aPCI-M59 取扱説明書
Contents
1. 4 2 200 400 pps 5 500 1000 pps 1000 2000 pps 0 0 aPCI M59 3 2 F r2. F F g gs gt 4
3. 4 3 6 MODE1 WRITE PORT 10 2 3 3 3 S S S RATE 1 DATA S SW 1 DATA SPEED DATA OBJECT SPEED S2 51 SW 1 4 1 DATA START STOP SPEED 51 52 START STOP SPEED SW 1 OBJECT SPEED SW 1 TIME RATE 1 DATA 1 8 191 0001H 1FFFH SW 1 DATA S BX
4. 2 1 2 SLOW DOWN LIMIT ENABLE MODE EMERGENCY LIMIT ENABLE MODE SLOW DOWN LIMIT ENABLE EMERGENCY LIMIT ENABLE MODE 10 11 2 aPCI M59 ECUP n ECDN n 2
5. 1 RANGE DATA PRESET PULSE DRIVE E 0 2 START STOP SPEED DATA SPEED DATA PRESET PULSE DRIVE START STOP SPBED START STOP SPBED 6 7 3 1 2 3 DATA
6. 2 2 H 2 3
7. 28 28 UP ZDOWN 2 1 2 4 BE AM26C31 1 2 CW CCW PS2502 8 2
8. aPCI M59 SIGNAL SEARCH 1 2 DRIVE SIGNAL SEARCH 1 DRIVE
9. MODE1 WRITE PORT 36 5 2 30 SIGNAL SEARCH 2 DRIVE 26H 27H START STOP SPEED MODE1 WRITE PORT
10. STRAIGHT ACCELERATE MODE 5 2 50 U S STRAIGHT ACCELERATE SET 85H UNSYMMETRICAL STRAIGHT ACCELERATE MODE UNSYMMETRICAL STRAIGHT ACCELERATE MODE STRAIGHT ACCELERATE MODE S CURVE ACCELERATE MODE S UNSYMMETRICAL S CURVE ACCELERATE MODE S
11. 240 0005 134 YBP 8F E mail support adtek co jp Fax 045 331 7770 1999 05 20 H 2003 04 11 2 2005 03 03 3 4 aPC M59 3 2005 03 B 03 R 240 0005 134 YBP 8F Tel 045 331 7575 Q Fax 045 331 7770 006 050303 1999 2005 SYSTEM SCIENCE Co Ltd
12. 3 m
13. 2 1 024 10 a EN RANGE DATA RATE n DATA RANGE DATA _ 1 8 191 0001H 1FFFH 3 4 2 Tu r Tuuir X SPEED DATA 2 SPEED DATA 1 sec SPEED DATA 1 SPEED DATA 2 SPEED DATA TIME 3 4 3 S S S _ RATE 1 DATA x SW 1 DATA T S sec RATE 1 DATA 1 8 191 0001H 1FFFH SW 1 DATA S 1 4
14. 3 17 aPCI M59 D e Erik INTERNAL COUNTER EXTERNAL COUNTER H 1E 15 16 32 767 INTERNAL PRE SCALE DATA EXTERNAL PRE SCALE DATA FFFFFFFH 3 18 aPCI M59
15. 3 2 r aPCI M59 4 aPCI M59 H 8
16. END STATUS READ PORT ESCED 1 5 2 27 PRESET PULSE DRIVE 20H 21H DATA2 3 4 WRITE PORT 0 16 777 215 000000H FFFFFFH 1pulse bit DATA3 PORT DATA4 PORT 27 26 25 25 23 2 2 20 5 2 28 CONTINUOUS DRIVE 22H 23H 5 2 29 SIGNAL SEARCH 1 DRIVE 24H 25H
17. H Il x ECUP n A 49 ECDN n B T T T T T T T T T gt 180ns 250ns 7 7 10 12 2 ECUP n ECDN n 2 1 2 4 1 1 j fE 8 UP DOWN ECUP n A ERROR _ ECDN n B 2 2 x ECUP n A 54 ECDN n B 48 _ 3 4 UP UP DOWN DOWN ECUP n A t UP UP DOWN DOWN I I ECDN n B 48 4 4 I I I UP DOWN I REVERSE COUNT MODE UP DOWN 10 13
18. INTERNAL COUNTER READ INTERNAL COMPARATE DATA READ EXTERNAL COUNTER READ 2 EXTERNAL COMPARATE DATA READ INTERNAL PRE SCALE DATA READ 33 EXTERNAL PRE SCALE DATA READ nnH WRITE nnH DATA1 227 224 READ 2 2 2 5 READ 2 5 2 READ DATA4 2 2 READ 48 6 6 1 4 GAL16V8D G AL16V8D GAL16V8D RINT 1 ECG 1 ECL 1 ICG 1 1 1 1 2 1 1 RINT 2VECT 1 ECG 2 ECL 2 ICG 2 2 2 2 2 2 2 RINT 3 ECG 3 ECL 3 ICG 3 3 3 3 2 3 3 RINT 4 ECG 4 ECL 4 ICG 4 4
19. 3 3 E b U e L IC BP L ED SE
20. PRESET PULSE DRIVE 10 5 aPCI M59 S S SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME 71 2 S SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME 72 3 S
21. PS2701 36 9 mg 2 s gt Dal gt DC 12V 24V 0V AM26G32 12 3 UP DOWN 2 2 1 2 4 Z NN gt 2 3 59 S q O Z DIR n PULSE n DRIVE n DRST n ECUP n ECDN n Z n DEND n DERR n IN n ORG n ELM n ELM n 2 51 2 51 ESTP n gt BSN oh Q O U n 14 14 N
22. OBJECT SPEED DATA S 3 1 2 3 10 4 10 7 lt 5 2 6 OBJECT SPEED DATA READ 05H OBJECT SPEED DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 20 5 2 7 RATE 1 2 3 DATA WRITE 06 08 0AH RATE 1 2 3 DATA DATA3 4 WRITE PORT DATA3 PORT DATA4 PORT DATA PRESET PULSE DRIVE 10 2 S S
23. 1 8 191 0001H 1FFFH 8 191 1FFFH RATE 1 2 3 10 2 5 2 8 RATE 1 2 3 DATA READ 07 09 0BH 1 2 3 DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 5 2 9 RATE CHANGE POINT 1 2 2 3 WRITE 0C 0EH RATE CHANGE POINT 1 2 2 3 DATA DATA3 4 WRITE PORT 8 191 1FFFH DATA3 PORT DATA4 PORT POINT 1 2 2 3 DATA PRESET PULSE DRIVE
24. FULL TIME CLEAR REQUEST CLEAR REQUEST RESET FULL TIME CLEAR REQUEST CLEAR SIGNAL SELECT 5 2 45 FULL TIME CLEAR REQUEST 36H EXTERNAL COUNTER EXTERNAL COUNTER 0 ONE TIME CLEAR REQUEST
25. 3 7 2 DEND n BUSY DRIVE STATUS READ PORT BUSY 1 BUSY 3 8 aPCI M59 8 3 9 aPCI M59
26. 1 2 4 2 5 3 3 1
27. 2 DRIVE STATUS READ PORT 8000000 134 217 728 lt FFFFFFFH 1 lt 0000000H 0 lt 7FFFFFFH 134 217 727 YY 3 14 aPCI M59 BXTERNAL COUNTER 28 BXTERNAL PRE SCALE DATA 0 EXTERNAL PRE SCALE DATA n EXTERNAL COUNTER
28. PRESET PULSE DRIVE 10 3 aPCI M59 RANGE DATA 0 START STOP SPEED DATA 0 OBJECT SPEED DATA 0 START STOP SPEED DATA gt OBJECT SPEED DATA RATE 1 DATA 0 RATE 2 DATA 0 RATE 3 DATA 0 RATE CHANGE POINT 1 2 gt RATE CHANGE POINT 2 3 SW 1 DATA 0 SW 2 DATA 0 1
29. PRESET PULSE DRIVE S S S lt 4 RATE CHANGE POINT 1 2 2 3 DATA PRESET PULSE DRIVE 5 SW 1 2 DATA S S S S
30. 50 7 7 1 CN1 7 1 1 sl 7 1 2 CN1 B50 FX2B 100P 1 27DS 1 EV1 CN1 A2 Al13 B2 B13 15 Ese r oRe 1 1 L 1 A4 ELM 1 1 16 1 A5 ELM 1 1 16 1 A6 sLM 1 1 16 1 A7 SLM 1 1 16 1 8 EsTP 2 1 1 2 A9 oRe 2 2 A10 ELM 2 1 16 2 11 ELM 2 2 12 SLM 2 2 A13 sLM 2 2 14 DRIVE 1 1 ON 14 A15 DRST 1 1 14
31. Wh x gt lt DOS V Windows R DOS V Windows R DOS V Windows R U C lt 7 S uA 1 E 2 r
32. 4 1 5 2 48 REVERSE COUNT MODE RESET 39H REVERSE COUNT MODE REVERSE COUNT MODE ECUP n ECDN n EXTERNAL COUNTER REVERSE COUNT MODE 5 2 49 STRAIGHT ACCELERATE MODE SET 84H STRAIGHT ACCBLERATE STRAIGHT ACCELERATE MODE S UNSYMMETRICAL STRAIGHT ACCELERATE MODE S CURVE ACCELERATE MODE S UNSYMMETRICAL S CURVE ACCELERATE MODE S
33. SW 1 DATA WRITE SW 2 DATA WRITE 2 28 45 HL 3 3 3 DATA2 222 2 WRITE DATA3 25 28 WRITE DATA4 27 lt 29 WRITE nnH WRITE nnH 4 4 4 28 INTERNAL COUNTER WRITE 2 INTERNAL COMPARATE DATA WRITE 2C EXTERNAL COUNTER WRITE COMPARATE DATA WRITE INTERNAL PRE SCALE DATA WRITE PRE SCALE WRITE 1 277 27 WRITE 2 273 219 WRITE DATA3 25 28 WRITE 4 27 29 WRITE nnH WRITE nnH 46 5 2
34. CLEAR SIGNAL SELECT 5 2 46 CLEAR REQUEST RESET 37H ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST ONE TIME CLEAR FULL TIME CLEAR REQUEST EXTERNAL COUNTER 0 ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST 5 2 47 REVERSE COUNT MODE SET 38H REVERSE COUNT MODE REVERSE COUNT MODE ECUP n ECDN n EXTERNAL COUNTER
35. 5 2 31 INTERNAL COUNTER WRITE 28H INTERNAL COUNTER DATA1 2 3 4 WRITE PORT 2 134 217 728 134 217 727 8000000H 7FFFFFFH 0 0000000H 2 DATA1 PORT DATA2 PORT DATA3 PORT 215 27 214 26 213 25 212 24 211 23 210 2 29 21 28 20 5 2 32 INTERNAL COUNTER READ 29H INTERNAL COUNTER DATA1 2 3 4 READ PORT 2 DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 5 2 33 INTERNAL COMPARATE DATA WRITE 2AH INTERNAL COMPARATE DATA DATA1 2 3 4 WRITE PORT
36. S RATE 1 RATE 2 RATE 3 DATA S 2 CHANGE POINT 1 2 RATE CHANGE POINT 2 3 SPEED DATA OBJECT SPEED RATE 3 DATA RATE CHANGE POINT 2 3 5 RATE 2 DATA RATE CHANGE POINT 1 2 1 DATA START STOP SPEED TIME RATE CHANGE POINT 1 2 gt gt RATE 1 RATE 2 0 8 191 0000H 1FFFH RATE CHANGE POINT 2 3 RATE 2 RATE 3 0 8 191 0000H 1FFFH RATE 1 2 3 DATA 1 8 191 0001H 1FFFH
37. 2 DATA1 DATA4 WRITE PORT 500nsec DATA1 DATA4 WRITE PORT DATA1 DATA4 READ PORT 500nsec PMC540 PMC540 PORT READ WRITE MODE1 WRITE PORT MODE2 WRITE PORT UNIVERSAL SIGNAL WRITE PORT DRIVE STATUS READ PORT END STATUS READ PORT MECHANICAL SIGNAL READ PORT UNIVERSAL SIGNAL READ PORT BSN SWITCH READ PORT 79 10 15 59 PCI
38. 3 44 5 3 aPCI M59 COMMAND WRITE PORT 1 1 1 CLEAR SIGNAL SELECT DATA4 WRITE 34H WRITE 2 2 2 2 4 RATE 3 DATA WRITE C E 8 0 0 CHANGE POINT 1 2 WRITE RATE CHANGE POINT 2 3 WRITE SW 1 DATA WRITE 8A SW 2 DATA WRITE 0 0 0 8 DATA3 212 28 WRITE DATA4 27 lt 29 WRITE nnH WRITE nnH
39. E E mail
40. H 4 3 PORT DRIVE STATUS READ PORT VECT n L CW H CCW IRC1 n IRC2 n UNIVERSAL SIGNAL WRITE PORT ON OFF 4 3 PORT UNIVERSAL SIGNAL WRITE PORT INTR n GAL16V8D L UNIVERSAL SIGNAL READ PORT D7 Bit INTA n 6 2 GAL16V8D IC GAL16V8D 12 13 t GAL
41. 5 2 51 S CURVE ACCELERATE SET 86H S CURVE ACCELERATE MODE S S CURVE ACCELERATE MODE S S STRAIGHT ACCELERATE MODE UNSYMMETRICAL STRAIGHT ACCELERATE MODE UNSYMMETRICAL S CURVE ACCELERATE MODE S fT 5 2 52 U S S CURVE ACCELERATE SET 87H UNSYMMETRICAL S CURVE ACCELERATE MODE S UNSYMMETRICAL S CURVE ACCELERATE MODE S
42. Vendor ID 136CH Device ID 9159h PCPG 46 Base Address Register 1 1 Base Address Base Address Register 1 29 2 20 0 PCI 3 1 24 23 16 15 8 7 0 offset Device ID 9159h Vendor ID 136CH 00H Status Command 04H Base Class Sub Class Programming I F Revision ID 08H BIST Header Type Latency Timer Catch Line Size 0CH Base Address Register 0 10H Base Address Register 1 1 Base Address 14H Base Address Register 2 18H Base Address Register 3 1CH Base Address Register 4 20H Base Address Register 5 24H Cardbus CIS Pointer 28H Subsystem ID Subsystem Vender ID 2CH Expansion ROM Base Address 30H Reserved 34H Reserved 38H Max LAT Min GNT Interrupt Pin Inter
43. BUSY 1 68 10 4 aPCI M59 PRESET PULSE DRIVE 1 S SPEED OBJECT SPEED START STOP SPEED TIME 2 S SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME 69 3 S SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME S PRESET 59 PULSE
44. 1 START STOP SPEED PRESET PULSE DRIVE SPEED DATA S START STOP SPEED TIME 2 0 0 START STOP SPEED START STOP SPEED 31 lt SPEED DATA S START STOP SPEED TIME SPEED DATA S START STOP SPEED TIME 5 2 12 SLOW DOWN REAR PULSE READ
45. DATA1 2 3 4 READ PORT 2 DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 27 214 26 213 25 212 24 211 23 910 92 99 2 28 20 5 2 39 INTERNAL PRE SCALE DATA WRITE 30H INTERNAL PRE SCALE DATA DATA1 2 3 4 WRITE PORT 2 0000001H FFFFFFFH FFFFFFFH DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 27 214 26 213 s 25 212 24 211 23 210 A 22 29 a 21 29 20 39 5 2 40 INTERNAL PRE SCALE DATA READ 31H INTERNAL PRE SCALE DATA 1 2 3 4 READ PORT 2
46. lt RATE CHANGE POINT 1 2 RATE 1 DATA CHANGE POINT 1 2 lt lt RATE CHANGE POINT 2 3 2 DATA CHANGE POINT 2 3 lt RATE 3 DATA RATE CHANGE POINT 1 2 2 3 8 191 1FFFH S RATE 1 DATA SPEED DATA RATE CHANGE POINT 1 2 OBJECT RATE CHANGE POINT 2 3 SPEED RATE 1 DATA MN LA A A 22020 SPEED TIME B RATE 1 RATE 2 RATE 3 DATA CHANGE POINT 1 2 2 3 cle 3 W Ip e Z 2 nj 3 PRESBT PULSE DRIVE E
47. DATA1 PORT DATA2 PORT DATA3 PORT 215 27 214 26 213 25 212 24 211 23 210 22 29 21 28 20 5 2 36 EXTERNAL COUNTER READ 2DH EXTERNAL COUNTER 1 2 3 4 READ PORT 2 DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 2 214 26 213 25 212 24 211 23 210 2 29 21 28 20 38 5 2 37 EXTERNAL COMPARATE DATA WRITE 2EH EXTERNAL COMPARATE DATA DATA1 2 3 4 WRITE PORT 2 134 217 728 134 217 727 8000000H 7FFFFFFH 0 0000000H DATA1 PORT DATA2 PORT DATA3 PORT 215 27 214 26 213 25 212 24 211 23 210 22 29 21 28 20 5 2 38 EXTERNAL COMPARATE DATA READ 2FH EXTERNAL COMPARATE DATA
48. ECUP n gt 1 H ECDN n 0 L DEND n DERR n SLM n 1 SLM n 0 ELM n ELM n n 1 4 No 4 3 16 UNIVERSAL SIGNAL READ PORT INTR n 10 IN n Z n O 0 H ORG n IRC2 n 1 H 11 IRC1 n 0 L DRST n 1 ON DRIVE n 0 OFF n 1 4 No 10 0 ON 1 OFF 11 IRC1 n IRC2 n GAL16V8D 6
49. F r F rs F r aPCI M59 PRESET PULSE DRIVE 3 78 SPEED DATA
50. 28 INTERNAL PRE SCALE DATA 9 INTERNAL PRE SCALE DATA n INTERNAL COUNTER F n 0 1 UP 1 n 0 1 n 1 1 0 n n 1 DOWN mm 59 et gt INTERNAL PRE SCALE DATA FFFFFFFH INTERNAL PRE SCALE DATA 28 lt 3 3 12
51. UP CONST DOWN DRIVE STATUS READ PORT up 90 1 0 0 9 0 0 1 1 0 UP 1 1 1 1 1 1 I I 1 I I I 1 1 Z 1 1 1 1 1 1 1 1 CONST 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I Z Z 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 DOWN 72 1 1 1 1 7 1 I
52. 1 1 59 ECUP n ECDN n ECDN n Z n 7 2 aPCI M59 ECUP n ECDN n Z n GND 57 1 DC12 24V 59 EV1 ORG n ELM n SLM n ELM n SLM n 2 DC12 lt 24V 59 EV1 ORG n ELM n SLM n ELM n SLM n 58 8 1 WR N DIR n PULSE n PMC540 COMMAND WRITE PORT 2 DERR n DEND n DERR n DEND n N H lt Tastw gt gt DERR n DEND n N L lt Td tw 3 ECUP n ECDN n A UP DOWN ECUP n N N N ECDN n UP DOWN ECUP n ECDN n
53. SPEED DATA 3 1 2 3 10 7 PRESBT PULSE DRIVE SPEED DATA 3 pulse sec EED DATA OBJECT START STOP SPEBD DATA RANGE DATA 10 2 3 3 aPCI M59 S S 4 3 3 1
54. lC Ko X 1 n
55. SPEED OBJECT SPEED SHALF START STOP SPEED TIME 10 7 aPCI M59 OBJECT SPEED DATA S PULSE DRIVE S 1 SPEED TIME OBJECT SPEED i 74 2 S SPEED TIME OBJECT SPEED 10 8 UP CONST DOWN 59
56. 2 134 217 728 134 217 727 8000000H 7FFFFFFH 0 0000000H DATA1 PORT DATA2 PORT DATA3 PORT 215 27 214 26 213 25 212 24 211 23 210 22 29 2 28 20 37 5 2 34 INTERNAL COMPARATE DATA READ 2BH INTERNAL COMPARATE DATA DATA1 2 3 4 READ PORT 2 DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 27 214 26 213 25 21 24 211 23 210 22 29 2 28 20 5 2 35 EXTERNAL COUNTER WRITE 2CH EXTERNAL COUNTER DATA1 2 3 4 WRITE PORT 2 134 217 728 134 217 727 8000000H 7FFFFFFH 0 0000000H
57. OBJECT SPEED DATA OBJECT SPEED DATA OBJECT SPEED DATA lt PRESET PULSE DRIVE S S 10 7 S CONTINUOUS DRIVE 3 2 aPCI M59
58. SW 1 2 DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 27 26 25 24 211 23 210 u 2 22 29 2 21 28 20 5 2 55 SLOW DOWN LIMIT ENABLE MODE SET 8CH SLOW DOWN LIMIT ENABLE MODE SLOW DOWN LIMIT ENABLE MODE SLM n SLM n SLOW DOWN LIMIT ENABLE MODE 5 2 56 SLOW DOWN LIMIT ENABLE MODE RESET 8DH SLOW DOWN LIMIT ENABLE MODE SLOW DOWN LIMIT ENABLE MODE SLM n SLM n FE 5 2 57 EMERGENCY LIMIT ENABLE MODE SET 8EH
59. E 10 2 E 3 3 2 RATE 2 DATA 275 2 RATE 1 DATA SPEED DATA gt OBJECT EN SPEED RATE 2 DATA START STOP gt RATE 1 DATA SPEED TIME RATE 1 DATA 1 8 191 0001H 1FFFH RATE 2 DATA 1 8 191 0001H 1FFFH 1 2 DATA RATE 1 RATE 2 DATA PRESET PULSE DRIVE PRESET PULSE DRIVE
60. 2 SPEED DATA OBJECT SPEED S START STOP SPEED TIME 3 1 2 CONTINUOUS DRIVE START STOP SPEED DATA gt OBJECT SPEED DATA 3 1 OBJECT SPEED DATA WRITE 3 SPEED DATA 1 OBJECT SPEED S START STOP _ vv ___________________1 4__ SPEED TIME 3 1 3 SIGNAL SEARCH 1 DRIVE E START STOP SPEED DATA OBJECT SPEED DATA 1 S
61. 4 3 17 BSN SWITCH READ PORT SW1 1 SW1 No 4 SW1 No 3 1 OFF SW1 No 2 0 ON SW1 No 1 25 5 5 1 aPCI M59 71 DRIVE STATUS READ PORT BUSY 1 DRIVE STATUS READ PORT BUSY 0 3 1 2 3 10 2 10 7 LI ZMN 4 RANGE DATA WRITE RANGE DATA READ S
62. DRIVE STATUS READ PORT BUSY 1 MODE1 WRITE PORT 0 2 1 lt 4 3 7 MODE2 WRITE PORT BEXTBRNAL COUNTER EXTERNAL COUNTER 4 D5 DEND n D4 DERR n D3 SLM n 1 L D2 SLM n 0 H ELM n ELM n n 1 4 No 4 EXTERNAL COUNTER 07 ps up pow _ 0 1 2 1 A B 1 0 2 2 A B 2
63. DIR n O 0 DIR 1 YE PULSE n O PULSE n O 1 25 SN V DRIVE n 2 aPCI M59 DIR n DIR n PULSE n PULSE n 55 3 TTL 59 GND DIR n PULSESn GND DRST n DRIVE n COM 4 59 EV2 0 12 24 _ 56 7 1 5
64. U 1 2 1 3 2 2 1
65. EXTERNAL COUNTER 2 2 UP DOWN Qk 2 PCPG 46 PCPG 46 2
66. 16 3 16 16 16 3 18 kk 16 au 16 4 ADBRESSINGZ 17 A tC 17 4 2 RR RE RR 18 PORT a 19 5 Eb 26 SR 26 5 28 45 49 6 1 tet 49 OR 50 7 51 ce ain de 51 59 63 sm sP en a aq a anu babi uyupi Sa dau qasqu 63 9 2 64 OO S Sua nya amu zn 65 10 KU RE3BIB 000000000010 67 10 RANGE 67 10 2 tets 6
67. 1pps 3 200pps 15 10 14 59 500nsec COMPACT PCI PCI CPU 500nsec 500nsec 1 500nsec
68. WAIT 1 INPOSITION WAIT 2 5 2 21 ALARM STOP ENABLE MODE SET 1AH amp ALARM STOP ENABLE MODE ALARM STOP ENABLE MODE DERR n 5 2 22 ALARM STOP ENABLE MODE RESET 1BH ALARM STOP ENABLE MODE ALARM STOP ENABLE MODE DERR n SALARM STOP ENABLE MODE 35 5 2 23 INTERRUPT OUT ENABLE MODE SET 1CH INTERRUPT OUT ENABLE MODE INTERRUPT OUT ENABLE MODE
69. 8 8 8 o asf 9 o ie sr sy n 1 4 No 6 SIGNAL SEARCH 1 SIGNAL SEARCH 2 DRIVE 7 HH L 10 10 UA 8 H L 10 10 MODE1 WRITE PORT DRIVE STATUS READ PORT BUSY 0
70. 2 3 6 1 10 2 3 6 2 IT 3 7 aPCI M59 3 7 1 DBRR n
71. 22 4 3 9 DATA1 READ PORT 227021 5 90 o 4 3 10 DATA2 READ PORT 223016 5 LL 90 7T o 4 3 11 DATA3 READ PORT 215 25 5 94 23 4 3 12 DATA4 READ PORT 27 020 5 27 26 25 24 23 22 21 20 4 3 13 DRIVE STATUS READ PORT 1 ECG EXTERNAL COMPARATE DATA lt EXTERNAL COUNTER ECL EXTERNAL COMPARATE DATA gt EXTERNAL COUNTER
72. 4 4 4 4 4 4 3 ON hz 14 3 14 CN1 PIN B14 B15 COMMON 3 3 3 7 52 B20 DRIVE 4 L 4 ON 14 B21 DRST 4 4 14 B23 IN 4 L 4 B24 DEND 4 16 4 B25 DERR 4 16 4 B26 EV2 CN1 17 19 423 25 17 19 23 25 15 3 12 3 12 5V 3 EXTERNAL COUNTER UP A
73. 16 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A SIGNAL SEARCH 2 DRIVE SIGNAL SEARCH 2 DRIVE INTERNAL COUNTER WRITE Ze INTERNAL COUNTER READ INTERNAL COMPARATE DATA WRITE INTERNAL COMPARATE DATA READ S EXTERNAL COUNTER WRITE NO EXTERNAL COUNTER READ EXTERNAL COMPARATE DATA WRITE EXTERNAL COMPARATE DATA READ INTERNAL PRE SCALE DATA WRITE INTERNAL PRE SCALE DATA READ EXTERNAL PRE SCALE DATA WRITE EXTERNAL PRE SCALE DATA READ CLEAR SIGNAL SELECT jap ONE TIME CLEAR REQUEST FULL TIME CLEAR REQUEST CLEAR REQUEST RESET REVERSE COUNT MODE SET REVERSE COUNT MODE RESET NO OPERATION O O O NO OPERATION STRAIGHT ACCELERATE MODE SET U S STRAIGHT ACCELERATE MODE SET S CURVE ACCELERATE MODE SET U S S CURVE ACCELERATE MODE SET SW 1 DATA WRITE SW 1 DATA READ SW 2 DATA WRITE SW 2 DATA READ SLOW DOWN LIMIT ENABLE MODE SET SLOW DOWN LIMIT ENABLE MODE RESET EMERGENCY LIMIT ENABLE MODE SET EMERGENCY LIMIT ENABLE MODE RESET INITIAL CLEAR 87 88 8A 8B 8C 8E 8F Z 26 27 28 29 2B 2C 2p 2E 2F 30 32 39 35 36 37 39 9 3A 221 5 86 ws 99
74. b 20 2 5 Pues 9191 L CW L Cw H ccw H CCW H H CW L CCW w i 1 L CW H CCW L H H H 0 H CW CCW 2 CCW CW n 1 4 No 5 CW CCW DIR n PULSE n DIR n PULSE n 2 DIR n PULSE n DIR n PULSE n 2 3 6 7 7 7 a 7 5 set on tS o 1 1 ln 8
75. 13 3 EXTERNAL COUNTER DOWN BB 13 3 Il dh B27 DIR 3 B28 DIR 3 B29 PULSE 3 B30 PULSE 3 5V B32 GND B33 ECUP 3 B34 ECUP 3 B35 ECDN 3 B36 ECDN 3 B37 Z 3 B38 Z 3 B39 DIR 4 B40 DIR 4 B41 PULSE 4 B42 PULSE 4 5 B44 GND B45 ECUP 4 B46 ECUP 4 B47 ECDN 4 B48 ECDN 4 B49 B50 4 12 4 12 5V 4 EXTERNAL COUNTER UP A 13 4 EXTERNAL COUNTER DOWN BB 13 4 lt 0 gt Co 16 _ Z 4 12 MODE1 WRITE PORT 1 2 4 3 50 G 13 MODE2 WRITE PORT
76. DATA4 PORT 5 07 02 pt po 29765 06 ojos D5 lolelilezn am 04 oj h D3 10 1 1 t D2 o ojo 29788 hlehlszs hl 00 rlrlolmcw r 1 1 1 n 1 lt 4 No 5 2 44 ONE TIME CLEAR REQUEST 35H EXTERNAL COUNTER BXTERNAL COUNTER L 0 FULL TIME CLEAR REQUEST FULL TIME CLEAR REQUEST
77. RANGE DATA START STOP SPEED DATA OBJECT SPEED DATA 2 500 F RANGE Fu X START STOP SPEED DATA F og Fuur X OBJECT SPEED DATA RANGE DATA START STOP SPEED DATA OBJECT SPEED DATA RANGE DATA MIN pulse sec pulse sec pulse sec 1 8 191 0001H 1FFFH 1 8 191 0001H 1FFFH 1 8 191 0001H 1FFFH MAX SPEED DATA 1 SPEED DATA 8191 EN E j SPEED DATA NOW Four Fuuir X NOW SPEED DATA RANGE DATA START STOP SPEED DATA OBJECT SP
78. 02H START STOP SPEED DATA DATA3 4 WRITE PORT 1 8 191 0001H 1FFFH 1 0001H DATA3 PORT DATA4 PORT PRESET PULSE DRIVE 10 2 28 5 2 4 START STOP SPEED DATA READ 03H START STOP SPEED DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 5 2 5 OBJECT SPEED DATA WRITE 04H OBJECT SPEED DATA DATA3 4 WRITE PORT 1 8 191 0001H 1FFFH 1 0001H DATA3 PORT DATA4 PORT 27 26 25 24 23 22 21 20
79. aPCI M59 UP DOWN 2 28 U UP DOWN COUNTER EXTERNAL COUNTER EXTERNAL COUNTER UP DOWN 2 2 3 13 aPCI M59 EXTERNAL COUNTER 28 EXTERNAL COMPARATE DATA
80. DATA2 3 4 READ PORT DATA2 PORT DATA3 PORT 215 27 214 26 213 25 21 24 211 23 210 22 29 21 28 20 5 2 15 PRESET PULSE DATA OVERRIDE 14H PRESET PULSE DATA DATA2 3 4 WRITE PORT 0 16 777 215 000000H FFFFFFH DATA2 PORT DATA3 PORT DATA4 PORT 2 2 25 24 23 22 2 20 PRESET PULSE DRIVE PULSE DRIVE S S 3 1 2 10 4
81. SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME SPEED OBJECT SPEED START STOP SPEED TIME 73 10 6 S aPCI M59 S SW 1 SW 2 DATA S START STOP SPEED DATA OBJECT SPEED DATA OBJECT SPEED START STOP SPEED S SW 1 gt F s H MO P T A T R SSNvUA AMA V 2 S OBJECT SPEED START STOP SPEED SW 2 gt W xr c R N S 2 S RATE n x 2 x SW n x OBJECT SPEED START STOP SPEED sec 2 048 x 10 RATE n gt gt RATE 1 OR RATE 2 SW n SW 1 OR SW 2
82. ECUP n L ECDN n H ECDN n L EE E 59 ECUP n H L 4 ECUP n ECDN n 2 ECUP n ECDN n 5 Z n SIGNAL SEARCH DRIVE EXTERNAL COUNTER CLEAR Z n 6 IN n SIGNAL SEARCH DRIVE EXTERNAL COUNTER CLEAR inhw inlw 7 ORG n SIGNAL SEARCH DRIVE EXTERNAL COUNTER CLEAR Torhw Toriw 8 ESTP n ESTP n stpw 60 9 ELM n ELM n SLM n SLM n ELM n ELM n SLM n SLM n H ELM n ELM n SLM n SLM n L ea 61 7 COMMAND WRITE PORT PULSE n 480ns DERR n DEND n 250 ECUP n ECDN n 18 21 80ns ECUP n ECDN n H 21 80ns 22 150ns ECUP n E
83. Tup Tsw S SPEED DATA OBJECT S SPEED STARTASTORP Oa SPEED TIME Tup i Tup 2 Tup 3 Tsw Tup S Tsw Tsw SS 12 3 5 3 5 1 SLM n SLM n SLOW DOWN STOP END STATUS READ PORT 1 SSCED SLOW DOWN STOP SLSED SLM n SLM n SLM n SLM n SPEED DATA S START STOP SPEED TIME 3 5 2
84. BSTP n BLM n BLM n DERR n EMERGENCY STOP END STATUS READ PORT 1 d DTEED DREED DERR n ESCED EMERGENCY STOP ESSED ESTP n ELSED ELM n ELM n ELM n ELM n DERR n SPEED DATA S START STOP SPEED TIME 13 3 6 1059 aPCI M59 PRESET PULSE DRIVE
85. DATA2 3 4 READ PORT DATA2 PORT DATA3 PORT DATA4 PORT 27 26 25 24 23 2 21 20 34 5 2 17 DEVIATION DATA READ 16H INTERNAL COUNTER EXTERNAL COUNTER DATA3 4 READ PORT A DATA3 PORT DATA4 PORT FE S Z ZT rl F 15 0 1 32 767 5 2 18 INPOSITION WAIT 1 SET 17H INPOSITION WAIT 1 INPOSITION WAIT 1 DEND n DERR n DRIVE STATUS BUSY
86. S STRAIGHT ACCELERATE MODE UNSYMMETRICAL STRAIGHT ACCELERATE MODE S CURVE ACCELERATE MODE S 42 5 2 53 SW 1 2 DATA WRITE 88 8AH SW 1 2 DATA DATA3 4 WRITE PORT 1 4 095 0001H 0FFFH 4 095 0OFFFH DATA3 PORT DATA4 PORT 10 2 r 5 2 54 SW 1 2 DATA READ 89 8BH
87. 3 19 aPCI M59 10 3 16 4 ADDRESSING 4 1 BSN SW1 4 ON BSN 0 BSN 0 0H BSN 1 1H BSN 6 6H lo sss
88. 11H SLOW DOWN REAR PULSE DATA DATA2 3 4 READ PORT DATA2 PORT DATA3 PORT DATA4 PORT 223 215 27 222 214 26 221 213 25 220 uma 721 24 219 291 23 218 210 22 217 09 2 216 2 20 5 2 13 NOW SPEED DATA READ 12H SPEED DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 27 2 25 21 24 21 23 210 2 2 2 28 2 0 0000H 32 5 2 14 DRIVE PULSE COUNTER READ 13H DRIVE PULSE COUNTER DRIVE PULSE COUNTER
89. 19 4 3 4 DATA4 WRITE PORT 27 20 5 4 3 5 COMMAND WRITE PORT COMMAND WRITE PORT 6 lt 5 27 26 25 24 23 22 21 20 4 3 6 PRESET PULSE DRIVE 4 SIGNAL SEARCH 1 DRIVE SIGNAL SEARCH 2 DRIVE 1 2 3 1 4 34 4 PRESET PULSE DRIVE
90. DRIVE STATUS READ PORT BUSY 1 BUSY 0 STATUS READ PORT DTEED 1 INPOSITION WAIT 1 2 2 DRIVE STATUS READ PORT BUSY 1 BUSY 0 END STATUS READ PORT DTEED 1 INPOSITION WAIT 1 2 START STOP SPEED DATA 0 OBJECT SPEED DATA 0
91. sh 1 1 Dn 1 2 1 ARE a 1 TT 1 3 2 4 4 Se phi Ru EN ed SS 4 Z 5 5 52 7 3 3 E BE 8 94 il B kau 10 anan 13 3 6 j BH i R 4 L FE H 14 3 7 te 14 3 8 2 14 2 0 14 3 10 ES 14 3 11 ae 15 3 12 15 3 13 VS E 15 344298 EO 15 3 15
92. sswcsm BSN 10 AH BSN 11 BH BSN 12 CH BSN 13 DH 11 4 2 6 1I O 45 PORT LE 4 WRITE PORT READ PORT 00H DATA1 WRITE DATA1 READ 1 1 O i 20H 20H GARE BsN swiTcHREAD SWITCH READ io 21H 3FH 18 4 3 PORT 4 3 1 DATA1 WRITE PORT 27 224 5 4 3 2 DATA2 WRITE PORT 223 2 16 5 4 3 3 DATA3 WRITE PORT 2 5 25 5
93. 8000pps RANGE DATA SPEED DATA RANGE RANGE DATA RANGE DATA RANGE DATA RANGE DATA RANGE DATA 100kpps RANGE DATA 40 500 40 12 5 SPEED DATA 8000 100kpps 10 2 PCPG 46
94. UP 1 1 8 5 12 1 0365 S PRESET PULSE DRIVE S SW 1 DATA 1 70 4 S S PRESET PULSE DRIVE 22
95. CCW ORG 1 CW a SIGNAL SEARCH 1 DRIVE ORG 1 b SIGNAL SEARCH 1 DRIVE ORG 1 c SIGNAL SEARCH 2 DRIVE ORG 1 d SIGNAL SEARCH 2 DRIVE ORG 1 2 INTERNAL COUNTER EXTERNAL COUNTER 0 0000000H 3 I I CCW CW I I a 1 1 1 1 1 1 x 5 x 1 lt sj a PRESET PULSE DRIVE 20 000 b IN 1 ON PRESET PULSE DRIVE 15 000 c IN 1 PRESET PULSE DRIVE 35 000 64 9 3 k sk 3k sk sk sk sk ok ok 9k DEMONSTRATION PROGRAM gt k sk
96. 006 050303 59 4 sz TFT SATL 4 I 1 1 1
97. DRIVE STATUS READ PORT BUSY 1 0 RINT n H 5 2 24 INTERRUPT OUT ENABLE RESET 1DH INTERRUPT OUT ENABLE MODE INTERRUPT OUT ENABLE MODE RINT n H INTERRUPT OUT ENABLE 5 2 25 SLOW DOWN STOP 1EH BND STATUS READ PORT SSCED 1 5 2 26 EMERGENCY STOP 1FH
98. 1 5 1 DATA 1 4 095 0001H lt 0FFFH BL 10 2 3 3 4 S S S 2 S RATE 1 DATA RATE 2 DATA S SW 1 DATA S SW 2 DATA SPEED DATA OBJECT SPEED 0 SW 2 S2 DATA DATA S3 S1 FP ST RDZSEOPI me a SPEED TIME S1 START ST
99. 17 19 423 25 17 19 823 25 15 1 12 1 12 5V 1 EXTERNAL COUNTER UP A 13 1 EXTERNAL COUNTER DOWN B 13 1 2 12 2 12 5V 2 EXTERNAL COUNTER UP A 13 2 h EXTERNAL COUNTER DOWN BB 13 2 CN1 2 13 2 15 3 3 3 3 3 3
100. 4 A B MODE2 WRITE PORT DRIVE STATUS READ PORT BUSY 0 DRIVE STATUS READ PORT BUSY 1 MODE2 WRITE PORT 0 4 3 8 UNIVERSAL SIGNAL WRITE PORT UNIVERSAL SIGNAL READ PORT UNIVERSAL SIGNAL WRITE PORT 0 D7 D6 D5 D4 R 1 D3 IRC2 n H 9 D2 IRC1 n 0 L D1 DRST n 1 ON DRIVE n p 0 OFF n 1 4 No 9 IRC1 n IRC2 n GAL16V8D 6
101. 10 2 IM 30 0 8 191 0000H 1FFFH RATE CHANGE 5 2 10 RATE CHANGE POINT 1 2 2 3 READ 0D 0FH RATE CHANGE POINT 1 2 2 3 DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 5 2 11 SLOW DOWN REAR PULSE WRITE 10H SLOW DOWN REAR PULSE DATA DATA2 3 4 WRITE PORT 0 16 777 215 000000H FFFFFFH 0 000000H DATA2 PORT DATA3 PORT DATA4 PORT 2 2 2 24 23 22 2 20 SLOW DOWN REAR PULSE DATA PRESET PULSE DRIVE
102. DRIVE END WAIT k 3k sk sk 3k sk sk k sk ok 3k ok 9k kok kok k k void adr_set cmd_out 0x28 cmd_out 0x2c 0 0 gt k bk sk ok bk sk k ok kok kok ok k kok kok k k void move cmd_out 0x20 dryv_end while inp HEADA UNIS amp 0 40 cmd_out 0x20 dryv_end while inp HEADA UNIS amp 0 40 200001 150001 INTERNAL COUNTER 0 WRITE EXTERNAL COUNTER 0 WRITE PRESET PULSE DRIVE 20000 PULSE DRIVE END WAIT 0 00 IN 1 ON WAIT PRESET PULSE DRIVE 15000 PULSE DRIVE END WAIT 1 0 00 IN 1 OFF WAIT cmd_out 0x21 850001 PRESET PULSE DRIVE 35000 PULSE DRIVE WAIT void main _1 1 INITIALIZE org_ser adr_set move 66 10 10 1 RANGE TT 5 Qc TT o 3 2 3 500 Four x SPEED DATA RANGE DATA pps SPEED DATA 1 lt 8191 RANGE DATA 1 lt 8191
103. UP DOWN 288E E OO JR Z 2 8 18 B 4 3 14 UNIVERSAL SIGNAL WRITE PORT 15 DC12 24V 16 MODE2 WRITE PORT 53 7 1 3 CN1 5V HC14 47k Q 3 3k Q PS2701 O EVI1 Y DCG010 ESTP n ORG n 2 7k Q ELM n ELM n SLM n SLM n DRIVE n DRST n 5V PS2701 0 0022 yA DCG010 DEND n DERR n 2 7kQ IN n AM26LS31 DIR n PULSE n DIR n PULSE n 5V AM26C32 1kQ ECUP n ECDN n 10pF 1k Q 1k Q 5V AM26C32 1kQ HC14 47k Q lt 7 2 1000pF 10pF 1k Q 1k Q n 1 4 No 54 7 1 4 1 aPCI M59
104. 1 INPOSITION WAIT 2 5 2 19 INPOSITION WAIT MODE 2 SET 18H INPOSITION WAIT 2 INPOSITION WAIT 2 DEND n DRIVE STATUS BUSY 1 INPOSITION WAIT 1 5 2 20 INPOSITION WAIT RESET 19H INPOSITION WAIT 1 INPOSITION WAIT 2 INPOSITION WAIT 1 INPOSITION WAIT 2 DRIVE STATUS BUSY 0
105. 16 coM No A14 A15 COMMON L A17 IN 1 1 L ss 18 DpEND 1 1 16 1 L A20 DRIVE 2 2 ON 14 2 14 L A21 DRST 2 A22 23 2 24 DEND 2 A25 DERR 2 202 L 2 2 2 19 DERR 1 1 5 1 DIR 1 DIR 1 E EV PULSE 1 PULSE 1 5 5 A26 27 28 29 A32 A33 A34 A35 A36 A37 A38 A39 A40 A41 A42 A43 A44 A45 A46 47 48 49 50 2 V ND ECUP 1 V ND ORG 3 1 4 rerw3 1 1 1 el B7 1 Ba 1 L 1 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 0 Bs si Ti o rsra o a panos 1 el DERR 3 CN1 PIN
106. 8B sc s SE 8F 27 5 2 5 2 1 RANGE DATA WRITE 00H RANGE DATA DATA3 4 WRITE PORT 1 8 191 0001H 1FFFH 8 191 1FFFH 187 DATA3 PORT DATA4 PORT PRESET PULSE DRIVE 10 2 5 2 2 RANGE DATA READ 01H RANGE DATA DATA3 4 READ PORT DATA3 PORT DATA4 PORT 5 2 3 START STOP SPEED DATA WRITE
107. EMERGENCY LIMIT ENABLE MODE EMERGENCY LIMIT ENABLE MODE ELM n ELM n LIMIT ENABLE MODE 43 5 2 58 EMERGENCY LIMIT ENABLE RESET 8FH EBMERGENCY LIMIT ENABLE MODE EMERGENCY LIMIT ENABLE MODE ELM n BLM n 5 2 59 INITIAL CLEAR 90H il 5 2 60
108. 4 4 2 4 4 16 384 2 GAL16V8D 4 gt Po 1 12 gt gt 13 49 PCI 1 F LSI gt INTR 1 INTR 2 INTR 3 INTR 4 INTA RINT n H END STATUS READ PORT COMMAND WRITE PORT L RINT n H GAL GAL L i RINT n INTERRUPT OUT ENABLE MODE ECG n ECL n H 4 3 PORT DRIVE STATUS READ PORT ICG n ICL n
109. ICG INTERNAL COMPARATE DATA lt INTERNAL COUNTER IC L INTERNAL COMPARATE DATA gt INTERNAL COUNTER UP CONST DOWN BUSY 4 3 14 END STATUS READ PORT 38 END STATUS READ PORT DTEED Data Error End DREED Driver Error Signal End ESCED Emergency Stop Command End SSCED Slow Down Stop Command End ESSED Emergency Stop Signal End 0 ELSED Emergency Limit Signal End SLSED Slow Down Limit Signal End END STATUS READ PORT O N amp I DRIVE STATUS READ PORT BUSY 0 1 24 4 3 15 MECHANICAL SIGNAL READ PORT EXTERNAL COUNTER
110. 1 1 SPEED DATA OBJECT SPEED START STOP SPEED 33 2 2 SPEED DATA OBJECT SPEED START STOP SPEED TIME 3 3 OBJECT SPEED SPEED DATA OBJECT SPEED START STOP SPEED TIME 5 2 16 PRESET PULSE DATA READ 15H PRESET PULSE DATA
111. 28 UP DOWN COUNTER INTERNAL COUNTER INTERNAL COUNTER 3 10 aPCI M59 INTERNAL COUNTER 28 INTERNAL COMPARATE DATA 2 DRIVE STATUS READ PORT 8000000 134 217 728 lt FFFFFFFH 1 lt 0000000H 0 lt 7FFFFFFH 134 217 727 14 3 11 aPCI M59 INTERNAL COUNTER
112. OBJECT SPEED START STOP SPEED TIME lt START STOP SPEED START STOP SPEED lt START STOP SPEED 3 3
113. aPCI M59 1 59 4 PCI HEADA 9 1 1 MODE1 WRITE PORT 23 2 MODE2 WRITE PORT EXTERNAL COUNTER DEND 1 DERR 1 SLM 1 SLM 1 ELM 1 ELM 1 3 INPOSITION WAIT 2 ALARM STOP ENABLE INTERRUPT OUT ENABLE 2 DIR 1 PULSE 1 STRAIGHT ACCELERATE MODE SLOW DOWN LIMIT ENABLE MODE EMERGENCY LIMIT ENABLE MODE 4 RAN
114. gt k sk k 3k 1 0 PORT EQUATION define DATA1 0 00 define DATA2 0x01 define DATA3 0 02 define DATA4 0 03 define COMM Ox04 define MODE1 0 05 define MODE2 0 06 define DSTS 0 04 define ESTS 0 05 define MECS 0 06 define UNIS 0 07 BOARD HEAD ADDRESS 1nt HEADA COMMAND WRITE DATA1 READ WRITE DATA2 READ WRITE DATA3 READ WRITE DATA4 READ WRITE COMMAND WRITE MODE1 WRITE MODE2 WRITE DRIVE STATUS READ END STATUS READ MECHANICAL SIGNAL READ UNIVERSAL SIGNAL READ WRITE HEAD ADDRESS void cmd_out int long data outp HEADA DATA1 data gt gt 24 amp 0 0 D31 D24 WRITE outp HEADA DATA2 data gt gt 16 amp 0xff D23 D16 WRITE outp HEADA DATA3 data gt gt 8 amp 0xff D15 D8 WRITE outp HEADA DATA4 data amp Oxff DO WRITE outp HEADA COMM COMMAND WRITE DRIVE END CHECK void drv_end while inp HEADA DSTS amp 0 01 INITIALIZE kok kok void pg_init outp HEADA MODE1 0 40 outp HEADA MODE2 0xbc cmd_out 0x18 01 cmd_out 0xla 01 cmd_out 0x1d 01 cmd
115. 1 n 0 1 UP gt n 1 n 0 gt 1 0 n n 1 DOWN LE 1 0 n 1 1 BEXTERNAL PRE SCALE DATA FFFFFFFH EXTERNAL PRE SCALE DATA 28 15 3 15 aPCI M59 BXTERNAL COUNTER ORG n Z n IN n EXTERNAL COUNTER 1 3 16 59 21 EXTERNAL COUNTER UP DOWN 2
116. 10 2 3 4 aPCI M59 RATE 1 RATE 2 RATE 3 DATA S SW 1 SW 2 DATA S 3 4 1 1 1 RATE n DATA Tur sec 2 048 x105 RATE n DATA RATE 1 RATE 2 RATE 3 1 8 191 0001H 1FFFH 10 SPEED DATA TIME a 3 2 Fu jr
117. 2 01 RANGE DATA READ 03 START STOP SPEED DATA READ 05 OBJECT SPEED DATA READ 07 RATE 1 DATA READ 09 RATE 2 DATA READ RATE 3 DATA READ 00 CHANGE POINT 1 2 READ OF RATE CHANGE POINT 2 3 READ 12 NOW SPEED DATA READ 16 DEVIATION DATA READ 89 sw 1 DATA READ SW 2 DATA READ nnH WRITE nnH DATA3 2 28 READ DEVIATION DATA READ SIGN 214 28 SW 1 DATA READ SW 2 DATA READ 2 28 6 3 3 nnH WRITE nnH DATA2 223 216 READ DATA3 25 28 READ DATA4 2 2 READ 41 7 4 4
118. I DRIVE STATUS READ PORT 0 20ns 1 75 10 9 A B Funir x 2 A pulse sec B pulse sec pulse sec sec pps B A TIME B A TIME aPCI M59 76 10 10 aPCI M59
119. 095 0001H 0FFFH SPEED DATA TIME 11 3 4 4 S S S RATE 1 DATA x SW 1 DATA 3 1 024 x 105 S sec RATE 1 DATA 1 8 191 0001H 1FFFH SW 1 DATA S 1 4 095 0001H 0FFFH SPEED DATA TIME 3 4 5 S S S _ 2 DATA SW 2 DATA ls 1 024 x 10 S sec RATE 2 DATA 1 8 191 0001H 1FFFH SW 2 DATA S 1 4 095 0001H 0FFFH SPEED DATA TIME 3 4 6 S S S S 7
120. 7 OI Ec a te a 68 ODSE 69 Op 71 74 0 74 T0 8 UP OOAST A S onu kaa de 75 1158 n ua amas uu Qua 76 8 77 10 11 2 J 77 Ta ap h uD ATO 78 10 13 l I I 000011300 78 ACO Du u n mpu QO tS O O D QA 79 10 15 80 s td NN ee SW 81 82 gy S j UA SS TO 83 PO m AR 84 1 1 1 59 LSI PMC540 4 096Mpps
121. ABLE MODE SET 36 N NOW SPEED DATA 32 O OBJECT SPEED DATA 29 OBJECT SPEED DATA WRITE 29 ONE TIME CLEAR REQUEST 41 P PRESET PULSE DATA OVERRIDE 38 PRESET PULSE DATA 34 R RANGE DATA READ 28 RANGE DATA WRITE 28 RATE CHANGE POINT 1 2 2 3 READ RATE CHANGE POINT 1 2 2 8 WRITE 30 RATE 1 2 3 DATA READ 30 RATE 1 2 3 DATA WRITE 30 REVERSE COUNT RESET 42 REVERSE COUNT SET 41 S S CURVE ACCELERATE MODE SET 42 SLOW DOWN LIMIT ENABLE MODE RESE Ts aaa asa 43 SLOW DOWN STOP 36 SLOW DOWN REAR PULSE READ 32 SLOW DOWN REAR PULSE WRITE 31 START STOP SPEED DATA READ 29 START STOP SPEED DATA WRITE 28 STRAIGHT ACCELERATE MODE SET 42 SW 1 2 DATA 43 SW 1 2 DATA WRITE 43 U U S S CURVE ACCELERATE MODE SET 42 U S STRAIGHT ACCELERATE MODE SET 42
122. CDN n 21 160ns 22 230ns ECUP n gt ECDN n 21 180ns 22 250ns ECDN n ECUP n 21 180ns 22 250ns ECUP n ECUP n 21 180ns 22 250ns ECDN n ECDN n 21 180ns 22 250ns Z n H Z n L IN n H IN n L ORG n H ORG n ESTP n ELM n ELM n SLM n SLM n 3 17 T 30505 7 2 5 amp 27049 18 UP DOWN 19 2 20 2 2 10 11 2 21 7 1 5 1 22 7 1 5 2 62 9 MSC Ver5 1
123. DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 5 2 41 EXTERNAL PRE SCALE DATA WRITE 32H EXTERNAL PRE SCALE DATA DATA1 2 3 4 WRITE PORT 2 0000001H FFFFFFFH FFFFFFFH DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 27 214 26 213 25 212 24 211 23 210 22 29 2 28 20 5 2 42 EXTERNAL PRE SCALE DATA READ 33H EXTERNAL PRE SCALE DATA DATA1 2 3 4 READ PORT 2 DATA1 PORT DATA2 PORT DATA3 PORT DATA4 PORT 215 214 2 213 25 212 24 211 23 210 22 29 28 20 40 5 2 43 CLEAR SIGNAL SELECT 34H BXTERNAL COUNTER
124. DRIVE S OBJECT SPEED WRITE PRESET PULSE DATA OVERRIDE OBJECT SPEED 0 OBJECT SPEED 0 DRIVE STATUS READ PORT CONST
125. GE DATA H H CW CCW 2 250 500 250 2pps START STOP SPEED DATA 100 2ppsx100 200pps OBJECT SPEED DATA 4 000 2pps x 4 000 8 000pps RATE 1 DATA 512 512 2 048 x 10 0 25msec 0 25msec 4 000 100 0 975 RATE 2 DATA 8 191 1FFFH jk 2321 RATE 3 DATA 8 191 1FFFH jk 2321 CHANGE POINT 1 2 8 191 1FFFH jk 2321 RATE CHANGE POINT 2 3 8 191 1FFFH jk 23 RATE 1 DATA 63 9 2 1 ORG 1 CCW
126. OP SPEED SW 1 S2 OBJECT SPEED SW 1 S3 START STOP SPEED SW 2 S4 OBJECT SPEED SW 2 RATE 1 DATA 1 8 191 0001H 1FFFH RATE 2 DATA 1 8 191 0001H 1FFFH SW 1 DATA S 1 4 095 0001 SW 2 DATA S 1 4 095 0001H 0FFFH RATE 1 RATE 2 SW 1 SW 2 DATA 10 2 S RATE 1 2 SW 1 SW 2 DATA PRESET PULSE DRIVE PRESET PULSE DRIVE 4 3 6 MODE1 WRITE PORT
127. S PCI 4 2 2 1 aPCI M59 64 DC 5V 0 25V 1A 25 0 45 10 80 amp g gt 20 75 106 68 174 63 2 2 4 LSI 540 4 096Mpps S S
128. TART STOP SPEED ml 55 SPEED DATA OBJECT SPEED WS S START STOP N na SPEED TIME 3 1 4 SIGNAL SEARCH 2 DRIVE START STOP SPEED DATA SPEED DATA START STOP SPEED TIME 1 1 2 3 2 1 2 3 4 3 1 gt START STOP SPEED DATA START STOP SPEED DATA START STOP SPEED DATA
129. TART STOP SPEED DATA WRITE START STOP SPEED DATA READ OBJECT SPEED DATA WRITE OBJECT SPEED DATA READ RATE 1 DATA WRITE RATE 1 DATA READ RATE 2 DATA WRITE RATE 2 DATA READ RATE 3 DATA WRITE RATE 3 DATA READ RATE CHANGE POINT 1 2 WRITE RATE CHANGE POINT 1 2 READ RATE CHANGE POINT 2 3 WRITE RATE CHANGE POINT 2 3 READ SLOW DOWN REAR PULSE WRITE SLOW DOWN REAR PULSE READ NOW SPEED DATA READ DRIVE PULSE COUNTER READ PRESET PULSE DATA OVERRIDE PRESET PULSE DATA READ DEVIATION DATA READ INPOSITION WAIT MODE 1 SET INPOSITION WAIT MODE 2 SET INPOSITION WAIT MODE RESET ALARM STOP ENABLE MODE SET ALARM STOP ENABLE MODE RESET INTERRUPT OUT ENABLE MODE SET INTERRUPT OUT ENABLE MODE RESET SLOW DOWN STOP EMERGENCY STOP PRESET PULSE DRIVE PRESET PULSE DRIVE CONTINUOUS DRIVE CONTINUOUS DRIVE SIGNAL SEARCH 1 DRIVE SIGNAL SEARCH 1 DRIVE N 0 S 10 11 12 13 14 15 16 17 18 19 1 1 1 10 1E 1F 0 21 22 23 24 25 I N co N 26 o s 5 2 30 5 2 31 5 2 32 5 2 33 5 2 34 5 2 35 5 2 36 5 2 37 5 2 38 5 2 39 5 2 40 5 2 41 5 2 42 5 2 43 5 2 44 5 2 45 5 2 46 5 2 47 5 2 48 LI
130. _out 0x84 01 cmd_out 0x8c 01 cmd_out 0x8e 01 cmd_out 0x00 2501 cmd_out 0x02 1001 cmd_out 0x04 40001 cmd_out 0x06 5121 7 RANGE DATA 0 00 BUSY OFF WAIT MODE1 SET MODE2 SET INPOSITION WAIT MODE 2 SET ALARM STOP ENABLE MODE SET INTERRUPT OUT ENABLE MODE RESET STRAIGHT ACCELERATE SET SLOW DOWN LIMIT ENABLE MODE SET EMERGENCY LIMIT ENABLE SET 250 SET START STOP SPEED DATA 100 SET 0BJECT SPEED DATA 4000 SET RATE 1 DATA 512 SET 65 void org_ser outp HEADA MODE1 0 44 ORG 1 RISE EDGE SELECT cmd_out 0x25 OL SIGNAL SERCH 1 DRIVE drv_end DRIVE END WAIT if inp HEADA ESTS 0x00 x NORMAL END outp HEADA MODE1 0 4 ORG 1 DOWN EDGE SELECT 0 24 01 SIGNAL SERCH 1 DRIVE DRIVE END WAIT outp HEADA MODE1 0x44 ORG 1 RISE EDGE SELECT 0 27 01 SIGNAL SERCH 2 DRIVE drv_end DRIVE END WAIT outp HEADA MODE1 0x4c ORG 1 DOWN EDGE SELECT cmd_out 0x26 OL SIGNAL SERCH 2 DRIVE
131. o 2 4 aPCI M59 4 2 3 17 8 8 x 3 4 0 76 15 25 77 62 773 54 72 174 63 2 5 aPCI M59 lt Pol lt gt a ge honda tt lt 59 3 3 1 aPCI M59 3 3 1 1 PRESET PULSE DRIVE 1 16 777 215 FFFFFFH START STOP SPEED DATA OBJECT SPEED DATA 1 PRESET PULSE DATA OVERRIDE OBJECT SPEED DATA WRITE
132. rupt Line 3CH 80 CONTINUOUS DRIVE 36 PRESET PULSE DRIVE 36 SIGNAL SEARCH 1 DRIVE 36 SIGNAL SEARCH 2 DRIVE 37 A ALARM STOP ENABLE MODE RESET 35 ALARM STOP ENABLE 35 C CLEAR REQUEST RESET 41 CLEAR SIGNAL SELECT 41 D DEVIATION DATA 35 DRIVE PULSE COUNTER READ 33 E EMERGENCY LIMIT ENABLE MODE RESET on 44 EMERGENCY LIMIT ENABLE SET43 EMERGENCY STOP EXTERNAL COMPARATE DATA READ 39 EXTERNAL DATA WRITE EXTERNAL COUNTER READ 38 EXTERNAL COUNTER WRITE EXTERNAL PRE SCALE DATA READ EXTERNAL PRE SCALE DATA WRITE 40 F FULL TIME CLEAR REQUEST 41 I CLEAR et 44 INPOSITION WAIT 1 35 INPOSITION WAIT 2 35 INPOSITION WAIT MODE RESET 35 INTERNAL COMPARATE DATA READ 38 INTERNAL COMPARATE DATA WRITE 37 INTERNAL COUNTER READ 37 INTERNAL COUNTER 37 INTERNAL PRE SCALE DATA READ 40 81 22 INTERNAL PRE SCALE DATA WRITE INTERRUPT OUT ENABLE MODE RESET 36 INTERRUPT OUT EN
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