONFIG DATA1 2 3 PORT 43 5 SIGNAE SATUSIPORT2 SAS A 44 45 gt gt 45 AS 45 46 nite 46 2 47 81 48 48 2 1 48 3 49 2 1
238. YINT RDYINT STATUS1 PORT ADDRESS COUNTER PRESET ADDRESS COUNTER MAX COUNT SET STATUS1 PORT EXT PULSE 1 50 8 3 END PULSE DRIVE DELAY SET DRIVE DELAY TIME END PULSE A
239. ev2 2 2 32 16 33MHz 3 3V 5V Configuration Device ID H 10B0 Vendor ID H 152E Status Command Base Class HOE Sub Class 80 H00 Revision ID H00 BIST Header H00 Latency Timer Cache Line Size Base Address Register O Base Address Register 1 Base Address Register 2 C V872 Base Address H 18 Reserved Cardbus CIS Pointer Subsystem ID H 10B0 Subsystem Vendor ID H 152E Expansion ROM Base Address H 30 Reserved H34 Reserved Min_Gnt Interrupt H 01 Interrupt Line INTA ADRINT CNTINT DFLINT SPDINT RDYINT INT FACTOR CLR 107mm 170mm 17mm 5V 5 16A DC 24V 2 400mA 2 0 C 45 80 RH 3 0C 55C 8
240. mp C V872 DRST MF 24 4 2 1 X1 0 15SQ X1CWP CW X1CWP O cw X1CCWP CCW _ X1CCWP O ccw 150 9 2 X1DRSTCOM O RESET w X1OUT1 DRST O RESET 150 Q 2 od SON X10UTO e SON X1IN0 DALM ALM 1 24VGND X1PO DEND 7 END 24VGND IM X1ZORG 2 X1ZORG O 7 1 A 1 X1EB X1EB B D GND R GND C V872 et 1 2 150 Q 150 3 RESET 24V 21 X1DRSTCOM 22 X1OUTO DRST
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