MCC08 取扱説明書
Contents
1. CPPIN2. STATUS1 PORT SSEND 1 5 8 2 FAST STOP FSSTOP GPIO2 3 6 7 DEND DALM CWLM CCWLM MANUAL OFF STATUS1 PORT BUSY 1 BUSY 0
3. ADDRESS COUNTER INITIALIZE1 INITIALIZE1 COUNT PULSE SEL INITIALIZE1 EXT COUNT TYPE0 1 INITIALIZE1 EXT COUNT DIRECTION INITIALIZE1 EXT PULSE TYPE EXT PULSE 2 ERROR STATUS EXT PULSE ERROR 1 LIMIT
4. 8 1 9 2 12 2 12 22 13 14 14 ROS S 15 17 4 PORT 18 4 1 USER CPU MCC08 18 2 PORN hm 19 20 4 3 1 DRIVE DATA1 2 3 4 PORT WRITE 20 4 3 2 DRIVE COMMAND PORT 20 44 PORT 21 4 4 1 DRIVE DATA1 2 3 4 PORT READ 21 4 4 2
5. RATE RESOL UCYCLE RATE RESOL DCYCLE RATE RATE ms UCYCLE 8 ERS EE ISR E SEE a Es RATE ms kHz 7 kHz RESOL ms UCYCLE x 0 001 kHz RESOL x 0 001 RATE ms DCYCLE 18 28 an RATE ms kHz O kHz RESOL ms DCYCLE x 0 001 kHz RESOL x 0 001 43 MCC08 RATE DATA TABLE OY P SOS D S RESCL Io RESOL
6. CPPIN 89 8 7 7 1 LONG POSITION SET lt gt COMMAND H 22 LONG POSITION SET COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 ERROR 0 DRIVE DATA1 PORT 2 DRIVE DATA2 PORT DRIVE DATA3 PORT 8 388 608 8 388 607 H 80_0000 H7F_FFFF CW CCW 2 STATUS1 PORT BUSY ERROR 0
7. COUNT LATCH SPEC SET ADDRESS LATCH DATA READ ADDRESS COUNTER INITIALIZE1 COUNT PULSE SEL CWP CCWP 123 8 INITIALIZE H 81 ADDRESS COUNTER INITIALIZE1_DRIVE DATA1 PORT D7 EXT COUNT DIRECTION D6 EXTPULSE TYPE2 EXT PULSE TYPE1
8. DEND BUSY 1 DEND lt gt DEND BUSY 0 DRST lt gt BUSY 1 lt gt BUSY 0 ORIGIN AUTO DRST DRST BUSY 0 DRST lt gt DRST MAN 1 EXT PULSE 1 BUSY 1 MAN 1 MAN 0 BUSY 0 EXT PULSE 1 EXT PULSE 0 BUSY 0 STATUS1 PORT 1 56 8 5 8 3 LIMIT LIMIT
9. 0 0 CW CCW DO DRIVE MODE SCAN INDEX
10. 260 10 220 60 160 180 60 120 3 0 2 10s 260 Z o 160 180 2 2 60 1205 s 158 MCC08 13 3 MCC08 5 lt 30 70 RH
11. 12 amma INDEX l 5 3 3 JOG JSPD JOG PULSE emueeg PULSE JOG 41 MCC08 5 4 S S
12. 2 A B 4 A B CWP CCWP D2 PULSE OUTPUT MASK CCWP _0 1 CWP CCWP OFF OP OP OP STATUS3 PORT PULSE MASK 1
13. D4 COMP GATE TYPE0 D5 COMP GATE TYPE1 CNTINT COMP1 2 3 COMP1 OR COMP2 OR COMP3 COMP1 AND COMP2 OR COMP3 0 0 COMP1 OR COMP2 AND COMP3 1 1 COMP1 AND COMP2 COMP3 OR AND D6 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1 0 COMP1 D7 AUTO ADD ENABLE COMP1 0 COMP1 1 COMP1 C
14. PULSE SEL 91 8 7 7 3 1 lt gt COMMAND H 30 MAIN STRAIGHT CP COMMAND DATA1 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D5 D4 p1 po D p5 op _ PULSE DRIVE SEL MODE DO DRIVE 0 SCAN 1
15. PORT COMREG FL COMREG EP STATUS2 PORT PAUSE MAN EXT PULSE CONST DOWN UP STATUS3 PORT OUT3 OUT2 OUT1 OUTO INDEX FL PULSE MASK ORG SIGNAL INT STATUS4 PORT STBY MANUAL INDEX CHANGE PORT INDEX CHANGE ORG PORT 2 802 4 4 9 PORT STATUS5 PORT DEND BUSY DALM DEND DRST 0 0 ZPO CWMS ORG CCWMS MCC08 ORIGIN PORT DEND
16. RESOL HSPD LSPD DTYPE RSPD RSPD HSPD LSPD 15 MCC08 RSPD FSPD JSPD RSPD RSPD H 012C 300 UCYCLE DCYCLE SCAREA DOWN PULSE ADJUST S
17. 7 125 10 72 159 MCC08 14 MCC08 CC define BYTE unsigned char define CHAR char define WORD unsigned short define SHORT short define DWORD unsigned long define LONG long define VOID Void typedef struct DRIVE_PARAM DWORD Fspd FSPD WORD Hspd HSPD BYTE ResolNo RESOL No WORD Lspd LSPD BYTE DTYPE WORD Ucycle UCYCLE WORD Dcycle DCYCLE WORD Scarea SCAREA SHORT OffsetPls OFFSET PULSE DWORD Jspd JSPD WORD JogPls JOG PULSE S_DRIVE_PARAM VOID Mcc08Inz VOID VOID X_Scan S_DRIVE_PARAM p
18. nRESET L nRST nRESET L CLK 5 nRST BUSSELO IRdown nRESET H nRST H J yh CLK 2Dy2X D7 D0 A2 A0 X Y L 1 1 EA 1 EBI L 1 0 X rv i N Z L CPPIN CPPOUT
19. 0 0 0 0 O ES gt O O 2 X X ADDRESS COUNTER INITIALIZE1 X COUNT PULSE SEL EA1 EB1 X EA1 EB1 CPPOUT 3 EA1 EB1 Y Y ADDRESS COUNTER INITIALIZE1 Y COUNT PULSE SEL EA1 EB1 Y YOP EA1 EB1 CPPOUT 86 8 7 7
20. STBY STBY SCAN 1 Hz 6 5 MHz 4 095 ms kHz 0 005 ms kHz 8 INDEX 8 388 608 8 388 607 24 SCAN JOG
21. 87 8 CPSPECSET X Y CPPOUT LONG POSITION SET SHORT POSITION SET X orY CP SPEC SET X Y CPPOUT LONG POSITION SET SHORT POSITION SET
22. CWP CCWP CWP CCWP 64 8 6 2 SPEC INITIALIZE2 CWLM CCWLM RDYINT lt gt COMMAND H 02 SPEC INITIALIZE2 COMMAND WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT or ps II iR 2 CT RDYINT RDYINT CCWLM CCWLM CWLM CWLM TYPE1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 HH00 DO CWLMTYPEO D1 CWLM TYPE1 CWLM DO LIMIT
23. 3 COMPARE REGISTER1 2 3 STATUS7 PORT COMP1 COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP2 COMP3 COMP1 COMP2 COMP3 ADRINT COMP1
24. 0 9 5 1 COUNT LATCH SPEC SET lt gt COMMAND H E8 COUNT LATCH SPEC SET COMMAND DRIVE DATA1 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 07 2 1 EDS iD ll 592 Df BOe il A PULSE PULSE PULSE PULSE DDRESS ADDRESS ADDRESS ADDRESS CLR LATCH LATCH LATCH CLR LATCH LATCH LATCH ENABLE ENABLE TYPE2 TYPE1 TYPE0 TYPE2 TYPE1 TYPE0 00 DO ADDRESS LATCH TYPE0 D1 ADDRESS LATCH TYPE1 D2 ADDRESS LATCH TYPE2 lt gt ADDRESS LATCH DATA READ STATUS3 PORT
25. 3 8 D4 MANUAL DRIVE MANUAL 0 SCAN 1 JOG CCWP gt lt gt CCWP i 2 CWP AHD IN mp m UM 0 WM NM CCWP B rl A T L I L CCWP B f JOG INDEX ORIGIN STBY 1 MANUAL CWMS CCWMS STBY 1
26. 2 INT OUT3 0 2 INT INT X Y INT OR X Y INT 16 OR 16 1 16 INT FACTOR MASK 16 INT FACTOR READ 16 INT FACTOR CLR OUT3 0 OUT3 0 HARD INITIALIZE1 RDYINT ADRINT CNTINT ADRINT CNTINT 3
27. ADDRESS COUNTER PRESET COMP1 COMP2 COMP3 ADRINT COMP1 62 8 6 1 SPEC INITIALIZE1 lt gt COMMAND H 01 SPEC INITIALIZE1 COMMAND WRITE STATUS1 PORT BUSY 0 ERROR DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D pe pt po PULSE PULSE DRIVE OUTPUT OUTPUT OUTPUT MODE MASK TYPE1 TYPE0 H00 DO PULSE OUTPUT TYPE0 D1 PULSE OUTPUT TYPE1 CCWP ee
28. 0 0 LIMIT 1 1 D2 CCWLM TYPE0 D3 CCWLM TYPE1 CCWLM LIMIT 0 0 D LIMIT 1 1 65 8 D4 RDYINT TYPE0 D5 RDYINT TYPE1 RDYINT TYPE1 RDYINT lt gt STATUS1 PORT DRVEND 0 1 RDYINT 1 STATUS1 PORT BUSY 1 gt 0 RDYINT 1 STATUS1 PORT DRIVE 1 0 RDYINT 1 RDYINT 0 RDYINT RDYINT 0 STATUS1 PORT BUSY 0 1 LOAD 66 8 R4 6 3 SPEC INITIALIZE3 DRST DEND DALM STBY
29. BUSSEL0 8 2 2 1 3 3V 20 MHz CKIO 20 MHz nRESET gt nRST nRST gt CPPOUT lt CPPIN XEOP YE1P BUSSELO gt D7 0 gt S A2 0 gt nR EOP E1P X X X nXCS nYCS INT XINT or YINT CPP XCP YCP XOP 1 Y Y EA0 gt gt Y EB0 gt EA1 gt EOP 1 gt E1P 12 2 2 X Y XSLSTOP XFSSTOP gt
30. Ma JOG HOF ORIGIN 108 MCC08 COMMAND DE 4 SPEC SET CPPOUT LONG POSITION SET H 23 SHORT POSITION SET COMMAND bb SE ADRINT 1 ADRINT 2 ADRINT 3 ee CNTINT 1 CNTINT 2
31. STATUS7 PORT PULSE OVF 1 3 COMPARE REGISTER1 2 3 STATUS7 PORT COMP1 COMPARE REGISTER1 COMP2 COMP3 COMP1 COMP2 COMP3 COMP2 COMP3 COMP1 COMP2 COMP3
32. 88 8 LONG POSITION SET SHORT POSITION SET LONG POSITION SET 1 SHORT POSITION SET amp 3 2 8 1 78 CPPOUT CPPOUT SEL CPPIN CPPOUT CPPOUT SEL
33. COUNT PULSE SEL EXT COUNT TYPE EXT PULSE TYPE EXT COUNT DIRECTION ADRINT ADRINT PULSE TYPE COMP GATE AUTO CLEAR ENABLE AUTO ADD ENABLE COMP1 COMP1 COMP1 COMP2 COMP2 COMP2 COMP3 COMP3 COMP3 COMP2 COMP3 INT ENABLE STOP ENABLE STOP TYPE INT ENABLE STOP ENABLE STOP TYPE INT ENABLE STOP ENABLE STOP TYPE TYPE TYPE INP CP EA EB 1 1 0 us 200 ns COMP1 OR COMP2 OR COMP3 COMP1 COMP1 COMP1 ADRINT COMP1 COMP1 COMP2 ADRINT COMP2 COMP2 COMP3 ADRINT COMP3
34. gt COMMAND H 03 SPEC INITIALIZE3 COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT DRIVE DATA2 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT gt p p p op p 1 TYPE0 TYPE1 TYPE0 TYPE1 TYPE0 H3F DRIVE DATA2 PORT 5 D op ps p D p STBY TYPE0 Be STBY STBY MASK TYPE2 TYPE1 HH00 DRIVE DATA1 PORT DO TYPE0 D1 DRST TYPE1 DRST 1 TYPE0 DRST 10 ms lt gt STATUS1 PORT DRIVE STATUS3 PORT PULSE MASK 11
35. HSPD x RESOL HSPD x RESOL S INDEX S INDEX CHANGE INDEX CHANGE ERROR INDEX CHANGE INDEX CHANGE ERROR 1 69 MCC08 7 X Y X Y
36. EA N I 11 12 13 gt 50 ns EB I t1 t2 gt 200 ns x lt lt 11 12 13 gt 50 ns SE gt lt gt 2 L 3 122 8 9 3 CWP CCWP 28 CW CCW EXT COUNT DIRECTION 134 217 727 134 217 727 H 800 0001 7 FFFF 2 ADDRESS COUNTER READ STATUS7 PORT ADDRESS OVF 1
37. COUNTER INITIALIZE2 m INT 16 RDYINT RDYINT 0 1 STBY STATUS1 PORT STBY 0 1 COMREG EP STATUS2 PORT COMREG 0 1 nCOMREG FL STATUS2 PORT COMREG FL 1 0 MAN STATUS2 PORT MAN 0 1 DALM STATUS5 PORT DALM 0 1 GPIO6 STATUS4 PORT GPIO6 0 1 ORG SIGNAL ORG 0 1 1 0 ADRINT ADRINT 0 1 CNTINT CNTINT 0 1 FSEND STATUS1 PORT FSEND 0 1 ERROR STATUS1 PORT ERROR 0 1 STATUS3 PORT OUT2 0 gt 1 STATUS3 PORT OUT3 0 gt 1 STATUS4 PORT GPIO0 0 1 STATUS4 PORT GPIO1 0 gt 1 INT FACTOR CLR INT FACTOR CLR INT FACTOR CLR INT FACTOR CLR INT STATUS3 PORT OFF ON
38. 96 8 OUT3 0 lt Tr gt STAT PORT STATUS1 PORT DRVEND 0 1 RDYINT BUSY 0 1 STATUS1 PORT BUSY 1 0 OUT3 0 LOAD STATUS1 PORT DRIVE 1 0 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 COMP1 COMP2 COMP3 COMP1 COMP2 COMP3 0 ADRINT CNTINT OUT3 0 STATUS3 PORT RDYINT SPEC INITIALIZE2 RDYINT TYPE lt gt COMP1 ADRINT COMP2 STATUS7 PORT COMP3 INT F
39. DE 4 4 6 8 STATUS5 PORT STATUSS PORT STATUSS67 PORT READ ORIGIN PORT D1 D4 D5 D6 D7 D D D 2 DALM DEND DRST BUSY CWMS CCWMS ORG CCWMS ORG CCWMS MAN 1 1 ZPO CWMS ZPO CWMS MAN 1 1 DRST DRST 1 DEND 1 DALM 1 DEND BUSY SPEC INITIALIZE3 DEND gt
40. STATUS2 PORT COMREG EP COMREG FL BUSY 1 COMREG FL 0 DRIVE COMMAND PORT DRIVE DATAL 2 3 PORT 1 FIFO STATUS1 PORT ERROR 1 ERROR STATUS COMREG CLR ERROR 1 ERROR 1 COMREG FL 1 COMREG EP 1 ERROR 0 COMREG FL 0 BUSY 0 COMREG FL 0
41. 2 DRIVE DATA2 PORT DO FSEND ERROR BUSY 1 STATUS1 PORT FSEND 1 D1 LSEND ERROR BUSY 1 STATUS1 PORT LSEND 1 D2 SSEND ERROR BUSY 1 STATUS1 PORT SSEND 1 D3 ADDRESS OVF ERROR BUSY 1 STATUS7 PORT ADDRESS OVF 1 D4 PULSE OVF ERROR STATUS7 PORT PULSE OVF 1 D5 DALM ERROR STATUSS PORT DALM 1 D6 GPIOO ERROR STATUS4 PORT GPIO0 1 D7 GPIO7 ERROR STATUS4 PORT GPIO7 1 105 MCC08 8 3 STATUS5 6 7 PORT 8 3 1 STATUS567 PORT READ STATUS5 6 7 PORT lt gt COMMAND HUD2 STATUS567 PORT READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE
42. PLS INDEX CHANGE STATUS3 PORT INDEX FL 0 INDEX FL 0 PLS INDEX CHANGE 1 PLS INDEX CHANGE HAF H D0 20 MCC08 4 4 PORT X Y X Y 4 4 1 DRIVE DATA1 2 3 4 PORT READ PORT READ DRIVE COMMAND PORT DRIVE DATA1 2 3 4 PORT READ DRIVE DATA1 2 3 4 PORT READ READ READ COMMAND BOE ii LR wall
43. RBSOL gt COMMAND H 06 HIGH SPEED SET COMMAND DRIVE DATA1 PORT WRITE DRIVE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA2 PORT DRIVE DATA1 PORT p7 06 1 05 04 1 06 05 bi 0 32 767 0000 H7FFF DRIVE DATA3 PORT RESOL STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 014 gt D8 D7 HSPD gt D0 HOB B8 3 000 3 000 Hz DRIVE DATA3 PORT p7 pe ps p4 ps pt po Bae H 3 1 HSPD 0 HSPD HSPD RSPD
44. lt gt COMMAND H F2 HARD INITIALIZE2 COMMAND DRIVE DATA1 PORT GPIO0 1 DRIVE DATA2 PORT GPIO4 5 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT pz pn p TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 HFF G DRIVE DATA2 PORT s Sos SEE sa ey TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 HFF G DRIVE DATA1 PORT D3 D0 GPIOO TYPE3 0 D7 D4 GPIO1 TYPE3 0 DRIVE DATA2 PORT D3 D0 GPIO4 TYPE3 0 D7 D4 GPIO5 TYPE3 0 GPIO0 1 4 5 GPIO0 1 4 5 ADRINT COMP1 STATUS7 ADRINT COMP1 ADRINT COMP2 STATUS7 ADRINT COMP2 ADRINT COMP3 STATUS7 ADRINT COMP3 XADRINT AND YADRINT X Y ADRINT AND XADRINT OR YADRINT X Y ADRINT OR CNTINT COMP1 STATUS7 CNTINT COMP1 CNTINT COMP2 STATUS7
45. 83 7 5 2 ORIGIN SCAN 85 7 5 3 ORIGIN CONSTANT SCAN 85 7 6 CPPOUT 86 7 6 1 CP SPEC SET HH 86 7 7 87 7 7 1 LONG POSITION SET 90 7 7 2 SHORT POSITION SET 91 7 7 3 92 7 7 4 2 93 7 8 INDEX CHANGE 94 7 8 1 PLS INDEX CHANGE 94 95 7 9 1 SLOW STOP 95 7 9 2 FAST STOP 95 8 8 1 8 2 8 4 8 6
46. LIMIT LIMIT LIMIT LIMIT CWLM COMP2 LIMIT CCWLM COMP3 LIMIT LIMIT LIMIT LIMIT CWLM CCWLM LIMIT STATUS1 PORT STBY 1 DRIVE 1 STATUS2 PORT EXTPULSE 1 DRIVE 1 STATUSS PORT DEND BUSY 1 LIMIT
47. SCAN INDEX B 7 3 1 5 CW lt gt COMMAND H 12 SCAN COMMAND STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 7 3 2 SCAN CCW lt gt COMMAND H 13 SCAN COMMAND l STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 17
48. STBY STATUS1 PORT ERROR 1 STATUS2 PORT EXT PULSE 1 DEND DRST STATUS1 2 5 PORT BUSY STBY DRIVE ERROR LSEND SSEND FSEND PAUSE COMREG EP COMREG FL DEND BUSY EXT COUNT DIRECTION 0 lt gt 22150 EA 1 L EB lt gt CWP f f CCWP Se CCWP 2 CWP th CCWP
49. EA1 EB1 EXT COUNT DIRECTION XINP CP X YINP CP Y 125 8 DRIVE DATA1 PORT D2 EXT COUNT TYPE0 D3 EXT COUNT TYPE1 EA0 EB0 EA1 EBI EA EB 1 G p 2 gt F 5 EA EB 2 EA EB 4 EA EB D4 EXT PULSE TYPE0 D5 EXT PULSE TYPE1 D6 EXT PULSE TYPE2 EXT COUNT EXT PULSE TYPE COUNT P
50. 162 14 2 SCAN 164 1453 INGINDEX 1 spa a s a NS 165 144 JOG FE 42 sPpapspapapapapapapapapppapapaphuspapapakatapobababapahabapas apa 167 14 5 ADDRESS COUNTER DD Z ak Hi Lu steht 168 169 170 S SSS L OD S D 170 1 2 U S i Ga ai E066 171 1622 1 US 171 16 22 2 32 2 2 Q 171 16 2 3 171 16 3 DRIVE COMMAND H 00 H7F 172 16 4 DRIVE COMMAND HI80 H FF 174 8 MCCO08 Melec Controller 08 I C 3 3 V 20 MHz 1 2
51. 8 4 4 2 STATUS1 PORT PORT Dr De D p p p p FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY DO BUSY 1 LOAD STATUS2 PORT MAN 0 1 EXT PULSE 0 1 0 STATUS2 PORT 1 gt 0 EXT PULSE 1 0 DEND DRST lt gt lt gt D1 STBY 1 0 SPEC INITIALIZE3 STBY D2 DRIVE CWP CCWP
52. MCC07 A3 BUSSEL1 MCC08 MCC07 8 MCC08 BUSSEL 1 2 HiZ BUSSEL 1 5VTTL Rdown XGPIO6 5VTTL Rdown XGPIO7 YGPIO6 YGPIO7 5VTTL Rdown 5VTTL Rdown 5VTTL Rdown XGPIO4 B XGPIO5 B YOUT2 LVTTL 3 mA YOUT3 LVTTL 3 mA YGPIO4 B YGPIO5 B XGPIO4 A XGPIO5 A LVTTL 6 mA LVTTL 6 mA YGPIO4 A YGPIO5 A x 10 31 32 43 44 77 XOUT2 LVTTL 3 mA LVTTL 6 mA 78 XOUT3 LVTTL 3 mA LVTTL 6 mA 79 80 82 83 84 85 18 8 4 2 PORT PORT A2 A0 nXCS nYCS nR nW 4 2 1 X PORT nXCS nYCS X
53. ORIGIN ORG ORG ORG ZPO DEND GPIO2 GPIO3 CWLM CCWLM 1 5 MHz 0 5 LSB 8 388 608 8 388 607 24 INDEX INDEX CHANGE PLS INDEX CHANGE PLS INDEX CHANGE
54. INC INDEX SLSTOP FSSTOP GPIO2 3 6 7 DALM LIMIT CWLM CCWLM CWLM CCWLM DRST DEND DALM MANUAL MAN CWMS CCWMS MANUAL MANUAL
55. DRIVE COMMAND PORT COMMAND CHANGE INDEX COMMAND CLR CHANGE CLR ERROR ERROR ERROR EXT PULSE ERROR DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D7 DO ERROR STATUS 0 1 ERROR STATUS DATA2 PORT D7 D0 ERROR STATUS 102 8 8 2 2 ERROR STATUS MASK ERROR ERROR STATUS gt COMMAND H E5 ERROR STATUS MASK COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE COMMAND PORT COMMAND EXT PULSE CLR r COMMAND e ERROR ERROR MASK MASK 00 DRIVE DATA2 PORT ADDRESS OVF ERROR MASK
56. FSPD 30 ms 20 Hz DELAY TIME FSPD 20 Hz MCC08 1 FSPD 20 Hz 1 2 DELAY TIME SPEC INITIALIZE1 PULSE OUTPUT MASK DELAY TIME f 1 MCC08 7 2 7 2 1 HIGH SPEED SET HSPD
57. ORG ORG ORG ZPO DEND GPIO2 GPIO3 CWLM CCWLM ORIGIN JSPD JOG ORIGIN ORIGIN SCAN ORIGIN CONSTANT SCAN lt gt ORG 3 ORG DETECT EDGE 0 ORG 0 1 ORIGIN COUNT D3 D0 2 3 ORIGIN SCAN SCAN ORG SCAN 1 ORIGIN 1 2 3 ocs f ORIGIN CONSTANT SCA
58. 51 8 6 3 MCC08 CPPIN CPPOUT X 5 Y 1 X 2 Y 3 X n 4 Y CPPOUT CPPIN CPPOUT 1
59. 64 SPEC INITIALIZE2 65 D0 CWLM LIMIT 65 D2 CCWLM LIMIT 65 D4 RDYINT 66 SPEC INITIALIZE3 67 DRIVE DATA1 PORT D0 DRST 67 D2 DEND 68 D4 DALM 68 DRIVE DATA2 PORT D0 STBY 69 D4 69 8 7 70 7 1 1 70 7 1 1 FSPD SET 70 0 A Dh 72 7 2 1 HIG
60. PAUSE STBY STBY 1 STBY 1 PAUSE STBY 1 STBY 1 STBY 1 MANUAL STBY 1 STBY 1 PAUSE PAUSE STBY CPPIN STBY 0 DRIVE 1 PAUSE PAUSEB STBY STBY 0 DRIVE 1 36 MCC08
61. 28 3 ADRINT 28 3 CNTINT
62. COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 1 D De D2 D1 DEND DALM ORG CCWMS ZPO CWMS CCWLM CWLM FSSTOP SLSTOP ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HFF DRIVE DATA2 PORT BA De De i 4 Be D2 BO J PAUSE MAN GPIO7 GPIO6 GPIO3 GPIO2 GPIO0 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HFF DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D7 DO 0 1 HARD INITIALIZE7 PAUSE GPIO4 5 8 8 10
63. lt gt COMMAND H 8C ADRINT COMP1 ADD DATA SET COMMAND DRIVE DATA1 PORT COMP1 ADD A7 AO WRITE DRIVE DATA2 PORT COMP1 ADD A15 A8 WRITE DRIVE DATA3 PORT COMP1 ADD A23 A16 DRIVE DATA4 PORT COMP1 ADD A27 A24 WRITE 134 217 728 134 217 727 800 0000 H7FF_FFFF 2 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe ps p3 p2 Dp1 polp7 pe ps p4 p3 pz Dp1lpol A15 COMP1 ADD gt 8 A7 lt 1 gt DRIVE DATA4 PORT DRIVE DATA3 PORT p7 pe Ds p3 pt po ps p2 p D7 D6 D5 D4 D3 2 D1 27 ADD 24 23 COMP1 ADD gt 16 HO0 00 00 00 144 8 10 2
64. 1 SHORT POSITION 93 8 7 8 INDEX CHANGE 7 8 1 PLS INDEX CHANGE PLS INDEX CHANGE INC INDEX lt gt COMMAND H CE PLS INDEX CHANGE COMMAND WRITE WRITE DATA3 PORT WRITE WRITE l STATUS4 PORT INDEX FL 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT D7 pe ps ps D1 po D5 D3 D2 Do D15 lt INDEX CHANGE gt 08 D7 INDEX CHANGE gt DO DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D23 D16 8 388 608 8 388 607 H 80_0000 H7F_FFFF CW CCW 2
65. 1 1 CCW 138 MCC08 DRIVE DATA2 PORT D4 COMP2 TYPE0 D5 COMP2 TYPE1 COMP2 TYPE1 TYPEO COMP2 COMPARE REGISTER2 COMPARE REGISTER2 0 0 2 COMPARE REGISTER2 1 1 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 139 8 9 5 DRIVE DATA1 2 3 4 PORT READ
66. STATUS1 PORT BUSY 1 STATUSS PORT DEND BUSY 1 DEND lt gt BUSY 0 DEND BUSY 0 D4 DALM TYPE0 D5 DALM TYPE1 DALM DALM 0 DALM INT 68 8 R1 DRIVE DATA2 PORT DO STBY TYPE0 D1 STBY TYPE1 D2 STBY TYPE2 STATUS1 PORT STBY 0 STBY STBY 1 STBY 0 TYPE2 TYPE1 TYPE0 STBY lt gt PAUSE 0 STBY 0 PAUSE 0 STATUS3 PORT OUT3 1 STBY 0 PAUSE 0 STATUS4 PORT GPIO6 1 STBY 0 PAUSE 0
67. 3 4 5 2 TEL 042 664 5382 FAX 042 666 5664 E mail s support melec inc TEL 042 664 5384 FAX 042 666 2031 193 0834 516 10 URL http www melec inc com c1501
68. DRST lt gt DRST lt gt MAN 1 BUSY 1 MAN 1 BUSY 1 BUSY 1 FSEND 1 MAN OFF BUSY 0 CWMS CWMS STATUS2 PORT MAN 1 D MANUAL MAN 1 DRIVE 0 ERROR 0 CCWMS OFF CWMS MANUAL SCAN CWMS OFF JOG CWMS CWMS OFF
69. COMREG FL 1 10 FULL STATUS1 PORT ERROR 1 0 9 COMREG EP COMREG FL ERROR 1 26 8 4 4 4 STATUS3 PORT INDEX CHANGE PORT 66 C Dp I 0 MM 2 DON pa OUT3 OUT2 OUT1 OUT0 INDEX FL MASK SIGNAL INT X XINT H JJ Y YINT 1 XINT YINT 16 OR 0 INT XINT YINT OR D1 ORG SIGNAL ORIGIN SPEC SET
70. Rdown Rdown STATUS2 PORT MAN Me YMAN 0 XZPO XCWMS XCWMS XCWMS YZPO YCWMS YCWMS YCWMS XORG XCCWMS XCCWMS XCCWMS YORG YCCWMS YCCWMS YCCWMS 41 MCC08 4 PORT 4 1 USER CPU MCC08 BUSSEL0 BUSSELO nRST MCC08 BUSSELO 3 8 3 8 4 1 1 8 USER CPU 8 Bit Data Bus Address Bus MCC07 3 Bit Address Bus p Chip Select BUSSEL0 BUSSEL 1 HIGH MCC07 BUSSEL1 MCC07
71. UP DOWN CONST EXT PULSE ADDRESS COUNTER INITIALIZB1 COUNT PULSE SEL 1 01 10 11 0 00 CCWP ADDRESS COUNTER INITIALIZEI COUNT PULSE SEL 01 10 11 EXT PULSE 1 STATUS1 2 5 PORT BUSY STBY DRIVE ERROR LSEND SSEND FSEND PAUSE COMREG EP COMREG FL DEND BUSY 25 D4 D5 D6 D7 MCC08 MANUAL 1 MANUAL F 0 MANUAL BUSY 0 MAN MAN 1 MAN 1 MAN OFF gt
72. 1 SPEC INITIALIZE3 STBY TYPE X STBY PAUSE 0 STBY 0 Y STBY TYPE PAUSE 0 STBY 0 X X Y Y sl Emaan ii XPAUSE XSTBY nn YPAUSE YSTBY ku X Y PAUSE X Y X Y STATUS1 PORT STBY 1 X Y PAUSE OFF X XPAUSE 0 Y YPAUSE 0 3 8 2 SPEC INITIALIZE3 STBY TYPE X STBY TYPE PAUSE 0 STBY 0 Y STBY TYPE PAUSE 0 OUT3 1 STBY 0 X XPAUSE XSTBY X _
73. RDYINT OUT2 3 MCC08 GPIO7 0 GPIO2 3 6 7 GPIO0 1 6 7 MCC08
74. amp MCC08 MNO0111 5 8 MCC08 MCCO08
75. gt 016 78 MCC08 7 4 JOG JOG JOG JOG JSPD JOG JOG PULSE JOG 7 4 1 JSPD SET JOG gt COMMAND H 0C JSPD SET COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 DRIVE DATA1 PORT D7 D0 DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D21 D16 FL 0 4 194 303 H 00_0000 H 3F_FFFF G 1 Hz STATUS1 PORT BUSY ERROR 0 ERROR 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT
76. 1 0 ps EXT PULSE TYPE0 EXT COUNT TYPE1 1 EXT COUNT TYPE COUNT PULSE SEL1 COUNT PULSE SELO INP CP H 81 ADDRESS COUNTER INITIALIZE1 DRIVE DATA2 PORT AUTO ADD ENABLE COMP1 D6 AUTO CLEAR ENABLE COMP1 COMP GATE TYPE1 COMP1 2 3 ADRINT 1 2 3 CO 2 3 ADRINT PULSE TYPE1 MP1 2 3 2 ADRINT PULSE ADRINT TYPE1 0 00 ADRINTSTYPED ADRINT COMP1 2 3 82 ADDRESS COUNTER INITIALIZE2_DRIVE DATA1 PORT COMP2 STOP 1 MP2 5 pe COMP2 STOP TYPE0 CO BE COMP2 STOP ENABLE COMP2 COMP2 INT ENABLE COMP2 ADRINT
77. COMP1 STOP TYPE COMP1 COMP1 STOP ENABLE COMP1 DO COMP1INT ENABLE COMP1 ADRINT H 82 ADDRESS COUNTER INITIALIZE2 DRIVE DATA2 PORT COMP3 1 COMP COMP pe COMP3 TYPE0 AA COMP2 TYPE1 COMP2 TYPE0 COMP2 COMP2 COMP3 STOP TYPE1 O COMP3 STOP TYPE0 COMP3 0 COMP3 STOP ENABLE COMP3 DO ENABLE COMP3 ADRINT 124 MCC08 9 3 1 ADDRESS COUNTER INITIALIZE1 lt gt COMMAND H 81 ADDRESS COUNTER INITIALIZE1 COMMAND DRIVE DATA1 PORT DRVE DATA2 PORT COMMAND PORT COMMAND ega f DRIVE DATA1 PORT 0
78. HO0 00 00 00 H800 0000 H800 0000 STATUS7 PORT PULSE OVF 1 145 MCC08 10 2 2 1 CNTINT COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 98 CNTINT COMPARE REGISTER1 SET COMMAND 2 CNTINT COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND H 99 CNTINT COMPARE REGISTER2 SET COMMAND 3 CNTINT COMPARE REGISTER3 SET COMPARE REGISTER3 COMMAND H 9A CNTINT COMPARE REGISTER3 SET COMMAND lt gt DRIVE DATA1 PORT D7 D0 WRITE DRIVE DATA2 PORT D15 D8 DATA2 PORT WRITE DRIVE DATA3 PORT D23 D16 DRIVE DATA4 PORT D27 D24
79. Hz SCAREA x RESOL S Hz SCAREA RESOL S Hz SCAREA x RESOL S Hz SCAREA RESOL SCAREA 0 UCYCLE RESOL DCYCLE RESOL SCAREA HSPD LSPD Z 2 S SCAREA HSPD LSPD XZ 2 INDEX SCAREA HSPD LSPD 2 75 8 7 2 5 DOWN PULSE ADJUST INDEX lt gt COMMAND DOWN PULSE ADJUST COMMAND DRIVE DATA1 PORT D7
80. LIMIT DEND BUSY 1 LSEND 1 DEND BUSY 1 LIMIT STATUS1 PORT LSEND 1 LIMIT LIMIT LIMIT LIMIT CWLM CCWLM LIMIT STATUS1 PORT STBY 1 DRIVE 1 STATUS2 PORT EXTPULSE 1 DRIVE 1 STATUSS PORT DEND BUSY 1 LIMIT
81. 40 85 3 3V 0 3V 90 mA 3 8 2 4 1 Hz 6 5534 MHz 4 095 0 005 ms kHz 8 388 608 8 388 607 INDEX SCAN INDEX JOG ORIGIN SCAN CONSTANT SCAN ORG MANUAL SCAN JOG 28 3 28 3 INDEX CHANGE
82. CNTINT COMP1 COUNT LATCH SPEC SET PULSE LATCH DATA READ 132 MCC08 RI INITIALIZE H 91 PULSE COUNTER INITIALIZE1 DRIVE DATA1 PORT EXT COUNT DIRECTION EXT COUNT TYPE1 s EXT COUNT TYPE0 COUNT PULSE SEL1 q Y gt 58 po COUNT PULSE SEL0
83. H33 G DRIVE DATA2 PORT pe spa GPIO7 GPIO7 TYPE1 H 33 D7 D1 po GPIO6 GPIO6 TYPE1 TYPE0 DRIVE DATA1 PORT D0 D1 GPIO2 TYPE1 0 04 05 GPIO3 TYPE1 0 DRIVE DATA2 PORT D0 D1 GPIO6 TYPE1 0 04 05 GPIO7 TYPE1 0 GPIO2 3 6 7 GPIO2 3 6 7 SIGNAL OUT 113 MCC08 8 9 8 9 1 HARD INITIALIZE7 lt gt COMMAND 7 HARD INITIALIZE7 COMMAND DRvE DATA1 PORT 2 DRIVE DATA2 PORT
84. SIGNAL OUT DRST DRST 10 ms LIMIT 67 8 ORIGIN SPEC SET AUTO DRST ENABLE 1 ORIGIN DRST 10 ms DRST lt gt BUSY 1 DRST DEND lt gt DRIVE DATA1 PORT D2 DEND D3 DEND TYPE1 DEND TYPE1 TYPEO DEND DEND lt gt DEND DEND
85. X ADDRESS COUNTER READ LONG XAddrCntRead VOID LONG ADDRESS COUNTER READ COMMAND X DRV CMD_PORT 0xd8 now_addr DRV DT1_PORT now_addr R_X_DRV DT2 PORT O lt lt 8 now_addr R_X_DRV_DT3_PORTO lt lt 16 now_addr R_X_DRV_DT4_PORT lt lt 24 return now_addr ADDRESS COUNTER READ LONG YAddrCntRead VOID LONG ADDRESS COUNTER READ COMMAND WY DRV CMD_PORT Oxd8 now_addr addr RYDRVDT2 PORTO lt lt 8 RY DRV DT3 PORTO lt lt 16 addr RYDRVDT4 PORTO lt lt 24 return 168 MCC08 15 100 LQFP 16 0 0 2 14 0 0 2 76 30 9 1 60 9 010 005 1 0 0 221005 u 1 0 0 2 0 171003 0 5 0 2 mm 169 8 16 16 1 100 LQFP 0 5 mm 16 0 x 16 0 x 1 60 mm 65 150
86. Xe 10 2 1 lt gt COMMAND H 90 PULSE COUNTER PRESET COMMAND DRIVE DATA1 PORT D7 D0 WRITE DRIVE DATA2 PORT D15 D8 WRITE DRIVE DATA3 PORT D23 D16 DATA3 PORT DRIVE DATA4 PORT D27 D24 WRITE 134 217 728 134 217 727 H 800_0000 H7FF_FFFF G WRITE 2 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 1 2 015 gt D8 D7 lt gt DRIVE DATA4 PORT DRIVE DATA3 PORT D7 pe 05 0 1 02 7 05 po D27 D24 023 gt 016
87. 023 016 DRIVE DATA4 PORT D27 D24 DRIVE DATA2 PORT DRIVE DATA1 PORT pe pslp4 pslp2lp1 polp7 pelpslp4lpslpz p1lpol D15 M P D8 D7 lt gt DRIVE DATA4 PORT DRIVE DATA3 PORT D7 pe ps p4 ps p2lp1lpolpz7 pelpslp4lpslpzlpilpol gt ea ADDRESS COUNTER READ 11 gt E PULSE COUNTER READ DRIVE DATAL 2 3 4 PORT READ 148 8 10 4 10 4 1 ADDRESS LATCH DATA READ COMMAND H DC ADDRESS LATCH DATA READ COMMAND 10 4 2 PULSE LATCH DATA READ COMMAND H DD PULSE LATCH DATA READ COMMAND lt gt
88. 1 0 D3 DRVEND 1 BUSY 1 0 1 gt 0 EXT PULSE 1 0 BUSY 1 0 0 BUSY 0 1 DRVEND 1 BUSY 1 DRVEND 0 BUSY 0 DRVEND 1 D4 D5 D6 MCC08 ERROR 1 0 ERROR STATUS CLR DATA2 PORT D7 D0 ERROR STATUS ERROR ERROR ERR
89. STBY 1 STBY CPPIN STBY 0 DRIVE 1
90. DRIVE 0 INDEX FL 1 INDEX CHANGE INDEX FL 1 STBY DRIVE 0 LSEND 1 SSEND 1 FSEND 1 ERROR 1 PLS INDEX CHANGE PLS INDEX CHANGE 54 8 INDEX CHANGE INDEX CHANGE INDEX CHANGE F INDEX CHANGE INDEX CHANGE S
91. DRIVE DATA2 PORT INT FACTOR DRIVE DATA1 PORT INT FACTOR 0 600 MD ll opa 09 MAN INT 2 ORG SIGNAL GPIO6 DALM nCOMREG FL COMREG EP STBY RDYINT INT INT INT 2 INT INT INT DRIVE DATA2 PORT INT FACTOR NT 0 GPIO1 GPIO0 OUT3 OUT2 ERROR FSEND CNTINT ADRINT NT INT INT INT INT INT INT INT INT FACTOR 1 INT FACTOR READ 16 INT FACTOR DRIVE DATA 2 PORT READ 100 MCC08 R3 82 13 ERROR STATUS ERROR STATUS 13 ERROR STATUS ERROR STATUS READ 13 ERROR STATUS ERROR STATUS CLR ERROR STATUS1 PORT ERROR ERROR ERROR STATUS OR ERROR STATUS ERROR STATUS MASK ERROR
92. S JOG JOG PULSE SET JOG ORIGIN SPEC SET ORIGIN C S 7 EE JOG ee ED mm SCAN i se S i ORIGIN SCAN P s s s HD __ j r EE el P 172 MCC08 16 3 DRIVE COMMAND H00 H7F COMMAND 100ns F e LONG POSITION SET 100ns 90 H30 250 ns 42 P 173 MCC08
93. DRIVE DATA4 PORT No STATUS4 PORT INDEX FL 0 DRIVE DATA4 PORT DRIVE DATA3 PORT 05 ps 023 lt INDEX CHANGE 016 No G PLS INDEX CHANGE pe ps PLS INDEX CHANGE 0 STATUS1 PORT DRIVE 1 DRIVE 1 STATUS3 PORT OUT3 0 gt 1 DRIVE 1 STATUS4 PORT GPIO6 0 1 O DRIVE 1 STATUS4 PORT GPIO7 0 1 DRIVE 1 STATUS3 PORT OUT2 0 gt 1 DRIVE 1 STATUS3 PORT OUT3 0 1 DRIVE 1 STATUS4 PORT GPIO
94. WRITE 134 217 728 134 217 727 H 800_0000 H7FF_FFFF G WRITE 2 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT D7 D6 D5 D4 D3 D2 D1 07 06 05 04 03 D2 D1 015 gt 08 07 lt DO DRIVE DATA4 PORT DRIVE DATA3 PORT p7 pe 05 1 05 0 SE H 8 00 00 00 146 MCC08 10 2 3 COMP1 ADD COMP1 COMMAND H9C CNTINT COMP1 ADD DATA SET COMMAND DRIVE DATA1 PORT COMP1 ADD 07 00 DRIVE DATA2 PORT COMP1 ADD D15 D8 WRITE DRIVE DATA3 PORT COMP1 ADD D23 D16 DRIVE DATA4 PORT COMP1 ADD D27 D24 WRITE 134 217 728 134 217 727 H 800_0000 H7FF_FFFF G WRITE 2 DRIVE COMMA
95. lt DRIVE DATA2 PORT DO CNTINT TYPEO D1 CNTINT TYPE1 STATUS7 PORT CNTINT COMP1 2 3 COMP1 2 3 STATUS7 PORT STATUS7 PORT INT FACTOR CLR CNTINTINT CLR 1 1 STATUS567 PORT READ STATUS7 PORT DRIVE DATA3 PORT x CNTINT PULSE TYPE 135 8 DRIVE DATA2 PORT D2 CNTINT PULSE TYPE0 D3 CNTINT PULSE TYPE1 COMP1 2 3 0 0 1 1
96. COMPARE REGISTER1 lt COMPARE REGISTER1 COMP1 ADD COMP1 128 8 9 3 2 ADDRESS COUNTER INITIALIZE2 lt gt COMMAND H 82 ADDRESS COUNTER INITIALIZE2 COMMAND DRIVE DATA1 PORT DRVE DATA2PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 00 0 11 C bs _ COMP2 COMP2 COMP2 COMP2 COMP1 COMP1 COMP1 STOP STOP STOP INT STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE TYPE ENABLE ENABLE H00 DRIVE DATA2 PORT BZ De 1 D5 4 _D2 COMP3 coMP3 COMP3 STOP STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE 00 COMP3 COMP3 COMP2 COMP2 TYPE1 TYPE0 TYPE1 TYPE0 DRIVE DATA1 PORT DO COMP1 INT ENABLE COMP1 ADRINT
97. LIMIT DEND BUSY 1 LSEND 1 DEND BUSY 1 DEND lt gt BUSY 1 MAN 1 EXT PULSE 1 BUSY 1 DEND BUSY 0 LIMIT LIMIT STATUS1 PORT LSEND 1 57 8 R2 5 9 MANUAL MAN CWMS CCWMS MAN CWMS CCWMS MANUAL MANUAL SPEC INITIALIZE1 MANUAL DRIVE SCAN JOG SCAN MANUAL
98. 15 0 COUNT LATCH SPEC SET 0 149 8 11 X Y X Y 50 ns 11 1 nRESET nRST VDD min VDD tcyc gt NN NY NH N A A NT nRESET nRST A Busy N DRST INT LOW OUT3 0 Gow CWP HIGH CCWP HIGH 10 ms 200 250 ns 50 ns 11 2 CHIP RESET CHIP RESET nRST 200 ns li 125 ns lt 1 lt 175 ns n CHIP RESET 5 50 ns BUSY 200 ns 5 11 3 S lt w ssrsrr On 75 ns lt t1 lt 125 ns n 2 100 ns BUSY I H 5 f BUSY lt 150 MCC08 11 4 s 75 n
99. BUSY 0 MAN BUSY 1 CWMS SCAN 9 CWMS OFF MAN OFF BUSY 0 MANUAL JOG SPEC INITIALIZEI MANUAL DRIVE 1 CWMS ON OFF ON OFF CCWMS lt CCWMS gt CCWMS OFF BUSY 0 MAN BUSY 1 CWMS JOG JOG PULSE JOG CWMS OFF MAN OFF BUSY 0 59 8 5 10 EXT PULSE
100. ORIGIN MANUAL ORIGIN MANUAL PORT EB1 EA1 EBO STATUS6 PORT EA0 CCWLM LIMIT CWLM LIMIT FSSTOP SLSTOP PULSE OVF CNTINT COMP3 CNTINT COMP2 CNTINT COMP1 ADDRESS OVF ADRINT COMP3 ADRINT COMP2 ADRINT COMP1 STATUS7 PORT STATUS5 6 7 PORT STATUS567 PORT READ 5392 MCC08 5 X H Y X Y 5 1 MCC08 10 DRIVE COMMAND DRIVE COMMAND
101. 118 8 9 X Y X Y 9 1 9 1 1 EXT PULSE TYPE EXT COUNT TYPE EA1 1 XINP CP X YINP CP Y EXT COUNT TYPE EA1 1 X YOP Y 119 8 9 1 2 ADDRESS lt gt CLR COUNT LATCH SPEC SET 28BIT ENABLE DRIVE DATA1 2 3 4 PORT I AUTO CLEAR ENABLE DRIVE DATA1 2 3 4 PORT gt COMP1 COMP1 ADRINT COMPARE REGISTER1 AUTO ADD COMP1 ADD DATA ENABLE gt ADRINT COMP2 COMPARE REGISTER2 TYPE COMP2 gt ADRINT CO
102. HH00 DRIVE DATA1 PORT DO COUNT PULSE SELO D1 COUNT PULSE SEL 1 X X Y YOP EA0 EA1 EB1 EXT COUNT DIRECTION Y 0 El Y YOP X EA0 EA1 EB1 EXT COUNT DIRECTION XOP COUNT PULSE SEL X YOP COUNT PULSE SEL Y 134 8 D2 EXT COUNT TYPE0 D3 EXT COUNT TYPE1
103. MCC08 CPU USER CPU MCC08 MOTOR DRIVER CONTROL BUS USER 8 BIT CPU DATA BUS MOTOR Y 98 L MCC08 2 1 2 2 2 MCC08 10 10
104. lt gt COMMAND 08 RATE SET COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT DATA2 PORT WRITE DATA3 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA3 PORT 1 4 095 H001 HIFFF G STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe 05 ps Di po p7 ps p4 p3 p2 p po D3 DCYCLE D0 D11 UCYCLE D8 D7 lt UCYCLE DRIVE DATA3 PORT p7 pe 2 011 lt DCYCLE D4 UCYCLE DCYCLE 64 100 100 us H 06 4 100 100 us UCYCLE 0 1 us 1
105. 1 0 ADDRESS COUNTER PRESET D4 CNTINT COMP1 COMPARE REGISTER1 D5 CNTINT COMP2 COMPARE REGISTER2 D6 CNTINT COMP3 COMPARE REGISTER3 1 0 PULSE COUNTER INITIALIZE1 2 D7 PULSE OVF 1 0 PULSE COUNTER PRESET 4 4 9 PORT FSEND SSEND LSEND ERROR DRVEND DRIVE STBY BUSY STATUS1 PORT MCC08 PORT LIMIT
106. 7 1 1 7 1 1 FSPD SET 1 lt gt COMMAND H 05 FSPD SET COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 DRIVE DATA1 PORT D7 D0 DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D22 D16 m 0 8 388 607 00 0000 H7F_FFFF G 1 Hz STATUS1 PORT BUSY ERROR 0 ERROR 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT DP7 pe Ds p4 ps p2 p1 polpz pe pslp4 p3 p2 p1 po D15 FSPD D8 D7 lt FSPD DO DRIVE DATA3 PORT p7 pe ps po D22 lt FSPD D16 H 00 13 88 5 000 Hz 1 200 us FSPD 0 FSPD
107. DRIVE DATA1 PORT D7 pe Ds ps D2 p1 Do D6 D5 D3 D2 Do D15 lt JSPD 8 D7 JSPD D0 DRIVE DATA3 PORT p7 pe 05 pt po D21 lt JSPD D16 H 00 01 2C 300 Hz G JSPD 0 JSPD JSPD RSPD x RESOL RSPD RSPD HSPD LSPD 15 MCC08 RSPD FSPD JSPD RSPD RSPD H012C 300 G JOG ORIGIN CONSTANT SCAN 1 FSPD 1 2 JSPD 79 8 7 4 2 JOG PULSE SET JOG gt COMMAND H 0D JOG PULSE SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 DRIVE DATA1 PORT D7
108. 0 COMP1 ADRINT 1 COMP1 ADRINT D1 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 D2 COMP1 STOP TYPE COMP1 0 1 COMP1 COMPARE REGISTER1 129 8 DRIVE DATA1 PORT D4 COMP2 INT ENABLE COMP2 ADRINT 0 COMP2 ADRINT 1 COMP2 ADRINT D5 COMP2 STOP ENABLE COMP2 0 COMP2 1 COMP2 D6 COMP2 STOP TYPE0 D7 COMP2 STOP TYPE1 COMP2
109. 2 EXT PULSE 60 8 EXT PULSE 0 BUSY 0 ERROR 0 COUNT PULSE SEL 10 11 EXT PULSE 1 BUSY 1 STBY 1 DRIVE 0 EXT PULSE 0 BUSY COUNT PULSE SEL 01 10 11 BUSY 1 EXT PULSE 1 BUSY 1 EXT PULSE 1 STBY 1
110. X Y X Y lt gt COMMAND H 20 CP SPEC SET COMMAND WRITE 2 STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT STATUS1 PORT BUSY ERROR 0 COMMAND PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT De D p p p pn po SEL2 SEL 1 SELO H 0O DO CPPOUT SELO D1 CPPOUT SEL1 D2 CPPOUT SEL2 CPPOUT 0 CPPIN 1 X Y YOP EA1 EB1 X Y 1
111. ADRINT COMP2 COMP3 121 8 9 2 EA0 EB0 EA1 EBI 2 COUNTER INITIALIZE1I EXT COUNT DIRECTION 9 2 1 COUNTER INITIALIZE1 EXT COUNT DIRECTION 0 I 11 12 13 14 gt 50 ns 2 9 1 0 t3 t4 gt 200 ns 4 11 12 13 14 gt 200 ns tt J 11 12 13 14 gt 50 ns gt I lt gt a i s ki S x Aa FE TE mA f 4 i f ML f 1 4 b f 9 2 2 COUNTER INITIALIZE1 EXT COUNT DIRECTION 0
112. BBN _ YOUT3 YPAUSE Y PAUSE X Y PAUSE X Y X Y STATUS1 PORT STBY 1 X Y PAUSE OFF X XPAUSE 0 Y YPAUSE 0 YOUT3 1 X Y PAUSE X Y STBY 1 PAUSE XPAUSE 0 YPAUSE 0 Y X X Y YOUT3 1 38 8 3 SPEC INITIALIZE3 STBY TYPE X STBY TYPE PAUSE 0 GPIOO 1 STBY 0 Y STBY PAUS
113. DRIVE DATA2 PORT DRIVE DATA1 PORT 09 Yi SDS iO pi 50 1 ORG SIGNAL GPIO6 DALM MAN nCOMREG FL COMREG EP RDYINT INT INT INT INT INT CLR CLR CLR CLR CLR DRIVE DATA2 PORT D D4 D op op p GPIO1 GPIO0 OUT3 OUT2 CNTINT ADRINT INT INT INT INT INT INT CLR CLR CLR CLR CLR CLR DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT 07 0 16 0 1 98 8 8 1 2 INT FACTOR MASK INT 16 COMMAND H E1 INT FACTOR MASK COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT NOS B
114. COUNT COUNT COUNT COUNT COUNT PULSE PULSE DIRECTION TYPE2 TYPE1 TYPE0 TYPE1 TYPE0 SEL 1 SEL0 30 DRIVE DATA2 PORT p7 pe ps p p p p po AUTO COMP COMP ADRINT ADRINT ADRINT ADRINT TYPE1 TYPE0 CLEAR GATE GATE PULSE PULSE ENABLE ENABLE TYPE1 TYPE0 TYPE1 TYPE0 HH00 DRIVE DATA1 PORT DO COUNT PULSE SELO D1 COUNT PULSE SEL1 CWP CCWP X X XINP CP s s n Y YINP CP lt s EA1 EB1 Su Y Y YINP CP X XINP CP
115. CWMS CCWMS 230 ns 250 ns OFF MAN MANUAL BUSY 0 MAN STATUS2 PORT MAN 1 BUSY 1 CWMS CCWMS MANUAL MAN 1 MAN OFF STATUS2 PORT MAN 0 BUSY 0 CWMS CCWMS MANUAL DEND lt gt MAN 1 BUSY 1 MANUAL STBY 1 DRIVE 1 DEND BUSY 1 MAN OFF MAN OFF
116. Hz HSPD x RESOL RESOL No RESOL RESOL RESOL RESOL RESOL No RESOL No RESOL HD 200 200 x RESOL 1 6 553 400 Hz 8 7 2 2 LOW SPEED SET LSPD lt gt COMMAND H 07 LOW SPEED SET COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 ERROR 0 DRIVE DATA1 PORT DRIVE DATA2 PORT 0 32 767 0000 H7FFF G DRIVE DATA3 PORT DTYPE STATUS1 PORT BUSY ERROR 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT p7 06 ps 0 p2
117. TYPE1 TYPE0 COMP2 CW CW 0 0 1 1 DRIVE DATA2 PORT DO COMP3 INT ENABLE COMP3 ADRINT 0 COMP3 ADRINT 1 COMP3 ADRINT D1 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D2 COMP3 STOP TYPE0 D3 COMP3 STOP TYPE1 COMP3 TYPE1 TYPE0 COMP3 0 0 0 1 1 0 CCW 1 1 CCW 130 MCC08 DRIVE DATA
118. COMP3 COMP2 COMPARE REGISTER2 COMP3 COMPARE REGISTER3 162 8 MCCO8 INITIALIZE VOID Mcc08Inz VOID X SPEC INITIALIZE1 COMMAND W_X_ DRV_DT1_PORT 0x00 READY_WAIT_XO W_X_ DRV CMD_PORT 0x01 Y SPEC INITIALIZE1 COMMAND W_Y_DRV_DT1_PORT 0x00 READY_WAIT_YO W_Y_DRV CMD_PORT 0x01 X ADDRESS COUNTER INITIALIZE1 COMMAND W_X_ DRV_DT1_PORT 0 30 W_X_DRV_DT2_PORT 0x00 W_X_ DRV CMD_PORT 0x81 Y ADDRESS COUNTER INITIALIZE1 COMMAND W_Y_DRV_DT1_PORT 0x30 W_Y_DRV_DT2_PORT 0x00 W_Y_DRV_ CMD_PORT 0x81 X ADDRESS COUNTER INITIALIZE2 COMMAND W_X_DRV_DT1_PORT 0x00 W_X_ DRV_DT2_PORT 0x00 W_X_ DRV CMD_PORT 0 82 Y ADDRESS COUNTER INITIALIZE2 COMMAND W_Y_DRV_DT1_PORT 0x00 W_Y_DRV_DT2_PORT 0x00 W_Y_DRV CMD_PORT 0x82 163 8 14 2 SCAN
119. D4 COMP GATE TYPE0 D5 COMP GATE TYPE1 ADRINT COMP1 2 3 s ra COMP2 OR COMP3 COMP2 AND COMP3 COMP2 OR COMP3 COMP2 AND COMP3 OR AND 127 8 DRIVE DATA2 PORT D6 D7 AUTO CLEAR ENABLE COMP1 0 COMP1 1 COMP1 COMP1 0 COMP1 AUTO ADD ENABLE COMP1 0 COMP1 1 COMP1 COMP1 COMP1 ADD COMPARE REGISTERI COMPARE REGISTER1
120. Y PORT X 19 8 4 3 PORT X H Y X Y 4 3 1 DRIVE DATA1 2 3 4 PORT WRITE PORT PORT 4 3 2 DRIVE COMMAND PORT DRIVE COMMAND PORT PORT DRIVE COMMAND DRIVE COMMAND H7F 80 STATUS1 PORT BUSY 0 ERROR 0 BUSY 1 STATUS2 PORT COMREG FL 0 BUSY 1 COMREG FL 0 10
121. 15 MCC08 RSPD FSPD JSPD RSPD RSPD H012C 300 110 8 8 7 8 7 1 HARD INITIALIZE1 OUT3 0 OUT3 0 lt gt COMMAND 1 HARD INITIALIZE1 COMMAND D DRIVE DATA1 PORT OUT0 1 DRIVE DATA2 PORT OUT2 3 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT p p p TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 01 DRIVE DATA2 PORT 5074 Sr SN s Dis TYPE3 TYPE2 TYPE1 TYPE0 TYPE3 TYPE2 TYPE1 TYPE0 HEE DRIVE DATA1 PORT D3 DO OUTO TYPE3 0 CNTINT D7 D
122. DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe Ds p4 ps D1 po D6 D5 D3 D2 Do 15 lt DRIVE DATA3 PORT p7 pe ps 04 pt Do A23 lt 16 0 0 H00 00 00 PULSE SEL 90 8 7 7 2 SHORT POSITION SET lt gt COMMAND H 23 SHORT POSITION SET COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRI
123. X Y X Y MCC08 aa SPEC INITIALIZE1 SPEC INITIALIZE2 SPEC INITIALIZE3 CWLM CCWLM RDYINT DRST DEND DALM STBY BX ADDRESS COUNTER INITIALIZE1 ADDRESS COUNTER INITIALIZE2
124. 1 COMP2 D6 COMP2 STOP TYPE0 D7 COMP2 STOP TYPE1 COMP2 TYPE1 TYPE0 COMP2 CW CW 0 0 1 1 DRIVE DATA2 PORT DO COMP3 INT ENABLE COMP3 CNTINT 0 COMP3 CNTINT 1 COMP3 CNTINT D1 COMP3 STOP ENABLE COMP3 0 COMP3 1 COMP3 D2 COMP3 STOP TYPE0 D3 COMP3 STOP TYPE1 COMP3 TYPE1 TYPE0 COMP3 0 0 0 1 1 0 CCW
125. INDEX D4 PULSE SEL 0 LONG POSITION 1 SHORT POSITION 92 8 7 7 4 1 CPPIN lt gt COMMAND H 31 SUB STRAIGHT CP COMMAND DRIVE DATA1 PORT DATA1 PORT WRITE e STATUS1 PORT BUSY 0 ERROR 0 Y STATUS1 PORT BUSY ERROR 0 COMMAND PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D5 p1 po D p5 PULSE DRIVE SEL MODE DO DRIVE 0 SCAN 1 INDEX D4 PULSE SEL 0 LONG POSITION
126. NE TS TEST 150 11 1 nRESET nRST 150 2 OHIRBRESET tr 150 11 3 q UDP i a i i i l iD is 150 Yb u S TST ASA STSS I SE 151 11 Q W a D D 5 L 151 16 p a D SUYU ms 151 PAUSEY Dera ee 152 152 139 152 TA NDEX CHANGE So RE EE 153 imk aur 154 E E E E E E ss 154 19 GPPIN A s GBPODUT HI y wy yn 155 156 z SS S SNNN SK ON IK AKO K K O O K O j sa 156 12 2 DC 156 PE 156 2 156 1232 ssasasapapasasasasasasca 157 S S D D 158 ae 158 NN 158 OSO So 159 160 Tas GT
127. 39 8 5 3 5 3 1 SCAN SCAN saa SCAN 1 1 SCAN 40 8 5 3 2 INDEX INC INDEX
128. 8 10 1 HARD INITIALIZE8 lt gt COMMAND H F8 HARD INITIALIZE8 COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D D ps pn p p op po OUT1 OUTO BUSY DRST CCWP CWP INT ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HF1 DRIVE DATA2 PORT pr pe p p D3 p D OUT3 OUT2 GPIO7 GPIO6 GPIO2 GPIO0 ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE ACTIVE HFF DRIVE DATA1 PORT DO INT ACTIVE INT 1 INT X HARD INITIALIZE8 Y HARD INITIALIZE8 DRIVE DATA1 PORT 07 02 _ DRIV
129. EXT PULSE 1 BUSY 1 0 DRIVE 1 EXT PULSE 1 DRIVE 1 EXT PULSE 1 COUNT PULSE SEL 00 EXT PULSE 0 BUSY 0 EXT PULSE 0 BUSY 0 STBY 1 DRIVE 1 COUNT PULSE SEL 00 lt gt lt gt BUSY 1 LIMIT EXT PULSE 1 LIMIT EXT PULSE 1 BUSY 1 1 DRIVE 0 EXT PULSE 1 STBY 1 LIMIT LIMIT LSEND DEND lt gt DEND
130. pz Ds pt Do 014 lt LSPD gt D8 07 lt LSPD DO H01 2 300 300 Hz 0 LSPD 0 LSPD LSPD RSPD Hz LSPD x RESOL DTYPE LSPD x RESOL LSPD x RESOL LSPD x RESOL HSPD x RESOL HSPD x RESOL LSPD x RESOL HSPD x RESOL HSPD x RESOL 1 FSPD 1 2 LSPD RESOL 1 FSPD 1 2 HSPD x RESOL 73 8 7 2 3 RATE SET UCYCLE DCYCLE
131. 1 SCAREA HSPD LSPD 2 0O INDEX 1 46 8 S INDEX S INDEX S INDEX gt lt S SCAREA gt HSPD LSPD 2 SCAREA HSPD LSPD 2 INDEX S SCARE
132. 16 4 DRIVE COMMAND HI80 HFF Cs 22 7 EE EE EA H Us ra ae H88 H89 ADRINT 3 H 8B H8C ADRINT COMP1 ADD DATA SET ADRINT COMP1 ADD ES ie ie lr CNTINT 1 CNTINT 3 He CNTINT COMP1 ADD EE nW P 174 MCC08 16 4 DRIVE COMMAND H80 COMMAND LA se HBE lt gt LHBF Gi nW 175 MCC08 R5 16 4 DRIVE COMMAND H 80
133. BUSY 0 INDEX DATA1 PORT WRITE DATA2 PORT WRITE DATA3 PORT WRITE STATUS2 PORT COMREG FL 0 Y COMMAND PORT WRITE DRIVE DATA1 PORT 07 00 DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D24 D16 STATUS2 PORT COMREG FL 0 DRIVE COMMAND PORT INC INDEX COMMAND 34 8 INDEX JOG PAUSE 1 STATUS2 PORT PAUSE 1 INDEX STBY 1 FSPD DELAY TIME JOG STATUS2 PORT PAUSE 0 STBY 0 INDEX JOG
134. ED 2 j FAST STOP nW 177 MCC08 R5 P157 176 P6 P67 8 11 2 DRST OUT lt gt P117 P177 6 3 D4 DOWN PULSE MASK 8 2 8 10 1 00 INT 94 INITIALIZE 16 4 DRIVE COMMAND BF 178 1 1 2
135. HFE DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D7 DO ERROR ERROR STATUS 0 1 ERROR ERROR ERROR STATUS OR ERROR STATUS 0 ERROR STATUS ERROR STATUS ERROR STATUS CLR DATA1 PORT D4 ERROR STATUS DATA2 PORT D7 D1 ERROR STATUS 103 8 8 2 3 ERROR STATUS READ 13 ERROR STATUS COMMAND H D1 ERROR STATUS READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT ERROR STATUS DRIVE DATA2 PORT ERROR STATUS Eis CLR CHANGE CLR ERROR ERROR ERROR GPIO7 GPIO0 es SSEND LSEND FSEND ERROR ERROR ERROR ERROR ERROR ERROR ERROR ERROR STATUS
136. STATUS4 PORT GPIO7 1 STBY 0 PAUSE 0 STATUS3 PORT OUT2 1 STBY 0 PAUSE 0 STATUS3 PORT OUT3 1 STBY 0 PAUSE 0 STATUS4 PORT 1 STBY 0 PAUSE 0 STATUS4 PORT GPIO1 1 STBY 0 0 0 0 0 0 1 0 1 gt O O D4 DOWN PULSE MASK INDEX 0 1 INDEX INDEX
137. t5 1 2hs lt te lt 3hs 11 12 LIMIT Me 75 ns lt 1 lt 125 ns FAST STOP 50 ns lt 12 lt 125 ns t1 50 ns 6 2 5 50 ns FSSTOP 2 OFF BUSY ST1 DRIVE CWP CCWP 3 t5 BUSY ST1 DRIVE gt CCWP 16 145 lt amp mr DA t6 154 MCC08 11 13 CPPIN CPPOUT CPPOUT 1 1 1 1 CPPOUT CWP CCWP 50 ns 50 ns gt lt gt lt CPPIN CPPOUT CPPIN cc oc 1 Max 15 ns Max 15 ns 1 CPPIN I 75 125ns 75 125ns CWP CCWP I 50 ns 50 ns 4 lt gt lt
138. BUSY 0 FAST STOP FSSTOP GPIO2 3 6 7 DEND DALM CWLM CCWLM MANUAL MAN OFF 24 8 4 4 3 STATUS2 PORT PORT Che D1 D2 D3 UP 1 0 DOWN 1 0 CONST 1 0
139. COMMAND PAGE Heo _ Heol Hc NC HC HC Se mm ee EE EE EEE RE INT FACTOR ERROR STATUS STATUS5 6 7 PORT ee HD9 PULSECOUNTERREAD 175ns 148 WW WW WW WWW Ei sss nW 176 MCC08 R4 16 4 DRIVE COMMAND H80 tieD NRGTGRGHN HE1 INTFACTORMASK INT INTFACTOR 175ns 99 L wF YF 7 77 EEE EAI MCC08 OUT3 0 GPIO0 1 4 5 GPIO2 3 6 7 175ns 113 Fi NE SH A
140. EA0 EA1 EBI EA EB 1 f G p gt F 5 EA EB 2 EA EB 4 EA EB D7 EXT COUNT DIRECTION EA0 EA1 EBI 0 1 1
141. MANUAL MANUAL CWMS CCWMS CCWMS STATUS2 PORT MAN 1 D MANUAL MAN 1 DRIVE 0 ERROR 0 CWMS OFF CCWMS MANUAL SCAN CCWMS OFF JOG CCWMS CCWMS OFF MANUAL MANUAL CCWMS 58 MCC08 MANUAL SCAN SPEC INITIALIZEI MANUAL DRIVE 0 SCAN CWMS ON OFF lt U CCWMS OFF CCWMS
142. X STBY X STATUS1 PORT BUSY X CNTINT X ADRINT X COMP X COMP 0V VDD VDD ORIGIN MANUAL ORIGIN MANUAL MANUAL STBY STATUS1 PORT BUSY CNTINT ADRINT Y COMP Y COMP 3 3V 0V X X X COMP X COMP 0V Y Y Y COMP Y COMP 3 3V 0V
143. INDEX CHANGE ERROR STATUS INDEX CHANGE ERROR 1 INDEX PLS INDEX CHANGE INDEX CHANGE PLS INDEX CHANGE SCAN SCAN SCAN P SCAN H 14 INC INDEX P INDEX INDEX FL 1 STBY 1 INDEX FL 0 INDEX CHANGE INDEX FL 1 INDEX CHANGE INDEX FL 0
144. 0V 3 3V 0V Y Y 1008 A B LVTTL LVTTL 6 mA 5VTTL Rdown 5VTTL 3 mA 16 MCC08 5VTTL 5VTTL 5VTTL Rdown 5VTTL Rdown 5VTTL Rdown 5VTTL Rdown LVTTL 3 mA LVTTL 3 mA LVTTL 3 mA B B 5VTTL 5VTTL 5VTTL Rdown 5VTTL Rdown 5VTTL Rdown 5VTTL Rdown HI Hl HI HI HI HI LVTTL 3 mA LVTTL 3 mA LVTTL 3 mA B B LVTTL 3 mA LVTTL 3 mA B B LVTTL 3 mA LVTTL 3 mA B B A LVTTL LVTTL MCC08 R1 3 3 nRSTU
145. 111 u S u SS SSS SS 112 8 8 1 HARD INITIALIZE2 GPIO0 1 4 5 112 8 8 2 HARD INITIALIZE3 GPIO2 3 6 7 113 0 D Su l 114 8 09 12 HARD INITIALIZE7 6 RE 114 0 Noeoenbphphenwhplboybttwzeoe show 115 8210 17 HARD INITIALIZES SR ER Si 115 iha Q 116 IGNAL OUT RII ES SI SIRS Ss 116 EVD 118 8 12 1 NO OPERATION SR YR 118 B12 2 CHIP RESET SR WR CEI EIC I Et tS 118 8 9 emememee mm 119 9 4 SS 119 9 1 1 322 119 9 1 2 120 9 1 3 120 9 1 4 121 9 2 2 122 9 2 1 122 9 2 2 ZA IB EQ A 2 4 S 122 s C q
146. 8 7 3 3 INDEX CW CCW lt gt COMMAND H 14 INC INDEX COMMAND WRITE DATA2 PORT WRITE WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D23 D16 8 388 608 8 388 607 H 80_0000 H7F_FFFF CW CCW 2 STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe Ds ps D2 D1 D6 D5 D3 D2 Do D15 gt D8 D7 gt DO DRIVE DATA3 PORT p7 pe ps 04 pt Do D23 lt
147. DEND 1 DRIVE 1 0 DEND 0 DEND 29 4 4 7 8 STATUS6 PORT STATUS6 PORT STATUSS67 PORT READ PORT 57 pe ps pa ps ps pt pe D1 D2 D3 D4 D5 D6 D7 SLSTOP SLSTOP 1 FSSTOP FSSTOP 1 CWLM CWLM 1 CCWLM CCWLM 1 X Y
148. DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D23 D16 DRIVE DATA4 PORT D27 D24 READ DRIVE DATA4 PORT D3 D0 DRIVE DATA2 PORT DRIVE DATA1 PORT p7 Ds 2 po pz p2 pt D15 lt gt DB T DZ lt gt DO DRIVE DATA4 PORT DRIVE DATA3 PORT 07 pe 05 D4 ps D1 po D6 D5 D3 D2 Do D3 DO D27 D24 D23 gt D16 ADDRESS LATCH DATA READ PULSE LATCH DATA READ DRIVE DATA1 2 3 4 PORT READ 0 15
149. ERROR STATUS gt MASK gt ERROR STATUS ERROR ERROR BU STATUS STATUS ERROR lt gt MASK OR lt gt ERROR STATUS gt CLR ERROR 1 ERROR 1 STATUS1 PORT DRVEND LSEND SSEND 1 ERROR 1 ERROR STATUS FSEND ERROR LSEND ERROR SSEND ERROR STATUS1 PORT BUSY 0 RDYINT RDYINT BUSY 0 101 8 8 2 1 ERROR STATUS CLR ERROR STATUS gt COMMAND HE4 ERROR STATUS CLR COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT
150. 1 ERROR STATUS READ 13 ERROR STATUS DRIVE DATA1 2 PORT READ FSEND LSEND SSEND 1 BUSY 0 1 BUSY 0 1 FSEND LSEND SSEND 1 0 DRIVE DATA1 PORT DO COMMAND ERROR COMREG FL 1 INDEXFL 1 INDEX CHANGE D1 COMREG CLR ERROR 104 8 DRIVE DATA1 PORT D4 INDEX CHANGE ERROR INDEX CHANGE D5 CHANGE CLR ERROR INDEX CHANGE D7 EXT PULSE ERROR
151. D LIMIT X X 0V Y LIMIT LIMIT Y Y Y Y 0V Rup Rdown MCC08 LVTTL HiZ LVTTL LVTTL LVTTL LVTTL LVTTL Rdown 5VTTL 3 mA HiZ LVTTL 3 mA LVTTL Rdown LVTTL LVTTL LVTTL Rdown LVT
152. ORG SIGNAL TYPE ORG 1 D2 PULSE MASK SPEC INITIALIZEI1 PULSE OUTPUT MASK 1 1 PULSE OUTPUT MASK 1 D3 INDEX FL PLS INDEX CHANGE 1 1 PLS INDEX CHANGE FULL PLS INDEX CHANGE 0 PLS INDEX CHANGE PLS INDEX CHANGE D4 OUTO D5 OUT1 D6 OUT2 D7 OUT3 OUT3 0 1 8 4 4 5 STATUS4 PORT PORT iD OS 2 GPIO7 GPIO6 GPIO5 GPIO4 GPIO3 GPIO2 GPIO1 GPIO0 DO GPIOO D1 GPIO1 D2 GPIO2 D3 GPIO3 D4 GPIO4 D5 GPIOS D6 GPIO6 D7 GPIO7 GPIO7 0 1
153. SCAN FSPD HSPD RESOL No LSPD DTYPE UCYCLE DCYCLE SCAREA X 7 X SCAN DRIVE VOID X_Scan S_DRIVE_PARAM psDriveParam FSPD SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Fspd W_X_DRV_DT2_PORT BYTE psDriveParam gt Fspd gt gt 8 W_X_DRV_DT3_PORT BYTE psDriveParam gt Fspd gt gt 16 READY_WAIT_XO X DRV CMD_PORT 0x05 HIGH SPEED SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Hspd W_X_DRV_DT2_PORT BYTE psDriveParam gt Hspd gt gt 8 W_X_DRV_DT3_PORT psDriveParam gt ResolNo READY_WAIT_XO X DRV CMD_PORT 0x06 LOW SPEED SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Lspd W_X_DRV_DT2_PORT BYTE psDriveParam gt Lspd gt gt 8 W_X_DRV_DT3_PORT psDriveParam gt Dtype READY_WAIT_XO DRV CMD_PORT 0x07 RATE SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Ucycle W_X_DRV_DT2_PORT BYTE psDriveParam gt Dcycle lt lt 4 psDriveParam gt Ucycle gt gt 8 WX DRV DT3_PORT BYTE psDriveParam gt Dcycle gt gt 4 READY_WAIT XO W_
154. nXCS nYCS INT 5 2 X Y X Y o CCWP H H L o SLSTOP H O Rdownl FSSTOP Rdownl CWIM H LIMIT Rdownl CCWLM LIMIT Rdown DALM H O Rdownl O Rdown DRST LH H jj Ol ORIGIN MANUAL ORIGIN MANUAL MANUAL O Rdown PAUSE H STBY O BUSY HH STATUS1PORT BUSY O OUTO L H CNTNT ao OUT ADRINT 1Ol OUT2 3 L Ol GPIO3 0 6 7 o Rdownl GPIO4 5 H Rdown Z H L x
155. 5 4 5 LOW SPEED SET DTYPE SCAN INDEX 48 MCC08 5 4 6 LOW SPEED SET DTYPE gt 1 1 SCAN INDEX LOW SPEED SET DTYPE 1 SCAN INDEX LOW SPEED SET DTYPE gt 1 SCAN INDEX ff 49 8 5 5 ORIGIN
156. COMP1 2 3 COMP1 2 3 gt STATUS7 PORT STATUS7 PORT INT FACTOR CLR x lt 3 ADRINT INT CLR 1 1 STATUS567 PORT READ STATUS7 PORT DRIVE DATA3 PORT ADRINT PULSE D2 ADRINT PULSE TYPE0 D3 ADRINT PULSE TYPE1 COMP1 2 3
157. Hz xRESOL Hz LSPD xRESOL S S S Hz SCAREA x RESOL S Hz SCAREA x RESOL S Hz SCAREA x RESOL S Hz SCAREA x RESOL 1 Hz FSPD 1 Hz JSPD JOG Hz 42 8 1 kHz ms kHz RATE 1 gt lt gt I lt
158. PORT nR 0 nW 0 nW 0 nxXCS 0 nYCS 1 nR 1 nW 0 BUSSELO 0 1 X DRIVE DATA4 PORT D7 D0 X DRIVE DATA1 PORT X DRIVE DATA3 PORT D7 D0 X DRIVE DATA2 PORT X DRIVE DATA2 PORT D7 D0 X DRIVE DATA3 PORT X DRIVE DATA1 PORT D7 D0 X DRIVE DATA4 PORT D7 D0 D7 D0 D7 D0 X DRIVE COMMAND PORT X DRIVE COMMAND PORT D7 D0 nXCS 0 nYCS 1 nR 0 nW 1 BUSSELO 0 1 X DRIVE DATA4 PORT D7 DO X DRIVE DATA1 PORT 07 X DRIVE DATA3 PORT D7 D0 X DRIVE DATA2 PORT D7 D0 X DRIVE DATA2 PORT D7 D0 X DRIVE DATA3 PORT D7 D0 X DRIVE DATA1 PORT D7 D0 X DRIVE DATA4 PORT D7 D0 STATUS1 PORT D7 DO X STATUS1 PORT D7 D0 X STATUS2 PORT D7 D0 X STATUS2 PORT D7 D0 _ STATUS3 PORT 07 00 X STATUS3 PORT D7 D0 X STATUS4 PORT D7 DO STATUS4 PORT D7 DO 4 2 2 Y PORT nYCS nXCS
159. COMMAND H 8A ADRINT COMPARE REGISTER3 SET COMMAND lt gt DRIVE DATA1 PORT A7 A0 WRITE DRIVE DATA2 PORT A15 A8 DATA2 PORT WRITE DRIVE DATA3 PORT A23 A16 DRIVE DATA4 PORT A27 A24 WRITE 134 217 728 134 217 727 H 800_0000 H7FF_FFFF MA 2 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D4 D3 D2 D1 D0 15 8 lt 0 DRIVE DATA4 PORT DRIVE DATA3 PORT p7 pe ps pt pp pz ps p2 Do A27 A24 23 gt 16 H 8 00 00 00 29432 8 10 1 3 COMP1 ADD COMP1
160. CPPOUT CP SPEC SET CPPOUT SEL CPPIN CPPIN MHz 52 MCC08 5 6 1 5 MHz 0 5 LSB 8 388 608 8 388 607 24 G CP SPEC CPPOUT LONG POSITION SHORT POSITION CP SPEC CPPOUT LONG POSITION SHORT POSIT
161. MAN 0 MAN 1 CWMS CCWMS MANUAL PAUSE PAUSE STBY 1 1 STBY 1 0 STBY 1 PAUSE PAUSE 1 PAUSE OFF PAUSE 0 PAUSE 1 STBY 1 PAUSE PAUSE STBY 1 STBY 1 STBY 1 MANUAL STBY 1 STBY 1 COMREG EP 1 EMPTY STATUS1 PORT ERROR 1 0 1
162. ps D2 D D6 D5 D4 D3 D2 D1 Do 15 lt gt 8 A7 gt A0 DRIVE DATA4 PORT DRIVE DATA3 PORT 07 pe ps ps pt po p6 ps p3 p2 pt po A27 24 A23 lt gt 16 HO0 00 00 00 H800_0000 72 7 800 0000 STATUS7 PORT ADDRESS OVF 1 142 MCC08 10 1 2 1 ADRINT COMPARE REGISTER1 SET COMPARE REGISTER1 COMMAND H 88 ADRINT COMPARE REGISTER1 SET COMMAND 2 ADRINT COMPARE REGISTER2 SET COMPARE REGISTER2 COMMAND H 89 ADRINT COMPARE REGISTER2 SET COMMAND 3 ADRINT COMPARE REGISTER3 SET COMPARE REGISTER3
163. 1 0 0 0 0 0 1 0 1 Sk gt 07 PULSE ENABLE 0 1 141 8 10 X Y X Y 10 1 10 1 1 COMMAND H 80 ADDRESS COUNTER PRESET COMMAND DRIVE DATA1 PORT A7 A0 DRIVE DATA2 PORT A15 A8 WRITE DRIVE DATA3 PORT A23 A16 DRIVE DATA4 PORT A27 A24 WRITE 134 217 728 134 217 727 H 800_0000 H7FF_FFFF WRITE 2 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT D7 pe ps
164. COMP3 De COMP3 TYPE0 AA COMP2 TYPE1 COMP2 COMP2 COMP2 TYPE0 tid COMP3 STOP TYPE1 O COMP3 STOP TYPE0 COMP3 0 COMP3 STOP ENABLE COMP3 DO ENABLE COMP3 ADRINT 133 MCC08 9 4 1 PULSE COUNTER INITIALIZE1 COMMAND 91 PULSE COUNTER INITIALIZE1 COMMAND DRIVE DATA1 PORT DRIVE DATA2 PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 5 0 l pe p5 EXT COUNT COUNT COUNT COUNT COUNT PULSE PULSE DIRECTION TYPE1 TYPE0 SEL 1 SEL0 00 DRIVE DATA2 PORT pr Db Dp p ps p p po AUTO AUTO COMP COMP CNTINT CNTINT CNTINT CNTINT TYPE1 TYPE0 ADD CLEAR GATE GATE PULSE PULSE ENABLE ENABLE TYPE1 TYPE0 TYPE1 TYPE0
165. EA0 EB0 1 EA1 EB1 X Y EA1 EB1 1 30 8 4 4 8 STATUS7 PORT STATUS7 PORT STATUSS67 PORT READ PORT D op ps p op CNTINT CNTINT ADDRESS ADRINT ADRINT COMP3 COMP2 COMP1 COMP3 COMP2 COMP1 DO ADRINT COMP1 COMPARE REGISTER1 D1 ADRINT COMP2 COMPARE REGISTER2 D2 ADRINT COMP3 COMPARE REGISTER3 1 0 ADDRESS COUNTER INITIALIZE1 2 D3 ADDRESS OVF
166. SCAN JOG 10 8 EA0 EB0 EA1 EBI 2 CWP CCWP INT X Y INT OR X Y INT RDYINT 16 16 OUT3 0
167. 1 4 095 ms DCYCLE 0 1 us DCYCLEx 1 us 1 4 095 ms 74 8 7 2 4 SCAREA SET S SCAREA lt gt COMMAND H 09 SCAREA SET COMMAND WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 Y DRIVE DATA1 PORT S D7 D0 DRIVE DATA2 PORT S D13 D8 0 16 383 H0000 H 3FFF STATUS1 PORT BUSY ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT p7 pe ps pa p2 pt pp pe ps pa p2 pt Do D13 lt SCAREA D8 07 SCAREA D0 H00 00 0 SCAREA SCAREA SCAREA Hz SCAREA RESOL 0 HSPD LSPD x RESOL X 2 Hz S
168. 155 12 12 1 VDD 05 r46 sss Vin lt VDD 05 05 146 v Ta Tstg 65 r5 12 2 DC Ta 40 85 VDD 30 33 36 v DD 7 9 mA VDD 3 3V CLK 20MHz 208 WI N lt lt lt lt lt 200 ns lt 200 ns lt 10 ms lt 10 ms lt 200 ns lt 200 ns lt 10 ms 10 ms 24 V loH 3 6mA LVTTL sVTTL VOL 04 v iol 36mA IL 10 pA Vin VDDorGND GND CN lt 12 3 AC 12 3 1 25 VDD 0V f 1 MHz 0V KE VDD 3 3 0 3 V CLK 1 2 VDD 1 2 VDD tf 156 Ta 40 85 C ms sm s s
169. 5 5 DEND BUSY T j i Ti RS ST1 DRIVE CWP 2 CCWP 1 16 gt lt lt t6 152 MCC08 11 10 INDEX CHANGE oe 000 nW 4 75 ns lt 1 lt 125 ns tf m ST1 DRIVE 1 lt 1 t5 50 ns ST3 INDEX FL 0 5 A PLS INDEX CHANGE r SR 000 50 ns lt 11 lt 125 ns 12 1 ST1 DRIVE 1 5 50 ns ST3 INDEX FL t1 t2 t5 f 5 A PLS INDEX CHANGE 10 153 MCC08 11 11 LIMIT 75 ns lt 11 lt 125 ns SLOW STOP 50 ns lt 12 lt 125 ns t t5 50 ns SLSTOP BUSY ST1 DRIVE CWP 2 CCWP
170. DRST lt gt STBY 0 LIMIT DRIVE 0 1 DRIVE 1 DEND BUSY 1 LIMIT DRIVE 0 1 DRIVE 1 DEND BUSY 1 EXT PULSE 1 ERROR 1 EXT PULSE 1 BUSY 1 STBY 0 DRIVE 0 EXT PULSE 1 BUSY 1 0 DRIVE 0 SSEND FSEND DEND DRST lt gt STBY 1 DRIVE 1 ERROR 1 BUSY 1 SSEND 1 FSEND 1 ERROR 1 COUNT PULSE SEL 00 61 6 MCC08
171. 29 RESCL 80 LRESOL ms kHz U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE U D CYCLE 44 MCC08 5 4 1 LOW SPEED SET DTYPE S 0 S S SCAREA SET SCAREA 0 UCYCLE DCYCLE PS Tl 1 INDEX ms UCYCLE x 0 001 x HSPD
172. CNTINT 3 _ EE CE 2 2 7 INT FACTOR MASK INT INT FACTOR ERROR STATUS MASK ERROR ERROR STATUS COUNT LATCH SPEC SET OUT3 0 GPIO0 1 4 5 SleNALOUT SIGNAL OUT COMMAND CODE H 88 Ho98 COMPARE REGISTER1 SET 109 MCC08 8 6 RSPD 8 6 1 RSPD DATA READ RSPD lt gt COMMAND HUD6 RSPD DATA READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT RSPD D7 D0 DRIVE DATA2 PORT RSPD D14 D8 15 RSPD DATA READ RSPD DRIVE DATA1 2 PORT READ RSPD RSPD HSPD LSPD
173. CNTINT COMP2 CNTINT COMP3 STATUS7 CNTINT COMP3 XCNTINT AND YCNTINT X Y CNTINT AND XCNTINT OR YCNTINT X Y CNTINT OR SSEND STATUS1 SSEND LSEND STATUS1 LSEND COMREG EP STATUS2 COMREG EP COMREG FL STATUS2 COMREG FL SIGNAL OUT 0 0 0 0 1 1 1 1 O sk i J gt o o 112 MCC08 8 8 2 HARD INITIALIZE3 GPIO2 3 6 7 GPIO2 3 6 7 lt gt COMMAND HARD INITIALIZE3 COMMAND DRIVE DATA1 PORT GPIO2 3 DRIVE DATA2 PORT GPIO6 7 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D1 po pe GPIO3 GPIO3 GPIO2 GPIO2 TYPE1 TYPE0 TYPE1 TYPE0
174. D1 Do D15 gt D8 D7 lt gt DRIVE DATA3 PORT De D5 1 2 D1 po D23 lt gt D16 1 Hz Hz SPEED READ MCC08 DRIVE DATA1 2 3 PORT READ STATUS1 PORT DRIVE 0 STATUS2 PORT EXT PULSE 1 107 MCC08 8 5 8 5 1 SET DATA READ COMMAND H D5 SET
175. H00 OFF DRIVE DATA2 PORT pr p p p p p op po OUT OUT OUT OUT OUT H00 OFF DRIVE DATA1 PORT D7 D0 DRIVE DATA2 PORT D4 DO 0 OFF 1 HARD INITIALIZE8 SIGNAL OUT DRST SPEC INITIALIZE2 OUT3 0 HARD INITIALIZE1 GPIO0 1 4 5 HARD INITIALIZE2 GPIO2 3 6 7 HARD INITIALIZE3 DRST OUTO CNTINT OUT1 ADRINT
176. MCCO08 MCC08 R5 12 3 2 D7 D0 x tRD tCR RC 1 1 1 i tRR tRA wm 61 STATUS PORT tRA 1AR gt 52 ns tRcyc gt 123 ns COMMAND PORT gt 126 ns COMMAND PORT PORT WA tAR gt 176 ns LATCH DATA READ tAR gt 226 ns 157 8 13 13 1 13 2 MCC08 350 Ch F 3 0 2
177. 0 COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 81 MCC08 7 5 ORIGIN ORIGIN SCAN ORIGIN CONSTANT SCAN JOG JSPD ORIGIN ORIGIN ORIGIN SCAN gt D ORIGIN SPEC l SD ORIGIN D JOG JSPD ORIGIN SPEC 5 ORIGIN 118222 8 7 5 1 ORIGIN SPEC SET ORIGIN gt COMMAND HOF ORIGIN SPEC SET CO
178. 0x06 LOW SPEED SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Lspd W_X_DRV DT2_PORT BYTE psDriveParam gt Lspd gt gt 8 DRV_DT3_PORT psDriveParam gt Dtype READY_WAIT_XO CMD_PORT 0x07 RATE SET COMMAND W_ X _DRV_DTI_PORT BYTE psDriveParam gt Ucycle W_X_DRV_DT2_PORT BYTE psDriveParam gt Dcycle lt lt 4 psDriveParam gt Ucycle gt gt 8 W_X_DRV_DT3_PORT BYTE psDriveParam gt Dcycle gt gt 4 READY_WAIT_XO X DRV_ CMD_PORT 0x08 SCAREA SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Scarea WX DRV DT2 PORT BYTE psDriveParam gt Scarea gt gt 8 READY_WAIT_XO X DRV CMD_PORT 0x09 165 8 DOWN PULSE ADJUST COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt OffsetPls WX DRV DT2 PORT BYTE psDriveParam gt OffsetPls gt gt 8 READY_WAIT_X X CMD_PORT 0x0a INC INDEX COMMAND DRV_DT1_PORT BYTE IncData WX DRV_ DT2_PORT BYTE IncData gt gt 8 W_X_DRV_DT3_PORT BYTE IncData gt gt 16 READY_WAIT_X W_X DRV_ CMD_PORT 0x14 IncData 166 8 14 4 JOG JOG FSPD JS
179. 5 000 000 4 000 001 Hz OFF 100 ns 100 ns 5 000 000 Hz 4 000 000 3 333 334 Hz OFF 100 ns 150 ns 4 000 000 Hz 3 333 333 2 857 143 Hz OFF 150 ns 150 ns 3 333 333 Hz F DELAY TIME FSPD 1 FSPD FESPD DELAY TIME FSPD FSPD MCC08 1 FSPD 1 2
180. FSPD RSPD x RESOL RSPD RSPD HSPD LSPD 15 MCC08 RSPD FSPD JSPD RSPD RSPD H012C 300 1 10 000 000 FSPD A B OFF Ax 50 ns 10 000 000 UJ FSPD C D ON Cx50ns 70 8 1 1 FSPD SET STATUS1 STBY STATUS1 DRIVE WP 1 2 OFF 100ns ON FSPD 1 100 ns JSPD 1 N FSPD 1 FSPD 1 8 388 607 6 666 667 Hz OFF 50 ns ON 50ns 10 000 000 Hz 6 666 666 5 000 001 Hz OFF 50 ns ON 100 ns 6 666 666 Hz
181. JSPD FSPD JOG 1 FSPD DELAY TIME PAUSE 0 FSPD JOG 35 8 5 2 STBY PAUSE STBY STBY SPEC INITIALIZE3 STBY TYPE STBY PAUSE STBY STBY STATUS1 PORT STBY STBY 1 STATUS2 PORT PAUSE 0 STBY STBY 0 PAUSE PAUSE STATUS2 PORT PAUSE 1 PAUSE OFF PAUSE 0 PAUSE 1 STBY 1
182. OUT2 3 GPIO7 0 116 MCC08 R4 117 8 8 12 8 12 1 NO OPERATION STATUS STATUS1 PORT DRVEND STATUS1 PORT LSEND STATUS1 PORT SSEND STATUS1 PORT FSEND lt gt COMMAND HO00 NO OPERATION COMMAND STATUS1 PORT BUSY ERROR 0 ERROR 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND 8 12 2 CHIP RESET X Y MCC08 lt gt COMMAND HF0 CHIP RESET COMMAND DRIVE COMMAND PORT COMMAND CHIP RESET nRST 200 ns BUSSELO
183. OUT3 0 1 STATUS4 PORT GPIO6 0 1 O O ORG ORG SIGNAL 06161 0 STATUS3 PORT OUT2 0 1 STATUS3 PORT OUT3 0 1 STATUS4 PORT GPIOO 0 1 STATUS4 PORT GPIO1 0 1 S gt O O D3 ADDRESS CLR ENABLE 0 1 140 8 D4 PULSE LATCH TYPE0 D5 PULSE LATCH TYPE1 D6 PULSE LATCH TYPE2 lt gt PULSE LATCH DATA READ STATUS3 PORT OUT3 0 1 STATUS4 PORT GPIO6 0 gt 1 ORG SIGNAL 0 1 1 0 STATUS3 PORT OUT2 0 STATUS3 PORT OUT3 0 1 1 STATUS4 PORT GPIO0 0 1 STATUS4 PORT GPIO1 0
184. PAUSE SLSTOP FSSTOP LIMIT CWLM CCWLM DRST DEND DALM INT OUT3 0 GPIO7 0 EA1 EB1 170 MCC08 16 2 X Y X Y 16 2 1 SPEC INITIALIZE1 oo MANUAL SCAN Oo SPEC INITIALIZE2 CWLM LIMIT 00 CCWLM LIMIT o RDYINT DRVEND 1 RDYINT 1 00 SPEC INITIALIZE3 DRST DALM 11 ORIGIN SPEC SET ORG SIGNAL TYPE ORG ZPO OR 0011 ORG DETECT EDGE 0000 AUTO DRST ENABLE CPSPECSET CPPOUT
185. XCWLM gt XCCWLM XDEND XDALM XORG XZPO XCWMS XCCWMS gt XMAN gt XPAUSE lt gt XGPIO0 gt XGPIO1 lt gt XGPIO2 lt gt XGPIO3 gt XGPIO4 lt XGPIO5 lt gt XGPIO6 lt gt XGPIO7 lt XDRST XINT XBUSY XOUTO XOUT1 XOUT2 XOUT3 13 INDEX MCC08 XCWP XCCWP XOP XOP XEOP XINP lt CPP lt XCP lt YCP lt YOP lt lt E1P MCC08 GND VDD YGPI01 YGPI00 YOUT1 YOUTO YBUSY YPAUSE YMAN YORG YCCWMS YZP0 YCWMS EB1 EA1 GND XGPI01 XGPI00 X0UT 1 XOUTO XBUSY XPAUSE XMAN XORG XCCWMS XZP0 XCWMS GND XOUT2 YGPI03 XOUT3 YGP102 XGP104 YDRST XGP105 YDEND GND YDALM YOUT2 YGPI07 YOUT3 YGPI06 YGPI04 YCCWLM YGPI05 YCWLM VDD YFSSTOP GND YSLSTOP D7 GND D6 XGP103 D5 XGP102 D4 XDRST GND XDEND D3 XDALM D2 XGP107 D1 XGP106 00 XCCWLM VDD XCWLM AO XFSSTOP 1 XSLSTOP GND GND VDD A2 nW nR nXCS nYCS BUSSEL0 INT BUSSEL1 nRST TST0 nRESET 14 VDD CLK
186. CWLM CCWLM ORG GPIO3 AND ORG GPIO3 OR ORG 0 0 0 0 1 1 1 1 s Y s i o 258 8 ORG DEND GPIO2 GPIO3 CWLM CCWLM ORG ORG ORIGIN SPEC SET CWLM CCWLM ORG SPEC INITIALIZE3 HARD INITIALIZE3 SPEC INITIALIZE2 DRIVE DATA1 PORT D4 ORG DETECT EDGE ORG 0 ORG 0 1 1 ORG 1 0 OFF D5 ORIGIN START DIRECTION ORIGIN 0 CCW 1 CW DRIVE DATA2 PORT D3 0 ORG COUNT D3 0 OR
187. D0 WRITE DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE DRIVE DATA1 PORT DRIVE DATA2 PORT D15 D8 32 768 32 767 8000 H7FFF 6 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT p7 pe ps D3 D2 po ps pa pt po D15 lt D8 D7 gt H 00 01 1 MCC08 76 MCC08 7 3
188. DATA READ COMMAND DRIVE DATA1 PORT COMMAND CODE COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT COMMAND CODE DATA1 PORT READ DRIVE DATA2 PORT COMMAND CODE DATA2 PORT READ DRIVE DATA3 PORT COMMAND CODE DATA3 PORT READ DRIVE DATA4 PORT COMMAND CODE DATA4 PORT READ MCCO8 SET DATA READ DRIVE DATA1 2 3 4 PORT READ DATA PORT 0 0 0 DEND DALM STBY
189. GND TST1 CPPIN CPPOUT TST2 XCWP XCCWP YCWP YCCWP VDD 3 2 B dh nXCS nYCS BUSSEL0 INT BUSSEL1 nRST TST0 nRESET VDD CLK GND TST1 CPPIN CPPOUT TST2 o N GND XSLSTOP XFSSTOP XCWLM XCCWLM XGPIO6 XGPIO7 XDALM XDEND XDRST XGPIO2 XGPIO3 GND YSLSTOP YFSSTOP YCWLM YCCWLM YGPIO6 YGPIO7 YDALM YDEND YDRST YGPIO2 YGPIO3 GND 3 3V MCC07 X Y MCC07 BUSSEL1 GND 3 3V 20 MHz 0V GND GND A B A B 3 3V OV LIMIT
190. KU KU KUK S S S D ss 42 5 F 7 sss usus asses 45 5 4 2 S 46 5 4 3 48 k IR 48 4 48 Se n Dd SSS KS s S SS DS 49 ORIGIN 50 2 51 5 6 1 53 INDEX CHANGE 54 S L l 56 5 8 1 56 5 8 2 56 538 3 57 MANUAL CWMS CCWMS 58 EXT PULSE 60 62 SPEC INITIALIZE1 63 0 OS 63 D2 63 D4 MANUAL
191. STATUS1 PORT 22 4 4 3 STATUS2 PORT 25 4 4 4 STATUS3 PORT 27 4 4 5 STATUS4 PORT 28 4 4 6 STATUS5 PORT 29 4 4 7 STATUS6 PORT 30 4 4 8 STATUS7 PORT 31 4 4 9 PORT 32 5 34 a s CONMREG SSD 34 52 STBY PAUSE 36 9 40 5 3 1 SCAN 40 5 3 2 INDEX 41 5 3 3 JOG 41 5 4 5 5 5 5 7 5 8 5 9 5 10 6 6 1 6 2 6 3 8 sa PSS GT 3
192. i aaa a S U J 123 9 3 1 ADDRESS COUNTER INITIALIZE1 125 9 3 2 ADDRESS COUNTER INITIALIZE2 129 Oa SDA EE 132 9 4 1 PULESE COUNTER INITIALIZE S33 134 9 4 2 PULSE COUNTER INITIALIZE2 em 137 GO S T s 140 9 51 COUNT EATOHSPECSET Ee 140 10 142 142 3 142 101 2 143 10 1 3 COMP1 ADD 144 102 es eeee urus 145 10221 145 1052 2 TD SRNR SS ES 146 10 2 3 COMP1 ADD 147 10 3 148 10 3 1 ADDRESS COUNTER READ 148 10 3 2 PULSE COUNTER READ ses 148 R S S SK K SSE 149 10 4 1 ADDRESS LATCH DATA READ 149 10 4 2 PULSE LATCH READ 149 11 12 13 14 15 16 8
193. 0 0 gt 1 DRIVE 1 STATUS4 PORT GPIO1 0 1 gt O O 94 MCC08 7 9 7 9 1 SLOW STOP STATUS1 PORT STBY 1 DRIVE 1 lt gt COMMAND H FE SLOW STOP COMMAND DRIVE COMMAND PORT COMMAND 7 9 2 FAST STOP STATUS1 PORT BUSY 1 lt gt COMMAND HFF FAST STOP COMMAND DRIVE COMMAND PORT COMMAND FAST STOP BUSY 0 95 MCC08 X H Y X Y
194. 2 PORT D4 COMP2 TYPE0 D5 COMP2 TYPE1 COMP2 TYPE1 TYPEO COMP2 COMPARE REGISTER2 COMPARE REGISTER2 0 0 2 COMPARE REGISTER2 1 1 D6 COMP3 TYPE0 D7 COMP3 TYPE1 COMP3 COMP3 COMPARE REGISTER3 COMPARE REGISTER3 0 0 gt COMPARE REGISTER3 1 1 131 8 9 4 28 EXT COUNT DIRECTION 134 217 727 134 217 727 800 0001 7 FFFF 2 PULSE COUNTER READ
195. 4 OUT1 TYPE3 0 ADRINT DRIVE DATA2 PORT D3 DO OUT2 TYPE3 0 07 04 OUT3 TYPE3 0 OUT3 0 OUT3 0 ADRINT ADRINT CNTINT CNTINT ERROR STATUS1 ERROR RDYINT RDYINT STBY STATUS1 STBY nDRIVE STATUS1 DRIVE FSEND STATUS1 FSEND nINDEX FL STATUS4 INDEX FL UP STATUS2 UP DOWN STATUS2 DOWN CONST STATUS2 CONST EXT PULSE STATUS2 EXT PULSE nPULSE MASK STATUS3 PULSE MASK ORG SIGNAL STATUS3 ORG SIGNAL PULSE OVF STATUS7 PULSE OVF o 0 0 0 0 1 1 1 1 gt O O O O a a OO SIGNAL OUT 111 8 8 8 8 8 1 HARD INITIALIZE2 GPIO0 1 4 5 GPIO0 1 4 5
196. 8 8 8 9 8 12 MCC08 R4 96 INT 96 SA NNT FAGTOR CLR RR ee ee 98 86 19 FACTORMASK RZ Me 99 82128 INT FACTOR READ a 100 TD ONNRR 101 8 2 1 ERROR STATUS CLR 102 8 2 7 ERRORSTATUS MASK e003 00 103 8 25 31 ERROR STATUSREAD ne 104 55 6 7 PORT O 106 82351 SIATUS567 PORT READ Sia 106 107 S41 MGC SPEED READ SR Z WS PORN Na 107 SHESEFSSGSGS SSRBSSS SS 108 8 5 1 SET DATA READ 108 Tm Om SS s S A G US U US O SD Q S KS oD SSO 110 8 6 1 RSPD DATA READ 110 111 8 7 1 HARD INITIALIZE1 OUT3 0
197. A S S _ S I NDEX S INDEX 47 MCC08 5 4 3 LOW SPEED SET DTYPE SCAN INDEX 5 4 4 LOW SPEED SET DTYPE SCAN INDEX
198. ACTOR CLR lt gt COMP1 COMP2 STATUS7 PORT COMP3 INT FACTOR CLR CNTINT ADRINT CNTINT COMP1 2 3 STATUS7 PORT COMP1 2 3 COUNTER INITIALIZE1 2 INT INT FACTOR lt gt MASK gt INT FACTOR MASK INT FACTOR OR INT FACTOR lt gt lt gt INT FACTOR INT INT FACTOR gt CLR lt gt COMP STATUS7 INT ENABLE COMP INT 97 8 8 1 1 INT FACTOR CLR INT 16 COMMAND HE0 INT FACTOR CLR COMMAND DRIVE DATA1 PORT
199. CPPIN 000 16 2 2 1 No H 3 1 S JOG JOG 16 2 3 HARD INITIALIZE1 OUT2 3 GPIO0 1 4 5 HARD INITIALIZE8 CWP CCWP HFF_F1 OFF 171 8 16 3 DRIVE COMMAND H00 H7F L Ho 1
200. D0 DRIVE DATA2 PORT D15 D8 0 65 535 0000 HFFFF G STATUS1 PORT BUSY ERROR 0 Y DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT p7 05 Da p2 po pz pe pa pa pt D15 JOG PULSE gt D8 D7 JOG PULSE gt D0 H00 01 1 JOG PULSE 0 JOG 80 8 7 4 3 JOG CW JOG lt gt COMMAND 10 JOG COMMAND STATUS1 PORT BUSY 0 ERROR 0 COMMAND PORT WRITE STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND 7 4 4 JOG CCW D JOG gt COMMAND H 11 JOG COMMAND STATUS1 PORT BUSY 0 ERROR
201. DATA1 PORT STATUS5 PORT DRIVE DATA2 PORT STATUS6 PORT DRIVE DATA3 PORT STATUS7 PORT STATUSS67 PORT READ STATUSS PORT DRIVE DATA1 PORT READ STATUS6 PORT DRIVE DATA2 PORT READ STATUS7 PORT DRIVE DATA3 PORT READ 106 MCC08 8 4 8 4 1 MCC SPEED READ MCCO08 lt gt COMMAND HUD4 MCC SPEED READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D7 D0 DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT D23 D16 DRIVE DATA2 PORT DRIVE DATA1 PORT D15 D14 D13 p12 D11 pe D7 pe Ds D3 D2
202. E 0 GPIOO 1 STBY 0 X Esa I XGPIO0 XPAUSE 5 h X _ Y YGPIO0 YPAUSE Y PAUSE X Y PAUSE X Y X Y STATUS1 PORT STBY 1 X Y PAUSE OFF Z XGPIOO0 1 Z YGPIOO0 1 X XPAUSE 0 Y YPAUSE 0 X Y PAUSE X Y STBY 1 PAUSE XPAUSE 0 YPAUSE 0 Y X X XGPIO0 1 Y YGPIO0 1
203. E DATA2 PORT D7 DO 0 1 HARD INITIALIZE8 CCWP GPIO4 5 115 8 8 11 8 11 1 SIGNAL OUT lt gt COMMAND HFC SIGNAL OUT COMMAND D DRIVE DATA1 PORT DRIVE DATA2 PORT COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT pr p p p D3 p p p GPIO7 GPIO6 GPIO5 GPIO4 GPIO3 GPIO2 GPIO0 OUT OUT OUT OUT OUT OUT OUT OUT
204. G ORG ORIGIN ORG COUNT 03 00 _ 1 ORG COUNT 03 H 1 2 ORG COUNT D3 D0 H 2 3 ORG COUNT D3 D0 16 D4 AUTO DRST ENABLE SPEC INITIALIZE3 DRST gt ORG ORIGIN DRST 0 DRST 1 DRST 10 ms 84 8 7 5 2 ORIGIN SCAN ORIGIN SCAN lt gt COMMAND H 18 ORIGIN SCAN COMMAND D STATUS1 PORT BUSY ERROR 0 ERRO
205. H 91 PULSE COUNTER INITIALIZE1 DRIVE DATA2 PORT AUTO ADD ENABLE COMP1 D6 AUTO CLEAR ENABLE COMP1 COMP GATE TYPE1 COMP1 2 3 NTINT 1 2 3 CoMP CNTINT COMP1 2 3 CNTINT PULSE TYPE1 1 2 200 CNTINT PULSE DCO 7 CNTINT TYPE1 CNTINT 1 2 x g po CNTINT TYPEO CO 2 3 H 92 PULSE COUNTER INITIALIZE2 DRIVE DATA1 PORT COMP2 STOP TYPE1 MP2 COMP2 STOP ENABLE COMP2 COMP2 INT ENABLE COMP2 CNTINT D3 COMP1 STOP TYPE COMP1 COMP1 STOP ENABLE COMP1 DO COMP1INT ENABLE COMP1 CNTINT H 92 PULSE COUNTER INITIALIZE2 DRIVE DATA2 PORT COMP3 1 COMP3
206. H SPEED SET 72 7 2 2 LOW SPEED SET 73 7 2 3 SET 74 7 2 4 SCAREA SET 75 7 2 5 DOWN PULSE ADJUST 76 0020 a a S S S S s 77 7 3 1 SCAN F 4 2 77 7 3 2 SCAN EE 77 7 3 3 INDEX 78 7 4 79 7 4 1 JSPD SET 79 7 4 2 JOG PULSE SET 80 459 JOG RDA DP 81 7 4 4 Jy JOG 81 7 5 ORIGIN 82 7 5 1 ORIGIN SPEC SET
207. INDEX CHANGE S S x INDEX CHANGE 55 8 5 8 LIMTIT 5 8 1 SLOW STOP SLSTOP GPIO2 3 6 7 DEND DALM STATUS1 PORT STBY 1 DRIVE 1
208. ION 20 9 1 Pass mua Bl IRIS E EI 5 10 15 20 mig 53 8 5 7 INDEX CHANGE PLS INDEX CHANGE STBY 1 PLS INDEX CHANGE PLS INDEX CHANGE INC INDEX PLS INDEX CHANGE INDEX CHANGE ERROR STATUS CHANGE CLR ERROR 1
209. LM LIMIT LIMIT LIMIT CWLM CCWLM LIMIT SSEND 1 0 BUSY 0 1 LOAD MAN 1 MANUAL SLOW STOP SLSTOP GPIO2 3 6 7 DEND DALM D7 MCC08 FSEND 1 0 BUSY 0 1 FSEND 1
210. LSPD 1 1 ns TU 0 lt TU lt 1 ms DCYCLE x 0 001 x HSPD LSPD 1 TD 0 TD lt 1 0 INDEX 1 45 MCC08 5 4 2 S LOW SPEED SET DTYPE S S S S S S S S S SCAREA SET SCAREA S SCAREA S S
211. MMAND DRIVE DATA1 PORT ORIGIN DRIVE DATA2 PORT ORIGIN DATA2 PORT WRITE STATUS1 PORT BUSY 0 ERROR 0 WRITE DRIVE DATA1 PORT D D p p D po ORIGIN ORG ORG ORG ORG ORG START DETECT SIGNAL SIGNAL SIGNAL SIGNAL DIRECTION EDGE TYPE3 TYPE2 TYPE1 TYPE0 03 G DRIVE DATA2 PORT DRST i nN NE ENABLE D1 H00 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D3 0 ORG SIGNAL TYPE3 0 ORIGIN ORG ORG ZPO ORG ZPO AND ORG ZPO OR gt gt ORG DEND ORG DEND AND ORG DEND OR GPIO2 GPIO3 GPIO2 ZPO AND GPIO2 ZPO OR
212. MP3 COMPARE REGISTER3 TYPE COMP3 9 1 3 PULSE lt gt CLR COUNT LATCH SPEC SET 28BIT DRIVE PORT AUTO CLEAR ENABLE DRIVE DATA1 2 3 4 PORT gt COMP1 COMP1 CNTINT COMPARE REGISTER1 AUTO ADD COMP1 ADD DATA gt CNTINT COMP2 COMP2 COMPARE REGISTER2 TYPE gt CNTINT COMP3 COMP3 COMPARE REGISTER3 TYPE 120 MCC08 9 1 4 COMP1 COMP1 COMP1 O STOP STOP ENABLE TYPE COMP1 INT ENABLE STATUS7 INT FACTOR CLR COMP2 STOP ENABLE COMP2 O STOP COMP2 INT ENABLE STATUS7 INT FACTOR CLR ADRINT COMP3 COMP3 STOP STOP ENABLE COMP3 INT Eee TE STATUS7 INT FACTOR CLR COMP GATE _COMPGATETYPE _coMP1
213. N JOG JSPD ORG 1 ORIGIN Je ORG 50 8 5 6 1 H 30 MAIN STRAIGHT CP CPPIN CPPIN
214. ND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe p5 p4 p3 p2 Dp1 polp7 pe lps p4 p3 pz p1lpol D15 COMP1 ADD gt D8 D7 COMP1 ADD DRIVE DATA4 PORT DRIVE DATA3 PORT 07 pe ps ps ps p p pt po 0 07 06 05 04 03 2 01 D 027 ADD 024 023 COMP1 ADD gt D16 HO0 00 00 00 8 10 3 10 3 1 ADDRESS COUNTER READ COMMAND H D8 ADDRESS COUNTER READ COMMAND 10 3 2 PULSE COUNTER READ COMMAND HUD9 PULSE COUNTER READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT D7 D0 DRIVE DATA2 PORT D15 D8 DRIVE DATA3 PORT
215. OMP1 COMP1 ADD COMPARE REGISTERI COMPARE REGISTER1 COMPARE REGISTER1 lt COMPARE REGISTER1 COMP1 ADD COMP1 136 8 9 4 2 PULSE COUNTER INITIALIZE2 lt gt COMMAND H 92 PULSE COUNTER INITIALIZE2 COMMAND DRIVE DATA1 PORT DRVE DATA2PORT DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT 00 0 11 C bs _ COMP2 COMP2 COMP2 COMP2 COMP1 COMP1 COMP1 STOP STOP STOP INT STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE TYPE ENABLE ENABLE H00 DRIVE DATA2 PORT BZ De 1 D5 4 _D2 COMP3 coMP3 COMP3 STOP STOP STOP INT TYPE1 TYPE0 ENABLE ENABLE 00 COM
216. OR STATUS OR ERROR STATUS ERROR STATUS READ ERROR STATUS ERROR STATUS MASK ERROR 1 COMREG FL 1 EP 1 ERROR 0 COMREG FL 0 LSEND LIMIT LIMIT 1 LIMIT LIMIT 0 BUSY 0 gt 1 LOAD MAN 1 MANUAL EXT PULSE 1 LIMIT LIMIT CWLM CCW
217. P3 COMP3 COMP2 COMP2 TYPE1 TYPE0 TYPE1 TYPE0 DRIVE DATA1 PORT DO COMP1 INT ENABLE COMP1 CNTINT 0 COMP1 CNTINT 1 COMP1 CNTINT D1 COMP1 STOP ENABLE COMP1 0 COMP1 1 COMP1 D2 COMP1 STOP TYPE COMP1 0 1 COMP1 COMPARE REGISTER1 137 8 DRIVE DATA1 PORT D4 COMP2 INT ENABLE COMP2 CNTINT 0 COMP2 CNTINT 1 COMP2 CNTINT D5 COMP2 STOP ENABLE COMP2 0 COMP2
218. PD JOG PULSE X X 06 DRIVE VOID X Jog S_DRIVE_PARAM psDriveParam FSPD SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Fspd W_X_DRV_DT2_PORT BYTE psDriveParam gt Fspd gt gt 8 W_X_DRV_DT3_PORT BYTE psDriveParam gt Fspd gt gt 16 READY_WAIT_XO X DRV_ CMD_PORT 0x05 JSPD SET COMMAND W_X_ DRV_DT1_PORT BYTE psDriveParam gt Jspd W_X_DRV_DT2_PORT BYTE psDriveParam gt Jspd gt gt 8 W_X_DRV_DT3_PORT BYTE psDriveParam gt Jspd gt gt 16 READY_WAIT_XO X CMD_PORT 0x0c JOG PULSE SET COMMAND W_X_DRV DT1_PORT BYTE psDriveParam gt JogPls WX DRV DT2 PORT BYTE psDriveParam gt JogPls gt gt 8 READY_WAIT_XO X DRV CMD_PORT 0x0d JOG COMMAND READY_WAIT_XO W_X_ DRV CMD_PORT 0x10 167 8 14 5 ADDRESS COUNTER
219. PORT data outp MCCO08_TOP_ADDRESS 0 81 data define Y_DRV_DT3_PORT data outp MCCO08_TOP_ADDRESS 0 82 data define Y_DRV_DT4 PORT data outp MCCO08_TOP_ADDRESS 0 83 data define W Y_DRV_CMD_PORT outp MCCO08_TOP_ADDRESS 0x86 define R_ YY_DRV_DT1_PORT define R_ YY_DRV_DT2_PORT define R_Y_DRV_DT3_ PORT O define R_Y_DRV_DT4 PORT O define R_Y_ST1_PORT O define R_Y_ST2_PORT O inp MCCO8_TOP_ADDRESS 0x80 inp MCCO8_TOP_ADDRESS 0x81 inp MCCO8_TOP_ADDRESS 0x82 inp MCCO8_TOP_ADDRESS 0x83 inp MCCO8_TOP_ADDRESS 0x84 inp MCCO8_TOP_ADDRESS 0 85 define R_Y_ST3_PORTO inp MCCO8_TOP_ADDRESS 0 86 define R_Y_ST4_PORTO inp MCCO8_TOP_ADDRESS 0x87 define READY_WAIT_YO while R_Y_ST1_PORTO amp Ox11 161 14 1 BX 8 PULSE OUTPUT TYPE PULSE OUTPUT MASK
220. R 0 COMMAND PORT WRITE DRIVE COMMAND PORT COMMAND ORIGIN SCAN SCAN ORG AUTO DRST ENABLE 1 DRST 7 5 3 ORIGIN CONSTANT SCAN ORIGIN CONSTANT SCAN lt gt COMMAND H 19 ORIGIN CONSTANT SCAN COMMAND STATUS1 PORT BUSY ERROR 0 5 ERROR 0 DRIVE COMMAND PORT COMMAND COMMAND PORT WRITE ORIGIN CONSTANT SCAN JO G JSPD ORG AUTO DRST ENABLE 1 DRST 85 8 7 6 CPPOUT 7 6 1 CP SPEC SET CPPOUT
221. S UCYCLE SCAREA S S S DCYCLE S Ea 4 S Ss SCAREA AN k SCAREA S 8 IN Po Vy SCAREA SCAREA j m 1 INDEX S S ms UCYCLE x 0 001 HSPD LSPD 1 SCAREA x 2 1 ns TU 0 lt TU lt 1 SCAREA HSPD LSPD 2 S ms DCYCLE x 0 001 x HSPD LSPD 1 SCAREA x 2 TD 0 TD lt
222. TE DRIVE DATA1 PORT 2 DRIVE DATA2 PORT DRIVE DATA3 PORT 8 388 608 8 388 607 80 0000 H7F_FFFF CW CCW 2 STATUS1 PORT BUSY ERROR 0 DRIVE COMMAND PORT COMMAND DRIVE DATA2 PORT DRIVE DATA1 PORT 07 pe D5 p4 ps D2 D1 po D6 D5 D3 D2 po A15 lt gt DRIVE DATA3 PORT pe pslp4 pslpzlp1lpol 23 lt gt 16 H 00 00 00 0 0
223. TL Rup LVTTL 3 mA LVTTL Rdown LVTTL 6 mA LVTTL 6 mA LVTTL 6 mA LVTTL 6 mA 5VTTL 5VTTL 5VTTL 5VTTL B B 5VTTL Rdown 5VTTL Rdown LVTTL 3 mA B B H HI HI HI 5VTTL 5VTTL 5VTTL 5VTTL B B 5VTTL Rdown 5VTTL Rdown LVTTL 3 mA B B HI Hl F F F F 7 nRST MCC08 15 VDD XZPO XCWMS XORG XCCWMS XMAN XPAUSE XBUSY XOUTO XOUT1 XGPIO0 XGPIO1 GND EA1 EB1 YZPO YCWMS YORG YCCWMS YMAN YPAUSE YBUSY YOUTO YOUT1 YGPIO0 YGPIO1 VDD GND XOUT2 XOUT3 XGPIO4 5 GND YOUT2 YOUT3 YGPIO4 5 3 3V VDD VDD X ORIGIN MANUAL X ORIGIN MANUAL X MANUAL
224. ULSE SEL CWPE CCWP D7 EXT COUNT DIRECTION EA1 EBI 0 1 1 126 8 DRIVE DATA2 PORT DO ADRINT TYPE0 D1 ADRINT TYPE1 STATUS7 PORT ADRINT
225. X_DRV_CMD_PORT 0x08 SCAREA SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Scarea W_X_DRV_DT2_PORT BYTE psDriveParam gt Scarea gt gt 8 READY_WAIT XO W_X_DRV_CMD_PORT 0x09 SCAN COMMAND READY_WAIT W_X DRV_ CMD_PORT 0 12 164 8 14 3 INC INDEX INDEX FSPD HSPD RESOL LSPD DTYPE UCYCLE DCYCLE SCAREA OFFSET PULSE INDEX X X INC INDEX DRIVE VOID X_Inclndex S_DRIVE_PARAM psDriveParam LONG IncData FSPD SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Fspd WX DRV DT2 PORT BYTE psDriveParam gt Fspd gt gt 8 W_X_DRV_DT3_PORT BYTE psDriveParam gt Fspd gt gt 16 READY_WAIT_XO DRV_ CMD_PORT 0x05 HIGH SPEED SET COMMAND W_X_DRV_DT1_PORT BYTE psDriveParam gt Hspd W_X_DRV DT2_PORT BYTE psDriveParam gt Hspd gt gt 8 DRV_DT3_PORT psDriveParam gt ResolNo READY_WAIT_XO X DRV CMD_PORT
226. l ll 2 D4 ORG SIGNAL GPIO6 DALM MAN nCOMREG FL COMREG EP INT INT INT INT INT MASK MASK MASK MASK MASK HFF DRIVE DATA2 PORT GPIO1 GPIO0 OUT3 OUT2 ADRINT INT INT INT INT INT MASK MASK MASK MASK MASK HFF DRIVE DATA1 PORT D7 DO DRIVE DATA2 PORT D7 DO 16 0 1 INT 16 OR 0 INT FACTOR CLR 99 8 8 1 3 INT FACTOR READ INT 16 gt COMMAND HUD4 INT FACTOR READ COMMAND DRIVE COMMAND PORT COMMAND DRIVE DATA1 PORT INT FACTOR
227. s lt lt 125 ns 2 100 ns 3 50 ns BUSY t4 100 ns i t5 50 ns STBY TYPE 000 PAUSE 0 ST1 STBY 1 ST1 DRIVE YE cwe 4 t5 1 0 11 5 BUSY t2 100 ns BUSY LOAD BUSY gt 1 11 6 BUSY 1 2 100 ns BUSY UI t4 100 ns LOAD BUSY STBY TYPE 000 PAUSE 0 ST1 STBY ST1 DRIVE CCWP 2 10 t FSPD 151 8 11 7 STBY PAUSE lil 75 ns lt 11 lt 125 ns i t2 100 ns 75 ns lt t3 lt 125 ns PAUSE 4 100 OFF BUSY 1STBY 000 ST1 STBY ST1 DRIVE CWP CCWP x KR 12 t3 FSPD 11 8 DRST DRST 72 4 6 CWP _ CCWP 11 9 DEND 125 ns lt t7 lt 175 ns BUSY
228. sDriveParam VOID X_Inclndex S_DRIVE_PARAM psDriveParam LONG IncData VOID X Jog S_DRIVE_PARAM psDriveParam LONG XAddrCntRead VOID LONG YAddrCntRead VOID 160 8 8 PORT READ WRITE define MCC08_TOP_ADDRESS 0x1000 define W X_DRV_DT1_PORT data outp MCCO08_TOP_ADDRESS 0x00 data define W X_DRV_DT2_PORT data outp MCCO08_TOP_ADDRESS 0 01 data define W X_DRV_DT3_PORT data outp MCCO08_TOP_ADDRESS 0 02 data define W X_DRV_DT4 PORT data outp MCCO08_TOP_ADDRESS 0 03 data define DRV_CMD_PORT outp MCCO08_TOP_ADDRESS 0x06 define R_X_DRV_DT1_PORTO inp MCCO8_TOP_ADDRESS 0x00 define R_X_ST3_PORTO define R_X_ST4_PORTO inp MCCO8_TOP_ADDRESS 0x06 inp MCCO8_TOP_ADDRESS 0x07 define R_X_DRV_DT2_PORTO inp MCCO8_TOP_ADDRESS 0x01 define R_X_DRV_DT3_PORTO inp MCCO8_TOP_ADDRESS 0x02 define R_X_DRV_DT4_PORTO inp MCCO8_TOP_ADDRESS 0x03 define R_X_ST1_PORTO inp MCCO8_TOP_ADDRESS 0x04 define R_X_ST2_PORTO inp MCCO8_TOP_ADDRESS 0x05 A NN A define READY_WAIT_X while R_X_ST1_PORT amp 0x11 define Y_DRV_DT1_PORT data outp MCCO08_TOP_ADDRESS 0x80 data define Y_DRV_DT2_
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