- v -
11. Description of the Functions............................................................................................................. 96
11-1. Reset...................................................................................................................................... 96
11-2. Position override..................................................................................................................... 97
11-2-1. Target position override 1................................................................................................ 97
11-2-2. Target position override 2 (PCS signal) ........................................................................... 98
11-3. Output pulse control ............................................................................................................... 99
11-3-1. Output pulse mode ......................................................................................................... 99
11-3-2. Control the output pulse width and operation complete timing ....................................... 100
11-4. Idling control......................................................................................................................... 101
11-5. Mechanical external input control.......................................................................................... 102
11-5-1. +EL, -EL signal ............................................................................................................. 102
11-5-2. SD signal ...................................................................................................................... 102
11-5-3. ORG, EZ signals........................................................................................................... 105
11-6. Servomotor I/F .................................................................................................................... 106
11-6-1. INP signal ..................................................................................................................... 106
11-6-2. ERC signal ................................................................................................................... 107
11-6-3. ALM signals.................................................................................................................. 108
11-7. External start, simultaneous start .......................................................................................... 109
11-7-1.
signal ........................................................................................................... 109
11-7-2. PCS signal.................................................................................................................... 110
11-8. External stop / simultaneous stop...........................................................................................111
11-9. Emergency stop ................................................................................................................... 112
11-10. Counter .............................................................................................................................. 113
11-10-1. Counter type and input method ................................................................................... 113
11-10-2. Counter reset .............................................................................................................. 115
11-10-3. Latch the counter and count condition ......................................................................... 116
11-10-4. Stop the counter ..........................................................................................................117
11-11. Comparator..........................................................................................................................118
11-11-1. Comparator types and functions ...................................................................................118
11-11-2. Software limit function ................................................................................................. 122
11-11-3. Out of step stepper motor detection function................................................................ 123
11-11-4. IDX (synchronous) signal output function..................................................................... 124
11-11-5. Ring count function ..................................................................................................... 125
11-12. Backlash correction and slip correction ............................................................................... 126
11-13. Vibration restriction function................................................................................................ 127
11-14. Synchronous starting .......................................................................................................... 128
11-14-1. Start triggered by another axis stopping ...................................................................... 129
11-14-2. Starting from an internal synchronous signal ............................................................... 132
11-15. Output an interrupt signal.................................................................................................... 135
12. Electrical Characteristics................................................................................................................ 138
12-1. Absolute maximum ratings ................................................................................................... 138
12-2. Recommended operating conditions..................................................................................... 138
12-3. DC characteristics ................................................................................................................ 139
12-4. AC characteristics 1) (reference clock) ................................................................................. 139
12-5. AC characteristics 2) (CPU I/F)............................................................................................. 140
12-5-1. CPU-I/F 1) (IF1 = H, IF0 = H) Z80................................................................................. 140
12-5-2. CPU-I/F 2) (IF1 = H, IF0 = L) 8086................................................................................ 141
12-5-3. CPU-I/F 3) (IF1 = L, IF0 = L) H8.................................................................................... 142
12-5-4. CPU-I/F 4) (IF1 = L, IF0 = L) 68000 .............................................................................. 143
12-6. Operation timing................................................................................................................... 144
13. External Dimensions...................................................................................................................... 146
Appendix: List of various items ............................................................................................................ 147
Appendix 1: List of commands ........................................................................................................ 147
Appendix 2: Setting speed pattern .................................................................................................. 149
Appendix 3: Label list...................................................................................................................... 153
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