| Number of control axes |
4 |
| Reference clock (standard) |
19.6608MHz |
| Maximum pulse output frequency |
6.5Mpps |
| Number of speed setting registers |
3 (FL, FH, FA - for correction) |
| Number of steps to set/change the speed |
1 to 65,535 (16-bits) |
| Speed multiplication rate range |
0.1 to 100x |
| Acceleration range |
1 to 65,535 (16-bits) |
| Deceleration rate range |
1 to 65,535 (16-bits) |
| Number of positioning pulses |
-134,217,728 to +134,217,727 (28-bits) |
| CPU Interface |
8/16-bit bus |
| Ramping down point |
0 to 16,777,215 (24-bits) |
| Package types |
176-pin QFP |
| Power supply voltage |
+5V ±10% and +3.3V ±10% |
| Automatic ramp-down point setting |
Yes |
| Ramp-down point offset setting |
Yes |
Up/down counter
(Current position counter) |
Yes (28-bits; provided for each axis) |
| Up/down counter zero return |
Yes |
Other counters
(Software zero position auto return) |
Yes |
External mechanical signal input
(±EL ±SD ORG) |
Yes (provided for each axis) |
| External mechanical start signal for a Hold Start |
Yes |
| Output pulse mode |
CW/CCW, Pulse/Direction |
| Servo motor I/F |
Yes |
| Encoder input (up to 4x) |
Yes (A, B, & Z) |
| Zero return command with encoder Z phase |
Yes (provided for each axis) |
| General-purpose I/O terminal |
Yes (8 points for each axis) |
| S-curve acceleration/deceleration control |
Yes |
| Specify S-curve range |
Yes |
| Triangle operation correction function |
Yes |
| One pulse output |
Yes |
| Idling pulse |
Yes (0 to 7 pulses) |
| Operation mode selection |
Yes |
| Pulser input |
Yes |
| Comparator |
Yes (5 circuits for each axis) |
| Pre-buffer for next operation |
Yes (secondary) |
| Next operation auto start control |
Yes |
| Output pulse length control |
Yes |
| Simultaneous start/stop |
Yes |
| Interrupt status (interrupt cause monitor) |
Yes |
| Specify interrupt cause |
Yes |
| Zero position search/leave |
Yes |
| Stepper motor out-of-order detection |
Yes |
| Interpolation operation |
Yes (linear, circular) |
| Continuous interpolation operation |
Yes |
| Target position override |
Yes |
| Operation switch input terminal |
Yes |
| Backlash correction function |
Yes |
| Software limit function |
Yes |
| Synchronization signal output |
Yes |
| Vibration reduction function |
Yes |
| Counter hardware latch |
Yes |
