C-875 取扱説明書
Contents
1. gt2. ABSOLUTE INDEX END PULSE SET ESPD SET CSPD SET OFFSET PULSE SET ORIGIN DELAY SET ORIGIN FLAG RESET ORIGIN SPEC INITIALIZE3 RESOLUTION SET PART HSPD BUFFER SET PART HSPD SET INCREMENTAL DATA SET ABSOLUTE DATA SET PART PULSE SET SERIAL INDEX CHECK PART RATE SET gt No on rR o s ol nm UNDP oo0 NININININININININININI SPECIAL SERIAL INDEX CHECK MARGIN TIME SET PEAK PULSE SET SEND PULSE SET SESPD SET SPEC INITIALIZE4 Q INI INININ IN SPECIAL SCAN1 SPECIAL SCAN1 SPECIAL SCAN2 G G wmw N SPECIAL SCAN2 6 SPECIAL INCREMENTAL INDEX1 SPECIAL ABSOLUTE INDEX1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 01
3. OO OO O Oo O O O 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 O O SPECIAL INCREMENTAL INDEX2 99 HEX CODE COMMAND SPECIAL ABSOLUTE INDEX2 SERIAL INDEX SERIAL INDEX SPECIAL SERIAL INDEX SPECIAL SERIAL INDEX SENSOR INDEX1 SENSOR INDEX2 38 36 SENSOR INDEX3 SENSOR SCAN1 SENSOR SCAN1 BX 27 DEND TIME SET EXTEND ORIGIN SPEC SET CONSTANT SCAN MAX PULSE SET CHANGE POINT DATA SET CHANGE DATA SET oO O AUTO CHANGE SET SPEC INITIALIZE5 SRAT
4. 5 17 DRIVE TYPE MCC05v 2 DRIVE DATA MODE MODE 2 DATA MODE L TYPE M TYPE H TYPE 3TYPE MODE DATA MODE URATE DRATE DATA TABLE USER DATA TABLE No RATE DATA TABLE 1 8 TYPE SPEED RATE DATA MODE MODE SPEED LSPD SLSPD 10Hz 100kHz 10Hz 800kHz 10Hz 3 3MHz 10Hz 3MHz SPEED 1Hz 100 2 1Hz 800kHz 1Hz 3 3MHz 1Hz 3 3MHz
5. O OO o O SCAN SCAN INCREMENTAL INDEX ABSOLUTE INDEX CSPD SET OFFSET PULSE SET ORIGIN DELAY SET ORIGIN FLAG RESET ORIGIN SRATE SET 150 s SLSPD SET 150 s SHSPD SET 150 s SSRATE ADJUST 100 SERATE ADJUST 100 4 s SCSPD1 ADJUST 100 SCSPD2 ADJUST 100 gu s S RATE SCAN S RATE SCAN S RATE INCREMENTAL INDEX S RATE ABSOLUTE INDEX ERROR STATUS READ 1 URATE DRATE COMMAND DRIVE TYPE L TYPE H TYPE 2 1 2 3 DRIVE COMMAND x x x 29 6 2 COMMAND COMMAND COMMAND
6. 21 2 1 2 101 R1 gg 1 1 2
7. 15 2 3 RDYINT SPEC INITIALIZE1 COMMAND CNTINT PULSE COUNTER INITIALIZE COMMAND DFLINT DFL COUNTER INITIALIZE COMMAND IOINT MO INT SET PORT CNTINT DFLINT COMP1 COMP5 DFL COMP1 2 COMP No 4 RDYINT M STATUS5 PORT BIT3 RDYINT 727 77 STATUS1 PORT READ RDYINT STATUS5 PORT BIT3 RDYINT 77 27 STATUS1 PORT READ READ 2 RDYINT 68 12 IOW IOR
8. 2 EXTVGND EXTVGND GND 2 10 30 11 31 12 32 13 14 33 34 15 35 16 36 17 20 37 40 21 41 22 42 23 24 43 25 26 46 27 20 47 21 22 23 24 25 26 gt gt gt gt
9. 1 4 LIMIT DRIVE FSSTOP ACTIVE OFF B LIMIT FSSTOP LIMIT FSSTOP NORMAL ON GND 14 2 4 2 PORT n 9 1 4 10 6 7 1 1 L Y 6 8 15 2
10. 4 11 STATUS4 PORT 4 12 STATUS5 PORT 4 13 O PORT 4 14 SET 81 0 4 15 IN10_20INT STATUS PORT O 4 16 IN30_40INT STATUS PORT O 4 17 IN10 PORT UO 4 18 IN20 PORT UO 4 19 IN30 PORT MO 4 20 IN40 PORT MO 4 21 OUT10 PORT MO 4 22 OUT20 PORT MO 4 23 OUT30 PORT JO D R I VE 5 1 JOG DRIVE 5 2 SCAN DRIVE 5 3 INDEX DRIVE 5 4 DRIVE SPEED 5 5 ORIGIN DRIVE 5 6 LIMIT SENSOR
11. 5 3 7 2 ORG 0 5 4 7 3 ORG 1 5 4 7 4 ORG 2 5 5 7 5 ORG 8 55 7 6 ORG 4 5 6 7 7 ORG 5 5 6 7 8 ORG 10 5 7 7 9 ORG 11 58 7 10 ORG 12 58 Tq E eesereseeretepertetabuphetuciphututueuspapcnuscspcsusasu 59 59 59 8 COUNTER 8 1 60 8 2 ADDRESS COUNTER 6 1 8 3 PULSE COUNTER 61 8 4 COUNTER 6 2 8 5 COMPARATOR 6 3 9 PULSE COUNTER
12. 90 CW CCW 90 COUNT PULSE COUNTER INITIALIZE COMMAND RESET MCCO05vs PULSE 2 PULSE COUNT COMPARE 9 PULSE COUNTER 5 COMPARE REGISTER COMPARATOR COUNT COUNTER REGISTER STATUS STATUS COMPARATOR STATUS STATUS3 PORT READ RESET COUNTER REGISTER RESET RESET
13. 7 10 0RG 12 LIMIT A RATE HSPD CCW LIMIT CW LIMIT a XCCWLM HSPD HSPD lt CSPD 4 ie SD sp cspp 9 9 JD cspD sp A HSPD cspp sp gt CSPD HIGH SPEED CONSTANT SPEED SCAN DELAY TIME JOG DELAY TIME 1 XCCWLM CW a ORG CCW LIMIT XCCWLM 1 ORG 11 JOG DRIVE z XORG 58 7 11 1 ORG 0 1 2 3 XORG
14. 2 STATUS DATA 16 4 12 STATUS5 PORT RDYINT BIT SOFT LIMIT SPEED CHANGE PORT D7 De Ds D4 D3 D D 1 w CCW SOFT LIMIT BIT 1 CW SOFT LIMIT BIT 1 0 RDYINT BIT 2 0 SPEED CHANGE BUSY BIT RATE CHANGE BUSYBIT 1 INDEX CHANGE BUSY 1 CCW SOFT LIMIT BIT CCW SOFT LIMIT CW SOFTLIMITBIT CW SOFT LIMIT RDYINT BIT RDYINT SPEED CHANGE BIT SPEED CHANGE RATE CHANGE BIT RATE CHANGE INDEX CHANGE INDEX CHANGE 1 22
15. 4 4 24V PCI 5 O 32 24 24V 32 4 ON OFF PCI 6 C 875 2 7 SERVO STEPPING MOTOR DRIVER 3 3 1 PCI 1 PCI Local Bus Specification Re
16. RATE HSPD 7 13 1 CW ORIGIN DRIVE 2 MARGIN TIME 3 DRIVE SENSOR TYPE 4 ORIGIN SENSOR ERROR 5 6 XDRST STEPPING MOTOR DRIVER XPO XORG AND 59 8 COUNTER X 8 1 MCC05vz 3 24BIT HARD COUNTER COUNTER lt XEA XEB CLOCK DATA 2 3 lt XCWP XCCWP PULSE COUNT PAT
17. 78 13 2 J1 78 13 4 8 1 14 14 1 DRIVER 8 2 14 2 LIMIT 8 3 14 3 8 3 15 15 1 CN1 8 5 15 2 8 6 16 CONTROL PROGRAM 16 1 8 7 16 2
18. 3 4 6 1 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 cHHHH
19. 2 6 1 1 3
20. 5 14 ADDRESS READ COMMAND DATA 8 388 607 8 388 607 PULSE POWER ON RESET 0 RESET ADDRESS INITIALIZE COMMAND 5 15 1 COMMAND PCI RDYINT DRIVE COMMAND FSSTOP STOP LIMIT COMMAND 3 SPEC INITIALIZE1 COMMAND POWER ON RESET 1 1 PULSE COMMAND 2 COMMAND COMMAND 3 COUNTER COMMAND COMMAND COMMAND 6 2 2 PULSE COUNTER COUNT
21. COMPARATOR PULSE INT STATUS PULSE PULSE COUNTER INITIALIZE COMMAND 3 2 DFL COUNTER INITIALIZE COMMAND 3 8 INT MASK COMMAND 5 0 74 7 5 63 9 PULSE COUNTER COUNTER COMMAND 9 1 COMMAND HEX CODE x 0 D7D6D5D4D3D2D1D9 CODE COMMAND PULSE COUNTER PRESET MAX 200ns PULSE COUNTER COMPARE REGISTER1 SET MAX 200ns PULSE COUNTER COMPARE REGISTER2 SET MAX 200ns PULSE COUNTER COMPARE REGISTER3 SET MAX 200ns PULSE COUNTER COMPARE REGISTER4 SET MAX 200ns PULSE COUNTER COMPARE REGISTERS5 SET MAX 200ns COUNTER PRESET MAX 200ns COUNTER COMPARE REGISTER1 SET MAX 200ns COUNTER COMPARE REGISTER2 SET MAX 200ns X X X X X X X X X gt gt gt gt gt gt gt x x x gt gt gt gt gt lt x x x gt gt gt lt gt lt gt gt x x x gt CO
22. COUNT COMPARE COUNTER 2 COMPARE REGISTER COMPARATOR COUNT 2 REGISTER PULSE COUNTER COMPARE REGISTER COMPARATOR1 COUNT REGISTER1 COMPARATOR2 COUNT REGISTER2 REGISTER1 WA REGISTER2 DD 2 5 gt t REGISTER2 1 ee x REGISTER1 COMPARATOR1 COMPARATOR2 STATUS STATUS COMPARATOR STATUS STATUS3 PORT READ RESET COUNTER REGISTER1 COUNTER REGISTER2 RESET
23. 1 DRIVE TYPE D1 D DRIVE TYPE BIT CS RS D ID DRIVE TYPE MODE 2 LIMIT STOP CWLM CCWLM LIMIT BIT 0 1 3 MOTOR TYPE MOTOR BIT 0 SERVO 1 STEPPING 4 RDYINT D5 D COMMAND RDYINT BIT PULSE COMMAND COMMAND ge 6 5 PULSE COUNTER INITIALIZE COMMAND PULSE COUNTER DRIVE DATA1 2 3 PORT PULSE COUNT DRIVE DATA1 PORT DATA1 PORT Y D DATA1 PORT 01010 0 0 WRITE COMP STOP CNTINT OUTPUT TYPE DATA2 PORT WRITE CNTINT LATCH TRIGGER TYPE DATA3 PORT WRITE D D3BIT 0
24. COMMAND 4 s 3D2D1D HEX CODE COMMAND NAME SPEED CHANGE INT MASK MAX 200ns ADDRESS COUNTER PORT SELECT MAX 200ns DFL COUNTER PORT SELECT MAX 200ns PULSE COUNTER PORT SELECT MAX 200ns SPEED PORT SELECT MAX 200ns SLOW STOP FAST STOP 1 2 D7D D5D4 D 0 1 1 1 1 1 1 1 6 3 NO OPERATION COMMAND COMMAND 00h DREND BIT ERROR BIT P N TATUS1 BUSY 0 Y COMMAND OOH WRITE 30 6 4 SPEC INITIALIZE1 COMMAND DRIVE DATA1 PORT DRIVE CONTROL DRIVE DATA1 PORT Y DATA1 PORT DATA1 PORT D7 Do WRITE COMMAND 01 DRIVE TYPE WRITE LIMIT STOP TYPE MOTOR TYPE RDYINT TYPE 0 1 BIT POWER ON RESET
25. 6 40 SPEED READ COMMAND DRIVE SPEED DATA SPEED PORT SELECT DRIVE DATA1 2 3 PORT 1 SPEED DATA TATUS1 N DRIVE 1 DRIVE DATA1 2 3 PORT Y DATA1 PORT DATA2 PORT DATA3 PORT DATA1 PORT 2 0 D D READ 2 1 2 2 1 128 27 ji es DATA2 PORT READ SPEED DATA 30n 8 DATA3 PORT PULSE SPEED DATA PULSE SPEED READ O SET 160 000 000 PULSE SPEED ST Hz B ATA READ DATA V 48 30a PULSE SPEED 1 0 000 000 _ 8 000 000 3 3 MHz 21 1299 G 0 8185 U 1 AU AS T t iZ iL IB DATA 2 DATA READ DRIVE DATA1 2 3 PORT DATA 52 7 MCC05v ORG 0 1 2 3
26. void xabsindex void RATE SET COMMAND xmccrdy outp XMCCDT2 outp XMCCDT3 outp XMCCCOM urate drate 0x06 LSPD SET xmccrdy outp XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAND UC amp lspd 0x07 HSPD SET xmccrdy outp XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAND UC amp hspd 0x08 ABSOLUTE xmccrdy XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM UC amp absdt 0x15 UC amp lspd 2 UC amp lspd 1 UC 8 amp hspd 2 UC amp hspd 1 INDEX DRIVE COMMAND UC 2 UC amp absdt 1 X AXIS 5 RDY WAIT UP RATE No OUT DOWN RATE No OUT RATE SET COMMAND OUT X AXIS 5 RDY WAIT LOW SPEED DATA MSB SET LOW SPEED DATA LSB SET LSPD SET COMMAND OUT X AXIS 5 RDY WAIT HIGH SPEED DATA MSB SET HIGH SPEED DATA LSB SET HSPD SET COMMAND OUT X AXIS MCCO5 RDY WAIT ABS INDEX DATA MSB SET ABS INDEX DATA LSB SET ABS INDEX DRIVE COMMAND OUT RAM AREA urate drate RATE DATA TABLE No lspd hspd Hz SPEED DATA
27. 1 STATUS3 READ CNTINT RESET CNTINT BIT 21822 DRIVE DATA2 PORT DATA2 PORT D D COUNT PATTERN AUTO CLEAR ENABLE RELOAD ENABLE COMP1 INT ENABLE COMP1 STOP TYPE le COUNT CLOCK TYPE 0 71 DRIVE DATA2 PORT BIT POWER ON RESET 1 COUNT CLOCK TYPE D PULSE COUNTER CLOCK BIT 0 X MCC05v 2 O DRIVE PULSE XCWP XCCWP 1 XEA X 1 A XEB X B 2 COUNT PATTERN TYPE D 1 D2 D BIT 1 COUNT XEA XEB 1 XEA XEB 2 90 XEA XEB
28. 9 2 PULSE COUNTER PRESET COMMAND COMMAND 00h PULSE COUNTER COUNT INITIALIZE COUNTER COUNTER DATA1 2 3 PORT PRESET DATA PORT WRITE COUNTER DATA1 2 3 PORT COUNTER DATA2 PORT WRITE DATA1 PORT DATA2 PORT DATA3 PORT D7 D PORT WRITE COUNTER COMMAND PRESET DATA 0 FFFFFFn 00 WRITE PRESET DATA 2 RESET 0 PRESET DATA PRESET DATA 10 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 7Fa FFH FFH 10 00 00 0 00 00 00 10 FFH FFH 8 388 607 80 00 01 DATA COMMAND PORT COUNTER PORT 6 DRIVE PORT PORT ADDRESS PORT ADDRESS 4 1 64 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 01 COMPARE REGISTER1 SET
29. 14 2 3 SENSOR 78 COM XCWP X CW PULSE COM ZCWP ZCCWP COMMON 5V XCWP X CW PULSE ZCWP Z CW PULSE ZCWP Z CW PULSE XCWP XCCWP COMMON 5V XCCWP X CCW PULSE XCCWP X CCW PULSE XDRSTCOM XDRST 24V XDRST X COUNTER RESET XDEND XPO X PO N C XEA X A X A XEB X B XEB X B XZORG X Z XZORG X Z N C ZCCWP Z CCW PULSE ZCCWP Z CCW PULSE ZDRSTCOM ZDRST 24V ZDRST Z COUNTER RESET ZDEND ZPO Z PO N C ZEA Z A ZEA Z7 A 7 Z
30. DFL COMP1 BIT COUNTER DFL COMPARE REGISTER1 2 DFL COMP2 COUNTER DFL COMPARE REGISTER2 2 COUNTER STATUS READ RESET COUNTER INITIALIZE COMMAND STATUS READ RESET PLS PULSE DFL 4 11 STATUS4 PORT PORT D7 Ds D ps D2 p p 1 FSSTOP 0 LOW 1 HIGH I ASENSOR 1 0 HIGH 1 LOW XEA 0 LOW 1 HIGH XEB 0 LOW 1 HIGH XDRST 0 HIGH 1 LOW 1 SENSOR A Z 0 SENSOR
31. STATUS1 PORT ERROR BIT 1 DRIVE 17 ORIGIN SENSOR TYPE ORG 18 ORIGIN ERROR CONSTANT SCAN DRIVE JOG DRIVE PULSE PULSE DRIVE 19 PO STEPPING MOTOR DRIVER PO PO PO ORG AND ORG 20 AUTO DRST DRST 21 DRST DRST 22 S RATE DRIVE S DRIVE 23 S RATE DRIVE S DRIVE PULSE DRIVE
32. DRIVE RESET 2 DRIVE BIT 1 SLOW STOP COMMAND DRIVE BT 0 PULSE SLOW STOP COMMAND DRIVE RESET 2 DRIVE BT 1 FSSTOP FAST STOP COMMAND DRIVE BIT 0 PULSE FSSTOP FAST STOP COMMAND DRIVE RESET 2 1 BUSY 0 2 DRIVE RESET DRIVE COMMAND RESET 3 POWER ON RESET DREND ERROR MAN BIT BUSY BIT 0 NOP COMMAND DREND ERROR MAN BIT 424542 4 9 STATUS2 PORT PORT X D7 Ds D
33. 6 9 12 4 ORIGIN DRIVE TIMING 6 9 12 5 SPEED CHANGE TIMING 70 12 6 DEND TIMING 7 1 12 7 TIMING 7 1 12 8 TIMING 1 7 1 12 9 TIMING 2 7 2 12 10 LIMIT TIMING 72 12 11 EAIEB TIMING 7 3 12 12 RDYINT TIMING INTA 7 3 12 13 CNTINT TIMING INTA 74 12 14 DFLINT TIMING INTA 75 12 15 IOINT TIMING INTA 76 12 16 RESET TIMING 76 12 17 BUS TIMING 77 13 13 1 J1 J2
34. 86 16 CONTROL PROGRAM C 875 CONTROL USER PROGRAM ANSI C C 875 MO ADDRESS iobase DEFINITION 16 1 define UC define UL define US define XMCCCOM define XMCCDT1 define XMCCDT2 define XMCCDT3 define XCNTCOM define XCNTDT1 define XCNTDT2 define XCNTDT3 define XMCCST1 define XMCCST2 define XMCCST3 define XMCCST4 define XMCCST5 define YMCCCOM define YMCCDT1 define YMCCDT2 define YMCCDT3 define YCNTCOM define YCNTDT1 define YCNTDT2 define YCNTDT3 define YMCCST1 define YMCCST2 define YMCCST3 define YMCCST4 define YMCCST5 define ZMCCCOM define ZMCCDT1 define ZMCCDT2 define ZMCCDT3 define ZCNTCOM define ZCNTDT1 define ZCNTDT2 define ZCNTDT3 define ZMCCST1 define ZMCCST2 define ZMCCST3 define ZMCCST4 define ZMCCST5 unsigned char unsigned long unsigned short iobase 0x0 iobase 0x1 iobase 0x2 iobase 0x3 iobase 0x4 iobase 0x5 iobase 0x6 iobase 0x7 iobase 0x0 iobase 0x4 iobase 0x5 iobase 0x6 iobase 0x7 iobase 0x10 iobase 0x11 iobase 0x12 iobase 0x13 iobase 0x14 iobase 0x15 iobase 0x16 iob
35. STATUS1 BIT 0 00 s 6 23 SRATE SET COMMAND S RATE DRIVE SRATE DRIVE DATA3 PORT SRATE DATA No DRIVE DATA3 PORT Y DATA3 PORT DATA3 PORT COMMAND WRITE SRATE No SRATE SET COMMAND 1 POWER ON RESET No 9 100ms 1000Hz COMMAND SSRATE SERATE SSRATE SERATE 44 6 24 SLSPD SET COMMAND S RATE DRIVE SLSPD LOW SPEED DRIVE DATA1 2 3 PORT SLSPD Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D7 p PORT gt 2 2 r 12 2 1 12 WRITE DATA2 PORT SLSPD DATA WRITE SLSPD
36. 44 6 23 SRATE SET COMMAND 44 6 24 SLSPD SET COMMAND 45 6 25 SHSPD SET COMMAND 45 6 26 SSRATE ADJUST COMMAND 46 6 27 SERATE ADJUST COMMAND 46 6 28 SCSPD1 ADJUST COMMAND 47 6 29 SCSPD2 ADJUST COMMAND 47 6 30 S RATE SCAN COMMAND 48 6 31 S RATE INCREMENTAL INDEX COMMAND 48 6 32 S RATE ABSOLUTE INDEX COMMAND 48 6 33 ERROR STATUS READ COMMAND 49 6 34 SPEED CHANGE COMMAND 49 6 35 INT MASK COMMAND 5 0 6 36 PORT SELECT COMMAND 5 1 6 37 SLOW STOP COMMAND 51 6 38 FAST STOP COMMAND 51 6 39 COUNTER READ 52 6 40 SPEED READ 52 7 1
37. 8 5 COMPARATOR XCNTINT 5 COMPARATOR OR COMPARATOR COMPARATOR PULSE PULSE FSEND BIT 1 SSEND BIT 1 PULSE COUNT COMPARE CONTROL PULSE COUNTER INITIALIZE COMMAND COMPARE REGISTER DATA COUNTER PORT COUNTER PORT DRIVE PORT COMPARE DATA COMPARE REGISTER1 COMPARE REGISTER1 COMPARE REGISTER COMPARE REGISTER1 CONTROL PULSE COUNTER INITIALIZE COMMAND COMPARE REGISTER1 PULSE
38. DATA DATA3 PORT WRITE 3BYTE DATA DATA3 PORT WRITE 3 SCAN INDEX DRIVE COMMAND COMMAND 7 WRITE 49 6 35 INT MASK COMMAND COMMAND 8 COMPARATOR DRIVE DATA3 PORT INT MASK DATA3 PORT WRITE DRIVE DATA3 PORT COMMAND F8n DATA3 PORT WRITE D 0 1 PLS COMP1 INT MASK PLS COMP2 INT MASK D7BIT 0 PLS COMP3 INT MASK PLS COMP4 INT MASK PLS COMP5 INT MASK DFL COMP1 INT MASK DFL COMP2 INT MASK DRIVE DATA3 PORT BIT POWER ON RESET 1 PLS COMP1 INT MASK D PULSE COUNTER COMPARATOR1 BIT 0 1 2 PLS COMP2 INT MASK D 1 PULSE COUNTER COMPARATOR2
39. C 875 1 0 BASE ADDRESS UP RATE No DOWN No LOW SPEED DATA HIGH SPEED DATA CONSTANT SPEED DATA OBJECT ADDRESS DATA FOR INDEX DRIVE ORG TYPE No OFFSET PULSE DATA LIMIT DELAY TIME SCAN DELAY TIME J0G DELAY TIME 16 2 INITIALIZE PROGRAM RESET 1 DRIVE DRIVE TYPE L LIMIT STOP TYPE MOTOR TYPE STEPPING RDYINT TYPE 2 PULSE COUNTER COMPARATOR PULSE COUNTER MCC05vs DRIVE PULSE COMPARE REGISTER1 CNTINT COMPARE REGISTER1 10000 2710n COMP STOP TYPE 3 ADDRESS MOTOR ADDRESS 1000 3E8n PULSE COUNTER 1000 3E8u PRESET X AXIS MCCO5 INITIALIZE void xmcc05inz void SPEC INITIALIZE1 COMMAND xmccrdy 0 outp XMCCDT1 0 28
40. COMMAND 62 POWER ON RESET SHSPD 3000Hz WRITE 1 DATA DRIVE TYPE 5 17 2 COMMAND SCSPD1 SCSPD2 SCSPD1 SCSPD2 45 6 26 SSRATE ADJUST COMMAND S RATE DRIVE SSRATE DRIVE DATA3 PORT SSRATE DATA No DRIVE DATA3 PORT DATA3 PORT Y D7 Do DATA3 PORT 12 WRITE COMMAND 63n SSRATE No WRITE SSRATE SRATE SET COMMAND SRATE 8 DATA COMMAND 5 9 1 SRATE SET COMMAND SSRATE SPEC INITIALIZE1 COMMAND DRIVE TYPE
41. BIT COMPARATOR1 2 0 1 2 DFLINT OUTPUT TYPE D1 COUNTER XDFLINT BIT COMPARATOR1 2 0 COMPARATOR STATUS3 READ 1 COMPARATOR 1 COMPARATOR STATUS3 READ 3 DFLINT LATCH TRIGGER 02 COUNTER XDFLINT BIT COMPARATOR1 2 0 STATUS3 READ XDFLINT 1 STATUS3 READ XDFLINT RESET DFLINT BIT 2513952 DRIVE DATA2 PORT
42. COUNTER DATA1 2 3 PORT COMPARE DATA COUNTER DATA1 PORT WRITE COUNTER DATA1 2 3 PORT COUNTER DATA2 DATA1 PORT DATA2 PORT DATA3 PORT PORT WRITE BR D D D D 12 11129 2 112 COUNTER DATA3 PORT WRITE COMPARE DATA 0 FFFFFFn COUNTER COMMAND 01 WRITE COMPARE DATA 2 RESET 800000 DATA COMMAND PORT COUNTER PORT 6 DRIVE PORT PORT ADDRESS PORT ADDRESS 4 1 9 4 PULSE COUNTER COMPARE REGISTER2 SET COMMAND COMMAND L 02 COMPARE REGISTER2 SET COMPARE REGISTER1 SET COMMAND 9 5 PULSE COUNTER COMPARE REGISTER3 SET COMMAND COMMAND 03 COMPARE REGISTER3 SET COMPARE REGISTER1 SET COMMAND 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND COMMA
43. FAST STOP 100 21 1 1
44. PLS COMPARE REGISTER RESET 800000n INITIALIZE DATA PLS COMPARE REGISTER CNTINT COMPARE REGISTER COMP INT PULSE COUNTER INITIALIZE COMMAND SPEED 5 16 DRIVE TYPE DATA SPEC INITIALIZE1 DRIVE TYPE RATE DATA COUNT PULSE COUNTER INITIALIZE COMMAND G PULSE COUNTER COMMAND COUNT 6 5 COUNT DFL COUNTER INITIALIZE COMMAND COUNTER COUNT
45. FSEND 1 FSSTOP X Y Z A 4 5 12 LIMIT 1 9 LIMIT LIMIT A RATE HSPD CW PULSE CWLM CCW PULSE CCWLM PULSE 71 PULSE LSEND 1
46. 24VP S XZORG XZORG ORGt 7 J1 114 I EXTV O I XNORG o xoRG o XZORG 0 29 xzoRG oP C 875 84 OFF PM K53 PM L53 PM T53 EE SPX301 EE SX670 15 15 1 CN1 AD 16 AD 17 3 3V C BE 2 FRAME GND TDI GND IRDY 5V TRDY 3 3V INTA GND DEVSEL Fi STOP GND 5V 3 3V LOCK 3358 SBONE PERR 5 3 3V 5V 1 0 GND PRSNT2 SERR GND PAR GND 3 3V GND AD 15 GND C BE 1 3 3V AD 14 RST AD 13 GND GND 5V 1 0 AD 11 CLK AD 12 GND GND AD 09 GND RE AD 10 GND 698 51 1 0 AD 30 Key AD 31 Key 3 3V AD 28 C BE O 3 3V AD 29 GND AD 08 AD 07 AD 26 AD 06 AD 27 3 3V GND AD 04 AD 25 AD 05 AD 24 GN
47. COUNT COUNT PATTERN XCWP XCCWP 7 1 7 1 rr EAEB IOR STATUS3 XDFLINT t1 lt 300ns t2 lt 300ns t3 lt 200ns XCWP XCCWP 75 12 15 IOINT TIMING INTA IOTINT STATUS IN10INT IN20INT IN30INT IN40INT TIMING IN10 IOINT IN10_20INT STATUS IN10 ND T IOR IOINT IN10 20INT STATUS i gt IN10_20INT STATUS IN10INT IN20INT IN10 ON IOINT IOINT IN10_20INT STATUS PORT IN10_20INT STATUS3 PORT READ IOINT 12 16 RESET TIMING RESET XCWP XCCWP XDRST XRDYINT XCNTINT XDFLINT INxOINT STATUS1 BUSY 1 t3 4 5 gt lt gt lt t2 t1 5ms k 500ns 142 10 6ms t2z25ms 1 0ms 15 5xs t3 5ms 50s PCI BUS
48. IN10INT BIT 0 0 0 IN20INT BIT 0 0 0 IN10INT BIT IN10 IN20INT BIT IN20 STATUS READ RESET 4 16 IN30_40INT STATUS PORT 1 O VO IN30 IN40 PORT D7 De Ds D4 D3 D D 1 IN30INT BIT 0 0 0 IN40INT BIT 0 0 0 BIT IN30 IN40INT BIT IN40 STATUS READ RESET 4 17 IN10 PORT O O IN10 lt IN17 PORT D7 De Ds D4 D D D9 ON 1
49. USER 1 DRIVE SPECIAL SCAN SCAN DRIVE DRIVE SPECIAL INDEX INDEX DRIVE DRIVE SERIAL INDEX DRIVE DRIVE SPECIAL SERIAL INDEX RATE SERIAL INDEX DRIVE SENSOR INDEX INDEX DRIVE SENSOR DRIVE SENSOR SCAN SCAN DRIVE SENSOR DRIVE SCAN DRIVE INDEX DRIVE DRIVE 2 DRIVE INDEX INDEX DRIVE PULSE ADDRESS 3 DRIVE RATE SCAN DRIVE 4 COUNTER CLOCK COUNTER
50. PULSE BIT 0 1 34 6 6 ADDRESS INITIALIZE COMMAND COMMAND 03 ADDRESS ADDRESS COUNTER DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D7 D DATAT PORT gt 17 2 r 12 2 WRITE DATA2 PORT ADDRESS 0 FFFFFFn WRITE ADDRESS 2 DATA3 PORT WRITE ADDRESS ADDRESS 10 DATA1 PORT DATA2 PORT DATA3 PORT COMMAND 03n 8 388 607 WRITE 10 00 00 OAn 0 00 00 00 10 FFH FFH F6n 8 388 607 80 00 01 COMMAND 04n WRITE N TATUS1 BUSY 0 Y DATA1 PORT READ DATA2 PORT READ DATA3 PORT READ 04 6 7 ADDRESS READ COMMAND COMMAND MOTOR ADDRESS DATA1 2 3 POR
51. 2 DFL COUNTER INITIALIZE COMMAND DFLINT LATCH TRIGGER TYPE 1 DFL COMPARE REGISTER1 DFL X 8 X 9 X 1 X 1 2 X1 X 14 IOR STATUS3 gt DFL COMP1 STATUS3 DFL COMP1 COMPARE REGISTER SET COMMAND XDFLINT XDFLINT STATUS3 PORT STATUS3 PORT READ XDFLINT 3 DFL COUNTER INITIALIZE COMMAND DFLINT OUTPUT TYPE 1 DFL COMPARE REGISTER1 10 DFL 7 X 8 X X 1 X 0 X X 8 2 XDFLINT STATUS3 DFL COMP1 COMPARE REGISTER SET COMMAND XDFLINT XDFLINT XDFLINT STATUS3 PORT
52. SPEC INITIALIZE1 COMMAND LIMIT STOP TYPE POWER ON RESET 26 5 13 SERVO DRIVER SPEC INITIALIZE1 COMMAND MOTOR MOTOR SERVO MOTOR STEPPING MOTOR POWER ON RESET STEPPING MOTOR SERVO MOTOR DEND SERVO DRIVER DEND LOW PULSE DRIVE BUSY DRIVE BIT 1 COMMAND DRST SERVO DRIVER RESET PULSE DRST LOW SERVO DRIVER RESET SERVO RESET COMMAND DRST LOW STEPPING MOTOR DEND PO DRST
53. absdt ADDRESS 91 16 6 ORIGIN DRIVE PROGRAM ORIGIN DRIVE URATE DRATE LSPD HSPD CSPD OFFSET PULSE LDELAY SDELAY JDELAY DATA DATA DRIVE DATA ORIGIN DRIVE DRIVE DATA DRIVE X AXIS ORIGIN DRIVE void xorg void RATE SET xmccrdy outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAND urate drate 0x06 LSPD SET xmccrdy outp XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAND UC amp lspd 0 07 HSPD SET xmccrdy outp XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAND UC amp hspd 0x08 CSPD SET xmccrdy XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM COMMAN
54. amp C 875 PR0805 1 CC 875 r
55. BIT RDYINT 4 13 O PORT 4 IN0 lt IN3 4 OUT0 OUT3 O ACTIVE LOW ACTIVE LED 1 PORT PORT DATA DATA IN0 IN3 DATA DATA PORT PORT DATA 27 12 1 1 OUT 1 OUT2 OUT3 no IN1 IN2 IN DATA DATA 2 PORT PORT 4 BIT OUTO OUT3 A 2 1 am OUT1 OUT2 OUT3 DATA PORT POWER ON RESET OFF NOT
56. DATA2 PORT 0 10 16 COUNT CLOCK COUNT PATTERN TYPE COMP1 INT ENABLE COMP1 STOP ENABLE BE 23 2 BIT 0 27 BIT 0 DRIVE DATA2 PORT BIT POWER ON RESET 1 COUNT CLOCK TYPE D COUNTER CLOCK BIT 0 X MCC05v 2 DRIVE PULSE XCWP XCCWP XEA XEB 1 XEA X A XEB X r gt B 2 COUNT PATTERN TYPE D 1 D2 COUNTER COUNT BIT D XEA XEB 1 XEA XEB 2 90 XEA XEB 4 XEA XEB MCC05v 2 PULSE CW DOWN CCW
57. DEND DEND ORG ORG DRIVE ORG 3 ORG 5 ORG DRIVE a 1PULSE OFF ORG DRIVE CW PULSE INDEX DRIVE 94 PULSE COUNTER SPEED DATA DATA CNTINT PULSE SPEED URATE DRATE PULSE COUNTER COUNT COUNT COUNTER MCC05v 2 PULSE
58. NOT ACTIVE 7 12 1 ORG 0 1 2 3 11 12 SPEED ORG XORG 1ms ORG 4 5 10 SPEED NORG XNORG 1ms 2 ORG 4 5 a b a c PULSE N N 0 005 x CSPD CSPD 5kHz N 0 005 x 5 000 25 CSPD Hz 25 N 1 3 XORG XNORG 4 a CW LIMIT 5 ORG 10 a b 6 ORG 11 12 a CCW
59. STATUS BUSY BIT 0 COMMAND STATUS BUSY BIT 1 PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 0 PULSE COMMAND PULSE STATUS DRIVE BIT BUSY BIT 1 PULSE PULSE PULSE STATUS BUSY BIT 0 ORG DRIVE RESET1 2 LOW LEVEL BASE ADDRESS 4179 PULSE INDEX DRIVE ADDRESS STATUS ERROR LSEND FSEND BIT
60. RESET 8 5 COMPARATOR XDFLINT 2 COMPARATOR OR COMPARATOR COUNTER REGISTER1 COUNTER lt REGISTER2 PULSE PULSE FSEND BIT 1 SSEND BIT 1 COUNT COMPARE CONTROL DFL COUNTER INITIALIZE COMMAND COMPARE REGISTER DATA COUNTER PORT COUNTER PORT DRIVE PORT COMPARE DATA 62 8 5 COMPARATOR PULSE COUNTER 5 COMPARATOR COUNTER 2 COMPARATOR USER N scovpararor COMPARATOR
61. COMMAND RDYINT PULSE COUNTER PULSE COUNTER COUNT CNTINT COUNTER COUNTER COUNT DFLINT ON OFF IOINT 13 LIMIT SENSOR ORIGIN DRIVE LIMIT SENSOR ORIGIN DRIVE 14 SPEED DRIVE SPEED 15 DATA HSPD LSPD RATE SPEC INITIALIZE USER PROGRAM DATA 3 3 1 5V 5 1 1A 24V 2V 310mA EXTV 24 0V 24 7 2 2 0C 45 C 3 80 RH 4 0 2Kg 3 4 C 875 10 3 5 C 875 3 2
62. SPEED CHANGE COMMAND STATUS5 PORT SPEED CHANGE BUSY BIT SPEED CHANGE COMMAND 22 5 5 ORIGIN DRIVE ORIGIN COMMAND DRIVE DRIVE JOG DRIVE CONSTANT SCAN DRIVE SCAN DRIVE ABSOLUTE INDEX DRIVE 9 7 ORIGIN DRIVE DATA DATA COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET CSPD CONSTANT SPEED CSPD SET URATE RATE SET DRATE 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 2 ORIGIN CCW LIMIT 7
63. 1 1 3 333 333 32DCD5u DATA3 PORT WRITE HSPD SET COMMAND 1 COMMAND 08 POWER ON RESET HSPD 3000Hz WRITE DATA DRIVE TYPE 5 17 SPEED hy 6 12 DFL COUNTER INITIALIZE COMMAND COUNTER DRIVE DATA1 2 3 PORT COUNTER DRIVE DATA1 PORT DATA1 PORT Y D7 Do DATA1 PORT 0 0 0 0 0 WRITE DFL COMP STOP TYPE DATA2 PORT DFLINT OUTPUT WRITE DFLINT LATCH TRIGGER TYPE DATA3 PORT D D3BIT WRITE 0 COMMAND 09 WRITE DRIVE DATA1 PORT BIT POWER ON RESET 1 DFL COMP STOP TYPE D COUNTER COMP STOP ENABLE
64. COUNT COUNT DFLINT 223 lt 21 8 27 20 PULSE COUNTER COUNTER C 1 6 SPEED DATA 223 gt 21 8 27 29 SPEED DATA DATA No 7 DATA 3 SPEED DATA 9 5Hz DATA PLS COMPARE REGISTER PULSE COUNTER
65. INT STATUS3 PORT READ RESET TYPE 8 5 11 3 VO IN10INT IN20INT IN30INT IN40INT IN10_20INT STATUS PORT IN30_40INT STATUS PORT lt 11 4 XRDYINT JP6 RDYINT 251 PCI BUS lt ARDYINT IC lt X PLS COMP1 5 a INTA lt lt B 2 t 9 CNTINT lt ACNTINT A PLS COMP1 5 lt XDFLINT X DFL COMP1 2 JP8 DFLINT i lt ADFLINT A DFL COMP1 2 IN10INT JP9 OH lt IOINT lt IN40INT XRDYINT ARDYINT STATUS5 PORT 4 12 11 5 1 PC 2 JP6 JP9
66. SPEED PORT SELECT COMMAND 5 19 DATA DATA SPEC INITIALIZE DATA SET DATA READ COMMAND DATA 28 6 DRIVE COMMAND COMMAND PORT 4 1 X MCC05v 2 6 1 DRIVE COMMAND COMMAND PULSE COMMAND D7DeD5D4D3D2D1Do CODE COMMAND NAME 0 0 NO OPERATION 20 s SPEC INITIALIZE1 1 2ms 1 PULSE COUNTER INITIALIZE 25 s ADDRESS INITIALIZE 30 s ADDRESS READ 25 s SERVO RESET 11ms RATE SET 60 u s 1 LSPD SET 95 s 1 HSPD SET 85 s DFL COUNTER INITIALIZE 25 s SET DATA READ 35 s JOG
67. 2 ADDRESS DATA3 PORT ADDRESS 10 DATA1 PORT DATA2 PORT DATA3 PORT WRITE 8 388 607 FFa FFa 10 00 00 0 COMMAND 73 0 00 00 00 WRITE 10 FFn FFa 8 388 607 80 00 01 48 6 33 ERROR STATUS READ COMMAND STATUS1 PORT ERROR BIT 1 ERROR DRIVE DATA3 PORT ERROR HEX CODE 00 ERROR Y 01n COMMAND COMMAND E2n 02 SET DATA READ COMMAND WRITE SPECIAL INDEX URATE DRATE SOFT LIMIT URATE DRATE SPECIAL SCAN 4 SERIAL INDEX 1 N TATUS1 05 SOFT LIMIT BUSY 0 DEND ERROR DRIVE 07 ORIGIN ERROR DRIVE Y 8 SENSOR INDEX3 DATA SET DATA3 PORT 09 COMMAND DATA READ ORG SET DATA READ COMMAND
68. 3 0 6 3 NO OPERATION COMMAND 3 0 6 4 SPEC INITIALIZE1 COMMAND 3 1 6 5 PULSE COUNTER INITIALIZE COMMAND 3 2 6 6 ADDRESS INITIALIZE COMMAND 3 5 6 7 ADDRESS READ COMMAND 35 6 8 SERVO RESET COMMAND 36 6 9 RATE SET COMMAND 36 6 10 LSPD SET COMMAND 36 6 11 HSPD SET COMMAND 37 6 12 DFL COUNTER INITIALIZE COMMAND 38 6 13 SET DATA READ COMMAND 40 6 14 JOG COMMAND 41 6 15 SCAN COMMAND 41 6 16 INCREMENTAL INDEX COMMAND 41 6 17 ABSOLUTE INDEX COMMAND 42 6 18 CSPD SET COMMAND 42 6 19 OFFSET PULSE SET COMMAND 43 6 20 ORIGIN DELAY SET COMMAND 43 6 21 ORIGIN FLAG RESET COMMAND 43 6 22 ORIGIN COMMAND
69. 1 0 89 16 3 JOG DRIVE PROGRAM JOG DRIVE DATA JOG COMMAND X AXIS JOG DRIVE void xjog void xmccrdy outp XMCCCOM 0x10 16 4 SCAN DRIVE PROGRAM X AXIS 5 RDY WAIT J0G COMMAND OUT SCAN DRIVE URATE DRATE LSPD HSPD DATA DATA DRIVE RATE SPEED DATA X AXIS SCAN DRIVE void xscan void RATE SET COMMAND xmccrdy outp XMCCDT2 urate outp XMCCDT3 drate outp XMCCCOM 0 06 LSPD SET COMMAND xmccrdy 0 outp XMCCDT1 UC amp lspd 2 outp XMCCDT2 UC amp lspd 1 outp XMCCDT3 UC amp lspd outp XMCCCOM 0 07 HSPD SET COMMAND xmccrdy 0 outp XMCCDT1 UC amp hspd 2 outp XMCCDT2 UC
70. B ZEB Z7 B 77060 Z 748 ZZ0RG Z Z 1 N C gt gt IF E E E E E E gt IF E E EF dh mi dh Il dh all dh all gt mh gt mi dh all dh all gt gt gt gt gt gt mM dh gt gt dh COM YCWP YCCWP COMMON 5V H COM ACWP ACCWP COMMON 5V H YCWP Y CW PULSE A CW PULSE YCWP Y CW PULSE H PULSE H YCCWP Y CCW PULSE H ACCWP A CCW PULSE YCCWP Y CCW PULSE H ACCWP A CCW PULSE YDRSTCOM YDRST 24V ADRSTCOM ADRST 24V YDRST Y COUNTER RESET ADRST A COUNTER RESET YDEND YPO Y PO ADEND APO A PO N
71. 76 12 17 BUS TIMING READ TIMING 2 PCI CLK JUUUUUUUUUUUUUUUUUL C BE 3 0 AD 31 0 IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOR WRITE TIMING 9 EE ET EE TL C BE 3 0 AD 31 0 FRAME IRDY TRDY DEVSEL BCLK CS ADDRESS DATA IOW 77 13 13 1 J1 J2 HDRA E100W1LFDT1EC SL HDRA E100MA1 HDRA E100M1 100E 13 2 J1 24V EXTV XCWLM X CW LIMIT XCCWLM LIMIT XNORG X X Y CW LIMIT Y CCW LIMIT Y Y
72. STATUS3 PORT CW DRIVE C 875 X DRIVE PULSE XCWP IOR STATUS3 XCNTINT t1 lt 200ns t2 lt 200ns t3 lt 200ns 74 12 14 DFLINT TIMING INTA DFL COMP1 COUNTER gt COMPARE REGISTER1 XDFLINT STATUS DFL COMP1 TIMING 1 DFL COUNTER INITIALIZE COMMAND G DFLINT LATCH TRIGGER TYPE 0 DFL COMPARE DFL 7 X 8 X 10 X 8 IOR Le XDFLINT gt 5 gt 1 gt COMP1 STATUS3 DFL COMP1 COMPARE REGISTER SET COMMAND 10 XDFLINT XDFLINT STATUS3 PORT STATUS3 PORT READ XDFLINT
73. 1 4 8 SERVO DEND NOT ACTIVE SCAN ORIGIN SENSOR INDEX DRIVE INDEX SENSOR INDEX DRIVE INCREMENTAL PULSE ABSOLUTE ADDRESS SERVO MOTOR DEND NOT ACTIVE ACTIVE STATUS BUSY BIT 0 ON OFF GND ORG 1 ORG 3 CCWLM a ORG 2 3 4 5 ORG 0 1 ORIGIN DELAY SET COMMAND LD SD JD MARGIN TIME SERVO MOTOR
74. 6 12 MCC05v PULSE 1 1 COUNTER CLOCK 1 1 COMPARE REGISTER1 2 ENABLE DFLINT COMPARE REGISTER1 2 OR ENABLE DFLINT STATUS3 95 18 DATA 18 1 L TYPE RATE 18 2 M TYPE RATE 18 3 H TYPE RATE DATA TABLE DATA TABLE DATA TABLE ms 1000Hz ms 1000Hz ms 1000Hz oN nk ko N No nk ko MN oN on kw MN E ms 1000Hz 1000Hz 18 4 RATE CURVE GRAPH 1 TYPE 96 3 TYPE Oe 19 USER
75. DATA1 PORT WRITE DATA3 PORT WRITE COMMAND WRITE N TATUS1 BUSY 0 Y DATA1 PORT READ DATA2 PORT READ DATA3 PORT READ 22 3 21 MCC05v2 SPEC DATA SPEED DATA DRIVE DATA3 PORT WRITE DATA COMMAND DRIVE DATA1 PORT WRITE 2 3 DRIVE DATA3 PORT WRITE DATA3 PORT D7 D 2 12 DRIVE DATA1 2 3 PORT READ DATA COMMAND CODE DATA DATA COMMAND DATA RATE No DATA3 PORT 06 RATE SET COMMAND COMMAND PORT 0An COMMAND DATA2 3 PORT DATA2 PORT URATE No DATA3 PORT DRATE No COMMAND NAME SPEC INITIALIZE1 COMMAND DATA COMMAND
76. 1 CW 54 7 4 ORG 2 CCW LIMIT XORG HSPD sp gt cspp 7 icsppT spo 1 Jp lt HSsPD 1 6 i i Hspg i i cspp sp 1 Jp gt iOcspp Usp i 1 1 1 Jp CW LIMIT HSPD CSPD LD SD JD HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME 1 XORG CW a ORG 1 CCW 7 5 ORG 3 CCW LIMIT cspp cspp 4 Jp HSsPD 14 Lo HspPD9 cspD so 1 Jp i cspp l 1 i Jp 1 CW LIMIT HSPD CSPD LD SD JD HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME JOG DELAY TIME 1 XORG CCW a ORG 1
77. 600 s 272 12 11 EAIEB TIMING 1 90 EA PULSE COUNTER COUNTER t1 gt 150 x N ns t1 gt 200x N ns t2 gt 330x N ns t2 gt 430 x N ns gt 660x N ns t gt 860 x N ns IL NIkIp 52 L 4 5 EB PULSE COUNTER COUNTER COUNT UP COUNT DOWN COUNT XEA v J 1 8 I 0 5 COUNT DOWN COUNT v K U 2 h g 15 6 AEA UP COUNT DOWN COUNT XEA 4 XEB V A 2 COUNT XEA t1 gt 150ns PULSE COUNTER te y Z330ns PULSE COUNTER t11 gt 200ns DFL COUNTER te y 430ns DFL COUNTER XEB 12 12 RDYINT TIMING INTA STATUS1 1 STATUS1 BUSY L 1 BUSY O c EE IOW 2 IOR RDYINT RDYINT 3 4 t1 50ns 13 lt 50 12 lt 150 14 lt 100ns COMMA
78. COMMAND 02 WRITE DRIVE DATA1 PORT BIT POWER ON RESET 1 COMP STOP TYPE D PULSE COUNTER COMP STOP ENABLE BIT COMPARE REGISTER1 5 0 1 2 CNTINT OUTPUT TYPE D PULSE COUNTER CNTINT BIT COMPARE REGISTER1 lt 5 0 COMPARATOR STATUS3 READ 1 COMPARATOR 1 COMPARATOR STATUS3 READ 3 CNTINT LATCH TRIGGER 02 PULSE COUNTER CNTINT BIT COMPARE REGISTER1 lt 5 0 STATUS3 READ CNTINT
79. S RATE DRIVE 24 SPEED RATE CHANGE SCAN DRIVE CHANGE COMMAND 7 25 AUTO CHANGE PULSE SPEED SPEED RATE 26 DRIVE PULSE INDEX DRIVE DRIVE gt 12 4 IZO 4 1 O PORT DRIVE COMMAND DRIVE DATA DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND X COUNTER_DATA1 MCC05v 2 COUNTER DATA2 COUNTER DATA3 STATUSI DRIVE DATA DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 DRIVE COMMAND DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER_DATA1 COUNTER DATA2 COUNTER DATA3 STATUSI DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 MCC05v 2 DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER COUNTER DATA2 COUNTER DATA3 STATUSI DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 Z MCC05v 2 STATUS5 DRIVE COMMAND
80. Z SENSOR INDEX 3 0 1 2 3 ZCWLM Z CW LIMIT ZCCWLM Z CCW LIMIT ZNORG Z Z0RG Z ACWLM A CW LIMIT ACCWLM A CCW LIMIT ANORG A AORG A ASENSOR A SENSOR INDEX 3 0UT0 0 OUT1 1 0UT2 2 0073 3 EXTVGND GND 2 EXTVGND E E E E gt gt gt gt gt gt gt gt gt 1 STEPPING MOTOR SERVO MOTOR Z 2 HIC 24V 2V 24 0V MAX 310mA CWLM CCWLM FSSTOP ACTIVE OFF
81. 1 XCWP Pi XCCWP CCW XCWP XCCWP 7 INDEX DRIVE DATA DATA COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE RATE SET DRATE RATE SET PULSE ADDRESS INDEX DRIVE 1 LSPD HSPD HSPD DRIVE 2 LSPD HSPD URATEDRATE PULSE URATE DRATE 12 3 DATA 5 4 DRIVE SPEED SPEED CHANGE COMMAND SCAN INDEX DRIVE SPEED SPEED CHANGE COMMAND SPEED SPEED 1 URATE DRATE INDEX DRIVE SPEED 2 SPEED LSPD SPEED HSPD 3 SPEED CHANGE COMMAND SPEED CHANGE COMMAND
82. MODE RATE SET DATA1 PORT DATA DATA MODE RESOLUTION SET PART HSPD PART No PART PULSE PART No PART RATE PART No SERIAL INDEX CHECK PART No DRIVE INDEX CHANGE DEND ERROR ORIGIN ERROR ERROR CODE STATUS1 PORT ERROR BIT COMMAND COMMAND COMMAND 6 34 SPEED CHANGE COMMAND SCAN INDEX DRIVE SPEED DRIVE DATA1 2 3 PORT SPEED Hz 3 DATA DRIVE DATA1 2 3 PORT HSPD SET COMMAND Y 1 COMMAND STATUS5 SPEED CHANGE BUSY DATA1 PORT 2 BIT 0 DRIVE COMMAND WRITE STATUS1 PORT DRIVE BIT 1 DATA2 PORT 2 SPEED DATA DATA1 2 3 PORT WRITE
83. 1 22 STATUS1 DRIVE IOW XCWP STATUS1 BUSY t1 12 t1 38 s 42 s 12 20 s 1 SLOW STOP COMMAND 12 8 TIMING 1 STEPPING MOTOR CW DRIVE 1 IOW I T 2 FSSTOP 23 XCWP STATUS1 DRIVE STATUS1 BUSY t1 t2 t3 gt 174005 12 38x s 46 u s 4 13 20xs 1 FAST STOP COMMAND 2 SLOW STOP COMMAND 2 COMMAND PULSE DRIVE 1PULSE DRIVE PULSE 3 FAST STOP COMMAND PULSE 1PULSE PULSE 4 PULSE 102 T 12 T 11 12 9 TIMING 2 SERVO MOTOR CW DRIVE 1 IOW 2 FSSTOP l 3 r1 XCWP jJ LILI LI XDR
84. 9 ORG 0 11 1 OFF 2 C ORG 1 1 ON 2 C ORG 2 12 1 OFF 4 B ORG 3 1 ON 4 B ORG 4 2 OFF 4 5 A ORG 5 2 ON 4 5 A ORG 10 2 ON 2 C ORG 11 12 LIMIT ORIGIN DRIVE CONSTANT SCAN SCAN JOG DRIVE JOG DRIVE JOG DRIVE 1 A B C XORG XNORG ON LOW OM AT SCAN DRIVE CONSTANT SCAN DRIVE JOG DRIVE
85. BIT 0 1 3 PLS COMP3 INT MASK 02 PULSE COUNTER COMPARATOR3 BIT 0 1 4 PLS COMP4 INT MASK 03 PULSE COUNTER COMPARATOR4 BIT 0 1 5 PLS COMP5 INT MASK D PULSE COUNTER COMPARATOR5 BIT 0 1 6 DFL COMP1 INT MASK D COUNTER COMPARATOR1 BIT 0 1 7 DFL COMP2 INT MASK D COUNTER COMPARATOR2 BIT 0 1 COMPARATOR 8 5 2 BUSY 0 DATA3 PORT COMMAND
86. SSRATE SRATE SRATE SET COMMAND SRATE 8 1 DRIVE TYPE MODE SSRATE SRATE RATE DATA TABLE SRATE 8 RATE DATA TABLE SRATE 8 SSRATE 2 SRATE SSRATE DRIVE TYPE RATE L TYPE 1030ms 1000Hz M TYPE 51 5ms 1000Hz H TYPE 5 15ms 1000Hz MODE RESOLUTION DATA D RATE 1 030 D ms 1000Hz MODE SSRATE SRATE 1 SSRATE SRATE SSRATE SRATE 2 SRATE SET COMMAND SSRATE SPEC INITIALIZE1 COMMAND DRIVE TYPE
87. XCNTINT 2 PULSE COUNTER INITIALIZE COMMAND G CNTINT LATCH TRIGGER TYPE 1 PLS COMPARE REGISTER 19 7 X 8 X 9 j 10 D gt Y n P IIt QI IOR 6 STATUS3 XCNTINT YiCOMP1 5 STATUS3 COMP1 5 COMPARE REGISTER SET COMMAND XCNTINT CNTINT STATUS3 PORT COMPARE REGISTER STATUS3 PORT READ XCNTINT 3 PULSE COUNTER INITIALIZE COMMAND CNTINT OUTPUT TYPE 1 PLS COMPARE REGISTER 10 7 X 8 X 9 X q H X 12 XCNTINT gt gt 1 STATUS3 COMP1 5 COMPARE REGISTER SET COMMAND XCNTINT XCNTINT XCNTINT
88. ADDRESS COUNTER 1 ADDRESS COUNTER MCCO5v PULSE ADDRESS 2 3 COUNT DATA DRIVE DATA1 2 3 PORT ADDRESS COUNTER PORT ADDRESS READ COMMAND DATA 8 388 607 gt 8 388 607 PULSE AREA COUNTER RESET 0 ADDRESS INITIALIZE COMMAND 8 3 PULSE COUNTER 1 b PULSE PULSE COUNTER MCCO05vz PULSE COUNT DATA DRIVE DATA1 2 3 PORT PULSE COUNTER PORT DATA 8 388 607 8 388 607 PULSE AREA G 8 388 608 STATUS3 PORT OVF BIT 1 COUNTER RESET 0 COUNTER COMMAND PULSE COUNTER PRESET COMMAND
89. CW 55 7 6 ORG 4 NEAR ORG ORG 1 NEAR ORG CCW LIMIT CW LIMIT XNORG f HSPD HIGH SPEED HsPp _ CSPD CONSTANT SPEED LD LIMIT DELAY TIME sp gt cspp 9 amp SD SCAN DELAY TIME JD JOG DELAY TIME lt HSPD O Ti A 1 0 CS BB SD 1 HSPD i iocs pp SD 2 ORGI 5 XORG HIGH OFF XORG LOW ON XNORG XNORG b b XORG 1 XORG sp csPp 1 Jp csPpT 2 XNORG CW a XORG CW b NORG 1 CCW ORG 7 7 ORG 5 NEAR ORG ORG 1 NEAR ORG CCW LIMIT CW LIMI
90. 2 4 3 DRIVE COMMAND PORT DRIVE COMMAND PORT COMMAND 6 4 4 DRIVE DATA1 2 3 PORT WRITE DRIVE COMMAND DATA 4 5 DRIVE 1 2 3 PORT READ DATA ADDRESS READ COMMAND SET DATA READ ERROR STATUS READ DATA COMMAND WRITE STATUS1 BUSY BIT 0 PULSE COUNTER COUNTER ADDRESS COUNTER COUNT DATA 4 6 COUNTER COMMAND PORT PULSE COUNTER COUNTER PRESET COMPARE REGISTER SET COMMAND PORT COMMAND 9 4 7 COUNTER DATA1 2 3 PORT WRITE COUNTER COMMAND DATA 4 8 STATUS1 PORT MCC05vs PORT BUSY BIT DRIVE BIT D7 De D5 D4 D3 D2 D Do 1 DRIVE BIT DREND BIT ERROR BIT MAN BIT LSEND BIT SSEND BIT FSEND BIT BUSY BIT DREND BIT ERROR BIT MAN BIT LSEND BIT
91. 23 5 7 S RATE SCAN DRIVE S RATE SCAN COMMAND DRIVE S DRIVE SLSPD SHSPD 3 3 SRATE 5 10 5 11 5 12 Hz SHSPD SLSPD SRATE SRATE S RATE SCAN DRIVE DATA DATA COMMAND SHSPD S RATE DRIVE HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD SET SRATE S RATE DRIVE SRATE SET SLSPD SHSPD SHSPD DRIVE 5 8 S RATE INDEX DRIVE S RATE INCREMENTAL INDEX COMMAND S RATE ABSOLUTE INDEX COMMAND PULSE ADDRESS S DRIVE RATE S RATE SCAN DRIVE Hz SHSPD PULSE 74 ADDRESS S RATE INDEX DRIVE DATA DATA COMMAND SHSPD S RATE DRIVE HIGH SPEED SHSPD SET SLSPD S RATE DRIVE LOW SPEED SLSPD S
92. 90 CW CCW COUNT COUNT DATA PULSE COUNTER 5 COMPARE REGISTER COUNT 9 COUNT COUNTER PULSE 90 CW CCW COUNT COUNT DATA COUNTER 2 COMPARE REGISTER 90 CW CCW COUNT 10 LIMIT STOP LIMIT 2 USER PROGRAM 11 SERVO DRIVER SERVO DRIVER SERVO DRIVER END 12 PCI PCI COMMAND
93. 1 COUNTER 3 7 MCC05v 2 DRIVE 2 3 Oo 4 gt 1 0O 5 k F 6 2 2 1 PCI PCI I C EEPROM 2 DRIVE MOTOR 4 MCC05v 2 4 DRIVE 4 X Y Z A 3 COUNTER COUNTER ADDRESS COUNTER PULSE COUNTER COUNTER 3 24BIT UP DOWN COUNTER ADDRESS COUNTER MCC05vs PULSE COUNTER 90 CLOCK COUNTER
94. 2 SERATE DATA SCSPD2 lt SHSPD SRATE SERATE SSRATE SSRATE 25 3 SCSPD1 DATA SRATE RATE SPEED SCSPD1 SCSPD2 SRATE RATE SLSPD SET SHSPD SET COMMAND SCSPD1 SLSPD SHSPD SLSPD x SLSPD SCSPD1 SCSPD2 1 SCSPD1 SLSPD SCSPD1 SLSPD SCSPD1 gt SCSPD2 SCSPD1 SCSPD2 2 SLSPD SET SHSPD SET COMMAND SCSPD1 SPEC INITIALIZE1 COMMAND DRIVE TYPE 4 SCSPD2 DATA SRATE RATE SPEED SCSPD1 SCSPD2 SRATE
95. LIMIT DELAY TIME SD SCAN DELAY TIME JOG DELAY TIME 53 7 2 ORG 0 CCW LIMIT XORG HSPD 6 i 6 i sp cspp lt HSPD i i i i 1 0 i i cspp so i i sp cspp i i i iOcspp Usp i 1 1 spl cspp i 1 CW LIMIT HSPD CSPD LD bo HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME 1 XORG CW a ORG 1 CCW 7 3 0RG 1 CCW LIMIT CW LIMIT XORG LD cspp I lt Huspp Fnspp cspD so 0 1 1 i sp Huspp cspp sp i 1 sp csppl 1 1 HSPD CSPD LD SD HIGH SPEED CONSTANT SPEED LIMIT DELAY TIME SCAN DELAY TIME 1 XORG CCW a ORG
96. UP X 90 CLOCK 12 11 EA UP EA EB DOWN 3 COMP1 INT ENABLE 05 COUNTER COMPARATOR1 XDFLINT BIT 0 XDFLINT 1 XDFLINT 4 COMP1 STOP ENABLE 0 COUNTER COMPARATOR1 PULSE BIT 0 1 DRIVE DATA3 PORT DATA3 PORT D 010101010101 L COMP2 INT ENABLE COMP2 STOP ENABLE 22 27 BIT 0 1 COMP2 INT ENABLE D COUNTER COMPARATOR2 XDFLINT BIT 0 XDFLINT 1 XDFLINT 2 COMP2 STOP ENABLE D 1 COUNTER COMPARATOR2 PULSE BIT 0 1 39 6 13 SET DATA READ COMMAND COMMAND
97. DATA TABLE No No 9 100ms 1000Hz No 12 30ms 1000Hz DRIVE TYPE L TYPE LIMIT STOP TYPE SPEC INITIALIZE1 MOTOR TYPE STEPPING RDYINT PULSE COUNTER 2 y PULSE COMMAND MCCO5vs PULSE CNTINT COMP1 lt 5 PLS COMP1 lt 5 STOP ENABLE PULSE COUNTER INITIALIZE PLS COMP STOP TYPE CNTINT OUTPUT TYPE COMPARATOR CNTINT LATCH TRIGGER TYPE COUNTER MCCO5vs PULSE CLOCK COUNTER COUNT PATTERN TYPE 90 CLOCK 1 DFLINT DFL COMP1 2 STOP ENABLE DFL COUNTER INITIALIZE DFL COMP STOP TYPE DFLINT OUTPUT TYPE COMPARATOR DFLINT LATCH TRIGGER TYPE COUNTER SELECT PORT PULSE COUNTER PORT SELECT ADDRESS ADDRESS COUNTER 0 ADDRESS INITIALIZE LIMIT DELAY TIME SCAN DELAY TIME
98. S RATE INDEX DRIVE PULSE HIGH SPEED PULSE 12 END PULSE DRIVE INDEX DRIVE S RATE INDEX DRIVE DRIVE LOW SPEED PULSE DRIVE 13 ORIGIN DRIVE ORIGIN DRIVE ORG NORG CCW LIMIT ORIGIN DRIVE ORG NORG CW LIMT 14 MARGIN TIME ORIGIN DRIVE PULSE MARGIN TIME 15 SOFT LIMIT CW CCW SOFT LIMIT 16 DEND ERROR DEND
99. 3 4 USER 2 1 98 20 C 875 COMMAND 20 1 DRIVE COMMAND COMMAND PULSE COMMAND D7D D5D4D3D2DTD9 HEX CODE COMMAND NO OPERATION SPEC INITIALIZE1 PULSE COUNTER INITIALIZE ADDRESS INITIALIZE ADDRESS READ SERVO RESET RATE SET LSPD SET HSPD SET DFL COUNTER INITIALIZE SET DATA READ CW SOFT LIMIT SET CCW SOFT LIMIT SET DFL DIVISION DATA SET SENSOR INDEX3 DATA SET JOG JOG SCAN SCAN INCREMENTAL INDEX ol olol oo ol olo O O OO Oo Ol
100. 1 1 XNORG XORG ON 2 XNORG CW a XORG CW b b CONSTANT SCAN DRIVE NORG ORG 1 CCW 51 7 9 ORG 11 CCW LIMIT CW LIMIT a XCCWLM HSPD HEB CSPD gt SD spl cspp HSPD 9cspb SD lI sp 79 CSPD l A LIMIT RATE HSPD HIGH SPEED CONSTANT SPEED SCAN DELAY TIME 1 XCCWLM CW a ORG CCW LIMIT XCCWLM 1 XORG
101. ORIGIN DRIVE CSPD CONSTANT SPEED DRIVE DATA1 2 3 PORT CSPD Hz 3 DATA N TATUS1 DRIVE DATA1 2 3 PORT BUSY 09 DATA1 PORT DATA2 PORT DATA3 PORT Y D7 D D D DATAI PORT 122 1 2 2 1 128 27 2 WRITE DATA2 PORT CSPD DATA WRITE DATA 1 1 gt 3 333 333 32DCD5 DATA3 PORT WRITE CSPD SET COMMAND 1 COMMAND 1Aa POWER ON RESET CSPD 300Hz WRITE DATA DRIVE TYPE 5 17 SPEED 42 6 19 PULSE SET COMMAND COMMAND 1 ORIGIN DRIVE OFFSET PULSE DRIVE DATA3 PORT OFFSET PULSE DRIVE DATA3 PORT DATA3 PORT Y D DATA3 PORT 27 2 WRITE COMMAND 1 OFFSET PULSE WRITE OFFSET PULSE 0 0n
102. PORT ADDRESS READ COMMAND DRIVE_ DATA3 PORT READ 6 8 SERVO RESET COMMAND COMMAND 05 SERVO DRIVER DRST 10ms STEPPING MOTOR COMMAND NO OPERATION COMMAND COMMAND 5 WRITE 6 9 RATE SET COMMAND COMMAND 06 DRIVE URATE DRATE DRIVE DATA2 PORT URATE DRIVE DATA3 PORT DRATE DATA No DRIVE DATA2 3 PORT Y DATA2 PORT DATA2 PORT DATA3 PORT WRITE 277 11129277 DATA3 PORT WRITE DRATE No HEX COMMAND 06 URATE No HEX WRITE RATE SET COMMAND 1 POWER ON RESET URATE DRATE No 9 100ms 1000Hz 6 10 LSPD SET COMMAND COMMAND 07 DRIVE LSPD
103. DRIVE S RATE INDEX INDEX S DRIVE SCAN DRIVE INDEX DRIVE S RATE SCAN INDEX DRIVE 2 DRIVE PULSE oo 1PULSE DRIVE SCAN S RATE SCAN lt PULSE DRIVE INDEX S RATE INDEX 0 8 388 607 PULSE DRIVE 0 16 777 214 PULSE DRIVE 3 SPEED RATE SPEED 1Hz 3 3MHz RATE 1030ms 1000Hz 0 004ms 1000Hz 4 SPEED DATA Hz PULSE SPEED 1 3 333 333 Hz 5 RATE S RATE SCAN S RATE INDEX 9 6 DRIVE SPEED SCAN DRIVE INDEX DRIVE SPEED IB L INDEX DRIVE RATE 7 ADDRESS COUNT ADDRESS COUNTER MCCO05v 2 PULSE ADDRESS COUNT COUNT DATA 8 PULSE COUNT PULSE COUNTER PULSE
104. 0 1 DATA COMMAND PORT COUNTER PORT 6 DRIVE PORT PORT ADDRESS PORT ADDRESS 4 1 2 223BIT 9 10 COUNTER COMPARE REGISTER2 SET COMMAND COMMAND 08 COUNTER COMPARE REGISTER2 SET COUNTER COMPARE REGISTER1 SET COMMAND 66 10 POWER ON RESET COMMAND SPEED JP1X X JP1Y Y JP1Z Z JP1A A 2 TYPE DATA lt COMMAND 9 100ms 1000Hz No 12 30ms 1000Hz URATE DATA TABLE RATE SET DRATE
105. COMMAND MODE URATE DRATE DRIVE DATA1 PORT WRITE 3 COMMAND PART No DRIVE DATA1 PORT WRITE 4 DATA MIN MAX DATA DATA DRIVE TYPE DATA 5 POWER ON RESET 1 40 6 14 JOG COMMAND COMMAND CW DRIVE CCW DRIVE JOG DRIVE COMMAND 10 11aWRITE 6 15 SCAN COMMAND COMMAND CW DRIVE 12 CCW DRIVE SCAN DRIVE COMMAND 12 13aWRITE 6 16 INCREMENTAL INDEX COMMAND COMMAND 14 INDEX DRIVE DRIVE DATA1 2 3 PORT PULSE N TATUS1 DRIVE DATA1 2 3 PORT BUSY 09 DATA1 PORT DATA2 P
106. COUNTER COMMAND 9 1 COMMAND 6 4 9 2 PULSE COUNTER PRESET COMMAND 6 4 9 3 PULSE COUNTER COMPARE REGISTER1 SET COMMAND 6 5 9 4 PULSE COUNTER COMPARE REGISTER2 SET COMMAND 6 5 9 5 PULSE COUNTER COMPARE REGISTER3 SET COMMAND 6 5 9 6 PULSE COUNTER COMPARE REGISTER4 SET COMMAND 6 5 9 7 PULSE COUNTER COMPARE REGISTER5 SET COMMAND 6 5 9 8 COUNTER PRESET COMMAND 6 5 9 9 COUNTER COMPARE REGISTER1 SET COMMAND 6 6 9 10 COUNTER COMPARE REGISTER2 SET COMMAND 6 6 1 67 11 11 1 COMMAND 6 8 11 2 PULSE COUNTER DFL COUNTER 6 8 11 3 VO 6 8 11 4 6 8 11 5 6 8 12 12 1 JOG DRIVE TIMING 6 9 12 2 SCAN DRIVE S RATE SCAN DRIVE TIMING 6 9 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING
107. 2 13 2 27 80 13 4 X SENSOR Z A 1 J1 J2 J1 J2 7 5HIC 1 65K Q 9 SINK MAX 50mA Vce 2V L t MN 5 19 5V 26C31 MAX 20mA EXTV 24V XCWLM XCCWLM FSSTOP XNORG XORG XDEND XPO ZSENSOR RESET IN10 IN47 INO IN3 XDRSTCOM Max15mA OUTO OUT3 XDRST OUT10 OUT37 EXTVGND HIGHL 0 8mA LOWL JW 2 5mA an HIGH 6V LOW EXTV 24V HIGHUA J 1 3mA LOWL 7 0mA 20V HIGH 3V LOW EXTV 24V HIGHLA J LOWLA J LOWL 2 0V SINK50mA 0 6V SINK30mA XEA XEB XZORG HIGHL 0 8mA 9 4mA XEA XEB XZORG 0 7V HIGH 3 2V LOW 5 25V MAX COM Max 20mA XCWP XCCWP HIGHUA J 2 4V SOURCE20mA XCWP XCCWP J 0 4V S
108. 4 XEA XEB 3 AUTO CLEAR ENABLE D3 BIT 0 1 4 RELOAD ENABLE D4 BIT 0 1 5 COMP1 INT ENABLE D5 COMPARE REGISTER1 XCNTINT BIT 0 XCNTINT 1 XCNTINT 6 COMP1 STOP TYPE D COMPARE REGISTER1 PULSE BIT 0 1 33 DRIVE DATA3 PORT DATA3 PORT 07 COMP2 STOP COMP3 ENABLE STOP COMP4 INT ENABLE COMP4 STOP TYPE 5 INT ENABLE COMP5 STOP TYPE le COMP2 INT ENABLE DRIVE DATA3 PORT BIT POWER ON RESET 1 COMP2 INT ENABLE D COMPARE REGISTER2 XCN
109. 4 s COMMAND 50 6 36 PORT SELECT COMMAND 1 ADDRESS COUNTER PORT SELECT COMMAND COMMAND F9n DRIVE DATA1 2 3 PORT ADDRESS COUNTER COUNT DATA READ PORT 2 DFL COUNTER PORT SELECT COMMAND COMMAND DRIVE DATA1 2 3 PORT DFL COUNTER COUNT DATA READ PORT 3 PULSE COUNTER PORT SELECT COMMAND COMMAND FCn DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT DATA READ PORT 4 SPEED PORT SELECT COMMAND COMMAND FDH DRIVE DATA1 2 3 PORT PULSE SPEED DATA READ PORT COMMAND DRIVE DATA1 2 3 PORT DATA COMMAND 4 s COMMAND COMMAND 200ns DRIVE DATA1 2 3 PORT DATA PORT SELECT COMMAND 1 PORT SELECT COMMAND POWER ON RESE
110. 8 6 1 2 3 4 5 1 2 2 3 1 PCI 3 2 3 5 IZO PORT 4 1 MO PORT3 amp 4 2 PORT n 99 4 9 4 3 DRIVE COMMAND PORT 4 4 DRIVE DATA1 2 3 PORT WRITE 4 5 DRIVE DATA1 2 3 PORT READ 4 6 COUNTER COMMAND PORT 4 7 COUNTER DATA1 2 3 PORT WRITE 4 8 STATUS1 PORT 4 9 STATUS2 PORT 4 10 STATUS3 PORT
111. CNTINT COUNTER COUNT DFLINT 8 COUNTER PULSE COUNT COMPARE 5 16 SPEED DATA Hz SPEED DATA HSPD LSPD CSPD SHSPD SLSPD Hz 3 DATA DATA 1 3 333 333 SPEED 1Hz 3 3MHz SPEED HSPD 10000 002710 HSPD 10000Hz MCC05vs SPEED DATA SPEED DATA F F Ev 160 000 000 gt 160 000 000 F
112. DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 COUNTER COMMAND COUNTER COUNTER DATA2 COUNTER DATA3 STATUSI DRIVE DATA1 DRIVE DATA2 DRIVE DATA3 STATUS2 STATUS3 STATUS4 STATUS5 7 1 0 170 IN10_20INT_STS gt 5 5 IN30_401NT STS 1 0 13 4 2 PORT 1 PORT PORT D7 De Ds D4 D D D 1 0 8 21y 2 1 BIT 0 9 21y 2 0 8 21y 2 3 O 2 BIT 2 C 875 C 875 2 C 875 1 0
113. IN1 4 18 IN20 1 0 O IN20 IN27 PORT Ds Ds D4 D3 D D ON 1 IN20 4 19 IN30 1 0 O IN30 IN37 PORT D7 Ds Ds D4 D3 D D9 ON 1 IN30 IN31 IN32 IN33 IN34 IN35 IN36 IN37 4 20 IN40 PORT IO O IN40 IN47 PORT D7 De Ds D4 D D D ON 1 IN40 IN41 IN42 IN43 IN44 IN45 IN46 IN47 4 21 0UT10 PORT IO O OUT10 OUT17 ON OFF PORT BIT OUT10 OUT17 PORT DATA PORT D7 De Ds D4 D2 Do 1 ON OUT10 OUT11 OUT12 OUT1
114. RATE SPEED DRIVE DATA1 2 3 PORT SCSPD1 Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D7 Do Do D7 DATAT PORT gt 2 2 r 12 2 1 12 WRITE DATA2 PORT SCSPD1 DATA WRITE SCSPD1 RESET SLSPD SET SHSPD SET COMMAND DATA3 PORT WRITE DATA COMMAND ea SCSPD1 SLSPD SHSPD SLSPD 1 SLSPD SET SHSPD SET COMMAND SCSPD1 SPEC INITIALIZE1 COMMAND DRIVE TYPE 2 SCSPD1 SLSPD SCSPD1 SCSPD2 SCSPD1 lt SLSPD SCSPD1 SLSPD SCSPD1 gt SCSPD2 SCSPD1 SCSPD2 6 29 SCSPD2 ADJUST COMMAND S RATE DRIVE SCSPD2 RATE SPEED DRIVE DATA1 2 3 PORT SCSPD2 Hz
115. 1000ms 1000Hz 50ms 1000Hz 5ms 1000Hz 1030ms 1000Hz lt 1 0ms 1000Hz lt 0 05ms 1000Hz lt 0 005ms 1000Hz lt 0 004ms 1000Hz 51Hz STEP 1kHz STEP 10kHz STEP 51Hz STEP 62Hz STEP 4kHz STEP lt 68kHz STEP 68kHz STEP 5 18 SPEED DRIVE DATA1 2 3 PORT DRIVE SPEED DATA DATA SPEED SPEED Hz 160 000 000 V V READ DATA SPEED DATA 3 9 5Hz 3 3MHz SPEED READ 9 5Hz DATA SPEED DRIVE DATA1 2 3 PORT PULSE COUNTER COUNTER PORT SPEED READ PORT SPEED DATA
116. 12 17 BUS TIMING IOW IOR SOFT LIMIT SOFT LIMIT 12 1 JOG DRIVE TIMING STEPPING MOTOR CW DRIVE IOW XCWP STATUS1 DRIVE STATUS1 BUSY COMMAND gt t1 lt 150ns t4 100 12 lt 34 5 42 s 15 lt 23 s 31 s 13 lt 36 5 44 5 16 lt 35 5 43 s 12 2 SCAN S RATE SCAN DRIVE TIMING STEPPI NG MOTOR CCW DRIVE IOW COMMAND XCCWP SR DRIVE STATUS1 BUSY t1 150ns 12 43 s 75 siz t3 lt 63 s 95 siz 12 3 INDEX DRIVE S RATE INDEX DRIVE TIMING STEPPING MOTOR CW DRIVE IOW XCWP STATUS1 DRIVE STATUS1 BUSY 12 4 0RIGIN DRIVE TIMING COMMAND 14 1 0 2 0 11 lt 150ns t2 lt 71 5 79 u s URATE DRATE 1 3ms t4 lt 35 5 44
117. 255 FFn POWER ON RESET PULSE 0 OFFSET PULSE SET COMMAND 6 20 ORIGIN DELAY SET COMMAND COMMAND ca DRIVE DELAY TIME DRIVE DATA1 2 3 PORT DATA DATA1 PORT LIMIT DELAY TIME 300ms 3Cn CCW LIMIT DELAY TIME DATA2 PORT SCAN DELAY TIME 50ms 0Aa Y CONSTANT SCAN SCAN DRIVE DATA1 PORT DELAY TIME WRITE DATA3 PORT DELAY TIME 20ms 04n JOG DRIVE 1PULSE DELAY TIME DATA2 PORT WRITE POWER ON RESET DATA3 PORT DATA 00 FFa 5ms WRITE 0 DELAY TIME 50ms COMMAND 1Cn FFH ss 1 275s WRITE DELAY TIME 22 2 ORIGIN DE
118. BUSY 0 DRIVE 1 DRIVE 0 51 6 39 COUNTER READ COMMAND PULSE ADDRESS COUNTER COUNT DATA 1 COUNTER PORT SELECT DRIVE DATA1 2 3 READ PORT U COUNT DATA DATA1 PORT 2 READ DRIVE DATA1 2 3 PORT DATA2 PORT DATA1 PORT DATA2 PORT DATA3 PORT READ D7 D ZI 1 12 2 DATA3 PORT READ COUNT DATA 0 FFFFFFn COUNT DATA COUNT DATA 2 COUNT DATA 10 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 7 FFa FFa 10 00 00 0 0 00 00 00 10 FF h FF h F6n 8 388 607 80 00 01 1 PULSE ADDRESS COUNTER PORT SELECT COMMAND 6 36 2 DATA READ DRIVE DATA1 2 3 PORT DATA
119. CLOCK MCC05v s PULSE EA EB 5 COUNTER COMPARATOR COUNTER COMPARATOR1 2 3 6 COUNTER COMPARE REGISTER COUNTER COMPARATOR 7 8 SPEED DATA PULSE SPEED Hz Hz MODE MODE 9 1 PULSE PULSE DRIVE START 1 ACTIVE PULSE 100 s 20 ws 10 PULSE PULSE CW CCW 11
120. amp hspd 1 outp XMCCDT3 UC amp hspd outp XMCCCOM 0 08 SCAN DRIVE COMMAND xmccrdy outp XMCCCOM 0x12 X AXIS MCCO5 RDY WAIT UP RATE No OUT DOWN RATE No OUT RATE SET COMMAND OUT X AXIS MCCO5 RDY WAIT LOW SPEED DATA MSB SET LOW SPEED DATA LSB SET LSPD SET COMMAND OUT X AXIS MCCO5 RDY WAIT HIGH SPEED DATA MSB SET HIGH SPEED DATA LSB SET HSPD SET COMMAND OUT X AXIS MCCO5 RDY WAIT SCAN DRIVE COMMAND OUT E RAM AREA urate drate RATE DATA TABLE No lspd hspd Hz SPEED DATA 90 16 5 INDEX DRIVE PROGRAM INDEX DRIVE URATE DRATE LSPD HSPD DATA DATA DRIVE RATE SPEED DATA DRIVE ADDRESS INDEX DRIVE DATA DRIVE X AXIS ABSOLUTE INDEX DRIVE
121. i 4 INT STATUS3 INT MASK COMPARATOR PULSE DFL COMPARATOR ON OFF INT MASK COMMAND COMMAND COMMAND LATCH TYPE COMPARATOR 5 PULSE COUNTER COMPARATOR 2 O DFL COUNTER COMPARATOR PULSE DFL RESET COMPARATOR STATUS3 PORT READ RESET STATUS3 PORT READ RESET PULSE DFL COUN
122. DRIVE DATA3 PORT COMMAND CODE DATA STATUS1 PORT ERROR BIT 1 COMMAND NAME PART RATE SET 3 PULSE COUNTER INITIALIZE MARGIN TIME SET COMMAND COMMAND RATE SET 2 PEAK PULSE SET LSPD SET SEND PULSE SET HSPD SET SESPD SET DFL COUNTER INITIALIZE SPEC INITIALIZE4 CW SOFT LIMIT SET DEND TIME SET CCW SOFT LIMIT SET EXTEND ORIGIN SPEC SET DFL DIVISION DATA SET CONSTANT SCAN MAX PULSE END PULSE SET CHANGE POINT DATA SET ESPD SET CHANGE DATA SET CSPD SET AUTO CHANGE SET OFFSET PULSE SET SPEC INITIALIZE5 ORIGIN DELAY SET SRATE SET SPEC INITIALIZE3 SLSPD SET RESOLUTION SET SHSPD SET PART HSPD SET 3 SSRATE ADJUST INCREMENTAL DATA SET SERATE ADJUST ABSOLUTE DATA SET SCSPD1 ADJUST PART PULSE SET 3 SCSPD2 ADJUST 1 COMMAND DATA PORT DATA PORT No DRIVE DATA3 PORT READ COMMAND 2
123. ACTIVE su 4 14 1 0 INT SET 8 1 0 0 4 IN10 IN20 IN30 IN40 IOINT PORT ON OFF D7 Ds Ds D4 D3 D D9 1 IN20INT ENABLE IN30INT ENABLE IN40INT ENABLE IN10INT EDGE TYPE IN20INT EDGE TYPE IN30INT EDGE TYPE IN40INT EDGE TYPE IN10INT ENABLE BIT POWER ON RESET 1 IN10 20 30 40INT ENABLE IN10 IN20 IN30 IN40 BIT 0 1 2 IN10 20 30 40INT EDGE TYPE IN10 IN20 IN30 IN40 BIT 0 ON 1 OFF 4 15 IN10_20INT STATUS PORT O VO IN10 IN20 PORT D7 De D5 D4 D D D9 1
124. DATA 10 0An 3 333 333 32DCD5 DATA3 PORT 1 WRITE SLSPD SET COMMAND 1 COMMAND 61n POWER ON RESET SLSPD 300Hz WRITE 1 DATA DRIVE TYPE 5 17 2 COMMAND SCSPD1 SCSPD2 SCSPD1 SCSPD2 6 25 SHSPD SET COMMAND COMMAND 62r S RATE DRIVE SHSPD HIGH SPEED DRIVE DATA1 2 3 PORT SHSPD Hz 3 DATA N TATUS1 DRIVE DATA1 2 3 PORT BUSY 0 DATA1 PORT DATA2 PORT DATA3 PORT Y D7 D PORT 2 1 12 22 L 1 12 2 12 WRITE DATA2 PORT SHSPD DATA WRITE SHSPD DATA 1 1 3 333 333 32DCD5u 1 DATA3 PORT WRITE SHSPD SET COMMAND 1
125. DATA TABLE No lspd hspd cspd Hz SPEED DATA offset OFFSET PULSE ldelay sdelayjdelay DELAY TIME DATA orgno 92 16 7 PULSE COUNTER DATA READ PROGRAM PULSE COUNTER COUNT RETURN COUNTER READ long xcntred void long a outp Oxfc PULSE COUNTER PORT SELECT COMMAND OUT UC amp a 2 inp XMCCDT1 COUNTER MSB IN UC amp a 1 inp XMCCDT2 UC amp a inp XMCCDT3 COUNTER LSB IN if UC 2 amp 0 80 0 SIGN BIT ON UC amp a 3 Oxff else amp a 3 0 00 return a i PULSE COUNTER PORT SELECT COUNTER PORT SPEED PORT PULSE COUNTER PORT 93 1 7 C 875
126. INITIALIZE PROGRAM 8 9 16 3 JOG DRIVE PROGRAM 9 0 16 4 SCAN DRIVE PROGRAM 9 0 16 5 INDEX DRIVE PROGRAM 9 1 16 6 ORIGIN DRIVE PROGRAM 9 2 16 7 PULSE COUNTER DATA READ PROGRAM 9 3 17 9 4 18 DATA 18 1 L TYPE RATE DATA TABLE 96 18 2 M TYPE RATE DATA TABLE 96 183 H TYPE RAT DATA TABLE 96 18 4 RATE GURVE GRAPH 3 3 96 19 9 8 20 C 875 COMMAND 20 1 DRIVE GOMMAND GOMMAND 9 9 20 2 COMMAND COMMAND 100 21 21 1 A J 101 21 2 101 CC 875 PCI R
127. ORG 10 XNORG XORG CCW LIMIT CCW t 88 ORG 10 XNORG XORG OFF 2 ORG 4 5 XNORG 1 CCW LIMIT XORG STEPPING MOTOR MOTOR XORG ON MOTOR SERVO MOTOR SERVO DRIVER Z C Z Z C 875 XZORG XZORG 1 4 Z C PULSE 10 s 3 ORG 11 12 LIMIT XCCWLM XORG
128. ORIGIN DELAY SET J0G DELAY TIME PULSE COUNTER PULSE COUNTER PRESET PULSE COUNTER COMPARE REGISTER1 lt 5 COUNTER PULSE COUNTER COMPARE REGISTER1 5 SET COUNTER PRESET COUNTER COMPARE REGISTER1 2 COUNTER COMPARE REGISTER1 lt 2 SET 67 1 1 C 875 PCI INTA 11 1 COMMAND XRDYINT YRDYINT ZRDYINT ARDYINT STATUS5 PORT STATUS1 PORT 11 2 PULSE COUNTER DFL COUNTER XCNTINT YCNTINT ZCNTINT ACNTINT XDFLINT YDFLINT ZDFLINT ADFLINT 4 OR COMP1 COMP5 DFL COMP1 2 OR COMPARE REGISTER STATUS3 PORT
129. outp XMCCCOM 0 01 PULSE COUNTER INITIALIZE COMMAND xmccrdy 0 outp XMCCDT1 0x01 outp XMCCDT2 0x20 outp XMCCDT3 0x00 outp XMCCCOM 0 02 ADDRESS INITIALIZE COMMAND xmccrdy 0 outp XMCCDT1 0x00 outp XMCCDT2 0x03 outp XMCCDT3 0xe8 outp XMCCCOM 0 03 COUNTER PRESET COMMAND outp XCNTDT1 0x00 outp XCNTDT2 0x03 outp XCNTDT3 0xe8 outp XCNTCOM 0 00 COUNTER REGISTER1 SET COMMAND outp XCNTDT1 0 00 outp XCNTDT2 0 27 outp XCNTDT3 0x10 outp XCNTCOM 0x01 X AXIS MCCO5 RDY WAIT DRIVE SPEC DATA OUT SPEC INITIALIZE1 COMMAND OUT X AXIS MCCO5 RDY WAIT COUNTER COUNTER COUNTER SPEC OUT SPEC DATA2 OUT SPEC DATA3 OUT PULSE COUNTER INITIALIZE COMMAND OUT X AXIS 5 RDY WAIT ADDRESS ADDRESS ADDRESS COUNTER COUNTER COUNTER COMPARE COMPARE COUNTER MSB OUT LSB OUT INITIALIZE COMMAND OUT MSB OUT LSB OUT PRESET COMMAND OUT REGISTER1 MSB OUT REGISTER1 LSB OUT REGISTER1 SET COMMAND OUT RESET INITIALIZE
130. 2 1 PCI SERVO STEPPING 4 CONTROLLER O IN32 OUT24 PCI 5V SHORT CARD 107 170 CHIP CONTROLLER MCC05v 2 MOTOR CONTROL MCC05v 2 PULSE COUNTER COUNTER SERVO DRIVER STEPPING MOTOR C 875 4 1 X 2 Y 3 Z 4 A X X MCC05v 2 DRIVE 2 COUNTER 3 x Y MCC05v 2 DR I V Ea gt 2 P C COUNTER 3 I lt 4 Z MCCO05v 2 DR IVE 2
131. 2 SSRATE SSRATE SRATE SSRATE SRATE SSRATE SRATE 6 27 SERATE ADJUST COMMAND COMMAND 64 S RATE DRIVE SERATE DRIVE DATA3 PORT SERATE DATA No 4 N hb DRIVE DATA3 PORT BUSY 0 DATA3 PORT Y D7 Do DATA3 PORT 27 2 WRITE COMMAND 64 SERATE No WRITE SERATE SRATE SET COMMAND SRATE 8 DATA COMMAND 5 9 1 SRATE SET COMMAND SERATE SPEC INITIALIZE1 COMMAND DRIVE TYPE 2 SERATE SERATE SRATE SERATE SRATE SERATE SRATE 46 6 28 SCSPD1 ADJUST COMMAND S RATE DRIVE SCSPD1
132. 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y Do D7 DATA1 PORT 22 1 12 2 11128 277 ha WRITE DATA2 PORT L___ SCSPD2 DATA WRITE SCSPD2 RESET SLSPD SET SHSPD SET COMMAND DATA3 PORT WRITE DATA COMMAND dt SCSPD2 SLSPD SHSPD SLSPD x 2 1 SLSPD SET SHSPD SET COMMAND SCSPD2 SPEC INITIALIZE1 COMMAND DRIVE TYPE 2 SCSPD2 SCSPD1 SCSPD2 SHSPD SCSPD2 SCSPD1 SCSPD2 SCSPD1 SCSPD2 gt SHSPD SCSPD2 SHSPD 47 6 30 S RATE SCAN COMMAND COMMAND CW DRIVE CCW DRIVE S RATE SCAN DRIVE COMMAND 70n 71aWRITE 6 31 S RATE INCREMENTAL INDEX COMMAND COMMAND 72 S RATE IN
133. 3 OUT14 OUT15 00116 OUT17 PORT POWER ON RESET OFF NOT ACTIVE 4 22 0UT20 PORT 1 O O OUT20 OUT27 ON OFF PORT BIT OUT20 OUT27 PORT DATA PORT D7 De Ds D4 Dz Do 1 ON 0UT20 OUT21 OUT22 OUT23 OUT24 OUT25 OUT26 OUT27 PORT POWER ON RESET OFF NOT ACTIVE 4 23 OUT30 1 0 O OUT30 OUT37 ON OFF PORT BIT OUT30 OUT37 PORT DATA PORT D7 De Ds D4 D D D9 1 ON OUT30 OUT31 OUT32 OUT33 OUT34 OUT35 OUT36 OUT37 PORT POWER ON RESET OFF NOT ACTIVE 20 5 DR IVE 5 1 JOG DRIVE JOG COM
134. 4 5 10 11 12 9 4 X 7 2 ORG 0 lt 5 11 12 1 ADDRESS MCC05v FLAG FLAG ON OFFSET PULSE ABSOLUTE INDEX DRIVE 7 2 DRIVE FLAG OFF ABSOLUTE INDEX DRIVE DRIVE FLAG ON ORG DRIVE FLAG OFF RESET DRIVE FSSTOP DRIVE COMPARATOR DRIVE LIMIT LIMIT ORG DRIVE STOP DEND E
135. 5 D4 D3 D2 D D 1 XORG 0 HIGH 1 LOW XNORG XCWLM XCCWLM 0 0 XDEND XPO 0 LOW 1 HIGH XDEND XPO D STATUS DATA 15 4 10 STATUS3 PORT PULSE COUNTER COUNTER STATUS PORT D7 De Ds D4 D D D9 1 PLS COMP2 BIT PLS COMP3 BIT PLS COMP4 BIT PLS 5 BIT PLS OVF BIT DFL COMP1 BIT DFL COMP2 BIT L PLS COMP1 BIT PLS COMP1 BIT PULSE COUNTER COMPARE REGISTER1 2 PLS COMP2 PULSE COUNTER COMPARE REGISTER2 2 PLS COMP3 PULSE COUNTER COMPARE REGISTER3 2 PLS COMP4 PULSE COUNTER COMPARE REGISTER4 2 PLS COMP5 PULSE COUNTER REGISTER5 2 PLS OVF PULSE COUNTER
136. 5 7 S RATE SCAN DRIVE 5 8 S RATE INDEX DRIVE 5 9 S RATE DRIVE 510 26 SE 5 12 LIMIT 5 13 SERVO DRIVER 5 14 5 15 5 16 SPEED DATA Hz O O O O O O O O O O O O Ol Ol Oo 5 17 DRIVE TYPE 2 8 5 18 SPEED 2 8 5 19 DATA 2 8 DRIVE COMMAND 6 1 DRIVE COMMAND COMMAND 2 9 6 2 COMMAND COMMAND
137. C NG Y A AEA A A YEA Y A AEA A A Y B AEB A B YEB Y B AEB A B YZORG Y Z AZORG A Z A YZORG Y Z AZORG A Z N C N C FSSTOP X Y Z A X Y Z A N C N C DEND PO SERVO STEPPING P O 79 13 3 J2 O 10 30 11 31 12 32 13 33 14 34 15 35 16 36 17 37
138. COUNTER 0 COMPARE REGISTER1 COUNTER DATA1 2 3 PORT DATA COMPARE REGISTER1 61 8 4 1 b C d 2 a b COUNTER COUNT COUNTER MCCO05v gt PULSE COUNT DATA DRIVE DATA1 2 3 PORT DFL COUNTER PORT DATA 8 388 607 8 388 607 PULSE AREA COUNTER RESET 0 COUNTER COMMAND COUNTER PRESET COMMAND k 90 CW CCW 90 COUNT DFL COUNTER INITIALIZE COMMAND RESET 90 O 1
139. D UG amp cspd 0x1a OFFSET PULSE SET COMMAND xmccrdy outp XMCCDT3 offset outp XMCCCOM 0x1b ORG DELAY SET COMMAND xmccrdy outp XMCCDT1 outp XMCCDT2 outp XMCCDT3 outp XMCCCOM delay Sdelay jdelay 0x1c ORIGIN DRIVE COMMAND xmccrdy outp XMCCDT1 orgno outp XMCCCOM 0x1e UC amp lspd 2 UC amp lspd 1 UC amp hspd 2 UC amp hspd 1 UC amp cspd 2 UC amp cspd 1 X AXIS 5 RDY WAIT UP RATE No OUT DOWN RATE No OUT RATE SET COMMAND OUT X AXIS 5 RDY WAIT LOW SPEED DATA MSB SET LOW SPEED DATA LSB SET LSPD SET COMMAND OUT X AXIS 5 RDY WAIT HIGH SPEED DATA MSB SET HIGH SPEED DATA LSB SET HSPD SET COMMAND OUT X AXIS MCCO5 RDY WAIT CONSTANT SPEED DATA MSB SET CONSTANT SPEED DATA LSB SET CSPD SET COMMAND OUT X AXIS MCCO5 RDY WAIT OFFSET PULSE DATA OUT OFFSET PULSE SET COMMAND OUT X AXIS MCCO5 RDY WAIT LIMIT DELAY TIME OUT SCAN DELAY TIME OUT J0G DELAY TIME OUT ORG DELAY SET COMMAND OUT X AXIS MCCO5 RDY WAIT ORIGIN TYPE No OUT ORIGIN DRIVE COMMAND OUT RAM AREA urate drate RATE
140. D 3 3V AD 03 IDSEL AD 02 C BE 3 GND 3 3V AD 00 AD 23 AD 01 AD 22 5V 1 0 GND 5V 1 0 AD 20 RE864 AD 21 AGK64 GND 5V AD 19 5V AD 18 5V 3 3V 5V O 7 85 3 3V 5V 15 2 MAX2 6 6 MAX1 3 5 mm 181 n 2 9 JP1X JP1Y JP1Z JP1A SPEED gt JP6 JP7 JP8 JP9 RDYINT CNTINT DFLINT IOINT XYZA RDY RDY LED RDY INO IN1IN2IN3 IN LED ACTIVE OUTO OUT1 OUT2 OUT3 OUT LED ACTIVE
141. DEX DRIVE DRIVE DATA1 2 3 PORT PULSE DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y 112 28 r 282 L 2 PORT WRITE PULSE 0 FFFFFFn DATA2 PORT WRITE CCW PULSE 2 PULSE DATA3 PORT PULSE 10 DATA1 PORT DATA2 PORT DATA3 PORT WRITE 8 388 607 7Fa FFH FFH 10 00 00 0 COMMAND 72H 0 00 00 00 WRITE 10 FFH FFH F6n 8 388 607 80H 00H 01 6 32 S RATE ABSOLUTE INDEX COMMAND COMMAND 73 S RATE INDEX DRIVE DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT N TATUS1 BUSY 09 DATA1 PORT DATA2 PORT DATA3 PORT D7 D D7 D D7 p Y ZI 1 1I2s z jj L 2 DATA1 PORT WRITE ADDRESS 0 FFFFFFn DATA2 PORT WRITE ADDRESS
142. E SET SLSPD SET SHSPD SET SSRATE ADJUST SERATE ADJUST SCSPD1 ADJUST OO SO SO olol olol SCSPD2 ADJUST BX 27 DOWN POINT SET S RATE SCAN S RATE SCAN S RATE INCREMENTAL INDEX S RATE ABSOLUTE INDEX DRIVE CALCULATE SRATE DRIVE CALCULATE BX 27 20 2 COMMAND COMMAND ERROR STATUS READ COMMAND COMMAND 4 S D7D DSD D D2D D HEX CODE COMMAND SIGNAL OUT INDEX CHANGE RATE CHANGE DRST OUT SPEED CHANGE INT MASK ADDRESS COUNTER PORT SELECT DFL COUNTER PORT SELECT PULSE COUNTER PORT SELECT SPEED PORT SELECT SLOW STOP
143. ET SRATE S RATE DRIVE SRATE SET PULSE ADDRESS S RATE INDEX DRIVE SLSPD SHSPD SHSPD DRIVE 24 5 9 S RATE DRIVE S RATE DRIVE S RATE DRIVE SSRATE SERATE SCSPD1 SCSPD2 4 SRATE SLSPD SHSPD MCC05vz COMMAND Hz SHSPD SCSPD2 2 1 SERATE SERATE 1 SCSPD1 2 SLSPD 1 ssRArE SRATE SRATE SSRATE 1 t DATA COMMAND SSRATE SSRATE ADJUST SERATE SERATE ADJUST SCSPD1 RATE RATE SPEED SCSPD1 ADJUST SCSPD2 RATE RATE SPEED SCSPD2 ADJUST 1 SSRATE DATA SLSPD SCSPD1
144. INK20mA i 1 XDRSTCOM XDRST 24V COM 2 COM E GND LE 2 81 14 14 1 DRIVER PULSE COM 1 CW CCW DRIVER X a TTL J1 x COM r 0 15SQ W MA sel le yK XCWP CW CCW WA yK XCCWP O O CCW C 875 DBIVEBSI b J1 XCWD 17 0 15SQ 18 X XCWP oOo CW XCCWP 19 CCW WW XCCWP 20 CC
145. LAY SET COMMAND 6 21 ORIGIN FLAG RESET COMMAND DRIVE FLAG RESET COMMAND DRIVE ABSOLUTE INDEX DRIVE 7 COMMAND 10 COMMAND ORIGIN COMMAND WRITE 43 6 22 ORIGIN COMMAND DRIVE DRIVE DATA1 PORT ORG ORG 0 00n ORG 1 01 ORG 2 pp 02 Y ORG 3 ee 03h DATAT PORT OC WRITE ORG 5 ee ORG 10 OAn COMMAND 1En ORG 11 WRITE ORG 12 ieee OCH DATA COMMAND ERROR DRIVE STATUS1 DREND BIT 1 LSEND SSEND FSEND BIT 0 04n ERROR LSEND SSEND FSEND 1 DRIVE RESET
146. LOW SPEED DRIVE DATA1 2 3 PORT LSPD Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D7 Do D7 D D7 D PORT 122 L 1 27 2 L 12 2 1 1112 WRITE DATA2 PORT LSPD DATA WRITE LSPD DATA 10 0An gt 3 333 333 32DCD5a DATA3 PORT WRITE LSPD SET COMMAND 1 COMMAND 07 POWER ON RESET LSPD 300Hz WRITE DATA DRIVE TYPE 5 17 SPEED 36 6 11 HSPD SET COMMAND DRIVE HSPD HIGH SPEED DRIVE DATA1 2 3 PORT HSPD Hz 3 DATA DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y D7 D D7 Do D7 PORT gt 2 2 r 12 2 1 12 WRITE _ j DATA2 PORT HSPD DATA WRITE HSPD DATA
147. MAND 1PULSE DRIVE JOG COMMAND XCWP XCCWP JOG COMMAND XCWP XCCWP JOG DRIVE DATA 5 2 SCAN DRIVE SCAN COMMAND DRIVE 5 10 5 11 5 12 HSPD LSPD URATE DRATE gt 1 SCAN COMMAND asas aa i XCWP l XCCWP SCAN COMMAND XCWP XCCWP L SCAN DRIVE DATA DATA COMMAND HSPD HIGH SPEED HSPD SET LSPD LOW SPEED LSPD SET URATE RATE SET DRATE RATE SET LSPDHSPD HSPD DRIVE 5 3 INDEX DRIVE INCREMENTAL INDEX COMMAND ABSOLUTE INDEX COMMAND PULSE ADDRESS DRIVE Hz HSPD PULSE ADDRESS LSPD URATE DRATE gt t CW
148. ND COMMAND COMMAND STATUS1 SPEC INITIALIZE1 COMMAND 6 4 gt 9 kg 12 13 CNTINT TIMING INTA XCNTINT STATUS COMP1 COMP5 TIMING 1 PULSE COUNTER INITIALIZE COMMAND G CNTINT LATCH TRIGGER TYPE 0 PLS COMPARE REGISTER 7 8 X 9 X 1 11 12 IOR STATUS3 XCNTINT gt gt 1 gt COMP1 5 sTATUsahcovp1 5 H COMPARE REGISTER SET COMMAND 10 XCNTINT XCNTINT STATUS3 PORT STATUS3 PORT READ
149. ND 04 COMPARE REGISTER4 SET COMPARE REGISTER1 SET COMMAND 9 7 PULSE COUNTER COMPARE REGISTER5 SET COMMAND COMMAND 05 COMPARE REGISTER5 SET COMPARE REGISTER1 SET COMMAND 9 8 COUNTER PRESET COMMAND COMMAND 06 COUNTER COUNT PULSE COUNTER PRESET COMMAND RESET 0 65 9 9 COUNTER COMPARE REGISTER1 SET COMMAND COMMAND 07 COUNTER COMPARE REGISTER1 SET COUNTER DATA1 2 3 PORT COMPARE DATA 1 COUNTER PORT WRITE COUNTER DATA1 2 3 PORT COUNTER DATA2 DATA1 PORT DATA2 PORT DATA3 PORT PORT WRITE BR D D D D 012 11129 2 2 he L 1 122 COUNTER DATA3 PORT WRITE COMPARE DATA 0 7FFFFFn COUNTER COMMAND 07 WRITE 0 2 RESET
150. NTER PORT A AXIS COUNTER DATA2 PORT A AXIS COUNTER DATA3 PORT A AXIS MCCO5 STATUS1 PORT A AXIS MCCO5 STATUS2 PORT A AXIS MCCO5 STATUS3 PORT A AXIS MCCO5 STATUS4 PORT A AXIS MCCO5 STATUS5 PORT GENERAL PURPOSE INPUT PORT GENERAL PURPOSE OUTPUT PORT 1 0 INT SET PORT IN10_20INT STATUS PORT IN30_40INT STATUS PORT IN10_17 PORT IN20_27 PORT IN30_37 PORT IN40_47 PORT OUT10_17 PORT OUT20_27 PORT OUT30_37 PORT MCC05v 2 RDY PROGRAM define xmccrdy while inp MCCST1 amp 0x01 define ymccrdy while inp YMCCST1 amp 0x01 define zmccrdy while inp ZMCCST1 amp 0x01 define amccrdy while inp AMCCST1 amp 0x01 X AXIS MCCO5 READY WAIT Y AXIS MCCO5 READY WAIT Z AXIS MCCO5 READY WAIT A AXIS MCCO5 READY WAIT PROGRAM RAM AREA AREA US UC UC UL UL UL long UC UC UG UG UG PROGRAM lspd hspd cspd absdt orgno offset Idelay sdelay jdelay 88
151. ORT DATA3 PORT Y D7 D WRITE DATA2 PORT PULSE 0 FFFFFFa WRITE CCW PULSE 2 DATA3 PORT WRITE PULSE PULSE 10 PORT DATA2 PORT DATA3 PORT COMMAND 14 8 388 607 FFH WRITE 10 00 00 OAn 0 00 00 00 10 FFH FFH F6n 8 388 607 80 00 01 41 6 17 ABSOLUTE INDEX COMMAND INDEX DRIVE DRIVE DATA1 2 3 PORT ADDRESS DRIVE DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT Y WRITE DATA2 PORT ADDRESS 0 FFFFFFn WRITE ADDRESS 2 DATA3 PORT WRITE ADDRESS ADDRESS 10 DATA1 PORT DATA2 PORT DATA3 PORT COMMAND 15 8 388 607 7 FFa FFa WRITE 10 00 00n 0 0 00 00 00 10 FF h FFa F6n 8 388 607 80 00n 01 6 18 CSPD SET COMMAND COMMAND 1
152. RATE SLSPD SET SHSPD SET COMMAND SCSPD2 SLSPD SHSPD SLSPD SCSPD1 SCSPD2 SHSPD 1 SCSPD2 SCSPD1 SCSPD2 SCSPD1 SCSPD2 gt SHSPD SCSPD2 SHSPD 2 SLSPD SET SHSPD SET COMMAND SCSPD2 SPEC INITIALIZE1 COMMAND DRIVE TYPE ME 5 10 SLOW STOP COMMAND PULSE PULSE SSEND 1 5 11 19 FSSTOP FAST STOP COMMAND PULSE PULSE
153. RROR ORIGIN ERROR ORG DRIVE ORG DRIVE ADDRESS 8 388 607 8 388 607 ORIGIN FLAG RESET COMMAND SPEC INITIALIZE4 COMMAND FLAG ON ADDRESS MCCO05v 2 USER ADDRESS INITIALIZE COMMAND ADDRESS ADDRESS ADDRESS ORG ORG 0 lt 3 11 12 OFFSET PULSE ADDRESS ORG 4 5 NORG OFFSET PULSE ADDRESS OFFSET PULSE 0 lt 255PULSE OFFSET PULSE SET COMMAND RESET OFFSET PULSE 0 ADDRESS ORIGIN FLAG RESET COMMAND FLAG 7 1
154. SSEND BIT FSEND BIT 0 COMMAND 1 DRIVE DATA COMMAND COMMAND BUSY BIT 0 COMMAND 6 2 BUSY BIT 1 1 DRIVE 1 DRIVE 1 3 BIT COMMAND RESET COMMAND DATA ERROR 1 3 ERROR ERROR STATUS READ COMMAND COMMAND RESET BIT O 3 DRIVE BIT 1 CWLM CCWLM DRIVE BIT 0 PULSE CWLM CCWLM SOFT LIMIT
155. ST XDEND STATUS1 DRIVE STATUS1 BUSY 2 3 t4 t5 lt gt lt gt lt gt lt 11274005 t3 10ms 156 lt 20 5 12 26x s 4 14 lt 15 5 24 s DRST DEND ON 1 FAST STOP COMMAND 2 COMMAND 3 FAST STOP COMMAND PULSE 1PULSE PULSE 4 PULSE 10 2 T 2 T 12 10 LIMIT TIMING 1 LIMIT STEPPING MOTOR CW DRIVE XCWLM VFIWUD lr XWP LI LI LI LI LI STATUS1 DRIVE STATUS1 BUSY t1 12 Jt3 2 6000 5 12 lt 38 5 42 s t3 207 s 1 LIMIT PULSE DRIVE 1PULSE DRIVE PULSE 2 LIMIT 12 8 12 9 TIMING FSSTOP CWLM CCWLM
156. T ADDRESS DATA1 2 3 PORT DATA1 PORT DATA2 PORT DATA3 PORT D 22 2 1 127 2 ao ADDRESS 0 FFFFFFn ADDRESS 2 ADDRESS ADDRESS 10 DATA1 PORT DATA2 PORT DATA3 PORT 8 388 607 TFH FFH FFH 10 00 00 OAn 0 00 00 00 10 FF h FFH F6H 8 388 607 80 00 01 COMMAND COMMAND ADDRESS DATA ADDRESS COUNTER COUNT DATA 6 39 DATA READ DRIVE DATA1 3PORT DRIVE DATA1 2 3 PORT PULSE COUNTER COUNTER PORT PORT ADDRESS READ COMMAND PORT PORT ADDRESS DATA PORT ADDRESS DATA PORT DRIVE DATA3 PORT READ
157. T DRIVE DATA1 2 3 PORT PULSE COUNTER COUNT DATA READ PORT DRIVE DATA1 2 3 PORT COMMAND COMMAND READ DATA PORT DRIVE DATA3 PORT READ COMMAND DRIVE DATA3 PORT READ ADDRESS READ SET DATA READ ERROR STATUS READ SERIAL INDEX CHECK 6 37 SLOW STOP COMMAND COMMAND FEn DRIVE DRIVE DRIVE COMMAND BUSY 0 DRIVE 1 DRIVE 0 6 38 FAST STOP COMMAND COMMAND FFa DRIVE DRIVE COMMAND
158. T XNORG _ HSPD HIGH SPEED Hspp _ CSPD CONSTANT SPEED LD LIMIT DELAY gt cspp 9 SD SCAN DELAY TIME JOG DELAY TIME lt Hspp O A 1 Hspg cspD4 spo iOcspp Usp 1 56 2 ORG a 1ORG HIGH OFF XORG LOW ON XNORG XNORG b b XORG XORG cspp 1 lt sp lt sp Jp I i 55 2 XNORG CW a XORG CCW b NORG 1 CCW ORG 7 8 ORG 10 CCW LIMIT CW LIMIT HSPD HIGH SPEED b CSPD CONSTANT SPEED XORG J LD LIMIT DELAY TIME aspp SD SCAN DELAY TIME O cspD 9 A i DELAY TIME HSPD LD Hspp Oospb Jasu
159. T PORT PORT PORT PORT PORT DATA1 PORT DATA2 PORT DATA3 PORT COUNTER COMMAND PORT PORT PORT PORT PORT PORT PORT PORT PORT defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi defi void void void void void ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne AMCCCOM AMCCDT1 AMCCDT2 AMCCDT3 ACNTCOM ACNTDT1 ACNTDT2 ACNTDT3 AMCCST1 AMCCST2 AMCCST3 AMCCST4 AMCCST5 IOIN 100UT INTSET INT12ST INT34ST IN10 IN20 IN30 IN40 OUT10 OUT20 OUT30 iobase 0x30 iobase 0x31 iobase 0x32 iobase 0x33 iobase 0x34 iobase 0x35 iobase 0x36 iobase 0x37 iobase 0x30 iobase 0x34 iobase 0x35 iobase 0x36 iobase 0x37 iobase 0x60 iobase 0x60 iobase 0x61 iobase 0x64 iobase 0x65 iobase 0x68 iobase 0x69 iobase 0x6A iobase 0x6B iobase 0x6C iobase 0x6D iobase 0x6E xmcc05inz void xjog void xscan void xabsindex void xorg void A AXIS MCCO5 COMMAND PORT A AXIS MCCO5 DATA1 PORT A AXIS MCCO5 DATA2 PORT A AXIS MCC05 DATA3 PORT A AXIS COUNTER COMMAND PORT A AXIS COU
160. TCOM O 24V lt RESET MW 22 24V sN XDRST O O RESET 4 SERVO DRIVER Z 29 XZORG XZORG O 2 59 2 C 875 Mm 3425 14 2 LIMIT 1 LIMIT X J1 EXTV G 14 1 XCWLM o xccwLM 042 24VP S FSSTOP o C 875 FSSTOP LIMIT ACTIVE OFF ACTIVE PULSE 2 LIMIT X CCW 0 ON J1 PM K53B EXTV 1 PM L53B 1 PM T53B XCWEM gt EE SPX401 9 XCCWLM ves 25 SX670 C 875 14 3 1 ORG 0 ORG 1 ORG 2 ORG 3 X CCW OFF 7 0 ORG 7 14 EX
161. TER INITIALIZE COMMAND OUTPUT TYPE COMPARATOR 5 PULSE COUNTER COMPARATOR 2 DFL COUNTER COMPARATOR PULSE DFL PULSE DFL COUNTER INITIALIZE COMMAND INT COUNTER COMMAND 50ns OFF INT STATUS3 PORT PULSE DFL COMPARATOR INT PULSE DFL COUNTER INITIALIZE COMMAND INT MASK COUNTER INITIALIZE COMMAND PULSE
162. TERN 0 ss PULSE COUNTER PULSE COUNTER INITIALIZE COMMAND o 24BIT PULSE COUNTER INITIALIZE COMMAND INT CONTROL PULSE COUNTER PRESET COUNTER COMMAND COUNT DATA N PULSE COUNTER INITIALIZE COMMAND N 24BIT COMPARATOR x 5ch WRITE PORT L O O O O 24BIT COMPARE REGISTER x 5ch COMP1 5 REG SET COUNTER COMMAND DFL COUNTER COUNT PATTERN TYPE DFL COUNTER Ea INITIALIZE COMMAND DFL COUNTER PRESET INITIALIZE COMMAND COUNTER COMMAND 24BIT COUNTER gt OUTPUT ADRS DFL PULSE COUNTER PORT SELECT COMMAND INT CONTROL DFL COUNTER INITIALIZE COMMAND Q Q 24BIT COMPARE REGISTER x 2ch COMP1 2 REG SET COUNTER COMMAND ADDRESS DATA Er p t ADDRESS COUNTER ADDRESS INITIALIZE COMMAND gt DRIVE DATA 3 SELECTOR DATA1 2 3 gt READ PORT 1 24BIT COMPARATORx2ch gt gt XDFLINT OUTPUT DRIVE 24BIT DATA DATA1 2 3 60 WRITE PORT 8 2
163. TINT BIT 0 XCNTINT 1 XCNTINT 2 COMP2 STOP D 1 COMPARE REGISTER2 PULSE BIT 0 1 3 COMP3 INT ENABLE COMPARE REGISTER3 XCNTINT BIT 0 XCNTINT 1 XCNTINT 4 COMP3 STOP TYPE D3 COMPARE REGISTER3 PULSE BIT 0 1 5 COMP4 INT ENABLE D COMPARE REGISTER4 XCNTINT BIT 0 XCNTINT 1 XCNTINT 6 COMP4 STOP TYPE D5 COMPARE REGISTER4 PULSE BIT 0 1 7 COMP5 INT ENABLE D COMPARE REGISTER5 XCNTINT BIT 0 XCNTINT 1 XCNTINT 8 COMP5 STOP TYPE D7 COMPARE REGISTER5
164. TV O XNORG n 4 r m XORG o 24VP S XZORG 29 XZORG XZORG XZORG 3 C 875 83 PM K53 PM L53 PM T53 EE SPX301 EE SX670y 7 2 STEPPING DRIVERO ORG 4 ORG 5 X CCW NORGty NORG OFF ORG ON PM K53 PM K53B MM PM L53 PM L53B XNORG PM T53 PM T53B ZORG EE SPX301 EE SPX401 EE SX670 EE SX670 24VP S XZORG XZORG XZORG XZORG C 875 3 SERVO DRIVER ORG 4 ORG 5 X CCW CW NORG OFF PM K53 PM L53 XNORG PM T53 EE SPX301 XORG XORG lt 24VP S SS 2 2 C 875 4 ORG 10 X CCW
165. USER PULSE PULSE C 875 Li C 875 FSSTOP MCC05vs DATA 4 ILIMIT PULSE 2 C 875 MCC05vzs RESET gt FSSTOP gt LIMIT 1
166. W Wa 31 C 875 3455 DRIVERBJ 2 STEPPING DRIVER X c 12 O P 0 C 875 2 24veNp DRIVER STEPPING DRIVER XDRST XZORG XZORG XPO 3 SERVO DRIVER J1 0 15SQ XDRSTCOM 5221 TRESET 129 2 5 X 5V 3 sz XDRST O O RESET XpENp o 1 23 END 1 24VGND XZORG 0129 O Z 340 4 XZORG C 7 XEA 025 A m IX X K xEA 0128 XEB O lt 4 0428 C 875 9 DRIVER 1 3 82 2 DRIVER 150 Q 150Q 3 SERVO DRIVER RESET 24V XDRS
167. ase 0x17 iobase 0x10 iobase 0x14 iobase 0x15 iobase 0x16 iobase 0x17 iobase 0x20 iobase 0x21 iobase 0x22 iobase 0x23 iobase 0x24 iobase 0x25 iobase 0x26 iobase 0x27 iobase 0x20 iobase 0x24 iobase 0x25 iobase 0x26 iobase 0x27 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 Y AXIS Y AXIS Y AXIS Y AXIS Y AXIS Y AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS Z AXIS MCC05 COMMAND PORT MCCO5 DATA1 PORT MCC05 DATA2 PORT MCC05 DATA3 PORT COUNTER COMMAND PORT COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 MCCO5 STATUS1 MCCO5 STATUS2 MCCO5 STATUS3 MCC05 STATUS4 MCCO5 STATUS5 MCCO5 MCC05 MCCO5 MCCO5 COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 MCCO5 STATUS1 MCC05 STATUS2 MCCO5 STATUS3 MCCO5 STATUS4 MCCO5 STATUS5 MCC05 MCCO5 MCCO5 MCCO5 COMMAND COUNTER DATA1 COUNTER DATA2 COUNTER DATA3 MCC05 STATUS1 MCC05 STATUS2 MCC05 STATUS3 MCC05 STATUS4 MCC05 STATUS5 PORT PORT PORT PORT PORT PORT PORT PORT PORT DATA1 PORT DATA2 PORT DATA3 PORT COUNTER COMMAND PORT PORT PORT PORT POR
168. s 5 lt 20 5 t3 lt 93 5 101 5 t1 lt 150ns 12 1 3ms 630 400 4 lt 35 5 44 s L TYPE 15 lt 18 5 s M TYPE s H TYPE 3 12 220 5 1 ABSOLUTE INDEX DRIVE ADDRESS RETURN DRIVE CCW DRIVE IOW XCCWP STATUS1 DRIVE STATUS1 BUSY COMMAND HHLH 69 t1 150ns 2 lt 70 5 13 lt 82 5 2 ABSOLUTE INDEX DRIVE ADDRESS RETURN DRIVE CCW DRIVE IOW LI 1 URATE DRATE COMMAND t1 150ns 12 71w s XCCWP 3 lt 93 5 STATUS1 2 URATE DRATE DRIVE t1 150ns 12 1 3ms L TYPE STATUS1 630 s M TYPE BUSY 400 s H TYPE t1 13 12 22 5 t2 t3 gt 12 5 SPEED CHANGE TIMING IOW 1 COMMAND STATUS5 CHANGE BUSY t1 lt 200ns 51u s 12 53ms 11 2 t2 CHANGE COMMAND RATE MODE RATE No MODE RATE DATA
169. t2 CHANGE COMMAND PULSE 2 12 PULSE 70 12 6 DEND TIMING 1 SERVO MOTOR CW DRIVE XDEND XCWP LL STATUS1 DRIVE STATUS1 BUSY t1 SERVO DRIVER 12 61 s t3 20 s SERVO MOTOR DRIVE 0 DEND 0 DRIVE 2 SERVO MOTOR DEND ACTIVE STEPPING MOTOR CW DRIVE XDEND _ XCWP STATUS1 DRIVE STATUS1 BUSY 11 lt 33 5 41 s 12 lt 20 5 STEPPING MOTOR DEND 0 1 DRIVE 0 STEPPING MOTOR 12 7 TIMING STEPPING MOTOR CW DRIVE
170. v2 1 2 32BIT BUS 8 BIT 5 V 3 3MHz 3 PCI Configuration Register 31 16 15 010ffset Device ID 1090h Vendor ID 152Eh 00h Status Command 04h Base Class OEh Sub Class 80h Prog 1 00h Revision ID 00h 08h BIST Header Type 00h Latency Timer Cache Line Size 0Ch Base Address Register O 10h Base Address Register 1 C 875 Base Address 14h Base Address Register 2 18h 1Ch Reserved 20h 24h Cardbus CIS Pointer 28h Subsystem ID 00h Subsystem Vendor ID 00h 2Ch Expansion ROM Base Address 30h Reserved 34h Reserved 38h Max_Lat Min_Gnt Interrupt 01 Interrupt Line 3Ch 4 INTA STATUS PORT READ 5 5V SHORT CARD 107mmx170mmx17mm 3 2 1 DRIVE 1PULSE DRIVE SCAN DRIVE INDEX PULSE ADDRESS DRIVE ORIGIN DRIVE 9 S RATE SCAN SCAN S
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