LAC-25 dual axis controller manual (346kB PDF).

SMAC
LAC-25 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 Inputs.........................................................................................................8
1.2.3 General Purpose 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........................................................................................................................11
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.................................................................................................................30
4.3 MOTION COMMANDS .....................................................................................................................37
4.4 REGISTER COMMANDS...................................................................................................................44
4.4.1 Internal Variables................................................................................................................44
4.5 SEQUENCE COMMANDS .................................................................................................................52
4.6 LEARNED POSITION STORAGE (LPS) COMMANDS ..............................................................................57
4.7 MACRO COMMANDS......................................................................................................................58
4.8 INPUT / OUTPUT (I/O) COMMANDS ..................................................................................................62
4.9 FUTURE EXPANSION INTERFACE......................................................................................................64
4.10 SERIAL COMMUNICATIONS AND MISCELLANEOUS COMMANDS .............................................................65
5. APPENDIX A, LAC-25 ERROR CODE DEFINITIONS ...................................................................72
6. APPENDIX B, SUMMARY OF LAC-25 COMMANDS.....................................................................74
7. APPENDIX C, LAC-25 CONNECTOR PIN DEFINITIONS..............................................................75
8. INDEX .........................................................................................................................................76
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