SMAC LAC-1 Technical Reference Manual
5
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
