Specifications

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

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 (fixed drive)
  
• 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

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

Automatic home search

• Automatic execution of
• Step 1 (high-speed near home search)
• Step 2 (low-speed home search)
• Step 3 (low-speed encoder Z-phase search)
• Step 4 (high-speed offset drive). Enable/Disable of each step and search direction selectable
• Deviation counter clear output : Clear pulse width within the range of 10µ ~ 20msec and logical level selectable

Interrupt (Interpolations Excluded)

• The factors of occurring interrupt:
• 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+
• terminating of automatic home search, synchronous action

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), DCC (Deviation counter clear output)

Enable / disable and logical levels selectable

General Input/Output Signal

• Input signal: 7 points for each axis (any input signal can only be used when the function is not used assigned to that input)
  
• Output signal: 4 points for each axis (any output signal shares the other function output pins, and can only be used when the function assigned to that pin is unused.)

Limit Signals Input

• 1 point, for each + and - side 

Logical levels and decelerating / sudden stop selectable

Emergency Stop Signal Input

• EMG, 1 point for 4 axes

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° ~ +83°C (32°F ~ 181°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 × 217.8 x 3.05 mm