指数

1.概述及特点........................................................................................................................... 1

1-1 。 Outline......................................................................................................................................... 1

1-2。 Features...................................................................................................................................... 1

2.规格......................................................................................................................................五

3.端子分配图............................................................................................................. 6

端子4功能.......................................................................................................................... 7

5座Diagram................................................................................................................................... 12

6. CPU Interface.................................................................................................................................... 13

6-1 。连接设置为CPU ............................................ .................................................. 13

6-2 。注意事项设计硬件.............................................. ............................................. 13

6-3 。 CPU接口电路框图............................................. .............................................. 14

6-4 。地址映射............................................................................................................................. 16

6-4-1 。轴布置图........................................................................................................ 16

6-4-2 。每个内部地图axis..................................................................................................... 16

6-5 。地图的描述details.................................................................................................... 18

6-5-1 。写指令代码和轴选择（ COMW ， COMB ） ..................................... ....... 18

6-5-2 。写入到输出端口（ OTPW ， OTPB ） ........................................ ........................................ 18

6-5-3 。读/写输入/输出缓冲器（ BUFW ， BUFB ） ..................................... ........................... 18

6-5-4 。阅读主要地位（ MSTSW ， MSTSB ） ......................................... ............................... 19

6-5-5 。读出该子状态和输入/输出端口。 （ SSTSW ， SSTSB ， IOPB ） ............................... 20

7.命令（运行与控制命令） ......................................... ....................................... 21

7-1 。手术commands................................................................................................................. 21

7-1-1 。程序写的操作命令............................................ ........................... 21

7-1-2 。开始command.................................................................................................................... 21

7-1-3 。变速command..................................................................................................... 22

7-1-4 。停止命令.................................................................................................................... 22

7-1-5 。 NOP （什么都不做）命令............................................ .................................................. .. 22

7-2 。 ...........................................通用输出位控制命令................................ 23

7-3 。控制命令...................................................................................................................... 24

7-3-1 。软件复位command..................................................................................................... 24

7-3-2 。计数器复位命令...................................................................................................... 24

7-3-3 。 ERC输出控制command.............................................................................................. 24

7-3-4 。预套准控制command.............................................................................................. 24

7-3-5 。 PCS输入command............................................................................................................ 24

7-3-6 。 LTCH输入（计数器锁存器）命令........................................... ........................................ 24

7-4 。注册控制命令......................................................................................................... 25

7-4-1 。程序将数据写入到寄存器........................................... ..................................... 25

7-4-2 。程序从寄存器中读取数据........................................... ................................ 25

7-4-3 。表寄存器控制命令............................................. ........................................ 26

7-5 。通用输出端口控制命令........................................... ............................... 27

7-5-1 。命令写程序............................................... ............................................... 27

7-5-2 。命令位分配....................................................................................................... 27

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