LAC-1 single axis controller manual

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S.M.A.C. 5807 VAN ALLEN WAY CARLSBAD, CA 92008 PHONE: 1-760-929-7575 / FAX: 1-760-929-7588 FOR TECHNICAL ASSISTANCE CALL: 1-760-929-7575 © COPYRIGHT AUTOMATION MODULES, INC. 1993 - 1997
SMAC LAC-1 Technical Reference Manual Table of Contents 1. INTRODUCTION ............................................................................................................................7 1.1 SPECIFICATIONS .............................................................................................................................7 1.2 DIGITAL I/O INTERFACE....................................................................................................................8 1.2.1 Dedicated Digital Inputs .......................................................................................................8 1.2.2 General Purpose Digital Inputs .............................................................................................9 1.2.3 General Purpose Digital Outputs...........................................................................................9 1.2.4 Digital I/O "States"................................................................................................................9 1.2.5 I/O Technical Specifications..............................................................................................10 1.3 ENCODER INTERFACE....................................................................................................................11 1.4 OUTPUT DRIVER INTERFACE...........................................................................................................11 1.5 ANALOG TO DIGITAL CONVERSION (A/D) INTERFACE............................................................................11 1.6 SERIAL INTERFACE........................................................................................................................12 2. MACRO INTERRUPT SYSTEM ....................................................................................................13 2.1 THE INTERRUPT VECTOR TABLE......................................................................................................13 2.2 ENABLING AND DISABLING INTERRUPTS.............................................................................................13 2.3 INTERRUPT SOURCES....................................................................................................................14 2.4 INTERRUPT PRIORITY ....................................................................................................................14 2.5 INTERRUPT COMPLETION................................................................................................................15 2.6 INTERRUPT LATENCY.....................................................................................................................15 3. ENTERING COMMANDS..............................................................................................................17 3.1 DOWNLOADING COMMANDS............................................................................................................18 4. INTRODUCTION TO COMMANDS................................................................................................19 4.1 PARAMETER COMMANDS................................................................................................................19 4.2 REPORTING COMMANDS.................................................................................................................29 4.3 MOTION COMMANDS .....................................................................................................................36 4.4 REGISTER COMMANDS...................................................................................................................41 4.4.1 Internal Variables................................................................................................................41 4.5 SEQUENCE COMMANDS .................................................................................................................49 4.6 LEARNED POSITION STORAGE (LPS) COMMANDS ..............................................................................54 4.7 MACRO COMMANDS......................................................................................................................55 4.8 INPUT / OUTPUT (I/O) COMMANDS ..................................................................................................59 4.9 FUTURE EXPANSION INTERFACE......................................................................................................61 4.10 SERIAL COMMUNICATIONS AND MISCELLANEOUS COMMANDS .............................................................62 5. APPENDIX A, LAC-1 ERROR CODE DEFINITIONS .....................................................................69 6. APPENDIX B, SUMMARY OF LAC-1 COMMANDS.......................................................................71 7. APPENDIX C, LAC-1 CONNECTOR PIN DEFINITIONS................................................................72 8. INDEX .........................................................................................................................................73 5
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