Stepping & Servo Motor Controller

C-872
Instructions Manual(For designers' use)

Please ensure to read and understand thisInstructions Manual before using the Product.
Please keep this Instructions Manual at handso that it is always available for reference.

PR0777-2

Introduction
This User's Manual describes the method of dealing with "STEPPING AND SERVO MOTOR CONTROLLER C‑872",
which set weight in specification in order to have a product used safely correctly for the designerof the control system using the stepping motor or servo motor.
Before using this product, carefully read this User's Manual to have a sufficient understandingof the functions.
Keep this User's Manual on hand so that you can refer to it whenever you want.

Description of Safety
Correct operation procedures are essential.
If you use in a wrong way, an unexpected accident may occur to cause personal injuries
or damage of your properties.
Many of the possible accidents can be avoided if you have a preliminary knowledge about
dangerous situations. For this purpose, this User's Manual describes the precautions if
any dangerous situation can be anticipated.
Such descriptions are given in terms of the following symbols and signal words.

WARNING

Death or serious injury may be caused byincorrect handling.

CAUTION

Slight injury or damage of your properties
may be caused by incorrect handling.

Before use■ This product is not designed for use in the equipment related to nuclear power,
aerospace equipment, vehicles, marine vessels, medical equipment directly intouch with human body, equipment anticipated to give a serious impact toproperties, and other equipment required to provide high reliability.
■ If connection which was mistaken for this product is made, this product has a possibility of damaging.
Please make connection carefully. Refer to the 14. chapters for detailed contents.
■ This product is provided with a LIMIT (overtravel) signal to prevent mechanicaldamage.
This signal is an ACTIVE OFF input. Accordingly, even if the system does not
use the LIMIT signal, connect an external power supply for coupler so that the
LIMIT signal may be put into the NORMAL ON state to output pulses.
For details, refer to 14‑2.
■ This product is surely used for within this description of the specification methodof this manual, and the limits of specification.
■ Before connecting this product to the expansion slot, certain setting operations must
be done for the circuit board. Refer to the following sections for the setting:
４−２．
１０．
１１．
１５−２．

Board identifier port
Initial Specification
Interrupts
Board Shape and Dimensions

page １４
page ６５
page ６６
page ８５■ For details of applied functions referred to in this manual, see the separately issued
the User's Manual [Applied Functions Part].

‑ 2 ‑Ｃｏｎｔｅｎｔｓ
Page.
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１．ＯＶＥＲＶＩＥＷ
２．ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ
2‑1. Function Block Diagram
2‑2. Description of Blocks

７８

３．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ
3‑1. PCI bus Specification
3‑2. Basic Functions
3‑3. Ratings
3‑4. Options
3‑5. Applied Functions

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９
１０
１０
１１

４．ＳＥＴＴＩＮＧ Ｉ／Ｏ ＰＯＲＴＳ
4‑1. I/O Port Table
4‑2. Setting the board identifier port and rotary switch
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
4‑11. STATUS4 PORT
4‑12. STATUS5 PORT
4‑13. General‑purpose I/O PORT

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５．ＤＥＴＡＩＬＳ ＯＦ ＤＲＩＶＥ ＦＵＮＣＴＩＯＮＳ
5‑1. JOG DRIVE Function
5‑2. SCAN DRIVE Function
5‑3. INDEX DRIVE Function
5‑4. Drive Speed Change Function
5‑5. Machine Origin Detecting Function (ORIGIN DRIVE)
5‑6. Machine Origin Detecting Function Using Limit Sensor
5‑7. S‑RATE SCAN DRIVE Function
5‑8. S‑RATE INDEX DRIVE Function
5‑9. S‑RATE DRIVE Parameter Adjusting Function
5‑10 Slow Stop Function
5‑11. Fast Stop Function
5‑12. LIMIT Stop Function
5‑13. Function for Servo Driver
5‑14. Current Position Reading Function
5‑15. Interrupt Request Function
5‑16. Speed Data Hz Unit Setting Function
5‑17. DRIVE TYPE Switching Function
5‑18. Present Speed Reading Function
5‑19. Set Data Reading Function

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‑ 3 ‑

６．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ ＦＵＮＣＴＩＯＮ ＤＲＩＶＥ
ＣＯＭＭＡＮＤＳ ＡＮＤ ＯＰＥＲＡＴＩＯＮ ＳＥＱＵＥＮＣＥＳ
6‑1. Basic Function DRIVE Command Table２７
6‑2. Special Command Table
２８
6‑3. NO OPERATION Command
２８
6‑4. SPEC INITIALIZE1 Command
２９6‑5. PULSE COUNTER INITIALIZE Command
３０6‑6. ADDRESS INITIALIZE Command
３３
6‑7. ADDRESS READ Command
３３
6‑8. SERVO RESET Command
３４
6‑9. RATE SET Command
３４
6‑10. LSPD SET Command
３４
6‑11. HSPD SET Command
３５
6‑12. DFL COUNTER INITIALIZE Command
３６
6‑13. SET DATA READ Command
３８
6‑14. +/‑JOG Command
３９6‑15. +/‑SCAN Command
３９6‑16. INCREMENTAL INDEX Command
３９6‑17. ABSOLUTE INDEX Command
４０
6‑18. CSPD SET Command
４０
6‑19. OFFSET PULSE SET Command
４１
6‑20. ORIGIN DELAY SET Command
４１
6‑21. ORIGIN FLAG RESET Command
４１
6‑22. ORIGIN Command
４２
6‑23. SRATE SET Command
４２
6‑24. SLSPD SET Command
４３
6‑25. SHSPD SET Command
４３
6‑26. SSRATE ADJUST Command
４４
6‑27. SERATE ADJUST Command
４４
6‑28. SCSPD1 ADJUST Command
４５
6‑29. SCSPD2 ADJUST Command
４５6‑30. +/‑S‑RATE SCAN Command
４６
6‑31. S‑RATE INCREMENTAL INDEX Command
４６
6‑32. S‑RATE ABSOLUTE INDEX Command
４６
6‑33. ERROR STATUS READ Command
４７
6‑34. SPEED CHANGE Command
４７
6‑35. INT MASK Command
４８
6‑36. PORT SELECT Command
４９6‑37. SLOW STOP Command
４９6‑38. FAST STOP Command
４９6‑39. COUNTER READ
５０
6‑40. SPEED READ
５０
７．ＭＡＣＨＩＮＥ ＯＲＩＧＩＮ ＤＥＴＥＣＴＩＮＧ
7‑1. Machine Origin Detection Types
7‑2. ORG‑0 Type7‑3. ORG‑1 Type
7‑4. ORG‑2 Type7‑5. ORG‑3 Type7‑6. ORG‑4 Type7‑7. ORG‑5 Type7‑8. ORG‑10 Type
7‑9. ORG‑11 Type7‑10. ORG‑12 Type
7‑11 Sensor Arrangement
7‑12. Detecting Conditions
7‑13. Other Functions‑ 4 ‑ＦＵＮＣＴＩＯＮ
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８．ＤＥＴＡＩＬＳ ＯＦ ＣＯＵＮＴＥＲ
8‑1. Function Block Diagram
8‑2. ADDRESS COUNTER Function
8‑3. PULSE COUNTER Function
8‑4. DIFFERENTIAL COUNTER Function
8‑5. Details of COMPARATOR Function

ＦＵＮＣＴＩＯＮＳ
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９．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＰＵＬＳＥ ＣＯＵＮＴＥＲＤＩＦＦＥＲＥＮＴＩＡＬ ＣＯＵＮＴＥＲ ＣＯＭＭＡＮＤ
9‑1. Command Table
9‑2. PULSE COUNTER PRESET Command
9‑3. PULSE COUNTER COMPARE REGISTER1 SET Command
9‑4. PULSE COUNTER COMPARE REGISTER2 SET Command
9‑5. PULSE COUNTER COMPARE REGISTER3 SET Command
9‑6. PULSE COUNTER COMPARE REGISTER4 SET Command
9‑7. PULSE COUNTER COMPARE REGISTER5 SET Command
9‑8. DFL COUNTER PRESET Command
9‑9. DFL COUNTER COMPARE REGISTER1 SET Command
9‑10. DFL COUNTER COMPARE REGISTER2 SET Command
１０．ＩＮＩＴＩＡＬＡＮＤ

ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ ＴＡＢＬＥ

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１１．ＩＮＴＥＲＲＵＰＴＳ
11‑1. Interrupt Request Signals upon Termination of Command
11‑2. Interrupt Request Signal from PULSE COUNTER and DFL COUNTER
11‑3. Interrupt Pin Arrangement
11‑4. Precautions on Using Interrupts

６６
６６
６６
６６

１２．ＴＩＭＩＮＧ
12‑1. JOG DRIVE Timing
12‑2. SCAN DRIVE/S‑RATE SCAN DRIVE Timing
12‑3. INDEX DRIVE/S‑RATE INDEX DRIVE Timing
12‑4. ORIGIN DRIVE Timing
12‑5. SPEED CHANGE TIMING
12‑6. DEND Signal Confirmation Timing
12‑7. SLOW STOP Timing
12‑8. FAST STOP Timing (1)12‑9. FAST STOP Timing (2)12‑10.LIMIT STOP Timing
12‑11.EA/EB Clock Input Timing
12‑12.RDYINT Timing
12‑13.CNTINT Timing
12‑14.DFLINT Timing
12‑15.RESET Timing
12‑16.BUS Timing

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１３．ＵＳＥＲ ＣＯＮＮＥＣＴＯＲ ＡＮＤ Ｉ／Ｏ
13‑1. User Connector J1, 2 Pin Arrangement
13‑2. J1 Signal Table
13‑3. J2 Signal Table
13‑4. I/O Circuit

ＣＩＲＣＵＩＴ
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１４．ＣＯＮＮＥＣＴＩＯＮＳ
14‑1. Connection to the Driver
14‑2. Connection Examples of a LIMIT Switch or Sensor
14‑3. Connection Example of the Origin Sensor

８１
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８２

１５．ＢＯＡＲＤ ＥＤＧＥ ＣＯＮＮＥＣＴＯＲ
ＡＮＤ ＢＯＡＲＤ ＳＨＡＰＥ
15‑1. Board Connector(CN1) Signal Table
15‑2. Board Shape and Dimensions

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‑ 5 ‑

１６．ＣＯＮＴＲＯＬ ＰＲＯＧＲＡＭ ＥＸＡＭＰＬＥＳ
16‑1. INITIALIZE Program Example
16‑2. JOG DRIVE Program Example
16‑3. SCAN DRIVE Program Example
16‑4. Example of INDEX DRIVE Program Specified in Absolute Value
16‑5. ORIGIN DRIVE Program Example
16‑6. PULSE COUNTER Read Program Example

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１７．ＴＲＯＵＢＬＥＳＨＯＯＴＩＮＧ

９３

１８．ＤＡＴＡ ＴＡＢＬＥＳ
18‑1. L‑TYPE RATE Data Table
18‑2. M‑TYPE RATE Data Table
18‑3. H‑TYPE RATE Data Table
18‑4. RATE Curve Graph

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１９．ＳＡＦＥＴＹＤＥＳＩＧＮ

ＰＲＥＣＡＵＴＩＯＮＳ

２０．Ｃ−８７２ ＡＬＬ ＣＯＭＭＡＮＤ
20‑1. DRIVE Command Table
20‑2. Special Command Table

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ＴＡＢＬＥＳ
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９９

‑ 6 ‑

１．ＯＶＥＲＶＩＥＷThe C‑872, equipped with 8 independently functioning axes, is a high performance controller that can bedirectly connected to the PCI bus expansion slot based on PCI Local Bus Specification Rev. 2.1.
It is designed to offer control for both servo and stepping motors. Its board is a compact half‑size (107 x 175).
Equipped with our high grade chip controller MCC05v2, the pulse generator permits motor control using easier‑to‑
operate command type.
The multi‑function PULSE COUNTER and DIFFERENTIAL COUNTER on the MCC05v2 enable chip controller to countfeedback pulses from a servo driver as well as detecting step‑out of a stepping motor with the encoder.
Since the C‑872 are provided with the 8 independent axes, the first axis, the second axis, the third axis,
the fourth axis, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are called X1 axis,
Y1 axis, Z1 axis, A1 axis, X2 axis, Y2 axis, Z2 axis, and A2 axis respectively.
As a rule, the following description will be given about only the X1 axis.

２．ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ
2‑1. Function Block Diagram
X1 axis MCC05v2(2)

Drive control block(3)

Counter blockY1 axis MCC05v2(2)

Drive control block(3)

Counter blockZ1 axis MCC05v2(2)

Drive control block(3)

Counter block
A1 axis MCC05v2(1)
PCI Bus(2)

Drive control block(3)

Counter block

Bus interfaceblock

X2 axis MCC05v2(2)

Drive control block(3)

Counter blockY2 axis MCC05v2(2)

Drive control block(3)

Counter blockZ2 axis MCC05v2(2)

Drive control block(3)

Counter block
A2 axis MCC05v2(2)

Drive control block(3)

Counter block(4) General‑purpose I/O block
Input buffer, output buffer(5)
Board identifier port

‑ 7 ‑

(6)
User interfaceblock

2‑2. Description of Blocks(1) Bus interface block
Interface block with the PCI bus.
This block consists of the interface IC dedicated to PCI bus and a serial EEPROM, etc.
(2) Drive control blocks
These blocks output serial pulses for motor control. The blocks mount pulse generators MCC05v2 forindividual 8 axes, so the 8 axes can be independently driven.
For distinction among the 8 axes, these drive control blocks are called X1 axis MCC05v2, Y1 axis MCC05v2,
Z1 axis MCC05v2, A1 axis MCC05v2, X2 axis MCC05v2, Y2 axis MCC05v2, Z2 axis MCC05v2,and A2 axis MCC05v2
respectively.
(3) Counter blocks
This counter block consists of the ADDRESS COUNTER, general purpose PULSE COUNTER and DIFFERENTIAL COUNTER.
The ADDRESS COUNTER is used for counting pulses from the MCC05v2, the general purpose PULSE COUNTER is used
for counting external 90゜phase shifted clocks and the DIFFERENTIAL COUNTER is used for counting deviationof these pulses.
This block allows to read a counting any time as needed, preset a count or interrupt at any counting(or deviation level).
(4) General‑purpose I/O block
This block is provided with 8 inputs and 8 outputs isolated by photo coupler.
Because of a +24V coupler interface, it can control relays and solenoid valves.
The host controls this block completely independent of the other blocks.
(5) Board identifier port
When more than two C‑872s are used, the boards must be numbered. This is used only for the port.
(6) User interface block
Interface block for signals of the servo/stepping motor drivers and sensors, etc.

‑ 8 ‑

３．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ
3‑1. Compact PCI Local Bus Specification(1) PCI Local Bus Specification Rev. 2.1(2) Bus interface
32 BIT BUS(inside 8 BIT), 5V signaling environment, 33MHz clock(3) Compact PCI configuration register31
16 15
0 Offset
Device ID(1060h)
Vendor ID(152Eh)
00h
StatusCommand04h
Base Class(0Eh)
Sub Class(80h)Prog.I/F(00h)
Revision ID(00h)08h
BIST
Header Type(00h)
Latency Timer
Cache Line Size
0Ch
Base Address Register０：Reserved(Cannot use)
10h
Base Address Register１：Base Address of C‑872
14h
Base Address Register２：Reserved
18h
1Ch
Reserved
20h
24h
Cardbus CIS Pointer28h
Subsystem ID(00h)Subsystem Vendor ID(00h)2Ch
Expansion ROM Base Address：Reserved
30hReserved
34h
Reserved
38h
Max̲Lat
Min̲Gnt
Interrupt pin(01h) Interrupt Line
3Ch
(4) Interrupt
・INTA#
・Resets interrupt by STATUS PORT READ of the interrupt request axis.
(5) Dimensions
5V SHORT CARD (107m x 175mm x 17mm)
3‑2. Basic Functions(1) Drive function
JOG ………………… 1‑pulse drive
SCAN ……………… Continuous drive until a stop command is input.
INDEX ……………… Positioning drive up to the specified number of pulses or the specified address.
ORIGIN …………… A series of drive until machine origin detection (9‑type detection type).
S‑RATE SCAN ……… The same as SCAN. Drive with S‑shaped acceleration and deceleration.
S‑RATE INDEX …… The same as INDEX. Drive with S‑shaped acceleration and deceleration.
＊ "SCAN DRIVE" and "INDEX DRIVE", as used in this manual, do not include "S‑RATE SCAN DRIVE" and"S‑RATE INDEX DRIVE", respectively.
(2) Number of drive pulses
JOG …………………………… 1 pulse/drive
SCAN,S‑RATE SCAN ………… Up to infinite pulses/drive
INDEX,S‑RATE INDEX ……… 0 to 8,388,607 pulses/drive (when relative is specified)
0 to 16,777,214 pulses/drive (when absolute is specified)(3) Speed/rate range
Speed range ……… 1Hz to 3.3MHz
Rate range ……… 1030ms/1000Hz to 0.004ms/1000Hz(4) Speed data Hz unit setting function
The output pulse speed can be set in 1 to 3,333,333Hz.
(5) Acceleration/deceleration time constant(RATE) individual setting function
An acceleration time constant and a deceleration time constant can be separately set.
(Enabled in applied function for S‑RATE SCAN and S‑RATE INDEX DRIVE.)‑ 9 ‑(6) DRIVE SPEED change function
You can change a SCAN DRIVE or INDEX DRIVE speed to any desired speed while the drive is taking place.
(This feature, however, is not available when different time constants are specified for the accelerationand deceleration at INDEX DRIVE.)(7) ADDRESS COUNTER function
The ADDRESS COUNTER counts the absolute address of the pulse output from the MCC05v2 and allows to readthe count data any time as needed.
(8) PULSE COUNTER function
The PULSE COUNTER can always read out output pulses and 90゜phase difference clocks or CW/CCW independent
clocks from the servo driver and read out count data. Five COMPARE REGISTERs are connected to the PULSE
COUNTER, so this permits detecting an optional count value.
(9) DIFFERENTIAL COUNTER function
The DIFFERENTIAL COUNTER counts deviation between the output pulse and the 90゜phase differentiatedexternal clock or the mutually independent external CW and CCW clocks. It allows to read the count data
any time as needed.
Two COMPARE REGISTERs on the DIFFERENTIAL COUNTER enables to detect any deviation level.
Other than determining deviation level, this counter offers independent counting of the external 90゜phasedifferentiated clock or the mutually independent external CW and CCW clocks.
(10)Function for fast/slow stop by LIMIT STOP
Two stop types using the LIMIT signal, namely, fast and slow, are available and can be specified byuser program.
(11)Function for the servo driver
A function for the END signal and deviation COUNTER RESET signal of the servo driver is provided.
(12)Interrupt generating function
An interrupt can be generated for the PCI bus master.
RDYINT interrupt ……… Interrupt request signal (RDYINT) that is generated upon termination of a command.
CNTINT interrupt ……… Interrupt request signal (CNTINT) that is generated at an optional count value ofthe PULSE COUNTER.
DFLINT interrupt ……… Interrupt request signal (DFLINT) that is generated at an optional count value of
the DIFFERENTIAL COUNTER.
(13)ORIGIN DRIVE function using the limit sensor
The ORIGIN DRIVE using the limit sensor is available, too.
(14)Current speed read function
You can read current speed during the drive.
(15)Setup data read function
It allows you to read the user program specified settings for HSPD, LSPD, RATE, SPEC INITIALIZE and such.
3‑3. Ratings(1) Power supply voltage :＋５Ｖ±５％
１．６Ａ
ｍａｘ＋２４Ｖ±２Ｖ ４３０ｍＡ ｍａｘ(at EXTV is +24V) (for photo coupler interface)(2) Ambient temperature:

０℃

to ４５℃(3) Ambient humidity:

８０％ＲＨ or less (without dew condensation)(4) Mass:

Approx 0.2 kg

3‑4. Options
Optional functions are prepared for the C‑872.

For details, Please contact us.

‑ 10 ‑

3‑5. Applied Functions
For the C‑872, Applied functions are available in addition to the basic functions shown in 3‑1. to order
to meet the requirements of various users' specifications.
For the details on these applied functions, refer to the User's Manual [Applied Functions Part].
(1) Applied Drive Functions
SPECIAL SCAN ……The drive is similar to SCAN DRIVE but the speed can be adjusted during the drive.
SPECIAL INDEX……The drive is similar to INDEX DRIVE but the speed can be adjusted during the drive.
SERIAL INDEX ……The drive executes previously set drive patterns continuously without stop.
SPECIAL SERIAL INDEX…SERIAL INDEX DRIVE where a rate can be set for each section.
SENSOR INDEX …Combining the INDEX DRIVE and SENSOR input detection, this drive implements the positioning.
SENSOR SCAN ……DRIVE where SCAN DRIVE and SENSOR input detections are combined to provide positioning.
* The description of "SCAN DRIVE" and "INDEX DRIVE" in this Manual does not include the application DRIVE.
(2) INDEX Change Function During Drive
It enables to change the specified pulse number or the address during the INDEX DRIVE.
(3) RATE Change Function During Drive
It enables to change an acceleration/deceleration time constant during the SCAN DRIVE.
(4) DIFFERENTIAL COUNTER Input Clock Change Function
It enables to change to divide input clocks (MCC05v2 output, or pulse or EA or EB input) to the DIFFEREN‑
TIAL COUNTER. EA and EB are disabled for a controller not capable of accepting external clock input.
(5) DIFFERENTIAL COUNTER Comparator Detecting Condition Select Function
It enables to select detecting method of the DIFFERENTIAL COUNTER comparator1 and 2 from ≧, ≦ or ＝.
(6) DIFFERENTIAL COUNTER Compare Resistor Setup Switching Function
It enables to select an absolute value or signed value for the comparison made between the DIFFERENTIAL
COUNTER and the COMPARE REGISTER.
(7) Acceleration/Deceleration Time Constant Parameter Setting Function
Acceleration/deceleration time constant can be freely set by parameter.
(8) Speed Data Setting Method Changing Function
Output pulses are generally set in Hz in the Hz setting mode, but it is possible to change this mode to
the reference clock magnification setting mode, in which output pulses are set to any integer times of
the reference clock.
(9) First Output Pulse Width Selecting Function
The width of the first active pulse after drive start can be selected from any of half period,
100μs fixed period and 20μs fixed period.
(10)Pulse Output Pattern Changing Function
Pulse output pattern is generally separate between CW and CCW, but this can be changed to thedirection designated output pattern.
(11)Triangular Drive Prevention Function
In order to avoid the triangular drive which starts decelerating without reaching the high speed in the
S‑RATE INDEX DRIVE due to shortage of pulse number, this function enables to designate pulse number forthe top constant speed in advance and to secure constant speed operating ranges.
(12)END PULSE Drive Function
In order to reduce damping at the end of the INDEX DRIVE and the S‑RATE INDEX DRIVE, this function
enables to make a continuous drive of designated frequency and of designated pulse number after the end of
deceleration up to the low speed.

‑ 11 ‑

(13)Origin Drive Direction Changing Function
The precondition for origin drive is that the ORG (or NORG) sensor has been installed at the ‑(CCW)
limit side along works, but the origin drive direction changing function enables to install the ORG(or NORG) sensor on the +(CW) limit side.
(14)Margin Time Function
In order to prevent the origin drive from malfunctioning due to hunting, this function enables to insert
a margin time between the sensor signal detection and the pulse stop.
(15)SOFT LIMIT Function
This function allows you to set up CW or CCW SOFT LIMIT.
(16)DEND ERROR Detection Function
If active level of DEND signal is not returned during the predetermined time span, this function ends thedrive forcibly by setting 1 to the error bit of STATUS1 PORT.
(17)Origin Sensor Type Select Function
This function allows you to switch the ORG sensor detection approach from the edge sensing to the levelsensing.
(18)ORIGIN ERROR Detection Function
Specifying the maximum number of pulses to be output during the CONSTANT SCAN DRIVE process and JOG DRIVE
process, this function can end the drive forcibly if the sensor fails to make detection during that rangeof pulse number.
(19)PO Input Function
This function offers origin detection utilizing PO (excitation) output signal from stepping motor drivers.
When PO input is enabled, ANDing of PO signal and ORG signal is output as ORG signal.
(20)AUTO DRST Output Function
This function automatically outputs DRST signal as the machine origin detection completed.
(21)Special DRST Output Function
This function allows you to constantly generate DRST output.
(22) Asymmetric S‑RATE DRIVE function
Acceleration/deceleration constant can be set separately in the S‑shaped DRIVE.
(23) S‑RATE DRIVE triangular drive workaround function
The DRIVE profile is rounded automatically when there are few output pulses in the S‑shaped
DRIVE, thereby working around the triangular drive. It should be noted, however, that thisis disabled in the asymmetric S‑RATE DRIVE.
(24) SPEED/RATE CHANGE speed increase function
The operation from the writing of CHANGE command is performed on the real time basis
in the SCAN DRIVE.
(25) AUTO CHANGE function
The SPEED and RATE are changed automatically according to the preset number of output
pulses, speed or time.
(26) DRIVE calculation function
The number of acceleration pulses, acceleration time and INDEX DRIVE drive time can beobtained by simulated calculation.

‑ 12 ‑

４．Ｉ／Ｏ ＰＯＲＴＳ
4‑1. I/O Port Table
Axis

Low‑order ＰＯＲＴ name
R/W
Address００Ｈ
DRIVE COMMAND
０１Ｈ
DRIVE DATA1w
０２Ｈ
DRIVE DATA2r
０３Ｈ
DRIVE DATA3i
０４Ｈ
COUNTER COMMANDt
０５Ｈ
COUNTER DATA1e
Ｘ1 axis０６Ｈ
COUNTER DATA2
MCC05v2
０７Ｈ
COUNTER DATA3００Ｈ
STATUS1
０１Ｈ
DRIVE DATA1r０２Ｈ
DRIVE DATA2e０３Ｈ
DRIVE DATA3a０４Ｈ
STATUS2d
０５Ｈ
STATUS3
０６Ｈ
STATUS4
０７Ｈ
STATUS5
１０Ｈ
DRIVE COMMAND
１１Ｈ
DRIVE DATA1w
１２Ｈ
DRIVE DATA2r
１３Ｈ
DRIVE DATA3i
１４Ｈ
COUNTER COMMANDt
１５Ｈ
COUNTER DATA1e
Ｙ1 axis
１６Ｈ
COUNTER DATA2
MCC05v2
１７Ｈ
COUNTER DATA3
１０Ｈ
STATUS1
１１Ｈ
DRIVE DATA1r
１２Ｈ
DRIVE DATA2e
１３Ｈ
DRIVE DATA3a
１４Ｈ
STATUS2d
１５Ｈ
STATUS3
１６Ｈ
STATUS4
１７Ｈ
STATUS5
２０Ｈ
DRIVE COMMAND
２１Ｈ
DRIVE DATA1w
２２Ｈ
DRIVE DATA2r
２３Ｈ
DRIVE DATA3i
２４Ｈ
COUNTER COMMANDt
２５Ｈ
COUNTER DATA1e
Ｚ1 axis
２６Ｈ
COUNTER DATA2
MCC05v2
２７Ｈ
COUNTER DATA3２０Ｈ
STATUS1
２１Ｈ
DRIVE DATA1r
２２Ｈ
DRIVE DATA2e２３Ｈ
DRIVE DATA3a２４Ｈ
STATUS2d
２５Ｈ
STATUS3
２６Ｈ
STATUS4
２７Ｈ
STATUS5
３０Ｈ
DRIVE COMMAND
３１Ｈ
DRIVE DATA1w
３２Ｈ
DRIVE DATA2r
３３Ｈ
DRIVE DATA3i
３４Ｈ
COUNTER COMMANDt
３５Ｈ
COUNTER DATA1e
Ａ1 axis
３６Ｈ
COUNTER DATA2
MCC05v2
３７Ｈ
COUNTER DATA3３０Ｈ
STATUS1
３１Ｈ
DRIVE DATA1r
３２Ｈ
DRIVE DATA2e３３Ｈ
DRIVE DATA3a３４Ｈ
STATUS2d
３５Ｈ
STATUS3
３６Ｈ
STATUS4
３７Ｈ
STATUS5
６０Ｈ General‑purpose I/O 1 R/W
７０Ｈ
Board identifierR‑ 13 ‑

Axis

Low‑order ＰＯＲＴ name
R/W
Address
０８Ｈ
DRIVE COMMAND
０９Ｈ
DRIVE DATA1w
０ＡＨ
DRIVE DATA2r０ＢＨDRIVE DATA3i０ＣＨ
COUNTER COMMANDt
０ＤＨ
COUNTER DATA1e
Ｘ2 axis０ＥＨ
COUNTER DATA2
MCC05v2
０ＦＨ
COUNTER DATA3０８Ｈ
STATUS1
０９Ｈ
DRIVE DATA1r０ＡＨ
DRIVE DATA2e０ＢＨDRIVE DATA3a０ＣＨ
STATUS2d
０ＤＨ
STATUS3
０ＥＨ
STATUS4
０ＦＨ
STATUS5
１８Ｈ
DRIVE COMMAND
１９Ｈ
DRIVE DATA1w
１ＡＨ
DRIVE DATA2r
１ＢＨ
DRIVE DATA3i
１ＣＨ
COUNTER COMMANDt
１ＤＨ
COUNTER DATA1e
Ｙ2 axis
１ＥＨ
COUNTER DATA2
MCC05v2
１ＦＨ
COUNTER DATA3
１８Ｈ
STATUS1
１９Ｈ
DRIVE DATA1r
１ＡＨ
DRIVE DATA2e
１ＢＨ
DRIVE DATA3a１ＣＨ
STATUS2d
１ＤＨ
STATUS3
１ＥＨ
STATUS4
１ＦＨ
STATUS5
２８Ｈ
DRIVE COMMAND
２９Ｈ
DRIVE DATA1w
２ＡＨ
DRIVE DATA2r
２ＢＨ
DRIVE DATA3i２ＣＨ
COUNTER COMMANDt
２ＤＨ
COUNTER DATA1e
Ｚ2 axis
２ＥＨ
COUNTER DATA2
MCC05v2
２ＦＨ
COUNTER DATA3
２８Ｈ
STATUS1
２９Ｈ
DRIVE DATA1r
２ＡＨ
DRIVE DATA2e２ＢＨDRIVE DATA3a２ＣＨSTATUS2d
２ＤＨ
STATUS3
２ＥＨ
STATUS4２ＦＨ
STATUS5
３８Ｈ
DRIVE COMMAND
３９Ｈ
DRIVE DATA1w
３ＡＨ
DRIVE DATA2r
３ＢＨ
DRIVE DATA3i
３ＣＨ
COUNTER COMMANDt
３ＤＨ
COUNTER DATA1e
Ａ2 axis
３ＥＨ
COUNTER DATA2
MCC05v2
３ＦＨ
COUNTER DATA3
３８Ｈ
STATUS1
３９Ｈ
DRIVE DATA1r
３ＡＨ
DRIVE DATA2e３ＢＨ
DRIVE DATA3a３ＣＨ
STATUS2d
３ＤＨ
STATUS3
３ＥＨ
STATUS4
３ＦＨ
STATUS5
６８Ｈ General‑purpose I/O 2 R/W

4‑2. Setting the board identifier port and rotary switch(1) Board identifier port
This is a port to read out the board number assigned by the rotary switch.

D７

D６

D５

D４

D３

D２

D１

D０

*

"1" when active

Rotary switch ２０ BIT
Rotary switch ２１ BIT
Rotary switch ２２ BIT
Rotary switch ２３ BIT
Reserved（０）(2) Setting the rotary switch
C‑872 board numbers are assigned by the rotary switch on the board.
If more than two C‑872s are used, numbers must be assigned artificially.
Set them by avoiding possible overlaps. When only one C‑872 is used, set
the rotary switch to "0". (This setting is made at the time of shipment).
The following sketch shows the example where the board is set to 2.

０
８

１
２

７

９

３
４

６
５

4‑3. DRIVE COMMAND PORT
Used to write a drive command.

For the details of commands, refer to Chapter ６.

4‑4. DRIVE DATA1,2,3 PORT (WRITE)
Various data are written by each drive command.
4‑5. DRIVE DATA1,2,3 PORT (READ)
Used to read various data.
When reading data by the ADDRESS READ command, SET DATA READ command and ERROR STATUS READ command,
confirm BUSY BIT＝0 in STATUS1 after writing a command.
Reading the count data of the PULSE COUNTER, DIFFERENTIAL COUNTER and ADDRESS COUNTER is always enabled.
4‑6. COUNTER COMMAND PORT
Used to write a command to control the PULSE COUNTER and DIFFERENTIAL COUNTER.
For the details of commands, refer to Chapter ９.
4‑7. COUNTER DATA1,2,3 PORT (WRITE)
Used to write various data by counter command.

‑ 14 ‑

4‑8. STATUS1 PORT
Used to read the current status of each axis. This read operation is always enabled.
D７

D６

D５

D４

D３

D２

D１

D０

* Each of the bits becomes 1 in the active state.
BUSY BIT
DRIVE BITDREND BITERROR BIT
MAN BITLSEND BITSSEND BITFSEND BIT

BUSY BIT: When this bit is 0, it indicates that writing a command to the corresponding axis is enabled.
When this bit is 1, it indicates that the corresponding axis is in the driving status or in thedata processing status. The command is ignored. A command must be written after confirming
BUSY BIT＝0.
However, special commands(refer to the paragraph 6‑2) can be written even when BUSY BIT＝1.
DRIVE BIT : When this bit is 1, it indicates that the corresponding axis is in the driving status.
DREND BIT : When this bit is 1, it indicates that the drive of the corresponding axis has been terminated(Note 1,3). Judge the termination of driving when multiple control.
This bit is reset by writing the next command.
ERROR BIT : This bit indicates that the written command is undefined or has a data error(Note 1,3).
You can check description of the error using the ERROR STATUS READ Command.
This bit is reset by writing the next command.
MAN BIT : This bit is not used on this product. 0 is output (Note3).
LSEND BIT : When DRIVE BIT＝1, it indicates a valid CWLM or CCWLM signal has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by CWLM or CCWLM signal(includes the output stopped by an applied function SOFT LIMIT).
This bit is reset at start of the next drive (Note2).
SSEND BIT : When DRIVE BIT＝1, it indicates the SLOW STOP Command has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by the SLOW STOP Command.
This bit is reset at start of the next drive (Note2).
FSEND BIT : When DRIVE BIT＝1, it indicates the FSSTOP signal or FSSTOP Command has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by the FSSTOP signal or
FAST STOP Command. This bit is reset at start of the next drive (Note2).
Note1: It is valid only when BUSY＝0.
Note2: Reset by the up edge of the DRIVE signal. Not reset by a command not accompanied by drive.
Note3: When the power is turned on or the RESET signal is input, each of DREND, ERROR and MAN bits
has an undefined value. So, check only whether BUSY bit is 0, run an NOP command and theninitialize the DREND, ERROR and MAN bits.
4‑9. STATUS2 PORT
Used to read the input signal state of each axis. Reading is always enabled.
The contents shown below are of the X1 axis but also applicable to another axis.
D７

D６

D５

D４

D３

D２

D１

D０

* Each of the bits becomes 1 in the active state.
X1DEND/PO signal
X1ORG signal
0＝HIGH 1＝LOW
X1NORG signal
X1CWLM signal
0＝LOW
1＝HIGHX1CCWLM signal
Unused(０)Unused(０)X1DEND/PO signal (same to D０）

Note: This STATUS PORT is real‑time data.

‑ 15 ‑

4‑10.STATUS3 PORT
Used to read the status information from the PULSE COUNTER and DIFFERENTIAL COUNTER.
Reading is always enabled.
D７

D６

D５

D４

D３

D２

D１

D０

* Each of the bits becomes 1 in the active state.
PLS COMP1 BIT
PLS COMP2 BIT
PLS COMP3 BIT
PLS COMP4 BIT
PLS COMP5 BIT
PLS OVF BITDFL COMP1 BITDFL COMP2 BIT

PLS＊COMP1 BIT
PLS COMP2 BIT
PLS COMP3 BIT
PLS COMP4 BIT
PLS COMP5 BIT
PLS OVF BITDFL＊COMP1 BITDFL COMP2 BIT

:
:
:
:
:
:
:
:

Indicates that the PULSE COUNTER has matched the COMPARE REGISTER1. (Note)
Indicates that the PULSE COUNTER has matched the COMPARE REGISTER2. (Note)
Indicates that the PULSE COUNTER has matched the COMPARE REGISTER3. (Note)
Indicates that the PULSE COUNTER has matched the COMPARE REGISTER4. (Note)
Indicates that the PULSE COUNTER has matched the COMPARE REGISTER5. (Note)
Indicates that the PULSE COUNTER has overflowed.
Indicates the DIFFERENTIAL COUNTER≧DFL COMPARE REGISTER1 (excessive deviation). (Note)
Indicates the DIFFERENTIAL COUNTER≦DFL COMPARE REGISTER2 (positioning complete).(Note)

Note: In the initial state, there bits are reset after this status has been read except for when the following
state is indicated matching between the PULSE COUNTER and REGISTER, excessive deviation or positioning
complete has been indicated. It is enable to reset all the time after status has been read by setting
each of the COUNTER INITIALIZE COMMAND.
* Throughout this manual, the abbreviations "PLS" and "DFL" stands for PULSE and DIFFERENTIAL, respectively.
4‑11.STATUS4 PORT
Used to read the input signal state of each axis. Reading is always enabled.
D７

D６

D５

D４

D３

D２

D１

D０

* Each of the bits becomes 1 in the active state.
FSSTOP1 signal (common to all axes) 0＝LOW 1＝HIGH〃(Note1)A1SENSOR input signal (Note2)0＝HIGH 1＝LOW‑X1EA input signal
0＝LOW 1＝HIGH‑X1EB input signal
0＝LOW 1＝HIGH
X1DRST output signal
0＝HIGH 1＝LOW
Unused (undefined)

Note1: FSSTOP1 input signal is set at X1 to A1 axes, and FSSTOP2 input signal is set at X2 to A2 axes.
Note2: SENSOR input signal is available for the A1, Z1, A2 and Z2 axes alone. 0 is output for other axes.
For details of SENSOR input signal, refer to the User's Manual [Applied Functions Part].
Note3: This status is real time data of input/output pins.

‑ 16 ‑

4‑12.STATUS5 PORT
This port is used for reading current state of the SOFT LIMIT (An applied function, see Note) and speed
change. Data read is always enabled.
D７

D６

D５

D４

D３

D２

D１

D０

* Each of the bits becomes 1 in the active state.

CCW SOFT LIMIT BIT(Note1)CW SOFT LIMIT BIT(Note1)
Unused(０)RDYINT BIT(Note2)
Unused(０)SPEED CHANGE BUSY BITRATE CHANGE BUSY BIT (Note1)
INDEX CHANGE BUSY BIT (Note1)
Note1: For details, see User's Manual(Applied Functions Part).
Note2: When interrupt is used, RDYINT request axis is identified by this bit.
4‑13.General‑purpose I/O PORT 1, 2
The C‑872 is provided with a general‑purpose I/O with 4 input points (INx0 to INx3 input signals) and4 output points (OUTx0 to OUTx3 output signals). Two modules is provided, So the argument ̀x' is ̀1' or̀2'. The user can freely use this general‑purpose I/O.
These signals are active low. When each of them is in the active state, the LED on the board come on.
The following description will be given about only the first module.
(1) Input port
The input port consists of an input data division and an output data division as shown below.
The external input (IN10 to IN13) states are read into the input data division.
The output data division reads the current output port state (data previously output to the output port).
This below is* Each of these bits becomes 1 in the active state.
OUT10
OUT11
OUT12
OUT13
IN10
IN11
IN12
IN13

Output data division

Input data division(2) Output data port
The output port consists of the following bits and outputs the contents of the 4 low‑order bits to theoutside (OUT10 to OUT13).
* Each of these bits becomes 1 in the active state.
OUT10
OUT11
OUT12
OUT13

Output data division

The output port is put into the OFF output (NOT ACTIVE) state at POWER ON/RESET.

‑ 17 ‑

５．ＤＥＴＡＩＬＳ ＯＦ ＤＲＩＶＥ ＦＵＮＣＴＩＯＮＳ
5‑1. JOG DRIVE Function
This function performs 1‑pulse drive by the +/‑ JOG command.
Example of X1 axis:
・Drive by +JOG command
X1CWP
X1CCWP
・Drive by ‑JOG command
X1CWP
X1CCWP
There is not any data required for JOG DRIVE.
5‑2. SCAN DRIVE Function
This function accelerating/decelerating drive by the +/‑ SCAN command.
The drive is stopped by one of the methods described in 5‑10., 5‑11. and 5‑12.
Example of X1 axis:
Hz
HSPD

LSPD
URATE

DRATE
t

・Drive by +SCAN command
X1CWP
X1CCWP
・Drive by ‑SCAN command
X1CWP
X1CCWP
The data required for SCAN DRIVE are as follows:
Data name
Setting command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑
HSPD (HIGH SPEED)HSPD SETLSPD (LOW SPEED)LSPD SETURATE (acceleration time constant)
RATE SETDRATE (deceleration time constant)
RATE SET
Note: When LSPD≧HSPD is specified, constant‑speed drive is performed with HSPD.

‑ 18 ‑

5‑3. INDEX DRIVE Function
Accelerating/decelerating drive is performed with the specified number of pulses by the INCREMENTAL INDEX
command. (or up to the target address by ABSOLUTE INDEX command).
Example of X1 axis:
Hz
HSPD
Specified numberof pulses(target address)
LSPD
URATE

DRATE
t

・When +(CW)direction is specified
X1CWP
X1CCWP・When ‑(CCW)direction is specified
X1CWP
X1CCWP
The data required for INDEX DRIVE is as follows.
Data name
Setting command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑
HSPD (HIGH SPEED)HSPD SETLSPD (LOW SPEED)LSPD SETURATE (acceleration time constant)
RATE SETDRATE (deceleration time constant)
RATE SETSpecified number of pulses (target address)
When INDEX DRIVE is started
Note1: When LSPD≧HSPD is specified, constant‑speed drive is performed with HSPD.
Note2: When LSPD＜HSPD and URATE≠DRATE are specified, the timing up to a pulse output is different fromthat of URATE＝DRATE. For details refer to Chapter １２. Timing.
For this reason, please use the same data unless specially required.
5‑4. Drive Speed Change Function
Using the SPEED CHANGE command allows you to change speed of the SCAN or INDEX DRIVE currently taking place(note that this command is valid only for these two drive types).
The drive is accelerated or decelerated to the speed specified by the SPEED CHANGE Command.
Note1: This speed change is not available when the INDEX DRIVE is taking place at URATE≠DRATE.
Note2: Speed change is available within the range of LSPD＜Change speed＜HSPD.
Note3: When the SPEED CHANGE Command has been executed, you must wait until the command is internallyaccepted before requesting another speed change using this command. Check the SPEED CHANGE BUSY BIT
in the STATUS5 PORT to make sure that the SPEED CHANGE Command is executable.

‑ 19 ‑

5‑5. Machine Origin Detecting Function (ORIGIN DRIVE)
Drive is performed up to machine origin detection by the ORIGIN command.
The drive up to machine origin detection is performed by a combination of JOG DRIVE, CONSTANT SCAN DRIVE,SCAN DRIVE and ABSOLUTE INDEX DRIVE.
There are 9 types of machine origin detection. For the details of the types and processes, refer to
Chapter ７.
The data required for ORIGIN DRIVE is as follows:
Data name
Setting command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑
HSPD (HIGH SPEED)HSPD SETLSPD (LOW SPEED)LSPD SETCSPD (CONSTANT SPEED)CSPD SETURATE (acceleration time constant)
RATE SETDRATE (deceleration time constant)
RATE SETOFFSET PULSE
OFFSET PULSE SETLDELAY (LIMIT DELAY TIME)
ORIGIN DELAY SETSDELAY (SCAN DELAY TIME)
ORIGIN DELAY SETJDELAY (JOG DELAY TIME)
ORIGIN DELAY SET
5‑6. Machine Origin Detecting Function Using Limit Sensor
Two of the machine origin detection sensors can use CCW LIMIT signal as the origin sensor.
This function helps reducing number of sensors.
Refer to Chapter 7 for details of the models and processes.

‑ 20 ‑

5‑7. S‑RATE SCAN DRIVE Function
S‑shaped accelerating/decelerating drive is performed by the +/‑ S‑RATE SCAN command.
At the S‑shaped accelerating/decelerating drive, the speed difference between SLSPD and SHSPD is divided
into 3 equal parts. In the mid‑speed area of the 3 equally‑divided parts, linear acceleration/decelerationis performed by SRATE.
In the remaining areas, curvilinear smooth acceleration/deceleration is performed.
The drive is stopped by one of the methods described in 5‑10., 5‑11. and 5‑12.

The data required for S‑RATE SCAN DRIVE is as follows:
Data name
Setting command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑SHSPD (high speed for S‑RATE DRIVE)SHSPD SETSLSPD (low speed for S‑RATE DRIVE)SLSPD SETSRATE (acceleration/deceleration time constant for S‑RATE DRIVE)SRATE SET
Note: When SLSPD≧SHSPD is specified, constant‑speed drive is performed with SHSPD.
5‑8. S‑RATE INDEX DRIVE Function
S‑shaped accelerating/decelerating drive is performed with the specified number of pulses(or up to the target address) by the S‑RATE INCREMENTAL INDEX command (or S‑RATE ABSOLUTE INDEX command).
The acceleration/deceleration rate characteristics are the same as those of S‑RATE SCAN DRIVE.

The data required for S‑RATE INDEX DRIVE is as follows:
Data name
Setting command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑SHSPD (high speed for S‑RATE DRIVE)SHSPD SETSLSPD (low speed for S‑RATE DRIVE)SLSPD SETSRATE (acceleration/deceleration time constant for S‑RATE DRIVE)SRATE SETSpecified number of pulses (target address)
When S‑RATE INDEX DRIVE is started
Note: When SLSPD≧SHSPD is specified, constant‑speed drive is performed with SHSPD.

‑ 21 ‑

5‑9. S‑RATE DRIVE Parameter Adjusting Function
For S‑RATE DRIVE, internal parameters can be adjusted. To perform S‑RATE DRIVE, the 4 internal parametersof SSRATE, SERATE, SCSPD1 and SCSPD2 are required first.
Usually, these parameters are automatically set to initial values when SRATE, SLSPD and SHSPD are set but
can be adjusted to optional values by respective adjust commands.

The adjustable parameters are as follows.
Data name
Adjust command‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑SSRATE (time constant at a start of acceleration and an end of deceleration)
SSRATE ADJUSTSERATE (time constant at an end of acceleration and at a start of deceleration)
SERATE ADJUSTSCSPD1 (linear rate start speed at acceleration and linear rate end speed at deceleration) SCSPD1 ADJUSTSCSPD2 (linear rate end speed at acceleration and linear rate start speed at deceleration) SCSPD2 ADJUST(1) SSRATE
Explanation of data ……

Indicates the momentary time constant at a start of acceleration and at a end of
deceleration.
The time constant changes smoothly from SSRATE to SRATE between SLSPD and SCSPD1.
Initial value …………… Automatically set nearly to an eightfold value of SRATE by the SRATE SET command.
Note1: When DRIVE TYPE is the fixed mode,the initial value of SSRATE may be anonexistent value in the rate data table depending on the SRATE value.
(Even if the eightfold value of SRATE does not exist in the rate data table,
the eightfold value of SRATE is adopted as an initial value of SSRATE.)
Note2: When the SRATE value is large, the SSRATE value cannot exceed the maximum
settable rate value. The maximum rate value in each drive type is approximately
as shown below.
L‑TYPE ……………… Approx. 1030ms/1000Hz
M‑TYPE ……………… Approx. 51.5ms/1000Hz
H‑TYPE ……………… Approx. 5.15ms/1000Hz
Arithmetic mode … When resolution data is supposed to be D
Maximum rate value＝1,030 ÷ D(ms/1000Hz)(For the details of the arithmetic mode,
refer to the User's Manual [Applied Functions Part].)Adjusting range ………… SSRATE≧SRATE
Note1: When SSRATE＜SRATE, is specified, SSRATE＝SRATE.
Note2: After the SRATE SET command is executed, the SSRATE value adjusted prior to the
execution is invalidated and reset to the initial value.
When DRIVE TYPE has been changed by the SPEC INITIALIZE1 command, the SSRATE
value is also reset to the initial value.
(2) SERATE
Explanation of data …… Indicates the time constant at an end of acceleration and at a start ofdeceleration.
The time constant changes smoothly from SRATE to SERATE between SCSPD2 and SHSPD.
Initial value …………… The same as SSRATE.
Adjusting range ………… The same as SSRATE.

‑ 22 ‑

(3) SCSPD1
Explanation of data ……

Indicates the linear rate start speed or linear rate end speed by SRATE.
Between SCSPD1 and SCSPD2, the time constant indicates a linear ratecharacteristic because the SRATE value is fixed.
Initial value …………… Set to the following value represented by the following expression by the SLSPD
SET or SHSPD SET command.
1
SCSPD1＝SLSPD＋(SHSPD−SLSPD)×3
Adjusting range ………… SLSPD≦SCSPD1≦SCSPD2
Note1: When SCSPD1＜SLSPD is specified, SCSPD1＝SLSPD.
When SCSPD1＞SCSPD2 is specified, SCSPD1＝SCSPD2.
Note2: After the SLSPD SET or SHSPD SET command is executed,
the SCSPD1 value adjusted prior to the execution is invalidated and reset tothe initial value.
When DRIVE TYPE has been changed by the SPEC INITIALIZE1 command, the SCSPD1
value is reset to the initial value.
(4) SCSPD2
Explanation of data …… Indicates the linear rate end speed or linear rate start speed by SRATE.
Between SCSPD1 and SCSPD2, the time constant indicates a linear ratecharacteristic because the SRATE value is fixed.
Initial value …………… Set to the value represented by the following expression by the SLSPD SET or
SHSPD SET command.
2
SCSPD2＝SLSPD＋(SHSPD−SLSPD)×3
Adjusting range ………… SCSPD1≦SCSPD2≦SHSPD
Note1: When SCSPD2＜SCSPD1 is specified, SCSPD2＝SCSPD1.
When SCSPD2＞SHSPD is set, SCSPD2＝SHSPD.
Note2: After the SLSPD SET or SHSPD SET command is executed,
the SCSPD2 value adjusted prior to the execution is invalidated and reset tothe initial value.
When DRIVE TYPE has been changed by the SPEC INITIALIZE1 command, the SCSPD2
value is also reset to the initial value.

‑ 23 ‑

5‑10.Slow Stop Function
The pulse output can be put into a slow stop by the SLOW STOP command.
After the pulse output is stopped in the above way, SSEND becomes 1.
5‑11.Fast Stop Function
When you use emergency stop in response to system failure, also turn off power of the
WARNINGdrive system. If an error has occurred to the controller or wiring system, the Fast Stop
may not work. This may lead to a serious accident. For details, refer to Chapter 19.

The pulse output can be put into an fast stop by the FSSTOP command or FSSTOP signal.
After the pulse output is stopped in the above way, FSEND becomes 1.
FSSTOP1 signal stops four axes, X1, Y1, Z1 and A1 immediately.
FSSTOP2 signal stops four axes, X2, Y2, Z2 and A2 immediately.
5‑12.LIMIT Stop Function
When you use emergency stop in response to system failure, also turn off power of the
WARNINGdrive system. If an error has occurred to the controller or wiring system, LIMIT Stop
may not work. This may lead to a serious accident. For details, refer to Chapter 19.

If any error has occurred to the system or your setting is incorrect, the machine or
CAUTION

workpiece damage and personal injury may occur. To prevent such an accident, be sure
to use the LIMIT Stop function for the equipment except on the rotation system.

When you use the LIMIT stop as slow stop, there may be a collision with the limit
CAUTION

position of the mechanical device before stop. This may lead to machine or workpiecedamage. Note that the stop point will be changed if RATE, HSPD, etc. are changed.

The pulse output can be stopped by the CWLM signal when the pulse output is in the +(CW)direction or by
the CCWLM signal when the same output is in the ‑(CCW)direction. After the pulse output is stopped in theabove way, LSEND becomes 1. The LIMIT stop type can be switched between fast stop and slow stop by
the SPEC INITIALIZE1 command. "Fast stop" is selected at POWER ON/RESET.
5‑13.Function for Servo Driver
The target motor can be switched by the SPEC INITIALIZE1 command. The target motor is a servo motor ora stepping motor. "Stepping motor" is selected as the target motor at POWER ON/RESET.
The signals for servo motor are as follows.
DEND input signal: The deviation COUNTER END signal from the servo driver is input. Even after thecompletion of pulse output, the driving status is kept until DEND＝LOW is confirmed,
and the command is not terminated with BUSY and DRIVE BIT＝1.
DRST output signal: The deviation COUNTER RESET signal is output to the servo driver. If the pulse output
is put into an fast stop, the DRST signal＝LOW is output for 10ms and the deviation
COUNTER of the servo driver is reset. The DRST signal＝LOW can also be output
optionally for 10ms by the SERVO RESET command.
The above signals are disabled when a stepping motor is selected as the target.
In this case, DEND input and DRST output can be used as a general purpose input and general purpose output,
respectively. For their usage, refer to the User's Manual [Applied Functions Part].
5‑14.Current Position Reading Function
The current position can read by the ADDRESS READ command.
The guaranteed data range is a pulse area of +8,388,607 to ‑8,388,607. The current position is reset to
0 at POWER ON/RESET and can also be set to an optional value by the ADDRESS INITIALIZE command.

‑ 24 ‑

5‑15.Interrupt Request Function(1) After the termination of a command, an interrupt request (RDYINT signal) can be generated for the
initiator. RDYINT signal is generated too at the stop(the termination of a command) for FSSTOP,
STOP, and LIMIT, etc.
There are 3 interrupt request generation patterns as shown below.
One of them is selected by the SPEC INITIALIZE1 command. Item 1 is selected at POWER ON/RESET.
1． Output only when a command accompanied by pulse output is terminated.
2． Output when every command is terminated(except special commands).
3． No output in any case.
Note: This function is not effective when the COUNTER command is executed or when special commands are
executed. For details of special commands, Refer to the description of 6‑2(2) Interrupt request (CNTINT signal) may occur in response to any given count value of the PULSE COUNTER.
Interrupt request (DFLINT signal) may occur in response to the value above or below any given count valueof the DEFERENTIAL COUNTER. For details, refer to the description of PULSE/DEFERENTIAL COUNT COMPARE
function in DETAILS OF COUNTER FUNCTION in Chapter 8.
5‑16.Speed Data Hz Unit Setting Function
Speed data (HSPD, LSPD, CSPD, SHSPD, SLSPD, and HSPD1 to 10 when an applied function is used) can be
set as 3‑byte data in Hz.
The data setting range is 1 to 3,333,333 so the speed can be set in the range of 1Hz to 3.3MHz.
＊Speed setting example
When 10000 (002710Ｈ) has been set in the HSPD:
HSPD＝10000Hz
However, the MCC05v2 output frequency is controlled by counting the reference clocks (40MHz).
For this reason, a frequency that cannot be physically output may appear for the set value of speed data.
Consequently, there will be a difference,specially in a high speed area, between the set value and the real
output frequency.
Supposing that the set value of speed data is F', the real output frequency F is represented by thefollowing expression.
160,000,000(Hz)
Integer part of 〔160,000,000/F'〕

F＝In the above expression, the part following the decimal point of the wavy‑underlined number will be ignored,
so that the real output frequency becomes a little higher than the set value.
Take this point into consideration when accuracy is required between the set value and the real output.
5‑17.DRIVE TYPE Switching Function
The acceleration/deceleration time constant method when the MCC05v2 is put in accelerating/decelerating
drive can be roughly classified into two modes, fixed data mode and arithmetic mode.
For the fixed data mode, the 3 types of L‑TYPE, M‑TYPE and H‑TYPE are available for reasons of output
frequency,acceleration/deceleration time constant setting range and speed difference at acceleration/
deceleration, etc.
For the arithmetic mode, refer to the User's Manual [Applied Functions Part].
In the fixed data mode, the acceleration/deceleration time constant (URATE, DRATE) is fixed by the datatable beforehand, so the user must specify an appropriate time constant by No. of the data table.
For the rate data table, refer to Chapter １８. The speed range, rate range and speed difference at
acceleration/deceleration in each type are as follows.

L‑TYPE
Speed range(LSPD,SLSPD)
Speed range(except LSPD,SLSPD)
Rate range
Speed difference(Note1)

Fixed data mode
M‑TYPE

H‑TYPE

Arithmetic mode

10Hz〜100kHz

10Hz〜800kHz

10Hz〜3.3MHz

10Hz〜3.3MHz

1Hz〜100kHz

1Hz〜800kHz

1Hz〜3.3MHz

1Hz〜3.3MHz

1000ms/1000Hz〜1.0ms/1000Hz
51Hz/STEP〜62Hz/STEP

50ms/1000Hz〜0.05ms/1000Hz
1kHz/STEP〜4kHz/STEP

5ms/1000Hz〜0.005ms/1000Hz
10kHz/STEP〜68kHz/STEP

1030ms/1000Hz〜0.004ms/1000Hz
51Hz/STEP〜68kHz/STEP

Note1: The speed difference indicates a speed difference between before and after speed change at
acceleration/deceleration. This speed difference is rather small at a low speed and gradually
increases as the speed is accelerated.
‑ 25 ‑

5‑18.Present Speed Reading Function
Speed data can be read from the DRIVE DATA1, 2 and 3 PORTs during drive, and read data can beconverted into present speed by using the following formula:
160,000,000
Present Speed =(Hz)Ｖwhere, Ｖ : Read dataNote1: The range of speed to be read by using this function is from about 9.5Hz to 3.3MHz because thedata length is 3byte.
Be careful in reading speeds in the slow area.
Note2: Since the DRIVE DATA1, 2 and 3 PORTs are generally dedicated to read values of the PULSE COUNTER,
it is necessary to change the port function to reading speed data in case of reading speed.
To change the function, the SPEED PORT SELECT Command is used.
5‑19.Set Data Reading Function
The SET DATA READ Command allows you to read various set data or SPEC INITIALIZE DATA.
This function is helpful for debugging or for applications requiring high reliability since it enables tore‑confirm data already set to each axis.

‑ 26 ‑

６．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ ＦＵＮＣＴＩＯＮ ＤＲＩＶＥ ＣＯＭＭＡＮＤＳＡＮＤ ＯＰＥＲＡＴＩＯＮ ＳＥＱＵＥＮＣＥＳ
Execute each command to the port (refer to 4‑1.) of the axis to which the command is executed.
In the following, a description is give about the X1 axis MCC05v2. The same is also applicable to another aixs.
6‑1. Basic Function DRIVE Command Table
The mark ＊ denotes a command accompanied by pulse output.

＊
＊
＊
＊
＊
＊

＊

D７D６D５D４D３D２D１D０

HEX C0DE

0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1
0 0 0 0 0 0 1 0
0 0 0 0 0 0 1 1
0 0 0 0 0 1 0 0
0 0 0 0 0 1 0 1
0 0 0 0 0 1 1 0
0 0 0 0 0 1 1 1
0 0 0 0 1 0 0 0
0 0 0 0 1 0 0 1
0 0 0 0 1 0 1 0

００
０１
０２
０３
０４
０５
０６
０７
０８
０９
０Ａ
０Ｂ〜０Ｆ
１０
１１
１２
１３
１４
１５
１６〜１７
１８〜１９
１Ａ
１Ｂ
１Ｃ
１Ｄ
１Ｅ
１Ｆ
２０〜５Ｆ
６０
６１
６２
６３
６４
６５
６６
６７〜６Ｆ
７０
７１
７２
７３
７４〜Ｅ１
Ｅ２
Ｅ３〜Ｆ１
Ｆ２〜Ｆ６

0 0 0 1 0 0 0 0
0 0 0 1 0 0 0 1
0 0 0 1 0 0 1 0
0 0 0 1 0 0 1 1
0 0 0 1 0 1 0 0
0 0 0 1 0 1 0 1

0 0 0 1 1 0 1 0
0 0 0 1 1 0 1 1
0 0 0 1 1 1 0 0
0 0 0 1 1 1 0 1
0 0 0 1 1 1 1 0
0 0 0 1 1 1 1 1
0 1 1 0 0 0 0 0
0 1 1 0 0 0 0 1
0 1 1 0 0 0 1 0
0 1 1 0 0 0 1 1
0 1 1 0 0 1 0 0
0 1 1 0 0 1 0 1
0 1 1 0 0 1 1 0

＊
＊
＊
＊

0 1 1 1 0 0 0 0
0 1 1 1 0 0 0 1
0 1 1 1 0 0 1 0
0 1 1 1 0 0 1 1
1 1 1 0 0 0 1 0

COMMAND NAMENO OPERATIONSPEC INITIALIZE1PULSE COUNTER INITIALIZE
ADDRESS INITIALIZE
ADDRESS READSERVO RESETRATE SETLSPD SETHSPD SETDFL COUNTER INITIALIZESET DATA READ
Setting is disabled.
+JOG
‑JOG
+SCAN
‑SCAN
INCREMENTAL INDEXABSOLUTE INDEX
Setting is disabled.
Setting is disabled.
CSPD SETOFFSET PULSE SETORIGIN DELAY SETORIGIN FLAG RESETORIGIN
Setting is disabled.
Setting is disabled.
SRATE SETSLSPD SETSHSPD SETSSRATE ADJUSTSERATE ADJUSTSCSPD1 ADJUSTSCSPD2 ADJUST
Setting is disabled.
+ S‑RATE SCAN
‑ S‑RATE SCAN
S‑RATE INCREMENTAL INDEXS‑RATE ABSOLUTE INDEX
Setting is disabled.
ERROR STATUS READ
Setting is disabled.
Setting is disabled.

Note1: When URATE ≠ DRATE is specified, the execution time as follows.
L‑TYPE
MAX100ms

M‑TYPEMAX 35ms

H‑TYPEMAX 15ms

Note2: The execution time cannot be specified. Refer to Chapter １２. Timing.
Note3: Applied function DRIVE commands are assigned.
For details, refer to the User's Manual [Applied Functions Part].

‑ 27 ‑

Execution timeMAX 20μs
MAX 1.2ms(Note1)
MAX 25μs
MAX 30μs
MAX 25μs
MAX 11ms
MAX 60μs(Note1)
MAX 95μs(Note1)
MAX 85μs
MAX 25μs
MAX 35μs(Note3)(Note2)(Note2)(Note2)(Note2)(Note2)(Note2)(Note3)
MAX 55μs
MAX 20μs
MAX 25μs
MAX 25μs(Note2)(Note3)
MAX 150μs
MAX 150μs
MAX 150μs
MAX 100μs
MAX 100μs
MAX 100μs
MAX 100μs(Note2)(Note2)(Note2)(Note2)MAX

25μs(Note3)

6‑2. Special Command Table
Special commands can always be executed, except just behind not Special command executed in less than 4μs.
D７D６D５D４D３D２D１D０

HEX C0DE

COMMAND NAME

1 1 1 1 0 1 1 1
1 1 1 1 1 0 0 0
1 1 1 1 1 0 0 1
1 1 1 1 1 0 1 0
1 1 1 1 1 1 0 0
1 1 1 1 1 1 0 1
1 1 1 1 1 1 1 0
1 1 1 1 1 1 1 1

Ｆ７
Ｆ８
Ｆ９
ＦＡ
ＦＣ
ＦＤ
ＦＥ
ＦＦ

SPEED CHANGE
INT MASKADDRESS COUNTER PORT SELECTDFL COUNTER PORT SELECTPULSE COUNTER PORT SELECT
SPEED PORT SELECTSLOW STOPFAST STOP

Note: The execution time cannot be specified.

Execution time
(Note)MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns(Note)(Note)

Refer to Chapter １２. Timing.

6‑3. NO OPERATION Command
COMMAND………

00Ｈ

Function : No function
However, DREND BIT and ERROR BIT in STATUS1 are cleared.

Execution sequenceN

BUSY=0 in
STATUS1?
Y
COMMAND 00Ｈ
WRITE‑ 28 ‑

6‑4. SPEC INITIALIZE1 Command
COMMAND………

01Ｈ

Function : Defines operation specifications.

Execution sequence
Drive control specifications are defined in DRIVE DATA1.
N

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT is as follows.

Y
DATA1 PORTWRITE

DATA1 PORT
７

D０

D

COMMAND 01Ｈ
WRITE

DRIVE TYPE
LIMIT STOP TYPE
MOTOR TYPE
RDYINT TYPE
The bit marked slash may be set to 0 or 1.

The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) DRIVE TYPE (D１,D０)
Specifies DRIVE TYPE.
D１
0
0
1
1

D０
0
1
0
1

DRIVE TYPE
L‑TYPE
M‑TYPE
H‑TYPE
Arithmetic mode (Note)

Note: For the arithmetic mode, refer tothe User's Manual [Applied Functions Part].

(2) LIMIT STOP TYPE (D２)Specifies the type of LIMIT STOP by the CWLM and CCWLM signals.
0: Fast stop
1: Slow stop(3) MOTOR TYPE (D３)Specifies the target motor.
0: SERVO

1: STEPPING(4) RDYINT TYPE (D５,D４)
Specifies an interrupt request (RDYINT) generation pattern upon termination of a command.
D５
0
0
1

D４
Generation pattern
0 Generated upon termination of a command accompanied by pulse output.
1 Generated upon termination of every command.
x Not output in any case.

‑ 29 ‑

6‑5. PULSE COUNTER INITIALIZE Command
COMMAND………

02Ｈ

Function : Defines PULSE COUNTER operation specifications.

Execution sequenceN

PULSE COUNTER specifications are defined in DRIVE DATA1, DRIVE DATA2
and DRIVE DATA3 PORT.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 WRITE PORT are as follows.

Y
DATA1 PORT
WRITE

D７

DATA1 PORTDATA2 PORTWRITE
DATA3 PORT
WRITE

D０

The order
may not
be observed.

COMP STOP TYPE
CNTINT OUTPUT TYPE
CNTINT LATCH TRIGGER TYPE

Note: The bit D７ to D３ must to be set 0.

COMMAND 02Ｈ
WRITE

The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) COMP STOP TYPE (D０)When the "Stop Enable" is selected for the PULSE COUNTER COMP STOP ENABLE, this bit is used for specifying
the fast stop or slow stop. (The same specification is selected for the COMPARE REGISTER1 to 5).
0: Fast stop
1: Slow stop
(2) CNTINT OUTPUT TYPE (D１)This bit is used for specifying a CNTINT output specification on the PULSE COUNTER.
(The same specification is selected for the COMPARE REGISTER1 to 5).
0: Latches and outputs detection done on each comparator (executing the STATUS3 READ resets the latch).
1: Detection done on each comparator is output without being latched.
Note: Selecting 1 outputs the comparator detection as it is, thus reset with the STATUS3 READ becomes
unavailable.

(3) CNTINT LATCH TRIGGER TYPE (D２)When "Latch" is selected for the CNTINT output specification of the PULSE COUNTER, this bit is used forselecting a latch type (the same specification is selected for the COMPARE REGISTER1 to 5).
0: Level latch (Even if you may execute the STATUS3 READ while the detection conditions are met,current active state of CNTINT output remains the same).
1: Edge latch (Executing the STATUS3 READ generates CNTINT output reset even if the detection
conditions are met).
Note: When the output without latch is selected for CNTINT output, this bit does not have any effect.

‑ 30 ‑

The contents of DRIVE DATA2 WRITE PORT are as follows.
DATA2 PORT
７

D０

D

COUNT CLOCK TYPE
COUNT PATTERN TYPE
AUTO CLEAR ENABLE
RELOAD ENABLE
COMP1 INT ENABLE
COMP1 STOP ENABLE
The bit marked slash may be set 0 or 1.
The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) COUNT CLOCK TYPE (D０)
Selects an operation clock of the PULSE COUNTER.
0: Operated by DRIVE PULSE (X1CWP, X1CCWP) of the X1 axis MCC05v2.
1: Operated by external clocks from X1EA (X1 axis encoder A phase signal) and X1EB (X1axis encoder B phase signal).
(2) COUNT PATTERN TYPE (D１, D２)
These bits become effective only when D０ BIT＝1, selecting an external input clock count method.
D２
0
0
1
1

D１
0
1
0
1

Count pattern
Count by multiplying the X1EA and X1EB inputs by 1.
Count by multiplying the X1EA and X1EB inputs by 2.
Count by multiplying the X1EA and X1EB inputs by 4.
Count‑up by X1EA and count‑down by X1EB.

(3) AUTO CLEAR ENABLE (D３)
Sets the AUTO CLEAR function.
0: No AUTO CLEAR is executed.

1: AUTO CLEAR is executed.

(4) RELOAD ENABLE (D４)
Sets the RELOAD function.
0: No RELOAD is executed.

1: RELOAD is executed.

Input clock type90ﾟ phasedifference clock
Independent clock
for each direction(5) COMP1 INT ENABLE (D５)Determines whether or not to output the match output X1CNTINT of COMPARE REGISTER1.
0: X1CNTINT is not output.
1: X1CNTINT is output.
(6) COMP1 STOP TYPE (D６)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER1.
0: Not put into stop.
1: Put into stop.

‑ 31 ‑

The contents of DRIVE DATA3 WRITE PORT are as follows.
DATA3 PORT
７

D０

D

COMP2 INT ENABLE
COMP2 STOP TYPECOMP3 INT ENABLE
COMP3 STOP TYPECOMP4 INT ENABLE
COMP4 STOP TYPECOMP5 INT ENABLE
COMP5 STOP TYPE
The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) COMP2 INT ENABLE (D０)
Determines whether or not to output the match output CNTINT of COMPARE REGISTER2.
0: CNTINT is not output.
1: CNTINT is output.
(2) COMP2 STOP TYPE (D１)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER2.
0: Not put into stop.
1: Put into stop.
(3) COMP3 INT ENABLE (D２)
Determines whether or not to output the match output X1CNTINT of COMPARE REGISTER3.
0: X1CNTINT is not output.
1: X1CNTINT is output.
(4) COMP3 STOP TYPE (D３)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER3.
0: Not put into stop.
1: Put into stop.
(5) COMP4 INT ENABLE (D４)
Determines whether or not to output the match output X1CNTINT of COMPARE REGISTER4.
0: X1CNTINT is not output.
1: X1CNTINT is output.
(6) COMP4 STOP TYPE (D５)Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER4.
0: Not put into stop.
1: Put into stop.
(7) COMP5 INT ENABLE (D６)
Determines whether or not to output the match output X1CNTINT of COMPARE REGISTER5.
0: X1CNTINT is not output.
1: X1CNTINT is output.
(8) COMP5 STOP TYPE (D７)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER5.
0: Not put into stop.
1: Put into stop.

‑ 32 ‑

6‑6. ADDRESS INITIALIZE Command
COMMAND………

03Ｈ

Function : Defines the current position as the specified
absolute address and stores it into memory.
ADDRESS is specified in DRIVE DATA1 PORT, DRIVE DATA2 PORT and
DRIVE DATA3 PORT.

Execution sequenceN

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 to DRIVE DATA3 are as follows.
DATA1 PORTY
DATA1 PORT
WRITE

D７

DATA2 PORTWRITE

The order
may not
be observed.

DATA3 PORTWRITE

DATA2 PORT
D０ D７

D０

ABSOLUTE ADDRESS (0〜FFFFFFＨ)
When ADDRESS is negative, it is represented in 2's complement form.

・Setting example of ADDRESSADDRESS(decimal)
DATA1 PORT
+8,388,607
7FＨ
+10
00Ｈ
±0
00Ｈ
‑10
FFＨ
‑8,388,607
80Ｈ

COMMAND 03Ｈ
WRITE

DATA3 PORT
D０ D７

DATA2 PORT
FFＨ
00Ｈ
00Ｈ
FFＨ
00Ｈ

DATA3 PORT
FFＨ
0AＨ
00Ｈ
F6Ｈ
01Ｈ

6‑7. ADDRESS READ Command
COMMAND………

04Ｈ

Function : Reads the current position of MOTOR as ABSOLUTE ADDRESS.

Execution sequence

N

ABSOLUTE ADDRESS is read out from DRIVE DATA1 PORT, DRIVE DATA2 PORT and
DRIVE DATA3 PORT.
The contents of DRIVE DATA1 to DRIVE DATA3 are as follows.

BUSY=0 in
STATUS1?

DATA1 PORT
D７

DATA2 PORT
D０ D７

DATA3 PORT
D０ D７

D０

Y
COMMAND 04Ｈ
WRITE
ABSOLUTE ADDRESS (0〜FFFFFFＨ)
N

BUSY=0 in
STATUS1?
YDATA1 PORTREAD
DATA2 PORTREAD
DATA3 PORTREAD

(Note)

When ADDRESS is negative, it is represented in 2's complement form.
・Output example of ADDRESSADDRESS(decimal)
DATA1 PORTDATA2 PORTDATA3 PORT
+8,388,607
7FＨ
FFＨ
FFＨ
+10
00Ｈ
00Ｈ
0AＨ
±0
00Ｈ
00Ｈ
00Ｈ
‑10
FFＨ
FFＨ
F6Ｈ
‑8,388,607
80Ｈ
00Ｈ
01Ｈ
This command is provided for command compatibility with conventional products.
The address data to be read are same as the count data (see 6‑39.) of the
ADDRESS COUNTER. Apply the COUNT DATA for general use.

Note: Data must be read in the order of DRIVE DATA1 to DRIVE DATA3 PORT. Usually, DRIVE DATA 1 PORT, DRIVEDATA2 PORT and DRIVE DATA3 PORT are ports exclusively used for read out the counter value of the PULSE
COUNTER. The port functions of these ports are switched by writing the ADDRESS READ command and thenused for reading address data. The address data reading port functions are recovered to the original
port functions by reading DRIVE DATA3 PORT.
Accordingly, when the ADDRESS READ command has been written, be sure to perform a READ operation
for DRIVE DATA3 PORT.
‑ 33 ‑

6‑8. SERVO RESET Command
COMMAND………

05Ｈ

Function : Outputs the DRST signal to the servo driver for 10ms.

Execution sequence

N

When STEPPING MOTOR is selected, this command becomes equal to the
NO OPERATION command.

BUSY=0 in
STATUS1?
Y
COMMAND 05Ｈ
WRITE

6‑9. RATE SET Command
COMMAND………

06Ｈ

Function : Sets URATE (acceleration time constant) and DRATE(deceleration time constant) required foraccelerating/decelerating drive.

Execution sequence

N

URATE and DRATE are set in DRIVE DATA2 PORT and DRIVE DATA3 PORT
respectively in No. of the data table.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA2 PORT and DRIVE DATA3 PORT are as follows.
Y
DATA2 PORTWRITE

DATA2 PORT
D７

DATA3 PORTWRITE

DATA3 PORT
D０ D７

D０

The order
may not
be observed.

COMMAND 06Ｈ
WRITE

DRATE No.(Set in a hexadecimal value)
URATE No.(Set in a hexadecimal value)
Once the RATE SET command has been executed, it does not need to be
set again unless the contents must be changed.
Each No. is 9(100ms/1000Hz) at POWER ON/RESET.

6‑10.LSPD SET Command
COMMAND………

N

07Ｈ

Function : Sets LSPD (LOW SPEED) required for drive.

Execution sequence

LSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORT
WRITE

D７

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

LSPD DATA
The LSPD DATA setting range is 10 (0AＨ) to 3,333,333 (32DCD5Ｈ). (Note)

DATA3 PORTWRITECOMMAND 07Ｈ
WRITE

Once the LSPD SET command has been executed, it does not need to be
set again unless the contents must be changed.
LSPD is 300Hz at POWER ON/RESET.
Note: The upper limit of the DATA setting range is the SPEED range shownin 5‑17. unlike DRIVE TYPE.
‑ 34 ‑

6‑11.HSPD SET Command
COMMAND………

N

08Ｈ

Function : Sets HSPD (HIGH SPEED) required for drive.

Execution sequence

HSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORT
WRITE

D７

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

HSPD DATA
The HSPD DATA setting range is 1 (1Ｈ) to 3,333,333 (32DCD5Ｈ). (Note)

DATA3 PORTWRITECOMMAND 08Ｈ
WRITE

Once the HSPD SET command has been executed, it does not need to be
set again unless the contents must be changed.
HSPD is 3000Hz at POWER ON/RESET.
Note: The upper limit of the DATA setting range is the SPEED range shownin 5‑17. unlike DRIVE TYPE.

‑ 35 ‑

6‑12.DFL COUNTER INITIALIZE Command
COMMAND………

09Ｈ

Function : Defines operation specification for the DIFFERENTIAL COUNTER.

Execution sequence
DIFFERENTIAL COUNTER specifications are defined in DRIVE DATA1, DRIVE DATA2
and DRIVE DATA3 PORT.
N

BUSY=0 in
STATUS1?
YDATA1 PORTWRITE
DATA2 PORTWRITE
DATA3 PORTWRITE

The contents of DRIVE DATA1 WRITE PORT are as follows.
DATA1 PORT
D７
D０
The order
may not
be observed.

DFL COMP STOP TYPEDFLINT OUTPUT TYPEDFLINT LATCH TRIGGER TYPE
Note: Applied functions are assigned to D７ to D３ bits.
They must be set to 0.

COMMAND 09Ｈ
WRITE

The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) DFL COMP STOP TYPE (D０)When "Stop Enable" is selected for the DIFFERENTIAL COUNTER COMP STOP ENABLE, this bit is used forselecting the fast stop or slow stop through deceleration.
(the same specification applies to the COMPARATORs1 and 2).
0: Fast stop
1: Slow stop(2) DFLINT OUTPUT TYPE (D１)This bit is used for selecting the DFLINT output type on the DIFFERENTIAL COUNTER.
(the same specification applies to the COMPARATORs1 and 2).
0: Detection of each COMPARATOR is latched, then output (executing the STATUS3 READ resets the latch).
1: Detection of each COMPARATOR is output as it is without latch.
Note: Selecting 1 outputs detection of each COMPARATOR without latch, so reset of this mode with the
STATUS3 READ is not available.
(3) DFLINT LATCH TRIGGER TYPE (D２)When "Latch" is selected for the DFLINT output specification, this bit is used for the latch type.
(the same specification applies to the COMPARATORs1 and 2).
0: Level latch (When the detection condition is valid, executing the STATUS3 READ does not change
active state of the DFLINT output).
1: Edge latch (When the detection condition is valid, executing the STATUS3 READ resets the DFLINT
output).
Note: When through‑output is selected for the DFLINT, latch type selection with this bit is disabled.

‑ 36 ‑

Contents of the DRIVE DATA2 PORT are
as shown to the right.

DATA2 PORT
D７

D０

COUNT CLOCK TYPE
COUNT PATTERN TYPECOMP1 INT ENABLE
COMP1 STOP ENABLE
Note: 2３ and 2４ bits must be set to 0.
Since an applied function assigned to 2７ bit, it must be set to 0, too.
The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) COUNT CLOCK TYPE (D０)This bit is used for selecting the operation clock for the DIFFERENTIAL COUNTER.
0: The DIFFERENTIAL COUNTER is operated with the drive pulse (X1CWP and X1CCWP) fromthe X1 axis MCC05v2 and external clock from the X1EA and X1EB.
1: The DIFFERENTIAL COUNTER is operated only with external clock from the X1EA (X1 axis encoder
A‑phase signal) and X1EB (X1 axis B‑phase signal).
(2) COUNT PATTERN TYPE (D１,D２)
This bit is used for selecting the external operation clock for the DIFFERENTIAL COUNTER.
D２
0
0
1
1

D１
0
1
0
1

Count pattern
Count by multiplying the X1EA and X1EB inputs by 1.
Count by multiplying the X1EA and X1EB inputs by 2.
Count by multiplying the X1EA and X1EB inputs by 4.
Count‑up by X1EA and count‑down by X1EB.

Input clock type90ﾟ phasedifference clock
Independent clock
for each direction

Note: Output pulse from the MCC05v2 is counted down with the CW clock and counted up with CCW clock.
The following illustrates 90゜phase difference clock counting pattern.
See Section 12‑11. for the detail.
EA
EB

Count‑up

EA
EB

Count‑down(3) COMP1 INT ENABLE (D５)Determines whether or not to output the match output DFLINT of COMPARE REGISTER1.
0: DFLINT is not output.
1: DFLINT is output.
(4) COMP1 STOP TYPE (D６)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER1.
0: Not put into stop.
1: Put into stop.

Contents of the DRIVE DATA3 PORT are
as shown to the right.

DATA3 PORT
７

D０

D

COMP2 INT ENABLE
COMP2 STOP ENABLE
２
７
Note: 2 to 2 bits must be set to 0.
(3) COMP2 INT ENABLE (D０)
Determines whether or not to output the match output DFLINT of COMPARE REGISTER2.
0: DFLINT is not output.
1: DFLINT is output.
(4) COMP3 STOP TYPE (D１)
Determines whether or not to put the pulse output into stop by the match output of COMPARE REGISTER2.
0: Not put into stop.
1: Put into stop.
‑ 37 ‑

6‑13.SET DATA READ Command
COMMAND………

0AＨ

Function : Reads SPEC DATA, speed data and other data being set on
the MCC05v2 of each axis.

Execution sequenceN

On the DRIVE DATA3 PORT (WRITE), specify a command used for reading thetarget set data. Part of the DRIVE DATA1 PORT(WRITE) is also used.
(see Note2 and 3).
The contents of DRIVE DATA3 WRITE PORT are as follows.
DATA3 PORT
D７
D０

BUSY=0 in
STATUS1?
YDATA1 PORT
WRITE

(Note2 and 3)

DATA3 PORTWRITECOMMAND 0AＨ
WRITE

N

BUSY=0 in
STATUS1?
YDATA1 PORTREAD
DATA2 PORTREAD
DATA3 PORTREAD

Command code for the data to be read.
Data set on the DRIVE DATA1, 2 and 3 PORTs are read.
Data output procedure using the applicable commands is the same as the data setup
procedure which is also implemented using the applicable commands.
Example: When you want to confirm the RATE setup number, write "06Ｈ" (RATE SET
Command) to the DATA3 PORT and "0AＨ" (this command) to the COMMAND PORT
to read the DATA2 and 3 PORTs. This will output the URATE No. to the DATA2(Note1)PORT and the DRATE No. to the DATA3 PORT.
The data available for confirmation are limited to those that have been set with thefollowing commands. Writing a command code other than those listed to the DRIVEDATA3 PORT may not generate the desired data. In this case, the STATUS1 PORT ERROR
BIT is set to 1.
CODE

COMMAND NAME

CODE

COMMAND NAME

01Ｈ
02Ｈ
06Ｈ
07Ｈ
08Ｈ
09Ｈ
0BＨ
0CＨ
0EＨ
18Ｈ
19Ｈ
1AＨ
1BＨ
1CＨ
20Ｈ
22Ｈ
24Ｈ
25Ｈ
26Ｈ
27Ｈ

SPEC INITIALIZE1PULSE COUNTER INITIALIZE
RATE SET(Note2)
LSPD SETHSPD SETDFL COUNTER INITIALIZECW SOFT LIMIT SET*
CCW SOFT LIMIT SET*DFL DIVISION DATA SET*
END PULSE SET*ESPD SET*CSPD SETOFFSET PULSE SETORIGIN DELAY SETSPEC INITIALIZE3*RESOLUTION SET*PART HSPD SET (Note3)*
INCREMENTAL DATA SET*
ABSOLUTE DATA SET*PART PULSE SET (Note3) *

29Ｈ
2BＨ
2CＨ
2DＨ
2EＨ
2FＨ
50Ｈ
51Ｈ
52Ｈ
53Ｈ
54Ｈ
55Ｈ
5FＨ
60Ｈ
61Ｈ
62Ｈ
63Ｈ
64Ｈ
65Ｈ
66Ｈ

PART RATE SET (Note3) *MARGIN TIME SET*PEAK PULSE SET*SEND PULSE SET*SESPD SET*SPEC INITIALIZE4*
DEND TIME SET*
EXTEND ORIGIN SPEC SET *CONSTANT SCAN MAX PULSE*CHANGE POINT DATA SET *CHANGE DATA SET*
AUTO CHANGE SET*SPEC INITIALIZE5*SRATE SETSLSPD SETSHSPD SETSSRATE ADJUSTSERATE ADJUSTSCSPD1 ADJUSTSCSPD2 ADJUST

Commands attached with an asterisks (*) are intended for the applied functions.
For details, see the User's Manual [Applied Functions Part].
Note1: Although number of data ports read and the DATA PORT No. vary according to the command used for thereading, read of the DRIVE DATA3 PORT must not be ignored whenever this command has been executed.
Note2: When reading in the ARITHMETIC MODE, an URATE/DRATE must be set to the DRIVE DATA1 PORT(WRITE).
Note3: As for these commands, PART No. must be set to the DRIVE DATA1 PORT(WRITE).
Note4: All data are output in the same state as they are written without conducting internal processing
such as MIN/MAX process. And, once a piece of data has been written, you cannot change its DRIVE
TYPE between the FIXED and ARITHMETIC at its output.
Note5: Initial setting specified at the time of POWER ON/RESET is not read.
‑ 38 ‑

6‑14.+/‑JOG Command
COMMAND……… Drive in +(CW)direction
Execution sequence

N

10Ｈ

Drive in ‑(CCW)direction

11Ｈ

Function : Performs JOG DRIVE.

BUSY=0 in
STATUS1?
Y
COMMAND 10Ｈor 11Ｈ WRITE

6‑15.+/‑SCAN Command
COMMAND……… Drive in +(CW)direction
Execution sequence

N

12Ｈ

Drive in ‑(CCW)direction

13Ｈ

Function : Performs SCAN DRIVE.

BUSY=0 in
STATUS1?
Y
COMMAND 12Ｈor 13Ｈ WRITE

6‑16.INCREMENTAL INDEX Command
COMMAND………

14Ｈ

Function : Performs INDEX DRIVE with relative specified.

Execution sequenceN

The number of output pulses and the direction are specified in DRIVE DATA1
PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORTWRITE
DATA3 PORTWRITECOMMAND 14Ｈ
WRITE

D７

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

Number of output pulses (0〜FFFFFFＨ)
When set to ‑(CCW)direction,
the number of output pulses is represented in 2's complement form.

・Setting example of the number of output pulses
Output pulse (decimal)
DATA1 PORTDATA2 PORT
+8,388,607
7FＨ
FFＨ
+10
00Ｈ
00Ｈ
±0
00Ｈ
00Ｈ
‑10
FFＨ
FFＨ
‑8,388,607
80Ｈ
00Ｈ‑ 39 ‑

DATA3 PORT
FFＨ
0AＨ
00Ｈ
F6Ｈ
01Ｈ

6‑17.ABSOLUTE INDEX Command
COMMAND………

15Ｈ

Function : Performs INDEX DRIVE with absolute specified.

Execution sequenceN

The absolute address of the target location is specified in DRIVE DATA1
PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORT
D７Y
DATA1 PORTWRITE

The order
may not
be observed.

DATA2 PORTWRITE
DATA3 PORTWRITE

DATA2 PORT
D０ D７

D０

TARGET ADDRESS (0〜FFFFFFＨ)
When TARGET ADDRESS is negative, it is represented in 2's complement
form.

・Setting example of TARGET ADDRESSTARGET ADDRESS(decimal)
DATA1 PORT
+8,388,607
7FＨ
+10
00Ｈ
±0
00Ｈ
‑10
FFＨ
‑8,388,607
80Ｈ

COMMAND 15Ｈ
WRITE

DATA3 PORT
D０ D７

DATA2 PORT
FFＨ
00Ｈ
00Ｈ
FFＨ
00Ｈ

DATA3 PORT
FFＨ
0AＨ
00Ｈ
F6Ｈ
01Ｈ

6‑18.CSPD SET Command
COMMAND………

1AＨ

Function : Sets CSPD (constant speed) required for machine origin
detection drive.
CSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

Execution sequenceN

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORT
WRITE

７

D

DATA2 PORT
D

０

７

D

The order
may not
be observed.

DATA3 PORT
０

７

D D

D０

CSPD DATAThe CSPD DATA setting range is 1 (1Ｈ) to 3,333,333 (32DCD5Ｈ). (Note)

DATA3 PORTWRITECOMMAND 1AＨ
WRITEOnce the CSPD SET command has been executed, it does not need to be
set again unless the contents must be changed.
CSPD is 300Hz at POWER ON/RESET.
Note: The upper limit of the DATA setting range is the SPEED range shownin 5‑17. unlike DRIVE TYPE.

‑ 40 ‑

6‑19.OFFSET PULSE SET Command
COMMAND………

1BＨ

Function : Sets the number of OFFSET PULSES required for machine origin
detection drive.
The number of OFFSET PULSES is set in DRIVE DATA3 PORT.

Execution sequence

The contents of DRIVE DATA3 PORT are as follows.
N

BUSY=0 in
STATUS1?

DATA3 PORT
７

D０

D
Y
DATA3 PORT
WRITE

Number of OFFSET PULSESCOMMAND 1BＨ
WRITEThe OFFSET PULSE number setting range is 0(0Ｈ) to 255 (FFＨ).
The number of OFFSET PULSES is set to 0 at POWER ON/RESET.
Once the OFFSET PULSE SET command has been executed, it does not need
to be set again unless the contents must be changed.

6‑20.ORIGIN DELAY SET Command
COMMAND………

1CＨ

Function : Sets DELAY TIME at machine origin detection drive.

Execution sequenceN

BUSY=0 in
STATUS1?
YDATA1 PORTWRITE

The following data is set in each of DRIVE DATA1 PORT, DRIVE DATA2 PORT
and DRIVE DATA3 PORT.
DATA1 PORT ……… LIMIT DELAY TIME (300ms(3CＨ))
Delay time up to a start of reverse after a stop in the
CCW LIMIT.
DATA2 PORT ……… SCAN DELAY TIME ( 50ms(0AＨ))
Delay time when the direction is reversed in the CONSTANT
SCAN and SCAN DRIVE processes.
DATA3 PORT ……… JOG DELAY TIME
( 20ms(04Ｈ))
Delay time per pulse in the JOG DRIVE process.

The order
may not
be observed.

DATA2 PORTWRITE
DATA3 PORTWRITE

In each port, the value in parentheses is set at POWER ON/RESET.
Each data is 00Ｈ to FFＨ and set in units of 5ms.
Example) 00Ｈ ……… No delay time
0AＨ ……… 50ms
FFＨ ……… 1.275s

COMMAND 1CＨ
WRITE

Usually it is not need to change this data. Only something improvement
at the machine origin detection or the tact time, etc.
The ORIGIN DELAY SET command does not need to be set again unless thecontents must be changed.
6‑21.ORIGIN FLAG RESET Command
COMMAND………

1DＨ

Function : Resets the detection flag to be used for machine origin
detection drive.

Execution sequenceN

BUSY=0 in
STATUS1?

This command is used only when you don't desire to perform
ABSOLUTE INDEX DRIVE nearly up to the machine origin when machine origin
detection drive is used.
For details, refer to Chapter ７.

Y
COMMAND 1DＨ
WRITE

Note: Execute this command before executing the ORIGIN command.

‑ 41 ‑

6‑22.ORIGIN Command
COMMAND………

1EＨ

Function : Performs DRIVE up to machine origin detection.

Execution sequence
The ORG type to be executed is specified in DRIVE DATA1 PORT.
N

BUSY=0 in
STATUS1?

ORG‑0 ………… 00Ｈ
ORG‑1 ………… 01Ｈ
ORG‑2 ………… 02Ｈ
ORG‑3 ………… 03Ｈ
ORG‑4 ………… 04Ｈ
ORG‑5 ………… 05Ｈ
ORG‑10 ……… 0AＨ
ORG‑11 ……… 0BＨ
ORG‑12 ……… 0CＨ

Y
DATA1 PORTWRITECOMMAND 1EＨ
WRITE

If any data other than the above is set, a command error occurs
and no operation is performed.
When each bit of LSEND, SSEND and FEND in STATUS1 is 0 and DREND bit is 1 upon terminationof DRIVE, the machine origin has been detected normally.(04Ｈ)
When any of the ERROR, LSEND, SSEND and FSEND is set to 1, the machine origin has not been
detected. If a detect is interrupted by the RESET entered during a drive, all bits in the
STATUS1 are set to 0 (00Ｈ).

6‑23.SRATE SET Command
COMMAND………

60Ｈ

Function : Sets SRATE (acceleration/deceleration time constant)required for S‑RATE DRIVE.

Execution sequence
SRATE is set in DRIVE DATA3 PORT in No. of data table.
N

BUSY=0 in
STATUS1?
YDATA3 PORTWRITE

The contents of DRIVE DATA3 PORT are as follows.
DATA3 PORT
D７

D０

COMMAND 60Ｈ
WRITE

SRATE No.
Once the SRATE SET command has been executed, it does not need to be
set again unless the contents must be changed.
SRATE No. is set at No.9(100ms/1000Hz) at POWER ON/RESET.

Note: After this command is executed, SSRATE and SERATE are reset to the initial values.
Be careful about this point after SSRATE and SERATE are compensated.

‑ 42 ‑

6‑24.SLSPD SET Command
COMMAND………

61Ｈ

Function : Sets SLSPD (low speed) required for S‑RATE DRIVE.

Execution sequenceN

SLSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORT
D７Y
DATA1 PORTWRITE

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA2 PORTWRITE
DATA3 PORTWRITE

DATA3 PORT
D０ D７

D０

SLSPD DATAThe SLSPD DATA setting range is 10(0AＨ) to 3,333,333 (32DCD5Ｈ). (Note1)
Once the SLSPD SET command has been executed, it does not need to be
set again unless the contents must be changed.
SLSPD is 300Hz at POWER ON/RESET.

COMMAND 61Ｈ
WRITE

Note1: The upper limit of the data setting range depends on DRIVE TYPE. Refer to 5‑17.
Note2: After this command is executed, SCSPD1 and SCSPD2 are reset to the initial values.
Be careful about this point after SCSPD1 and SCSPD2 are compensated.
6‑25.SHSPD SET Command
COMMAND………

62Ｈ

Function : Sets SHSPD (high speed) required for S‑RATE DRIVE.

Execution sequenceN

SHSPD is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORT
WRITE

D７

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

SHSPD DATAThe SHSPD DATA setting range is 1(1Ｈ) to 3,333,333(32DCD5Ｈ). (Note1)

DATA3 PORTWRITECOMMAND 62Ｈ
WRITE

Once the SHSPD SET command has been executed, it does not need to be
set again unless the contents must be changed.
SHSPD is 3000Hz at POWER ON/RESET.

Note1: The upper limit of the data setting range depends on DRIVE TYPE. Refer to 5‑17.
Note2: After this command is executed, SCSPD1 and SCSPD2 are reset to the initial values.
Be careful about this point after SCSPD1 and SCSPD2 are compensated.

‑ 43 ‑

6‑26.SSRATE ADJUST Command
COMMAND………

63Ｈ

Function : Adjusts SSRATE (time constant at a start of acceleration
or at an end of deceleration) required for S‑RATE DRIVE.

Execution sequence
SSRATE is set in DRIVE DATA3 PORT in No. of data table.
N

BUSY=0 in
STATUS1?

The contents of DRIVE DATA3 PORT are as follows.
DATA3 PORT
D７Y
DATA3 PORT
WRITE

D０

COMMAND 63Ｈ
WRITE

SSRATE No.

SSRATE is automatically set to an approximately eightfold value of SRATE by the SRATE SET command.
When the specification is satisfied with this data, this command does not need to be executed.
For the details of automatic setting value, refer to 5‑9.
Note1: After the SRATE SET command is executed, SSRATE adjusted prior to the execution becomes ineffective
and is reset to the initial value. This is also applicable to the case in which DRIVE TYPE has beenchanged by the SPEC INITIALIZE1 command.
Note2: The SSRATE adjusting range is SSRATE≧SRATE. When SSRATE＜SRATE, SSRATE becomes equal to SRATE.
6‑27.SERATE ADJUST Command
COMMAND………

64Ｈ

Function : Adjusts SERATE (at an end of acceleration or at a start ofdeceleration) required for S‑RATE DRIVE.

Execution sequence
SERATE is set in DRIVE DATA3 PORT in No. of data table.
N

BUSY=0 in
STATUS1?

The contents of DRIVE DATA3 PORT are as follows.
DATA3 PORTY
DATA3 PORT
WRITE

７

D０

D

COMMAND 64Ｈ
WRITE

SERATE No.

SERATE is automatically set to an approximately eightfold value of SRATE by the SRATE SET command.
When the specification is satisfied with this data, this command does not need to be executed.
For the details of automatic setting value, refer to 5‑9.
Note1: After the SRATE SET command is executed, SERATE adjusted prior to the execution becomes ineffective
and is reset to the initial value. This is also applicable to the case in which DRIVE TYPE has beenchanged by the SPEC INITIALIZE1 command.
Note2: The SERATE adjusting range is SERATE≧SRATE. When SERATE＜SRATE, SERATE becomes equal to SRATE.

‑ 44 ‑

6‑28.SCSPD1 ADJUST Command
COMMAND………

65Ｈ

Function : Adjusts SCSPD1 (linear RATE start speed or linear RATE end
speed) required for S‑RATE DRIVE.
SCSPD1 is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

Execution sequenceN

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORT
D７Y
DATA1 PORTWRITE

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA2 PORTWRITE

DATA3 PORT
D０ D７

D０

SCSPD1 DATASCSPD1 is reset to the value indicated by the following expression
at POWER ON/RESET or by the SLSPD SET command or SHSPD SET command.
When the specification is satisfied with the following data,
this command does not need to be executed.
1
SCSPD1＝SLSPD＋(SHSPD−SLSPD)×3

DATA3 PORTWRITECOMMAND 65Ｈ
WRITE

Note1: After the SLSPD SET command or the SHSPD SET command is executed, SCSPD1 set prior to the execution
becomes ineffective and is reset to the initial value. This is also applicable to the case inwhich DRIVE TYPE has been changed by the SPEC INITIALIZE1 command.
Note2: The SCSPD1 adjusting range is SLSPD≦SCSPD1≦SCSPD2.
When SCSPD1＜SLSPD is specified, SCSPD1 becomes equal to SLSPD.
When SCSPD1＞SCSPD2 is specified, SCSPD1 becomes equal to SCSPD2.
6‑29.SCSPD2 ADJUST Command
COMMAND………

66Ｈ

Function : Adjusts SCSPD2 (linear RATE end speed or linear RATE
start speed) required for S‑RATE DRIVE.
SCSPD2 is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.

Execution sequenceN

BUSY=0 in
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORTY
DATA1 PORTWRITE
DATA2 PORTWRITE
DATA3 PORTWRITECOMMAND 66Ｈ
WRITE

７

D

DATA2 PORT
D

０

７

D

The order
may not
be observed.

DATA3 PORT
０

７

D D

D０

SCSPD2 DATASCSPD2 is reset to the value indicated by the following expression
at POWER ON/RESET or by the SLSPD SET command or SHSPD SET command.
When the specification is satisfied with the following data,
this command does not need to be executed.
2
SCSPD2＝SLSPD＋(SHSPD−SLSPD)×3

Note1: After the SLSPD SET command or the SHSPD SET command is executed, SCSPD2 set prior to the execution
becomes ineffective and is reset to the initial value. This is also applicable to the case inwhich DRIVE TYPE has been changed by the SPEC INITIALIZE1 command.
Note2: The SCSPD2 adjusting range is SCSPD1≦SCSPD2≦SHSPD.
When SCSPD2＜SCSPD1 is specified, SCSPD2 becomes equal to SCSPD1.
When SCSPD2＞SHSPD is specified, SCSPD2 becomes equal to SHSPD.

‑ 45 ‑

6‑30.+/‑S‑RATE SCAN Command
COMMAND……… Drive in +(CW)direction
Execution sequence

N

70Ｈ

Drive in ‑(CCW)direction

71Ｈ

Function : Performs S‑RATE SCAN DRIVE.

BUSY=0 in
STATUS1?
Y
COMMAND 70Ｈor 71Ｈ WRITE

6‑31.S‑RATE INCREMENTAL INDEX Command
COMMAND………

72Ｈ

Function : Performs S‑RATE INDEX DRIVE with relative specified.

Execution sequenceN

The number of output pulses and the direction are specified in
DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT.
The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.

BUSY=0 in
STATUS1?

DATA1 PORT
D７Y
DATA1 PORTWRITE

DATA2 PORT
D０ D７

DATA3 PORT
D０ D７

D０

The order
may not
be observed.

Number of output pulses (0〜7FFFFFＨ)
When set to ‑(CCW)direction,
the number of output pulses is represented in 2's complement form.
・Setting example of the number of output pulses
Output pulse (decimal)
DATA1 PORTDATA2 PORTDATA3 PORT
+8,388,607
7FＨ
FFＨ
FFＨ
+10
00Ｈ
00Ｈ
0AＨ
±0
00Ｈ
00Ｈ
00Ｈ
‑10
FFＨ
FFＨ
F6Ｈ
‑8,388,607
80Ｈ
00Ｈ
01Ｈ

DATA2 PORTWRITE
DATA3 PORTWRITECOMMAND 72Ｈ
WRITE

6‑32.S‑RATE ABSOLUTE INDEX Command
COMMAND………

73Ｈ

Function : Performs S‑RATE INDEX DRIVE with absolute specified.

Execution sequenceN

The absolute address of the target location is specified in
DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT.
The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.

BUSY=0 in
STATUS1?

DATA1 PORT
D７Y
DATA1 PORTWRITE
DATA2 PORTWRITE
DATA3 PORTWRITECOMMAND 73Ｈ
WRITE

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

TARGET ADDRESS (0〜7FFFFFＨ)
When TARGET ADDRESS is negative, it is represented in 2's complement
form.
・Setting example of TARGET ADDRESSTARGET ADDRESS(decimal)
DATA1 PORTDATA2 PORTDATA3 PORT
+8,388,607
7FＨ
FFＨ
FFＨ
+10
00Ｈ
00Ｈ
0AＨ
±0
00Ｈ
00Ｈ
00Ｈ
‑10
FFＨ
FFＨ
F6Ｈ
‑8,388,607
80Ｈ
00Ｈ
01Ｈ

‑ 46 ‑

6‑33.ERROR STATUS READ Command
COMMAND………

E2Ｈ

Function : When the STATUS1 PORT ERROR BIT is set to 1, this commandreads cause of an error.

Execution sequence
Cause of an error is output to the DRIVE DATA3 PORT in hexadecimal value.
N

BUSY=0 in
STATUS1?
00Ｈ ･････ Error is not present.
01Ｈ ･････ An undefined command has been executed.
02Ｈ ･････ The SET DATA READ has been executed by an irrelevant command.
03Ｈ ･････ The SPECIAL INDEX has been executed when the URATE≠DRATE specified. *Or, the SPECIAL SCAN at URATE≠DRATE has been executed when the
SOFT LIMIT is enabled.
04Ｈ ･････ Section1 condition error in the SERIAL INDEX.
*
05Ｈ ･････ A SOFT LIMIT error.
*
06Ｈ ･････ The drive has ended in a DEND ERROR.
*
07Ｈ ･････ The drive has ended in an ORIGIN ERROR.
*
08Ｈ ･････ The SENSOR INDEX3 DATA SET has not been executed.
*
09Ｈ ･････ Data error in writing a command.
･The SET DATA READ has been executed by an undefined command.
･DATA1 PORT data error during the RATE SET in the Arithmetic mode.
*･The RESOLUTION SET has been executed in the fixed data mode.
*･PART No. error in the PART HSPD.
*･PART No. error in the PART PULSE.
*･PART No. error in the PART RATE.
*･PART No. error in the SERIAL INDEX CHECK.
*
0AＨ ･････ The INDEX CHANGE has not been executed because the drive is ended.
*
0DＨ ･････ DEND ERROR and ORIGIN ERROR have occurred.
*

Y
COMMAND E2Ｈ
WRITE

N

BUSY=0 in
STATUS1?
YDATA3 PORT
READ

Those errors indicated with asterisks (*) are relevant to applied functions.
For details, see the User's Manual [Applied Functions Part].
As it is so with a STATUS1 PORT ERROR BIT, an error code can be cleared by any command other than thiscommand. When the command is being executed, the error code is cleared after the execution is complete.
6‑34.SPEED CHANGE Command
COMMAND………

F7Ｈ

Function : Changes speed of the SCAN DRIVE or INDEX DRIVE
currently taking place.

Execution sequence(Note1)N

2５BIT=0 in
STATUS5YDATA1 PORTWRITE
DATA2 PORTWRITE
DATA3 PORTWRITESPEED is set in DRIVE DATA1 PORT, DRIVE DATA2 PORT and DRIVE DATA3 PORT
in 3‑byte data in Hz.
The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are same as HSPD SET
command.

(Note2)

Note1: Before writing this command, make sure that the SPEED CHANGE BUSY BIT
on the STATUS5 is set to 0.
Note2: Speed data write to the ports must take place in the order of the
DATA1, 2 and 3 PORT.
(3‑byte data is acquired while write to the DATA3 PORT is taking place.)
Note3: This command is valid for the SCAN DRIVE and INDEX DRIVE alone.

COMMAND F7Ｈ
WRITE‑ 47 ‑

6‑35.INT MASK Command
COMMAND………

F8Ｈ

Function : Masks detection of each COMPARATOR at its output.

Execution sequence
INT MASK is set on the DRIVE DATA3 PORT.
DATA3 PORTWRITECOMMAND F8Ｈ
WRITEContents of the DRIVE DATA3 PORT is as follows.
DATA3 PORT
D７

D０

PLS COMP1 INT MASKPLS COMP2 INT MASKPLS COMP3 INT MASKPLS COMP4 INT MASKPLS COMP5 INT MASKDFL COMP1 INT MASKDFL COMP2 INT MASK

Note: D７ bit must be set to 0.

Detail of the each bit on the DRIVE DATA3 PORT is as follows.
At POWER ON/RESET, the underlined side is selected.
(1) PLS COMP1 INT MASK (D０)This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTERCOMPARATOR1.
0: Not masked.
1: Masked.
１(2) PLS COMP2 INT MASK (D )This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTERCOMPARATOR2.
0: Not masked.
1: Masked.
２(3) PLS COMP3 INT MASK (D )This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTERCOMPARATOR3.
0: Not masked.
1: Masked.
３(4) PLS COMP4 INT MASK (D )This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTERCOMPARATOR4.
0: Not masked.
1: Masked.
(5) PLS COMP5 INT MASK (D４)This bit is used for enabling or disabling masking of output of the detection from the PULSE COUNTERCOMPARATOR5.
0: Not masked.
1: Masked.
(6) DFL COMP1 INT MASK (D５)This bit is used for enabling or disabling masking of output of the detection from the DIFFERENTIAL
COUNTER COMPARATOR1. (excessive deviation).
0: Not masked.
1: Masked.
(7) DFL COMP2 INT MASK (D６)This bit is used for enabling or disabling masking of output of the detection from the DIFFERENTIAL
COUNTER COMPARATOR2. (in position)
0: Not masked.
1: Masked.
Note1: Even if "Masking" is specified, the COMPARATOR match stop function is not affected.
For details, refer to 8‑5.
Note2: BUSY＝0 may not be checked. But, you must not use this command when another command is being
written or written after(less than 4 μS) to the DATA3 PORT to rewrite it.

‑ 48 ‑

6‑36.PORT SELECT Command(1) ADDRESS COUNTER PORT SELECT Command
COMMAND………

F9Ｈ

Function : Switches the DRIVE DATA1, 2 and 3 PORTs to the special port
for reading count data on the ADDRESS COUNTER.

(2) DFL COUNTER PORT SELECT Command
COMMAND………

FAＨ

Function : Switches the DRIVE DATA1, 2 and 3 PORTs to the special port
for reading count data on the DIFFERENTIAL COUNTER.
(3) PULSE COUNTER PORT SELECT Command
COMMAND………

FCＨ
Function : Switches the DRIVE DATA1, 2 and 3 PORTs to the special port
for reading count data on the PULSE COUNTER.

(4) SPEED PORT SELECT Command
COMMAND………

FDＨ
Function : Switches the DRIVE DATA1, 2 and 3 PORTs to the special port
for reading speed data of output pulse.

These commands are used for switching data to be read from the DRIVE DATA1, 2 and 3 PORTs.
There is no specified command execution sequence. however donot execute this command less than
4 μS after another command is executed.
Desired data will be provided from the DRIVE DATA1, 2 and 3 PORTs within 200ns from execution of a command.
Once executed, each port select command is valid until another port select command is executed.
At POWER ON/RESET, the DRIVE DATA1, 2 and 3 PORTs are set as the special port for reading count data on
the PULSE COUNTER.
If one of the following commands is written, the DRIVE DATA1, 2 and 3 PORTs temporarily output datarequired by the command, then restore once selected the port function. Reading the DRIVE DATA3 PORT
restores them the preceding function.
Thus, whenever one of the following commands has been executed, you must read the DRIVE DATA3 PORT.
ADDRESS READ, SET DATA READ, ERROR STATUS READ and SERIAL INDEX CHECK (applied function).
6‑37.SLOW STOP Command
COMMAND………

FEＨ

Function : Puts DRIVE into a slow stop.
When DRIVE is of constant speed, this command puts it intoa fast stop.

Regarding the execution sequence, there is no special stipulation.
However, since this command stops DRIVE, it is ignored when it is written during BUSY＝0.
This command can function only at DRIVE＝1 but not at DRIVE＝0.
6‑38.FAST STOP Command
COMMAND………

FFＨ

Function : Puts DRIVE into a fast stop.

Regarding the execution sequence, there is no special stipulation.
However, since this command stops DRIVE, it is ignored when it is written during BUSY＝0.
This command can function only at DRIVE＝1 but not at DRIVE＝0.

‑ 49 ‑

6‑39.COUNTER READ
COMMAND………

None

Function : Reads the count data of the PULSE COUNTER or DIFFERENTIAL
COUNTER or ADDRESS COUNTER.(Note1)

Execution sequenceThis function reads out the count data of the counter data from
DRIVE READ PORT after the PORT SELECT command. (Note1)
DATA1 PORTREAD

(Note2)The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.

DATA2 PORTREAD

DATA1 PORT
７

D

DATA2 PORT
D

０

DATA3 PORT

７

０

D

７

D０

D D

DATA3 PORTREAD
COUNT DATA (0〜FFFFFFＨ)
When the count data is negative, it is represented in 2's complement
form.
・Example of count data
COUNT DATA(decimal)
DATA1 PORT
+8,388,607
7FＨ
+10
00Ｈ
±0
00Ｈ
‑10
FFＨ
‑8,388,607
80Ｈ

DATA2 PORT
FFＨ
00Ｈ
00Ｈ
FFＨ
00Ｈ

DATA3 PORT
FFＨ
0AＨ
00Ｈ
F6Ｈ
01Ｈ

Note1: The PULSE or DIFFERENTIAL or ADDRESS COUNTER select must be executed before count read by each
PORT SELECT Command.(6‑36.)
Note2: Be sure to perform a DATA READ operation in the order of DRIVE DATA1 PORT, DRIVE DATA2 PORT and
DRIVE DATA3 PORT.
If this sequence is not observed, the data will not be guaranteed.
6‑40.SPEED READ
COMMAND………

None

Function : Reads speed data of a drive currently taking place.

Execution sequence

After the SPEED PORT SELECT Command has been executed, this command is used
for reading current speed data from the DRIVE DATA1, 2 and 3 PORTs.

(Note1)
DRIVE=1 in
N
STATUS1?

The contents of DRIVE DATA1 PORT to DRIVE DATA3 PORT are as follows.
DATA1 PORT

(Note2)Y
DATA1 PORT
READ

D７

DATA2 PORTDATA2 PORTREAD
DATA3 PORTREAD

DATA3 PORT

D０ D７

D０ D７

D０

SPEED DATA (30Ｈ〜FFFFF8Ｈ)

PULSE SPEED
０ SET

Using this the data obtained through this function,pulse speed can be determined as follows:

PULSE SPEED＝160,000,000(Hz)
Ｖ

Ｖ＝READ DATA

(Example) When read data Ｖ＝48(30Ｈ)
160,000,000
PULSE SPEED＝≒ 3.3(MHz)48
Note1: DRIVE＝1 may not be checked. But, note that speed data immediately before the stop will be
continuously generated ever after the drive has been stopped.
Note2: Be sure to perform a DATA READ operation in the order of DRIVE DATA1 PORT, DRIVE DATA2 PORT and
DRIVE DATA3 PORT.
If this sequence is not observed, the data will not be guaranteed.
‑ 50 ‑

７．ＭＡＣＨＩＮＥ ＯＲＩＧＩＮ ＤＥＴＥＣＴＩＮＧ ＦＵＮＣＴＩＯＮ
There are 9 MCC05v2 machine origin detection types in all, namely, ORG‑0,ORG‑1,ORG‑2,ORG‑3,ORG‑4,ORG‑5,ORG‑10,
ORG‑11 and ORG‑12. The X1 axis, Y1 axis , Z1 axis A1 axis, X2 axis, Y2 axis , Z2 axis and A2 axis areprovided independently with this function, so mutual interference does not occur.
In each process of ORG‑0 to ORG‑5 and ORG‑11 to ORG‑12, the machine origin address once detected is stored inmemory, thereby permitting machine origin detection in a short time thereafter. Therefore, a detection flag isprepared inside the MCC05v2.
When this flag is ON, movement is performed nearly up to the machine origin(ORIGIN + OFFSET PULSE) by
ABSOLUTE INDEX DRIVE, then DRIVE of the processes shown in and after 7‑2. is performed.
When the flag is OFF, DRIVE of each process is directly performed without performing ABSOLUTE INDEX DRIVE.
The following description is given about the X1 axis but also applicable to another axis.
＊Detection flag ON condition① The machine origin was normally detected by ORG DRIVE.
＊Detection flag OFF conditions① POWER ON/RESET② DRIVE was put into an fast stop by the FSSTOP signal or the FSSTOP command.
(Including an fast stop by the match output of COMPARE REGISTER)③ ORIGIN DRIVE was stopped by the SLOW STOP command and etc.
(Including DEND ERROR or ORIGIN ERROR was occurred.)④ When the LIMIT stop type was set to fast stop, DRIVE was stopped by the LIMIT signal.
⑤ ORG DRIVE different from the previous ORG DRIVE was started.
⑥ ADDRESS exceeds the range of +8,388,607 to ‑8,388,607.
⑦ The ORIGIN FLAG RESET command or SPEC INITIALIZE4 Command was executed.
・The machine near‑origin address for making a return with the detection flag ON is controlled in the MCC05v2,
so the user does not need to consider anything. Even if ADDRESS has been updated by the ADDRESS INITIALIZE
command, the machine near‑origin address is also update, so the physical location is stored in memory.
・The machine near‑origin address depends on the ORG type. In the ORG‑0 to ORG‑3, ORG‑11 and 12 types,
the machine near‑origin address is the location of "machine origin detection end position + OFFSET PULSE".
In the ORG‑4,5 types, the machine near‑origin address is the location of "NORG signal + OFFSET PULSE".
The OFFSET PULSE is specified in the range of 0 to 255 pulses by the OFFSET PULSE SET command.
OFFSET PULSE becomes 0 at POWER ON/RESET.
7‑1. Machine Origin Detection Types
There are 9 machine origin detection types, each of which is characterized as shown in the following table.
Detection Number of Sensor status
Compensation Standard number Accuracy
Time
Type
sensors at completionof backlashof processes
required
ORG‑0,11
1 piece
Sensor OFF
Compensation
２
Ｃ
Short
ORG‑1
1 piece
Sensor ON
Compensation
２
Ｃ
Short
ORG‑2,12
1 piece
Sensor OFF
Compensation
４
Ｂ
Long
ORG‑3
1 piece
Sensor ON
Compensation
４
Ｂ
Long
ORG‑4
2 piece
Sensor OFF
Compensation
４ or ５Ａ
LongestORG‑5
2 piece
Sensor ON
Compensation
４ or ５Ａ
LongestORG‑102 piece
Sensor ON
No Compensation
２
Ｃ
Shortest
・Standard number of processes
Indicates the number of DRIVEs of CONSTANT SCAN, SCAN and JOG started by ORIGIN DRIVE.
Regarding JOG DRIVE, however, the repeated JOG DRIVE process is 1.
・Accuracy
A denotes the top accuracy and the accuracy is lowered in the order of B and C.
In the following process drawings, the meaning of each symbol is as follows.
X1ORG,X1NORG
Indicates a sensor signal. (Low with the sensor ON)
Mark ○
Indicates the detection start position.
Mark △
Indicates the detection end position.
→
Indicates SCAN DRIVE and its direction.
→
Indicates CONSTANT SCAN DRIVE and its direction.
→
Indicates repeated JOG DRIVE and its direction.
LD
Indicates a stop during LIMIT DELAY TIME.
SD
Indicates a stop during SCAN DELAY TIME.
JD
Indicates a stop during JOG DELAY TIME.
‑ 51 ‑

7‑2. ORG‑0 Type‑(CCW)LIMIT+(CW)LIMIT
ａ

X1ORG
ＨＳＰＤ

←
∀

○

↓→ ＣＳＰＤＳＤ△← ＨＳＰＤ○↓ＬＤ○

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
○ : Detection start position△ : Detection end position

→ＨＳＰＤ
←

↓ＳＤ

ＣＳＰＤ

↓ →ＣＳＰＤＳＤ△→ ＨＳＰＤ
○

○

← ↓ＳＤ

ＣＳＰＤ

↓→ ＣＳＰＤ

ＳＤ△

This type uses a single sensor. The +(CW)side edge (point ａ) of the X1ORG signal is detected.
The ORG sensor is one that holds a single pulse or the ‑(CCW)side level.
7‑3. ORG‑1 Type‑(CCW)LIMIT+(CW)LIMIT
ａ

X1ORG
ＨＳＰＤ

ＳＤ

↓→ＣＳＰＤ←○○△← ＨＳＰＤ

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
○ : Detection start position△ : Detection end position↓ → ＨＳＰＤ○

ＬＤ

←↓ＳＤ

ＣＳＰＤ

ＳＤ

↓→ ＣＳＰＤ△→ ＨＳＰＤ
○

← ↓ＳＤ

ＣＳＰＤ

ＳＤ

↓→ ＣＳＰＤ△

This type uses a single sensor. The ‑(CCW)side edge (point a) of the X1ORG signal is detected.
The ORG sensor is one that holds a single pulse or the +(CW)side level.

‑ 52 ‑

7‑4. ORG‑2 Type‑(CCW)LIMIT+(CW)LIMIT
ａ

X1ORG
ＨＳＰＤ

←
○

↓→ ＣＳＰＤ

ＳＤ

○

← ↓ＳＤ

ＣＳＰＤ

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
JD : JOG DELAY TIME
○ : Detection start position△ : Detection end position

↓→

ＪＤ

△

← ＨＳＰＤ
○

↓

ＬＤ

→ＨＳＰＤ
←

↓ＳＤ

ＣＳＰＤ

↓→

ＪＤ

△

→ ＨＳＰＤ
○

○

← ↓ＳＤ

ＣＳＰＤ

↓→

ＪＤ

△

This type used a single sensor. The +(CW)side edge (point a) of the X1ORG signal is detected.
The ORG sensor is one that holds a single pulse or the ‑(CCW)side level.
7‑5. ORG‑3 Type‑(CCW)LIMIT+(CW)LIMIT
ａ

X1ORG
ＨＳＰＤ

ＳＤ

↓→ＣＳＰＤ

○

○

←↓ＳＤ

ＣＳＰＤ

ＪＤ

←

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
JD : JOG DELAY TIME
○ : Detection start position△ : Detection end position↓→△← ＨＳＰＤ↓ → ＨＳＰＤ○

ＬＤ

←↓ＳＤ

ＣＳＰＤ

ＪＤ

↓→
△

→ ＨＳＰＤ
○

← ↓ＳＤ

ＣＳＰＤ

ＪＤ

↓→
△

This type uses a single sensor. The ‑(CCW)side edge (point a) of the X1ORG signal is detected.
The ORG sensor is one that holds a single pulse or the +(CW)side level.
‑ 53 ‑

7‑6. ORG‑4 TypeThe NEAR ORG process is performed first. Next, the ORG process is performed.
(1) NEAR ORG process‑(CCW)LIMIT+(CW)LIMITａ

X1NORGＨＳＰＤ

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
JD : JOG DELAY TIME
○ : Detection start position△ : Detection end position←○↓→ ＣＳＰＤＳＤ○← ＨＳＰＤ
↓

ＬＤ

○

→ＨＳＰＤ
←

ＣＳＰＤ

↓ＳＤ

→ ＨＳＰＤ
○

○

← ↓ＳＤ

ＣＳＰＤ

(2) ORG process
・X1ORG＝HIGH upon detection of point a (sensor OFF) ・X1ORG＝LOW upon detection of point a (sensor ON)ａａ
X1NORGX1NORG
ｂ
ｃ
ｃ
ｂ
X1ORG
X1ORG
←ＣＳＰＤ ↓ＳＤ
ＳＤ↓ ＣＳＰＤ→
↓→

←↓ＳＤ

ＪＤ

ＣＳＰＤ

△

↓→

ＪＤ

△

This type uses two sensors. After the +(CW)side edge (point a) of the X1NORG signal is detected, the +(CW)side edge (point b) of the X1ORG signal is detected.
The NORG sensor is one that holds a single pulse or the ‑(CCW)side level, and the ORG sensor is one thatgenerates a signal such as rotary axis slit cyclically.
7‑7. ORG‑5 TypeThe NEAR ORG process is performed first. Next, the ORG process is performed.
(1) NEAR ORG工 process‑(CCW)LIMIT+(CW)LIMITａ

X1NORG
ＨＳＰＤ↓→ ＣＳＰＤ

ＳＤ

←
○

○

← ＨＳＰＤ
↓

ＬＤ

○

→ＨＳＰＤ
←

ＣＳＰＤ

↓ＳＤ

→ ＨＳＰＤ
○

○

← ↓ＳＤ

ＣＳＰＤ

‑ 54 ‑

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
JD : JOG DELAY TIME
○ : Detection start position△ : Detection end position

(2) ORG process
・X1ORG＝HIGH upon detection of point a (sensor OFF) ・X1ORG＝LOW upon detection of point a (sensor ON)ａａ
X1NORGX1NORG
ｃ
ｂ
ｂ
ｃ
X1ORG
X1ORG
ＳＤ↓ ＣＳＰＤ→←ＣＳＰＤ ↓ＳＤ
←↓ＳＤ

↓→

ＣＳＰＤ

ＪＤ

△

↓→

ＪＤ

△

This type uses two sensors. After the +(CW)side edge (point a) of the X1NORG signal is detected, the ‑(CCW)side edge (point b) of the X1ORG signal is detected.
The NORG sensor is one that holds a single pulse or the ‑(CCW)side level, and the ORG sensor is one thatgenerates a signal such as rotary axis slit cyclically.
7‑8. ORG‑10 Type‑(CCW)LIMIT+(CW)LIMITａ

X1NORG
ｂ
X1ORG
ＨＳＰＤ

←

← ＣＳＰＤ * *No DELAY TIME○○

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
LD : LIMIT DELAY TIME
SD : SCAN DELAY TIME
○ : Detection start position△ : Detection end position△← ＨＳＰＤ↓ ＨＳＰＤ→○ＬＤ

Note○ ＣＳＰＤ← ↓ＳＤ△

Note: Detection has been started with both X1NORG signal and X1ORG signal ON.

This type uses two sensors. The +(CW)side edge (point a) of the X1NORG signal or the +(CW)side edge
(point b) of the X1ORG signal is detected and CONSTANT SCAN DRIVE is performed to point b.
Both NORG sensor and ORG sensor are ones that hold a single pulse or the ‑(CCW)side level.

‑ 55 ‑

7‑9. ORG‑11 TypeThe drive is stopped at the Slow Stop irrespective of type of the LIMIT stop.
CAUTION‑(CCW)LIMITａ
X1CCWLM(Note1)

So there may be a collision with the limit position of the mechanical device before stop.
This may lead to machine or workpiece damage.
Note that the stop point will be changed if RATE, HSPD, etc. are changed.

+(CW)LIMIT

ＨＳＰＤ

←
○

↓→ＣＳＰＤＳＤ○

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
SD : SCAN DELAY TIME
○ : Detection start position△ : Detection end position△→ ＨＳＰＤ
○

←↓ＳＤ

ＣＳＰＤ

↓→ ＣＳＰＤ

ＳＤ△

This is a detection done using a single sensor. +(CW) side edge of X1CCWLM signal (indicated as "a" in the
figure) is detected. ‑(CCW) LIMIT sensor is used as the ORG sensor.
X1CCWLM signal used must be the one that holds a single pulse or level.
Note: X1ORG signal is also enabled in this type, so make sure that it will not be turned active.
7‑10.ORG‑12 TypeThe drive is stopped at the Slow Stop irrespective of type of the LIMIT stop.
CAUTION

So there may be a collision with the limit position of the mechanical device before stop.
This may lead to machine or workpiece damage.
Note that the stop point will be changed if RATE, HSPD, etc. are changed.

‑(CCW)LIMITａ
X1CCWLM(Note1)↓→ＣＳＰＤＳＤ+(CW)LIMIT

ＨＳＰＤ

←
○

○

←↓ＳＤ

ＣＳＰＤ

HSPD : HIGH SPEED
CSPD : CONSTANT SPEED
SD : SCAN DELAY TIME
JD : JOG DELAY TIME
○ : Detection start position△ : Detection end position

↓

ＪＤ

△

→ ＨＳＰＤ
○

←↓ＳＤ

ＣＳＰＤ

↓→ ＣＳＰＤＪＤ△This is a detection done using a single sensor. +(CW) side edge of X1CCWLM signal (indicated as "a" in the
figure) is detected. ‑(CCW) LIMIT sensor is used as the ORG sensor.
X1CCWLM signal used must be the one that holds a single pulse or level.
This type of detection differs from the ORG‑11 detection in that it repeats the JOG DIVE in the final
process.
Note: X1ORG signal is also enabled in this type, so make sure that it will not be turned active.

‑ 56 ‑

7‑11.Sensor Arrangement(1) Mount the X1ORG signal sensor for ORG‑0, ORG‑1, ORG‑2 or ORG‑3 and the X1NORG/X1ORG signal sensor
for ORG‑10 on the ‑(CCW)LIMIT side along the work moving direction.
Example) For a ball screw table‑(CCW)Ｗｏｒｋ+(CW)

X1NORG signal sensor for ORG‑10
X1ORG signal sensor

Use photo sensors.
They shall turn off when light enters.

(2) ORG‑4 and ORG‑5
・Mount the X1NORG signal sensor on the ‑(CCW)LIMIT side along the work moving direction in the same way
as (1).
・X1ORG signal sensor
When using a stepping motor:
Mount this sensor on the motor rotary shaft as shown below.

MOTOR

X1ORG signal sensor
Use a photo sensor.
It shall turn on when light enters.
Disc with slit mounted on the rotary shaft.

When using a servo motor:
Connect the encoder Z phase (Cφ) output signals +Z and ‑Z of the servo driver to the +X1ZORG and‑X1ZORG of the C‑872. For details, refer to Chapter １４.
The pulse width of the encoder Z phase (Cφ) output shall be 10μs or more.
(3) ORG‑11,12
These types require the LIMIT sensor alone. X1CCWLM signal is used as the origin signal.
Since X1ORG signal is also enabled, make sure that it will not be turned active.
7‑12.Detecting Conditions(1) For the ORG‑0, ORG‑1, ORG‑2 and ORG‑3 types, the X1ORG signal should be detected for 1ms or more when it
passes the ORG sensor at the maximum speed. For the ORG‑4, ORG‑5 and ORG‑10 types, the X1NORG signal
should be detected for 1ms or more when it passes the NORG sensor at the maximum speed.
(2) For the ORG‑4 and ORG‑5 types, the distance between point a and point b and the distance between point aand point c should be N pulses or more in terms of the number of pulses.
＊N＝0.005×CSPD(Hz)Example) When CSPD＝5KHz, N＝0.005×5000＝25.
(Minimum value of
Accordingly, the distance should be 25 pulses or more.
N is 1.)
Practically, give some allowance to it.
(3) Each of the X1ORG and X1NORG signals should have no chattering.(When photo sensors are used, this does notmatter.)(4) The distance between point a and +(CW)LIMIT shown in each process drawing should be enough for a slow stop.
(5) The distance between point a and point b shown in the ORG‑10 type should be enough for a slow stop.
(6) With the ORG‑11 and 12 detection, sufficient distance must be provided between the point a and themachine limit in CCW direction so that slow stop (through deceleration) is ensured for the drive.
There may be a collision with the limit position of the mechanical device before stop.
CAUTIONhis may lead to machine or workpiece damage.
Note that the stop point will be changed if RATE, HSPD, etc. are changed.

7‑13.Other Functions
The following is additionally prepared as applied functions:
1.The ORIGIN DRIVE direction switch function for the time when you use the sensor in +(CW) side.
2.The MARGIN TIME function for preventing malfunction that can result from hunting.
3.The SENSOR TYPE select function used in the JOG DRIVE.
4.The ERROR DETECT function prepared for the time when the ORIGIN SENSOR detection ended unsuccessfully.
5.The function to produce X1DRST signal as the origin detection is completed.
6.The function of ANDing the X1ORG signal and PO signal from the stepping motor driver.
For details of the applied functions, refer to the User's Manual [Applied Functions Part].

‑ 57 ‑

８．ＤＥＴＡＩＬＳ ＯＦ ＣＯＵＮＴＥＲ ＦＵＮＣＴＩＯＮＳ
The following description is given about the X1 axis, but also applicable to another axis.
8‑1. Functional Block Diagram
The MCC05v2 has three built‑in 24‑bit HARD COUNTERs each provided with different functions.

< X1EA,X1EB(External clock)< X1CWP,X1CCWP(Output pulse)

COUNTER
DATA1,2,3
WRITE PORT

Set data
PULSE COUNTERINITIALIZE Command

PULSE COUNTER PRESET(COUNTER Command)

24BIT PULSE COUNTERCOUNT PATTERN TYPEPULSE COUNTERINITIALIZE Command

Count data

INT CONTROLPULSE COUNTERINITIALIZE Command

24BIT COMPARATOR × 5ch

X1CNTINT OUTPUT

24BIT COMPAREREGISTER × 5ch
COMP1〜5 REG SET(COUNTER Command)
DFL COUNTERINITIALIZE Command

DFL COUNTER PRESET(COUNTER Command)

24BIT DIFFERENTIAL COUNTERCOUNT PATTERN TYPEDFL COUNTERINITIALIZE Command
Differential data

INT CONTROLDFL COUNTERINITIALIZE Command

SELECTOR

24BIT COMPARATOR×2ch

ADRS/DFL/PULSE
COUNTER PORTSELECT Command

DRIVE
DATA1,2,3
READ PORTX1DFLINT OUTPUT

24BIT COMPAREREGISTER×2ch
COMP1〜2 REG SET(COUNTER Command)
Address data

24BIT ADDRESS COUNTERADDRESS INITIALIZE Command
To another functional block

24bit data

‑ 58 ‑DRIVE
DATA1,2,3
WRITE PORT

8‑2. ADDRESS COUNTER Function(1) In order to control current address, the ADDRESS COUNTER offers absolute address of the output pulse from
the MCC05v2.
(2) The count data can be read from the DRIVE DATA1, 2 and 3 PORTs any time you want (as long as the ADDRESSCOUNTER PORT is selected). The ADDRESS READ command can also be used for reading the data.
The data guarantee range is pulse area of +8,388,607 to ‑8,388,607.
(3) The counter value is reset to 0 at POWER ON/RESET.
Using the ADDRESS INITIALIZE Command allows you to set optional value on the counter.
8‑3. PULSE COUNTER Function(1) Pulse counting function
a. The PULSE COUNTER offers counting of output pulse or external input clock to the MCC05v2.
b. Count data can always be read out from DRIVE DATA1, 2 and 3 PORT.
The data guaranty range is a pulse area of +8,388,607 to ‑8,388607. The data reaches (8,388,608, an
overflow occurs. When an overflow occurs, OVF BIT in STATUS3 PORT becomes 1.
c. The counter value is reset to 0 at POWER ON /RESET and can also be set to an optional value by the COUNTERPRESET command.
d. When inputting external signal such as feed back pulses from the servo driver, a 90ﾟ phase difference
signal or CW/CCW independent clock can be used as an input clock. When the 90ﾟ phase difference signal
is selected, a count multiplier can also be set.
The above input clock selection and count multiplier selection are performed by the PULSE COUNTERINITIALIZE command.
At RESET, output pulses of MCC05v2 are selected as input clocks.
(2) PULSE COUNT COMPARE Function
a. Five COMPARE REGISTERs and COMPARATORs connected to the PULSE COUNTER allows you to detect any count value.
b. Detection of matching between the counter and comparator is done with the STATUS signal or interrupt
request signal. You can select the through mode (detection done by the comparator is output as it is) or
the latch mode (holds the detection) for the STATUS and interrupt request signals.
In the latch mode, you can reset the STATUS signal or interrupt request signal by reading the STATUS3 PORT.
And, you can select a mode that enables the reset or another mode that disables it even when the condition(matching established between the counter and comparator).
For details, refer to 8‑5.
The interrupt request signal (X1CNTINT) is output from five comparators. You can enable or disable theoutput on individual comparator basis.
c. The pulse output can also be stopped by match among comparators. You can specify the immediate output
stop or gradual stop through deceleration. The immediate stop sets the FSEND BIT to 1 and the SSEND BIT
is set to 1 when the gradual stop is specified.
d. The PULSE COUNTER INITIALIZE command is used for controlling the every PULSE COUNT COMPARE function.
Data for the COMPARE REGISTER is set on the COUNTER PORT. The COUNTER PORT is independent from the DRIVE
PORT, thus rewriting of the compare data is available any time.
e. Specific functions of COMPARE REGISTER1Specific functions that are not provided in the other COMPARE REGISTERs are assigned to COMPARE REGISTER1.
The following functions can be automatically performed by a match of COMPARE REGISTER1.
These functions are also controlled by the PULSE COUNTER INITIALIZE command.
*AUTO CLEAR function
The PULSE COUNTER value is cleared to 0 concurrently with a match of COMPARE REGISTER1.
*RELOAD function
The data written in COUNTER DATA1 PORT, COUNTER DATA2 PORT and COUNTER DATA3 PORT is reset to COMPAREREGISTER1 concurrently with a match of COMPARE REGISTER1.

‑ 59 ‑

8‑4. DIFFERENTIAL COUNTER function(1) Differential Count Function
a. The DIFFERENTIAL COUNTER offers counting of deviation between output pulse from the MCC05v2 and external
input clock, or counting of external clock alone.
b. Count data can be read from the DRIVE DATA1, 2 and 3 PORTs any time as needed (as long as the DFL COUNTERPORT is selected). Data guarantee range is pulse area of +8,388,607 to ‑8,388,607.
c. The counter value is reset to 0 at POWER ON/RESET.
Using the DFL COUNTER PRESET Command of the COUNTER Commands allows you to set optional value on
the counter.
d. Any one of 90ﾟphase difference signal and respectively independent CW or CCW clock may be used as external
clock. For selecting type of external input clock and also for selecting its multiplication factor, the
DFL COUNTER INITIALIZE command is used.
At POWER ON/RESET, a single multiplication of 90ﾟphase difference signal is selected and the counterfunctions as the differential counter.
(2) Differential Count Compare Function
a. The DIFFERENTIAL COUNTER is connected to two COMPARE REGISTERs and COMPARATORs. Its counting (in absolutevalue) is constantly compared against the value set on these two registers (these registers are different
from COMPARE REGISTERs on the PULSE COUNTER).
The COMPARATOR1 is constantly available for detection of the "count in absolute value≧REGISTER1"(excessive deviation) and the COMPARATOR2 is used for detecting the "count in absolute value≦REGISTER2"(positioning complete).

+
REGISTER1REGISTER2

Deviation countedｔ

REGISTER2REGISTER1‑COMPARATOR1COMPARATOR2
b. Each of above detection is implemented by the STATUS signal or interrupt request signal. You can selectthe through mode (detection by the comparator is output as it is) or the latch mode (holds the detection)
for both the STATUS signal and the interrupt request signal.
In the latch mode, you can reset the STATUS signal or interrupt request signal by reading the STATUS3 PORT.
And, you can select a mode that enables the reset or another mode that disables it even when the condition(COUNTER≧REGISTER1 or COUNTER≦REGISTER2).
For details, refer to 8‑5.
The interrupt request signal (X1DFLINT) is output from two comparators. You can enable or disable theoutput on individual comparator basis.
c. The pulse output can also be stopped by the COUNTER≧REGISTER1 or COUNTER≦REGISTER2.
You can specify the immediate output stop or gradual stop through deceleration.
The immediate stop sets the FSEND BIT to 1 and the SSEND BIT is set to 1 when the gradual stop is
specified.
d. The DFL COUNTER INITIALIZE command is used for controlling the DFL COUNT COMPARE function.
Data for the COMPARE REGISTER is set on the COUNTER PORT. The COUNTER PORT is independent from the DRIVE
PORT, thus rewriting of the compare data is available any time.
‑ 60 ‑

8‑5. Detail of COMPARATOR Functions
Output of the detected condition from five COMPARATORs for the PULSE COUNTER and two COMPARATORs for the
DIFFERENTIAL COUNTER are connected to the following functional circuit and, thus, allows control according
to the user specification.

Output ofdetection①

Through‑output circuit

③

④

②

Each COMPARATOR

Level input

Output of INT signal
Latch circuit

Edge input
Suppressed output(Note)

Output of STATUS3 signal①: INT MASK Circuit
This circuit masks output from the COMPARATOR at its exit.
You can specify separate levels of masking for each comparator on the PULSE and DFL counters.
This circuit is turned on or off by the INT MASK command.
As one of the special commands, it provides real‑time, fine‑tuned control of the masking.
②: LATCH TYPE Switch Circuit
This circuit is used for selecting a latch trigger type when detection by the COMPARATOR is latched
before it is output.
The latch type selected commonly applies to five comparators on the PULSE COUNTER.
Likewise, the type selected applies commonly to two comparators on the DIFFERENTIAL COUNTER.
You can differentiate the latch type between the PULSE COUNTER and the DIFFERENTIAL COUNTER.
Latch‑output reset condition varies according to the trigger type as described in the following.
・When the level latch is selected:
When output of the COMPARATOR detection is not taking place, reading the STATUS3 PORT resets theoutput (returns to the initial state).
・When the edge latch is selected:
Reading the STATUS3 PORT necessarily resets the output.
This circuit is turned on or off by the PULSE or DFL COUNTER INITIALIZE Command.
③: INT OUTPUT TYPE Switch Circuit
This circuit is used for selecting whether the COMPARATOR detection is to be output as it is (through)or after latch. The output type selected commonly applies to the five comparators on the PULSE COUNTER.
Likewise, the selected type commonly applies to the two comparators on the DIFFERENTIAL COUNTER.
You can differentiate the output type between the PULSE COUNTER and the DIFFERENTIAL COUNTER.
This circuit is turned on or off by the PULSE or DFL COUNTER INITIALIZE command(initially, the latch is selected).
When the through‑output of detection is selected, if you execute the COUNTER Command in the course of
the INT output, this output will be turned off for a duration of 50ns.
④: INT Output Enable Circuit
A signal that has passed through ① through ③ circuits above can be unconditionally confirmed fromthe STATUS3 PORT. This circuit is used for selecting whether this signal is to be externally output as
it is (X1CNTINT or X1DFLINT signal).
Output of the INT signal can be separately enabled or disabled for each of the pulse or DFL comparator.
This circuit is turned on or off by the PULSE or DFL COUNTER INITIALIZE command.
All setups except for the ① INT MASK circuit are done by the COUNTER INITIALIZE command.
Thus, these setups must be complete before pulse output it turned on.
Note: Unlike the INT output or STATUS, comparator's pulse output stop function is directly enabled without
going through the above mentioned circuit.
The following shows pages in this manual that bear descriptions relevant to this function:
The PULSE COUNTER INITIALIZE Command
page 30
The DFL COUNTER INITIALIZE Command
page 36
The INT MASK Command
page 48
Timing of each signal
page 72, 73‑ 61 ‑

９．ＤＥＳＣＲＩＰＴＩＯＮ
9‑1. Command TableＯＦ

ＰＵＬＳＥ ＣＯＵＮＴＥＲ

ＡＮＤ

ＤＦＬ

ＣＯＵＮＴＥＲＣＯＭＭＡＮＤThe HEX code is for the case where all the x bits are set to 0.
D７D６D５D４D３D２D１D０

HEX C0DE× × × × 0 0 0 0× × × × 0 0 0 1
× × × × 0 0 1 0× × × × 0 0 1 1
× × × × 0 1 0 0
× × × × 0 1 0 1
× × × × 0 1 1 0
× × × × 0 1 1 1
× × × × 1 0 0 0

００
０１
０２
０３
０４
０５
０６
０７
０８

COMMANDNAMEEXECUTION TIME

PULSE COUNTER PRESETPULSE COUNTER COMPARE REGISTER1 SET
PULSE COUNTER COMPARE REGISTER2 SET
PULSE COUNTER COMPARE REGISTER3 SET
PULSE COUNTER COMPARE REGISTER4 SET
PULSE COUNTER COMPARE REGISTER5 SET
DIFFERENTIAL COUNTER PRESETDIFFERENTIAL COUNTER COMPARE REGISTER1 SET
DIFFERENTIAL COUNTER COMPARE REGISTER2 SET

MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns
MAX 200ns

9‑2. PULSE COUNTER PRESET Command
COMMAND………

00Ｈ

Function : Initializes the count value of the PULSE COUNTER toa specified value.

Execution sequence(Note) COUNTER DATA1PORT WRITE
COUNTER DATA2PORT WRITE

Preset data is specified in COUNTER DATA1 PORT, COUNTER DATA2 PORT
and COUNTER DATA3 PORT.
The order
may not
The contents of COUNTER DATA1 PORT to COUNTER DATA3 PORT are as follows.
be observed.
DATA1 PORTDATA2 PORTDATA3 PORT
D７
D０ D７
D０ D７
D０

COUNTER DATA3PORT WRITE
COUNTER COMMAND
00Ｈ WRITEPRESET DATA (0〜FFFFFFＨ)
When preset data is negative, it is represented in 2's complement form.
Counter value is 0 at POWER ON/RESET.

・Setting example of preset data
PRESET DATA(decimal)
DATA1 PORT
+8,388,607
7FＨ
+10
00Ｈ
±0
00Ｈ
‑10
FFＨ
‑8,388,607
80Ｈ

DATA2 PORT
FFＨ
00Ｈ
00Ｈ
FFＨ
00Ｈ

DATA3 PORT
FFＨ
0AＨ
00Ｈ
F6Ｈ
01Ｈ

Note: Note that the DATA and COMMAND PORTs described in this chapter are special ports for the counters
and their port addresses are different from that of the DRIVE PORTs. For the port address,
refer to 4‑1.

‑ 62 ‑

9‑3. PULSE COUNTER COMPARE REGISTER1 SET Command
COMMAND………

01Ｈ

Function : Sets a specified value in COMPARE REGISTER1.

Execution sequence

COMPARE DATA is specified in COUNTER DATA1 PORT, COUNTER DATA2 PORT
and COUNTER DATA3 PORT.

(Note) COUNTER DATA1PORT WRITE

The contents of COUNTER DATA1 PORT to COUNTER DATA3 PORT are as follows.

COUNTER DATA2PORT WRITEDATA1 PORT
D７

COUNTER DATA3PORT WRITE
COUNTER COMMAND
01Ｈ WRITE

DATA2 PORT
D０ D７

The order
may not
be observed.

DATA3 PORT
D０ D７

D０

COMPARE DATA (0〜FFFFFFＨ)

When COMPARE DATA is negative, it is represented in 2's complement form.
COMPARE DATA is 800000Ｈ at POWER ON/RESET.
Note: Note that the DATA and COMMAND PORTs described in this chapter are special ports for the counters
and their port addresses are different from that of the DRIVE PORTs.
For the port address, refer to 4‑1.
9‑4. PULSE COUNTER COMPARE REGISTER2 SET Command
COMMAND………

02Ｈ

Function: Sets a specified value in COMPARE REGISTER2.
The execution sequence is the same as that of the COMPARE REGISTER1 SET
command.

9‑5. PULSE COUNTER COMPARE REGISTER3 SET Command
COMMAND………

03Ｈ

Function: Sets a specified value in COMPARE REGISTER3.
The execution sequence is the same as that of the COMPARE REGISTER1 SET
command.

9‑6. PULSE COUNTER COMPARE REGISTER4 SET Command
COMMAND………

04Ｈ

Function: Sets a specified value in COMPARE REGISTER4.
The execution sequence is the same as that of the COMPARE REGISTER1 SET
command.

9‑7. PULSE COUNTER COMPARE REGISTER5 SET Command
COMMAND………

05Ｈ

Function: Sets a specified value in COMPARE REGISTER5.
The execution sequence is the same as that of the COMPARE REGISTER1 SET
command.

9‑8. DFL COUNTER PRESET Command
COMMAND………

06Ｈ

Function : Modifies the DIFFERENTIAL COUNTER value to the specified one.
The execution sequence is the same as that of the PULSE COUNTER RESET
command.
At POWER ON/RESET, the counter value is set to 0.

‑ 63 ‑

9‑9. DFL COUNTER COMPARE REGISTER1 SET Command
COMMAND………

07Ｈ

Function : Sets a value specified for the DIFFERENTIAL COUNTER COMPARE1
REGISTER in an absolute value.

Execution sequence
COMPARE DATA is specified in COUNTER DATA1 PORT, COUNTER DATA2 PORT and
The order
COUNTER DATA3 PORT.
may not
The contents of COUNTER DATA1 PORT to COUNTER DATA3 PORT are as follows.
be observed.
DATA1 PORTDATA2 PORTDATA3 PORT
D７
D０ D７
D０ D７
D０

(Note1) COUNTER DATA1PORT WRITE
COUNTER DATA2PORT WRITE
COUNTER DATA3PORT WRITECOMPARE DATA (0〜7FFFFFＨ)
COUNTER COMMAND
07Ｈ WRITE

This bit must be set to 0 (Note 2).
At POWER ON/RESET, it is set to 0.

Note1: Note that the DATA and COMMAND PORTs described in this chapter are special ports for the counters
and their port addresses are different from that of the DRIVE PORTs. For the port address,
refer to 4‑1.
Note2: When the signed value detection, an applied function, is selected, this bit is replaced by 2２３ bit.

9‑10.DFL COUNTER COMPARE REGISTER2 SET Command
COMMAND………

08Ｈ

Function : Sets a value specified for the DIFFERENTIAL COUNTER COMPARE2
REGISTER in an absolute value.
The execution sequence is the same as that of the DFL COUNTER REGISTER1SET Command.

‑ 64 ‑

１０．ＩＮＩＴＩＡＬ ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ ＴＡＢＬＥ
The initial specifications at POWER ON/RESET are shown in the following table.
The specifications related to SPEED can be switched between two types by jumpers JP1X1,2(X1,2 axis), JP1Y1,2(Y1,2 axis), JP1Z1,2 (Z1,2 axis), and JP1A1,2 (A1,2 axis) on the board.
The specifications in which jumpers are provided are supplied at shipment.
Data name or specification

Initial specification

Corresponding

Jumper is provided(Note) No jumper is provided.

Command

URATE(RATE DATA TABLE No.)

No.9(100ms/1000Hz)

No.12(30ms/1000Hz)

DRATE(RATE DATA TABLE No.)

No.9(100ms/1000Hz)

No.12(30ms/1000Hz)

RATE SET

LSPD

300Hz

800Hz

LSPD SET

HSPD

3000Hz

10000HzHSPD SET

CSPD

300Hz

800Hz

CSPD SETSRATE(RATE DATA TABLE No.)

No.9(100ms/1000Hz)

No.12(30ms/1000Hz)

SRATE SET

SLSPD

300Hz

800Hz

SLSPD SETSHSPD

3000Hz

10000HzSHSPD SETDRIVE TYPE

L‑TYPE

LIMIT STOP TYPE

FAST STROP

MOTOR TYPESTEPPING

RDYINT generation pattern
PULSE COUNTER operating clock

Generated only upon termination of a command
accompanied by pulse output.
Output pulse

CNTINT generation pattern

Not generated in any case (all of COMP1 to 5)

COMP1 to 5 STOP TYPE

Not put into stop (all of COMP1 to 5)

AUTO CLEAR function

Not available

RELOAD function

Not available

PLS COMP STOP TYPE
CNTINT OUTPUT TYPE
CNTINT LATCH TRIGGER TYPE

Detection of each comparator is latched and output
Level latch
Difference between MCC05v2 output pulse
and an external clock.

DIFFERENTIAL COUNTER
count pattern type

Clock with 90ﾟphase difference
1 multiplication

DFLINT generation pattern

Not generated in any case (both of COMP1 to 2)

DFL COMP1,2 STOP ENABLE

Not put into stop (both of COMP1 to 5)

DFLINT OUTPUT TYPEDFLINT LATCH TRIGGER TYPE
COUNTER SELECT PORTPULSE COUNTER INITIALIZE

Fast stop

DIFFERENTIAL COUNTER
operating clock

DFL COMP STOP TYPE

SPEC INITIALIZE1DFL COUNTER INITIALIZE

Fast stop
Detection of each comparator is latched and output
Level latch
PULSE COUNTER

Each PORT SELECT

Current address(ADDRESS COUNTER)

0

ADDRESS INITIALIZE

OFFSET PULSE

0

OFFSET PULSE SET

LIMIT DELAY TIME

300ms

SCAN DELAY TIME

50ms

JOG DELAY TIME

20ms

PULSE COUNTER Value0

PULSE COUNTERCOMPARE REGISTER1 to 5 value

800000Ｈ

ORIGIN DELAY SETPULSE COUNTER PRESETPULSE COUNTERCOMPARE REGISTER1〜5 SET

DIFFERENTIAL COUNTER value

0

DFL COUNTER PRESETDIFFERENTIAL COUNTERCOMPARE REGISTER1 to 2 value

0

DFL COUNTERCOMPARE REGISTER1〜2 SET

Note: Values with the jumpers are employed in descriptions offered in other parts of this manual.
‑ 65 ‑

１１．ＩＮＴＥＲＲＵＰＴＳ
When any one of the following interrupt request signals has occurred, the C‑872 gives an interrupt
request to the initiator. INTA# interrupt signal pin is used.
11‑1.Interrupt Request Signals upon Termination of Command(X1RDYINT, Y1RDYINT, Z1RDYINT, A1RDYINT, X2RDYINT, Y2RDYINT, Z2RDYINT, A2RDYINT)
Use the STATUS5 PORT and STATUS1 PORT to identify the interrupt request axis.
11‑2.Interrupt Request Signals from PULSE COUNTER and DIFFERENTIAL COUNTER(X1CNTINT,Y1CNTINT,Z1CNTINT,A1CNTINT,X1DFLINT,Y1DFLINT,Z1DFLINT,A1DFLINT)(X2CNTINT,Y2CNTINT,Z2CNTINT,A2CNTINT,X2DFLINT,Y2DFLINT,Z2DFLINT,A2DFLINT)
CNTINTs and DFLINTs of X1, Y1, Z1, A1, X2, Y2, Z2 and A2 axes are OR‑ed. The output of each axis isgained by OR‑ing of COMP1 to COMP5, DFLCOMP1 to DFLCOMP2. Use the STATUS3 PORT of each axis to evaluate
the interrupt request axis and COMPARE REGISTER. When you want to such an interrupt function, it must be
set to the edge latch type where each INT signal is reset by the read of the STATUS3 PORT. Refer to thedescription of 8‑5.
11‑3.Interrupt Pin Arrangement

X1RDYINT
JP3PCI

A2RDYINT
X1CNTINT (X1 PLS COMP1 〜5)

BUS Interface IC
JP2

A2CNTINT (A2 PLS COMP1 〜5)
X1DFLINT (X1 DFL COMP1,2)

JP4

A2DFLINT (A2 DFL COMP1,2)* X1RDYINT to A2RDYINT are output to the STATUS5 PORT of each axis. Refer to the description of 4‑12.

11‑4.Precautions on Using Interrupts(1) Before using an interrupt, carefully confirm the User's Manual for your initiator system andthe interrupt controller specifications.
(2) When you want to use the interrupt, insert the short circuit socket (an accessory) into the JP2 to JP4
in the above sketch in response to the interrupt request to be used.
So it is not inserted at the time of shipment, Interrupt cannot be used in that state. For the positionon the board, refer to the description of 15‑2. Board Shape and Dimensions.
(3) Interrupt enable or disable can be specified in RDYINT by the SPEC INITIALIZE1 command, CNTINT by the
PULSE COUNTER INITIALIZE command and DFLINT by the DFL COUNTER INITIALIZE command.
For CNTINT and DFLINT, specially, the above specification is possible for each of COMP1 to COMP5 and
DFL COMP1 to 2.
Accordingly, be set into the interrupt disable state on no use COMP No.
(4) When you want to use the RDYINT for multiple axis interrupt, perform the following processing in theinterrupt processing routine:"Check the state of the STATUS5 PORT BIT3(RDYINT) of each axis, and readthe STATUS1 PORT of only the active axis to reset the RDYINT of that axis."
If the STATUS1 PORT of this axis is read when the STATUS5 PORT BIT3(RDYINT) is not active,
the RDYINT of that axis may not occur, depending on the time when it is read.

‑ 66 ‑

１２．ＴＩＭＩＮＧ
Refer to the description of 12‑16 for IOR# and IOW#.
[ ] : Timing of case SOFT LIMIT function in use.(applied function)
Those not in brackets remain unaffected by presence or absence of the SOFT LIMIT function.
12‑1.JOG DRIVE Timing
Example) Drive in +(CW)direction fora stepping motor

12‑2.SCAN DRIVE/S‑RATE SCAN DRIVE Timing
Example) Drive in ‑(CCW)direction fora stepping motor

IOW#

IOW#
Indicates that a command is written.

Indicates that a command is written.

X1CWP

X1CCWPDRIVE inSTATUS1

DRIVE inSTATUS1

BUSY inSTATUS1

BUSY inSTATUS1
t1
t2

t4 t5
t3

t1
t2

t6

t3

t1＜150ns
t4≒100μs
t2＜34μs[42μs] t5＜23μs[31μs]
t3＜36μs[44μs] t6＜35μs[43μs]

t1＜150nst2＜43μs[75μs Note]t3＜63μs[95μs Note]
Note: 1.3ms when URATE≠DRATE is specified.

12‑3.INDEX DRIVE,S‑RATE INDEX DRIVE Timing
Example) Drive in +(CW)direction for a stepping motor

IOW#

X1CWP

(1) When URATE＝DRATE is specified:
Indicates that a command is written.
t1＜150nst4＜35μs[44μs]
t2＜71μs[79μs]
t5＜20μst3＜93μs[101μs]

DRIVE inSTATUS1
BUSY inSTATUS1
t1
t2

t4 t5

(2) When URATE≠DRATE is specified:t1＜150nst4＜35μs[44μs]
t2＜1.3ms (L‑TYPE) t5＜18μs
630μs(M‑TYPE)
400μs(H‑TYPE)
t3≒t2＋22μs

t3
12‑4.ORIGIN DRIVE Timing
Example 1) Drive in ‑(CCW)direction without ABSOLUTE INDEX DRIVE(RETURN DRIVE up to the near‑origin address)
IOW#
Indicates that a command is written.
t1＜150ns
t2＜70μst3＜82μs

X1CCWPDRIVE inSTATUS1
BUSY inSTATUS1
t1
t2
t3‑ 67 ‑Example 2) Drive in ‑(CCW)direction with ABSOLUTE INDEX DRIVE (RETURN DRIVE up to the near‑origin address)
IOW#
Indicates that a command is written.
X1CCWPDRIVE inSTATUS1(1) When URATE＝DRATE is specified:t1＜150ns
t2＜71μst3＜93μs(2) When URATE≠DRATE is specified:t1＜150nst2＜1.3ms (L‑TYPE)
630μs(M‑TYPE)
400μs(H‑TYPE)
t3≒t2＋22μs

BUSY inSTATUS1
t1
t2
t3

12‑5.SPEED CHANGE Timing
IOW#
Indicates that a command is written.
CHANGE BUSYin STATUS5

t1＜200ns
51μs＜t2＜53ms
t1

t2

Note: t2 is determined by the specified RATE.
In the Fixed mode, t2 becomes shorter as a specified RATE No. increases, and in the Arithmetic mode,
it becomes shorter as the RATE data becomes smaller (in both cases, speed change rate is increased).
If, however, a pulse cycle greater than t2 at writing of the CHANGE command, t2 becomes equal with or
longer than the pulse cycle.

‑ 68 ‑

12‑6.DEND Signal Confirmation Timing
Example 1) End of DRIVE in +(CW)direction for
a servo motor

Example 2) End of DRIVE in +(CW)direction when thetarget is a servo motor and the DEND signal
is active or the target is a stepping motor

DEND

DEND

X1CWP

X1CWP

DRIVE inSTATUS1

DRIVE inSTATUS1

BUSY inSTATUS1

BUSY inSTATUS1
t1

t2

t3

t1

t1:Depends on servo driver characteristics.
t2＜61μst3＜20μst1＜33μs[41μs]
t2＜20μs

Note: When the target is a servo motor,
the requirement for BUSY in STATUS1＝0
is that DEND＝0 must be input.
This is also applicable to a normal end of DRIVE,a slow stop and an fast stop.
Accordingly, note that the time required for BUSYin STATUS1＝0 is different from that for the casewhere the target is a stepping motor.
12‑7.SLOW STOP Timing
Example) Drive in +(CW)direction when thetarget is a stepping motort2

Note: When the target is a stepping motor,
DEND＝0/1 does not matter.

12‑8.FAST STOP Timing(1)Example) DRIVE in +(CW)direction when
the target is a stepping motor(Note1)(Note1)

IOW#

IOW#(Note2)(Note2)X1CWPFSSTOP1

DRIVE inSTATUS1X1CWP

BUSY inSTATUS1

DRIVE inSTATUS1(Note3)

BUSY inSTATUS1
t1

t2

t1

t1＜38μs[42μs]
t2＜20μst2

t3

t1≧400μs
t2＜38μs[46μs] or Ｔ(Note4)
t3＜20μs

Note1: Indicates that the SLOW STOP commandis written.
Note2: The number of pulses to be output after
receipt of the SLOW STOP command is 1 pulse
or less at constant‑speed DRIVE, or thenumber of pulses required for a slow stop at
acceleration/decelerating DRIVE.

‑ 69 ‑

Note1: Indicates that the FAST STOP commandis written.
Note2: Either command or signal may be used.
Note3: The number of pulses to be output after
receipt of the FAST STOP command is 1 pulse
or less. (The pulse width is secured.)Note4: When T represents 1/2 of the pulse cycle
as the drive is stopped, t2 takes theindicated value or T which ever is longer.

12‑9.FAST STOP Timing(2)Example) DRIVE in +(CW)direction when the target is a servo motor(Note1)
IOW#(Note2)FSSTOP1(Note3)
X1CWP
X1DRST
X1DEND
DRIVE inSTATUS1
BUSY inSTATUS1
t1

t2

t3

t1≧400μs
t2＜26μs(Note4)

t4

t5

t3≒10mst5＜20μst4＜15μs[24μs](DEND is assumed to be turned on while DRST is being produced.)

Note1: Indicates that the FAST STOP command is written.
Note2: Either command or signal may be used.
Note3: The number of pulses to be output after receipt of the FAST STOP command is 1 pulse or less.
(The pulse width is secured.)Note4: When T represents 1/2 of the pulse cycle as the drive is stopped, t2 takes the indicated value or
T which ever is longer.
12‑10.LIMIT STOP Timing(1) When the LIMIT stop type is slow stop:
Example) DRIVE in +(CW)direction when the target is a stepping motor

X1CWLM(Note1)X1CWP
DRIVE inSTATUS1
BUSY inSTATUS1
t1

t2

t3

t1≧600μs
t2＜38μs[42μs]
t3＜20μs
Note1: The number of pulses to be output after receipt of the LIMIT signal is1 pulse or less at constant‑speed DRIVE or the number of pulses
required for slow stop at accelerating/decelerating DRIVE.
(2) When the LIMIT stop type is fast stop:
Complies with 12‑8. or 12‑9. Timing.
At this time, the FSSTOP signal is replaced with CWLM or CCWLM and the input signal width is set to 600μs.

‑ 70 ‑

12‑11.EA/EB Clock Input Timing(1) When 90ﾟ phase difference clocks are input:
EA

PULSE COUNTERDIFFERENTIAL COUNTER
t1＞(150×Ｎ)ns t1＞(200×Ｎ)nst2＞(330×Ｎ)ns t2＞(430×Ｎ)nstｃｙｃ＞(660×Ｎ)ns tｃｙｃ＞(860×Ｎ)ns
However, N is a multiplier.

EB
t1

t1

t1

t2

t1
t2

tｃｙｃ
＊The count timing of the PULSE COUNTER and DIFFERENTIAL COUNTER is as shown below.
Each is counted at or.
When the multiplier is 1:
‑X1EA
‑X1EB
When the multiplier is 2:
‑X1EA
‑X1EB
When the multiplier is 4:
‑X1EA
‑X1EB

UP COUNTDOWN COUNTUP COUNTDOWN COUNTUP COUNTDOWN COUNT(2) When independent clocks for each direction are input: (Counted at the edge marked ↓)‑X1EAt1＞150ns (PULSE COUNTER)
tｃｙｃ≧330ns(PULSE COUNTER)
t1＞200ns (DIFFERENTIAL COUNTER)
tｃｙｃ≧430ns(DIFFERENTIAL COUNTER)

‑X1EB
t1

t1
tｃｙｃ

t1

t1
tｃｙｃ

12‑12.RDYINT Timing
BUSY inSTATUS1①

BUSY inSTATUS1

③

IOW#

②

RDYINT

⑤
t1

Or

①

IOR#

④

RDYINTt2⑤
t3

t1＜50nst2＜150ns

t4

t3＜50nst4＜100ns①: Indicates that a command is executed.
②: Indicates a new command is written.
③: Indicates that a new command is executed.
④: Indicates that STATUS1 is read out.
⑤: Indicates that an interrupt signal is generated. Interrupt signal enable or disable is specified
by the SPEC INITIALIZE1 command. For details, refer to 6‑4.

‑ 71 ‑

12‑13.CNTINT Timing
The interrupt request signal (X1CNTINT) and STATUS signals (COMP1 to COMP5) are output and reset at thefollowing timing.
(1) When the CNTINT LATCH TRIGGER TYPE＝0 is specified by the PULSE COUNTER INITIALIZE Command.
PLS COMPARE①
10REGISTERCounter value

7

8

9

10

11

12

IOR#
X1CNTINTCOMP1〜5 in STATUS3

②

③

④

COMP1 to 5 in STATUS3①: Indicates that the interrupt generation counter value is written by the COMPARABLE REGISTER SET command.
(In the example, the interrupt generation counter value is set to 10.)②: When the counter value reaches the value set in ①, a X1CNTINT output is generated.
③: When COMPARABLE REGISTER matches the counter value,the X1CNTINT output and STATUS signal are notcleared.
④: The X1CNTINT output is cleared by STATUS3 PORT is accessed when COMPARABLE REGISTER not matches thecounter value.
(2) When CNTINT LATCH TRIGGER TYPE＝1 is specified by PULSE COUNTER INITIALIZE command.
PLS COMPARE①
10REGISTERCounter value

7

8

9

10

IOR#
X1CNTINTCOMP1〜5 in STATUS3②③

COMP1 to 5 in STATUS3①: COMPARE REGISTER SET Command causes writing of the interrupt generating counter value.
②: As the counter value reaches the level specified in ① above, X1CNTINT is output.
③: CNTINT output is maintained until the STATUS3 PORT is accessed (reading the STATUS3 PORT clears
X1CNTINT even when the counter value is in agreement with the COMPARE REGISTER).
(3) When CNTINT OUTPUT TYPE＝1 (through‑output) is specified by PULSE COUNTER INITIALIZE Command.
PLS COMPARE①
10REGISTERCounter value

7

8

9

X1CNTINTCOMP1〜5 in STATUS3

②

10

11

③

④

12

①: COMPARE REGISTER SET Command causes writing of the interrupt generating counter value.
②: As the counter value reaches the level specified in ① above, X1CNTINT is output.
③: When the counter value is in agreement with the COMPARE REGISTER, X1CNTINT is output.
④: When the counter value is not matching, X1CNTINT is cleared without requiring access to the STATUS3
PORT.
Example: When C‑872 X1 axis drive pulse is used as the operation clock for the drive in +(CW) direction.

X1CWP
IOR#

Note:Indicates the STATUS3 read timing.

X1CNTINT
t1
t1＜200nst2

Note: When the through‑output is selected.
t2＜200ns‑ 72 ‑

t3

t3＜200ns

12‑14.DFLINT Timing (DFL COMP1: An example. Detecting condition: DIFFERENTIAL COUNTER≧COMPARE REGISTER1)
The interrupt request signal(X1DFLINT) and STATUS signal are produced and reset at the following timing.
(1) When the DFLINT LATCH TRIGGER TYPE＝0 is specified by the DFL COUNTER INITIALIZE Command.
DFL COMPARE①
10REGISTER1DFL COUNTER value 7

8

9

10

9

8

IOR#
X1DFLINT and
DFL COMP1 in STATUS3

②

③

④

DFL COMP1 in STATUS3①: COMPARE REGISTER SET Command causes writing of the interrupt generating counter value.
(in this example, the interrupt generating counter value is set to 10).
②: As the counter value reaches the level specified in ① above, X1DFLINT is output.
③: When the counter value is in agreement with the detection condition, accessing the STATUS3 PORT
does not clear X1DFLINT output.
④: When the counter value is not meeting the detect condition, reading the STATUS3 PORT clears X1DFLINT.
(2) When the DFLINT LATCH TRIGGER TYPE＝1 is specified by DFL COUNTER INITIALIZE Command.
DFL COMPARE①
10REGISTER1DFL COUNTER value 7

8

9

10

11

12

13

14

IOR#
X1DFLINT and
DFL COMP1 in STATUS3②③

DFL COMP1 in STATUS3①: COMPARE REGISTER SET Command causes writing of the interrupt generating counter value.
②: As the counter value reaches the level specified in ① above, X1DFLINT is output.
③: Output of X1DFLINT is maintained until the STATUS3 PORT is accessed(reading the STATUS3 PORT clears X1DFLINT output even if the counter value meets the detect condition).
(3) When the DFLINT OUTPUT TYPE＝1 (through‑output) is specified by DFL COUNTER INITIALIZE Command.
DFL COMPARE①
10REGISTER1DFL COUNTER value 78

9

X1DFLINT and
DFL COMP1 in STATUS3

10

11

②

③

10

9

8

④

①: COMPARE REGISTER SET Command causes writing of the interrupt generating counter value.
②: As the counter value reaches the level specified in ① above, X1DFLINT is output.
③: When the counter value is in agreement with the detect condition, X1DFLINT is output.
④: When the counter value is not matching, X1DFLINT is cleared without requiring access to the STATUS3
PORT.

Example: When the by‑direction independent clock is selected as the count pattern of DIFFERENTIAL COUNTER.
X1CWP/X1CCWP(Note)or EA/EB
IOR#

Note: Indicates the STATUS3 read timing.

X1DFLINT
Note: When the through‑output is selected.

t1

t2

t1＜300nst2＜300nst3＜200ns

Note: Time from startup edge in case of X1CWP/X1CCWP.

‑ 73 ‑t3

12‑15.RESET Timing

RESET
X1CWP
X1CCWPX1DRST
X1RDYINT
X1CNTINTX1DFLINT
BUSY
in STATUS1
t1

t3

t4

t5

t2
t1＜5mst2≧5mst3＜5ms(Note 500ns)(Note 1ms)
(Note 50μs)

t4≒10.6ms
t5＜5μsNote: When the system is reset on the PC side.
12‑16.BUS Timing"READ TIMING ()" denotes the internal timing.
PCI CLK

C/BE#[3:0]

2h

BE#

AD[31:0]A

I N V A L I D

D A T A

FRAME#IRDY#
TRDY#
DEVSEL#(BCLK)(CS#)(ADDRESS)(DATA)(IOR#)‑ 74 ‑

D

"WRITE TIMING ()" denotes the internal timing.
PCI CLK

C/BE#[3:0]

3h

BE#

AD[31:0]A

D

FRAME#IRDY#
TRDY#
DEVSEL#(BCLK)(CS#)(ADDRESS)(DATA)(IOW#)‑ 75 ‑

１３．ＵＳＥＲ ＣＯＮＮＥＣＴＯＲ ＡＮＤ Ｉ／Ｏ
13‑1.User Connector J1, 2 Pin Arrangement
Connector TypeＣＩＲＣＵＩＴ

HDRA‑E100W1LFDT1EC‑SL(HONDA TSUSHIN KOGYO CO.,LTD.)

J
1

J
2

Applicable outlets(not included in the accessories)
HDRA‑E100MA1 , HDRA‑E100M1(HONDA TSUSHIN KOGYO CO.,LTD.)
51

100

1
50

50
1

◎

◎

◎

◎
100

51

13‑2.J1 Signal Table (It corresponds to X1 axis , Y1 axis , Z1 axis , A1 axis.)If +24V are connected to pins other than EXTV, there is a possibility of damaging
CAUTION

this product. Please make connection carefully.

Signals are insulated by the coupler though there are some exceptions(※).
Pin

Direction

1

input

Signalname
X1CWLM

2

input

X1CCWLM

3
4
5

input
input
input

X1NORG
X1ORG
Y1CWLM

6input

Y1CCWLM

7
8
9

input
input
input

Y1NORG
Y1ORG
Z1SENSOR

10
11
12
13
14

input
input
input
input
−

IN10
IN11
IN12
IN13
EXTV

15

−

EXTV

Description

Pin Direction

X1 axis +(CW)direction
LIMIT signal.
X1 axis ‑(CCW)direction
LIMIT signal.
X1 axis near‑origin signal.
X1 axis origin signal.(Note1)
Y1 axis +(CW)direction
LIMIT signal.
Y1 axis ‑(CCW)direction
LIMIT signal.
Y1 axis near‑origin signal.
Y1 axis origin signal.(Note1)Z1 axis sensor signal for
SENSOR INDEX Drive.(Note3)
General purpose input.
General purpose input.
General purpose input.
General purpose input.
External power supply forcoupler.
(Note2)51

input

Signalname
Z1CWLM

52

input

Z1CCWLM

53
54
55

input
input
input

Z1NORG
Z1ORG
A1CWLM

56

input

A1CCWLM

57
58
59

input
input
input

A1NORG
A1ORG
A1SENSOR

60
61
62
63
64

outputoutputoutputoutput
−

OUT10
OUT11
OUT12
OUT13
EXTVGND

65−

EXTVGND

Description
Z1 axis +(CW)direction
LIMIT signal.
Z1 axis ‑(CCW)direction
LIMIT signal.
Z1 axis near‑origin signal.
Z1 axis origin signal.(Note1)
A1 axis +(CW)direction
LIMIT signal.
A1 axis ‑(CCW)direction
LIMIT signal.
A1 axis near‑origin signal.
A1 axis origin signal.(Note1)
A1 axis sensor signal for
SENSOR INDEX Drive.(Note3)
General purpose output.
General purpose output.
General purpose output.
General purpose output.
External power supply
GND for coupler.
(Note2)

Note1: This origin signal is for the case where a stepping motor is used.
To use the Z phase signal of the encoder as an origin signal when a servo motor is used,never connect the above signal.
Note2: All signals are insulated by coupler HIC, so an external power supply is required.
The input voltage specification is +24V±2V and the current consumption is 430mA MAX(at +24v) .
The CWLM, CCWLM and FSSTOP signals of each axis are ACTIVE OFF inputs.
Accordingly,even if all the above signals are not used, an external power supply must be connected.
For details, refer to 14‑2.
Note3: For details of these SENSOR signals, refer to User's Manual [Applied Functions Part].

‑ 76 ‑

Pin
16
17

Direct‑ion
outputoutput18

output19

output20

output21
22

outputoutput

23

input

24
25
26
27
28
29
30
31
32
33

−
input
input
input
input
input
input
−
outputoutput34

output35

output36

output37
38

outputoutput

39

input

40
41
42
43
44
45
46
47
48
49
50

−
input
input
input
input
input
input
−
input
−
−

Signalname+COM※
X1CWP ※

Description

Pin Direct‑
ion+COMMON for X1CWP,X1CCWP.(+5V) 66 output
X1 axis +(CW)direction
67 output
positive logic output pulse.
X1CWP ※ X1 axis +(CW)direction
68 output
negative logic output pulse.
X1CCWP ※ X1 axis ‑(CCW)direction
69 output
positive logic output pulse.
X1CCWP ※ X1 axis ‑(CCW)direction
70 output
negative logic output pulse.
X1DRSTCOM +COMMON for X1DRST. (+24V)
71 output
X1DRST
X1 axis SERVO DRIVER RESET
72 output
signal.
X1DEND/
X1 axis positioning end
73 input
X1PO signal or PO signal. (Note4)
N.C
Using is disabled.
74
−
+X1EA
X1 axis encoder +A phase signal 75 input‑X1EA
X1 axis encoder ‑A phase signal 76 input+X1EB
X1 axis encoder +B phase signal 77 input‑X1EB
X1 axis encoder ‑B phase signal 78 input+X1ZORG X1 axis encoder +Z phase signal 79 input‑X1ZORG X1 axis encoder ‑Z phase signal 80 input
N.C
Using is disabled.
81
−
+COM
※ +COMMON for Y1CWP,Y1CCWP.(+5V) 82 output
Y1CWP ※ Y1 axis +(CW)direction
83 output
positive logic output pulse.
Y1CWP ※ Y1 axis +(CW)direction
84 output
negative logic output pulse.
Y1CCWP ※ Y1 axis ‑(CCW)direction
85 output
positive logic output pulse.
Y1CCWP ※ Y1 axis ‑(CCW)direction
86 output
negative logic output pulse.
Y1DRSTCOM +COMMON for Y1DRST. (+24V)
87 output
Y1DRSTY1 axis SERVO DRIVER RESET
88 output
signal.
Y1DEND/Y1 axis positioning end
89 input
Y1PO signal or PO signal. (Note4)
N.C
Using is disabled.
90
−
+Y1EA
Y1 axis encoder +A phase signal 91 input‑Y1EA
Y1 axis encoder ‑A phase signal 92 input+Y1EB
Y1 axis encoder +B phase signal 93 input‑Y1EB
Y1 axis encoder ‑B phase signal 94 input+Y1ZORG Y1 axis encoder +Z phase signal 95 input‑Y1ZORG Y1 axis encoder ‑Z phase signal 96 input
N.C
Using is disabled.
97−
FSSTOP1 Fast Stop signal for X1‑A1 axis 98 input
N.C
Using is disabled.
99−
N.C
Using is disabled.
100−

SignalDescription
name+COM ※ +COMMON for Z1CWP,Z1CCWP.(+5V)
Z1CWP ※ Z1 axis +(CW)direction
positive logic output pulse.
Z1CWP ※ Z1 axis +(CW)direction
negative logic output pulse.
Z1CCWP ※ Z1 axis ‑(CCW)direction
positive logic output pulse.
Z1CCWP ※ Z1 axis ‑(CCW)direction
negative logic output pulse.
Z1DRSTCOM +COMMON for Z1DRST.
(+24V)Z1DRSTZ1 axis SERVO DRIVER RESET
signal.
Z1DEND/Z1 axis positioning end
Z1PO signal or PO signal.
(Note4)
N.C
Using is disabled.
+Z1EA
Z1 axis encoder +A phase signal‑Z1EA
Z1 axis encoder ‑A phase signal+Z1EB
Z1 axis encoder +B phase signal‑Z1EB
Z1 axis encoder ‑B phase signal+Z1ZORG Z1 axis encoder +Z phase signal‑Z1ZORG Z1 axis encoder ‑Z phase signal
N.C
Using is disabled.
+COM ※ +COMMON for A1CWP,A1CCWP.(+5V)
A1CWP ※ A1 axis +(CW)direction
positive logic output pulse.
A1CWP ※ A1 axis +(CW)direction
negative logic output pulse.
A1CCWP ※ A1 axis ‑(CCW)direction
positive logic output pulse.
A1CCWP ※ A1 axis ‑(CCW)direction
negative logic output pulse.
A1DRSTCOM +COMMON for A1DRST.
(+24V)A1DRST
A1 axis SERVO DRIVER RESET
signal.
A1DEND/A1 axis positioning end
Z1PO signal or PO signal.
(Note4)
N.C
Using is disabled.
+A1EA
A1 axis encoder +A phase signal‑A1EA
A1 axis encoder ‑A phase signal+A1EB
A1 axis encoder +B phase signal‑A1EB
A1 axis encoder ‑B phase signal+A1ZORG A1 axis encoder +Z phase signal‑A1ZORG A1 axis encoder ‑Z phase signal
N.C
Using is disabled.
RESET1RESET1 signal.
N.C
Using is disabled.
N.C
Using is disabled.

Note4: Each DEND/PO input is used as the positioning complete signal when a servo motor are selected,
and they are used as the PO (excitation) signal when a stepping motor is selected.

‑ 77 ‑

13‑3.J2 Signal Table (It corresponds to X2 axis , Y2 axis , Z2 axis , A2 axis.)
Signals are insulated by the coupler though there are some exceptions(※).
Pin

Direction

1

input

Signalname
X2CWLM

2input

X2CCWLM

3
4
5

input
input
input

X2NORG
X2ORG
Y2CWLM

6input

Y2CCWLM

7
8
9

input
input
input

Y2NORG
Y2ORG
Z2SENSOR

10
11
12
13
14

input
input
input
input
−

IN20
IN21
IN22
IN23
EXTV

15

−

EXTV

Description

Pin Direction

X2 axis +(CW)direction
LIMIT signal.
X2 axis ‑(CCW)direction
LIMIT signal.
X2 axis near‑origin signal.
X2 axis origin signal.(Note1)Y2 axis +(CW)direction
LIMIT signal.
Y2 axis ‑(CCW)direction
LIMIT signal.
Y2 axis near‑origin signal.
Y2 axis origin signal.(Note1)Z2 axis sensor signal for
SENSOR INDEX Drive.(Note3)
General purpose input.
General purpose input.
General purpose input.
General purpose input.
External power supply forcoupler.
(Note2)51

input

Signalname
Z2CWLM

52

input

Z2CCWLM

53
54
55

input
input
input

Z2NORG
Z2ORG
A2CWLM

56

input

A2CCWLM

57
58
59

input
input
input

A2NORG
A2ORG
A2SENSOR

60
61
62
63
64

outputoutputoutputoutput
−

OUT20
OUT21
OUT22
OUT23
EXTVGND

65−

EXTVGND

Note1, 2, and 3 is same to 13‑2.

‑ 78 ‑

Description
Z2 axis +(CW)direction
LIMIT signal.
Z2 axis ‑(CCW)direction
LIMIT signal.
Z2 axis near‑origin signal.
Z2 axis origin signal.(Note1)A2 axis +(CW)direction
LIMIT signal.
A2 axis ‑(CCW)direction
LIMIT signal.
A2 axis near‑origin signal.
A2 axis origin signal.(Note1)A2 axis sensor signal for
SENSOR INDEX Drive.(Note3)
General purpose output.
General purpose output.
General purpose output.
General purpose output.
External power supply
GND for coupler.
(Note2)

Pin
16
17

Direct‑ion
outputoutput18

output19

output20

output21
22

outputoutput

23

input

24
25
26
27
28
29
30
31
32
33

−
input
input
input
input
input
input
−
outputoutput34

output35

output36

output37
38

outputoutput

39

input

40
41
42
43
44
45
46
47
48
49
50

−
input
input
input
input
input
input
−
input
−
−

Signalname+COM※
X2CWP ※

Description

Pin Direct‑
ion+COMMON for X2CWP,X1CCWP.(+5V) 66 output
X2 axis +(CW)direction
67 output
positive logic output pulse.
X2CWP ※ X2 axis +(CW)direction
68 output
negative logic output pulse.
X2CCWP ※ X2 axis ‑(CCW)direction
69 output
positive logic output pulse.
X2CCWP ※ X2 axis ‑(CCW)direction
70 output
negative logic output pulse.
X2DRSTCOM +COMMON for X1DRST. (+24V)
71 output
X2DRST
X2 axis SERVO DRIVER RESET
72 output
signal.
X2DEND/X2 axis positioning end
73 input
X2PO signal or PO signal. (Note4)
N.C
Using is disabled.
74
−
+X2EA
X2 axis encoder +A phase signal 75 input‑X2EA
X2 axis encoder ‑A phase signal 76 input+X2EB
X2 axis encoder +B phase signal 77 input‑X2EB
X2 axis encoder ‑B phase signal 78 input+X2ZORG X2 axis encoder +Z phase signal 79 input‑X2ZORG X2 axis encoder ‑Z phase signal 80 input
N.C
Using is disabled.
81
−
+COM
※ +COMMON for Y2CWP,Y2CCWP.(+5V) 82 output
Y2CWP ※ Y2 axis +(CW)direction
83 output
positive logic output pulse.
Y2CWP ※ Y2 axis +(CW)direction
84 output
negative logic output pulse.
Y2CCWP ※ Y2 axis ‑(CCW)direction
85 output
positive logic output pulse.
Y2CCWP ※ Y2 axis ‑(CCW)direction
86 output
negative logic output pulse.
Y2DRSTCOM +COMMON for Y2DRST. (+24V)
87 output
Y2DRSTY2 axis SERVO DRIVER RESET
88 output
signal.
Y2DEND/Y2 axis positioning end
89 input
Y2PO signal or PO signal. (Note4)
N.C
Using is disabled.
90
−
+Y2EA
Y2 axis encoder +A phase signal 91 input‑Y2EA
Y2 axis encoder ‑A phase signal 92 input+Y2EB
Y2 axis encoder +B phase signal 93 input‑Y2EB
Y2 axis encoder ‑B phase signal 94 input+Y2ZORG Y2 axis encoder +Z phase signal 95 input‑Y2ZORG Y2 axis encoder ‑Z phase signal 96 input
N.C
Using is disabled.
97−
FSSTOP2 Fast Stop signal for X2‑A2 axis 98 input
N.C
Using is disabled.
99−
N.C
Using is disabled.
100−

Note4 is same to 13‑2.

‑ 79 ‑

SignalDescription
name+COM ※ +COMMON for Z2CWP,Z2CCWP.(+5V)
Z2CWP ※ Z2 axis +(CW)direction
positive logic output pulse.
Z2CWP ※ Z2 axis +(CW)direction
negative logic output pulse.
Z2CCWP ※ Z2 axis ‑(CCW)direction
positive logic output pulse.
Z2CCWP ※ Z2 axis ‑(CCW)direction
negative logic output pulse.
Z2DRSTCOM +COMMON for Z2DRST.
(+24V)Z2DRSTZ2 axis SERVO DRIVER RESET
signal.
Z2DEND/Z2 axis positioning end
Z1PO signal or PO signal.
(Note4)
N.C
Using is disabled.
+Z2EA
Z2 axis encoder +A phase signal‑Z2EA
Z2 axis encoder ‑A phase signal+Z2EB
Z2 axis encoder +B phase signal‑Z2EB
Z2 axis encoder ‑B phase signal+Z2ZORG Z2 axis encoder +Z phase signal‑Z2ZORG Z2 axis encoder ‑Z phase signal
N.C
Using is disabled.
+COM ※ +COMMON for A2CWP,A2CCWP.(+5V)
A2CWP ※ A2 axis +(CW)direction
positive logic output pulse.
A2CWP ※ A2 axis +(CW)direction
negative logic output pulse.
A2CCWP ※ A2 axis ‑(CCW)direction
positive logic output pulse.
A2CCWP ※ A2 axis ‑(CCW)direction
negative logic output pulse.
A2DRSTCOM +COMMON for A2DRST.
(+24V)A2DRST
A2 axis SERVO DRIVER RESET
signal.
A2DEND/A2 axis positioning end
Z1PO signal or PO signal.
(Note4)
N.C
Using is disabled.
+A2EA
A2 axis encoder +A phase signal‑A2EA
A2 axis encoder ‑A phase signal+A2EB
A2 axis encoder +B phase signal‑A2EB
A2 axis encoder ‑B phase signal+A2ZORG A2 axis encoder +Z phase signal‑A2ZORG A2 axis encoder ‑Z phase signal
N.C
Using is disabled.
RESET2RESET2 signal.
N.C
Using is disabled.
N.C
Using is disabled.

13‑4.I/O Circuit(The following description is given about the X1 axis but also applicable to the anoter axis.)*However, SENSOR signal is prepared for Z1, A1, Z2, and A2 axis.
(1) J1J1+5V

EXTV(+24V)
Coupler HIC

X1CWLM, X1CCWLM, FSSTOP1X1NORG, X1ORG

HIGH level 0.8mA or less

X1DEND/X1PO,

LOW level 2.5mA or more

Z1SENSOR*,RESET1+5V

20V or more HIGH
4V or less LOW

6.8K Ω

at EXTV＝24V

Coupler HIC

IN10 〜 IN13

+5V

HIGH level 1.3mA or less
LOW level

Photo coupler

7.0mA or more

20V or more HIGHX1DRSTCOM
1.65K ΩSINK current
MAX 50mA
Vce 2V or less3V or less LOW(Max15mA/axis)

at EXTV＝24V

OUT10 〜 OUT13

HIGH level High impedance

X1DRST

LOW level 0.6V or less(at SINK30mA)

EXTVGND

Photo Coupler+X1EA,+X1EB,+X1ZORG HIGH level 1.0mA or less
The line driver 26LS31 or

LOW level 7.8mA or moreequivalent is connectable
200 Ω-X1EA,-X1EB,-X1ZORG→( ≒16mA)

0.7V or less HIGH
3.2V or more LOW
5.25V MAXpin to pin voltage

fusing resistor+5V
5 .1 Ω
26LS31

MAX
40mA

+COM

(Max 20mA/axis)

X1CWP,X1CCWP

HIGH level 2.4V or more

X1CWP, X1CCWP

LOW level 0.5V or less(at SOURCE20mA)(at SINK20mA)

Note1: X1DRSTCOM cannot use with when the X1DRST is used for general‑purpose output function.
(It cannot be used as 24V +COM).
Note2: Each +COM line has a built‑in fuse resistor. If it is short‑circuited with the GND,
the fuse will blow. A sufficient care must be taken to avoid this.

‑ 80 ‑

１４．ＣＯＮＮＥＣＴＩＯＮＳ
14‑1.Connection to the Driver
If +24V are connected to pins other than EXTV, there is a possibility of damaging
CAUTION

this product. Please make connection carefully.

(1) Connection example of the X1 axis to a negative logic pulse train CW/CCW independent input type driver.
a. When using as the negative logic TTL level output:
J1
Every wiring is 0.15SQ or more.
16
+COM
○
+CW
18

X1CWP

20
X1CCWP
C‑872 side

○

‑CW

○

+CCW

○
Terminal base(connector)‑CCW
DRIVER sideb. When used as differential output (line driver):J1
Every wiring is 0.15SQ or more.
17
X1CWP
○
+CW
18

X1CWP

19

X1CCWP

20
X1CCWP
C‑872 side

○

‑CW

○

+CCW

○
Terminal base(connector)‑CCW
DRIVER side(2) Connection example of the X1 axis to a stepping motor.
23

X1PO

C‑872 side

○

+P.O

Terminal base(connector)‑P.O

24VGND

DRIVER side
When connecting to a stepping driver, X1DRST, +X1ZORG and ‑X1ZORG must be disconnected.
When excitation output is not used, X1PO must be disconnected, too.
(3) Connection example of the X1 axis to a servo driver
J1
X1DRSTCOMX1DRST
X1DEND

Every wiring is 0.15SQ or more.
150Ω(Note2)○+RESET(Note3) 5V specification○‑RESET

21
22
23

○

+END
‑END

24VGND+X1ZORG‑X1ZORG
+X1EA
‑X1EA
+X1EB
‑X1EB

29

○

30
25
(Note1)
26
27

○

+Z
Line driver(Note4)
‑Z

○

+A

○

‑A

○

+B

○

(Note1)28
C‑872 side∀○○
Terminal base(connector)○‑B
DRIVER side

Notes 1 and 4: See the following page.
‑ 81 ‑

Note1: Required when the feedback pulses of the encoder are counted.
Note2: If current limiting resistor of the driver is less than 150Ω, provide an external resistor toensure 150Ω or above.
Note3: Connection example when the servo driver counter reset input is +24V interface.
21

X1DRSTCOM

22

X1DRST○

Not connected +24V

+RESET
24V specification‑RESET○

Note4: Connection example when the servo driver encoder Z phase output is open collector output.
29+X1ZORG

30‑X1ZORG

○
○

2.2kΩ

＋
24V P.S.
−Z
GND

14‑2.Connection Examples of a LIMIT Switch or Sensor(1) Connection example of the X1 axis when LIMIT is unused
J1
14
EXTV
1
X1CWLM
2
X1CCWLM+‑
24VP.S.
48
FSSTOP1
Coupler power supply
C‑872 side
Note: The FSSTOP input signal and LIMIT input signal are an ACTIVE OFF input.
Note that when there signal are not connected,the signal becomes active and no pulse is output.
(2) Connection example of the X1 axis when LIMIT is used‑(CCW)direction+(CW)direction

+O‑

J1

+O‑

14

EXTV

1

X1CWLM

2

X1CCWLM+‑
24VP.S.
Coupler power supply

C‑872 side
14‑3.Connection Example of the Origin Sensor(1) For ORG‑0, ORG‑1, ORG‑2 and ORG‑3 types (X1 axis)‑(CCW)direction

+O‑

J1
EXTV
X1NORG
X1ORG+X1ZORG‑X1ZORG

ORG sensor+(CW)direction

Recommendable sensors(OFF when light enters)
SUNX: PM‑K53
PM‑L53
PM‑T53OMRON: EE‑SPX301
EE‑SX670 series
etc.

14
3
4
29
30

+

‑
24VP.S.
Coupler power supply
Never connect +X1ZORG and ‑X1ZORG.

C‑872 side
‑ 82 ‑

Recommendable sensors(ON when light enters)
SUNX:
PM‑K53B
PM‑L53B
PM‑T53BOMRON: EE‑SPX401
EE‑SX670 seriesetc.

(2) For stepping driver ORG‑4 and ORG‑5 types (X1 axis)
Disc with slit mounted
on the rotary shaft‑(CCW)direction

ORG sensor
+O‑
J1
14

EXTV

Recommendable sensors
NORG sensor(OFF when light enters)
SUNX: PM‑K53
PM‑L53
PM‑T53OMRON: EE‑SPX301+‑
24VP.S.
EE‑SX670 series
Coupler power supply
etc.
Never connect +X1ZORG and ‑X1ZORG.

3

X1NORG

4

X1ORG

29

+X1ZORG

30‑X1ZORG+(CW)direction+O‑

NORG sensor

ORG sensor(ON when light enters)
SUNX:
PM‑K53B
PM‑L53B
PM‑T53BOMRON: EE‑SPX401
EE‑SX670 seriesetc.

C‑872 side(3) For Servo driver ORG‑4 and ORG‑5 types (X1 axis)
Encoder‑(CCW)direction

SERVO DRIVER
+Z ‑Z

+O‑

NORG sensor

J1
14

EXTV

3

X1NORG

4

X1ORG+(CW)direction

Never connect X1ORG. +‑24VP.S.
Coupler power supply

Recommendable sensors
NORG sensor (OFF when light enters)
SUNX:
PM‑K53
PM‑L53
PM‑T53OMRON:
EE‑SPX301
EE‑SX670 series
etc.

29

+X1ZORG

30‑X1ZORG＊For line driver

C‑872 side(4) For ORG‑10 type (X1 axis)‑(CCW)direction

ORG sensor
J1
EXTV
X1NORG
X1ORG+X1ZORG‑X1ZORG+O‑+O‑+(CW)direction

NORG sensor

14
3
4

+

‑
24VP.S.
Coupler power supply

29
30

Never connect +X1ZORG and ‑X1ZORG.

C‑872 side

‑ 83 ‑

Recommendable sensors(OFF when light enters)
SUNX:
PM‑K53
PM‑L53
PM‑T53OMRON:
EE‑SPX301
EE‑SX670 seriesetc.

１５．ＢＯＡＲＤ ＥＤＧＥ ＣＯＮＮＥＣＴＯＲ
15‑1.Board Connector(J1) Signal Table
No.
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
A11
A12
A13
A14
A15
A16
A17
A18
A19
A20
A21
A22
A23
A24
A25
A26
A27
A28
A29
A30
A31

Name
TRST#
+12V
TMS
TDI
+5V
INTA#
INTC#
+5V
予約済
+5V(I/O)
予約済
GND
GND
予約済
RST#
+5V(I/O)
GNT#
GND
予約済
AD[30]+3.3V
AD[28]
AD[26]GND
AD[24]IDSEL+3.3V
AD[22]
AD[20]GND
AD[18]

No.
A32
A33
A34
A35
A36
A37
A38
A39
A40
A41
A42
A43
A44
A45
A46
A47
A48
A49
A50
A51
A52
A53
A54
A55
A56
A57
A58
A59
A60
A61
A62

ＡＮＤ

Name
AD[16]+3.3V
FRAME#
GND
TRDY#
GND
STOP#
+3.3V
SDONE
SBO#
GND
PAR
AD[15]+3.3V
AD[13]
AD[11]GND
AD[09]KeyKey
C/BE[0]#+3.3V
AD[06]
AD[04]
GND
AD[02]
AD[00]+5V(I/O)
REQ64#
+5V
+5V

ＢＯＡＲＤ

ＳＨＡＰＥ

No.
B1
B2
B3
B4
B5
B6
B7
B8
B9
B10
B11
B12
B13
B14
B15
B16
B17
B18
B19
B20
B21
B22
B23
B24
B25
B26
B27
B28
B29
B30
B31

Name
‑12V
TCK
GND
TDO
+5V
+5V
INTB#
INTD#
PRSNT1#予約済
PRSNT2#
GND
GND
予約済
GND
CLK
GND
REQ#
+5V(I/O)
AD[31]
AD[29]GND
AD[27]
AD[25]+3.3V
C/BE[3]#
AD[23]GND
AD[21]
AD[19]
+3.3V

No.
B32
B33
B34
B35
B36
B37
B38
B39
B40
B41
B42
B43
B44
B45
B46
B47
B48
B49
B50
B51
B52
B53
B54
B55
B56
B57
B58
B59
B60
B61
B62

Note: Signals marked by "" are not connected on this board.
+3.3V and 5V(I/O) is not used, but connected to the decoupling condenser.

‑ 84 ‑Name
AD[17]
C/BE[2]#
GND
IRDY#
+3.3V
DEVSEL#
GND
LOCK#
PERR#
+3.3V
SERR#
+3.3V
C/BE[1]#
AD[14]GND
AD[12]
AD[10]GND
Key
Key
AD[08]
AD[07]+3.3V
AD[05]
AD[03]
GND
AD[01]+5V(I/O)
ACK64#+5V+5V

15‑2.Board Shape and Dimensions

１．６

MAX３．０５

１０６．７

MAX１４．５

９８．４

RDY

X2
Y2
Z2
A2
X1
Y1
Z1
A1

JP1Y1

JP1Y2

JP1X1

JP1X2

JP1A1

JP1A2

JP1Z1

JP1Z2
JP3 JP2 JP4

１
４

７ ９

.

〇 S1

２ ５

T
T
T
T

2
2
2
2

3
2
1
0

１ ７ ６

.

.
１ ０ ６

O
O
O
O

U
U
U
U

Ｃ − ８ ７ ２

IN10
IN11
IN12
IN13

Ｃ Ｎ １

OUT13
OUT12
OUT11
OUT10

including the
thickness of ametal fitting

IN20
IN21
IN22
IN23

Product Name

Ｊ１・Ｊ２
Unit：mm
・S1………………………………………………………… Board identifier rotary switch
・JP1X1,JP1Y1,JP1Z1,JP1A1,…………………………… Speed initial setting jumper
JP1X2,JP1Y2,JP1Z2,JP1A2
・JP3,JP2,JP4 …………………………………………… Interrupt setting jumper
・RDY X1,Y1,Z1,A1,X2,Y2,Z2,A2 ……………………… RDY LED(Light on during ready)・IN10,IN11,IN12,IN13,IN20,IN21,IN22,IN23 ……… IN LED(Light on at active)
・OUT10,OUT11,OUT12,OUT13,…………………………… OUT LED(Light on at active)
OUT20,OUT21,OUT22,OUT23* Jumpers and connectors except above have been reserved. So don't manipulate these things.

‑ 85 ‑

１６．ＣＯＮＴＲＯＬ ＰＲＯＧＲＡＭ ＥＸＡＭＰＬＥＳThis chapter offers an example of the user program (coded in C language conformed to the ANSI standard) used
for controlling the C‑872.
In the examples, base address of the C‑872 I/O address have been asumed to be set at valiable "iobase".
Although the following is an example about X1 axis, Y1 axis, Z1 axis and A1 axis, it is the same also about
X2 axis, Y2 axis, Z2 axis and A2 axis.
/******************************//*
DEFINITION*//******************************/#define UC
unsigned char#define UL
unsigned long#define US
unsigned short#define X1MCCCOM#define X1MCCDT1#define X1MCCDT2#define X1MCCDT3#define X1CNTCOM#define X1CNTDT1#define X1CNTDT2#define X1CNTDT3#define X1MCCST1#define X1MCCST2#define X1MCCST3#define X1MCCST4#define X1MCCST5

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/* X1‑AXIS MCC05 COMMAND PORT*//* X1‑AXIS MCC05 DATA1 PORT*//* X1‑AXIS MCC05 DATA2 PORT*//* X1‑AXIS MCC05 DATA3 PORT*//* X1‑AXIS COUNTER COMMAND PORT *//* X1‑AXIS COUNTER DATA1 PORT*//* X1‑AXIS COUNTER DATA2 PORT*//* X1‑AXIS COUNTER DATA3 PORT*//* X1‑AXIS MCC05 STATUS1 PORT*//* X1‑AXIS MCC05 STATUS2 PORT*//* X1‑AXIS MCC05 STATUS3 PORT*//* X1‑AXIS MCC05 STATUS4 PORT*//* X1‑AXIS MCC05 STATUS5 PORT*/

#define Y1MCCCOM#define Y1MCCDT1#define Y1MCCDT2#define Y1MCCDT3#define Y1CNTCOM#define Y1CNTDT1#define Y1CNTDT2#define Y1CNTDT3#define Y1MCCST1#define Y1MCCST2#define Y1MCCST3#define Y1MCCST4#define Y1MCCST5

iobase+0x10
iobase+0x11
iobase+0x12
iobase+0x13
iobase+0x14
iobase+0x15
iobase+0x16
iobase+0x17
iobase+0x10
iobase+0x14
iobase+0x15
iobase+0x16
iobase+0x17/* Y1‑AXIS MCC05 COMMAND PORT*//* Y1‑AXIS MCC05 DATA1 PORT*//* Y1‑AXIS MCC05 DATA2 PORT*//* Y1‑AXIS MCC05 DATA3 PORT*//* Y1‑AXIS COUNTER COMMAND PORT *//* Y1‑AXIS COUNTER DATA1 PORT*//* Y1‑AXIS COUNTER DATA2 PORT*//* Y1‑AXIS COUNTER DATA3 PORT*//* Y1‑AXIS MCC05 STATUS1 PORT*//* Y1‑AXIS MCC05 STATUS2 PORT*//* Y1‑AXIS MCC05 STATUS3 PORT*//* Y1‑AXIS MCC05 STATUS4 PORT*//* Y1‑AXIS MCC05 STATUS5 PORT*/

#define Z1MCCCOM#define Z1MCCDT1#define Z1MCCDT2#define Z1MCCDT3#define Z1CNTCOM#define Z1CNTDT1#define Z1CNTDT2#define Z1CNTDT3#define Z1MCCST1#define Z1MCCST2#define Z1MCCST3#define Z1MCCST4#define Z1MCCST5

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/* Z1‑AXIS MCC05 COMMAND PORT*//* Z1‑AXIS MCC05 DATA1 PORT*//* Z1‑AXIS MCC05 DATA2 PORT*//* Z1‑AXIS MCC05 DATA3 PORT*//* Z1‑AXIS COUNTER COMMAND PORT *//* Z1‑AXIS COUNTER DATA1 PORT*//* Z1‑AXIS COUNTER DATA2 PORT*//* Z1‑AXIS COUNTER DATA3 PORT*//* Z1‑AXIS MCC05 STATUS1 PORT*//* Z1‑AXIS MCC05 STATUS2 PORT*//* Z1‑AXIS MCC05 STATUS3 PORT*//* Z1‑AXIS MCC05 STATUS4 PORT*//* Z1‑AXIS MCC05 STATUS5 PORT*/

‑ 86 ‑

#define A1MCCCOM#define A1MCCDT1#define A1MCCDT2#define A1MCCDT3#define A1CNTCOM#define A1CNTDT1#define A1CNTDT2#define A1CNTDT3#define A1MCCST1#define A1MCCST2#define A1MCCST3#define A1MCCST4#define A1MCCST5

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#define IOIN1 iobase+0x60#define IOOUT1 iobase+0x60
void
void
void
void
void

/* A1‑AXIS MCC05 COMMAND PORT*//* A1‑AXIS MCC05 DATA1 PORT*//* A1‑AXIS MCC05 DATA2 PORT*//* A1‑AXIS MCC05 DATA3 PORT*//* A1‑AXIS COUNTER COMMAND PORT *//* A1‑AXIS COUNTER DATA1 PORT*//* A1‑AXIS COUNTER DATA2 PORT*//* A1‑AXIS COUNTER DATA3 PORT*//* A1‑AXIS MCC05 STATUS1 PORT*//* A1‑AXIS MCC05 STATUS2 PORT*//* A1‑AXIS MCC05 STATUS3 PORT*//* A1‑AXIS MCC05 STATUS4 PORT*//* A1‑AXIS MCC05 STATUS5 PORT*//* GENERAL PURPOSE INPUT PORT/* GENERAL PURPOSE OUTPUT PORT*/*/

x1mcc05inz(void);
x1jog(void);x1scan(void);
x1absindex(void);x1org(void);

Frequently used MCC05v2 RDY check is coded as macroinstruction so that the program may be simplified.
#define x1mccrdy() while(inp(X1MCCST1) & 0x01)#define y1mccrdy() while(inp(Y1MCCST1) & 0x01)#define z1mccrdy() while(inp(Z1MCCST1) & 0x01)#define a1mccrdy() while(inp(A1MCCST1) & 0x01)/* X1‑AXIS MCC05 READY WAIT/* Y1‑AXIS MCC05 READY WAIT/* Z1‑AXIS MCC05 READY WAIT/* A1‑AXIS MCC05 READY WAIT

*/
*/
*/
*/

RAM area used in the program is defined as follows.
/******************************//*RAM AREA*//******************************/
US
iobase;UCurate;
UC
drate;
UL
lspd;
UL
hspd;
UL
cspd;
long
absdt;
UC
orgno;
UC
offset;UCldelay;UCsdelay;UCjdelay;/* C‑872 I/O BASE ADDRESS *//* UP RATE No.
*//* DOWN RATE 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*//* JOG DELAY TIME*/

The program offered in this manual is for your reference only, thus you may not strictly it.

‑ 87 ‑

16‑1.INITIALIZE Program Example
Execute this program at POWER ON/RESET as needed.
This program is developed based on the following specifications.
(1) DRIVE Specification
DRIVE TYPE＝L, LIMIT STOP TYPE＝fast stop, MOTOR TYPE＝Stepping motor and RDYINT＝Not output in any caseshall be specified.
(2) PULSE COUNTER and Comparator Specification
The PULSE COUNTER is supposed to operate with drive pulse from the MCC05v2, and the COMPARE REGISTER1
output on the conferred matching is to output to the CNTINT. Address of the COMPARE REGISTER1 detection
shall be 10000(2710Ｈ), and the deceleration‑to‑stop shall be selected for the COMP STOP TYPE.
(3) Address Specification
Motor current address shall be defined as 1000(3E8Ｈ), and 1000(3E8Ｈ) shall also be preset for the pulse
counter.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
X1‑AXIS MCC05 INITIALIZE*//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
void
x1mcc05inz( void ){/** SPEC INITIALIZE1 COMMAND **/x1mccrdy();outp(X1MCCDT1 ,0x28);
outp(X1MCCCOM ,0x01);/* X1‑AXIS MCC05 RDY WAIT *//* DRIVE SPEC DATA OUT *//* SPEC INITIALIZE1 COMMAND OUT *//** PULSE COUNTER INITIALIZE COMMAND **/x1mccrdy();/* X1‑AXIS MCC05 RDY WAIT */outp(X1MCCDT1 ,0x01);/* COUNTER SPEC DATA1 OUT */outp(X1MCCDT2 ,0x20);/* COUNTER SPEC DATA2 OUT */outp(X1MCCDT3 ,0x00);/* COUNTER SPEC DATA3 OUT */outp(X1MCCCOM ,0x02);/* PULSE COUNTER INITIALIZE COMMAND OUT *//** ADDRESS INITIALIZE COMMAND **/x1mccrdy();outp(X1MCCDT1 ,0x00);
outp(X1MCCDT2 ,0x03);
outp(X1MCCDT3 ,0xe8);
outp(X1MCCCOM ,0x03);/** COUNTER PRESET COMMAND **/outp(X1CNTDT1 ,0x00);
outp(X1CNTDT2 ,0x03);
outp(X1CNTDT3 ,0xe8);
outp(X1CNTCOM ,0x00);/** COUNTER REGISTER1 SET COMMAND **/outp(X1CNTDT1 ,0x00);
outp(X1CNTDT2 ,0x27);
outp(X1CNTDT3 ,0x10);
outp(X1CNTCOM ,0x01);/* X1‑AXIS MCC05 RDY WAIT *//* ADDRESS MSB OUT *//* ADDRESS LSB OUT *//* ADDRESS INITIALIZE COMMAND OUT *//* COUNTER MSB OUT *//* COUNTER LSB OUT *//* COUNTER PRESET COMMAND OUT *//* COMPARE REGISTER1 MSB OUT *//* COMPARE REGISTER1 LSB OUT *//* COUNTER REGISTER1 SET COMMAND OUT */}Note: At POWER ON/RESET, above settings are all initialized their specific specification.
Thus, the above processing shall be done only when a modification is needed.
For details of the initial specifications, see Chapter 10.

‑ 88 ‑

16‑2.JOG DRIVE Program Example
The JOG DRIVE does not need specific data, so you can directly turn on using the JOG DRIVE command.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
X1‑AXIS +JOG DRIVE*//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
void
x1jog( void ){x1mccrdy();outp(X1MCCCOM ,0x10);}/* X1‑AXIS MCC05v2 RDY WAIT *//* +JOG COMMAND OUT */16‑3.SCAN DRIVE Program Example
The SCAN DRIVE requires URATE, DRATE, LSPD and HSPD data. You must set these data prior to the drive.
Once set, these rate and speed data remain valid until a change is needed of them.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
X1‑AXIS SCAN DRIVE*//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
void
x1scan( void ){/** RATE SET COMMAND **/x1mccrdy();outp(X1MCCDT2 ,urate);outp(X1MCCDT3 ,drate);outp(X1MCCCOM ,0x06);/** LSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&lspd + 2));outp(X1MCCDT2 ,*((UC *)&lspd + 1));outp(X1MCCDT3 ,*((UC *)&lspd ));outp(X1MCCCOM ,0x07);/* X1‑AXIS MCC05 RDY WAIT *//* UP RATE No. OUT *//* DOWN RATE No. OUT *//* RATE SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* LOW SPEED DATA MSB SET *//* LOW SPEED DATA LSB SET *//* LSPD SET COMMAND OUT *//** HSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&hspd + 2));outp(X1MCCDT2 ,*((UC *)&hspd + 1));outp(X1MCCDT3 ,*((UC *)&hspd ));outp(X1MCCCOM ,0x08);/* HIGH SPEED DATA LSB SET *//* HSPD SET COMMAND OUT *//** SCAN DRIVE COMMAND **/x1mccrdy();outp(X1MCCCOM ,0x12);/* X1‑AXIS MCC05 RDY WAIT *//* +SCAN DRIVE COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* HIGH SPEED DATA MSB SET */}Note: The above program is developed on the assumption that the RAM AREA URATE and DRATE contain the
RATE DATA TABLE No., and the LSPD and HSPD contain the speed data set in Hz.

‑ 89 ‑

16‑4.Example of INDEX DRIVE Program Specified in Absolute ValueThe INDEX DRIVE specified in absolute value requires URATE, DRATE, LSPD and HSPD data. You must set thesedata prior to the drive. Once set, these rate and speed data remain valid until a change is needed of them.
And, the target address of the drive must be set before turning on the INDEX DRIVE.
Whenever starting the drive, the address data must be specified.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
X1‑AXIS ABSOLUTE INDEX DRIVE *//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
void
x1absindex( void ){/** RATE SET COMMAND **/x1mccrdy();outp(X1MCCDT2 ,urate);outp(X1MCCDT3 ,drate);outp(X1MCCCOM ,0x06);/** LSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&lspd + 2));outp(X1MCCDT2 ,*((UC *)&lspd + 1));outp(X1MCCDT3 ,*((UC *)&lspd ));outp(X1MCCCOM ,0x07);/** HSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&hspd + 2));outp(X1MCCDT2 ,*((UC *)&hspd + 1));outp(X1MCCDT3 ,*((UC *)&hspd ));outp(X1MCCCOM ,0x08);/** ABSOLUTE INDEX DRIVE COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&absdt + 2));outp(X1MCCDT2 ,*((UC *)&absdt + 1));outp(X1MCCDT3 ,*((UC *)&absdt ));outp(X1MCCCOM ,0x15);/* X1‑AXIS MCC05 RDY WAIT *//* UP RATE No. OUT *//* DOWN RATE No. OUT *//* RATE SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* LOW SPEED DATA MSB SET *//* LOW SPEED DATA LSB SET *//* LSPD SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* HIGH SPEED DATA MSB SET *//* HIGH SPEED DATA LSB SET *//* HSPD SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* ABS INDEX DATA MSB SET *//* ABS INDEX DATA LSB SET *//* ABS INDEX DRIVE COMMAND OUT */}Note: The above program is developed on the assumption that the RAM AREA URATE and DRATE contain the
RATE DATA TABLE No., and the LSPD and HSPD contain the speed data set in Hz.
And, the absdt is supposed to contain the target address.

‑ 90 ‑

16‑5.ORIGIN DRIVE Program Example
The ORIGIN DRIVE requires data on URATE, DRATE, LSPD, HSPD, CSPD, OFFSET PULSE, LDELAY, SDELAY and JDELAY.
You must set these data prior to the drive. Once set, these data remain valid until a change is needed ofthem.
Also, you must specify the machine origin detect type before turning on the ORIGIN DRIVE.
This data is needed whenever starting the drive.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
X1‑AXIS ORIGIN DRIVE*//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
void
x1org( void ){/** RATE SET COMMAND **/x1mccrdy();outp(X1MCCDT2 ,urate);outp(X1MCCDT3 ,drate);outp(X1MCCCOM ,0x06);/** LSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&lspd + 2));outp(X1MCCDT2 ,*((UC *)&lspd + 1));outp(X1MCCDT3 ,*((UC *)&lspd ));outp(X1MCCCOM ,0x07);/** HSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&hspd + 2));outp(X1MCCDT2 ,*((UC *)&hspd + 1));outp(X1MCCDT3 ,*((UC *)&hspd ));outp(X1MCCCOM ,0x08);/* X1‑AXIS MCC05 RDY WAIT *//* UP RATE No. OUT *//* DOWN RATE No. OUT *//* RATE SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* LOW SPEED DATA MSB SET *//* LOW SPEED DATA LSB SET *//* LSPD SET COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* HIGH SPEED DATA MSB SET *//* HIGH SPEED DATA LSB SET *//* HSPD SET COMMAND OUT *//** CSPD SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,*((UC *)&cspd + 2));outp(X1MCCDT2 ,*((UC *)&cspd + 1));outp(X1MCCDT3 ,*((UC *)&cspd ));outp(X1MCCCOM ,0x1a);/* CONSTANT SPEED DATA LSB SET *//* CSPD SET COMMAND OUT *//** OFFSET PULSE SET COMMAND **/x1mccrdy();outp(X1MCCDT3 ,offset);outp(X1MCCCOM ,0x1b);/* X1‑AXIS MCC05 RDY WAIT *//* OFFSET PULSE DATA OUT *//* OFFSET PULSE SET COMMAND OUT *//** ORG DELAY SET COMMAND **/x1mccrdy();outp(X1MCCDT1 ,ldelay);outp(X1MCCDT2 ,sdelay);outp(X1MCCDT3 ,jdelay);outp(X1MCCCOM ,0x1c);/* X1‑AXIS MCC05 RDY WAIT *//* LIMIT DELAY TIME OUT *//* SCAN DELAY TIME OUT *//* JOG DELAY TIME OUT *//* ORG DELAY SET COMMAND OUT *//** ORIGIN DRIVE COMMAND **/x1mccrdy();outp(X1MCCDT1 ,orgno);outp(X1MCCCOM ,0x1e);/* X1‑AXIS MCC05 RDY WAIT *//* ORIGIN TYPE No. OUT *//* ORIGIN DRIVE COMMAND OUT *//* X1‑AXIS MCC05 RDY WAIT *//* CONSTANT SPEED DATA MSB SET */}Note: The above program is developed on the assumption that the RAM AREA URATE and DRATE contain the
RATE DATA TABLE No., the LSPD and HSPD contain the speed data set in Hz and the OFFSET contains
the offset pulse number.
Likewise, the LDELAY, SDELAY and JDELAY are supposed to contain respective delay time, and the
ORGNO is supposed to contain the machine origin detection type.

‑ 91 ‑

16‑6.PULSE COUNTER Read Program Example
The following offers an example of the function that utilizes the PULSE COUNTER counting as the return
value.
/*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*//*
COUNTER READ*//*‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑*/
long
x1cntred( void )
{
long
a;
outp(X1MCCCOM ,0xfc);/* PULSE COUNTER PORT SELECT COMMAND OUT */*( (UC *)&a + 2 ) = inp(X1MCCDT1);*( (UC *)&a + 1 ) = inp(X1MCCDT2);*( (UC *)&a ) = inp(X1MCCDT3);
if( (*( (UC *)&a + 2 ) & 0x80 ) != 0 ){*( (UC *)&a + 3) = 0xff;} else {*( (UC *)&a + 3) = 0x00;}
return( a );/* COUNTER MSB IN *//* COUNTER LSB IN *//* SIGN BIT ON ? */}Note: The PULSE COUNTER PORT SELECT is valid only when other counter ports or the speed port is selected.
It is not needed when the PULSE COUNTER PORT is already selected.

‑ 92 ‑

１７．ＴＲＯＵＢＬＥＳＨＯＯＴＩＮＧThis chapter describes probable types of trouble and check points for them in using the C‑872.
Symptom

Check point

１*BUSY BIT in STATUS1 never becomes 0.
Or BUSY BIT in STATUS1 does not become 1
after a command is written.

*Isn't LOW LEVEL input to the RESET1,2 signal？
*Is BASE ADDRESS acquired correctly?
*Is the Board identifier rotary switchset up correctly?

２*Access seems to have been made normally.
However, even if a pulse output commandis written, pulse output is not perform.
At this time, both DRIVE BIT and BUSY BIT
in STATUS1 are 0.

*Isn't the output pulse 0 INDEX DRIVE？
(e.g., when the specified absolute address is thecurrent position)*Check each of ERROR, LSEND and FSEND BITS in STATUS1.
For details, refer to 4‑8.

３*Access seems to have been made normally.
However, when a pulse output command iswritten, pulse output is not performed.
At this time, both DRIVE BIT and BUSY BIT
in STATUS1 are 1.

*Refer to the check point in ２.
*Isn't HIGH LEVEL input to the DEND signal by SERVO
specification？

４*Pulse output was started but neverterminated.

*Isn't SCAN, SPECIAL SCAN or ORG DRIVE performed？
*In case of INDEX DRIVE:
When INCREMENTAL is specified
The specified number of pulses is large.
When ABSOLUTE is specified
The specified address is remote.
The above causes are probable.
In this case, DRIVE will stop before long.

５*Pulse output was terminated. However,
BUSY BIT in STATUS1 does not become 0.

*Is SERVO MOTOR set？ Isn't the DEND signal at HIGH LEVEL？
BUSY BIT in STATUS1 becomes 0 by causing this signal to go
to the low level.

６*Machine origin detection (ORG DRIVE)
cannot be performed normally.
Or machine origin detection is neverterminated.

*Is the sensor logic (ON when light enters or OFF whenlight enters) correct？
*Is sensor connection (specially GND line) correct？
*Isn't edge 1 formed in the CCWLM area because the shieldplate is too long in case of the ORG1 or ORG3 type？
*In case of the ORG2,ORG3,ORG4 or ORG5 type , be careful
about an effect of mechanical vibration.
If any vibration exists, use ORG0 or ORG1, or make LD,SDand JD longer by the ORIGIN DELAY SET command.
*When SERVO MOTOR is set, check the DEND signal for eachprocess. Accordingly, if DEND is not returned, it willstop at a process on the way.
*When ORG3 or ORG5 is selected to complete ORG DRIVE inthe ORG sensor, the sensor may be turned off by slightmechanical vibration because it enters only 1 pulse
from the sensor edge a into the sensor area when ORG
DRIVE is completed. In this case,make a correction sothat INDEX DRIVE may be performed several pulses in
the +(CW)direction after ORG DRIVE is completed withthe result that it can enter surely into the sensor area.

‑ 93 ‑

SymptomCheck point

７*When the counter values of the pulse
counter are always read out, some countervalues seemed to be wrong.

*Are the counter values read in the order of high‑orderbytes (2２３〜2１６) to low‑order bytes (2７〜2０) ?
Unless the PULSE COUNTER is read out starting fromhigh‑order bytes, the counter value may become wrong.
*In order to implement an optimized compilation, somecompilers may not compile data in the sequence provided
in the source list. In such case, the optimum compilation
function shall be canceled. When C language is used,
see Chapter 16, too.

８

*Sometimes incorrect speed data is
indicated.

*Are the speed data read in the order of high‑orderbytes (2２３〜2１６) to low‑order bytes (2７〜2０) ?
Unless the speed data is read out starting fromhigh‑order bytes, the counter value may become wrong.
*Aren't you trying to read an extremely low speed whose
data length exceeds 3 bytes?
Note that an extra low speed at or less than approximately
9.5 Hz cannot be read.

９*The CNTINT interrupt seems to begenerated at a counter value different
from the set value.

*Does the counter value of the PULSE COUNTER overflow
because there is any PLS COMPARE REGISTER where data is
not set yet?
PLS COMPARE REGISTER is initialized to the overflow valueof 800000Ｈ at POWER ON/RESET, so the CNTINT signal isgenerated at the overflow value if there is any
PLS COMPARE REGISTER where data is not set yet.
Put the unused COMP INT of COMPARE REGISTER into adisabled state by the PULSE COUNTER INITIALIZE command.

１０ *Output pulse speed deviates fromthe specified value.

*In the high speed area, there can be a conflict between
the actual and specified speeds.
For details, see Section 5‑16.

１１ *The acceleration/deceleration constantseems to be different from the set
URATE/DRATE value.

*Is DRIVE TYPE different from the contents of the specified
data? Note that the contents of the data set in RATE
differ depending on the DRIVE TYPE selected by theSPEC INITIALIZE1.

１２ *The PULSE COUNTER failed to the countexternal clock correctly.

*Is a proper external clock counting method selected ?
When you selected the external clock for the pulse
counter operation clock using the PULSE COUNTER INITIALIZE
Command, you must specify the clock counting type using
the same command. For details, see Section 6‑5.

１３ *The DIFFERENTIAL COUNTER failed tocorrectly count a deviation between
the MCC05v2 pulse and the external clock.

*Is a proper external clock counting method is selected ?
Using the DFL COUNTER INITIALIZE Command, you must specify
a proper clock counting approach on the DIFFERENTIAL
COUNTER. For details, see Section 6‑12.
*Is the ratio between the MCC05v2 output clock and theexternal clock is set to 1:1. If not, adjust them to 1:1
using the clock‑to‑DIFFERENTIAL COUNTER division function,
an applied function.

１４ *The positioning complete signal by DFLINTis also generated for the excessive
deviation.

*Check if both COMPARE REGISTERS1 and 2 are enabled.
DFLINT is OR of the COMPARE REGISTERS1 and 2, thus if
both of them are made enable, it is difficult for DFLINT
to identify the positioning complete from theexcessive deviation.
This identification is available from the STATUS3.
‑ 94 ‑

１８．ＤＡＴＡＴＡＢＬＥＳ

18‑1.L‑TYPE RATE DATA TABLE
No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21

18‑2.M‑TYPE RATE DATA TABLE

ms/1000Hz
1000
800
600
500
400
300
200
150
125
100
75
50
30
20
15
10
7.5
5.0
4.0
2.0
1.5
1.0

No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14

18‑3.H‑TYPE RATE DATA TABLE

ms/1000Hz
50
20
15
10
7.5
5.0
3.0
1.5
1.0
0.5
0.3
0.2
0.1
0.075
0.05

No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14

ms/1000Hz
5.0
2.0
1.5
1.0
0.75
0.50
0.30
0.15
0.10
0.05
0.03
0.02
0.01
0.00750.005

Note: "ms/1000Hz" is the mean time required for the acceleration or deceleration of 1000Hz.

18‑4.RATE CURVE GRAPH(1) Ｌ−ＴＹＰＥ

f20
21 1918 17 16 15

14

13

11

12

(Hz)

10

20 K
9

8
7

10 K
6
5
4
3
2
１
0

0 .4

0 .8

‑ 95 ‑

1 .2

1 .6

(s )

t

(2) Ｍ−ＴＹＰＥ

f

14 13 12

11

10

9

8

7

(H z)

10 0K

6

50 K

5

4
3
2
１
0

50

1 00

150

20 0

t

(ms )

(3) Ｈ−ＴＹＰＥ

f 1 4 1 3 12

11

10

8

9

7

(Hz )

1. 0M

6

0 .5M

5
4
3
2
１
0

50

1 00

‑ 96 ‑

1 50

2 00

( ms)

t

１９．ＳＡＦＥＴＹ ＤＥＳＩＧＮ ＰＲＥＣＡＵＴＩＯＮＳIn order to ensure safety of the user system employing the C‑872, the users are advised to develop suitablesafety measures considering vulnerability of the given system and reliability of the following possible
actions.
The C‑872 or the system employing the C‑872 may fail to stop pulse output due so a reason or another(so called run‑away).
The following table rates reliability of each possible measure in preventing the pulse output in such case.

1

Cutting off the drive
system power supply

The most safe and sure approach.

2

Entry of the RESET1,2
signal.

Entering the RESET to the C‑872 alone can save your system.
This operation initializes the C‑872.
The function for stopping the pulse output can also be adversely
affected by failure on a circuit connected to the system.

3

Entry of the FSSTOP1, 2
signal.

Entering the FSSTOP saves data stored on the MCC05v2.
The function for stopping the pulse output can also be adversely
affected by failure on a circuit connected to the system.

4

Entry of the LIMIT signal

This input signal also stops the pulse output.
Its reliability, however, is lower than the above two measures.

Considering circuit configurations of the C‑872 and MCC05v2, reliability of each input signal canbe rated as shown below:
RESET＞FSSTOP＞LIMIT
When the above trouble on the system can involve personal injuries, the drive system power must be turned off(the measure "1" in the table) immediately.
Measures 3 and 4 should be employed only when protection of the user system is the key issue.
In this case, too, you should consider replacing them with measures 2 or 1 if magnitude of actual damages
greater than anticipated.

‑ 97 ‑

２０．Ｃ−８７２ ＡＬＬ ＣＯＭＭＡＮＤ ＴＡＢＬＥＳ
20‑1.DRIVE Command Table
The mark ＊denotes a command accompanied by pulse output.
The reference pages shown by
are found in the User's Manual [Applied Functions Part].

＊
＊
＊
＊
＊
＊

＊

＊
＊
＊
＊
＊
＊

D７D６D５D４D３D２D１D０

HEX C0DE

COMMAND

0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1
0 0 0 0 0 0 1 0
0 0 0 0 0 0 1 1
0 0 0 0 0 1 0 0
0 0 0 0 0 1 0 1
0 0 0 0 0 1 1 0
0 0 0 0 0 1 1 1
0 0 0 0 1 0 0 0
0 0 0 0 1 0 0 1
0 0 0 0 1 0 1 0
0 0 0 0 1 0 1 1
0 0 0 0 1 1 0 0
0 0 0 0 1 1 0 1
0 0 0 0 1 1 1 0
0 0 0 0 1 1 1 1
0 0 0 1 0 0 0 0
0 0 0 1 0 0 0 1
0 0 0 1 0 0 1 0
0 0 0 1 0 0 1 1
0 0 0 1 0 1 0 0
0 0 0 1 0 1 0 1

００
０１
０２
０３
０４
０５
０６
０７
０８
０９
０Ａ
０Ｂ
０Ｃ
０Ｄ
０Ｅ
０Ｆ
１０
１１
１２
１３
１４
１５
１６〜１７
１８
１９
１Ａ
１Ｂ
１Ｃ
１Ｄ
１Ｅ
１Ｆ
２０
２１
２２
２３
２４
２５
２６
２７
２８
２９
２Ａ
２Ｂ
２Ｃ
２Ｄ
２Ｅ
２Ｆ
３０
３１
３２
３３
３４
３５

NO OPERATIONSPEC INITIALIZE1PULSE COUNTER INITIALIZE
ADDRESS INITIALIZE
ADDRESS READSERVO RESETRATE SETLSPD SETHSPD SETDFL COUNTER INITIALIZESET DATA READCW SOFT LIMIT SET
CCW SOFT LIMIT SET
Setting is disabled.
DFL DIVISION DATA SETSENSOR INDEX3 DATA SET
+JOG
‑JOG
+SCAN
‑SCAN
INCREMENTAL INDEXABSOLUTE INDEX
Setting is disabled.
END PULSE SETESPD SETCSPD SETOFFSET PULSE SETORIGIN DELAY SETORIGIN FLAG RESETORIGIN
Setting is disabled.
SPEC INITIALIZE3
Setting is disabled.
RESOLUTION SETPART HSPD BUFFER SETPART HSPD SET
INCREMENTAL DATA SET
ABSOLUTE DATA SETPART PULSE SETSERIAL INDEX CHECKPART RATE SET
SPECIAL SERIAL INDEX CHECKMARGIN TIME SETPEAK PULSE SETSEND PULSE SETSESPD SETSPEC INITIALIZE4+SPECIAL SCAN1‑SPECIAL SCAN1+SPECIAL SCAN2‑SPECIAL SCAN2
SPECIAL INCREMENTAL INDEX1SPECIAL ABSOLUTE INDEX1

0 0 0 1 1 0 0 0
0 0 0 1 1 0 0 1
0 0 0 1 1 0 1 0
0 0 0 1 1 0 1 1
0 0 0 1 1 1 0 0
0 0 0 1 1 1 0 1
0 0 0 1 1 1 1 0
0 0 0 1 1 1 1 1
0 0 1 0 0 0 0 0
0 0 1 0 0 0 0 1
0 0 1 0 0 0 1 0
0 0 1 0 0 0 1 1
0 0 1 0 0 1 0 0
0 0 1 0 0 1 0 1
0 0 1 0 0 1 1 0
0 0 1 0 0 1 1 1
0 0 1 0 1 0 0 0
0 0 1 0 1 0 0 1
0 0 1 0 1 0 1 0
0 0 1 0 1 0 1 1
0 0 1 0 1 1 0 0
0 0 1 0 1 1 0 1
0 0 1 0 1 1 1 0
0 0 1 0 1 1 1 1
0 0 1 1 0 0 0 0
0 0 1 1 0 0 0 1
0 0 1 1 0 0 1 0
0 0 1 1 0 0 1 1
0 0 1 1 0 1 0 0
0 0 1 1 0 1 0 1

NAME‑ 98 ‑

Reference
page
２８
２９
３０
３３
３３
３４
３４,１９
３４,２１
３５,２１
３６,３７
３８
３９
３９
‑‑‑‑‑‑‑‑
４０
４０
３９
３９
３９
３９
３９
４０
‑‑‑‑‑‑‑‑
４１
４１
４０,２１
４１
４１
４１
４２
‑‑‑‑‑‑‑‑
４２‑‑‑‑‑‑‑‑
４３
４４
４４
４５
４５
４６
４７
４８
４８
４９
４９
５０
５０
５１
５２
５２
５２
５２
５３
５３

＊
＊
＊
＊
＊
＊
＊
＊
＊

D７D６D５D４D３D２D１D０

HEX C0DE

COMMAND

0 0 1 1 0 1 1 0
0 0 1 1 0 1 1 1
0 0 1 1 1 0 0 0
0 0 1 1 1 0 0 1
0 0 1 1 1 0 1 0
0 0 1 1 1 0 1 1
0 0 1 1 1 1 0 0
0 0 1 1 1 1 0 1
0 0 1 1 1 1 1 0

３６
３７
３８
３９
３Ａ
３Ｂ
３Ｃ
３Ｄ
３Ｅ
３Ｆ
４０
４１
４２〜４Ｆ

SPECIAL INCREMENTAL INDEX2SPECIAL ABSOLUTE INDEX2+SERIAL INDEX‑SERIAL INDEX+SPECIAL SERIAL INDEX‑SPECIAL SERIAL INDEXSENSOR INDEX1SENSOR INDEX2SENSOR INDEX3
Setting is disabled.
+SENSOR SCAN1‑SENSOR SCAN1
Setting is disabled.
Setting is disabled.
DEND TIME SET
EXTEND ORIGIN SPEC SETCONSTANT SCAN MAX PULSE SETCHANGE POINT SETCHANGE DATA SET
AUTO CHANGE SET
Setting is disabled.
SPEC INITIALIZE5SRATE SETSLSPD SETSHSPD SETSSRATE ADJUSTSERATE ADJUSTSCSPD1 ADJUSTSCSPD2 ADJUST
Setting is disabled.
SRATE DOWN POINT SET+ S‑RATE SCAN
‑ S‑RATE SCAN
S‑RATE INCREMENTAL INDEXS‑RATE ABSOLUTE INDEX
Setting is disabled.
DRIVE CALCULATESRATE DRIVE CALCULATE
Setting is disabled.
ERROR STATUS READ

0 1 0 0 0 0 0 0
0 1 0 0 0 0 0 1

0 1 0 1 0 0 0 0
0 1 0 1 0 0 0 1
0 1 0 1 0 0 1 0
0 1 0 1 0 0 1 1
0 1 0 1 0 1 0 0
0 1 0 1 0 1 0 1
0 1 0 1 1 1 1 1
0 1 1 0 0 0 0 0
0 1 1 0 0 0 0 1
0 1 1 0 0 0 1 0
0 1 1 0 0 0 1 1
0 1 1 0 0 1 0 0
0 1 1 0 0 1 0 1
0 1 1 0 0 1 1 0

＊
＊
＊
＊

0 1 1 0 1 1 1 1
0 1 1 1 0 0 0 0
0 1 1 1 0 0 0 1
0 1 1 1 0 0 1 0
0 1 1 1 0 0 1 1
1 1 0 1 0 0 0 0
1 1 0 1 0 0 0 1
1 1 1 0 0 0 1 0

５０
５１
５２
５３
５４
５５
５６〜５Ｅ
５Ｆ
６０
６１
６２
６３
６４
６５
６６
６７〜６Ｅ
６Ｆ
７０
７１
７２
７３
７４〜ＣＦ
Ｄ０
Ｄ１
Ｄ２〜Ｅ１
Ｅ２

NAME

Reference
page
５４
５４
５５
５５
５５
５５
５５
５６
５６
‑‑‑‑‑‑‑‑
５７
５７‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑‑
５７
５８
５８
５９
５９
６０
‑‑‑‑‑‑‑‑
６１
４２,２１
４３,２１
４３,２１
４４,２１
４４,２１
４５,２１
４５,２１
‑‑‑‑‑‑‑‑
６２
４６
４６
４６
４６
‑‑‑‑‑‑‑‑
６２
６３‑‑‑‑‑‑‑‑
４７

20‑2.Special Command Table
Special commands can always be executed.
D７D６D５D４D３D２D１D０

HEX C0DE1 1 1 1 0 0 1 1
1 1 1 1 0 1 0 0
1 1 1 1 0 1 0 1
1 1 1 1 0 1 1 0
1 1 1 1 0 1 1 1
1 1 1 1 1 0 0 0
1 1 1 1 1 0 0 1
1 1 1 1 1 0 1 0
1 1 1 1 1 1 0 0
1 1 1 1 1 1 0 1
1 1 1 1 1 1 1 0
1 1 1 1 1 1 1 1

Ｆ３
Ｆ４
Ｆ５
Ｆ６
Ｆ７
Ｆ８
Ｆ９
ＦＡ
ＦＣ
ＦＤ
ＦＥ
ＦＦ

COMMANDNAME

SIGNAL OUTINDEX CHANGE
RATE CHANGE
DRST OUT
SPEED CHANGE
INT MASKADDRESS COUNTER PORT SELECTDFL COUNTER PORT SELECTPULSE COUNTER PORT SELECT
SPEED PORT SELECTSLOW STOPFAST STOP‑ 99 ‑

Reference
page
６４
６４
６５
６５
４７
４８
４９
４９
４９
４９
４９
４９

R2

Technical Service
TEL.(042)664-5382 FAX.(042)666-5664
E-mail s-support@melec-inc.com

Sales and Service
TEL.(042)664-5384 FAX.(042)666-2031
URL:http://www.melec-inc.com
Melec Inc. Control equipment marketing department
516-10,Higashiasakawa-cho,Hachioji-shi,Tokyo 193-0834,Japan
This Operating Manual is subject to change without prior noticefor the purpose of product improvement.

Cﾛﾛﾛﾛ