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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