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

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

S.M.A.C. 5807 VAN ALLEN

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 A UTOMATION MODULES, INC. 1993 - 1998

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 5

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