4 • Contents USER MANUAL
Example 12 - Motion Programs with Loops..............................................................34
Example 13 - Motion Programs with Trippoints.......................................................34
Example 14 - Control Variables................................................................................35
Example 15 - Linear Interpolation.............................................................................35
Example 16 - Circular Interpolation..........................................................................35
Chapter 3 Connecting Hardware 37
Overview................................................................................................................................. 37
Using Optoisolated Inputs.......................................................................................................37
Limit Switch Input.....................................................................................................37
Home Switch Input....................................................................................................38
Abort Input................................................................................................................38
Uncommitted Digital Inputs......................................................................................39
Wiring the Optoisolated Inputs................................................................................................39
Using an Isolated Power Supply................................................................................40
Bypassing the Opto-Isolation:...................................................................................41
Analog Inputs.......................................................................................................................... 41
Amplifier Interface.................................................................................................................. 41
TTL Inputs...............................................................................................................................42
TTL Outputs............................................................................................................................ 43
Chapter 4 Communication 45
Introduction............................................................................................................................. 45
Communication with Controller..............................................................................................45
Communication Registers......................................................................................... 45
Simplified Communication Procedure...................................................................... 46
Advanced Communication Techniques.....................................................................46
Communication with Controller - Secondary FIFO channel...................................................47
Polling FIFO..............................................................................................................47
DMA / Secondary FIFO Memory Map.....................................................................48
Explanation of Status Information and Axis Switch Information..............................50
Notes Regarding Velocity and Torque Information..................................................51
Interrupts..................................................................................................................................51
Setting up Interrupts.................................................................................................. 51
Configuring Interrupts...............................................................................................51
Servicing Interrupts................................................................................................... 53
Example - Interrupts..................................................................................................53
Controller Response to DATA................................................................................................ 54
Chapter 5 Command Basics 55
Introduction............................................................................................................................. 55
Command Syntax - ASCII.......................................................................................................55
Coordinated Motion with more than 1 axis...............................................................56
Command Syntax – Binary......................................................................................................57
Binary Command Format..........................................................................................57
Binary command table...............................................................................................58
Controller Response to DATA................................................................................................ 59
Interrogating the Controller.....................................................................................................59
Interrogation Commands...........................................................................................59
Summary of Interrogation Commands......................................................................60
Interrogating Current Commanded Values................................................................60
Operands....................................................................................................................60
Command Summary..................................................................................................61