Specifications

• 2 Axes of control
• Data Bus 16/8 bits selectable

Interpolation Functions

2 axes Linear Interpolation

• Interpolation Range Each axis: -8,388,607 ~ +8,388,607
• Interpolation Speed: 1 PPS ~ 4 MPPS
• Interpolation Accuracy: ±0.5 LSB (Within the range of whole interpolation)

2 axes Circular Interpolation

• Interpolation Range Each axis: -8,388,607 ~ +8,388,607
• Interpolation Speed: 1 PPS ~ 4 MPPS
• Interpolation Accuracy: ±1 LSB (Within the range of whole interpolation)

2 axes Bit Pattern Interpolation

• Interpolation Speed: 1 PPS ~ 4 MPPS (Dependent on CPU data writing time)

Related Functions of Interpolation

• Multi-chip axes linear interpolation
  
• Constant vector speed
• Continuous interpolation
  
• Single step interpolation (Command/external signals)

Common Specifications of Each Axis

• Drive Pulses Output (When CLK = 16 MHz)
• Pulse Output Speed Range: 1 PPS ~ 4 MPPS
• Pulse Output Accuracy within: ±0.1% (according to the setting speed)
• S-curve Jerk: 954 ~ 62.5 x 10⁶ PPS/S² (Multiple = 1)
                      477 x 10³ ~ 31.25 x 10⁹ PPS/S² (Multiple =500)
• Accelerating / Decelerating Speed: 125 ~ 1 x 10⁶ PPS/S (Multiple = 1)
                                                     62.5×103 ~ 500 x 10⁶ PPS/S (Multiple = 500)
• Initial Speed: 1 ~ 8,000 PPS (Multiple = 1)
                       500 PPS ~ 4×10⁶ PPS (Multiple = 500)
• Drive Speed: 1 ~ 8,000 PPS (Multiple = 1)
                      500 PPS ~ 4×10⁶ PPS (Multiple = 500)
• Output-pulse Number: 0 ~ 268,435,455 / unlimited
• Speed Curve: Constant speed, linear acceleration, parabola S-curve acceleration/deceleration drive
• Index Pulse Drive Deceleration Mode: auto (non-symmetrical linear acceleration is also allowed) / manual
• Output-pulse numbers and drive speeds changeable during the driving
• Independent 2-pulse system or 1-pulse 1-direction system selectable
• Logical levels of drive pulse selectable, output pin switchable

Encoder Input

• A/B quadrature pulse style or Up/Down pulse style selectable
• Pulse of 1, 2 and 4 divisions selectable (A/B quadrature pulse style)

Position Counter

• Logic Position Counter (for output pulse t) range: -2,147,483,648 ~ +2,147,483,647
• Real Position Counter (for feedback pulse) range: -2,147,483,648 ~ +2,147,483,647

Data read and write possible

Comparison Register

• COMP + Register Position comparison range: -2,147,483,648 ~ +2,147,483,647
• COMP - Register Position comparison range: -2,147,483,648 ~ +2,147,483,647
• Status and signal outputs for the comparisons of position counters
• Software limit functioned

Interrupt (Interpolations Excluded)

• The factors of occurring interrupt:
• the drive-pulse outputting
• the start / finish of a constant-speed drive during the acceleration / deceleration driving
• the end of the driving
• the volume of position counter >= the volume of COMP-
• the volume of position counter < the volume of COMP-
• the volume of position counter >= the volume of COMP+
• the volume of position counter < the volume of COMP+

Enable / disable for these factors selectable

External Signal for Driving

• EXPP and EXPM signals for fixed pulse / continuous drive
• Driving in manual pulsar mode (encoder input)

External Deceleration / Sudden Stop Signal
 

• IN0 ~ 2: 3 points for each axis

Enable / disable and logical levels selectable

Servo Motor Input Signal

• ALARM (Alarm), INPOS (In Position Check)

Enable / disable and logical levels selectable

General Input/Output Signal

• Ino ~ 5: 6 points for each axis (wherein 4 points use with multi-chip interpolation signal pin)
• OUT0 ~ 7: 8 points for each axis (wherein it uses with drive status output signal pin)

Driving Status Signal Output

• DRIVE (drive pulse outputting), ASND (speed accelerating), CNST (constant driving), DSND (speed decelerating), CMPP (position >= COMP+), CMPM (position < COMP-), ACASND (acceleration/deceleration speed increase), ACDSND (acceleration/deceleration speed decrease)
  

Drive status and status registers readable

Limit Signals Input

• 1 points, for each + and - side 

Logical levels and decelerating / sudden stop selectable

Emergency Stop Signal Input

• EMG, 1 point in all axes

Sudden stop the drive pulse of all axes when active low 

Contents of integral type filters

• Equipped with integral filters in the input column of each input signal. One time constant can be selected from eight types.
  

Electrical Characters

• Temperature Range for Driving: 0° ~ + 85°C (32°F ~185°F)
• Power Voltage for Driving: +5V ± 5 %
• Input / Output Signal Level: CMOS, TTL connectable
• Input Clock Pulse: 16 MHz (Standard)

Package

• 100-pin plastic QFP, pitch = 0.65mm
• Dimension : 23.8 × 17.8 × 3.05 mm