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8-3-8. PRMD (RMD) registers
These pre-registers are used to set the operation mode.
RMD is the register for PRMD.
Bits
Bit name
Description
Setting basic operation mode
0 to 6
MOD
Set operation mode.
000 0000 (00h): Continuous positive rotation controlled by command control.
000 1000 (08h): Continuous negative rotation controlled by command control.
000 0001 (01h): Continuous operation controlled by pulsar (PA/PB) input.
000 0010 (02h): Continuous operation controlled by external signal (+DR/-DR) input.
001 0000 (10h): Positive rotation zero return operation.
001 1000 (18h): Negative rotation zero return operation.
001 0010 (12h): Positive feed leaving from the zero position.
001 1010 (1Ah): Negative feed leaving from the zero position.
001 0101 (15h): Zero search in the positive direction
001 1101 (1Dh): Zero search in the negative direction
010 0000 (20h): Feed to +EL or +SL position.
010 1000 (28h): Feed to -EL or -SL position.
010 0010 (22h): Move away from the -EL or -SL position.
010 1010 (2Ah): Move away from the +EL or +SL position.
010 0100 (24h): Feed in the positive direction for a specified number of EZ counts.
010 1100 (2Ch): Feed in the negative direction for a specified number of EZ counts.
100 0001 (41h): Positioning operation (specify the incremental target position)
100 0010 (42h): Positioning operation (specify the absolute position in COUNTER1)
100 0010 (43h): Positioning operation (specify the absolute position in COUNTER2)
100 0100 (44h): Zero return of command position (COUNTER1).
100 0101 (45h): Zero return of mechanical position (COUNTER2).
100 0110 (46h): Single pulse operation in the positive direction.
100 1110 (4Eh): Single pulse operation in the negative direction.
100 0111 (47h): Timer operation
101 0001 (51h): Positioning operation controlled by pulsar (PA/PB) input.
101 0010 (52h): Positioning operation is synchronized with PA/PB
(specify the absolute position of COUNTER1)
101 0011 (53h): Positioning operation is synchronized with PA/PB
(specify the absolute position of COUNTER2
101 0100 (54h): Zero return to the specified position controlled by pulsar (PA/PB)
input.
101 0101 (55h): Zero return to a mechanical position controlled by pulsar (PA/PB)
input.
101 0110 (56h): Positioning operation controlled by external signal (+DR/-DR) input.
110 0000 (60h): Continuous linear interpolation 1 (continuous operation with linear
interpolation 1)
110 0001 (61h): Linear interpolation 1
110 0010 (62h): Continuous linear interpolation 2 (continuous operation with linear
interpolation 2)
110 0011 (63h): Linear interpolation 2
110 0100 (64h): CW circular interpolation operation
110 0101 (65h): CCW circular interpolation operation.
110 0110 (66h): Clockwise circular interpolation, synchronized with the U axis (arc
linear interpolation)
110 0111 (67h): Counter-clockwise circular interpolation, synchronized with the U
axis (arc linear interpolation)