homing ........................................................107
wiring ............................................................80
Coarse home sensor
wiring ............................................................60
Coarse Home switch/sensor
voltage range..............................................192
Command format
MCCL............................................................17
Compare output
described ....................................................141
mode,
toggle ......................................................141
mode, one-shot...........................................141
mode, period...............................................141
Connector
mating connector, J1 - J4 ...........................179
mating connector, J8 ............................64, 189
Connector pinout
MultiFlex PCI 1440 .....................................185
MultiFlex PCI 1440 .....................................181
Contour buffer
description ....................................................92
tell contour count ..........................................92
Cubic spline interpolation .................................97
D
DAC output
plotting ..........................................................42
Debug application programs ............................36
Deceleration
default units ..................................................86
disable ..........................................................42
setting .................................... 8, 37, 67, 77, 86
Default settings ..............................................219
Delphi programming.........................................34
Derivative gain
description ....................................................13
Digital I/O
configuraing as an overtravel limit................14
configuring ..................................................167
connector pin out ................................181, 185
description ..................................................165
reconfigure..........................................148, 166
specifications ..............................................176
testing .........................................................167
turn off.........................................................168
turn on.........................................................168
Digital I/O test panels .......................................41
Digital inputs
signal description........................................195
wiring ............................................................61
Digital outputs
signal description........................................196
wiring ............................................................62
Direction
configure for Unipolar PWM .......................148
setting ...........................................................90
Documentation
MultiFlex PCI 1000 Series
controllers .......... 3
Driver disable
wiring ............................................................ 53
Driver fault
wiring ............................................................ 55
E
Encoder
auxiliary ...................................................... 143
checkout ....................................................... 65
checkout, stepper ......................................... 80
description .................................................... 14
descritpion .................................................... 24
fault................................................... 14, 24, 57
reverse phased............................................. 83
rollover........................................................ 127
wiring, differential ......................................... 56
wiring, single ended ..................................... 57
Encoder Index
checkout ..................................................... 105
description .................................................... 24
Error codes
MCAPI ........................................................ 212
MCCL ......................................................... 213
Error LED's..................................................... 179
E-stop
enable......................................................... 125
examples .................................................... 125
hard wired................................................... 125
Example
homing routine............................................ 114
F
Fail safe operation
watchdog circuit.......................................... 163
Fault
encoder ............................................ 14, 24, 57
Feed forward....................................71, 120, 162
acceleration .......................................... 76, 121
calculating ............................................ 72, 120
deceleration.......................................... 76, 121
described...................................................... 71
setting...................................................72, 120
Firmware
update .......................................................... 44
Version ......................................................... 43
Following error
default setting ............................................... 66
description .................................................... 66
disable .......................................................... 66
plotting.......................................................... 42
Friction ............................................................. 76
Frictionless servo
using output deadband................................. 76
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