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iv List of Tables

List of Tables

Table 2-1: CN1 Pin Assignments: External Power Input ......... 10

Table 2-2: CN2 Pin Assignments: Emergency Input and General In-

put Common ........................................................... 10

Table 2-3: HS1-HS2 Pin Assignments: HSL Communication Signal

(RJ-45) .................................................................... 11

Table 2-4: HS3 Pin Assignments: HSL Communication Signal (WA-

GO type) ................................................................. 11

Table 2-5: CM1-CM4 Pin Assignments: Servo Interface ......... 11

Table 2-6: CM1-CM4 Pin Assignments: For HSL-4XMO-CD-N/P

Table 2-7: IOIF1-4 Pin Assignments: Mechanical I/O and GPIO Sig-

nal Connector ......................................................... 13

Table 3-1: Encoder Power / External Resistor ......................... 21

Table 4-1: Base Scan Times .................................................... 33

Table 4-2: Pulse Command Output ......................................... 35

Table 4-3: Single Axis Motion Functions .................................. 44

Table 4-4: Counter Summary ................................................... 72

Table 4-5: Multiple HSL-4XMO Operations ............................. 73

Table 4-6: HSL_M_v_change() Example ................................. 77

Table 4-7: HSL_M_p_change() Constraints ............................ 82

Table 4-8: HSL-4XMO Comparators ........................................ 82

Table 6-1: Commmand Executuion Classifications ............... 103

Table 6-2: HSL-4XMO Commmand Executuion Times ......... 103

1 2 3 4 5 6 7 8 9 10 11 12 13 ... 115 116

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