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C-874V1 取扱説明書

1. 0 1 X YO PULSED 00000000 0 0 COMMANDO 00000000000 00 HHHHHHHHHHHHHHHHCOMMANDHHHHHH40usHHHHHHHHHHHH U2 amp YHHHHHHHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVEHHHHHHG2S S HHHH2OusHHHHHHHHHHHH U3XHHSOFTLIMITHHHHHHHHHHHDRIVEHHHHHXUHHHHSOFTLIMITHHHHHHHH YHHSOFTLIMITHHHHHHHHHHHDRIVEHHHHHYHHHHHSOFTLIMITHHHHHHHH HHDRIVEHHHHHHHHSOFTLIMITHHHHHDRIVEHHHHHHHHHHDRIVEHHHHHHHH YYH tuti STATUS1 PORTO DREND LSEND BITO 1 SOFT LIMITH STATUS1 ERROR BITO STATUS5 PORTO CW CCW SOFT LIMIT BITI 01000000 0 4X0 O END PULSED SETHHHHHHHPDRIVEHHHHHHHH PULSED END PULSED HHHHHHH 0 5 O S RATE 0000 0 0 S RATEH 0 DRIVEHHHHHHHH PULSEH O RATED HHHHHH MOTOR TYPEH SERVOH O O O XO O DEND ERROR Hn LB D HH DO DL D C DRIVEN 0 0 0 0 DEND DI DRIVEH PULSEHHHHHHXHHHHHHHHHHHHHXYHHHDENDHHHHHHHHH HHHHH XO O STATUS PORTO ERROR BITO 1HHHHHPDRIVEHHHHHHHHH 0 6 X 0 0 0 163 20 2 COMMAND COMMANDH COMMANDO 0000000000000000 0 0 0 COMMANDO D D D 4u SO D HHHHHHHHHH HEX CODE COMMAND COMMAND HH NDXCHNG HH MM XYHHHHHHCOMMAND RATE CHANGE COMMAND DRST OUT SPEED CHANGE 0 0 0 COMMAND INT MASK PULSE COUNTER PORT SELEC
2. XU URATEH xy DRATEHHHHHHHHHHHHHHHHHHH HHH12 7HHHHHHHHHHHHHH HHHHHHHHHHHHHHDATAHHHH 0 0 0000000 10000 200020000 STATUS1 PORTO ERROR BITO 1000 4 HHHHHHHHHHHHHHDRIVEHHH HHHHHHHH HHHHHHHDRIVEHHHHHHH HH 0 4 0 5 0 00000000 31 5 14 0 SCAN INCREMENTAL STRAIGHT CP SCAN DRIVE COMMAND ABSOLUTE STRAIGHT CP SCAN DRIVE COMMANDHHHHHHHHHHHHHH2HHHHHSCANDRIVEHHHHHH HHH 5 26 5 27 5 280 000000000000000 DRIVE 5 SPEEDH RATEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 00000 9 0 2 CWP gt CWP X HSPD X LSPD URATE XI DRATE t XCWP XCCWP YCWP t 3 YCCWP SCAN DRIVEH DATAHHHHHHHHH DATAH 0 0 0 COMMAND HSPD HIGH SPEED HSPD SET X SET LSPD LOW SPEED LSPD SET X SET XU URATE D 0000 RATE SET X SET XU RATE SET X SET OOOO O ADDRESSH 0 ADDRESS STRAIGHT SCAN DRIVE 0 0 SET
3. 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc com TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com scHHH
4. COMMAND 72 000 HHHHHS RATE INDEX DRIVEH DRIVE DATA1 2 3 PORTO 0 0 PULSED 00000000600 me DRIVE DATA1 2 3 ATUSI BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D Y ME 3281251 Li pp 12 1 PCRT U L WI TE PULSED 00 FFFFFF DATA2 PCRT CCWHHHHHHHHPULSEHH2HHHHHHHHHH T O PULSED O D LU D DATA3 PORT DATA2 PORT DATA3 PORT WRI TE 8 388 607 FF 0 00 OA 72 0 00 00 WI 10 F6 8 388 607 00 Ol 6 32 S RATE ABSOLUTE INDEX COMMAND COMMAND 731 000 HHHHHS RATE INDEX DRIVEH D B OD HHHHHHH DRIVE DATA1 2 3 PORTO O 0 0 O 0 O ADDRESSH O O O me DRIVE DATA1 2 3 PORTHHHHHHHHHHHH ATUSI BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D Y L 1 L 1 212 L 1 12 DATAl PORT H WI ADDRESS 00 DATA2 PCRT 0 55 2 0 000 ADDRESSO 000 DATA3 PCRT D D ADDRESS 10 O O DATAl PORT DATA2 PCRT DATA3 PCRT URI TE 48 388 607 7Fn FF FF 00 00 OA 00 00 00 VRI 10 FF FF F6 8 368 607 80 00 01 69 6 33 CENTER POSITION SET
5. 0 20 0 OO O O 0 DRIVE S RATEH O O DRIVED 0 0 0 2PULSEH O DRIVEH HHHHHHHHH HHDRIVEHHHHHHIIHHHHHDRIVEHHHPULSEHHHHLLHHHHHHHHH 127 Ep 12 8 O SCAN DRIVE S RATEI O SCAN DRIVE TIMING X D XD YD D IOW U RATED DRATE 1 COMMANDH t10 150ns t20 128p s 158 s 97us 129us XCWP t30 150 s 188p s 117us 149us YCWP I WII X Y STATUS1 J RATE 0 URATEz DRATE 0O 1 DRIVE t10 150ns t2 1 4ms L TYPE 1 4ms X Y STATUSI J t30 12 22u s BUSY 11 t2 k O 1 STRAIGHT CP SCAN DRIVE S RATE STRAIGHT SCAN DRIVE 0 B RATED 0 DRATE URATE DRATED O0 000000 12 9 0 0 SCAN DRIVE S RATE SCAN DRIVE TIMING XH YH D srEPPING 0 0 DRVED XD D DD D DD D l XD IOW RATED URATE DRATE 1 COMMANDH t10 150ns t2 478p s 572 s 232us 264us XCWP t3 500 s 594 s 252us 284us YCWP LL X Y STATUS1 J RATE URATEz
6. DRIVEH U U O DRIVE SPEED RATEH XB B D H B D 1 D 5 20 2965 820 0 0 000000 UU U U PULSE gt CWP XI HSPD PUL SE XI LSPD URATE DRATE t XCWP LIENS mw 33 XCOWP x YCWP YCCWP Nm DATAH 0 COMMAND HSPD HIGH SPEED HSPD SET X SET X LSPD LOW SPEED LSPD SET X SET URATE 0000 RATE D SET DRATE 0000 RATE SET DU O 0 ADDRESS ADDRESS 0 PREDATA SET X SET PASS POSITION SET X SET ADDRESS ADDRESS CIRCULAR CP DRIVE X0 SET 1 0 2 X LSPD O URATE DRATEH PULSEH URATEH xy DRATEHHHHHHHHHHHHHHHHHHH HHH12 7HHHHHHHHHHHHHH HHHHHHHHHHHHHHDA
7. 16 9 JO0G DRIVE PROGRAMI a 16 3 SCAN DRIVE PROGRAMO 16 4 D 0 INDEX DRIVE PROGRAMO 16 5 ORIGIN DRIVE PROGRAMI tse ERS 16 6 0 O O O D D O D DRIVE PROGRAMO 16 7 00000000000 DRIVE PROGRAM 16 8 PULSE COUNTER DATA READ PROGRAM EST t7 r l E T L ds gt 18 DATA 18 1 L TYPE RATE DATA TABLE 18 2 M TYPE RATE DATA TABLE 18 3 H TYPE RATE DATA TABLE 18 4 RATE CURVE GRAPH 1 8 AERE EOS IIR enema 20 C 874v1 COMMAND Ezx 20 1 DRIVE COMMANDO COMMAND 20 2 COMMANDOCOMMAND 21 Did 5 6 5 8 5 8 5 8 5 8 6 0 6 1 6 4 6 5 6 5 HHHHHHPCIHHHHR2 1HHHHHPCIHHHHHHHHHHHHHHHHHH SERVO STEPPING 4800 0020 00000 0 00 0 CONTROLLER O 0 PCI O O 5V SHORT CARDO 0 0 107x 170 H HHHHHHHHHHCHIP
8. X0 DRATEHHHHHHHHHHHHHHHHHHH 12 60 0000000000000 HHHHHHHHHHHHHHDATAHHHHHHHHHHHH 28 KEER 3HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVE 0 H J STATUS1 PORTO ERROR BITO 1 00000 0 40 0000000000 2H 2 965 820HHHHHHHHDRIVEHHHHHHH 0 STATUS1 PORTO ERROR BITO 10 U 5 ADDRESS 0 DRIVE U J ADDRESS COUNTER H B D J J DRIVE HHHHHHHHHHHHHHHHHHHH ADDRESS COUNTERH D 0 D D O D O D D DRIVE DRIVEH STATUS1 PORTO ERROR BITO 1000000 U DU U Y ADDRESS COUNTER U U U U DRIVE HHHH HHH ADDRESS 8 388 607 2 00000000 X0 ADDRESS COUNTERH 0 O O DRIVE ADDRESS 8 388 607 HHHH d 000 tanan CS00000000000000000000000000000000000 00 0 DRIVEH HHHHHHHHHHHHHHDRIVE HHHHDRIVEIHHHHHHHHHH DRIVEH X0 0 O O O O SPEEDO RATEHHHHHHH HHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVEHHHHHHHHHHHHHHHPDRIVEHHHHHH HHHHHHHHHH HHHHHHHHHHDRIVEHHHHHHH XI U STATUS1 PORTO ERROR BITO 10 U U U 1 DRIVE 1 1 1 Li ti 29 5 12 0 0 0 0 0 DRIVE X YII I INCREMENTAL CIRCULAR2 DRIVE COMMANDH ABSOLUTE CIRCULAR2 DRIVE COMMANDH 0 0 HHHHHHHHHHHHHHHHHHHHHHHHHHH HH ADDRESSI D D D ADDRESS H U U
9. BUSY 0 DATA1 PORT D D 1 PCRT H 0 0 0 0 0 W H DFL COMP STOP DATA2 PRT DFLINT OUTPUT W H DFLINT LATCH TRIGGER TYPE 0 DATA3 PORT 0 M OHHHHHHH COMAND 09 W TE DRIVE DATA1 BIT uut POWER ON RESETH O D D EKE Lr EZ E LEE E E o 1 DFL COMP STOP TYPE D 0 COUNTER COMP STOP ENABLE HHHHHHH BITH 0 COMPARATOR1 20 0 100000 2 DFLINT OUTPUT TYPE D 0 0 COUNTERHH O 0 O ZDFLINTI O00 D UO D BEL D BEL DO BITE LI COMPARATOR1 20 00000000000 L COMPARATOR 000000000000 HHHHHHHSTATUSS READHHHHH 10 COMPARATORHHHHHHHHHHHHHHHHH HH HHHHHHHCOMPARATORHHHHHHHHHHHHHHHH STATUS3 READ 000000 HHHHHH 3 DFLINT LATCH TRIGGER TYPE D COUNTER ZDFLINTH COMPARATOR1 2H HHHHHHHHHHHHHHHHHBITHHH HHHHHHHHHSTATUSSREADHHHHH2ZDFLINTHHHHHHHHHHH D 0 0 Uu HHHH HHHHHHHHHHHHHH STATUS3 READH 0 O ZDFLINTH 0 RESET 000 5g DRIVE DATA2 DATA2 PORT D D COUNT CLOCK TYPE COUNT PATTERN TYPE C
10. SRATE SET COMMAND SLSPD SET COMMAND HH SHSPD SET COMMAND HH SSRATE ADJUST COMMAND SERATE ADJUST COMMAND SCSPD1 ADJUST COMMAND SCSPD2 ADJUST COMMAND S RATE SCAN COMMAND S RATE INCREMENTAL INDEX COMMAND S RATE ABSOLUTE INDEX COMMAND CENTER POSITION SET COMMAND PASS POSITION SET COMMAND ABSOLUTE STRAIGHT DRIVE COMMAND S RATE ABSOLUTE STRAIGHT DRIVE COMMAND ABSOLUTE STRAIGHT CP SCAN DRIVE COMMNAD S RATE ABSOLUTE STRAIGHT CP SCAN DRIVE COMMAND HH ABSOLUTE CIRCULAR1 CP DRIVE COMMAND S RATE ABSOLUTE CIRCULAR1 CP DRIVE COMMAND HH ABSOLUTE CIRCULAR1 SCAN DRIVE COMMAND HH S RATE ABSOLUTE CIRCULAR1 SCAN DRIVE COMMAND HH ABSOLUTE CIRCULAR2 DRIVE COMMAND S RATE ABSOL
11. SCAN DRIVEH HHHHHHH SCAN 0 DRIVEH D HHH DRIVEH HHH DRIVEH 0 HHH DRIVEH 0 S RATE SCAN DRIVEH J M S RATEH HHH SCAN DRIVE OUTLINED D DRIVEH D c S RATE OUTLINED DRIVEH OUTLINE POSITIOND ET E ES EE EE TE 0 0 0 0 0 0 5 26 5 27 5 28 5 29 5 30 5 31 5 32 5 33 5 34 5 35 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 6 15 6 16 6 17 6 18 6 19 6 20 6 21 6 22 6 23 6 24 6 25 6 26 6 27 6 28 6 29 6 30 6 31 6 32 6 33 6 34 6 35 6 36 6 37 6 38 6 39 6 40 6 41 6 42 6 43 6 44 6 45 6 46 6 47 HH SERVO DRIVER 00 D e RU EIE ELE IPB DH D SPEED DATAHzHHHHHH DRIVE M AO SPEED Oi H UH DATA ED H B T 000000000 HHHHHHHHHHHHHHHHHH O DRIVE COMM
12. amp C 874v MNO0055 2 HHUHHHHHHHHHHHHHHUHL HHUHHHHHHHHHUHHHHHHHHHHHUHHHHHHHL oag aa p3 LE E HHUHHHHHHHHHHHHUHHH HHHHHHHHHUHHHHHHL HHHHHH HHHHHHHHL ORMAL ON 1 N 0 FSSTOPO 0000000060 FSSTOPT FSSTOP oodo uuu E LT L3 LU E LT L3 L3 LC LT L3 r3 LT L3 r3 HHUHHHHHHHHHUHHHHHHHHHH UL HHH 00800 4 1 4 2 4 8 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14
13. COMREGINTH STATUS1PORTHHHHH BB HHHHHHHHHHHHHHHHHHHHH COMREGINTH O 0 STATUS5 PORTO RDYINT COMREGINT BIT 0 900000 COMMAND SPEC INITIALIZE1 COMMND RDYINT TYPEH U D uuu HHHHHHHHHH RDYINTHHHHHHHH 44 5 26 01 00000 SLOW STOP 0 0 PULSED 0 000 HHHHHHHHH HHH2ASENSORHHHHHHHHHSLSTOPHHHHHHHHHH PULSED D l HHHHHHHHH 0 0000 PULSED O SSENDO 10 U LOW STOP s m Z r3 r3 r3 US 5 274 0 D D LI l HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHH FSSTOPH FAST STOP COMMANDH PULSEH HHHHHPULSEHHHHHHHHHHFSENDH 1D 0 0 DRIVEH O D FAST STOP COMMANDO FSSTOPHHHHHHXYZAH4HHHHHHHHHH HHHHHHHHHHHH 9 5 28 LIMITH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH UUDDDDDDBDGUUUUDUUUDUDUDUB HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH LIMITHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHH E RAT HSPDHHHHHHHHHHHHHHHHH
14. 000000000 0 0 COMMANDO 4 0 DRIVEH 0 COMMANDHXHHHHHHHHHHHYHHHHHHHERRORHHHHHH 0 SPREDATA SET COMMAND E4HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVE HHHHH 0000 SETD D COMMANDO U U O MAX200nsH U HHHHCOMMANDHHHHHHHHHHHHHHHHHH 6 2 COMMAND COMMAND HHCOMMANDHHHHHHHHHHHHHH HHHHHHCOMMANDHHHH 4hsHH HHHHHHHHHHHH PREDATASET 11110000 PREDATA SET MAX200ns 11110001 JJ COMREG CLR RESET MAX200ns SPEED CHANGE INT MASK MAX200ns ADDRESS COUNTER PORT SELECT MAX200ns DFL COUNTER PORT SELECT MAX200ns E SLOW STOP 0 6 3 OPERATION COMMAND COMMAND HHH 50 6 4 SPEC INITIALIZE1 COMMAND COMMAND 01 000 000000000600 HHHHHHH DRIVE DATA1 PORT DRIVE CONTROLO i D H D D DRIVE DATA1 PORTO 00000000000 DATA1 PORT D D EE Tg L LH 01 DRIVE TYPE VRI LIMIT STOP TYPE MOTOR TYPE RDYINT TYPE BITHHHHHHHHHHHHHHPOWERONRESETHHHHHHHHHHHHHHHHHHH 1 DRIVE TYPE D D DRIVE TYPE BITH I HHHHHHH 2 LIMIT STOP TYPE D CWLM CCWLM HHHHLIMITHHHHHHHHHHBITHHH oH 00 100000 3 MOTOR TYPE D MOTORO U BITI
15. CWO O O O Puse 0 37 YDRSTOM 424V 87 APRSToOM 0850 0000 124 39 D APENDAPO NC U uuu EA sud 000 HEB 3 UU ZORG YHHHHH 100 YZORG YHHHHH 4100 96 AORG AIHHHHH 4100 NC HHHH 97 NC Du 49 9 NC NC 9 U uuu NC 0000 100 NC 0000 92 A00 93 B 000 94 B 400 95 3AZCRG 000 1 m lslsl llslslalg O U END POH O 0 SERVOHHHHHHHHHHHHHHHSTEPPINGHHHHH HHHH HHHHHHH DEND 140 19 9 X00000000000000 YZA00000000000 1 J1 5V J1 EXTV 24V O XOWLM XCCWLM FSSTOP XNORG HIGHHLLH 0 8mAT 0 XDEND XPO ZSENSOR LOWT ITIIT 2 5mAH 0 RESET 18VH O0 HIGH 6VHH LOW 24V0 45V D 4 INO O IN3 1 3mAD 77 LOWHHHH 7 0mAD D _ 20VH 0 HIGH UW O XDRSTCOM 3V0 LOW 1 Je Max15mA EXTVH 24VH EIS OUTO OUT3 SINKT 0 XDRST 2 0VH 0 SINK50mAH MM LOWHHHH 0 6VH 0 SINK30m
16. PREDATA SET COMMANDO O 0 0000 O0 PREDATA SET COMMANDHHHHHHHHHHHHHHHH 85 6 50 S RATE INCREMENTAL CIRCULAR1 DRIVE COMMAND COMMANDO COMMAND CW H DRIVEH CCW H p DRIVEH 97 000 SHHHHHHHHHHHHHHHH DRIVEH HHHHH X PREDATA SET COMMAND DRIVE DATA1 2 3 ADDRESSI J HHXHHHHH 0 1 DRIVE DATA1 2 3 PORTO O 0 O YO O ADDRESSH PREDATA SET COMMAND HHHHHH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 22 ADDRESS 0 FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 X DATA1 PORT VAI DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D X DATA2 PORT 2 2512 28 27 20 VAI L X DATA3 PRT 0 D ADDRESS 00 FFFFFF VAI D UU ADDRESS Y 1 PCRT HH VAI TE 0 000 ADDRESSHH D X Y DATA2 PORT X Y PORT DATA2 PCRT 38 388 607 FF FF 10 00 0 00 00 DATA3 PCRT 10 FF F6 TE 8 388 607 00 01 X 96 97 1 0 DRIVE PREDATA A
17. 200000000000 0 0000 START POSITION END POSITION 0 0 DRIVE HHHHHHHHHH 20 2965 20 START POSITION END 0 DRIVE 000000000000 0 ADDRESS COUNTERIH HHHHHHHHHHHHHHHHHH DRIVEH ERROR CODE STATUS1 PORTO ERROR BITO O 0 0 0 0 COMMANDO 0 O HHHHHHCOMMANDHHHHHHHHHHHH 100 X X 6 68 COMREG INITIALIZE COMMAND X XHHHHHHHH COMMANDO O O YO ZH AHHHHHHHHHHH COMMAND E3 DRIVE DATASPORTHHHHHHHHHHHHHHHHHHH DRIVE DATA3 PORTO O0 000000000 DATA3 PORT D D L lt COMREG ENABLE COMREGINT ENABLE COMREGINT COUNT BITHHHHHHHHHHHHHHPOWERONRESETHHHHHHHHHHHHHHHHHHH 1 COMREG ENABLE D 1000000000 HH 2 COMREGINT ENABLE 0 10 COMREGINTO HHHH 3 COMREGINT COUNT D D D D BIT 1HHHHHHHHHHCOMREGINTHHHHHHHHHHHHHHHHHHHH U O COMREG INITIALIZE COMMANDHHHHHHHHHHHHHHHHHYHH
18. 43 5 25 En ramp DRIVE COMMAND DRIVE DATA1 2 3 HU DD COMREG INITIALIZE COMMANDO O00000 HHHHHHH BUSY 1 STATUS5 PORTO COMREG DRIVE DATA1 2 30 0 0000000000000000 0 lt 10 HHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHH COO Lal x gt u g oo zu ED ooo ox x sun o Zoo rm S E ETE F EG INITIALIZE COMMANDO L1 XI 0 STATUS5 PORTO COMREG FL BITO 0 0 COMREG FL 00 0 0 DRIVE COMMAND PORTO DRIVE COMMANDO ATA1 2 3 PORTO DATAH DRIVE COMMANDHHHHHHHHHHHHHH D D DRIVE DATA1 2 3 DRIVE COMMANDO HHHHHH COMREG FL 10 C D HHHHHHHHHHHHHHHHH DRIVE DATA1 2 3 DRIVE COMMANDHHHHHHHHHHHHHHH 070000000 0 COMREG FL Or 0000 XD D D O0 COMMANDO DO UO d B D D XD D U YO 0 COMREG F XHHHHHHHHHHHHHHHHHCOMMANDHHHHHY XHHBUSY 1HHHHYHHHHCOMMANDHHHHHHHH HHHHHHHHHHHHHHHHHH COMMANDO O 0000 0 COMMA COMMANDHHHHHHHHHHHHHHHHHHHHHH 0 0 COMMAND COUNTER COMMAND SPECIAL SCAN DRIVE1 2
19. 0 O0 XCCWLMH U O CCW LIMITH Joc DRIVEL ORG 11H O 00 HSPD CSPD JD HHHHHHH HHHHHHH HHHHHHH HIGH SPEED CONSTANT SPEED SCAN DELAY TIME JOG DELAY TIME HHHHHH 000000 U HHHHHHHXORGHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 11 00000 1 ORG 0 1 22 3 XORGH ORG 10 XNORGXORGH HHHHHHHHHHHHHHHHHHH CCW LIMITH 0 0 0 0 CCW HHHHHH HHHH HH CW Una E uU uuu XORGH HHHO 2 ORG 4 5 O0 XORGH STEPPING D HHHHHHHMOTORHHHHHHHHHHHHH HHHHHHHHHHH OND D D B D N MOTOR HHHHHHHHHHHHHHHHHH SERVO MOTORO 0 0 SERVO DRIVERHHHHHHZH CH HHHH 2 20 C 874v10 XZORG XZORGH HH HH 00000 ZU U 8 ORG 11 12 LIMITHHHHHHHHHHHHHHHHHHHHXCCWLMHHHHHHHHH HHXORGHHHHHHHHHHHHNOTACTIVEHHHHHHHHHHHH 7 A2 0 DU l HHHHHHH 1 ORG 0 1 2 3 11 12H HHHHHHHSPEEDHHORGHHHHHHHXORGHHH1msHHHHHHHHH ORG 4510HHHHHHHHSPEEDHHNORGHHHHHHHXNORGHHH1msHHHHHHHHH ORG 4
20. 12 5 0 O D DRIVE S RATE DRIVE TIMING 12 6 DRIVE S RATEH O O O DRIVE TIMING 12 7 0000 00 DRIVE S RATEH D O 00 DRIVE HHHHHHH DRIVE S RATEH O O O O DRIVE TIMING 5 5 00000 P J E 0 CAN DRIVE S RATE 0 0 O SCAN DRIVE TIMING B PL SCAN DRIVE Stent pA S RATEH 0 SCAN DRIVE TIMING 12 10 OUTLINEH 0 DRIVE S RATE OUTLINEH 0 DRIVE TIMING 12 11 SPEED CHANGE TIMING 1212 DENDU A 1218 0 MING sens a 12140 O CRIMINI GA Eee EEE 12 16 TIMING s asura er E a ee me Ew eu aes 12 17 0 0 0 TIMING 12 18 RDYINTI O TIMING INTA 12 19 CNTINT O TIMING INTAA 12 20 DFLINTI O TIMING INTA 12 21 RESET TIMING EE az 12 22 BUS TIMING HHHHHHHHHHHHHHHH IS SIN gea INE 13 3 0 0 14 2 LIMTHHHHHHHHHHHHHH M 13 000 0D 0D DO D M HHHHHHHHHHHHHHHHHH 15 1 12 8 12 9 HHHHHHHHH HHHHHHHH 16 1 INITIALIZE PROGRAMH
21. STATUS PORT READH 5 H HH 00000 0000 07mmx 170mmx 17mm 0 0 0 3 2 0 1 DRIVEH D JOG 1PULSE DRIVE EEE HHHHHHHHHHHHHH DRIVE INDEX PULSED 0 HH 0 0 ADDRESSH DRIVE MM S RATE SCAN SCANHHHHHHHHHHHHHHHHHHDRIVE S RATE INDEX INDEXHHHHHHHHHHHHHHHHHHDRIVE ES d EE HHHHHHHHHHHHHHH DRIVE UUUUU U U DRIVE HHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVE UUUUU U U DRIVE HHHHHHHHHHHHHHHHHHHHHHH DRIVE UUUUU U U DRIVE HHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVE Tama Eta HHHHHHHHHHHHHHHHHH DRIVE 0000000 SCAN HHHHHHHHHHHHHHHHHHHHH DRIVE OUTLINE O DRIVE D D p POSITIONH HH HHHHH HH DRIVE S RATE O O O DRIVE DRIVE O DRIVE HHHHHHDRIVEHHHHHHHHHHHHHHSHHH DRIVE DRIVE HHHHHHDRIVEHHHHHHHHHHHHHHSHHH DRIVE S RATEH 000000 DRIVE HHHHHHDRIVEHHHHHHHHHHHHHHSHHH DRIVE S RATED O O O SCAN HHHSCANHHHHHHHHHHHHHHSHHH DRIVE D SCAN HHHHHHSCANHIHHHHHHHHHHHHHSHH bRIVE S RATEOUTLINE DRIVE OUTLINE O DRIVEHHHHHHHHHHHHHHSHHHDRIVE OOO B O DRIVE O O I O O D DRIVE O D C O O DRIVE O O O D DRIVE
22. 5 15ms 1000Hz D MODE RESOLUTION RATED D 1 0304 ms 1000Hz SSRATE SRATE 0 1 SSRATE 0 0 0 0 SSRATEH SRATEHHHHHH SRATE SET COMMANDO HHHHHHHHHHHHHSSRATEHHHHHH HHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHHHHHHHHH HHHHHHHHHH 2 SERATE DATAHHH HHHHHHHHHHHHHHHHHHHHHHHh SCSPD2 SHSPDH SRATEH SERATEH N JEU 25 3 SCSPD1 DATADO O 4 SCSPD2 DATADO OD SRATEQ RATEH U 0 SPEEDO SCSPD1 SCSPD2 0 SRATEH SLSPD SET SHSPD SET COMMANDH U SCSPD1 SLSPD SHSPD SLSPD x SLSPD s SCSPD1 SCSPD2 U 1 SCSPD1 SLSPD SCSPD1 SLSPDH SCSPD1 SCSPD2 0 SCSPD1 SCSPD2 0 2 SLSPD SETO O SHSPD SET COMMANDO HHHHHHHHHUHHHHHHH SPEC INITIALIZE1 COMMAND DRIVE TYPED 0000000000600 gt dE 3 SRATEHHHHHRATEHHHHHHHSPEEDHHHHHH SCSPD1H SCSPD2H HHHHHSRATIEHHHHHHHHHRATEHHHHHHHH SLSPD SET SHSPD SCSPD2 SLSPD SHSPD SLSPD x i SCSPD1 SCSPD2
23. DRIVE SPEED RATEH 000000 0 0000000 DRIVEH SHSPD SLSPD SRATEH HHHHHHHHHH S RATE U u U O ADDRESS X 40 9 0 0 CW Hz SHSPD gt HC b i PULSE X SLSPD 7 7 SRATE SRATE t S RATEH DRIVEH DATAH 000000600 DATAH COMMAND SHSPD S RATE DRIVEH HIGH SPEED SHSPD SET X SET SLSPD S RATE DRIVEH LOW SPEED SLSPD SET XH SET XU SRATE S RATE DRIVEHHHHHHHH SRATE SET XH SET HHHXYHH HH ADDRESSH 0 ADDRESS S RATE STRAIGHT CP DRIVEH H SET 0 SLSPD XSHSPDHHHHHHHHHHHHH ISHSPDHHHHHHDRIVEHHHHHH 34 5 17 S RATE 00000 0 DRIVE X Y S RATE INCREMENTAL CIRCULAR1 COMMAND S RATE ABSOLUTE CIRCULAR1 DRIVE COMMANDHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HH ADDRESSH ADDRESS O HHHSHHHHHHHHH DRIVE HHHHH SPEED RATEHHHHHHHXUIHHHHHHH HHHHH HHH DRIVEH 1 5 SHSPD SLSPD SRATEH O00000 HHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHH 20 2 965 8200 0 0 HHHHHH RATED 0 S RATE SCAN DRIVEH IH D D CWP PULSE
24. DRIVE DATA1 2 3 PORTO YO ADDRESSH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L XO ADDRESS FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 L e 142 2 1 2 ADDRESS 00 X PORT ADDRESS CCW HHHHHH2HHHHHHHHHH VI 0 000 Y 1 PCRT D 0 APPRESS 101 Y 1 PORT X Y DATA2 PORT X Y PORT VW FF FF D 00 00 2 PCRT 0 00 00 00 URI TE 10 FF FF F6 8 388 607 80 00 01 DATA3 PCRT URI TE M X 9G WI TE 1 0 DRIVE COMMANDO U PREDATA ADDRESS PREDATA SET COMMANDO PREDATA SET COMMANDHHHHHHHHHHHHHHHH 88 6 54 S RATE INCREMENTAL CIRCULAR2 CP DRIVE COMMAND COMMAND 000 SHHHHHHHHHHHHHHHHDRIVEH HHHHHHH X DRIVE DATA1 2 3 PORTO X0 ADDRESS
25. I H 1 7 3 0RG 1H 0 CCW LIMIT CW LIMIT XORG HSPD HIGH SPEED unn amp o CSPD CONSTANT SPEED E LD LIMIT DELAY TIME auo0 S SD SCAN DELAY TIME A 000000 m ME nn nnnn n lon 4 gt 0000 pe 1 tH HH a 00 00000 0 0 ORGE ODDO 108 7 4 ORG 2H CCW LIMIT 4 7 5 0RG 3H CCW LIMIT XORG 0000 1 1 1 1 4 1 1 1 1 1 nono 1 1 1 ood 3 1 ono lan 1 1 oo 4 ooo loo op 4 gt E ood 1 lon 2 0000 9 x igne lon m ood gt 00000000000 0 XORG 000000000 Cw0000 CW LIMIT CW LIMIT HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME HHHHHH 000000 XORGO Cw 0 0 00 00 0000 00 0 ORGE UJ U D D HHHHHHHHHHHHHHH HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME HHHHHH HHHHHH 7 6 0RG 4 HHHNEARORGHHHHHHORGHHHHHHHH 1 NEAR ORGO CCW LIMIT nnnn 1 1 1 1 i 4 1 1 4 9o 1 0000 lt J
26. SCAN INCREMENTAL INDEX ABSOLUTE INDEX EJ Ez EST EZ EST Ex Ei L1 j I 00011010 00011011 00011100 00011101 01100011110 00011111 CSPD SET MAX 95us MAX 55Hs OFFSET PULSE SET MAX 60us MAX 20us ORIGIN DELAY SET MAX 65us MAX 25us ORIGIN FLAG RESET MAX 65us MAX 25us ORIGIN UUUUU UUUU D 3 SRATE SET MAX 1900 s MAX 150p s SLSPD SET 1900 s MAX 150p s SHSPD SET MAX 190 s 150 s SSRATE ADJUST 140 s MAX 100 s SERATE ADJUST MAX 140 s MAX 100p s SCSPD1 ADJUST MAX 140u s MAX 100p s SCSPD2 ADJUST 140u s MAX 100p s HHHHHIHHHH 01110010 S RATE INCREMENTAL INDEX 01110011 S RATE ABSOLUTE INDEX E E 01100000 01100001 01100010 01100011 01100100 01100101 01100110 01110000 E E E E 48 01111011 CENTER POSITION SET IMAX40hsH42 0000 1111100 PASSPOSITIONSET IMAX4ousH4291 HHHH L VIEBHBEEBJHHEBHH oo 10000000 ABSOLUTE STRAIGHT 2 0 4 0000 10000001 S RATE ABSOLUTE STRAIGHT CP 0
27. mm DRIVE DATA1 2 3 PORTO 000000000600 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D DATAL PORT U i L 12 2 L 1 212 I L DATA2 PCRT LSPD DATA VRI LSPD 10 0 0 3 333 333 32DCD5 H 00 0 DATA3 PCRT TE LSPD SET COMMANDHHHHHHHHHHHHHHHHHHHHHHHH COMAND 07 POWER ON RESETH J LSPD 300Hz0 0000000 VRI 538 56 6 11 HSPD SET COMMAND COMMAND 08 000 0 HSPD HIGH SPEED HHHHHHH DRIVE DATA1 2 3 PORTO HSPDH HzH O 0 3HHHDATAHHHHHHH ne DRIVE DATA1 2 3 PORTO 000000000600 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D 1 POT 25 hr doge 328 VR TE U L DATA2 PCRT HSPD DATA VR TE DATA 1 1 0 38 333 333 82DCD5c L PCRT HSPD SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH COMAND 08 POWER ON RESET I 0 0 HSPD 8000Hz TE O DATAHHHHHHHHHHDRIVE TYPEHHHHHHH S 33HHHHSPEEDHHHHHHHH 57 6 12 DFL COUNTER INITIALIZE COMMAND COMMAND 000 HHCOUNTERHHHHHHHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO 0 COUNTER 00000000 ATUSI DRIVE DATA1 PORTO HH
28. t mm ST U OLD JP1X JP1Y JP1Z JP1A SPEEDO 0 0000 mm0 JP6 JP7 JP8 RDYINT CNTINT DFLINTO O O D 00100 RDY X Y Z A RDY LED RDYH 00 O INO IN1 IN2 IN3 IN LED ACTIVEH D OUTO OUT1 OUT2 OUT3 OUT LED ACTIVEH 0 0 146 HB HH TBH Bn U IU C 874v1 USER PROGRAMO ANSIH HHHHHC 874vIHHHHHHHHIUOHHHHHH ADDRESSH HH iobaseHHHHHHHHHHH HHHHHH DEFI N TI CN def i ne UC unsi gned char def i ne U unsi gned ong def i ne US unsi gned short def i ne XMM i obase 0x0 X AXI S MOO5 CAMAND PORT defi XMXDI1 i obase40x1 Xx AXI S MOS DATAL PORT def i ne XMXDI2 i obase40x2 X AXI S 5 DATA2 PORT def XMXDI3 i obase40x3 S MCOO5 DATA3 PORT def i ne i obase 0x4 X S COUNTER COMAND PORT defi XCNIDI1 i obase40x5 X S CONIER DATA1 PORT def i ne XCNTDT2 i obase40x6 X AXI S CANTER DATA2 PORT def i XCNTDI3 i obase40x7 X AXI S CANTER DATA3 PORT def i ne XMXST1 i obase40x0 S 5 STATUS1 PORT def i ne 5
29. 5 15 0 0 0 0 0 SCAN DRIVE X Y O INCREMENTAL CIRCULAR1 CP SCAN DRIVE COMMAND ABSOLUTE CIRCULAR1 CP SCAN DRIVE COMMANDHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHSCANDRIVEHHHHHH HHH 5 26 5 27 5 280 0 00000000000000 D DRIVEH SPEED RATEHHHHHHHXHHHHHHHHHDRIVEHHHH HH PULSEHHHHH HHHHHHHHXHYHHHHHHHHHHH HXHHHHHHH SPEEDH U RATEHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH2H2 965 820H 00 CWP 0000 00000 gt CWP HSPD C sassa 5 XI LSPD URATE DRATE t XCWP XCCWP YCWP YCcWP ERE s 0 0 SCAN DRIVEHHHH DATAHHHHHHHHH DATAH HSPD HIGH SPEED HSPD SET X SET X LSPD LOW SPEED LSPD SET X SET XU RATE SET X SET XU RATE SET X SET 0 ADDRESS ADDRESS 0 0 O0 PREDATA SET X SET 0 D CENTER POSITION SET X SET 2HHHHHHHHHHH2H2965820HHHHHHHHDRIVEHHHHHHH STATUS1 PORTO ERROR BITO 1500000 3HHHHHHHHHHHHHHDRIVEHHH H4 5HHHHHHHHH 33 5 16 S RATEH S RATE INCREMENTAL STRAIGHT CP COMMAND S RATE ABSOLUTE STRAIGHT CP DRIVE COMMANDO 0 0 0 00 0000 0 0 0 0 ADDRESSO 0 0 0 ADDRESS H SHHHHH2HHHHHDRIVE HHHHHH
30. COUNTER COMAND JUUL ADDRESS DATA WI TE PORT gt NT CUTPUT ADRS DFL PULSE COUNTER PORT SELECT COMMAND DRI VE SELECTOR PATAL 2 3 READ PORT m XLFLI NT OJTPUT 2481 T ADDRESS CONTER ADDRESS TI ALI COMAND 24BI T DATA DATAL 2 200000000 114 TE PORT 8 2 ADDRESS COUNTER 1 ADDRESS COUNTERI 5 0 O 2 8 COUNT DRIVE DATA1 2 3 PORT 000000000000 ADDRESS COUNTER PORTO HHHHHHHHHH HH ADDRESS READ COMMANDHHHHHHHHHUHHHHHHHH DATA 0 8 388 607 8 388 607 PULSE AREAI COUNTER RESETH OH ADDRESS INITIALIZE COMMANDO HH HHH HH HH 8 3 PULSE COUNTER 1 PULSE COUNTH 8 b o PULSE COUNTER MCCOSnnH HPULSEHHHHHHHHHHHHHHHHHHHHHHHHHH COUNT 0 DRIVE DATA1 23 PORTO 000 000000000 00 PULSE COUNTER PORTO 000000000 0 DATAH D 8 388 6070 8 388 607 PULSE AREAH 8 388 608HHHHHHHHHHHHHHHHHHHHHHHSTATUSS PORTO OVF BITI 1HHHHHH COUNTER RESET OH COUNTER COMMAND PULSE COUNTER PRESET COMMANDH HHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHH920HHHHHHHCWCCWHHHHHHH HHHHHHHHHH90HHHHHHHHHHHHCOUNITHHHHHHHHHHHHHHH 00000000000 0000000 O PULSE COUNTER INITI
31. DRIVE DATA1 2 3 PORTO YO ADDRESSH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L XO ADDRESS FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 L e 142 2 1 2 ADDRESS 00 X PORT ADDRESS CCW HHHHHH2HHHHHHHHHH VI 0 000 Y 1 PCRT D 0 APPRESS 101 Y 1 PORT X Y DATA2 PORT X Y PORT VW FF FF D 00 00 2 PCRT 0 00 00 00 URI TE 10 FF FF F6 8 388 607 80 00 01 DATA3 PCRT URI TE M X MAND 9D 1 0 DRIVE COMMANDO U PREDATA ADDRESS PREDATA SET COMMANDO PREDATA SET COMMANDHHHHHHHHHHHHHHHH 89 6 55 ABSOLUTE CIRCULAR3 DRIVE COMMAND X XIHHHHHHHHCOMMANDH COMMAND PASS POSITION SET COMMAND Ex L U HHHHHHHHHHHHHHHHH DRIVEH HHHHH DRI
32. PORT X Y DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 93 VRI TE 10 FF FF F6 8 368 607 80 00 01 84 6 49 INCREMENTAL CIRCULAR1 DRIVE COMMANDO YD COMMAND CW O DRIVED 94 CCW I 0 DRIVE 95 000 HHHHHHHHHHHHHHHH 0 DRIVE HHHHH X DRIVE DATA1 2 3 PORTO X ADDRESSH DRIVE DATA1 2 3 PORTO YO 0 ADDRESS DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 22 ADDRESS 0 FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 25 25 28 2 28 7 X DATA3 PORT 0 ADDRESS 00 URI HADDRESSH CCW HHHHHH2eHHHHHHHHHH 1 PCRT HH URI 0 ADDRESSHH HH X Y DATA2 PORT X Y PORT Y DATA2 PCRT 38 388 607 FF FF VRI 0 00 OA 0 00 00 DATA3 PCRT 10 FF F6 VRI TE _ 8 388 607 00 Ol X OMD 94 95 1 0 DRIVE PREDATA ADDRESS
33. COMMAND 7 HHH HHHHHHHHHHHDRIVEHHHHHHHHHHH 0 ADDRESSH HHHHHHH X DRIVE DATA1 2 3 ADDRESS DRIVE DATA1 2 3 PORTHHHHHHYHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L HHHHHXIHHHADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTH U DATA1 PORT DATA2 PORT DATA3 PORT PATA3 PRT 0 D D D D D D x H ep 1 e L 122 12 U Y DATAL PORT D VAI TE D D D O B D ADDRESS 00 2 PORT 0 0 ADDRESS 000000 20 000000000 VI D ADDRESS D DATA3 PCRT 0 0 55 10 0 0 XY DNA POT X Y DATA2 PORT DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 7B TE 10 FF FF F6 8 368 607 80 00 01 70 6 34 PASS POSITION SET COMMAND x XO O O O O U 0 COMMANDO O O 20 AHHHHHHHHHHH COMMAND 7Cn 000 HHHHHHHHHHDRIVEHHHHH HHHHHHH HHH 1HHH ADDRESS DRIVE DATA1 2 3 PORTO HH 00 0 1 X ADDRESSI HHHHHH DRIVE DATA1 2 3 PORTHHHHHH HHH1 YHHHHH ADDRESSH HHHHHH
34. E 1 SES Ep 1 Es EVE ep aE E w 15 42 LIIHIHHPORTHHHHHHHHHHHHHH 1 PORT D D D D D DF D nmm Lo BT BT BT HHHHHH 2 HHHHHHHHHHHHHHHHC 874v1H 874 1 874 1 n py XH 7 M 0 4 3 DRIVE COMMAND PORT DRIVE COMMANDO J 0 0 PORTO 0 0 COMMANDH 000000000000 DRIVEH O U DRIVE COMMANDO XII O0 H PORTIE EH 7E 7E D DI UH 4 4 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMANDH DATAH 4 5 DRIVE DATA1 2 3 PORT READ ADDRESS READ COMMAND SET DATA READ ERROR STATUS READH 0 COMMAND WRITEH 0 STATUS1 BUSY BITO OHHHHHHHHHH PULSE COUNTER 0 COUNTER ADDRESS COUNTER COUNT 4 6 COUNTER COMMAND PORT PULSE COUNTER
35. 000000 2 DRIVEH J INDEX DRIVEH D PULSED 0 ADDRESSIJ 060000000000 3 DRIVE O0 RATED Z AO X SCANDRIVEHHHHHHHHHHHHHHHH HHHHHHHHHHHH HHHH 4 0 COUNTERI CLOCKH COUNTER CLOCK MCCO5nnHHHPULSEHHHEAEBHH HHHHHHHHHHHH 5 COUNTER COMPARATOR l COUNTER COMPARATOR1 2H HHHHH HHHgHHHHHHHHHHHHHHHHHHHH 6 0 COUNTER COMPARE REGISTER 0 O0 COUNTER COMPARATORHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHH ELTE EE DE BP D EI B 8 SPEEDDATAHHHHHHHHHH PULSED SPEEDHHHHHHHzHHHHHHHHHzHHMODEHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHMODEHHHHHHHHHHHHH 9 0 0 U U PULSED PULSED O 0O 00O DRIVE STARTHHHHHHACTIVEPULSEHHHHHHHHHHHH 100usHH 2OusHHHHHHHHH UUUUUUUUUDUDD 10 PULSED 0 00000000 PULSEHHHHHHHCWCCWHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HH DEX DRIVE 19000 S R HHHHHPULSEHHHHHHHHIGHSPEEDHHHHHHHHHHHHHHHH HHHHHHHHHHPULSEHHHHHHHHHHHHHHHHHHHHHHHHH 12 END PULSE DRIVEL INDEX DRIVE S RATE INDEX DRIVEH HIDRIVEHHHHH HHHHHHHHHHHLOW SPEEDO HHHHHHHHHHHHHHHHHHHPULSEHHHHDRIVEHHHHHHHHHH 19 ORIGIN DRIVEHHHHHHHH ORIGIN DRIVEH ORG H O NORG HHHHHHHHHHHHH CCW LIMITHHHHHHHHH HHHHHHHHHHHHH ORIGIN D
36. SPECIAL INDEX DRIVE1 2 0 10 0 COMMAND COUNTER COMMANDO O0000000000 0000000 COMMANDO 000000000000 oo HEEE IE 15 Eon 53 m ELE 0 0 0 0 E 0 0 0 D 0 HH HH HHHHHHHHHHHHH COMREG CLR 1 0000 000000 CCWLMHHHHHHHHHHHH HHHHHHHH COMREG CLR RESET COMMAND 0 R a zi EE ES C HHHHH 0 HHHHHHHHHH HHHHHHHHHHHHH dao ATUS A ca ca LH omn lt lt m rm 55 PORT COMREG CLR 0 HHHHHHHHHHHH FAST STOP COMMANDHHHHHHHHHHHDRIVEHHH EE EE EFE E Cip E LI L3 pm Opn 200 m Opn 200 oon Opn 200 oon 200 oooO 5 Extr E COMREGINT HHHHHHHHHHHHHHHHHHHHHHHHHHHH COMREGINT COMREGINTH O COMREG INITIALIZE MREGINT HHHHHHHHHHHCOMREGINTHHHHHHHHHHHHHHHH 0 0 0 COMREG INITIALIZE COMREGINT COUNTH COMREG INITIALIZE COMMAND X Y COMREGINTH
37. STATUS3 XDFLINTH PT gt gt STATUS3 DFL COMP1 DFL COMP1 COMPARE ep XDFLINTHHHHSTATUSSPORTHHHHHHHHHHHHHHHH HHHHHHHHHHHHH STATUS3 PORTO READHHHHXDFLINTHHHHHHHHH 3 DFL COUNTER INITIALIZE DFLINT OUTPUT TYPE 10 00000000060 DFL COMPARE REGISTER1 10 DFLO O 000 7X 8 X 9 X 10 X 11 X 70 X 9 X 8 XDFLINT D Ar 5 Tlo STATUS3 DFL 1 COMPARE REGISTER SET COMMANDH HHHHHHHHHHHHHHHHHHHHH U 0000000000000000 0 XDFLNTO 00000000 HHHHHHXDFLINTHHHHHHHH HHHHHHHHHHXDFLINTHHHHHHHHHSTATUSSPORTHHHHHHHHHHHHH O0 COUNT COUNT PATTERNHHHHHHHHHHHHHHHHHHHH XCWP XCCWP H mG IOR 5 XDFLINT HUUHHHHHH tiO 300ns t2 300ns t3 200ns 136 12 21 RESET TIMING RESET 0 0 CWP U U CCWP 0 DRST D RDYINT D CNTINT STATUS1 PENH NN NN NN III NII BN BN BUSY 12 22 BUS TIMING t2 ti b5bms O 500ns t4 10 6ms t2 5ms 1 0ms t50 61u s t3 1 5s O 1 55 READ TIMING
38. XORGH Lon HIGH 10 LOW XNORGH J XCWLM 0 CENNET on LOW 10 HIGH XSLSTOPH O 2 OH HIGH 10 LOW 000 0 a xpEND POuH DIHHHH 0 DO STATUSO 0000000 0000000 O 2 515 0 0 2 0 O O 0 XSLSTOPHHHHHHHHHHHHHHHHHHH 4 10 STATUS3 PORT HHHHH PULSE COUNTERH O O COUNTERH STATUSO OOOO D O PORTO 00 HHHHHHHHHHHH 1 L PLS COMP1 BIT PLS COMP2 BIT PLS COMP3 BIT PLS COMP4 BIT PLS COMPS BIT PLS OVF BIT DFL COMP 1 BIT OrA DFL COMP2 PLS COMP1 BIT PULSE COUNTER COMPARE REGISTERID 0000000000 PLS 2 BIT PULSE COUNTER COMPARE REGISTER20 0000000000 PLS COMP3 BIT PULSE COUNTER COMPARE REGISTERSHHHHHHHHHHH PLS COMP4 BIT PULSE COUNTER COMPARE REGISTER40 O0 00000000 PLS COMP5 BIT PULSE COUNTER COMPARE REGISTERS 0000000000 PLS OVF BIT PULSE COUNTERD 000000000000000 DFL COMP1 0 0 COUNTERz DFL COMPARE REGISTER1 0 0 DFL COMP2BIT 0 0 COUNTERS DFL COMPARE REGISTER2 0 oo D D UUUUUUDDDU Lr 01 READH RESETH 0000 COUNTER INITIALIZE COMMANDO 0 STATUS READH 0 RESETH HHHHHHHHHHHHH
39. out p 0x07 HSPD SET xnacr dy out p XMXIDI1 UC Shspd 2 out p XMOCDT2 UC Shspd 1 out p XMXDI3 UC amp hspd out p XMOOOOM 0x08 ABSQLUTE STRA HT DRI VE xnacr dy ynacr dy out p XMXDI1 UC amp absdt 2 out p XMXDI2 UC X absdt 1 out p XMXDI3 UC SX absdt fc out p YMXDI1 UC amp absdt 2 out p YMXDI2 UC amp Y absdt 1 out p YMXDI3 UC amp absdt out p 0x80 HHHHHH X AXI S MOS UP RATE QUT DON RATE RATE SET QUT X AXI S MOS RD WIT LOW SPEED DATA SET LOW SPEED DATA LSB SET LSPD SET COWAND QUT AS MOS H GH SPEED DATA MB SET H CH SPEED DATA LSB SET HSPD SET COWAND OJT X AXI S MOS WIT Y AXI S 5 RD WIT X ABS ADDRESS DATA SET X ABS ADDRESS DATA LSB SET Y ABS ADDRESS DATA MB SET Y ABS ADDRESS DATA LSB SET ABS STRA CP DORI VE COWAND RAM AREA urate drate RATE DATA Ispd hspd 0 Hz SPEED DATA HHHHHHHHHHHHHHHHX_absdtY_absdt ADDRESSH HHHHHHHHHHHHHH 153 16 70 0000000 0 DRIVE PROGRAMO XU HHHHHHHHHHHH DR
40. 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 5 12 5 13 5 14 5 15 5 16 5 17 5 18 5 19 5 20 5 21 5 22 5 23 5 24 5 25 PORT i E DRIVE COMMAND PORT DRIVE DATA1 2 3 PORT WRITE DRIVE DATA1 2 3 PORT READ COUNTER COMMAND PORT COUNTER DATA1 2 3 PORT WRITE STATUS1 PORT STATUS PORT Eee STATUS3 PORT STATUS4 PORT STATUS5 PORT 0 D WO PORT ZIASENSORI 0 0 PORT JOG DRIVE SCAN DRIVEH INDEX DRIVEH DRIVE SPEEDH D 0 HHHHHHHH ORIGIN DRIVE LIMIT SENSOROD 0 00000000 S RATE SCAN DRIVE S RATE INDEX DRIVE S RATE DRIVED 00000000 M O DRIVE 0 DONE ERE STE EUH EL
41. DRIVE DATA1 2 3 PORT START POSITION No END POSITION HHHHHH DRIVE DATA2 3 PORTO X DATA1 PORT X DATA2 PORT X DATA3 PORT D D D D D 12 START POSITION 00 FFFi END POSITION 0 FFF lt X COMMAND 1 START POSITION END POSITION No 0 DRIVE UUUOUU TE OOOO D XI O STATUS1 PORTO ERROR BITO 1000000 6 63 S RATE ABSOLUTE OUTLINE CP DRIVE COMMAND X 0000 COMMAND C4n 000 000600 HHHHHHH DRIVE DATA1 2 3 PORT START POSITION END POSITION DRIVE DATA2 3 PORTO X DATA1 PORT X DATA2 PORT X DATA3 PORT D D D D D 25 E AIEEE TE 2 E E 3281 START POSITION No 0 END POSITION No 0 X 2 PCRT D X PCRT D X COMMAND 0 1 START POSITION END POSITION No 0 0 0 B B O DRIVED CA O STATUS1 PORTO ERROR BITO 1000000 6 64 0UTLINE OFFSET COMMAND X COMMAND C5 000 OUTLINEH
42. DRIVE DATA1 2 3 PORTH 00000000000 X DATA1 PORT X DATA2 PORT X DATA3 PORT D D D D D D lam L HHHHH HHH1 XH O ADDRESS 00 DRIVE DATA1 2 3 PORTHHHHHHHHHHHH X DATA3 PRT 0 DATA1 PORT Y DATA2 PORT Y DATA3 PORT WW D D D D D D E y peg L 12 DATA PRT D VA 1 YH 0 U ADDRESS 00 FFFFFF DATA2 PORT x ADDRESSH 00000020 0000000600 DATA3 PORT 0 ADDRESSH H HH VA E ADERESS 100 X Y DATA2 PORT X Y DATA3 PORT 48 388 607 FF FF X GOMAND 10 00 OA 7G 0 00 00 10 FF F6 8 388 607 00 01 71 6 35 ABSOLUTE STRAIGHT CP DRIVE X0 II I I COMMANDO YD ZIHJAHHHHHHHHHHH COMMAND 80 HHH HHHHHHHHHHHHHHDRIVEHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO 0 X0 0 D ADDRESS 000000 DRIVE DATA1 2 3 PORTO 0 O O YO 0 ADDRESS 000000 DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L n O ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTHHHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT X DTA PCRT 0 D D D D D D x H ep L e L 1 1 2 uU
43. POWER ON RESETH 00 RESETHHHHHH AD HHHHHHHHHHHHH 5 310 0000000 DRESS INITIALIZE COMMANDO 1 COMMANDH HHHHPCIHHHHHHHHHHHHHHH RDYINTHH HHHHHHHHHHHH DRIVE COMMANDO 0 0 0 FSSTOP STOP LIMITI 0 0 O O 0 0 COMMANDHHH HHHHHHHH HHHHHHHHHHHHHHHHHS3HHHHHH SPEC INITIALIZE1 COMMANDH 10000000 0 POWER 500 100000000 1 2 3 00000000060 U 10000 0 0000 6 2 2 X0 RDYINTI EU D B D U O U COMREGINTH HHHHHHHHHHCOMREGINTHHHHHHHHHHHHHHH S 25H HHHHHHHHH 2 PULSE COUNTER COUNTH HHHHHHH CNTINTHH IHHHHHHHHHHHH 0 0 O O COUNTERH COUNTHHHHHHHHHHHHHHH DFLINTH D HHHHHHHHHHH HHHHHHH COUNTERHHHHH PULSE COUNT COMPAREHHHHHHHHH 5 32 SPEED DATA Hz 000000 SPEED DATA HSPD LSPD CSPD SHSPD sLSPD D Hz0 0 0 30 0 0 0 0 0O DATADO 00000 10 3 333 333 000000 0 0 SPEEDO 1Hz 3 3MHz0 00000 SPEEDH 1 0 HSPDH 0 10000 002710 0 0 00000 HSPD 10000Hz HHMCCO5nnHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH SPEEDDATAHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH IIHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH SPEED DATAHHHHHFHHHHHHHHHHHHHHHFHHHHHHHHHH FD 160 000 000 Hz 160 000 00
44. 0 90FFSETHHHHHHH2eHHHHHHHHHH X DATA2 PRT VW 6 OFFSETH HH H H XY DATA2 PORT X Y DATA3 PORT X DATA3 0 sin L 000 000 42 40 10 00 OA si n0 0 00 00 X FF F6 6 URI TE si n8 1 1 000 000 BD m 1 9 O O 1 000 0000 0 1 000 000 O 1 000 0000 1 000 0000 000000 98 6 66 OUTLINE REFERENCE POSITION SET COMMAND X 00 COMMANDO COMMAND 000 OUTLINEH 0 DRIVEN O B POSITIONH HH H DRIVE DATA1 2 3 PORTHHHHXHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTO 0 YO 0 0 0 0 ADDRESS B LB HD D DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L O O ADDRESS 0H FFFFFF DRIVE DATA1 2 3 PORTHHHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT X DTA PCRT 0 D D D D D D x H ep L e L 122 12 uU Y 1 D VAI B ADDRESS 0 FFFFFF 2 PORT 0 0 ADDRESS J H D B 20 000000000 TE D ADDRESS 000 DATA3 PORT APRESS 10 0 D XY DNA POT X Y PORT X Y DATA3 PORT WTE FF FF 00 00
45. 122 C 874v1HHHHHHHHHHHHHHHHHHHHHHHHHHHHHPCIHHHHHHHHHHHHHHH HHHHHHHHINTA HHHIHHHHHHHHHH 11 1 COMMANDH HHHHHHH HH HHHHHHHHHHHHHHHHHHH XRDYINT XCOMREGINT YRDYINT YCOMREGINT ZRDYINT ARDYINT HHHHHHHHHHHHHHHSTATUS5 PORTO 0 STATUS1PORTHHHHHHHHHH 11 2 PULSE COUNTER DFL COUNTER 0000000000 XCNTINT YCNTINT ZCNTINT ACNTINT XDFLINT YDFLINT ZDFLINT ADFLINT HHHHHHHHHHXY ZAHHORHHHHHHHHHHH COMP1H COMP5 DFL COMP1H 20 OR HHHHHHHHHHHHHHHHHHH COMPARE REGISTER STATUS3 PORTO O D HHHHHHHHHHHHHHHHHHHHHHHHHHINTH STATUS3 PORTO READ 0 O RESET HHHHHHHHHTYPEHHHHHHHHHHHHHHH8 SHHHHHHH 11 3HHHHHHHH s XRDYINT XCOMREGINT EE p YRDYINT YCOMREGINT n X ZRDYINT PCI BUS lt ARDYINT IC lt XCNTINT X PLS COMP 1 5 _ lt YCNTINT Y PLS COMP1 l 5 UN EAE UP Z PLS COMP1 5 lt ACNTINT A PLS 1 5 lt XDFLINT YDFLINT Uc ZDFLINT ADFLINT X DFL COMP1 2 Y DFL COMP1 2 2 DFL COMP1 2 DFL COMP1 2 1 XRDYINTXCOMREGINT ARDYINTH STATUS5 PORTH 000000000 414200000000 11 4HHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHJPeHHJP8HHHHHHHILHHHH HHHHHHHHHHHHHH S ETE ETE E HHHHHH HHHHHH HHHHHHHH HHHHHHHH 15 20 0 0 000 SPEC INITIALIZE1 COMREGINT COMREG INITIALIZE PUL
46. HSPD SET OUT CENTER PCI TI CN SET AND ABSQLUTE RALARI CP VE xnacr dy X AX S MCO5 W T ynacr dy Y AXIS MCO5 W T out p XMXCDI1 UC amp enter X absdt 2 CENTER X ABS ADRESS DATA MBB SET out p XMXDI2 UC amp center X absdt 1 out p XMXDI3 UC amp enter X absdt CENTER X ABS ADRESS DATA LSB SET out p YMXDI1 UC amp center Y absdt 2 CENTER Y ABS ADDRESS DATA MB SET out p YMXDI2 UC amp center Y absdt 1 out p YMXKDI3 UC amp center Y absdt CENTER Y ABS ADDRESS DATA LSB SET out p XMOOOOM Ox7b CENTER PCBI CN SET COMAND QUT xnacr dy AX S MO5 W T ynacr dy Y AXIS MXD5 ROY WIT out p XMXCDI1 UC amp amp absdt 2 DESTI NATI CN X ADDRESS DATA MBB SET out p XMXDI2 UC SX absdt 1 out p XMXDI3 UC SX absdt DESTI NATI ON X ADDRESS DATA LSB SET out p YMXDI1 UC absdt 2 DESTI NATI CN Y ADDRESS DATA NSB SET out p YMXDI2 UC amp Y absdt 1 out p YMXDI3 UC absdt DESTI NATI Y ADDRESS DATA LSB SET out p XMUOOOM 0x84 ABS Q RALARI CP ERI VE COMANND OJT RAM AREA urate drate RATE DATA No Ispd hspd 0 Hz 0 SPEED DATA HHHHHHHHHHHHHHHHHX absdtY_absdt
47. NT DATA SET ESPD SET CHANGE DATA SET CSPD SET AUTO CHANGE SET CFFSET PULSE SET SPEC IN TI ALI ZE5 RESQLUTI SET 62 SHSPD SET PART HSPD SET 3 63 SSRATE AD UST I NCREMENTAL DATA SET SERATE AD UST ABSQ UTE DATA SET SCSPDL UST PART PULSE SET 3 66 SCSPPP AD UST 0 COMMANDHHHHHHHHCOMMANDHHHHHHHHHHHHHHHHHHHHHHHHH 0HHHHHHHHCOMMANDHHHHHHHHDATAPORTHHHDATAPORTNoHHHHHHHH COMMANDO 0 0 0 000 DRIVE DATAS PORTO READ LL LLL DE DI 0 2 0 COMMANDO MODE URATE DRATEH O DRIVE DATA1 PORT WRITE HHHHHHHHH 0 3 0 0 COMMANDO PART No DRIVE DATA1 PORT WRITE DHL 000000 H 4 O 0 HHDATAHHHHHHDRIVETYPEHHHHHHHHHHHHHHHHHHDATAHHHHHHHH HHHHHHH 0 5 POWER ON RESEITHHHHHHHHHHHHHHHHHHHHH 60 6 13 SET DATA READ COMMAND COMMAND 0A HHH XHHHHHHHHHHHDRIVEHHHHHHHHHH HHHHHHHHHH DRIVE DATA3 PORT WRITE H HHHHHHHHHHHDRIVEHHHH HHHHHHHHCOMMANDHHHHHHH DRIVE DATA1 2 PORT WRITE O D O O O D 0 1 X DRIVE DATA3 PORT WRITEHHHHHHHHHHHH DATA3 PORT D D 2 1 1 2 m DATAH COMMAND CODE D 1 DRIVE DATA1 2 3 DATAHHHHHHHH DRI
48. 0 COMMAN 0 0 STATUS1 COMMAND 0 0 0 134 RDYINT tooo 330ns 1 200ns tooo 430ns PULSE COUNTER DFL COUNTER DFL COUNTER em t3 50ns t4 100ns 0 SPEC INITIALIZE1 12 19 CNTINT TIMING INTA 2 HHHHHHHH CNTINTDHH STATUSO 1 5 0 0 0 1 PULSE COUNTER INITIALIZE COMMANDH 0 CNTINT LATCH TRIGGER TYPEH ON 00000 PLS COMPARE REGISTER 7 X 8 X 9 IOR STATUS3I o 8 gt COMP1 5 STATUS3 COMP1H 5 COMPARE REGISTER SET COMMANDH HHHHHHHHHHHHHH10HHHHH 000000000000 0 0 0 XCNTINTH CNTINTH STATUS3 POR HHHHHHHHHHHHH STATUS3 PORTO RE 0 ORORO L3 r3 r3 OO r3 gt D 0 gt lt O r3 d EJ 2 PULSE COUNTER INITIALIZE COMMANDH CNTINT LATCH TRIGGER TYPEH 1000000 PLS COMPARE 5 REGISTER HHHHH 7 X X 9 X 10 IOR STATUS31 XCNTINTH 0 _ 5 5 STATUS3 COMP1H 5 COMPARE REGISTER SET COMMANDO HHHHHHHHHHHHHHHHHHHHHHHH 0000006000000000 0XCNTN 00000000 CNIINTHHHHSTATUSSPORTHHHHHHHHHHHHHHHH COMPARE REGISTERH O0 0000000000 0 D O STATUSS PORTO READH D D D X
49. X Y ORG DRIVE DRIVE ORG DRIVE DRIVE X Y ORG DRIVE ORG FLAG RESET COMMAND ORG DRIVE 166 RI B 1 e 1 2 3 4 5 1
50. 0 SLSPD SHSPDHHHHHHHHHHSHSPDHHHHHHDRIVEHHHHHH 24 5 9 S RATE DRIVE 0 S RATE 0 0 99 U COMMANDH HHHHHHHHHHHHHHHHHHH Hz SHSPD SG 1 SERATE SERATE 1 x PA ES SCSPD1 wt 1 lt SLSPD SsRATE SRATE SRATE SEGNE 1 DATAH COMMAND SSRATE IHHHHHHHHHHHHHH SSRATE ADJUST SERATE IHHHHHHHHHHHHHH SERATE ADJUST SCSPD1 0 0 0 0 0 RATED 0 0 0 0000 0 RATED 0 SPEED SCSPD1 ADJUST SCSPD2 0 0 0 RATED 0 0 B 0000 B RATED SPEED SCSPD2 ADJUST 1 SSRATE DATA OD O UUUUUUUUUUUUUUUUUOUUUUUUU SLSPD SCSPD1 O 0 O SSRATE SRATEH BL B HH B B HB B C D D SRATE SET COMMAND U SRATE 8r 000000000000 1 DRIVE TYPED 0 0 MODEHH SSRATED 00 0 0 SRATEJ HL HL CL B D RATE DATATABLEHHHHHHHHHHHHHH SRATEH 8H RATE DATA TABLE SRATEH 80 SSRATEH 5 DRIVETYPEHHHHRATIEHHHHHHHHHHHHHHHHH L TYPE 1030ms 1000Hz M TYPE 51 5ms 1000Hz
51. X AXI S MOS CONSTANT SPEED DATA SET CONSTANT SPEED DATA LSB SET CSPD SET COMAND OUT AS MOS CFFSET PULSE DATA OUT CFFSET PULSE SET COWAND X AXI S MOS WIT LIMT DELAY TI ME SCAN DELAY TI ME OUT J OG DELAY TI ME CRG DELAY SET CCMAND AS MOS WIT CRI G N TYPE No OJT CRI GN ERI VE COMAND QUT U RAM AREA urate drate RATE DATA TABLE No lspd hspd cspd Hz SPEED DATA offsett OFFSET PULSE Idelay sdelay jdelay O O DELAY TIME DATA HHHHHHHHHHHHHHHHoronoHHHHHHHHHHHHHHHHHHHHHHHHH 16 6 0 D DRIVE PROGRAMI HHHHHHHHH DRIVEH O XJ URATE DRATE LSPD HSPDH DATAHHHHHHHH DATAH DRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH RATE SPEED DATA HHHHHHHHHHHH DRESS RIVEHHHHHHHHHHHH HHHHHHHHHHHHHHH HHHHHHDRIVEHHHHH AD ERE XY 5 ABSCQLUTE STRA HT CP DOIVE pru EET us CS EFIE voi d absstrai ghtcp voi d 1 RATE SET GOMMNND xnacr dy out p XMXDI2 urate out p XMXDI3 dr at e out p 0x06 LSPD SET xnacr dy 5 out p XMXDI1 UC spd 2 out p XMXDI2 UC amp spd 1 out p XMXDI3 UC amp spd
52. Y 1 D VAI D B D ADDRESS 00 FFFFFF 2 PORT 0 0 ADDRESS 0 00000 20 000000000 VI D ADDRESS D DATA3 PCRT 0 0 55 10 0 0 XY DNA POT X Y DATA2 PORT DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 80 VRI TE 10 FF FF F6 8 368 607 80 00 01 72 6 36 S RATE ABSOLUTE STRAIGHT CP DRIVE COMMANDX XT COMMAND 811 uuu SHHHHHHHHHHHHHDRIVEHHHHHH X0 DRIVE DATA1 2 3 PORTO O 0 O X0 O 0O 0 0 ADDRESSH HHHHHH DRIVE DATA1 2 3 PORTO O 0 O YO O J O 0 ADDRESS 000000 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L n O ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTO HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep L e L 1 1 2 uU Y 1 D VAI D B D ADDRESS 00 FFFFFF 2 PORT 0 0 ADDRESS 0 00000 20 000000000 VI D ADDRESS D DATA3 PCRT 0 0 55 10 0 0 XY DNA POT X Y DATA2 PORT DATA3 PORT WTE FF FF 00 00 X COMAND 0 00 00 00 81 WW TE 10 FF FF F6 8 368 607 80
53. gt CWP 2 SHSPD ges O O PULSED p lt E AN SLSPD 1 SRATE SRATE S RATEHHHHHHHDRIVEHHHHDATAHHHHHHHHH DATAH XO SHSPD S RATE DRIVE HIGH SPEED SLSPD S RATE DRIVE 0 LOW SPEED XI SRATE S RATE DRIVEH 0000000 B 0 0 ADDRESSH ADDRESS ADDRESSTI O ADDRESS COMMAND SHSPD SET X SET SLSPD SET X SET SRATE SET X SET D PREDATA SET XH 0 SET CENTER POSITION SET X SET S RATE CIRCULAR1 CP DRIVEH 0 X SET 1 XU SLSPD XSHSPDHHHHHHHHHHHHH SHSPDHHHHHHDRIVEHHHHHH 0200000000000 0 0 0 00 0 3 0 4 0 5 0 600 0000000 35 5 18 S RATEQ D 0 0 0 0 0 DRIVED O XYH HH S RATE INCREMENTAL CIRCULAR2 CP COMMAND S RATE ABSOLUTE CIRCULAR2 CP DRIVE COMMANDHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HH ADDRESSH D HH ADDRESSyHHHHSHHHHHHHHHDRIVEHHHHHH DD DRIVE SPEED RATEHHHHHHHXHHHHHHHH HHHHH O O d DRIVEHHHH 0 O PULSED O O O 0 SHSPD SLSPD SRATEH O O O O O D HHHHHHHHHHHHHHHHHHHHHHHH 2965 820 I O O O O O RATED 0 0 S RATE CWP Hut PULSE 000 gt 2 SHSPD U O PULSE pA EN SLSPD t S RATEHHHHHHHDRIVEHHHHDATAHHHHHHHHH DATAH COMMAND XO SHSPD S RATE DRIVE HIGH SPEED SHSPD SET X
54. HHHHHHHHHPPLSH PULSED DFLHHHHHHHHHHHHHHHHHHHHHHHHHHH 18 4 11 STATUS4 PORT HHHHHHHHHHHHHHHHHHHHHPORTHHHHHHHHHHHHHHH elelee eler sonoma x L FSSTOPHH 0000 ON LOW 10 HIGH 0 0 1 og HIGH 10 LOW XEA o LOW 10 HIGH o LOW 10 HIGH XDRSTII HIGH 10 LOW 00000 0 1 XSENSORH j 0 ZASENSORH 0 0 0 0 XSENSORHHHHHHHHHHHHHHHHHHHH HHSENSORHHHHHHHHHHHHHHHHHHHHHHHHHHH 2HSTATUSHHHHHHHHHHHHHHHHDATAHHHHHHHH 4 12 STATUS5 PORT RDYINT BITO HHHH SOFT LIMIT SPEED CHANGED PORTH U CCW SOFT LIMIT BIT 1 CW SOFT LIMIT BIT 1 COMREG CLR 3 RDYINT BIT COMREGINT BIT 0 2 3 COMREG FL BIT 3 SPEED CHANGE BUSY BIT 0 4 RATE CHANGE BUSY BIT 1 4 INDEX CHANGE BUSY BIT 1 4 CCW SOFT LIMIT BIT CCW SOFT LIMIT B D H B DU DU D UO D CW SOFT LIMIT BIT COMREG CLR BIT HHHHHHHHHHHHHHHHHHHHHHHHH RDYINT BIT HHHHHHHHHHHHHHRDYINTHHHHHHHHHHHH HHHHHHHHHHHHHHCOMREGINTHHHHHHHHHHHH COMREG FL BIT HHHHHHHHHHH 00 HHHHHHH8HHH FULLHH HHHHHHHHHHHHH SPEED CHANGE
55. HHHHHHHPROGRAMHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 148 X CENTER ADDRESS DATA FCR Q RALAR CP ERI VE Y CENTER ADRESS DATA FCR Q RALAR ERI VE 16 1 INITIALIZE PROGRAMI 1 DRIVE DRIVE TYPE LLIMIT STOP TYPED 0 MOTOR STEPPING RDYINT TYPEHHHHHHH HHHHHH 0000060680 2 PULSE COUNTER COMPARATORH PULSE COUNTER MCC05nn DRIVE PULSED 0 0 00000000 COMPARE REGISTER1HHHHHH CNTINTO 0 0 0 0000000 0 COMPARE REGISTER1H HH O0 O 0 10000 2710 0 0000 COMP STOP TYPEHHHHHHHHHHH 3 ADDRESSH MOTORH 0 D ADDRESS 1000 3E8 D 0 D PULSE COUNTER O 1000 3 8 0 PRESET 0000 esa X AX S MOS IN TI ALI ES CS A RAS voi d XTCCO5i nz voi d 1 SPEC IN TI ALI 2 1 COMAND xnacr dy out p XMXDI1 Ox28 X out p 0x01 PUSE CANTER IN TI ALI ZE COWAND xnacr dy out p XMXDI1 0x01 out p XMXDI2 0x20 pn out p XMXDI3 0x00 ET out p XMCOCOM 0x02 F ADDRESS IN TI ALI ZE COMAND xnacr dy out p XMXDI1 0x00 J out p XMXDI2 0x03 out p XMXDI3 0xe8 out p 0x03 COUNTER PRESET out p XCNTDT1 0x00 out p 0x03 out p XJNTDT3 Oxe8 out p 0x00 C
56. L 142 2 12 HHH 2Y0 0 0 0 ADDRESS 00 X DAIA3 PORT ADDRESSI CCW HHHHHH2HHHHHHHHHH VI 0 000 Y 1 PCRT D 0 APPRESS 101 Y 1 PORT X Y DATA2 PORT X Y PORT VW FF FF D 00 00 2 PCRT 0 00 00 00 URI TE 10 FF FF F6 8 388 607 80 00 01 DATA3 PCRT URI TE M X QOMAND BG TE 1 DRIVE COMMANDO PREDATA SET COMMANDO 17 X Yt 00 0 0 ADDRESS O PREDATA SET COMMANDO U PREDATA SET COMMANDHHHHHHHHHHHHHHHH 92 6 58 S RATE INCREMENTAL CIRCULAR3 CP DRIVE COMMAND COMMAND BD SHHHHHHHHHHHHHHHHDRIVEH XI DRIVE DATA1 2 3 PORTHHHH2XHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTHHHH2YHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L 2 U 0 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 L e L 142 2 12 HHH 2Y0 0 0 0 ADDRESS 00 X DAIA3
57. 0 1 SLSPD SETO 0 SHSPD SET COMMANDHHHHHHHHHHHSCSPDIHHHHHHHHHH HHHHHHHH SPEC INITIALIZE1 COMMANDO DRIVE TYPED 000000000000 2SCSPD1HHHH SLSPDs SCSPD1s SCSPD2H 1 SCSPD1H SLSPD 0 0 0 0 0 0 SCSPD1H SLSPDH SCSPD10 SCSPD20 0 0 0 0 0 SCSPD1H SCSPD2HHHHHH 6 29 SCSPD2 ADJUST COMMAND COMMAND S RATE DRIVEN 0 0 0 SCSPD2 0 RATED HH D SPEEDJ 000000 DRIVE DATA1 2 3 PORTO SCSPD2H Hz 0 0 30 0 DATAH mv ATUSI DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DATA PORT 2 28 25 28 27 20 VW Hu DATA2 PORT Dp SCSPD2 DATA VW TE SCSPD 0 SLSPD SET SHSPD SET COMMANDH HH 0 DATA3 PCRT VRI EN COMMAND 66 2 WE SCSPD SLSPDH SHSPD SLSPD x 0 1 SLSPD SETO 0 SHSPD SET COMMANDHHHHHHHHHHHSCSPD2HHHHHHHHHH HHHHHHHH SPEC INITIALIZE1 COMMANDO DRIVE TYPED 000000000000 2SCSPD2H 0 0 0 0 SCSPD1s SCSPD2s SHSPDH SCSPD2 0 0 SCSPD2H SCSPD1H SCSPD2 SHSPDHHHHHHSCSPD2H SHSPDHHHHHH 68 6 30 S RATE SCAN COMMAND COMMAND CW H O DRIVEN 70 CCWH n DRIVEN 71 HHHHHHH SHRATE SCANDRIVEHHHHHH ha BUSY 0 Y COMAND 70 00 7 W 6 31 S RATE INCREMENTAL INDEX COMMAND
58. 24BIT UP DOWN COUNTER ADDRESS MCC05n U O PULSEH O O COUNTER O 900 U HHCOUNTERHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHH HHHHHH HHHHHHHHH 5 000000 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 24VIHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHPCIHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 6 011000 C 874v1HHHHHHHHHHHHHIHHHHHHHHHHHHHHHHHHHHHHHHITI I DEED HH 0 0 0 2SENSOR ASENSORH 2ASENSORH 0 D D OD D HHHHHHHSLSTOP SENSORHHHHHHHHHHHHH 7 HHHHHHHHHHHHH SERVO STEPPING MOTOR DRIVERHHHHHHHHHHHHHHHHHHHH 3 1 PCI PCI Local Bus Specification Rev2 1 200 32 9 PCI Configuration Register 3l 16 15 0 Ff set Devi ce D 1081h St at us Base ass OEh Sub ass 80h Prog F 00h Revi si on 1 O 00h 08h BI ST Header Type 00h Latency Ti ner Cache Li ne Si ze OCh Base Address Regi ster 1 U 10h Base Address Regi ster O C 8 A4v1 Base Address 14h Base Address Regi ster 18h 101 Reser ved 20h 24h Cardbus S Poi nter 28h Subsyst em LY 00h Subsyst em Vendor ID 00h 2Ch Expansi on ROM Base Address 0 0 30h Reser ved 34h Reser ved 38h Lat Mn Gt Interrupt pi n O1h Interrupt Li ne 3 4 INTA
59. COMMAND 01 000 COMPARE REGISTER1HHHHHHHHSETHHHH m COUNTER DATA1 2 3 PORTO COMPARE DATAHHHHHHH O CANER DATA1 0 PCRT m COUNTER DATA1 2 3 PORTHHHHHHHHHHHH CANTER DATA2 DATA1 PORT DATA2 PORT DATA3 PORT PORT VAI TE D D D D D D z EX JUNE merae CANTER DATA3 L PORT WW TE COMPARE 00 CANTER COMAND Ol COMPARE DATAH RESET 800000 HHHHH2HHHHHHHHHH HHHHH H U Bl H B H H B U D DATAE COMMAND PORTO COUNTER PORT D D DRIVE PORTO PORT ADDRESSHHHHHHHHHHHHHHH PORT ADDRESSH 0 0 4 0004100000000 9 4 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 02 000 COMPARE REGISTER2HHHHHHHHSETHHHH COMPARE REGISTER1 SET COMMANDO 9 5 PULSE COUNTER COMPARE REGISTER3 SET COMMAND COMMAND 03 000 COMPARE REGISTER3HHHHHHHHSETHHHH 0000000000 COMPARE REGISTER SET COMMANDO D0000 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND COMMAND 04 000 COMPARE REGISTER4HHHHHHHHSETHHHH COMPARE REGISTER1 SET COMMANDO 9 7 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 05 000 COMPARE REGISTER5HHHHHHHHSETHHHH COMPARE REGISTER1 SET COMMANDO 9 8 COUNTER PRESET COMMAND COMMAND 000 HHCOUNT
60. COMMANDO HH HH HHHHHHHHHHHHHHHHHHHHHHHHHH Q LATCH TYPE 00000 COMPARATORIHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHPULSE COUNTER COMPARATORHHHHHHHHHHHHHHHHHHHHHHHH DFL COUNTER COMPARATORH HHHHHHHHHHHHHHPULSEH HDFLHHHHHHHHHH HHHHH HHHHHHHHHHHHHHHHRESETHHHHHHHHHHHHHHH HHHHHHHHHHHHHH COMPARATORHHHHHHHHHHHHHHHH STATUS3 PORTO READH RESETO O O D D 0000 HHHHHHHHHHHHHH STATUS3 PORTO READH 0 HH RESETHHHHH 000000000 0 PULSED DFL COUNTER INITIALIZE COMMANDO O00000 INT OUTPUT TYPED 00000 COMPARATORH 2000000 0000000000 HHHHHHH PULSE COUNTER COMPARATORH 0 0 DFL COUNTER COMPARATORHHHHHHHHHHH D0000 HHHHHHHHHH PULSE DFL EL m o H LJ m HHHHHHHHHH HHHHHHHHHHHHHHINTHHHH COUNTER D D 50 5 HH OFFH HHHHH INTHHHHHH HHHHHHHHHHHHHHHHHHSTATUSSPORTHHHHHHHHHHHHHHHHHHHHHH PULSE DFLH HHHHHHHHHH PULSEH DFL COUNTER INITIALIZE COMMANDO O00000 HHHHHH INTMASKHHHHHHHHHHHHH COUNTER INITIALIZE COMMANDO HH PULSEHHHHHHHHHHHHHHHHHHHHHH 0 COMPARATORH U U PULSEHHHHHHHHHHHHHINTHHSTATUSHHHHHHHHHHHH HHHHHHHHHHHPULSEHHHHHHHH HHHHHHHHHHHHHHHHHHHHHH PULSE COUNTER INITIALIZE COMMAND DFL COUNTER INITIALIZE COMMAND INT MASK COMMAND 117 HHHHHHHHHHLH HH 0 PULSE O
61. CP SCAN 0 2 0 4 0 10011100 INCREMENTAL CIRCULAR2 CP 1 02 04 01110011101 S RATE INCREMENTAL CIRCULAR2 0110111000 ABSOLUTE CIRCULAR3 2 4 p 10111001 S RATE ABSOLUTE CIRCULAR3 CP 02 049 HHHH 0000 INCREMENTAL CIRCULAR3 CP 2 4 S RATE INCREMENTAL CIRCULAR3 CP 00000 0000 1011110 1011110 0 1 10110000 OUTLINE POSITION PROPERTY SET HHHH 10110001 OUTLINEPOSITIONSET1 MAX ust4 HHHH 10110010 OUTLINEPOSITIONSET2 IMAX40hs H4 HHHH 10110011 HH OUTLINE CP 20 4 p 10110100 SRATE OUTLINE CP 2 0 4 10110101 DD OUTLINE OFFSET MAX40L s 0 4 HHHH 10110110 OUTLINE OFFSET JMAXtous D 4 HHHH 10110111 OUTLINE REFERENCE POINT SET s0 4 HHHH HHHHHIHHHH 11100010 ERROR STATUS READ MAX 65us MAX 25us 11100011 COMREG INITIALIZE MAX200ns HHHH 11100100 DD PREDATA SET HHHH L 49 KEAR H 1 URATE DRATED O O COMMANDO O O 0 0 DRIVE TYPEHHHHHHHHHHHH L TYPE MAX100ms MAX 35ms MAX 15ms 9
62. DRIVEBITH1HHHHHHCWLMHHHHHCCWLMHHHHHHHHHHHHHHH DRIVE BITO or PULSED HHCWLMHHHHHCCWLMHHHHHHHHHHHH 0000 DRIVE O O XI 0 0 RESET O O O 0 2 SSEND BIT DRIVE BITO 10 0 SLOW STOP COMMANDHHHHHHHHHHHHH DRIVE BITO 00 PULSED SLOW STOP COMMANDHHHHHHHHHHHHHH DRIVE O 0 XI SSEND BIT 0 00000 0 0 RESETO O D O 0 2 FSEND BIT DRIVE BITO 10 0 O FSSTOPO O 0 0 O FAST STOP COMMANDHHHHHHHHHHH DRIVE BITO 00 PULSED 0 FSSTOPH 0 0 O FAST STOP COMMANDO O O O l HHHHHHHHH 0 0 O XD FSEND BiT 10 0 0000 0 0 2 0 0 2 O RESETD O D O 0 O0 COMMANDO p RESETHHHHHH 0 3 POWER RESETH 0 O DREND ERROR MANH 0 BITHHHHHHHHHHH BUSY BITE OH NOP COMMANDH O D DREND ERROR MANH BITH 4 O BUSY 1H 0 COMMANDHHHHHHH HHHHHHHHHHHHHHHHHHCOMMANDHHHHHHHHBUSYBITHHHHH STATUSS PORTH COMREGFL OHHHHHHHHHHHHH HH2HAHHHHHHHHHHHHHHHHHH 17 4 9 STATUS2 PORT HHHHHHHHHHHHHHHHHPORTHHHHHHHHHHHHHHH HHHHHHHHXHHHHHHHYH ZH AHHHHHHHHHHH L XDEND PO
63. HHCOUNTHHHHHHHHHHHHH HHHHHHHH DFLINT 13 LIMIT SENSOR ORIGIN DRIVEN LIMIT SENSORH 0 0 ORIGIN DRIVEHHHHHH 14 0 DRIVEHHHHSPEEDHHHHHHHHHHHH 45 HSPD LSPD RATE SPEC INITIALIZE USER 16 SND HHHHHHHHHHH DD HHHHHHHHHHHHHHHHHHHHHHHH DRIVE COMMANDH 17 OUTLINE POSITIONH HH D XD YOOO OUTLINED DRIVEHHHHHHHHHHHH POSITIONG 0 0 0 0 0 X Y OFFSET OFFSETHH HH HPOSITIONHHHHHHHHHHHHHHH 3 3 HHHH e EXTV 24 0VH 11190 HHHH HHHH HHHHHHH 000 4 00 000000 3 4 00800 874 s 3 5 0 DU l C 874v1HHH32HHHHHHHHHHHHHHHHHUSERHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 1 0 O DRIVEL SPECIAL SCAN SCANIHHHHHHHDRIVEHHHHHHHHHHHH DRIVE SPECIAL INDEX INDEXHHHHHHHHDRIVEHHHHHHHHHHHH DRIVE SERIAL INDEX IIHHHHHDRIVEHHHHHHHHHHHHHHHH DRIVE SPECIAL SERIAL INDEX 0 0 0 0 0 O C SERIAL INDEX DRIVE SENSOR INDEX INDEX DRIVE SENSORHHHHHHHHHHHHHHHHHDRIVE SENSOR SCAN SCAN DRIVE SENSORHHHHHHHHHHHHHHHHH DRIVE HHHHHHHH SCAN 000000000000000
64. HHH HHH B q DD HHH TAA I ME HHH HHHHHHHHHHH DDD 8 2 ADDRESS COUNTER 000 8 3 PULSE COUNTER 0 HHH 8 4 COUNTERH D HHH 8 5 COMPARATOR O D D cM HHH 9 1 COMMAND mmm 000 9 2 PULSE COUNTER PRESET COMMAND DERE 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND HHH 9 4 PULSE COUNTER COMPARE REGISTER SET COMMAND HHH 9 5 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 000 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND HHH 9 7 PULSE COUNTER COMPARE REGISTERS SET COMMAND HHH 9 8 COUNTER PRESET COMMAND 9 9 COUNTER COMPARE REGISTER1 SET COMMAND 9 10 COUNTER COMPARE REGISTER2 SET COMMAND 0000000000 Uu uult 11 1 COMMANDO D 11 2 PULSE COUNTERI 11 3 00000000 eM A4 0000000000 MM HHHHHHHH 12 100 DE VE TIMING e 12 2 SCAN DRIVE S RATE SCAN DRIVE TIMING 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING 12 4 ORIGIN DRIVE TIMING
65. SCAN ORIGIN SENSOR INDEX DRIVEHHHHHHHHH INDEX SENSOR INDEX DRIVEH 0 00000 PULSED HH ABSOLUTEH 1 0 0 0 ADDRESSH f HHHHHHHHHHHHHHHHHHHHHH 0 SERVO 00000000 DENDO NOT ACTIVEHHHHHHHHHH 0 a1 D UI D HHHHHHH STATUSH BUSY BITH HHHHH 00000 E HH UHGNDHHH HHHHHHH ORG 1 ORG 3HHHHHHHHHHHHHH HHHHHHHHHHHHHUHHHHHHH ORG 23 4 5HHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHORG 0 1HHHHHH ORIGIN DELAY SET COMMANDH HHHHHHHHHH SERVO MOTOR 000000000 0 DEND DENDO 000000000 000 ORG DRIVEH 000 156 PULSE COUNT HHHHHHH HHHHHHH ES ESSE m ESL ES ET ES SPEED DATA SPEED DATA HHDATAHHHHHHHHHHH 200000 SPEED DATA HHHHHHHHHH HHHHHH o 7HHHHHHHHHH DATAHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH SPEED 0 0 9 5920 000000000000 HHHHHH CNTINTHHHHHHHHHHHH DATAH 0 J PLS COMPARE REGISTER HHHHHH PULSE COUNTERD O0 000000000000 PLS COMPARE REGISTERH 0 RESETHHHHHH D 0 800000 INITIALIZED PLS COMPARE REGISTERD 00000000000 CNTI
66. SPECIAL INCREMENTAL INDEX1 SPECIAL ABSOLUTE INDEX1 SPECIAL INCREMENTAL INDEX2 mieleemme e E EI 161 ESI 1 1 1151 ETE LI 3 HEX CODE COMMAND NAME SPECIAL ABSOLUTE INDEX2 SERIAL INDEX YLD Zl a A A A E JW ISNI S IS SERIAL INDEX SPECIAL SERIAL INDEX SPECIAL SERIAL INDEX SENSOR INDEX1 SENSOR INDEX2 SENSOR INDEX3 mmi 0000 SENSOR SCAN1 rJ L L SENSOR SCAN1 HHHHHIHHHH i CHANGE DATA SET AUTO CHANGE SET g 1 EXTEND ORIGIN SPEC SET 1 CHANGE POINT DATA SET 1 1 1 SPEC INITIALIZE5 SRATE SET SLSPD SET SHSPD SET SSRATE ADJUST SERATE ADJUST SCSPD1 ADJUST SCSPD2 ADJUST HHHHHIHHHH S RATE SCAN E S RATE SCAN S RATE INCREMENTAL INDEX S RATE ABSOLUTE INDEX HHHHHIHHHH 0 PASS POSITION ass HH
67. 0 DRIVEN 00 0 0 POSITIONH HH X YOFFSETHHHHHHHH DRIVE DATA1 2 3 PORTO X OFFSETH DRIVE DATA1 2 3 PORTO Y OFFSETH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L X OFFSET 00 FFFFFFn DRIVE DATA1 2 3 PORTHHHHHHHHHHHH Y DATA1 PORT Y DATA2 PORT Y DATA3 PORT XI PRT D D D D D D x H ep L eE L 142 2 L 12 U 1 PCRT D VRI Y OFFSET 00 FFFFFF 2 PORT XYOFFSETHHHHHHHH2eHHHHHHHHHH VRI 0 XY OFFSETH D H B DATA3 PCRT XY 5 100 0 D X Y DATAL PORT X Y PORT XY DATAS PORT VRI TE 8 388 607 7F FF FF 00 00 X COMAND 0 00 00 00 C5 WI TE 10 FF FF F6 8 368 607 80 00 01 97 6 65 OUTLINE OFFSET COMMAND X 00 XIHHHHHHHHCOMMANDH YD COMMAND C6 000 OUTLINE DRIVEN 00 0 0 POSITIONH HH OFFSETHHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO sin8 x1 000 000 HHHHHH DRIVE 2 3 PORTO X DATA1 PORT X DATA2 PORT X DATA3 PORT D D D D D D 12 OFFSET sinO 1 000 000 VW
68. 0 SCAN SCAN OUTLINEH DRIVEH D DRIVEH 0 S RATE DRIVEH 0 1 HHHHHHHH SCAN 0 00 S RATE SCAN INDEX DRIVEH HHHHH 0 2 DRIVE PULSET 1PULSE DRIVE SCAN S RATE SCAN PULSE DRIVE INDEX S RATE INDEX 00 8 388 607 PULSE DRIVE HHHHH 16 777 214 PULSE DRIVE H 0000 5 00 8 388 607 PULSE DRIVE H 0000 16 777 214 PULSE DRIVE H 0000 5 00 8 388 607 PULSE DRIVE H 0000 16 777 214 PULSE DRIVE H HHHH 5 00 8 388 607 PULSE DRIVE H HH HH 16 777 214 PULSE DRIVE H 0000 5 00 8 388 607 PULSE DRIVE H 0000 16 777 214 PULSE DRIVE H 0000 SCAN S RATEH 0 0 SCAN 0 O0 PULSE DRIVE HHHHHHHSCAN S RATEHHHHHHHSCAN 0 0 PULSE DRIVE OUTLINED S RATE OUTLINE D 16 777 214 PULSE DRIVE POSITION O POSITION H O O 9 SPEED RATEI SPEED 1Hz 3 3MHz 1030ms 1000Hz 0 004ms 1000Hz 4 SPEED DATA Hz U U PULSE SPEED 1 3 333 333 0000000000000 HHHHHHHH RATE HHHHHH HHHHHHHHHHHHHHHHHHHHHH
69. 0 SSRATEz SRATEH 0 99 8 O 0 0 0 SSRATEH SRATEH uU uuu 6 27 SERATE ADJUST COMMAND COMMAND 645 000 S RATEDRIVEHHHHSERATE HHHHHHHH HHHHHHH DRIVE DATA3 SERATE DATA 0 No ATUSI DRIVE DATA3 PORTO 000000000060 DATA3 PORT VRI TE COMMAND 64 SERATE SRATE SET COMMAND 8 HHDATAHHHHHHHHHHHHHCOMMANDHHHHHHHHHHHHHH HHHHHHHHHHHHHHS9HHHHHHH 0 1 SRATE SET COMMANDO HHHHHHHHHHHHHSERATEHHHHHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPED 000000000 E Uu 0 2 SERATE O SERATE SRATEH O SERATE SRATEH SERATE SRATEH HHHHH 67 6 28 SCSPD1 ADJUST COMMAND COMMAND 651 S RATEDRIVE SCSPD1 RATEH HHHHHHH DRIVE DATA1 2 3 PORTO SCSPD1 Hz 0 30 mes ATUS H DRIVE DATA1 2 3 PORTHHHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D 1 PRT 23 eg 188 MT d 328 VR U L DATA2 PCRT SCSPD1 DATA VR TE SCSPD1 RESET SLSPD SET SHSPD 9 DATA3 PORT HHHHHHHHHHHHHHHHH VAI HHHDATAHHHHHHHHHHHHHHCOMMANDHHHHHHHH HHHHHH COMAND 655 1 VRI SLSPD SHSPD SLSPD x
70. 00 01 zu 6 37 ABSOLUTE STRAIGHT CP SCAN DRIVE COMMAND XX COMMAND 82 000 HHHHHHHHHHHHHH SCAN DRIVEH ADDRESSI J ADDRESSI J DRIVE DATA1 2 3 HHHHXHHHHH HHHHHH DRIVE DATA1 2 3 PORTHHHHHYHHHHH HHHHHH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTH HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep L 122 L 1 122 1 2 uU Y 1 D VAI B 0 O ADDRESS 00 2 PORT 0 0 ADDRESS 000000 20 000000000 VI D ADDRESS D DATA3 PCRT 0 0 55 10 0 0 XY DNA POT X Y DATA2 PORT DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 82 VRI TE 10 FF FF F6 8 368 607 80 00 01 7A 6 38 S RATE ABSOLUTE STRAIGHT CP SCAN DRIVE COMMAND X COMMAND 85 000 5000000000000 0 SCAN DRIVEH ADDRESSI J ADDRESSI J DRIVE DATA1 2 3 HHHHXHHHHH
71. 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 25 25 28 2 28 7 X DATA3 PORT 0 0 ADDRESS 00 URI HADDRESSHHHHHHH2HHHHHHHHHH 1 PCRT HH URI 0 50 000 X Y DATA2 PORT X Y DATA3 PORT Y DATA2 PCRT 38 388 607 FF FF VRI 0 00 OA 0 00 00 DATA3 PCRT 10 FF F6 URI TE _ 8 388 607 00 01 X 86 87 1 0 DRIVE COMMANDO U U O O CENTER POSITION ADDRESSH 000000 0 0 CENTER POSITION SET COMMANDO O c CENTER POSITION 7 6 41 ABSOLUTE CIRCULAR1 CP SCAN DRIVE COMMAND XX x X0 000000 COMMANDO COMMAND CW O DRIVEH 88 CCW I p DRIVE 89 HHHHHHH HHHHHHHHHHHH SCAN DRIVEH DU uuu HHHHH CENTER POSITION SET COMMAND 1 0 DRIVE COMMANDO 0 0 CENTER POSITION SET COMMAND HHHHHXYHHHHHADDRESSH 0000006060 CENTER POSITION SET COMMANDO HHHHHH CENTER POSITION 6 42 S RATE ABSOLUTE CIRCULAR1 SCAN DRIVE COMMAND X COMMAND CW
72. 12 11 SPEED CHANGE TIMING Z A D ZU 0 IOW 1 1 200ns COMMAND 51u s t2 53ms STATUS5 CHANGE BUSY 0 1 SPEED CHANGE HHHHHH HHHHHH 0 2 t2 CHANGE COMMANDH 0 HHHHRATEHHHHHHHHH MODEH RATENoHHHHHHHHHMODEH O RATE DATAHHHHHH HHHHHHHHHHHHHH HHHHHHHHHHH CHANGE COMMANDO O O O HH PULSEHHHt2HHHHHHHH12H PULSEHHHHH HHHHH 129 12 12 DENDH TIMING 11SERVO MOTORO U 0 DRIVEH 0 0 0 DRIVEL 0 E DRIVEH U XU vn n XDEND t20 41u s XCWP MEM t30 35u s STATUS1 DRIVE 0 20 AHH STATUS1 SERVO DRIVERH O O O BUSY t20 41u s 130 20u s 5 HHHHHHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHDRIVEHOHHHHHHSTEPPINGMOTIORHHHHHHHHHHHHHHHHHHHHHHH 2SERVO MOTORH O O 0 0 0 DENDO 0 O 0000 STEPPING MOTOR OOO 00 HHH CWHH DRIVEN D D XD D HH DRIVEH O U XU XDEND 33u 5 41 s t20 35u s XCWP LIT STATUS1H DRIVE ZU A STATUS1H 33u s 41u s BUSY t20 20u s ti t2 0 STEPPING MOTORIHHHHHHHHHHDENDHO1HHHHHHH D 3 SERVOMOTORHHHHHHHHHHDRIVEHHHH X XDEND 10 SERVO DRIVER H B D t2 41u s YDEND t3
73. 15 14 13 12 11 EE dI z 158 S 0 0000 159 C 874v1 BERE EE EET ET ET TTA FSSTOP I 5 n 0 HHHHHHHHHHH LIMITO HHHHHHHHHHHPULSEHHHHHHHHHHHHHHHHHH HHHHHHHHHHH 2 C 874v1HHHHHHHHHHHHHHHHHHHHHHHHHHHHH C 874v1 MCCO5 nHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH RESET FSSTOP LIMIT HHHHHHHHHHHHHHHHHHHH1H 34HHHHHHHHHHHHHHHUHHHHHH HHHHHHHH 000020010 160 Ez EST EE 20 1 DRIVE COMMAND COMMAND U O PULSED 00 COMMANDO l COMMAND SPEC INITIALIZE1 3 HHHHHHH XLI Zl Ei OOo DD 00 PULSE COUNTER INTALZE un ADDRESS INITIALIZE D D ADDRESS READ D D SERVO RESET DD RATE SET O HH ILSPDSET HSPD SET DFL COUNTER INITIALIZE SET DATA READ DD CW SOFT LIMIT SET ani D 0 DRIVEH D D 1 HH CCW SOFT LIMIT SET OD HHHH 9 D
74. 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L n O ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTO HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep L e L 1 1 2 uU Y 1 D VAI D ADDRESS 00 FFFFFF 2 PORT ADDRESS CCWHHHHHH2HHHHHHHHHH TE 0 ADDRESSHHHH DATA3 PORT APRESS 10 0 D XY DNA POT X PORT X Y DATA3 PORT WTE 7Fa FF FF 00 00 X COMAND 0 00 00 00 91 VRI 10 FF FF F6 8 368 607 80 00 01 82 6 47 INCREMENTAL STRAIGHT CP SCAN DRIVE COMMAND X 0 COMMANDO COMMAND 92 00000000 O0 SCAN DRIVEL HHHHH HHHHHHH ADDRESSHI ADDRESSI J DRIVE DATA1 2 3 HHHHXHHHHH HHHHHH DRIVE DATA1 2 3 PORTHHHHHYHHHHH HHHHHH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTH HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep
75. 2 3 PORTO HHHHHHHHHHH DATA2 PCRT DATA1 PORT DATA2 PORT DATA3 PORT READ D D D D D D 12 2 EE o Ee i L 1 12 DATA3 PCRT L READ COUNT DATA 00 FFFFFF COUNT DATAD 000000200000000 COUNT DATA COUNT DATA 10 00 DATA1 PORT DATA PCRT DATA3 PCRT 18 388 607 FFn FF 0 00 00 10 8 388 607 80 _ 0 01 1 PULSEH 0 O0 ADDRESS COUNTERH O PORT SELECT COMMAND 6 36 0 O HHHHHHHHHHXYHHH PULSE ADDRESSHHHHHHHHHHHH 0 2DATA READH O DRIVE DATA123PORTHHHHHHHHHHHHHHHHHHHHHHHHHHH DATAHHHHHHHHHHHHHHHHHH 6 78 SPEED READ Z A 00 COMMAND 000 DRIVEHHHH SPEED DATAHHHHHHHH HHHHHHH SPEED PORT SELECTH DRIVE DATA1 2 3 PORT HHSPEEDDATAHHHHHHHH DRIVE DATA1 2 3 PORTO DATA1 PORT DATA2 PORT DATA3 PORT DIA PORT J 2 D D D D D D READ 25 qnae Ea e 1 DATA2 PCRT READ SPEED DATA 30 FFFFF8 DATA3 PORT PULSE SPEED HHHHHHHHHHHDATAHHHHHHPULSE SPEEDO READ O SET HHHHHHHH EE REL 160 000 000 PULSE SPEED HD READ DATA 0 READ DATA 00 48 30 0 D PULSE SPEEDH ag 3 3 MHz 5 DATADO U U HHHHHHHHHHHHHH 0 2DATA READH O DRIVE DATA123PORTHHHHHHHHHHHHHHHHHHHHH
76. 2 i obase40x4 Xx AXIS MOS STATUS2 PORT def XMCCST3 i obase40x5 X AXI S MCOO5 STATUS3 PORT def i ne XMOCST4 i obase 0x6 AXI S MCOO5 STATUS4 PORT def 5 5 i obase40x7 X AXI S MCOO5 STATUS5 PORT def i YMOCCOM i obase40x10 Y AXIS 5 COMAND PORT def i ne YMXDI1 i obase40x11 Y AXIS MOOO5 DATAL PORT f def i ne YMXDI2 i obased40x12 Y AXIS MOOO5 DATA2 PORT def i ne YMXDI3 obase40x13 Y AXIS MCOO5 DATA3 PORT def i ne YCNTCOM i obase40x14 Y AXIS GOUNTER COM AAND PORT def i ne YONIDT1 i obase40x15 Y AXIS OOUNTER DATA1 PORT def i YCNIDI2 i obase40x16 Y AXIS COUNTER DATA2 PORT def i ne YCNTDI3 obase40x17 Y AXIS CANTER DATA3 PORT defi ne 1 i obase40x10 Y AX S MOS STATUS1 PRT def i ne YMXST2 i obase 0x14 Y AXIS MCOO5 STATUS2 PORT def i ne i obase40x15 Y AXIS MOS STATUS3 PORT def i ne YMXST4 i obase40x16 Y AX S MOS STATUS4 PORT def YMXST5 iobase 0x17 Y AXIS MCOO5 STATUS5 PORT def i ne ZMCCCOM i obase40x20 Z S MOO5 QOMAND PORT def i ZMXDI1 i obase40x21 Z AXIS MOOO5 DATAL PORT def i ne ZMXDI2 i obase40x22 Z 5 MOOO5 DATA2 PORT def i ne ZMXDI3 i obase40x23 Z AXIS MX05 DATA3 PORT def i ne ZCNTCOM i obase40x24 Z AX S CANER COMAND PORT def i ne ZCNTDT1 i obase40x25 ZAX S COUNTER DATA1 PORT defi ZCNIDI2 i obase40x26 Z AX S QO
77. 2F 2F 2F 2F K 2F 2K 2K 2F 2K 2F 2F 2F KK KK KF RAM AREA Us i obase UC ur at e UC drat e u spd u hspd u cspd ong absdt ong absdt ong X absdt ong Y absdt ong center X absdt ong center Y absdt UC or gno LC offset UC del UC sdel ay UC j del ay AS MX05 PORT A AXIS MX05 DATA1 PORT AS MX05 DATA2 PORT AS MX05 DATA3 PORT A AXI S GOUNTER COWAND PRT A AXI S GOUNTER DATA1 PORT A AXI S GOUNTER DATA2 PORT AS COUNTER DATA3 PORT AS 5 STATUS1 PORT AS MOOO5 STATUS2 PORT AS MOOO5 STATUS3 PORT AS MOOO5 STATUS4 PORT AS MOOO5 STATUS5 PORT y GENERAL PURPOSE INPUT PRT GENERAL PURPOSE OUTPUT PORT X AX 5 MO5 READY WT S MX05 READY WT Z AX S MCOO5 READY VAT S 005 READY WT HHHHHHHH C 874v1 1 0 BASE ADDRESS UP RATE No DO RATE No LOW SPEED DATA H GH SPEED DATA CONSTANT SPEED ECT ADDRESS FCR N X ERI VE ECT ADDRESS DATA FCR NX ERI VE X CBJ ECT ADDRESS DATA FCR CP ERI VE Y ADDRESS DATA FCR CP ERI VE CRG TYPE No CFFSET PULSE UMT CELAY TIME SCAN DELAY J OG DELAY TI ME
78. 5SHHHHHHHHHHHHHHHHHHHHHHHHHPULSEHHHHNHHHHHHHHHH N 0 005x CSPD 0 CSPD 5kHzH 0 005x 5 000 25 D D CSPDO UU HzD 00 HH2SHHHHHHHHHHH HHHHHHHHHHHHHH 3 XORG XNORGHHHHHHHHHHHHHHHHHHHHHHHHH UHHHHHHHHHHH HHHHHHHHH HHHHHHHHHHHHr CWLIMITHHHHHHHHHHHHHHHHHHH ORG 10HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 6 ORG 11 12HHHHHHIHHHHHIHCCWHIHHHHHHHHHHHIHHHHHHHHHHH HHHHHHHH HHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH HHHHH U ORIGIN DRIVEHHHHHHHH MARGIN TIMEH ORIGIN SENSORH 0 0 SHHHHHHHHHHHXDRSTHHHHHHHHH 6 STEPPING MOTOR DRIVERH 0 0 0 0 0 0 XORGH O ANDO O HH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 113 HHHHHHHHHHHHH HHHHHHHHHUHHXHHHH 8 1 0 0 LH HHHHHHHHYH 2ZH AHHHHHHHHHHH MCCO5nnHHHHHHHHHHH24BIT HARD COUNTIERHHHHHHHHH HHHHHHHHHHHHHHHHHH EA XEB LOM DATA DATAL 2 XAP XP O PU SE COUNT PATTERN TvPE PULSE COUNTER PU SE CONTER PRESET IN TI ALI ZE COMMAND CANTER COMAND Q 24BI T PULSE COUNTER COUNT PATTERN TYPE O PULSE COUNTER E IN TI ALI ZE COMAND COUNT DATA NT GONTROL 24 T COPARATOR x 5ch 5 gt PULSE COUNTER c 248 COMPARE REG STER 5ch COW1 5 REG SET COUNTER COMAND DFL COUNIER PRESET COUNTER COMAND 248 T COWPARATCRx 2ch 248 COMPARE REG STERx 2ch 2 REG SET
79. 8 4 1 O0 COUNTH l COUNTERH MCC05nnHHH PULSEHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHH b COUNT DATA DRIVE DATA1 2 3 PORTO DFL COUNTER PORTO PATA 8 388 607 8 388 607 PULSE AREA COUNTER 0 RESETH OHHHHHHHHH COUNTER COMMANDH 0 COUNTER PRESET COMMANDHHHHHHHHHHHHHHHHHHH d HHHHHHHHHHH90HHHHHHHCWCCWHHHHHHHHHHHHHHHHH 900 FL COUNTER INITIALIZE COMMANDHHHHHHH 9 000 U uu DFL C 2 COUNT a COUNTER 0 O 0 COMPARE REGISTER COMPARATORH O 0 0 00000 PULSE COUNTER COMPARE COMPARATOR1H COUNTH 0 REGISTER1 H D D D D D COMPARATOR COUNTH O U O REGISTER2 0 00000 000000000000 REGISTER EE EE gt gt REGISTER2 z HH COUNTH REGISTER2 1 4 REGISTER 4 4 0 1
80. BIT SPEED CHANGE RATE CHANGE BIT RATE CHANGE INDEX CHANGE BIT INDEX CHANGE HHHHHHHHHHHHHHHHHHHHHHH 0200000000 0 BITO RDYINTHH COMREGINTHHHHHHHHHHH 0 3 ZI COMREG CLR COMREG FL COMREGINT BITH 4 O O SPEED CHANGE BUSY RATE CHAGE BUSY INDEX CHANGE BUSY BI 19 4 13 0 PORT 4 INSH HHHIHHH 40 OUTOH OUTSHHHHIHHHIUOHHHHHH HHHHHHHH LOWHHHHHHHHHHACTIVEHHHHHHLEDHHHHHHHHHHHHHH 1 O0 PORT HH PORTHHHHHHHHHHHDATAHHHHDATAHHHHHHHHHHHHH n O O O Nog IN3IHHHHHHHDATAHHHHHHHHHH 27 129 OUT3 IN1 INZ 0 DATADO IN3 2 HH PORTHHHHHHHHHHHHHHHHH4BITHHHHHHIOUTOH OUT3IHHHHHHH Lais 1 gnm OUT1 OUT2 OUT3 0 0 0 U PORTO POWER OFF O NOT ACTIVE 4 14 Z ASENSOR PORT HHHHHHJ1HHHHH ZSENSORH 0 0 0 0 ASENSORHHHHHHHHH SENSORD 000 SLSTIOPHHHHHHHHHHHHHHHHHHHHHHHHHHHHPORTHHHHH BITE HHHHHHHHHHHHHHHHPORTHHHHHHHHHHHHHHHHHHHHHHHH 2 25 BIT 1 ZSENSORH 00000 A
81. COMPARATOR2 HHSTATUSHHHHHHHHHHHHHHHHHHHHHH STATUSO COMPARATORHHHHHHHHHHHHHH 0 HHHHHHH HHHHHH zj EI 0 155 zj E LE rj E 0 STATUSO 00 000000 0 0 STATUS3 PORTO READH 0 COUNTERz REGISTER1H 0 0 COUNTER lt REGISTER2 HHHHHHHHHHHH 0000 0 0 8 5 XDFLINTIHHHH HHHHHHHHHH m iu EE COMPARATOR ORI 00000000 oo O lt v gt D gt gt OUNTERs REGISTER 0 0 PULSED IIHHHHHHHHHHPULSEH SEND BITD 1000000 c COUNTER REGISTER10 C HHHHHHHHHHHHHHH HHHHHHHHHHHHHS L3 mn L3 rn DL mp O og m m zt d O0 COUNT COMPARE O0 O CONTROL O DFL COUNTER INITIALIZE COMMANDO COMPARE REGISTER O DATA U O COUNTER PORTO U O O COUNTER PORTO DRIVE PORTHHHHHHHHHHHHHHCOMPAREDATAHHHHHHHHHHHHH 116 5 PULSE COUNTER COMPARATOR COUNTER 0 j COMPARATOR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHUSERHHHHHHHHHHHHH n COMPARATOR j A INTO 0 ip gt STATUS3H INT 0 5 PULSE DFL COMPARATORHHHHHHHHHHHHHHHHHH ONOFFH O INT MASK COMMANDO COMMANDO
82. CONTROLLER MCCO5nnHHHHHHHHHHHHHHHHH ONTROLHHHHHHHHHH 5000 0 0 PULSE COUNTERH O COUNTERH 000000 O O O SERVO DRIVER HHHHHHHHHHHHHHHHHHHHHHHHHHSTEPPING MOTORHHHHHHHHHH 00000000 0 HHHHHHHHHHHHHHHH HHHHHHH S LSI 5 2 4 HHHHHHHH 4 LSID 5 2 4 HHHHHHHH 4 0 U D 0 D 1 l 0 U l Z 5 p PA EC 3 4 HHHHHHHH 4 E JE IEzp EZ 3 MCCO5nn 3 HHHHHHHH 4 5 00 6 B D BUD UU HHHHHHHHHHHH PCIHHHHHHHHHHHHHHHHHHH PCIHHHHHHHHHHHHHHHHHHHEEPROMHHHHHHHHHHH 2 DRIVEHHHHHHHK XH MOTORHHHHHHHHHHHHHHHHHH2HHHHHHHHHHHHHHHMCC0S5nnH HHHXYHHHHHDRIVEHHHHHHHHDRIVEHHHHXHHHHHHHH 3 DRIVEHHHHHHH ZH MOTORHHHHHHHHHHHHHHHHHH2HHHHHHHHHHHHHHH MCC05nn 4 COUNTER COUNTERI ADDRESS COUNTER PULSE COUNTER COUNTER
83. DRATE 0 1 DRIVE t10 150ns t2 1 4ms L TYPE 1 4ms X Y STATUSI J t30 12 20 s BUSY 11 t2 lt B 1 CIRCULAR1 CP SCAN DRIVE S RATE CIRCULAR1 CPSCAN DRIVE 0 RATEHHHHHHHHH B RATER 0 URATE DRATEH O0 000000 128 12 10 0UTLINE DRIVE S RATE OUTLINEH DRIVE YH MOTORO 0 0 0 0000000000 CWn 0 0 DRIVEH COMMAND HH D i IOW POSITION DRIVE POSITION DRIVE 0 Wu X Y STATUS1 X Y STATUS1 BUSY 1 t6 4 5 lt XD l RATED URATE DRATE 1 0 RATE URATEz U 1 150ns t1 150ns t2 478 s 572p s 232us 264us t2 1 8ms L TYPE 1 9ms 1 1ms M TYPE 1 2ms 807p s H TYPE 1 0ms t3 500p s 594g s 252us 284us t3 t2 22u s t40 35 s 44u t40 35 s 44 s 2 t50 70 s 100p s t50 70 s 100p s te 200 s 2 te 1 7ms L TYPE 943p s M TYPEH 713p s H TYPEH 0 1 OUTLINE CP DRIVE S RATE OUTLINE CP DRIVEN X0 RATEHHHHHHHHH O RATED URATE DRATEH YHHRATEHHHHHHHHHHH 0 2 POSITION HHH HHDRIVEHHHHH2OOhsSHHHHHHHHHHHPOSITIONH HH DRIVEHHHS00nsHHHHHHHHHHHHHHPOSITIONHH UHH DRIVEN O 0 500usHHHHHHHHHHHHHHH700usHHHHHH
84. H DRIVEH CCW H O DRIVEH 8B HHHHHHH 000 SHHHHHHHHHHHHHHHH SCAN DRIVE D uuu CENTER POSITION SET COMMAND 1 0 DRIVE COMMANDO 0 0 CENTER POSITION SET COMMAND U CENTER POSITION SET COMMANDO 0 0 0 0 CENTER POSITION 78 6 43 ABSOLUTE CIRCULAR2 DRIVE COMMAND X 0 XIHHHHHHHHCOMMANDH COMMAND PASS POSITION SET COMMAND Ex 000 HHHHHHHHHHHHHHHHH DRIVEH D uuu X DRIVE 2 DRIVE DATA1 2 3 PORTO YO ADDRESSH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L XO ADDRESS FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 qe ep 112 2 12 ADDRESS 00 FFFFFFs HHADDRESSHHHHHHH2HHHHHHHHHH D D D ADDRESSH 000 APPRESS 100 O O 1 PORT XY DATA2 PORT XY DATA3 PORT FF FF 00 00 OA 0 00 00 00 10 FF FF F6 8 388 607 80 00 Ol
85. HHHHH XH YH ZI AJ HH S RATE INCREMENTAL CIRCULAR1CP HH HH S RATE INCREMENTAL CIRCULARI CP INCREMENTALCIRCULAR1 CP SCAN D ESTE INCREMENTAL CIRCLUAR1 CP SCAN S RATE INCREMENTAL CIRCULAR1 SCAN S RATE INCREMENTAL CIRCULAR1 SCAN D NET HEX CODE COMMAND NAME COMMAND COMMAND COMMAND COMMAND COMMAND COMMAND COMMAND COMMAND N gt NIN gt gt DD INCREMENTAL CIRCULAR CP HH S RATE INCREMENTAL CIRCULAR2CP ABSOLUTE CIRCULAR3 COMMAND S RATE ABSOLUTE CIRCULAR3 CP COMMAND DD INCREMENTAL CIRCULAR3 CP uU S RATE INCREMENTAL CIRCULAR3 CP 0000 OUTLINE POSITION PROPERTY SET H OUTLINE POSITION SET1 OUTLINE POSITION SET2 DD OUTLINE CP DD S RATE OUTLINE CP OUTLINE OFFSET OUTLINE OFFSET OUTLINE REFERENCE POINT SET DRIVE CALCULATE D 1 SRATE DRIVE CALCULATE 0 1 HHHHHIHHHH ERROR STATUS READ COMREG INITIALIZE 0 PREDATA SET N gt o ESI 5 NININ gt gt gt gt gt gt a EJ
86. L 122 L 1 122 1 2 uU Y 1 D VAI B 0 D ADDRESS 00 2 PORT ADDRESS CCWHHHHHH2HHHHHHHHHH TE D ADDRESSUL 000 DATA3 PCRT APRESS 10 0 D XY DNA POT X PORT X Y DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 92 VRI TE 10 FF FF F6 8 368 607 80 00 01 83 Ep 6 48 S RATE INCREMENTAL STRAIGHT CP SCAN DRIVE COMMAND 99 000 5 5 DRIVEL HHHHHHH DRIVE DATA1 2 3 ADDRESSI J HHHHHH DRIVE DATA1 2 3 PORTHHHHHYHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTH HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep L 122 L 1 122 1 2 uU Y 1 D VAI B 0 D ADDRESS 00 2 PORT ADDRESS CCWHHHHHH2HHHHHHHHHH TE D ADDRESSUL 000 DATA3 PCRT APRESS 10 0 D XY DNA POT X
87. TYPE 630p 400p s H TYPE t3 93u 5 3 t2 22u s 125 12 5 DRIVE S RATEH DRIVE TIMING XT STEPPING MOTORH HHHHHHHHHHHHH CWDHHH DRIVEH XD D DD DD D D XU IOW U RATED 0 J DRATE H 1 COMMANDO 150ns t20 128p s 158 s XCWP t30 150 s 180 s t40 35 s 44 5 YCWP 1 1 t50 70 s 100 s X Y STATUSI XU RATE URATE DRATEH 1 DRIVE 150ns 12 1 4ms L TYPE 1 4ms X Y STATUS1 690p s M TYPE 720 s BUSY w 460 s H TYPE 490u s 1 4 5 t3 12 22u s 12 t40 35 s 44u s k t3 y t50 70 s 100 5 1 STRAIGHT CP DRIVE S RATE STRAIGHT CP DRIVE X O RATED 0 URATE DRATEH IID 000000 12 6 0 0 0 0 0 DRIVE S RATED 0 0 0 DRIVE TIMING XH STEPPING MOTORO HHHHHHHHHHHHHHHHHHHHHHHHHDRIVEHHH HHHHHHHDRIVEHHHHHHHHHHHHHXYH PULSEHHHHHHHHHHH IOW Leoma 1 0000 DRIVE DRIVE ENSE XCWP xw r X Y STATUS1 DRIVE X Y STATUS1 BUSY 1 2 lt IS U XO YH l RATED URATE DRATE 1 RATE URATE DRATE O 1 150ns 150ns t20 478p s 572 s t2 1 8ms L TYPE 1 9ms 1 1ms M TYPE 1 2ms
88. X 0 00 00 00 CA VR TE 10 FF FF F6 8 368 607 80 00 01 99 6 67 ERROR STATUS READ COMMAND COMMAND E2n STATUS1 PORTO ERROR BITO 1H 00 ERRORHHHHHHHHHHHH HHHHHHH DRIVE DATA3 PORTO ERROR HEX CODEN 00 TITI ERRORHHHHHHHHH 015 U 0 COMMANDO 0000 02 O SET DATA READH 0 O 0 COMMANDO 03 DOO SPECIAL INDEXO URATEz SOFT LIMITO O O URATEz DRATEH SPECIAL 04 III SERIAL INDEX 00100000 05 SOFT LIMITO O U 06 O DEND ERRORH DRIVEN 000 07 O ORIGIN DRIVEN O O D 08 IIII SENSOR INDEX3 DATA SETHHHHHHHHH 09 COMMANDO O O U 0 O DATADO ORGHHHHHH ISET DATA READH 0 0 0 COMMANDH HH HH I 0 RATE SETO DATA1 PORT DATA I O DATA MODED RESOLUTION SETH 0000 HSPD PART No PULSE PART RATE PART No SERIAL INDEX CHECK PART No HHHHHHHHHHHS3HHHHHHHH2HH HH c m ETE OD 000 ERROR ORIGIN ERRORH OE OUTLINED DRIVEH START END POSITION POSITIONH START POSITION END POSITION 0 POSITION HHHHPOSITIONIHHHHHHHHHH POSITION 2HHHHHHHHHDRIVEH START POSITION END POSITION 0 0 0 DRIVE
89. x YD D DU t1z 600u s XCWP t2 38 5 42 s t30 35u s STATUS1H t3 70 s 100 s DRIVE STATUS1H 0 20 BUSY 1 2 600 s 20 38u 5 42 s t1 t2 3 t30 200 s 1LIMITHHHHHHHHHHHHHHPULSEHHHHDRIVEHHH1PULSEHHHHHHDRIVEHHHH HHHHHHHHPULSEHHHHHHH HHHHDRIVEHHHHDRIVEHHHH HHHHDRIVEHHHHDRIVEHHHH 1PULSEHHHHHHHH HHHHDRIVEHHLIMITHHHHHHHHHHHHPULSEHHHHHHHHHHH ULSE HHHHHHHHHHHHHHPULSEH rn 2 LIMITHHHHHHHHHHHH 12 11 0 12 12 TIMINGO 0 0 0 0 0 FSSTOPO HH CWLMICCWLMHHHHHHHHHHHH600usHHHHHHH 133 12 17 TIMING 90HHHHHHHHHHHHHHH EA EB PULSE COUNTER GOUNTER tij 150 ns t10 200x ns t20 330x ns t20 430x ns tnao 660x ns tuan 860x ns COUNTH tooo UP COUNT HHHHHHHHHHHH PULSE COUNTERH 0 0 0 COUNTERH HHHHHHHHHHHHHHHHHHHHHHH HH 4 DOWN COUNT EN FT HHHHHH mE UP COUNT DOWN COUNT XEA v m Y amp V FTF pis UP COUNT DOWN COUNT XEA LT Y TY COM HHHHHH XEB y 5 V X MHHHHCOUNTHHHH XEA 150ns PULSE COUNTER XEB 12 18 RDYINT TIMING INTA STATUS1 BUSY IOW RDYINT 1 50ns t2 150ns COMMAND
90. 0 70 s 100p s XCWP CCWP YCWP CCWP X Y STATUS1 DRIVE X Y STATUS1 BUSY 0 SERVO MOTORIHHHHHDRIVEHHHHHHDRIVEHOHHHHHHHHHHH 130 12 13 TIMING STEPPING MOTORIH U CW H 0 DRIVEL 0 0 U DRIVE 1 XU D IOW 38u 5 42 s 2 t20 35u s DRIVEH D XCWP UUL t20 70 s 100 s D 0 DRIVE STATUS1H DRIVE ZU Al STATUS1H 38 42 s BUSY t20 20u s 2 0 SLOW STOP COMMANDO 2 SLOW STOP COMMANDO I 0000000000 PULSEH 1PULSEH 0000 DRIVEH DRIVEHHHHHHHHHHH PULSED DRIVEH l RIVEHHHHHHHHHHHHHHHHHH PULSED D 000 1PULSEHHHHHHHH HHHH U O D J DRIVEH HHHHHHHHHPULSEHHHHHHHHHHH 12 14 0 TIMING 1 STEPPING MOTORH CW H 0 DRIVEL 0 U U DRIVE d XU IOW t1 400L s LL 2 t2 38u s 46u sl 00 0 4 FSSTOP t30 35u s H DRIVEH D t30 70 s 100 s 0 DRIVE 3 XCWP ZU A STATUS1H t1 400L s DRIVE t20 38 s 46u 51 D D 4 t30 20u s STATUS1H BUSY t1 2 t3 gt lt 0 1 FAST STOP COMMANDHHHHHHHHHHH 0 2COMMANDH 00000000000 0 3 FAST STOP COMMANDHHHHHHHHHHHHHHHH PULSED 1PULSEH HH HH HHHHDRIVEHHHHHHHHHHHHPULSEHHHHHHDRIVEHHHHHHHHHH
91. 0 ADDRESS OUTLINE POSITION PROPERTY SET PREDATA SET OUTLINE POSITION SET1 OUTLINE POSITION SET2 X SET X HSPD HIGH SPEED HSPD SET X SET X LSPD LOW SPEED LSPD SET X SET XH RATE SET X SET XH DRATE HHHHH RATE SET X SET START POSITION No END POSITION No OUTLINE CP DRIVEN D 0 SET 0 1 X0 LSPD 0 2X0 LSPDO URATE xy DRATEHHHHHHHPULSEHHHHHHHHHHH URATEQ X 000 12400 0000000000000 HHHHHHHHHHHHHHDATAHHHHHHHHHHHH 0 3 START POSITION END POSITION O POSITION NoHHHHHHHHHHPOSITIONHHHH HHHHHHHHHHHHPOSITIONIHHHHHDRIVEHHHHHH 0 40 START POSITIONHHHHHHHHHHHH START POSITIONH O 0 O 0 0 DRIVEH HHHHHHHHSTARTPOSITIONHHHHHHHHHHHHHHHHHHDRIVEHHHH STATUS1 PORTO ERROR BITO 10 00000 0 5 START POSITION END POSITIONH O 0 0 POSITIOND 0 0000000000 0 0 POSITIONH 2 STATUS1 PORTO ERROR BITO 1000000 0 6 DRIVE SPEED LSPD 2 5KHz O POSITIONH O O DRIVE HHHHHHHPOSITIONHHHHDRIVEHHHHS00usHHHHHHHHHHHH DRIVE SPEED LSPD H 2 5KHzH POSITIONH O 0 D DRIVEHHHH 5000 sHHHHHHHH HPOSITION HHH UHHH700nusHHHHHHHHHHHH 0 70 OOOO POSITIONH DRIVEHHHHHHHHHHHH OUTLINED O POSITION
92. 0 F D 0000 000000000000000000000000000000000000000000 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 5 33 DRIVE TYPED 0000 MCC05nn DRIVEH HHHHHHHHHHHHHHHHHHHDATAMODEH HH MODED O HHHHHHDATAMODEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH L TYPE M TYPE H TYPEH 3TYPEH HHHHMODEHHHHHHHHHHHHHHHHHHHHHHHHHHH HHDATAMODEHHHHHHHHH URATE DRATE H HHHDATATABLEHHHHHHHHHHHHHH USERHHHHHHHHHDATATABLEHNoHHHHHHHHHH RATE DATA TABLE HHTYPEHHHHSPEEDHHHRAIEHHHHHHHHHHHHHHHHHHHHHH 0 0 DATA ME SPEED Lspp sse 190 100 10Hz 800kHz 10z 3 10Hz 3 3M SPEED 1000ns 1000Hz 50ns 1000Hz 5ns 1000Hg 1030ns 1000Hz 1 Ons 1000Hg 0 05ns 1000 0 005ns 1000Hz 0 004ns 1000Hz 1 STEP lOkHz STEP 51Hz STEP 68 STEP 68k STEP 9 34 DRIVE DATA1 2 3 PORTO O DRIVEN O SPEED DATAHHHHHHHHHHHH HHHHHDATAHHHHHHHHHHHHHHSPEEDHHHHHHHHHHH 160 000 000 SPEEDO i Hz V READ DATAH 10HHHHHHHHHHHHHHHSPEEDHHHHDATAHH3HHHHHHHHH 9 5 20 3 3MHzH 0 U HHHHSPEEDREADHHHHHHHHHHO95HzHHHHHHHHDATAHHHHHH SPEEDHHHHHHHH DRIVE DATA1 2 3 PORTO 0 O PULSE COUNTER HHHHHSPEEDREADHHHHHHHPORTHHHSPEEDDATA
93. 00 SERVO 1 STEPPING 4 RDYINT TYPE D D ID HHHHHH 0 PLLSE 0 COMMAND U D D D D D o 1 D O COMMANDO D D D D 1 rese 000000000000 51 6 5 PULSE COUNTER COMMAND COMMAND 025 PULSE COUNTERH HHHHHHH DRIVE DATA1 2 3 PORTO PULSE COUNTH 00000000 ATUSI DRIVE DATA1 PORTO 000000000060 BUSY 0 DATA1 PORT Y D D Ep COMP STOP TYPE CNTINT OUTPUT TYPE CNTINT LATCH TRIGGER TYPE VRI TE E DRIVE DATA1 BIT Uu POWER ON RESETH HH D D EKE Lr EZ E LEE E E 1 COMP STOP TYPE D PULSE COUNTER COMP 5 HHHHHHHHHHHBITHHH COMPARE REGISTER1H 5000000000000 0 10000 2 CNTINT OUTPUT TYPE D PULSE COUNTERH 0 CNTINTHHHHHHHHH COMPARE REGISTER1H 5000000000000 COMPARATOR 000000000000 HHHHHHSTATUSS READ 0000 10 COMPARATORHHHHHHHHHHHHHHHHH 0 1 STATUSS READ J D D D D D HHHHH HHHHH 3 CNTINT LATCH TRIGGER TYPE D PULSE COUNTER CNTINTH COMPARE REGISTER1 500000 HHHHHHHHHHHHHHHHHH
94. 0Hz No 12 30ns 1000Hz SRATE SET ES fumum MIND D D D U 00000000000 Pu 000000 0000 NT CUTPUT TYPE GOVPARATCRI III B H D HH EL D D D U U 0 0 OOUNIERJHHHH HH MO5nn PULSEH aox UFLINIHHHHHH HHHHHHHHHHH DFL QJM1 2 STOP ENABLE DFL CWP STOP TYPE 0000 DFLI NT OUTPUT TYPE GoPARATOQ BD HB B B H D B D I DU D NT LATCH TRI GER TYPE tutt RISE INTER HG SELECT o mes wma o cree LIM T DELAY TI 300ns Cusan o PASCCONERPEST PULSE CONTER PULSE COUNTER COMPARE REG STERIL 5 800000 COMPARE REG STERI 5 SET moona 9 sucer TER ARE REG STER1 2 ARE REG 5 2 SET DFL CONTER IN TI ALI 121 CENTER TI X Y CENTER SET 0 0 PASS PCSI TI CN X Y 0 0 PASS PCSI CN SET QOMREG ENALBE 0 nnnnn COREG INT LZE COMEG NT CANT NE PCBI TI PROPERTY PCBI TI CN No 00 FFF 000 TI ON PRCPERTY SET OJTLI NE POSI CN APPRESS X Y 0 0 POSIT ON SETI 2 NE OFFSET 0 NE OFFSET NETT PCSI TI CN No No FFFO
95. 1 OUTLINE POSITION SET2 X SET X SHSPD S RATE DRIVE HIGH SPEED SHSPD SET X SET SLSPD S RATE DRIVEH LOW SPEED SLSPD SET X SET SRATE S RATE DRIVEHHHHHHHH SRATE SET X SET START POSITION No END POSITION No OUTLINE CP DRIVEN D 0 SET 0 1 XH SLSPDz X SHSPDHHHHHHHHHHHHHXH SHSPDH 022000000 O OUTLINED 0 DRIVEN O O 0 30 0 20 D B U D HHHHHDRIVEHHHHHH HHHH 5 24 0UTLINE POSITIONH 0 0 O X YH DO OUTLINED DRIVEN 0 0 0 DRIVE 00000000 OFFSETH XY OFFSET 0 0 OFFSETHHHHHH XYOFFSETH OUTLINE OFFSET COMMANDH 0 0 0 0 0 8 OFFSETH HHHH OUTLINE OFFSETH sna 00000000 0000009000000 0 0 ADDRESSD OUTLINE REFERENCE POSITION SET COMMANDO 000000000000 0 X Y D D DRIVED D D XY OFFSETT 00000 0 DRIVEL POSITION No 102 END POSITION POSITION No 101 XY OFFSETI 00000 0 DRIVE POSITION No 100 START POSITION 9OFFSETHHHHHHHHDRIVEHHH OFFSETT HH O DRIVEH POSITION No 102 END POSITION POSITION No 101 OFFSETI 00 0 DRIVEH LH POSITION No 100 START POSITION 1 0
96. 124 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING 0 STEPPING MOTORO 00000000 CW D DRIVEH D XD D IOW U URATE DRATE URATE D COMMANDHHHHHHHHHHH 150ns 150ns t20 96 5 104 5 t20 1 4ms L TYPEH XCWP 655u s M TYPEH 425 s H TYPEH STATUS1H t30 118 126 s 13 t20 22 s DRIVE t40 35u s 44p 5 t4 35u 5 44 s t50 35u s t50 33u s STATUS1H BUSY m z 0 0 14 5 URATE DRATEH URATE D 12 150ns t1 150ns 13 t20 71 79 s t20 1 3ms L TYPEH 630 s M TYPEH 400 s H TYPE t30 93 5 101 s 13 t2 220 s t40 35 5 44 t40 35u 5 44 s t50 20u s t50 18u s 12 4 ORIGIN DRIVE TIMING 1 ABSOLUTE INDEX DRIVE H J ADDRESSO J RETURN DRIVE D CCW H DRIVEH D XD D IOW d 150ns COMMANDHHHHHHHHHHH 20 95 s 30 107 s XCCWP STATUS1H DRIVE U 20 AU D 150ns STATUS1H 20 70 s BUSY 30 82 s 2ABSOLUTE INDEX DRIVE 0 0 ADDRESSH 0 0 RETURN DRIVEJD 0 0 0 0 CCW H DRIVEH U XE l IOW 1 URATE DRATE URATEz DRATEQ COMMANDE 150ns 150ns t2 96u s t2 1 4ms L TYPE XCCWP 655p 425u s H TYPE STATUS1 t3 118 s t3 t2 220 s DRIVE U 40 0 D STATUS1 URATE DRATE URATE DRATEI BUSY tig 150ns t1 150ns t2 71u s t2 1 3ms L
97. 2 0 4 HHHH 10000010 ABSOLUTE STRAIGHT SCAN E 2 0 4 10000011 S RATE ABSOLUTE STRAIGHT CP SCAN 0 2 4 0000 10000100 ABSOLUTE CIRCULARI CP 02 454 HHHH 10000101 ABSOLUTE CIRCULAR1 CP 0 2 4 0000 10000110 S RATE ABSOLUTE CIRCULAR1 CP 0 2 0 4 10000111 S RATE ABSOLUTE CIRCULAR1 CP E 2 4 HHHH 10001000 ABSOLUTE CIRCULAR1 SCAN 2 4 0000 10001001 ABSOLUTE CIRCULARI CP scan 0304 0000 10001010 S RATE ABSOLUTE CIRCULAR CP SCAN 02 04 HHHH 01110001011 S RATE ABSOLUTE CIRCULAR1 CP SCAN 2 4 0000 0 10001100 ABSOLUTE CIRCULAR2 2 4 HHHH 10001101 S RATE ABSOLUTE CIRCULAR2 2 4 HHHH p 10010000 INCREMENTAL STRAIGHT CP 0304 HHHH 01110010001 S RATE INCREMENTAL STRAIGHT CP 0110010010 INCREMENTAL STRAIGHT CP SCAN 10010011 utu S RATE INCREMENTAL STRAIGHT CP SCAN 01110010100 INCREMENTAL CIRCULAR1 CP 0 10010101 INCREMENTAL CIRCULARI CP p 10010110 S RATE INCREMENTAL CIRCULAR1 CP 0110010111 S RATE INCREMENTAL CIRCULAR1 01110011000 INCREMENTAL CIRCULAR1 SCAN 01110011001 INCREMENTAL CIRCULAR1 CP SCAN 10011010 utu S RATE INCREMENTAL CIRCULAR1 CP SCAN 0 10011011 SHRATE INCREMENTAL CIRCULAR
98. 5 21 5 0 SCAN DRIVED 0 X Y0O D0 S RATE INCREMENTAL CIRCULAR1 CP SCAN DRIVE COMMAND S RATE ABSOLUTE CIRCULAR1 CP SCAN DRIVE COMMANDHHHHHHHHHHHHHHHHHHHHHHHHHHHHSHHHHHHH HH SCAN DRIVED D D 0 0 D O D O 5 26 5 27 5 280 00 0000000000000 DRIVE SPEED RATEH HHHHHHXIHHHHHHHHHDRIVEHHHH HHPULSEHHHHH 8 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 20 2 965 8200 00 RATED 0 D S RATE SCAN DRIVEH CWP 0000 gt CWP Hz SHSPD eue HHHHPULSEH SN 2 Lord iw SLSPD 1 SRATE SRATE 0 SCAN DRIVEHHHHPDATAHHHHHHHHH DATA COMMAND X SHSPD S RATE DRIVE HIGH SPEED SLSPD S RATE DRIVEH J LOW SPEED XI SRATE S RATE DRIVEHHHHHHHH D B 0 0 ADDRESSH 0 ADDRESS 0 1 X SLSPDz X SHSPDH HHHHH 0 220 0000000000 20 2 965 8200 0 0 00 0 HHHHH O STATUS1 PORT ERROR BIT 1 3HHHHHHHHHHHHHHDRIVEHHH 0 4 39 X SHSPD DRIVE SHSPD SET X SET SLSPD SET X SET SRATE SET X SET 0 D PREDATA SET XH 0 SET 0 CENTER POSITION SET X SET HHHHHHDRIVEHHHHHH HHHHHH 5 22 OUTLINET DRIVEH XYH O OUTLINE CP DRIVE COMMANDHHHHHHHHHHPOSITIONHHHH DRIVEHHHHHHHHHH POSITION
99. 7 80 00 01 6 18 CSPD SET COMMAND COMMAND 000 ORIGIN DRIVEH 0 J CSPD CONSTANT SPEED H HHHHHHH DRIVE DATA1 2 3 PORTO CSPDH HzO O 0 3HHHDATAHHHHHHH DRIVE DATA1 2 3 PORTO BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DATAL PCRT D EA e L VW D L DATA2 PCRT CSPD DATA VW CSPD DATAHHHHHHH 1 1 0 3 333 333 32DCD5a H D O 0 DATA3 PCRT CSPD SET COMMANDH HHHHHHHHHHHHHHHHHHHHHH HHHHHHHH OMAND 1 POWER ON RESETH 0 CSPDH 300Hz0 0000000 VW 5 33 0 0 0 0 SPEEDHHHHHHHH 63 6 19 DFFSET PULSE SET COMMAND COMMAND 1B 000 ORIGIN DRIVEN 0 0 0 OFFSET PULSEHHHHHHHH HHHHHHH DRIVE DATAS PORT OFFSET PULSED m ATUSI DRIVE DATA3 PORTO HH BUSY 0 DATA3 PORT Y D D DATA3 PCRT 2 j 112 WA NN Pes 1B OFFSET PULSE WA TE OFFSET PULSED O 0 0 0 0 O 0 000 0 255 POWER ON RESETH 0 OFFSET PULSED OHHHHHHHH OFFSET PULSE SET COMMANDO D 00000000000 6 20 0RIGIN DELAY SET COMMAND COMMAND 10 ODDO 000000 DRIVEH 0 DELAY TIMED 000606060 HHHHHHH DRIVE DATA1 2 3 PORTO HHHHHPDATAHHHHHH me DATA1 PORT LI
100. 807 s H TYPE 1 0ms t30 500 s 594 s t3 12 22 s t40 35 s 44u s 2 t40 35 s 44 s 0 2 t50 70 s 100p s t50 70 s 100p s te 190 s te 1 7ms L TYPE 943 s M TYPEH 713L s H TYPE 0 1 CIRCULAR1 CP DRIVE S RATE CIRCULAR1 CP DRIVEH RATEH URATE DRATEH 000 0 00000 YHHRATEHHHHHHHHHHH 2HHDRIVEHHHHHHt4HHHHHDRIVEHHHPULSEHHHHLHHHHHHHHH 126 12 7HHHHHHHDRIVE S RATEH 1 D 0 DRIVE DRIVE S RATE 0 0 DRIVE TIMING X0 Y STEPPINGMOTORHHHHHHHHHHHHHHHHHHHHHH DRIVEH lows COMMAND 1 0 000 DRIVE j DRIVE DUDDDUD XCWP YCWP U LU X Y STATUS1 DRIVE X Y STATUS1 RATED J URATE DRATEH 1 BUSY 11 16 14 15 t2 t3 XU X RATE O URATE DRATE 1 10 150ns t20 1 0ms 1 115 t30 t2222u s t40 35 s 44 s t50 70 s 100 s t1 150ns t2 2 3ms L TYPE 2 4ms 1 6ms M TYPE 1 7ms 1 4ms H TYPE 1 5ms t3 t2 22u s t40 35 s 44 t50 70 s 100p s 1 CIRCULAR2 CP DRIVE S RATE CIRCULAR CP DRIVE CIRCULAR3 CP DRIVE S RATE CIRCULAR3 CP DRIVE 0 RATED DRATE
101. ADDRESSH center X absdtcenter Y_absdt addressH 00 000000000000 154 16 8 PULSE COUNTER DATA READ PROGRAMI HHHHHHHHHPULSE COUNTER COUNT 0 RETURNIHHHHHHHHHHHHH TE COUNTER READ S CR E SS SED ong xcntred voi d 1 ong a out p XMOOOOM Oxf PULSE CANTER PORT SELECT QUT UC 2 inp XMXDr1 CANTER MB IN UC 1 inp XMOD UC XMXDI3 CANTER LSB IN if UC 2 amp 0x80 0 1 UC 3 OXff else UC 3 0x00 return 0 PULSE COUNTER PORT SELECTO O COUNTER SPEED PORTH 00000000000 HHHHH PULSE COUNTERPORTHHHHHHHHHHHHHHHHHHHH 155 HHHHHC 874viHHHHH STATUS BUSY BITO D l 00000 0 COMMAND STATUS BUSY BITO PULSE COM PULSED 0 00000 STATUS DRIVE BIT B PULSE CO PULSED 000000 STATUS DRIVE BIT B STATUS BUSY BIT D D D ORG DRIVE O J UDO D HHHHHHHHHHHHHH RESETH 0 0 LOW LEVELHHHHHH BASE ADDRESSHHHHHHHHHH PULSEH INDEX DRIVEH 00000 ADDRESS 0000 STATUSH ERROR LSEND FSEND HHHHHHHHHH48HHHHHHHH SERVOH 0 O0 DENDO 0 O
102. AH Vce 2V D i EXTVGND V I et O 4XEA XEB XZORG HIGHHHHH 0 8mA D m J AS lt 6 S31 pos eem S aia LOWHHHH 9 4 0 NY O XEA XEB XZORG 0 7VH 0 HIGH 3 2 0 0 LOW 5 25V MAX 0 u0un v gt 0 COM Max 20mA 5 4 wax XCWP XCCWP 2 4 0 Ko SOURCE20mAH XCWP XCCWP LOWHHHH 0 4VHH SINK20mAH HHH1XDRSTCOMH 0 XDRSTHHHHHHHHHHHHHHHHHHHHHH 24VI COMHHHHHHHHHHH 2 141 14 1 DRIVERH 1 0 HHHHHHHCWCCWHHHHH DRIVERHHXHHHH aHHHTTLHHHHHHHHHHHHHH J1 0 325 UU Uu 0 15800 0 E REF E Ns XCWP W ME _ XCCWP C 874v1H HD J1 Nx XCWP 18 Ns xccwp 55 C 874v1H D HD 2 STEPPING DRIVER 0 X0 0 0 0 XPO 390 t E C 874v1 Im 24VGND DRIVERH STEPPING DRIVER 0 XDRST XZORG XZORGH HHHHHHHHHHHHHHHHHHHHHH HHHHXPOHHHHHHHHH 3 SERVO DRIVER X J1 00000 0 15560 U XDRSTCOM XDRST XDEND XZORG XZORG XEA XEA XEB XEB C 874v1H HHH 10HHHHHHHHHHHHHHH 2DRIVERHHHHHHHHH 1500 0 9 D 40 D U HHHHHHHH
103. ALIZE COMMANDO 000000 RESETHHHHHHHHHHHHMCCO5nnHHH PULSEHHHHHHHH 9 PULSE COUNT o o COUNTER REGISTER PULSE COUNTER 0 O COMPARE REGISTER 0000000000000 HHHCOUNTHHHHHHHHHHHHH STATUSHHHHHHHHHHHHHHHHHHHHHH HHHHHH STATUSO 00 0000000000000 0 0000000000000 0 HHHHHHUHHHHHHHHHHHHHHHHHH HHHHHHHHHSTATUSHHHHHHHHHHHSTATUS3 PORTO READ U U O 0 0 RESETH HH HHHHHHHHHHHHH COUNTERH REGISTERH U D O U 0 RESETDDDU HHHHHHHHHHHHH U U 8 5 HHHHHHHH CNTINTDHHHHH COMPARATORH ORHHHHHHHHHHHHHHHHHH 0 COMPARATORIHHHHHHHHHHHHH COMPARATOR HHHHHPULSEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHPULSEHHHHHHHHHHHHFSEND HHHHHHHHHHHHH SSEND BITI 1000000 PULSE COUNT COMPAREH CONTROLH 0 PULSE COUNTER INITIALIZE COMMANDO HH 0 HHHHH COMPARE REGISTER 0 COUNTER PORTO 0 0 0 0 COUNTER PORTO DRIVE PORTHHHHHHHHHHHHHHCOMPAREDATAHHHHHHHHHHHHHH COMPARE REGISTER1H HH HH COMPARE REGISTER1H 0 0 0 COMPARE REGISTERHHHHHHHHHHHHHHHHHHHHH COMPARE REGISTER1HHHHHHHHHHHHHHHHHHHHHHHHHH CONTROLO O PULSE COUNTER INITIALIZE COMMANDHHHHHHHHH HHHHHHHH COMPARE REGISTER1 00000 O PULSE COUNTERI OH 200000 COMPARE REGISTER1 COUNTER DATA1 2 3 PORTO 0 0 0 00000 DATADO COMPARE REGISTER1H HHHHHH HHHHHH 115
104. ANDO COMMAND J COMMANDO COMMAND NO OPERATION COMMAND HH SPEC INITIALIZE1 COMMAND PULSE COUNTER INITIALIZE COMMAND ADDRESS INITIALIZE COMMAND ADDRESS READ COMMAND SERVO RESET COMMAND RATE SET COMMAND LSPD SET COMMAND HSPD SET COMMAND HH DFL COUNTER INITIALIZE COMMAND SET DATA READ COMMAND JOG COMMAND SCAN COMMAND INCREMENTAL INDEX COMMAND ABSOLUTE INDEX COMMAND CSPD SET COMMAND OFFSET PULSE SET COMMAND ORIGIN DELAY SET COMMAND ORIGIN FLAG RESET COMMAND ORIGIN COMMAND
105. ANGE BUSY BITHHHHHHHHHHHHDRIVE COMMANDHHHHHHHH 00 O 0 STATUS1 PORTO DRIVE BITHHHHHHHHHHH U 2SPEED DATAI DATA1 2 3 PORTO HHH LU HHHHHHHHHHHHHDNAHHHHHHHHHHHH DATA3 PORT WRITEH 0 DATAHHHHHHHH O 3 SCANH J INDEX DRIVED 0 0 0 0 0 0 COMMANDHHHHH UUUUUUUUU 103 6 73 INT MASK COMMAND COMMAND F8 000 DRIVE DATA3 PORTO DATA3 PCRT DRIVE DATA3 PORTH HHHHHHHHHHH COMMAND F8 DATA3 PORT WAI D D PLS COMP2 INT MASK D PLS COMP3 INT MASK PLS COMP4 INT MASK PLS COMP5 INT MASK DFL COMP1 INT MASK DFL COMP2 INT MASK EN PLS COMP1 INT MASK DRIVE DATA3 BIT uu POWER ON RESETH O D D D LE 1 PLS COMP1 INT MASK D PULSE COUNTER COMPARATOR1H D 0 D D 0 1 2 PLS COMP2 INT MASK D PULSE COUNTER 20 0 0 0 0 Oll 1 I I I 1 3 PLS COMP3 INT MASK D PULSE COUNTER COMPARATOR3H 0 0 0 0 OHHHHHHH 1 4 PLS COMP4 INT MASK D PULSE COUNTER COMPARATOR4H 0 0 0 0 1 5 PLS COMP5 INT MASK D PULSE COUNTER 0 1 6 DFL COMP1 INT MASK D COUNTER COMPARATOR1 HHHH IHHHHHHHHHHHHHHHHHHHHBITHHH on Hn gg B D D 1000000 7 DFL COMP2 INT MASK
106. CCW I l CW H 0 EXTV 000H XNORG es 000000 HHHHHH XZORG XZORG C 874v1 4 ORG 10 0 ORGITIJ l U uuu EXTV XNORG XORG U uu HHHHHH vP s XZORG XZORG XZORGH 000000000000 XZORG C 874v1H 144 ORGH HH HHH ON 0000 PM K53B PM L53B PM T53B EE SPX401 EE SX670 00 NORGH 0 0 0 OFF PM K53 PM L53 PM T53 EE SPX301 EE SX670 LT OFF PM K53 PM L53 PM T53 EE SPX301 67000 00 2 A53 3 3V H2 GD 07 A54 45V 43 3V 4H ERE EE EE EE EE D 3 3V O 5V 1 0 0 HLHTHHHHHHHFHTHHHHHHHHHHHHHHHHHHHHH 145 15 20 000000 MM HHH P HH Aqu Mirar viar V Z A X xL df zar Lz rz I L 1 0 r3 zz 0
107. CNTINTO 00000000 3 PULSE COUNTER INITIALIZE COMMAND CNTINT OUTPUT TYPE 100 00000000060 PLS COMPARE REGISTER 2 10 HHHHH 7 X 8 X 9 X 10 A X 12 XCNTINT l E STATUS3 COMP1 5 COMPARE ep ep 000000 0 0 XCNTINTO 0000000 HHHHHHHHHHHHHXCNTINTHHHHHHHHHSTATUSSPORTHHHHHHHH HHHHH HH CWHHDRIVEHHHHHHHHHHHC 874v1H DRIVE PULSEHHHHHHHH xw L LIT LT LT LI L FP IOR 5 o ti 200ns t2 200ns t3 200ns 135 Ep 12 20 DFLINT TIMING INTA DFL COMP100 0 0 COMPARE REGISTER1 HHHHHHHH DFLINT H O STATUSO DFL COMP1 H TIMING 1 D D U U U U D D 1 DFL COUNTER INITIALIZE COMMANDH DFLINT LATCH TRIGGER TYPED OHHHHHH DFL COMPARE REGISTER1 19 DDR orna S STATUS3 DFL COMP1 COMPARE REGISTER SET COMMANDO HHHHHHHHHHHHHHHHHHHH HHHHHHHHHH10HHHHHHHHH HHHHHHSHHHHHHHHHHXDFLINITHHHHHHHHH HHHHHHHHHXDFLINTHHHHSTATUSSPORTHHHHHHHHHHHHHHHHH 0 HHHHHHHHHHHHHHHHHHSTATUS3 PORTO READH HHHXDFLINTHHHHHHHHH 2 DFL COUNTER INITIALIZE COMMANDH 0 DFLINT LATCH TRIGGER TYPED 1000000 DFL COMPARE 5 REGISTER DFLHHHHH 7 X 9 X 0 X t X 12 X13 X 14 IOR
108. COMMAND OUTLINE OFFSET COMMAND OUTLINE 6 OFFSET COMMAND OUTLINE REFERENCE POINT SET COMMAND ERROR STATUS READ COMMAND HHH COMREG INITIALIZE COMMAND HHH PREDATA SET COMMAND HHH PREDATA SET COMMAND HHH COMREG CLR RESET COMMAND HHH SPEED CHANGE COMMAND INT MASK COMMAND HHH PORT SELECT COMMAND HHH SLOW STOP COMMAND HHH FAST STOP COMMAND HHH COUNTER READ SPEED READ HHH 000000600 MEE 7 2 ORG 0 mmm HHH 7 3 ORG 1H D mM HHH 7 4 ORG 2H D cmm HHH 7 5 ORG 3H cmm 000 7 6 40 0 mM 000 7 7 cmm HHH 7 8 ORG 10H HHH 7 9 ORG 11H
109. COMMAND 125 0 0 13 WW TE 6 16 INCREMENTAL INDEX COMMAND COMMAND 145 HHHHHHH DRIVE DATA1 2 3 PORTO PULSEH 00000000600 Ecce DRIVE DATA1 2 3 PORTO BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DATAL PCRT o 2 pa 65 RETOOL I ee PORT PULSE 00 FFFFFFz VAI CCW 0 000000 PULSED n aun 000000000 DATA3 PCRT HHH PULSEHHHHH 0 0 PULSE 10 DATA PORT DATA3 PCRT 14 8 388 607 FFn TE 00 0A 0 00 00 10 FF F6 8 388 607 00 01 62 6 17 ABSOLUTE INDEX COMMAND COMMAND 15 INDEX DRIVEH 0006060 HHHHHHH DRIVE DATA1 2 3 PORTO O O HH 0 0 ADDRESSHHHHHHH ne DRIVE DATA1 2 3 PORTO BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DATAL PRT n 2 L PRT D ADDRESS 00 URI I ADDRESS 000000 20 00000006060 DATA3 PORT VW TE 0 0 ADDRESSHH 00 ADRESS 10 0 0 1 PORT DATA2 PCRT DATA3 PCRT OMAND 15 48 388 607 7F FF FF URI 410 00 00 00 00 00 FF F6 8 388 60
110. COUNTER COMMANDH 9 1 COMMAND HEX CODE xHHHOHHHHH XXXX0000 PULSE COUNTER PRESET MAX200ns PULSE COUNTER COMPARE REGISTER1 SET MAX200ns XXXX0010 PULSE COUNTER COMPARE REGISTER2 SET MAX200ns XXXX0011 PULSE COUNTER COMPARE REGISTER3 SET MAX200ns XXXX0100 PULSE COUNTER COMPARE REGISTER4 SET MAX200ns XXXX0101 PULSE COUNTER COMPARE REGISTER5 SET MAX200ns COUNTER PRESET MAX200ns XXXX0111 O0 O0 COUNTER COMPARE REGISTER1 SET MAX200ns XXXX1000 COUNTER COMPARE REGISTER2 SET MAX200ns 9 2 PULSE COUNTER PRESET COMMAND COMMAND PULSE COUNTERH COUNTHHHHHHHHH INITIALIZE O CANTER XAL n COUNTER DATA1 2 3 PORTO PRESET DATAHHHHHHH PORT WW TE COUNTER DATA1 2 3 PORTO 00000000000 CANTER 2 D PORT VAI DATA1 PORT DATA2 PORT DATA3 PORT A up D D D D D CONTER DATA3 E 12 2 2 L 1 12 PORT WITE L CANTER COMAND PRESET DATA 00 FFFFFF 00 URI PRESET 00000020 00000006060 RESETH 00000000 PRESET PRESET DATA 10 0 LL 1 PORT DATA2 PCRT 48 388 607 410 0 10 8 388 607 H U Bl HL B H H B U D DATAE COMMAND PORTO COUNTER O PORTO D D DRIVE PORTO PORT ADDRESSHHHHHHHHHHHHHHHPORT ADDRESSH 0 0 4 HH41HHHHHHHH 118 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND
111. D COUNTER on Hn B B B ED U 1 HHHHHHHHHHHHHHHHBITHHH HHHHHH HHHHHHHHHHHHHHHHBITHHH HHHHHH HHHHHHHHHHHHHHHHBITHHH HHHHHH HHHHHHHHHHHHHHHHBITHHH HHHHHH HHHHHHHHHHHHHHHHBITHHH 10HHHHHHHHHHHHHHCOMPARATORHHHHHHHHHHHHHHHHHHHHHHHH 8 50 0000000 0 2 BUSYII o0 n DD D D 00000000 44s U U DATAS PORTO 00000000 0 COMMAND 00000 104 6 74 SELECT COMMAND 1 ADDRESS COUNTER PORT SELECT COMMAND COMMAND F91 DRIVE DATA1 2 3 PORTO ADDRESS COUNT DATA READ PORTH 2 DFL COUNTER PORT SELECT COMMAND COMMAND DRIVE DATA1 2 3 PORTO DFL COUNTERI COUNT DATA READ PORTO 3 PULSE COUNTER PORT SELECT COMMAND COMMAND 000 DRIVE DATA1 2 3 PORTO PULSE COUNTER COUNT DATA READH 0 PORTU HL LB LB D 4 SPEED PORT SELECT COMMAND ZH AH 0 0 COMMAND FDi 000 DRIVE DATA1 2 3 PORTO PULSE SPEED DATA READH HPORTHHHHHHHH HHHHCOMMANDHHHHHHDRIVE DATA123PORTHHHHHHDATAHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHCOMMANDHHHHHHH 4nu 0 D D COMMANDH 200nsH 0
112. DATA3 PORT D D D D D 2 28 215 28 21 20 L 2 U 0 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 12 2 L 1 212 j 12 2 YH O 0 0 ADDRESS 00 FFFFFF HHADDRESSHHHHHHH2HHHHHHHHHH D D D ADDRESSH 000 APPRESS 100 O O 1 PORT XY DATA2 PORT XY DATA3 PORT FF FF 00 00 OA 0 00 00 00 10 FF FF F6 8 388 607 80 00 Ol DRIVE COMMANDH X PASS POSITION ADDRESSH PASS POSITION SET COMMANDO U U 0 PASS POSITION SET COMMANDHHHHHHHHHHHHHHHH 91 6 57 INCREMENTAL CIRCULAR3 DRIVE COMMAND XT XIHHHHHHHHCOMMANDH YD COMMAND BC 000 HHHHHHHHHHHHHHHHHDRIVEH XI DRIVE DATA1 2 3 PORTHHHH2XHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTHHHH2YHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L 2 U 0 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 L e
113. DDRESS PREDATA SET COMMANDO O 0 0000 O0 PREDATA SET COMMANDHHHHHHHHHHHHHHHH 86 6 51 INCREMENTAL CIRCULAR1 CP SCAN DRIVE COMMAND X COMMAND CW H O DRIVEN 98 CCW H DRIVEH E BEBE HHHHHHHHHHHH SCAN DRIVEH DU uuu HHHHH DRIVE COMMANDO 0 0 PREDATA SET COMMAND HHHHHXYHHHHHADDRESSH 0000006060 PREDATA SET COMMANDH 0 0 PREDATA SET COMMAND 6 52 S RATE INCREMENTAL CIRCULAR1 SCAN DRIVE COMMAND X COMMAND CW H DRIVEH CCW H DRIVEH 9B 000 SHHHHHHHHHHHHHHHH SCAN DRIVE 0 1 X PREDATA SET COMMAND 0 1 PREDATA SET COMMAND Y X CMD DRIVE COMMANDO 0 0 PREDATA SET COMMAND OA 9B VN TE U PREDATA SET COMMANDH J 0 0 PREDATA SET COMMAND HHHHHHHHHHHHHHHH 87 6 53 INCREMENTAL CIRCULAR2 CP DRIVE COMMAND XT COMMAND 9C 000000000000000 0 0 DRIVED 00000 HHHHHHH X DRIVE DATA1 2 3 PORTO X0 ADDRESS
114. DRIVE COMMANDO O J O XO PASS POSITION SET COMMANDO 0 0 ADDRESS 00000 PASS POSITION SET COMMANDO O O 0 O 0 0 D PASS POSITION SETCOMMANDHHHHHHHHHHHHHHHH 79 6 44 S RATE ABSOLUTE CIRCULAR2 CP DRIVE COMMAND XT XIHHHHHHHHCOMMANDH YD COMMAND PASS POSITION SET COMMAND Ex 000 SHHHHHHHHHHHHHHHH DRIVEH D uuu DRIVE DATA1 2 3 PORTO X0 ADDRESSH DRIVE DATA1 2 3 PORTO YO 0 ADDRESS DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L XO ADDRESS FFFFFF DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 qe ep 112 2 12 ADDRESS 00 FFFFFFs HHADDRESSHHHHHHH2HHHHHHHHHH D D D ADDRESSH 000 APPRESS 100 O O 1 PORT XY DATA2 PORT XY DATA3 PORT FF FF 00 00 OA 0 00 00 00 10 FF FF F6 8 388 607 80 00 Ol DRIVE COMMANDO O J O XO PASS POSITION SET COMMANDO 0 0 ADDRESS 00000 PASS POSITION SET COMMANDO O O 0 O 0 0 D PASS POSITION SETCOMMANDH
115. EH STATUS1H DREND BITO 10 LSEND SSEND FSENDH BIT I HI L1 OC OU 04 ERROR LSEND SSEND FSENDHHHHHH1HHHHHHHHHHHHHHHHHHH DRIVEH RESETHHHHHHHHHHHHHHSTATUS1HHHBITHOHHHHHH 005 6 23 SRATE SET COMMAND COMMAND 000 S RATE DRIVEH 0 0 SRATE HHHHHH H HHHHHH HHHHHHH DRIVE DATA3 PORTO SRATEH DATAH 0 No 0 D HD DD D ATUSI BUSY 0 DRIVE DATA3 PORTHHHHHHHHHHHH Y DATA3 PORT PCRT D D VAI TE a p 60 VRI SRATE SRATE SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH POWER ON RESET No 9 100ms 1000Hz 000000000 0 0 COMMANDO 0 0 SSRATE SERATEH SSRATE SERATEH HHHHHHHHHHHH HHHHHHHHHHHH HHHHH 65 6 24 SLSPD SET COMMAND COMMAND 61 000 S RATE DRIVEH 0 0 SESPD LOW SPEED H HHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO SLSPD Hz 30 0 J DATAH me ATUSII DRIVE DATA1 2 3 PORTHHHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y EN D D D D D D DNALPOT n 2 12 LEE en ma TE U L 2 PORT n SLSPD DATA VW SLSPD DATAHHHHHHHHH 10 0 0 3 333 333 320 05 0 O 0 PCRT 0 1 VAI SLSPD SET COMMAND 1HHHHHHHHHHHHHHHHHHHHH HHHHHHHH COMMAND 61 POWER SLSPDH 300 2 0 1 DATAHHHHHHHHHH DRIVE TYPEHHHHHH
116. ERH COUNTHHHHHHHHHHHHH LSE COUNTER PRESET COMMANDO D o 119 9 9 COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 07 000 COUNTER COMPARE REGISTER10 0 000000 HHHHSETHHHH HHHHHHH COUNTER DATA1 2 3 PORTO COMPARE DATAHHHHHHH D 1 ONER 0 PCRT mI D COUNTER DATA1 2 3 PORTHHHHHHHHHHHH CANTER 0 DATA PORT DATA2 PORT DATA3 PORT PCRTVATE D D D D D D E jet uer 2 e ges et CANTER DATA3 PORT WW COMPARE DATA 00 7FFFFF CANTER COMAND 07 HHOHHHHHHH H2 RESETH 0 00 00000 010000000 0 0 DATAH COMMAND PORTO COUNTERH 0 0 PORTO O O O O O DRIVE PORT HHPORTADDRESSHHHHHHHHHHHHHHH PORT ADDRESSH HHHHH41HHHHHHHH HHHHHHH 0 220 00 0000000000000 2 9 10 COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 08 000 COUNTER COMPARE REGISTER2HHHHHHHH 0000000000 0 O0 COUNTER COMPARE REGISTER1 SET COMMAND 120 HHHHHHHHHLH POWER ONRESETH HHHHHHHHHHHHHHHHHH HH SPEEDHHHHHHHHHHHHHHHJP1X XH JPT Y YD JP1Z ZH JP1A AD O D 20 0 TYPE HHHHHH No 9 100ns 1000Hz No 12 30ns 1000 m EZE Lum EE E sm Gest 9 100ns 100
117. ET D B HH ADDRESSH ADDRESS S RATE CIRCULAR3 DRIVEH SET 0 SLSPD X SHSPDH DRIVEH RIV HHHHHH SHSPDH 02000000000000 0 0 DRIVEL O D 0 3 0304000000000 237 gt 5 20 S RATEH D SCAN DRIVEH S RATE INCREMENTAL STRAIGHT CP SCAN DRIVE COMMAND S RATE ABSOLUTE STRAIGHT HHHHHHHHSHHHHH2HHHHHSCANDRIVEHHHHHH HHHHHHHH HHHX 000 SCAN DRIVE COMMANDO 00000 5 26 5 27 5 280 O D 0 0 D DRIVEH SPEED RATEH D SHSPD SLSPD SRATEQ 0 0 0 HHHHHH HHYHHHHHHXHHHHHHH SPEEDO 0 RATED HHHHHH RATED 0 0 S RATE SCAN HHHH 0 9 0 0 YD 2 HH CWP SHSPD 0 0 0 U PULSED x sn gt X CWP SRATE S RATE O SCAN DRIVEH DATAH DATAH 0 XO SHSPD S RATE DRIVEH HIGH SPEED X SLSPD S RATE DRIVE LOW SPEED SRATE S RATE DRIVED 0000000 HHHH D 00 ADDRESSH D ADDRESS COMMAND SHSPD SET X SET SLSPD SET X SET SRATE SET X O SET S RATE STRAIGHT CP SCAN DRIVE SET 1 SLSPD xp SHSPDO 0000000000 0 U DRIVE I H BU D 38
118. FL DIVISION DATA SET 01 SENSOR INDEX3 DATA SET D 1 JOG JOG DD SCAN SCAN mmn mm o INCREMENTAL INDEX ABSOLUTE INDEX HHHHHIHHHH HH ENDPULSESET 01 HH ESPDSET UD CSPD SET X YHHHH DRIVEH 000000 4 _ 8 OFFSET PULSE SET ORIGIN DELAY SET ORIGIN FLAG RESET HH ORIGIN HHHH SPEC INITIALIZE3 0000 RESOLUTION SET PART HSPD BUFFER SET PART HSPD SET INCREMENTAL DATA SET m ABSOLUTE DATA SET PART PULSE SET SERIAL INDEX CHECK PART RATE SET SPECIAL SERIAL INDEX CHECK MARGIN TIME SET PEAK PULSE SET SEND PULSE SET SESPD SET SPEC INITIALIZE4 SPECIAL SCAN1 0 1 0 S RATEH DRIVE 5 SPECIAL SCAN1 SPECIAL SCAN2 1 PVIPVNINIPVININ NIN SPECIAL SCAN2
119. H CW H O PULSEH 0 O CWLMH O O CCW H O PULSED O O CCWLMHHHHHHH PULSED HHHHHHHHHHHHH HHDRIVEHHXH YHHPULSEHHHHHHHHH HHHHHHHHHHHHHHHHHHHH HHHHHPULSEHHHHHHHHHHLSENDH 1HHHHHH SPEC INITIALIZE1 COMMANDO O LIMIT STOP TYPEHHHHHHHHHHHHHHHHHHH HHDRIVEHHXHHHHHHHLIMITSTOPTYPEHXHYHHHHHHHHHHH POWER ONRESETHHHHHHHHHHHHHHHH 45 5 29 SERVO SPEC INITIALIZE1 COMMANDH HHHHHHHMOTORHHHHHHHHHHHHH MOTORG 0 SERVO MOTOR STEPPING MOTORH 0 POWER ON RESETH 0 STEPPING MOTORHHHHHHHH HHHHHHXHYHHHHDRIVEH HHDRIVEHHHDRIVEDHHHHHHHHMOTORTYPEHHHH HHHHHHHHDRIVEHHXHHHHHHHMOTOR TYPED DRIVEHHHHHH SERVO 000000000000 DENDO 000 SERVODRIVERHHHHHHHHHHHHHHHHHHDENDH LOWHHHHHH 0 0 PULSED 0 0000 0 BUSY DRIVE BITO 10 0 0 COMMANDO O00000 DRSTH 000 O SERVO O DRST LOWO 0 0 SERVO DRIVER RESETH 0 0 0 DRIVEH PULSEHHHHHHHHHHHHYHHH DRST LOWHHHHHH D 0 SERVO RESET COMMANDO 0 DRSTH LOWHHHHHHHHHHHHHHH HHHHHHHHHSTEPPINGMOTORHHHHHHHHHHHHHH HHHHH 40 AHH DEND7POHHHHHHHHHHHHHPDRSTHHHHHHHHHHHHHHHHHH H YHHDENDPOHHHHHHDRSTHHHHHHHHHHHHHHHHHHHHH 5 30 000000000 ADDRESS DATAD T D 00 8 388 6070 8 388 607 PULSED 0 0 000
120. H 4096HHHHHHHHH DRIVEH O START DRIVEN END POSITION H 4096 0 0 POSITIONH 00000000000 0 DRIVEH START POSITION DRIVEH 0 END POSITION H O POSITIONE 0 U U POSITIONE O D 0 D or U d p d 0 D HHADDRESSHHHHHHHHHHHHHHHHHHHHHDRIVEHHHHHHHHHHHHHHHHH HHHHHHHPDRIVEHHHH HH DRIVE SPEED LSPD H 2 5 O O O 0 POSITION HH HHHHHHHH POSITIONHHHH DRIVEHHHHHHHHHHH LSPDH 2 5KHzHHHHHHHHH POSITION HHH HH 200hsHHHHHHHHHHHH HHH DRIVEH SPEED RATEHHHHHHHXHHHHHHHH HHHDRIVEHHHHHXHHHHHHH SPEEDH RATEHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHH HHHYHHHHHHXHHHHHHH SPEEDO 0 RATEHHHHHHH No POSITION DATA 0 100 XO YO I START POSITION 101 OLO START POSITION END POSITIONH 102 X2 Y2 00000 i No 104 No 1000 103 Y3 0 D D D 104 X4 Y4 000 END POSITION 4095 CWP No 102 HHHHH No 101 00 No 103 H i O POSITION No 100 00 START POSITION No 104 00 END POSITION xHHHH CWP Hz 0 0 0 O0 START POSITION No 100 du No 103 END POSITION No 104 IIS XD HSPD T MM X LSPD p od URATE URATE XH DRATE XCWP XCCWP vow dU d BP C 40 OUTLINED DRIVEHHHHDATAHHHHHHHHH DATAH COMMAND POSITION DATA H
121. HH 0 0 COMMAND 0000 ABSOLUTE STRAIGHT 0 Hd COMMAND S RATE ABSOLUTE STRAIGHT O O O COMMAND HH ABSOLUTE STRAIGHT CP SCAN HH HH ZAHHHHHHCOMMAND S RATE ABSOLUTE STRAIGHT CP SCAN AHHHHHH HH ABSOLUTE CIRCULAR1 CP COMMAND ABSOLUTE CIRCULAR1 CP O O O COMMAND S RATE ABSOLUTE CIRCULAR1 O O O COMMAND S RATE ABSOLUTE CIRCULAR CP HH DD ZAHHHHHICOMMAND HH _ ABSOLUTECIRCULARICPSCAN HH ZAHHHHHHCOMMAND ABSOLUTE CIRCLUAR1 SCAN O O O COMMAND S RATE ABSOLUTE CIRCULAR1 CP SCAN O O O COMMAND S RATE ABSOLUTE CIRCULAR1 SCAN AHHHHHH ABSOLUTE CIRCULAR2 AHHHHHH UU S RATE ABSOLUTE CIRCULAR CP HH ZAHHHHHHCOMMAND T 7 14 a AU INCREMENTAL STRAIGHT CP S RATE INCREMENTAL STRAIGHT AQ OOO O INCREMENTAL STRAIGHT SCAN S RATE INCREMENTAL STRAIGHT CP SCAN 00 ZAHHHHHHCOMMAND UU INCREMENTALCIRCULAR1CP HH ZAHHHHHHCOMMAND DI INCREMENTAL CIRCULAR1 CP HH COMMAND 162
122. HHH 142 0 SSERVO DRIVER 0 0 0 0 0 24 21 XDRSTCOM O 24V lt JRESET 35 22vn0 D y E XDRST RESET O 0 29 XZORG D 30 r XZORG O 2260 2 L s 777 14 2 LIMITHHHHHHHHHHHHHH 1 MITO 0000X000 J1 EXTV 4 1 XCWLM C 2 XCCWLM FSSTOP C 874v1 0 FSSTOP LIMITH ACTIVEOFFHHHHHHHHHHHHHHHHHHHHACTIVEH PULSED 0000000000000000 2 LIMITO O O O X0 000 CCw 0 U CW H EXTV XCWLM PM T53B uutdt EE SPX401 XCCWLM HHHHHH C 874v1 14 3 000000000 1 ORG 0 ORG 1 ORG 2 ORG 3H CCW LI l CW D D 0000 PM K53 EXTV PM L53 PM T53 XNORG XORG Hu utut EE SPX301 EE SX67000 00 XZORG XZORGH HHHHHHHHHHHH HHHHHH XZORG XZORG C 874v1H 143 2 STEPPING DRIVER ORG 4 ORG 5H HHHHH NORGH D 0 D OFF PM K53 E PM L53 XNORG PM T53 0000 EESPX301 KORG EE SX67000 00 XZORG XZORG C 874v1 3 SERVO DRIVER ORG 4 ORG 5 O 0
123. HHH12 5HHHHHHHHHHHHHH HHHHHHHHHHHHHHDATAHHHHHHHHHHHH 27 5 11 0 0 0 0 0 0 0 DRIVE 0 X Y0 00 INCREMENTAL CIRCULAR1 DRIVE COMMAND ABSOLUTE CIRCULAR1 DRIVE COMMAND 0 ADDRESS O HHHHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH DRIVE SPEED RATEH HHHHHHXHHHHHHHH 5 20 2 965 8200 000 0 PULSE X CWP Hz HSPD A ee 00 U PULSED LSPD r X URATE X DRATE XCCWP D z 1 YCWP YCCWP NN LI 21 00 00 HHHHHHHDRIVEHHHHDATAHHHHHHHHH DATAH 0 0 COMMAND HSPD HIGH SPEED HSPD SET X SET X LSPD LOW SPEED LSPD SET X SET URATE HH HH RATE SET XH SET DRATE 0000 RATE SET X SET 0 0 ADDRESS 0 0 ADDRESS 0 0 D PREDATA SET XH 0 SET CENTER POSITION SET X SET 0 0 ADDRESS 0 0 ADDRESS CIRCULAR1 CP DRIVEH O D 0 SET 0 2 LSPD Xr
124. HHH5 33HHHHHHH 0 20 COMMANDO 0 0 0 O SCSPD1 SCSPD2HHHHHHHHHHHHH SCSPD1 SCSPD2HHHHHHHHHHHHHHHHHH 6 25 SHSPD SET COMMAND COMMAND 62 000 S RATE DRIVEH 0 SHSPD HIGH SPEED H DRIVE DATA1 2 3 PORTO SHSPDH Hz 1 0 30 0 HHHHHH ATUSII DRIVE DATA1 2 3 PORTHHHHHHHHHHHH BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DNALPOT n z 7 129 E U PRT D wa SHSPD DATA VW SHSPD DATAH D 1 12 0 3 333 333 3206 05 0 0 1 DATA3 PCRT VI SHSPD SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHH COMMAND 62 POWER 0 SHSPD 3000HzHHHHHHHH TE 0 bRVETYPEDDDDDDOU 0 S39 D 000000 0 20 COMMANDHHHHHH SCSPD1 SCSPD2HHHHHHHHHHHHH SCSPD1 SCSPD2HHHHHHHHHHHHHHHHHH 66 6 26 SSRATE ADJUST COMMAND COMMAND 63 0 0 O 88 HHHHHHH DRIVE DATA3 PORT SSRATE DATA 0 No DRIVE DATAS PORTH O0 000000000 DATA3 PORT D D er qe m SSRATE No SSRATE SRATE SET COMMAND 0 HHDATAHHHHHHHHHHHHHCOMMANDHHHHHHHHHHHHHH HHHHHHHHHHHHHHS59HHHHHHH 1 SRATE SET COMMANDO HHHHHHHHHHHHHSSRATEHHHHHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHHHHHHHHH 0 2SSRATEQD 0 0 0 0
125. HHHBITHHH HHHHHHH HHHHHHHSTATUSS READHHHHHCNTINTHHHHHHHHHHHH STATUS3 READH CNTINTH RESETH U CNTINIHHHHHHHHHHHHHBITHHHHHHHHHHH 52 DRIVE DATA2 PORT 000000000600 DATA2 PORT D D ee COUNT CLOCK TYPE COUNT PATTERN TYPE AUTO CLEAR ENABLE RELOAD ENABLE COMP1 INT ENABLE COMP1 STOP ENABLE DRIVE DATA2 BIT Uu POWER ON RESETH O D D D LET E L3 EE EAE E Er 1 COUNT CLOCK TYPE D PULSE 0 0 CLOCKH HHHH BITO D D OH MCC05nnH DRIVE PULSE XCWP XCCWP D H D B Hl 10 U 0 000008000 00000 HHHHHHHHHH 2 COUNT PATTERN TYPE D 0 D BITO 1HHHHHHHHHHHHHHHHHHHCOUNTHHHHHHHHHHH 518 HHHHIHHHHH XEAXEBHHH1HIHHHHHHHHIHIH 1 0 xEAXEBH 1 xung 3 AUTO CLEAR ENABLE D HHHHHHHHHHHH OHHHHHHIH BITH Lun 1HHHHHHHHHH 4 RELOAD ENABLE D 000000000000 BITO IHHHHHHHH 5 COMP1 INT ENABLE 05 COMPARE REGISTER1H 0 0 0 0 XCNTINTHHHHHHHHHHHHHHHBITHHH XCNTINTHHHHHH 10 XCNTINTHHHHH 6 COMP1 STOP TYPE 0 COMPARE REGISTER1HHHHHHHHHPULSEH Ol 1 I I 10000 HHHHHHHHHHHHHHHHHBITHHH 0 EHTS 53 DRIVE DATAS
126. HHHH GS 24H HHHHHHHH 41 5 23 S RATE OUTLINE DRIVE X Y D S RATE OUTLINE CP DRIVE DRIVEH SHHHHH OUTLINED O DRIVE S 220 00 0000000 0 0 DRIVE 5 55 5 POSITION DATA 0 100 YO 000 lt START POSITION 101 X1 Y1 000 START POSITION END POSITIONH 102 X2 Y2 00000 0000000 1040 0 No 100 103 Y3 0D E DRIVED 0 0 104 X4 Y4 000 lt END POSITION 4095 Y CWP No 102 0000 No 101 H No 103 H O POSITION No 100 H START POSITION No 104 00 END POSITION Nl gt X CWP Hz START POSITION No 100 No 103 END POSITION No 104 SHSPD d EN i N Dag VN 4 4 N I EN I Il I N lal Z y k gt ac gt d SLSPD SRATE SRATE SRATE SRATE OUTLINE DRIVEH O0 000060 0 0 COMMAND POSITION DATA O ADDRESS OUTLINE POSITION PROPERTY SET PREDATA SET OUTLINE POSITION SET
127. HHHHHH DRIVE DATA1 2 3 PORTHHHHHYHHHHH HHHHHH DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTH HHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT XI PATA3 PORT 0 D D D D D D x H ep L 122 L 1 122 1 2 uU Y 1 D VAI B 0 O ADDRESS 00 2 PORT 0 0 ADDRESS 000000 20 000000000 VI D ADDRESS D DATA3 PCRT 0 0 55 10 0 0 XY DNA POT X Y DATA2 PORT DATA3 PORT WTE FF FF 00 00 X 0 00 00 00 83 URI TE 10 FF FF F6 8 368 607 80 00 01 75 6 39 ABSOLUTE CIRCULAR1 CP DRIVE COMMAND X 0 COMMANDO COMMAND CW O DRIVE 84 CCW I 0 DRIVED 85 HHHHHHH 000 HHHHHHHHHHHHHHHH 0 DRIVEH HHHHH DRIVE DATA1 2 3 PORTO 000 X0 B 0 0 0 ADDRESS 000000 CENTER POSITION DRIVE DATA1 2 3 PORTO B YO 0 ADDRESS SET COMMAND DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 22 ADDRESS 0 FFFFFF DRIVE DATA1 2 3 P
128. HHHHHH DATAHHHHHHHHHHHHHHHHHH 106 R2 MCCo5nn 0000000000 0 1 2 3 4 5 10 11 120 00000000 XB zn HHHHHHHHHHHHHH72HHHHHHHHORG OH 5 1112HHHHHHHHHHHHHHHHHH ADDRESSHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHMCCO5nnHHHHH FLACO FLAG ONH U O U 0 OFFSET PULSB ABSOLUTE INDEX DRIVEHHHHHHHH72HHHHHHHHDRIVEHHHHHH FLAGO OFFO 0 O ABSOLUTE INDEX DRIVE r1 H DRIVEH 00000060 HHH FLAG OND D ORG DRIVEHHHHHHHHHHHHHHHHHHH FLAG OFFH D RESETH 0 DRIVED 0 0 O0 0 FSSTOPH DRIVEHHHHHH DRIVEHHHHHLIMITHHHHHHHHHHHHH ORG DRIVEH STOPHHHHHHHHHH HHHHH 0 0 0 ORG DRIVEH 0 0 ORG DRIVEHHHHHHH ADDRESS 8 388 6070 8 388 6070 00000000 ORIGIN FLAG RESET COMMANDH 0 SPEC INITIALIZE4 COMMANDHHHHHHH U d FLACO 00000000 ADDRESS MCCO5nnHHHHHHHHHHUSERHHHHH HHHHHHHHHH ADDRESS INITIALIZE COMMANDO ADDRESSHHHHHHHHHHHHA HHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHADDRESSH ORGHHHHHHHHHHH ORG 0H 31112HHHHHHHHHHHHHHHHOFFSETPULSEHHHHHHHHHHADDRESSHHHHHH ORG 45HHHHHNORGHHHHHHHOFFSETPULSEHHHHHHHHHHADDRESSH HHHHH OFFSET PULSED 00 255PULSEH O O OFFSET PULSE SET COMMANDO HHHHHHHH RESETH 0 OFFSET PULSEH 0000000 HHHHHHHHHH ADDRESSHHHHHHHHHHHHHH THORIGIN FLAG RESET COMMANDO HHFLAGH
129. HHHHHHHH 0 O S RATE SCAN S RATE INDEX 6 DRIVE SPEEDH HHH ZH AHHHHXHiYHHHHHHHHHHHHH SCAN DRIVEH INDEX DRIVEH SPEEDHHHHHHHHHHHHHH HHINDEXDRIVEHHHHHHHHH RATEDHHHHHHHH 0 7 ADDRESS COUNTH ADDRESS COUNTERH MCCO05nn PULSEH O ADDRESSI COUNTH O COUNT DATAH D D IIHHHHHHHHHH 8 PULSE COUNT PULSE COUNTERH 0 PULSED O 900 COUNTH COUNT DATAHHHHHHHHH HHHHHCWHCCWHHHHHHHHHHHH PULSE COUNTERI 50 COMPARE REGISTER HHHHHHHHCOUNIHHHHHHHHHHHH 0 0 0 HHHHH 0 9 0 0 COUNTH O U PULSED 0 D 900 0000000 COUNTHHHCOUNTDATAHHHHHHHHHHHHHH J COUNTERH O 0 20 COMPARE REGSTERHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHH HHHHHHHHH90HHHHHHHHHHHHHCWHCCWHHHHHHHHHCOUNTHHHHHH HHHHHCWHCCWHHHHHHHHHH 0 LIMITSIOPHHHHHHHHHHH LIMITHHHHHHHHHHHHHHHHHHH2HHHHHHUSERPROGRAMHHHHHHHHHH 11 SERVO SERVO DRIVERH O0 0000000000 0 0 O0 SERVO DRIVER 0000000000 11 2PCIHHHHHHHHHHHHHHHH PCIHHHHHHHHHHHHHHHHHHHHHHHHH COMMANDO 0 0000 COMMANDO 0000000000000 RDYINT ELTE EPI EE B EE HHHHHHHHHHHHHHHHHHHHHH COMREGINT PULSE E PULSE COUNTER COUNTH HHHHHHHH CNTINT 0 O0 COUNTER O 00O COUNTERI
130. HHHHHHHHH HH COMPARATORIHHHHHHHHHHHHHHH LIMITHHHHHHHHH DEND ERROR O ORIGIN ERRORH DDRESS 0 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 1HHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH ORG 4 ORG 5 ORG 10 ORG 1112HHHHHHHHHHLMITHHHHHHHHHHH HHHHHH ORIGIN DRIVEH 0 0 0 O CONSTANT SCAN SCAN JOGH 0 DRIVEHHHHHHH 0 O JOG DRIVEH O 0 O HH JOG DRIVEH H 100000 HHH HHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHH XORG XNORG HHHHHHHH HHHONH LOWH I HI sodain HHHHHHHHHH HHHHHHHHHH SCAN DRIVEHHHHHHHHH CONSTANT SCAN DRIVE Ul a HHHHJOG DRIVEHHHHHHHHH D LIMIT DELAY TIME SB ad SCAN DELAY TIMEH JD o JOG DELAY TIMEHHHHHHHHHHH 107 7 2 0 0 CCW LIMIT CW LIMIT E HSPD HIGH SPEED i ej fo S ea iss CSPD CONSTANT SPEED Ue LD LIMIT DELAY TIME oo 9 9 SD SCAN DELAY TIME EN HHHHHH nannn A 000000 ond 9 00006 lan ond gt 0000 gt onnn 1 ono loo 1 1 1 1 1 1 oo nnnn OD0000000000 0 0 0 XORGO ew 00 00
131. HHHHHHHHH DRIVE DATA1 2 3 PORTO 0 0 PULSE COUNTER COUNTERH 0000 PORTO ADDRESS READ COMMANDO HHHHHHHHPORTHHHHHH PORTH ADDRESS 0 0 0 O PORTO O ADDRESS 0 0 PORTO O DRIVE DATAS PORTO READH HHHHHHHHHHHHHPORTHHHHHHHHH ADDRESS READ COMMANDO H D DRIVE DATA3 PORTO ugg HHHHHPORTHHHH PORT HH 000 55 6 8 SERVO RESET COMMAND COMMAND 05 000 SERVO DRIVERH 0 0 DRSTH 10mst 0 U STEPPING U 0 COMMANDO ATUSI NO OPERATION COMMANDO BUSY 0 Y 05 VRI TE 6 9 RATE SET COMMAND COMMAND 000 HHHDRIVEHHHHURATE HHHHH H DRATE D 000 D 000000 m DRIVE DATA2 PORT URATE DRIVE DATA3 DRATEH DATA 0 NI 000000 BUSY 0 DRIVE DATA2 3 PORTHHHHHHHHHHHH Y DATA2 PCRT DATA2 PORT DATA3 PORT WI E EE PCRT WI DRATE COMAND 06 URATE WI RATE SET COMMANDHHHHHHHHHHHHHHHHHHHHHHH POWER URATE DRATEH No 9 100ms 1000Hz 6 10 LSPD SET COMMAND COMMAND 07 000 SPEED HHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO LSPDH 93
132. HHHHHHHHHHH 101 6 69 PREDATA SET COMMAND X COMMANDO ZI AHHHHHHHHHHH COMMAND E45 000 DATA1 23PORTH HHHHHHHHHHHHHHH HHHHHHH COMMAND 0 COMMANDO O O O DRIVE COMMAND HHHHHHHHH U U DRIVE COMMAND 1 000 S P TE DRIVE 2 DATA2 PCRT TE DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D DATA3 PORT Eg I 2 TE SEN PERS GOMVNND E4 OH FFFFFFn VRI TE HHHHHHHHADDRESSH CCWHHHHHH2eHHHHHHHHHH 0000000 0 550 00000020 000000000 COMMAND PREDATA SET COMMAND F0Qi 0 0 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHDRIVEHHHHHH COMMANDHHHHHHHHHHHHHHHHHHHHH 102 6 70 PREDATA SET COMMAND X O D CO
133. HHHHHHHHHHHHHHH 80 6 45 INCREMENTAL STRAIGHT CP DRIVE COMMANDX XT COMMAND HHHHHHHHHHHHHHDRIVEH 00000 DRIVE DATA1 23 PORTO O 0 0 X0 0000 ADDRESSHHHHHHH DRIVE DATA1 2 3 PORTO YO 0 0 55 DRIVE DATA1 2 3 PORT 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 218 215 28 2 28 L n O ADDRESS 00 FFFFFF DRIVE DATA1 2 3 PORTHHHHHHHHHHHH DATA1 PORT DATA2 PORT DATA3 PORT X DTA PCRT 0 D D D D D D x H ep L e L 1 1 2 uU Y 1 D VAI D ADDRESS 00 FFFFFF 2 PORT ADDRESS CCWHHHHHH2HHHHHHHHHH TE D ADDRESSUL 000 DATA3 PCRT APRESS 10 0 D XY DNA POT X PORT X Y DATA3 PORT WTE FF FF 00 00 X COMAND 0 00 00 00 90 VRI TE 10 FF FF F6 8 368 607 80 00 01 81 6 46 S RATE INCREMENTAL STRAIGHT CP DRIVE COMMAND 0 COMMAND 91 SHHHHHHHHHHHHHDRIVEH DRIVE DATA1 2 3 PORTHHHHXHHHHHADDRESSHHHHHHH DRIVE DATA1 2 3 PORTHHHHYHHHHHADDRESSHHHHHHH DRIVE DATA1
134. HHHHHHHHHHHHHHHH HHHHHHHHHH SPEED PORT SELECT COMMANDO 1 OOOO D ATAD SPEC INITIALIZE DATA 0 SET DATA READ COMMANDHHHHHHHHHHHHHH HHHHHHHDATAHHHHHHHHHHHHHHHHHHHHHHHHHHHH D 47 E H COMMANDHHHHHHHHHHHHPORT 4 1HH HHHHHHHHHHH HHHHH DRIVEH COMMANDH D D D XO H PORTHHHHHHHHHHH HH 874 10 0 HH ZZAHHHHHHHCOMMANDHHHHHHHHHHHHHHHHHHHHH HHHHHHCOMMANDHHHHHHHHHHHH COMMANPDHHHHHHHHHHHHHCOMMANDH ERRORH STATUS1 PORTO ERROR BITO 1H 00000 HHCOMMANDHHHHHHHHHHHHERRORHHHHHHH 6 1 DRIVE COMMAND COMMAND PULSED O O O 0 COMMANDO 000000001 NO OPERATION MAX 60us MAX 20 5 00000001 HH SPEC INITIALIZE1 MAX1 3ms 1 IMAX1 2ms H 1 00000011 ADDRESS INITIALIZE 70us MAX 30us 00000100 ADDRESS READ MAX 65us MAX 25us 00000101 SERVO RESET MAX 11ms MAX 11ms 00000110 RATE SET 1 1 MAX 60us H 1 00000111 LSPD SET MAX135us 1 95us 1 00001000 HSPD SET MAX 125 s MAX 85us 00001001 DFL COUNTER INITIALIZE MAX 65us MAX 25us 00001010 SET DATA READ MAX 75us MAX 35us HHHHHIHHHH 3 JOG 0 2 OG j 42 SCAN 2 2 2 2 00010000 00010001 00010010 00010011 00010100 00010101
135. HIGH SPEED CSPD CONSTANT SPEED xoRG J LD LIMIT DELAY TIME i Sia E SD SCAN DELAY TIME we o 000000 oom A HHHHHH ixDELAY TIMED 0 oo 1 HHHHHHHHHHHHHHXNORGH HH CWIHHHHUH HHHXORGH w n D D D 00 gt 00 000 0 U U CONSTANT SCAN DRIVEHHHHHHNORGORGHHHHHHHHH 0 0 111 7 9 0RG 11 LIMITHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH CCW LIMIT CW LIMIT XCCWLM HSPD HIGH SPEED O EN CSPD CONSTANT SPEED 3 lo SD SCAN DELAY TIME 4 anon o 000000 A 0000 060004 l In gt nouo 7 10 0RG 12H LIMITHHHHHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH RATEHSPDHHHHHHHHHHHHHHHHHH CCW LIMIT 1 CW LIMIT XCCWLM 1 uni nnnn n no EE lgunn J O nnnn n 2
136. IIHHHHHHHPULSEH 1PULSEH HHHHHHH PULSEHHHHHHHHH HHHDRIVEHHHHHHHHHHHHHHPULSEHHHHHHHHH 131 12 15 TIMING 2 SERVO MOTOR DRIVEH X0 YH U DRIVEH 0 1 XU YHH IOWA LI t1z 400 s 2 t20 26u s 4 FSSTOP t3 10ms t40 15u 5 24 s 5 XCWP t50 35 s XDRST D AHH 400 s XDEND t20 26u s 4 t3 10ms STATUS1H t40 15u 24 5 5 DRIVE t50 20u s STATUS1H BUSY 2X0 H SERVO MOTORHHHHHHHHHH DRIED 1 XU IOWA LI 112 400 s 2 t20 26 s 4 FSSTOP t3 10ms 3 t40 15 s 24u 5 5 t30 70 s 100 s YCWP 28 6 XDRST YDRST X YDEND X Y STATUS1 DRIVE X Y STATUS1 BUSY 0 1FAST STOP COMMAND HHHHHHHHHH 0 2 8 0 00 0000000600 0 3 FAST STOP COMMANDO PULSE O 1PULSEH HHHHDRIVEHHHHHHHHHHHHPULSEHHHHHHDRIVEHHHHHHHHHH HHHHHHHHPULSEHH1PULSEHHHHHHHH PULSEHHHHHHHHH HHHHDRIVEHHHHHHHHHHHHHHPULSEHHHHHHHHH 4 HHHHPULSEHHH12HHHHHHIEHHHHHHHHHHHHHHHHHHHHHHHH 5DRSTHHHHDENDHONHHHHHHHHHH 6SERVOMOTIORHHHHHHDRIVEHHHHHHHHHHXH YHHHHDRSTHHHHHHHHH 132 12 16 LIMIT TIMING STEPPING MOTORHHHHHHHHH CW H DRIVEH XCWLM
137. IVEN O D URATEDRATE LSPD HSPD 0 DATA DRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH RATESPEED DATA DRIVEH HHHHHHHHHHHHHHHADDRESSHHHHHHHHDRIVEHHHHHHHHHHHH O0 DRIVEHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHH cwIHHHHHHHHHHHHHHHHH mp N 3 X Y S ABSQ UTE RALARI es Se oe voi d absci rcul 1 voi d 1 RATE SET COMMAND xnacr dy X AX S MOS W T out p XMXDI2 urate UP RATE out p XMXDI3 dr at e DOM RATE OJT out p XMOOOOM 0x06 RATE SET COMAND OUT LSPD SET COMMNND xnacr dy AX S MOS W T out p XMXDI1 UC Sl spd 2 LONSPEED DATA MBB SET out p XMXDI2 UC Sl spd 1 out p XMXDI3 UC SI spd LOW SPEED DATA LSB SET out p XMOOOOM 0x07 LSPD SET COMAND OUT HSPD SET xnacr dy X AX S MO5 W T out p XMXDI1 UC Shspd 2 H GH SPEED DATA SET out p XMXDI2 UC Shspd 1 out p XMXDI3 UC H GH SPEED DATA LSB SET out p XMOOOOM 0x08
138. LINT 10 XDFLINTH O LH 2 COMP2 STOP ENABLE D COUNTER COMPARATOR2H HHHHHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH on 1000000 59 6 13 SET DATA READ COMMAND COMMAND 000 HHHMCCO5nnHHHHHHHH SPEC SPEED 00000000000 DRIVE DATA3 0 DATA COMMAND HHHHHHHHH DRIVE DATA1 PORT WRITEJD O 0 D O O 2 3 DRIVE DATAS PORT WRITE H DATA3 PORT D D CEARRA Es DATA O O COMMAND CODE DRIVE DATA1 2 3 DATA EL E 00000000 0 COMMANDO DATAHHHHHHHHHHHHHHH 0 0 RATED 0 0 No 0 00000000 DATA3 PORTO 06 SET COMMAND PORTH OAs K COMMAND H 0 DATA2 3 PORTO 0 0 DATA2 PORTO URATE No DATA3 PORTO DRATE 1 PORT 0 COMMANDHHHHHHDATAHHHHHHCOMMANDHHHHHHHHHHH READ DRIVE DATA3 PORTO O 0 0 COMMAND CODEHHHHHHHHHHHHH HHDATAHHHHHHHHHHHH STATUS1 PORTO ERROR BITO 10 00000 SPEC I N TI ALI PART RATE SET 0 3 PU SE COLNTER IN TI ALI 29 2B MARG N TI ME SET HSPD SET 2En SESPD SET DFL CANTER IN TI ALI 2 SPEC I N TI ALI ZEA OWSCFT LIMT SET 50 DEND TI ME SET WST SET 51 EXTEND G N SPEC SET DFL D V SI N DATA SET 52 CONSTANT SCAN MMX PULSE END PU SE SET CHANGE
139. MIT DELAY TIME 300ms 3C ATUSI CCWLIMITHHHHHHHHHHHHHHHH BUSY 0 DELAY TIME DATA2 PORT SCAN DELAY TIME 50ms 0A CONSTANT SCAN SCAN DRIVEH 00 000 DATA1 PORT H 000000000 DELAY TIME WA DATA3 PORT JOG DELAY TIME 20ms 04 JOG DRIVEH 0 0 0 0 0 1PULSE O DELAY TIME DATA2 PCRT m 0 0 POWER ON RESETII 0 T PORT DATA 00 0 0 0 0 5 9 00000000 WA zl UJU OO DELAY OAg 50ms COMMAND 1G sns 1 275s WA 0 JJ DELAY HHHHHHHHHHHHHHHIHHHHHHHHHHHHHHHHH ORIGIN DELAY SET COMMANDHHHHHHHHHHHHHHHHHHHHH 6 21 0RIGIN FLAG RESET COMMAND COMMAND 1Di DRIVEH FLAGO D uuu D uuu HHHHHHH COMMANDHHHHHHHDRIVEHHHHHHHHHHHHH ABSOLUTE INDEX DRIVE HHHHHHHHHHHH 0 JJ COMMANDO HHHHHORIGIN COMMANDHHHHHHHHHHH 64 6 22 0RIGIN COMMAND COMMAND 1 000 HHHHHHHHHDRIVEHH HH HH HHHHHHH DRIVE DATA1 PORTO HHHHHORGHHHHHHHHH 0 00 ORG 1 01 ORG 2 02 ORG 3 03 ORG 4 04 5 05 ORG O 0 5 ORG 11 0B ORG 12 0Co HHHHHDATAHHHHHHHHHHHH COMMAND ERRORH HHHHHHHHHH DRIV
140. MMANDO 2 COMMAND F0 000 DATA1 2 3 PORTH 000000000000000 HHHHHHH COMMAND DATAL PCRT DRIVE COMMAND URI DRIVE COMMAND DATA2 PCRT URI DATA3 PCRT URI DRIVE DATA1 2 3 PORTHHHHHHHHHHHH OMAND DATA1 PORT DATA2 PORT DATA3 PORT VN D D D D D D 2 E Zee ll L 1 D 00 FFFFFFs ADDRESSH CCWIHHHHHH2HHHHHHHHHH ADDRESSHHHHHHHzeHHHHHHHHHH E jij ETE EKE Lr Lr COMMAND 1 OD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHCOMREGCLR 1HHH HHCOMMANDHHHHHHHHHHHHHHHHHHHHHHHHHHHHH UUHHHHHHHH COMMANDHHHHHHCOMREGCLR OHHHHHHHHHHHHHHHHHHH 0 COMMANDO 00000000000 HHHHHHHH 6 72 SPEED CHANGE COMMAND Z 0 COMMAND 7 000 SCAND DRIVE 2 3 PORTO SPEEDO HzH 0 30 0 DRIVE 2 9 0 1 0 COMMANDO 0 0 00000 0 STATUS5 SPEED CH
141. NTO 00000000 COMPARE REGISTER COMP INTO 0 PULSE COUNTER INITIALIZE COMMANDHHHHHHHHH 0 PULSE DRIVE TYPED 00 0 0 DATAHHHHHHHH SPEC INITIALIZE1H O DRIVE TYPE RATEHHHHDATAHHHHHHHHHHH PULSE COUNTER COUNT O HD D O0 I PULSE COUNTER INITIALIZE COMMAND P COUNTH D D U U OUNTERHHHHHHHHHHHHHHHHH 0 O 0 COMMANDO 0O O COUNTE TERH 5 O0 PULSED HHHHHHCOUNTHHHHTHHH COUNTH OOO DFL COUNTER INITIALIZE COMMAND COUNTERH HHHHHCOUNTHHHHHHHH 0000000000 6 120000 5 0 O O PULSET O 0 0 COUNTER CLOCKHHHHHHHHHHHHH DFLINTHHHHHHHHHHHHHH HH 0 HHHHHHHHHHHHHHHHH TATUSSHHHHHHHHHHHHH 5 157 HHHHHHHLH 18 1 L TYPE RATE 18 2 M TYPE RATE 18 3 H TYPE RATE DATA TABLE DATA TABLE DATA TABLE Z Q INI lof ms 1000Hz ms 1000Hz ms 1000Hz OO INI I O N A YJ j O2 O1 YJ j O2 O1 0 ms71000HzH 1000HzHHHHHHHHHHHHHHHHHHHH 18 4 RATE CURVE GRAPH 90 0000 f 20 211191817 16
142. O COUNTER COMPARE REGISTER SET COMMANDO PORTO 4 7 COUNTER 2 9 PORT WRITE COUNTER COMMANDO HHHHPDATAHHHHHHHH 16 4 8 STATUS1 PORT MCCO5Snn HHHHHHHHHPORTHHHHHHHHHHH 0 0 LSEND BIT SSEND BIT FSEND BITI DRIVE B HHHH IT OHHHHHHHBITHHH L BUSY BIT DRIVE BIT DREND BIT ERROR BIT MAN BIT LSEND BIT SSEND BIT n D T FSEND COMMANDHHHHHHHHHHHHHHHHHH 04 BUSYBITHOHHHHHHHHHHHHHHHHHHH X U 0 COMMANDO XE BUSY BIT 0 HHHHHHHHHHHHHHHHH OMMAND 6 20 0 0 0 00000 B BUSY BIT 0 M HH HH ND c 000 Y BITO 100000000000 DRIVE 10000000 DRIVE DRIVEN X DREND 10 0 00000 DRIVE BITO U U COMMANDHHHHHHH RESET U O DRIVE X YH DREND BIT 1H 0000 0 0 ERROR 6000 0 0 COMMANDO O DATAQ DO 0 H ERROR 0000000000 0 1 3 ERROR STATUS READ COMMAND 000000000 0 0 COMMANDO 0 00000 RESETD D H D MAN O 3 LSEND BIT
143. O DRIVE 29 HHHHH PORT SELECT COMMANDO PORT SELECT COMMANDH POWER ON RESET DRIVE DATA1 2 3 PORTO O PULSE COUNTER COUNT DATA READ HHHHHH 0000 POR DRIVE DATA1 2 3 PORTO 00000 0 0 COMMAND DL BL HL D D UU D 000 0 COMMANDE HH READDATAHHHHHHHHHHHHHHHHHHHHHHHHHHPORTHHHHHHH HHHHHHHHHH DRIVE DATA3 PORTO READ I H DOO D DRIVE DATAS PORTO READ 00000 ADDRESS READ SET DATA READ ERROR STATUS READ SERIAL INDEX CHECK 6 75 SLOW STOP COMMAND COMMAND 000 HHHDRIVEHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHDRIVEHHHHHHCOMMANDHHHHH BUSYHOHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHDRIVEH1HHHHHHHDRIVEHOHHHHHHHHHHHH DRIVEHHXHHHYHHHHHHHHHHHXH YHHHHHHHHH 6 76 FAST STOP COMMAND COMMAND 000 DRIVEHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHHHDRIVEHHHHHHCOMMANDHHHHH BUSYHOHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHDRIVEH1HHHHHHHDRIVEHOHHHHHHHHHHHH DRIVEHHXHHHYHHHHHHHHHHHXH YHHHHHHHHH 105 6 77 COUNTER READ COMMAND 000 PULSED 0 0 ADDRESSH 0 COUNTERH COUNT DATAT 0000000 0 1 COUNTER PORT SELECTO DRIVE DATA1 2 3 READ PORTO 0 COUNT DATAH I HH HH HH HL HI DATA PRT 2 READ DRIVE DATA1
144. OMP1 INT ENABLE COMP1 STOP ENABLE 1 25 2 2 BITHHHHHHHHHHHHHHHHHHHOHHHHHHH DRIVE DATA2 PORT BITH HHPOWERONRESETHHHHHHHHHHHHHHHHHHH 1 COUNT CLOCK TYPE D COUNTERI CLOCKH BITH D MCCO5nn DRIVE PULSE XCWP XCCWP 10 HITLHAHHH XEB XH LILHTHHBHHH HHHHHHHHHHHHHHHHH 2 COUNT PATTERN TYPE D D COUNTERHHHHHHHHHHCOUNTHHHHHHHBITHHH ID D HHHHHHHHH 0 U MCCO5nnH O PULSED O CW 0 O 90 0 0 0O CLOCKO 000 EA L B Ed waw HHHhUuP EA EB u 0 DOWN 3 COMP1 INT ENABLE D o g L3 g L3 g L3 g D HHHHHHH COUNTER COMPARATOR1HHHHHXDFLINTHHHHHHHHHHHHHHHBITHHH OH XDFLINTHHHHHH 10 XDFLINT DB D D D 4 COMP1 STOP ENABLE D on III I 1000000 DRIVE DATA3 PORTO DATA3 PORT D 9 0 0 0 0 0 L COMP2 INT ENABLE COMP2 STOP ENABLE 202 BITHHHHOHHHHHHH 1 COMP2 INT ENABLE D COUNTER 2 XDFLINTH BITH XDF
145. ORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 25 25 28 2 28 7 X DATA3 PORT 0 0 ADDRESS 00 URI HADDRESSHHHHHHH2HHHHHHHHHH 1 PCRT HH URI 0 50 000 X Y DATA2 PORT X Y DATA3 PORT Y DATA2 PCRT 38 388 607 FF FF VRI 0 00 OA 0 00 00 DATA3 PCRT 10 FF F6 VRI TE _ 8 388 607 00 01 X 84 85 1 0 DRIVE COMMANDO U U O O CENTER POSITION ADDRESSH 000000 0 0 CENTER POSITION SET COMMANDO O c CENTER 76 6 40 S RATE ABSOLUTE CIRCULAR1 CP DRIVE COMMAND X COMMANDO COMMAND CW DRIVEL 86 CCW H O DRIVE 87 HHHHHHH 000 SHHHHHHHHHHHHHHHH DRIVEH D uuu DRIVE DATA1 2 3 PORTO X 000 0 ADDRESS CENTER POSITION DRIVE DATA1 2 3 PORTO YO 0 ADDRESSH SET COMMAND DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 22 ADDRESS 0 FFFFFF DRIVE DATA1 2 3 PORTH
146. OUNTER REG STER1 SET COMAND out p XCNTDT1 0x00 out p XCNTDT2 0 27 out p XCNIDI3 0x10 out p 0x01 INITIALIZED HHHHHHHHHHHHHHHHHHHHHHHHHH 149 AAS MOS VE SPEC DATA SPEC I N TI ALI X AXI S MOS WIT COUNTER SPEC DATAL OUT COUNTER SPEC DATA2 OUT COUNTER SPEC DATA3 OUT PULSE COUNTER N TI ALI ZE X AXI S MOS ADDRESS MB QUT ADDRESS LSB QUT ADDRESS N TI ALI ZE OUT COUNTER MB OJT COUNTER LSB OJT COUNTER PRESET COWAND QUT COMPARE REG STER1 MB OUT COMPARE REG STER1 LSB OUT COUNTER REG STER1 SET COMAND HHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHH 16 2 0G DRIVE PROGRANT JOG DRIVEN HHHDATAHHHHHHHHHHJOGCOMMANDHHHHHHHHHHHHHH aka es EA e AS OG ERI VE aD S Pure T s S S voi d xj og void xnacr dy out p 0x10 16 3 SCAN DRIVE PROGRAMI SCAN DRIVE URATE DRATE LSPD HSPDH DATAH 000000 AS MOS WIT 4j OG COMAND OJ DATA DRIVEHH HH 00000 HHHHHHHHHHHHHHHHHHHHHHRATE SPEEDDATAHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHH uina meu um mmm made umm miim lam ume eem im 5 SCAN VE c Ca y up E CECI voi d xscan vo
147. PCI CLK C BE 43 0 AD 31 0 FRAME IRDY TRDY DEVSEL BCLK 0543 ADDRESS DATA IOR 137 WRITE TIMING PCI CLK TIHHHHLHHHHHHHHHHLHHHL 43 0 AD 31 0 FRAME IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOWA 138 13 1 J1HHHHHHHHHHH 000000 DX10A 100S 0 00000 000000 0000000000 50 1 DX30A 100P DX31A 100P 200000 100 51 13 2 J1H 0 0 HHIHHIHHH HH XMM XI XWI D LI MTU D 51 ZWM Z X COWD D LI M TI D 52 ZooWWM Zj GOWD D UMT D XCRG HHHH 03 54 ZCRG 210000 U 1 COWD D LI MT 56 Aj COWD 0 LI M TT D YHHHH 11 58 ACRG 0 1 2 HHHH 60 HHHH 0000 61 CUT1 HHHH OUT2 E 8 lt E ETE lt lt lt 3 85 lt h EE asas UO 62 0000 63 CUT3 GD 02 HHHHHHHH F s menm 1 STEPPING 35 SERVOMOITORHHHHHHHHHHHHHHHHH HHHHHH HHHHHHHHHHHHH 2HHHHHHHHHICHHHHHHHHHHHHHHHHHHHH 0000000 24V 2V 0 HHHHH 24VH MAX 170
148. PDH J DATA D L1 D U DATA ABSOLUTE NDEX DRI VE xnacr dy out p XMXDI1 out out out i HHHHHHH HHHHHHH X AXI S MOS UP RATE QUT DON RATE RATE SET QUT X AXI S MOS RD WIT LOW SPEED DATA SET LOW SPEED DATA LSB SET LSPD SET COWAND QUT AS MOS H GH SPEED DATA MB SET H CH SPEED DATA LSB SET HSPD SET OJT X AXI S MOS RD WIT ABS DATA MB SET ABS DATA LSB SET ABS NDEX VE GOWNND RAM AREA urate drate RATE DATA Ispd hspd 0 Hz SPEED DATA 151 D ATA DRIVE HHHHH 0 ADDRESS INDEX DRIVEH 000000000000 U DATAI DRIVEH 16 5 0RIGIN DRIVE PROGRAMI ORIGIN DRIVE URATE DRATE LSPD HSPD CSPD OFFSET PULSE LDELAY SDELAY JDELAY DATA HHHHHHHHHHHHDATAHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH DATA EE BE BREL EH HHORIGINDRIVEHHHHHHHHHHHDRIVEHHHHHHHHHHHHHHDATAH TEESE SESS ASE E CES AS CHI G N ERI VE pr
149. PORT ADDRESSI CCW HHHHHH2HHHHHHHHHH VI 0 000 Y 1 PCRT D 0 APPRESS 101 Y 1 PORT X Y DATA2 PORT X Y PORT VW FF FF D 00 00 2 PCRT 0 00 00 00 URI TE 10 FF FF F6 8 388 607 80 00 01 DATA3 PCRT URI TE M X MAD BD VRI TE 1 DRIVE COMMANDO PREDATA 000 10 0 00 ADDRESS O PREDATA SET COMMANDO O 00000 O0 PREDATA SET COMMANDHHHHHHHHHHHHHHHH 93 6 59 0UTLINE POSITION PROPERTY SET COMMAND X XH COMMANDH Y ZEB AB B 7 7 7 7 7 7 7 7 D COMMAND CO HHH POSITION No POSITION HH 0 00 HHHHHHH DRIVE DATA1 2 3 PORTO POSITION No DRIVE DATA1 2 PORTO O0 000000000 DATA1 PORT DATA2 PORT D D D D 20 POSITION 00 FFFi X DATA2 PRT HH 0 X DATA3 PORT HH TE DRIVE DATA3 PORT U X DATA3 PORT TE D D p p A POSITION PROPERTY 1 POSITION PROPERTY HHHHPOSITIONHHHHHHHHBITHHH o
150. PORTO 000000000600 DATA3 PORT D D COMP2 INT ENABLE COMP2 STOP COMPS INT ENABLE COMP3 STOP TYPE COMP4 INT ENABLE COMP4 STOP TYPE COMPS INT ENABLE COMPS STOP TYPE DRIVE DATAS PORTH 0 BITH HHHHH LIE L3 ELE EE S m POWER ON RESETH HHHHH 1 COMP2 INT ENABLE D COMPARE REGISTER2H 0 0 0 0 XCNTINTHHHHHHHHHHHHHHHBITHHH OH XCNTINTHHHHHH 10 XCNTINTH 0000 2 COMP2 STOP D COMPARE REGISTER2H HHHHHHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH ON IIIIII I 1000000 3 COMP3 INT ENABLE D COMPARE REGISTER3 D 0 XCNTINTHHHHHHHH 10 XCNTINTH 4 COMP3 STOP TYPE 0 COMPARE REGISTERS HHHHHHHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH 1000000 5 COMP4 INT ENABLE D COMPARE XONTINTT I 1 LL 10 XCNTINTH 6 COMP4 STOP TYPE D COMPARE REGISTER4 HHHHHHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH OE TT 1000000 7 COMP5 INT ENABLE D COMPARE REGISTER5H 0 0 0 0 10 XCNTINTH 8 5 0 COMPARE REGISTERSH HHHPULSEHHHHHHHHHHHHHHHHHHHBITHHH OID 10 00000 54 6 6 ADD
151. RESS INITIALIZE COMMAND COMMAND 03 000 HHHHHHH ADDRESS HHHHHADDRESSHHHHHHHHH DDRESS COUN OUNTERIHHHHHH HHHHHHH DRIVE DATA1 2 3 PORTO ADDRESS me DRIVE DATA1 2 3 PORTO 00000000000 BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D D D D D D DATAl PORT H ELT 1 12825 L 12 URI u PORT ADDRESS 00 VW ADDRESS 00000020 00000006060 PCRT VAI H ADDRESSH 000 APDRESS 100 DATA1 PORT DATA2 PORT DATA3 PCRT COMMAND 03 7F FF FF VW TE 410 00 00 0 00 00 00 10 FF F6 8 388 607 80 00 01 6 7 ADDRESS READ COMMAND COMMAND 04 000 MOTORHHHHHHHH ADDRESSH 00 HHHHHHH DATA1 2 3 PORTO 0 O ADDRESS DATA1 2 3 PORTO 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT 2 La a2 25 L 2 0 0 ADDRESS 00 ADDRESS 0 00000200000000 ADDRESSH HH D DATA2 PORT DATA3 PORT FF FF 10 00 0A 0 00 00 10 FF F6 8 388 607 00 01 COMMANDHHHHHHHCOMMANDHHHHHHHHHHHHHHHH ADDRESS DATA ADDRESS COUNTER COUNT DATA 6 77H HHHHHHHHHHHHHHHHHHHHHHHHHHHHH 0 DATAH READH DRIVE DATA1H 3PORTHH
152. RIVEHHHHHHHHHHH ORGO O NORG H O O D CW LIMITH HHHHHHHHHHHH 14 MARGIN TIMEH 0 HHHHHHHHHORIGINDRIVEHHHHHHHHHHHHHHHHH PULSED U MARGIN TIME 13 15 SOFT LIMITO CW CCW SOFT LIMIT 16 DEND D ERROR BITO 10 0 DRIVE DEND E HHHHHHHHHHH STATUS1 PORTO 000 HHHHHHH D uuu HHHHHHH HHHHH 17 ORIGIN SENSOR TYPEH ORGHHHHHHHHHHHHHHHHHHHHHHH 18 ORIGIN ERRORH 0 0 0 CONSTANT SCAN DRIVEH 0 JOG DRIVE 0 0 D 0 PULSED HHHHHHHHHHHHHHHHHHHHDRIVEHHHHHHHHHH HHHHHHHHPULSEH U U 00000 19 PO0 U D l STEPPING MOTOR DRIVER PO HH HHHHHHHHHHHHHHHHHHH POHHHHHHHHHHHPOHHH ORGH O O ANDO ORGHHHHHHHHHHH 20 AUTO DRSTH HHHHHHHHHHHHHDRSITHHHHHHHHHHHHHHHHHHH 21 0 0 DRSTO O 0 0 DRSTH 000000000000000 22 0 S RATE DRIVEH 0 0 HHDRIVEHHHHHHHHHHHHHHHHHHHHHHHHHH L3 pr 23 S RATE DRIVEH 0 0 0O DRIVEH S RAT 00000 HHPULSEHHHHHHHHHHDRIVEHHHHHHHHHHHHHHHHH EDRIVEHHHHHHHHHH 24 SPEED RATE CHANGE SCAN DRIVEH HH 0 0 CHANGE COMMANDO 0 00000000 mmi 0000 0 25 AUTO CHANGED HHHHHHHHHHPULSEHHSPEEDHHHHHHHHHHHSPEEDHH RATEHHHHHHH 26 DRIVEH HH D PULSED O I U INDEX DRIVE DRIVE HHHHLIIIHIHHHHHHHHHHHHH 14 4 1 0 PORTO OOD RW ET IF
153. SE COUNTER INITIALIZE COMMAND DFLINT DFL COUNTER INITIALIZE COMMAND TR CNTINT DFLINTH COMP1 COMP5 DFL COMP1 2H HHHHHHHHHHHHHHHCOMPNoHHHHHHHH HRDYINTHHHHHHHHHHHHHHHH XU COMREGINTHHHHHHHHH STATUS5 PORT BIT3 RDYINT H READHHHHHHRDYINTHHHHHHHHHH STATUS5 PORT BITS RDYINT 000000 STATUS1 READ READH HHHHHHHH ITTHHHHHHHHHHHHRDYINTHHHHHHHHHHHHHHHH UUDUDDUDUUDUDDDUDUDUDUUUUUUDDD UUUUUDUUDUDDUDU HHHHHHHHHHHHHHHHHH HHHH HHHHHHHHTHHHHHHHHHHH STATUS1 PORTO 123 IOW4f IOR 12 22 BUS TIMINGH IOWA HHHHHHHHSOFTLIMITHHHHHHHHHHHHHHHHHH 0 SOFT LIMITI 0000000000060 12 1 JOG DRIVE TIMING STEPPING MOTORHHHHHHHHH CW H DRIVEH IOW XCWP STATUS1 DRIVE STATUS1 BUSY XU D 150ns COMMANDHHHHHHHHHHH t20 59u 5 67 s t30 61 5 69 s t4 100 s 50 23u 5 31 s te 50 5 58 s Z AU D 150ns t2 34u 5 42 s t3 36u 5 44 s t4 100 s 50 23u 5 31 s te 35 5 49 s 12 2 SCAN S RATE SCAN DRIVE TIMING U JSTEPPING MOTORH 00000000 CCW 0 DRIVEH IOW LI XCCWP STATUS1 DRIVE STATUS1 BUSY lU XU D t1 150ns COMMANDHHHHHHHHHHH 20 68u s 100H 0 t30 88 110 sO ZU AD 150ns t20 43u s 75Hu 0 t30 63u 5 95 sO 0 JURATEz DRATE 1 3ms
154. SENSORI HHHHHHHHH XSLSTOPH 0 HHHHHHH YSLSTOPH ZSLSTOPH ZSENSOR I ASLSTOPH ASENSORI POWER ON RESETH ZSENSORH ZSENSORH 0 O ASENSOR 0 0 ASENSORH HHHHHHHH 20 5 1 JOG DRIVE JOG 1PULSE DRIVE J U U U JOG COMMANDH XCWP XCCWP JOG COMMANDH XCWP XCCWP L JOG DRIVE 0 DATAH 000000 5 2 SCAN DRIVEH j SCAN COMMANDH 0 0 0 0 DRIVE U 5 26 5 27 5 28 8 0000000 HHHHHHHH SCAN COMMANDH 1 XCWP XCCWP SCAN XCWP SCAN DRIVEH DATAH DATAI COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE H 0000 RATE SET DRATE 0000 RATE SET 0 LSPD HSPDII 0 000000 U HSPDI I I I J D DRIVE I I I II L s 5 3 INDEX DRIVE J INCREMENTAL INDEX COMMAND H ABSOLUTE INDEX COMMAND H 0 O PULSED U ADDRESSH 0 U 0O H 0 DRIVETI 000600 Hz x PULSED O ADDRESS D CWHHHHH s XCCWP CCWIHHHHH XCWP XCCWP AR EN INDEX DRIVEH 0 0 O DATAHHHHHHHHH DATAH 0 HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE U RATE SE
155. SET SLSPD S RATE DRIVE 0 LOW SPEED SLSPD SET X SET XD SRATE S RATE DRIVEH 0000000 SRATE SET X SET B 0 ADDRESSH 0 ADDRESS 0 D PREDATA SET XH 0 SET PASS POSITION SET D B 0 0 ADDRESSH 0 ADDRESS S RATE CIRCULAR CP DRIVEH 0 SET 0 1 X SLSPD X0 5 5 2 4 amp 36 5 19 S RATEQ D 0 0 0 0 0 DRIVED XYH HH S RATE INCREMENTAL CIRCULAR3 CP COMMAND S RATE ABSOLUTE CIRCULAR3 CP DRIVE COMMANDHHHHHHHHHHHHHHHH1HDRIVEHHHHHHHHHHH2HHHHH HHHHHHHHHHHHHSHHHHHHHHHDRVEHHHHHH DRIVEH SPEED RATEHHHHHHHXHHHHHHHH RIVEHHHH HHPULSEHHHHH HXHHHHHHH SHSPD SLSPD SRATEHHHHHHH HHHHHHHHHHHUHHHHHHHH HHHHH 20 2 965 82001 0 0 Uu Uu Uu Uu HHH ATEQ S RATE SCAN DRIVEH 00000 D 0001 PULSE 0002 gt XQ SHSPD Sem 0 0 0 U PULSE SLSPD 5 S RATIEHHHHHHHDRIVEHHHHDATAHHHHHHHHH DATAH COMMAND XO SHSPD S RATE DRIVE HIGH SPEED SHSPD SET X SET XI SLSPD S RATE DRIVE 0 LOW SPEED SLSPD SET X SET SRATE S RATE DRIVEH I B 00000 SRATE SET X SET B 0 ADDRESSH ADDRESS D PREDATA SET XH 0 SET PASS POSITION S
156. T DRATE HHHHH RATE SET 0 PULSE ADDRESS INDEX DRIVEH 0 1LSPD HSPDHHHHHHHHHHHSPDHHHHHHPDRIVEHHHHHH 2 LSPD HSPDH O URATE DRATEI U PULSEH DRATEHHHHHHHHHHHHHHHHHHH HHH12 3HHHHHHHHHHHHHH HHHHHHHHHHHHHHDATAHHHHHHHHHHHH 5 4 DRIVE SPEEDO 0 0 0 40 AH 00 A O SPEED CHANGE COMMANDO 0 SCAN INDEX DRIVEH SPEEDHHHHHHH 0 0 SPEED CHANGE COMMANDHHHHHHSPEEDHHHHHHHHHHSPEEDHHHHH 0 1 URATE DRATE INDEX DRIVE 0 0 0 SPEEDI U SPEED H 0 LSPD 0 O SPEEDO HSPDH 0 SSSPEED CHANGE COMMAND U 0 SPEED CHANGE COMMAND Li 0 0 SPEED CHANGE COMMANDO STATUS5 PORTO SPEED CHANGE BUSY BITO HH SPEED CHANGE COMMANDO 22 5 5 0 0 0 0 0 D ORIGIN DRIVE ORIGIN COMMANDHHHHHHHHHHHHHDRIVEHHHHHH bRIVE JOG DRIVE CONSTANT SCAN DRIVE SCAN DRIVE ABSOLUTE INDEX DRIVEHHHHHHHHHHHHH U uu HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH ORIGIN DRIVEHHHHDATAHHHHHHHHH DATAH COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET CSPD CONSTANT SPEED CSPD SET URATE HHHHH RATE SET DRA
157. T SPEED PORT SELECT COMMAND SLOW STOP FAST STOP 164 HHHHHHHHH 1 EI E3 o E 1 E73 Ed HHHHHHHHHHHHHHHHHHHH UUDDDDDDDBDUUUDUUDUUDUDDUDUDDUUUUUDUUUDUDDUD HHHHHHHHH 0 0 arg HHHHHHHHHHHHHH UUUDUDDUUDUDDDDBDBDBDUUUDUUDUDUUDBDDDBDUuuuung 6HHHH1IHH1IHHHHHHHHHHHHHH LT L3 l HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 0 0 0 HHHHHHHHHHHHHHHHHHH LT L3 r3 LL HHHHHHHHHHHHH HHHHHHHHHHHH C L3 pr L 2 N ES Ez LE ET E E L3 L3 E C3 L3 E L3 L3 L3 L3 L3 C3 E EET Ez FJ EP E E 0 0 0 0 0 2 HHHHHHHHHHHHH 165 nx R2 P107 7
158. TAHHHHHHHHHHHH 3HHHHHHHHHHHHHHH2HHHHHHHHHHHDRIVEHHHHHHH STATUS1 PORTO ERROR BITO 1500000 4HHHHHHHHHHHHHHDRIVEHHH H4 5HHHHHHHHH 30 5 13 01 0 0 D D DRIVE X YII I INCREMENTAL CIRCULAR3 DRIVE COMMANDH 0 ABSOLUTE CIRCULAR3 DRIVE COMMANDH 0 0 HHHHHHHHHHHHH1HDRIVEHHHHHHHHHHH2HHHHHHHHHHHHHHHH 0 U DRIVE SPEED RATEH HHHHHHXHHHHHHHH 0 5 20 2 965 8200 00 0000 0001 000 0 PULSE 0002 gt CWP HSPD LLL LE 0 PUL SET X LSPD URATE XCWP Lv Wc E XCCWP X DRATE YCWP YCCWP i s HHHHHHHDRIVEHHHHDATAHHHHHHHHH DATAH 0 COMMAND HSPD HIGH SPEED SET XH SET X LSPD LOW SPEED LSPD SET X SET URATE 0000 RATE SET X SET DRATE 0000 RATE SET O 0 0 0 0 O ADDRESS PREDATA SET XH 0 SET PASS POSITION SET X O SET O 2X YH 0 0 ADDRESSH D O ADDRESS CIRCULAR3 CP DRIVEH O 0 SET 0 Xp LSPD X0 5 HSPDI I H J U U DRIVE I I I lI l 0 2 X0 LSPD
159. TE HHHHH RATE SET OFFSET PULSE OFFSET PULSE SET LDELAY LIMIT DELAY TIME ORIGIN DELAY SET SDELAY SCAN DELAY TIME ORIGIN DELAY SET JDELAY JOG DELAY TIME ORIGIN DELAY SET 5 6 LIMIT SENSOR HHHHHHHHHHHHHHORIGINHHHHHHHCCWLIMITHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHHHHHHHHH 23 5 7 S RATE SCAN S RATE SCAN DRIVEN O I HHHH DRIVE SLSPD SHSPDHHHHHHHHHHHHHHHHHHHHHHHHSRATEH U 000 5 26 5 27 5 28 0 000000000000000 Hz SHSPD Pd SLSPD gRATE SRATE S RATE SCAN DRIVER DATAHHHHHHHHH D COMMAND SHSPD S RATE DRIVEH HIGH SPEED SHSPD SET SLSPD S RATE DRIVE 0 LOW SPEED SLSPD SET SRATE S RATE DRIVEHHHHHHHH SRATE SET 0 SLSPD SHSPDHHHHHHHHHHSHSPDHHHHHHDRIVEHHHHHH 5 8 S RATE INDEX DRIVE S RATE INCREMENTAL INDEX COMMAND S RATE ABSOLUTE INDEX COMMAND H PULSET HHHADDRESSHH HHHHHHDRIVEHHHHHHHHHRATEHHHS RATE SCAN DRIVEHHHHHH Hz SHSPD PULSE ADDRESS SLSPD SRATE SRATE S RATE INDEX DRIVE DATAH 00000000 DATAH COMMAND SHSPD S RATE DRIVEH HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD SET SRATE S RATE DRIVEHHHHHHHH SRATE SET 0 PULSE H ADDRESS S RATE INDEX DRIVEH
160. UNTER DATA2 PORT defi ZCNTDI3 i obase40x27 Z AXI S COUNTER DATA3 PCRT def i ne ZMXST1 i obase40x20 Z AX S MOS STATUS1 PRT def i ne ZMCCST2 i obase40x24 Z AXIS MCOO5 STATUS2 PORT def i ZMXST3 obase40x25 Z AXIS MCOO5 STATUS3 PORT def i ZMXCSTA i obase40x26 Z AX S MOS STATUSA PORT def i ZMCCST5 i obase40x27 Z AXIS MCOO5 STATUS5 PORT 147 def i ne AMOO i obase40x30 defi ne AMXDI1 i obase40x31 def i ne AMDI i obase40x32 def i ne AMXCDI3 obase40x33 def i ACNTCOM i obase40x34 defi ne ACNIDI1 i obase40x35 def i 2 i obase40x36 def i ne ACNIDI3 i obase40x37 def i 5 1 i obase40x30 def i 5 2 i obase40x34 def i ne i obase40x35 defi AMXST4 i obase40x36 defi 5 5 i obase40x37 def i ne N i obase40x60 def i ne OUT i obase40x60 voi d xnacO5i nz voi voi d xj og voi voi d xscan voi d voi d xabsi ndex voi d voi d xor g voi voi d absstrai ght cp voi d voi d absci rcul ar 1cp voi ong xcnt r ed voi d HHHHHHMCCO5HRDYHHHHHHHHHPROGRAMHHHHHHHHHH def i ne xnecrdy while inp 5 1 0x01 def i ne ynacrdy while inp YMOCST1 0x01 def i znecrdy while inp MOCST1 0x01 defi anvcrdy while inp AMOCST1 0x01 HHHHHHHHHHHHHHHHHHHHHHHHHHHH PROGRAMH HHHHHRAMAREAHHHHHHHHHHHH KKK KKK FF 2F
161. UTE CIRCULAR DRIVE COMMAND INCREMENTAL STRAIGHT DRIVE COMMAND S RATE INCREMENTAL STRAIGHT CP DRIVE COMMAND INCREMENTAL STRAIGHT CP SCAN DRIVE COMMAND S RATE INCREMENTAL STRAIGHT CP SCAN DRIVE COMAND HH 6 48 6 49 6 50 6 51 6 52 6 55 6 54 6 55 6 56 6 57 6 58 6 59 6 60 6 61 6 62 6 65 6 64 6 65 6 66 6 67 6 68 6 69 6 70 6 71 6 72 6 73 6 74 6 75 6 76 6 77 6 78 INCREMENTAL CIRCULAR1 CP DRIVE COMMAND S RATE INCREMENTAL CIRCULAR1 CP DRIVE COMMAND INCREMENTAL CIRCULAR1 CP SCAN DRIVE COMMAND S RATE INCREMENTAL CIRCULAR1 CP SCAN DRIVE COMMAND INCREMETAL CIRCULAR2 CP DRIVE COMMAND S RATE INCREMENTAL CIRCULAR2 DRIVE COMMAND ABSOLUTE CIRCULAR3 CP DRIVE COMMAND S RATE ABSOLUTE CIRCULAR3 CP DRIVE COMMAND INCREMENTAL CIRCULAR3 DRIVE COMMAND S RATE INCREMENTAL CIRCULAR3 CP DRIVE COMMAND OUTLINE POSITION PROPERTY SET COMMAND OUTLINE POSITION SET1 COMMAND OUTLINE POSITION SET2 COMMAND OUTLINE CP DRIVE COMMAND S RATE OUTLINE CP DRIVE
162. VE DATA 1 2 3 PORT READ H 0 D 0000 0 2 DATA 0 000000 0 COMMANDO DATAHHHHHHHHHH HHHHH D CENTER POSITION 0 0 0 00000000 DATAS PORTO 078 CENTER POSITION SET COMMAND XO COMMAND PORTH 000 COMMAND HH DATA1 2 3 PORTO DATA 1 2 3 PORTO 0000000 DATA1 2 3 PORTO PORTO YHHHHHHHH 2 3 EIE 0 0 COMMANDH U 0 COMMAND ES Lu J CENTER TI SET PASS SET OUTLI NE PCBI ONL PROPERTY SET OJILI NE PCBI TI ON SET1 OJTLI CFFSET OJTLI NE 6 REFERENCE CN 1 OUTLINE POSITION PROPERTY SET COMMAND OUTLINE POSITION SET1 2 COMMANDH HIHHHHPOSITIONHHH HHHHHHHHHHXIH DRIVE DATA1 2 PORTHHHHH POSITION No B HDD D 0 230 0 COMMANDO DRIV 3 COMMANDO 0O 0 0 DRIVE DATA1 2 3 PORT READ I DATA1 2 3 D D D D O DRIVE DATA3 PORTO HHHHHH U DRIVE DATA 3PORTH READHHHHHHHH 61 6 14 JOG COMMAND COMMAND CW I D DRIVED 10 CCW I D DRIVEH 11 HHHHHHH 000 JOGDRIVEHHHHHH 12 CCW DRIVE 19 SCANDRIVEHHHHHH
163. VE DATA1 2 3 PORTO 0 0 O 2 X0 O 0 0 0 ADDRESSHHHHHHH DRIVE DATA1 2 3 PORTO HHH2YHHHHHADDRESSHHHHHHH LETE DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D 2 28 215 28 21 20 L 2 U 0 0 ADDRESS 00 FFFFFF DRIVE DATA1 2 3 DATA1 PORT DATA2 PORT DATA3 PORT D D D D D D 2 12 2 L 1 212 j 12 2 YH O 0 0 ADDRESS 00 FFFFFF HHADDRESSHHHHHHH2HHHHHHHHHH D D D ADDRESSH 000 APPRESS 100 O O 1 PORT XY DATA2 PORT XY DATA3 PORT FF FF 00 00 OA 0 00 00 00 10 FF FF F6 8 388 607 80 00 Ol DRIVE COMMANDH X PASS POSITION ADDRESSH PASS POSITION SET COMMANDO U U 0 PASS POSITION SET COMMANDHHHHHHHHHHHHHHHH 90 6 56 S RATE ABSOLUTE CIRCULAR3 CP DRIVE COMMAND XT x X0 000000 COMMANDO YD ZIHJAHHHHHHHHHHH COMMAND PASS POSITION SET COMMAND Ex 000 SHHHHHHHHHHHHHHHH DRIVEH HHHHH XO DRIVE DATA1 2 3 PORTO 00 0 2 X0 0 0 0 0 ADDRESS 00006060 DRIVE DATA1 2 3 PORTO 0 0 0 2 YO 0 0 O 0 ADDRESS 00006060 DRIVE DATA1 2 3 PORTH 00000000000 DATA1 PORT DATA2 PORT
164. an 1 1 2 ORGO HIGHH U U 0 OFF XNORG 7 H To CW LIMIT HSPD HIGH SPEED CSPD CONSTANT SPEED 3 LD LIMIT DELAY TIME SD SCAN DELAY TIME JD JOG DELAY TIME o 000000 HHHHHH gon XORG 1 ls rnnnn 1 1 mnnnn 4 1 jud sedis j n HHHHHHHHHHHHHHXNORGHHH CWIHHHH UH UHHHHHH CW O U HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 7 ORG 5H 1 NEAR ORGO CCW LIMIT CW LIMIT HSPD HIGH SPEED L CSPD CONSTANT SPEED C N 2 LD LIMIT DELAY TIME oo 4 E SD SCAN DELAY TIME JD JOG DELAY TIME own o 000000 HHHHHH 4 1 9 nono nn r 1 HHHH Jan 1 1 110 2 ORGO HHHHHXORGH HIGH 0 00 OFF HHHHHXORGH LOWHHH ON l l XNORG 1 XNORG ms 1 innn nnnn eon 4 1 1 gud nt HHHHHHHHHHHHHHXNORGH CW 000 00 0000000 XORGH O CCW HHHH H UIHHHHHHNORGHHHHHHHHHHHHH CCWHHHHHHHHHHORGHHH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 7 8 0RG 10H CCW LIMIT CW LIMIT HSPD
165. id 1 RATE SET COMMAND xnacr dy out p XMXDI2 urate out p XMXDI3 dr at e out p XMOOOOM 0x06 LSPD SET COMVNND xnacr dy out p XMXDI1 out p XMXDI2 out p XMXDI3 out p XMM 0x07 HSPD SET COMMAND xnacr dy out p XMXDI1 out p XMXDI2 out p XMXDI3 out p XMXX M 0x08 SCAN ERI VE xnacr dy out D 0x12 7 X AXI S MOS UP RATE No OJT DON RATE No RATE SET COMAND OJT X AXI S MOS LOW SPEED DATA SET LOW SPEED DATA LSB SET LSPD SET COWAND QUT X AXI S MOS H GH SPEED DATA MB SET H CH SPEED DATA LSB SET HSPD SET OJT AS MOS RD WIT 4SCAN IR COMAND OJT RAM AREA urate drate RATE DATA O lspd hspdH O Hz 0 SPEED DATA xabsi ndex voi d RATE SET COMMAND xnacr dy out p XMXDI2 urate out p XMXDI3 dr at e out p XMOOOOM 0x06 LSPD SET COMMAND xnacr dy out p XMXDI1 out out out i HSPD SET COMMAND xnacr dy out p XMXDI1 out out out i INDEX DRIVE PROGRAM EX DRIVE URATE DRATE LSPD HS
166. mA 000 CWLM CCWLMH FSSTOPH 0 O ACTIVE OFFO HHHHH 0o00 HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH 14 2 3 SENSOR INDEXDRIVEHHHHHHHHHHHHHHHHHHHHHHHHH HHHHHHHHHHHHHHHHSENSORH 515 HHHHH HHHHH 4 140 0 S 139 Oj z3 E EE LESE DES I E XII Ei 818181 L1 L1 zi 000 x XOP XWP 45V 66 x 67 ZOP ZOOP 00MN V 2 O 0 PULSED s X X Pusa 68 4 XWO O U J Puse 19 XI 69 x Z W0 0 0 0 0 Pus 0 XOP QWHHHHHPUSH 70 270 GOWHHH Pusa 0 21 XPRSTOOM XPRSTHHHHH 124 71 0 ZBRSTOM ZFSIJ 0000 24 NJ UJ ZEN ZO HHHHHHHHHHPQ H NC 24100000 000 24100000 A00 7 74 A00 7 2 3 5 6 AlHHHHH HHHH 77 0 1 N 29 ZORG X00000 000 79 ZZORG 21100000 UU 30 XZORG 4100 80 A000000 400 31 NC 0000 81 NC 0000 32 49M x YOP YOWO JGOMMN 45V 82 AQP 45V 3 D YOe owo O O O O PULSED p 36 YOW 5 86 0
167. n nir 1HHHHHH 6 60 OUTLINE POSITION SET1 COMMAND XX ODU COMMAND Cl PREDATA SET COMMANDH SETO 0 ADDRESSH HHHHPOSITIONNoHHHHHHH HHHHHHH DRIVE DATA1 2 PORT POSITION No DRIVE DATA1 2 PORTO 000000000600 DATA1 PORT DATA2 PORT D D D D ps qi cues op esi Te d EE POSITION 0 VRI TE u 1 SET COMMNADH PREDATA SET COMMANDT OUTLINE POSITION No SETO X Y 0 O ADDRESS 0000 X GOWAND Cl PREDATA SET COMMAND U 0 0 0 0 PREDATA SET COMMANDH HHHHHHHHHHHHUHHH 6 61 0UTLINE POSITION SET2 COMMAND XH XHHHHHHHHCOMMANDH HH YH Z0 AHHHHHHHHHHH COMMAND C21 000 00000 XYHH ADDRESSH 0000 POSITION NoH 500000 HHHHHHH DRIVE DATA1 2 PORTO POSITION No H O O O O O DRIVE DATA1 2 PORTO O0 000000000 DATA1 PORT PORT D D D D EV V VE eem L 1 12 POSITION No 0 FFF XJ DATA PORT WA TE 0 X DATA3 PORT VA Cl VN TE 95 6 62 ABSOLUTE OUTLINE CP DRIVE COMMAND POSITIONIHHHHHDRIVE HHHHH H COMMAND HHHHHHHHH HHHHHHH
168. u ka NQ ee voi d xorg void 1 RATE SET xnacr dy out p XMXDI2 urate out p XMXDI3 dr at e out p XMOOOOM 0x06 LSPD SET COMMAND xnacr dy out p XMXDI1 out out out i HSPD SET COMMAND xnacr dy out p XMXDI1 out out p out p 55 UC amp hspd 0 i CSPD SET xnacr dy out p XMXDI1 out out p out p UC amp cspd 1 i CFFSET PULSE SET COWAND xnacr dy out p XMXDI3 offset out p XMM Ox1b CRG DELAY SET xnacr dy out p XMXDI1 del ay out p XMXDI2 sdel out p XMXDI3 del ay out p Ox1c N ERI VE COMAND xnacr dy out p XMXDI1 orgno out p Ox16 UC Shspd 2 amp hspd 1 UC amp cspd 2 UC Scspd 1 UC F X AXI S MOS UP RATE OJ DON RATE RATE SET QUT X AXI S MOS RD WIT LOW SPEED DATA SET LOW SPEED DATA LSB SET LSPD SET COWAND QUT AS MOS H GH SPEED DATA MB SET H CH SPEED DATA LSB SET HSPD SET OJT
169. x SHSPD 0 1 SCSPD2 SCSPD10 0 0 SCSPD2 SCSPD1H SCSPD2 SHSPDHHHHHHSCSPD2H SHSPDHHHHHH 0 2 SLSPD SETO SHSPD SET COMMANDHHHHHHHHHH HHHHHHHHHHHHHHH SPEC INITIALIZE1 COMMANDH DRIVE TYPEHHHHHHHHHHHHH HHHHHHHHHH SCSPD2 26 5 10 0 HH DRIVEH 0 OG INCREMENTAL STRAIGHT CP DRIVE COMMAND O ABSOLUTE STRAIGHT CP DRIVE COMMAND HHHHHHHHHHHH HH ADDRESSH 0 0 0 ADDRESS H HH 2HHHHHDRIVEHHHHHH 0 DRIVEH SPEED RATEHHHHHHHXHHHHHHHH HHHDRIVEHHHHHXHHHHHHH SPEEDO 0 RATEHHHHHHHHH HHHHHHHHHH HHHYHHHHHHXHHHHHHH SPEEDO RATE EE En EIE LE Ll 0 0 ADDRESS X 20 0 0 9 0 0 Y gt CWP 20 XD HSPD 0 0 PULSED X LSPD URATE XO DRATE gt XOWP MM gnum XCCWP YCWP 3 8 YCCWP HHHHDRIVEHHHHDATAHHHHHHHHH DATA 0 COMMAND X HSPD HIGH SPEED HSPD SET X SET LSPD LOW SPEED LSPD SET X SET XU URATE D 0000 RATE SET X SET XU RATE SET X SET O O 0 ADDRESS 0 ADDRESS STRAIGHT CP DRIVEH O O SET U 1 LSPD HSPDH HHHHHHHHHHHH IHSPDHHHHHHDRIVEHHHHHH 0 2X0 LSPDH HSPDH 0 0 URATEz DRATEH OOOO 0 0 PULSED 0000 HHHHHH X0 DRATEHHHHHHHHHHHHHHHHHHH X

C-874V1 取扱説明書

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