Aerotech UNIDEX U100i User manual

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THE UNIDEX100/U100iMOTION
CONTROLLER
OPERATION & TECHNICAL MANUAL
P/N: EDU128 (V1.6)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax [phone]
Product Service: [phone]; [phone] (Fax)
www.aerotechinc.com
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If you should have any questions about the UNIDEX 100/UNIDEX 100i controllers or comments regarding the
documentation, please refer to Aerotech online at:
http://www.aerotechinc.com.
For your convenience, a product registration form is available at our web site.
Our web site is continually updated with new product information, free downloadable software and special pricing on
selected products.
The UNIDEX 100 PC-based motion controller and UNIDEX 100i are products of Aerotech, Inc., LabVIEW
software package is a product of Natioinal Instruments.
Borland C is a product of Borland International, Inc.
IBM PC/AT bus is a registered trademark of International Business Machines, Inc.
Inductosyn is a registered trademark of Farrand Industries, Inc.
MS-DOS, QuickBASIC and Windows are products of Microsoft Corporation.
Windows NT and Windows 95 are products of Microsoft.
The UNIDEX 100/U100i Motion Controller
Operations and Technical Manual Revision History:
Rev 1.0 July 1, 1993
Rev 1.1 December 10, 1993
Rev 1.2 June 14, 1994
Rev 1.3 November 13, 1995
Rev 1.4 September 20, 1996
Rev 1.5 August 31, 1998
Rev 1.6 July 24, 2000
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Overview of the UNIDEX 100/U100i System ...................................1-1
1.2. Ordering Information.......................................................................... 1-2
1.3. Options and Accessories..................................................................... 1-5
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Unpacking the UNIDEX 100/U100i System...................................... 2-1
2.3. Minimum Hardware Requirements and Recommended System
Configurations.................................................................................... 2-2
2.4. Inspection of the UNIDEX 100/U100i............................................... 2-3
2.5. Inspection of Interface Control Cards................................................. 2-3
2.6. Physical Setup of the Motion Controller ............................................ 2-5
2.6.1 Standard Installation............................................................. 2-8
2.7. Simple Program Applications........................................................... 2-11
2.7.1. Sample Program Number One............................................ 2-12
2.7.2. Sample Program Number 2................................................ 2-15
2.7.3. Multitasking Programs ....................................................... 2-17
CHAPTER 3: HARDWARE CONFIGURATION & DESCRIPTION................ 3-1
3.1. Introduction........................................................................................ 3-1
3.2. UNIDEX 100/U100i Motion Controllers........................................... 3-2
3.2.1. COM Port (U100/U100i)..................................................... 3-3
3.2.2. Motor and Power Connections (U100 only)......................... 3-3
3.2.3. LED Status Indicators (U100 only)...................................... 3-3
3.2.3.1. Shunt Active LED.................................................. 3-4
3.2.3.2. Drive Fault LED .................................................... 3-4
3.2.3.3. Marker LED........................................................... 3-4
3.2.3.4. Reset LED.............................................................. 3-4
3.2.3.5. Control Fault LED ................................................. 3-4
3.2.3.6. Remote LED .......................................................... 3-5
3.2.3.7. In Position LED..................................................... 3-5
3.2.3.8. Overload LED........................................................ 3-5
3.2.3.9. Limits (+ and -) LEDs............................................ 3-5
3.2.4. I/O Port (U100/U100i)......................................................... 3-6
3.2.5. Encoder/Limits/Hall Effect Port (U100/U100i)................... 3-6
3.2.6. Auxiliary Encoder Port (U100/U100i)................................. 3-6
3.2.7. Option Ports ......................................................................... 3-7
3.2.8. Amplifier Feedback (U100i only)........................................ 3-7
3.3. UNIDEX 100/U100i Control Board Jumper Configurations ............. 3-8
3.3.1. Current/Velocity Command Jumper (JP8) ........................... 3-9
3.3.2. Current Output Jumpers (JP13, JP18 & JP19)................... 3-10
3.3.3. Motor Type Configuration Jumpers (JP16 & JP17)........... 3-11
3.3.4. Firmware Boot Jumper (JP34) ...........................................3-11
3.4. U100 Power Configurations - U100 Controller............................... 3-12
3.4.1. U100 Transformer.............................................................. 3-12
3.4.2. U100 Fuses......................................................................... 3-13
3.5. Installing Other Aerotech Components.............................................3-14
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Table of Contents UNIDEX 100/U100i and Software
iv Aerotech, Inc. Version 1.6
3.5.1. The Hand Held Terminal (HT)...........................................3-14
3.5.2. Joystick...............................................................................3-16
3.5.3. Thumbwheel.......................................................................3-17
3.5.3.1. Thumbwheel Sign ................................................3-19
3.5.3.2. Thumbwheel Execute Button...............................3-19
3.5.4. Display Option ...................................................................3-20
3.5.5. Resolver-to-Digital Converter............................................3-22
3.5.6. The INT Option..................................................................3-24
3.5.6.1. INT Jumper Settings ............................................3-27
3.5.7. IE-488 Option.....................................................................3-29
3.6. After Factory Installation of Option Boards.....................................3-33
CHAPTER 4: SOFTWARE INSTALLATION AND INTERFACE....................4-1
4.1. Introduction ........................................................................................4-1
4.2. Installing the Software Package..........................................................4-1
4.2.1. The Installation Disk............................................................4-1
4.2.2. Standard Installation.............................................................4-3
4.3. Overview of the Main Menu Window................................................4-5
4.3.1. The File Edit Menu ..............................................................4-6
4.3.2. Run Selection Menu.............................................................4-9
4.3.2.1. Auto Mode...........................................................4-10
4.3.2.2. Block Mode..........................................................4-10
4.3.3. MDI Selection Menu..........................................................4-10
4.3.4. Status Selection Menu........................................................4-11
4.3.4.1. Motion Status Window ........................................4-12
4.3.4.2. General Status Window........................................4-12
4.3.4.3. Memory Status and Version Windows.................4-13
4.3.5. Control Selection Menu......................................................4-13
4.3.6. MISC Selection Menu........................................................4-15
4.3.6.1. Erase Files Menu..................................................4-15
4.3.6.2. Copy Files Menu..................................................4-16
4.3.6.3. Setup Data Types Menu.......................................4-17
4.3.6.4. Archive Files Menu..............................................4-24
4.4. Controller Setup Process U100/U100i..............................................4-26
4.5. Using the Hand held Terminal (HT).................................................4-27
CHAPTER 5: PROGRAMMING COMMANDS..................................................5-1
5.1. Introduction ........................................................................................5-1
5.2. Multitasking Operating System...........................................................5-3
5.2.1. Multitasking Time Slots .......................................................5-3
5.2.2. Multiple Programs................................................................5-7
5.3. Interrupts.............................................................................................5-8
5.4. Exception Processing..........................................................................5-9
5.4.1. Invert Mask ........................................................................5-10
5.4.2. Reset Status Register..........................................................5-11
5.4.3. Latch Mask.........................................................................5-11
5.4.4. Error Status Register ..........................................................5-11
5.4.5. Disable Mask......................................................................5-12
5.4.6. SRQ Mask..........................................................................5-12
5.4.7. Auxiliary Mask...................................................................5-12
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. v
5.4.8. Freeze Mask....................................................................... 5-12
5.4.9. Task 1 Mask....................................................................... 5-12
5.4.10. Task 2 Mask....................................................................... 5-12
5.4.11. Positive Direction Mask..................................................... 5-13
5.4.12. Negative Direction Mask.................................................... 5-13
5.4.13. Status Active Register ........................................................ 5-13
5.5. Service Request................................................................................ 5-14
5.6. U100/U100i Supported File Types................................................... 5-17
5.6.1. Program Files (PGM)......................................................... 5-17
5.6.2. Macro Files ........................................................................ 5-19
5.6.3. List files (LST)................................................................... 5-21
5.6.4. Definition Files (DEF) ....................................................... 5-22
5.6.5. CAM Files.......................................................................... 5-23
5.7. Programming Commands ................................................................. 5-24
5.7.1. A Command (Accel/Decel Ramp Rate in User
units/sec2) .......................................................................... 5-27
5.7.2. ABS Absolute Value.......................................................... 5-28
5.7.3. ABSL Absolute Positioning Mode..................................... 5-29
5.7.4. ADC Analog to Digital Conversion ................................... 5-30
5.7.5. + Add ................................................................................. 5-31
5.7.6. AND (Logical And) ........................................................... 5-32
5.7.7. ARCHIVE (ARCH ()) Command ...................................... 5-32
5.7.8. Begin Command................................................................. 5-33
5.7.9. CAM Command................................................................. 5-33
5.7.10. CBI: Command .................................................................. 5-36
5.7.11. CIB Command.................................................................... 5-37
5.7.12. CLN Command .................................................................. 5-38
5.7.13. CLS Command................................................................... 5-39
5.7.14. COS Command (Cosine)................................................... 5-40
5.7.15. CUR Command.................................................................. 5-41
5.7.16. D Command (Distance in User Units to
move/position).................................................................... 5-42
5.7.17. DAC Command (Digital to Analog Conversion) ............... 5-45
5.7.18. DD Command (Direct Drive)............................................ 5-46
5.7.19. DEC Command (Decrement) ............................................. 5-47
5.7.20. DEF File............................................................................. 5-48
5.7.21. DI Command (Disable Interrupt) ....................................... 5-50
5.7.22. / Divide Command ............................................................. 5-51
5.7.23. DW Command (Dwell Time)............................................. 5-52
5.7.24. EI Command (Enable Interrupt)........................................ 5-52
5.7.25. ELSE Command................................................................. 5-53
5.7.26. ELSEIF Command............................................................. 5-54
5.7.27. END Command.................................................................. 5-55
5.7.28. ENDIF Command .............................................................. 5-56
5.7.29. ENDMAC Command......................................................... 5-57
5.7.30. ENDSUB Command .......................................................... 5-58
5.7.31. ENDWHL Command......................................................... 5-59
5.7.32. = Assign a value to............................................................ 5-60
5.7.33. EXIT Command................................................................. 5-60
5.7.34. GC Command (Get Character)........................................... 5-62
5.7.35. GEAR Command ............................................................... 5-62
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Table of Contents UNIDEX 100/U100i and Software
vi Aerotech, Inc. Version 1.6
5.7.36. GM Command (Get Message)............................................5-63
5.7.37. GO Command (Begin Move)............................................5-64
5.7.38. GOSUB Command.............................................................5-65
5.7.39. GOTO Command ...............................................................5-66
5.7.40. HM Command (Hardware Home)......................................5-67
5.7.41. IF Command.......................................................................5-69
5.7.42. INC Command (Increment)...............................................5-70
5.7.43. INCR Command (Incremental Position Mode)..................5-71
5.7.44. LB Command (Label)........................................................5-72
5.7.45. LOCK Command (Lock Task Execution)..........................5-73
5.7.46. MAC Command .................................................................5-74
5.7.46.1.MAC Definition...................................................5-75
5.7.47. MDX Command Modulo Index .........................................5-76
5.7.48. * Multiply..........................................................................5-77
5.7.49. OR Command (Logical OR)..............................................5-78
5.7.50. PC Command (Print Character)..........................................5-78
5.7.51. PM Command (Print Message) .........................................5-79
5.7.51.1.PM Command (Print Formatted Messages) ........5-80
5.7.52. PVI Command....................................................................5-81
5.7.53. RI Command (Reset Interrupt Latch)................................5-82
5.7.54. RUN Command (Run Pre-compiled PGM Program).........5-83
5.7.54.1.RUN Command - Extended format......................5-83
5.7.55. SIN Command (Sine) ........................................................5-84
5.7.56. SRQ Command (Service Request) ....................................5-85
5.7.57. SQRT Command (Square root)..........................................5-86
5.7.58. SUB Command...................................................................5-87
5.7.59. - Subtract...........................................................................5-88
5.7.60. SYNC Command................................................................5-89
5.7.61. T Command (Ramp Time) ................................................5-90
5.7.62. TAN Tangent.....................................................................5-91
5.7.63. TITLE Command...............................................................5-92
5.7.64. TUNE Command (Autotune the system)............................5-93
5.7.65. V Command (Velocity)......................................................5-94
5.7.66. WHL Command .................................................................5-95
5.7.67. XOR Exclusive OR ........................................................... 5-96
CHAPTER 6: PARAMETERS................................................................................6-1
6.1. Introduction ........................................................................................6-1
6.2. Communication Parameters................................................................6-2
6.2.1. RS-232-C General Control Register PRM:001 ....................6-4
6.2.2. RS-232-C Clock Control Register PRM:002 .......................6-5
6.2.3. RS-232-C Loop Control Character PRM:003 ......................6-6
6.2.4. RS-232-C Loop Address PRM:004......................................6-6
6.2.5. RS-232-C Daisy Chain Enable/Disable PRM:005 ...............6-6
6.2.5.1. Daisy Chain Operation...........................................6-7
6.2.6. RS-232-C Loop Group Trigger PRM:006..........................6-10
6.2.7. IEEE-488-Address Mode Register PRM:007.....................6-10
6.2.8. IEEE-488 Address Register "0" PRM:008.........................6-10
6.2.9. IEEE-488 Address Register "1" PRM:009.........................6-11
6.2.10. IEEE-488 Auxiliary Register "A" PRM:010......................6-11
6.2.11. IEEE-488 Auxiliary Register "B" PRM:011......................6-11
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. vii
6.2.12. IEEE-488 Command Register PRM:012........................... 6-12
6.2.13. IEEE-488 Auxiliary Register "E" PRM:013...................... 6-12
6.2.14. IEEE-488 Parallel Poll Register PRM:014 ........................ 6-13
6.2.15. IEEE-488 Timer Control Register PRM:015..................... 6-13
6.2.16. IEEE-488 End of Sequence Register PRM:016................. 6-13
6.2.17. Communications Mode PRM:019...................................... 6-14
6.2.18. RS-232-C Group Trigger Enable/Disable PRM:020.......... 6-14
6.2.19. Cursor Control for "CUR( )" Command PRM:021............ 6-15
6.2.20. Communications SRQ On/Off PRM:022 ........................... 6-15
6.2.21. Send SRQ At End of Task 1 PRM:023.............................. 6-16
6.2.22. Send SRQ At End of Task 2 PRM:024.............................. 6-16
6.2.23. LST1 File Generation On/Off PRM:025............................ 6-17
6.2.24. Auto DEF100/MAC100 Lookup in MDI Mode
PRM:026............................................................................ 6-17
6.2.25. End Of File Character Code PRM:027............................... 6-17
6.2.26. Service Request Character Code PRM:028........................ 6-17
6.2.27. Service Acknowledge Character Code PRM:029............... 6-18
6.2.28. Task 1 Boot Program PRM:030......................................... 6-18
6.2.29. Task 2 Boot Program PRM:031......................................... 6-18
6.2.30. RS-232-C Xon Sent From Host PRM:032......................... 6-18
6.2.31. RS-232-C Xoff Sent From Host PRM:033......................... 6-18
6.2.32. Software Reset (HT Mode) PRM:034................................ 6-19
6.2.33. Software Reset (Host Mode) PRM:035.............................. 6-19
6.2.34. Motion Status Total Digits, Line 1 PRM:036 ....................6-19
6.2.35. Motion Status Decimal Digits, Line 1 PRM:037................ 6-20
6.2.36. Motion Status Total Digits, Line 2 PRM:038 ....................6-20
6.2.37. Motion Status Decimal Digits, Line 2 PRM:039................ 6-20
6.2.38. Motion Status Scan Type, Line 2 PRM:040....................... 6-21
6.2.39. Motion Status Scan Type, Line 1 PRM:041....................... 6-21
6.3. Trajectory Generation....................................................................... 6-22
6.3.1. General Trajectory Generation........................................... 6-22
6.3.2. Scaled Trajectory Modifier ................................................ 6-23
6.3.3. Direct Drive Trajectory Generation ................................... 6-23
6.3.4. CAM Trajectory Generation .............................................. 6-23
6.3.5. First Order Filter ................................................................ 6-23
6.3.6. GEAR Function.................................................................. 6-23
6.3.7. PID Control Algorithm....................................................... 6-23
6.3.8. Motor.................................................................................. 6-23
6.4. Motion Parameters............................................................................ 6-24
6.4.1. User Units Scale Factor PRM:100..................................... 6-26
6.4.2. Command Segment Filter Coefficient PRM:101................ 6-26
6.4.3. Command Segment Filter On/Off PRM:102...................... 6-26
6.4.4. Command Linear Interpolation PRM:103.......................... 6-26
6.4.5. Default Ramp Time PRM:104 ........................................... 6-27
6.4.6. Default Distance PRM:105 ................................................ 6-27
6.4.7. Default Acceleration/Deceleration PRM:106..................... 6-27
6.4.8. Default Velocity PRM:107................................................. 6-27
6.4.9. "S" Curve Generation PRM:108 ........................................ 6-27
6.4.10. In Position “Wait” PRM:109.............................................. 6-28
6.4.11. Lower "Modulo" Index Limit PRM:110............................ 6-28
6.4.12. Upper "Modulo" Index Limit PRM:111 ............................ 6-28
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Table of Contents UNIDEX 100/U100i and Software
viii Aerotech, Inc. Version 1.6
6.4.13. DD Command Scale Factor PRM:112 ...............................6-28
6.4.14. Home Switch Fast Reference PRM:115.............................6-29
6.4.15. Home Switch Direction PRM:116......................................6-29
6.4.16. Home Switch Selection PRM:117......................................6-29
6.4.17. Home Marker Selection PRM:118.....................................6-30
6.4.18. Home Velocity After Power Up PRM:119.........................6-30
6.4.19. Home Limit Offset PRM:120.............................................6-30
6.4.20. Home Ending Offset PRM:121 ..........................................6-31
6.4.21. Home Marker Velocity PRM:122 ......................................6-31
6.4.22. Task 1 Exception Processing PRM:124.............................6-31
6.4.23. Task 2 Exception Processing PRM:125.............................6-31
6.4.24. +/- Limit Reset Distance PRM:128 ....................................6-32
6.4.25. + Software Limit PRM:129................................................6-32
6.4.26. - Software Limit PRM:130.................................................6-32
6.4.27. Software Limit Reference PRM:131 ..................................6-32
6.4.28. External Interrupt Latch Source PRM:132.........................6-33
6.4.29. External Interrupt Mode PRM:133.....................................6-34
6.4.30. External Interrupt Type PRM:134......................................6-35
6.4.31. External Interrupt Source PRM:135...................................6-35
6.4.32. R/D Resolution Mode PRM:137........................................6-36
6.4.33. Velocity Feedback Type PRM:138 ....................................6-36
6.4.34. Position Feedback Type PRM:139.....................................6-37
6.4.35. Analog-to-Digital Scale Factor PRM:140 ..........................6-37
6.4.36. Analog-to-Digital Deadband PRM:141..............................6-37
6.4.37. Digital-to-Analog Scale Factor PRM:142..........................6-37
6.4.38. Scaled Trajectory Task 1 Variable Type PRM:144 ...........6-38
6.4.39. Scaled Trajectory Task 1 Gain Factor PRM:145 ...............6-39
6.4.40. Scaled Trajectory Task 1 Index (PV/BV/LV/FV)
PRM:146............................................................................6-39
6.4.41. Scaled Trajectory Task 1 Ramp Time PRM:147................6-39
6.4.42. Scaled Trajectory Task 2 Variable Type PRM:148 ...........6-40
6.4.43. Scaled Trajectory Task 2 Gain Factor PRM:149 ...............6-40
6.4.44. Scaled Trajectory Task 2 Index (PV/BV/LV/FV)
PRM:150............................................................................6-40
6.4.45. Scaled Trajectory Task 2 Ramp Time PRM:151................6-40
6.4.46. Spline Interpolation Mode PRM:152 ................................ 6-41
6.4.47. Spline Point Number PRM:153..........................................6-41
6.4.48. Spline Scaling Mode PRM:154..........................................6-42
6.4.49. Spline Reference Mode PRM:155......................................6-42
6.4.50. Spline Reference Time PRM:156......................................6-43
6.4.51. Spline Reference Scale PRM:157 .....................................6-43
6.4.52. Spline Reference -Limit PRM:158.....................................6-43
6.4.53. Spline Reference Starting Point PRM:159.........................6-43
6.4.54. Spline Reference (+Limit) PRM:160 .................................6-44
6.4.55. Spline Modulo Mode PRM:161.........................................6-44
6.4.56. Spline Output Mode PRM:162..........................................6-45
6.4.57. Spline Output PV Index PRM:163.....................................6-45
6.5. Drive Parameters ..............................................................................6-46
6.5.1. Stepper Power Stage Mode PRM:200................................6-47
6.5.2. Stepper Running Current PRM:201 ...................................6-47
6.5.3. Stepper Holding Current PRM:202....................................6-47
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UNIDEX 100/U100i and Software Table of Contents
Version 1.6 Aerotech, Inc. ix
6.5.4. Stepper Resolution PRM:203............................................. 6-48
6.5.5. Stepper Verification Enable/Disable PRM:204.................. 6-48
6.5.6. Stepper Slip Tolerance PRM:205....................................... 6-48
6.5.7. Stepper Correction Velocity PRM:206 .............................. 6-48
6.5.8. Stepper Damping Enable/Disable PRM:207...................... 6-49
6.5.9. Stepper “Extended” Slip Tolerance PRM:208................... 6-49
6.5.10. Stepper “Extended” Correction Velocity PRM:209........... 6-49
6.5.11. Servo Current Limit Trap Time PRM:213......................... 6-50
6.5.12. Servo "Velocity Error" Integration Control PRM:214....... 6-50
6.5.13. Servo "In Position" Tolerance PRM:215 ........................... 6-50
6.5.14. Servo Peak Current Limit PRM:216 .................................. 6-51
6.5.15. Servo Current Limit Trap Level PRM:217......................... 6-51
6.5.16. Kp Servo Loop Gain PRM:218.......................................... 6-51
6.5.17. Ki Servo Loop Gain PRM:219........................................... 6-51
6.5.18. Kpos Servo Loop Gain PRM:220 ...................................... 6-51
6.5.19. Kf Servo Loop Gain PRM:221........................................... 6-51
6.5.20. Servo Feedforward On/Off PRM:222 ................................ 6-51
6.5.21. Servo Position Error Trap PRM:223.................................. 6-52
6.5.22. Servo Velocity Trap PRM:224........................................... 6-52
6.5.23. Servo Acceleration/Deceleration Trap PRM:225............... 6-52
6.5.24. Tune Minimum Frequency PRM:227................................. 6-53
6.5.25. Tune Time PRM:228..........................................................6-53
6.5.26. Tune Damping Factor PRM:229........................................ 6-53
6.5.27. Tune Corner Frequency PRM:230 ..................................... 6-53
6.5.28. Gear Mode PRM:231......................................................... 6-54
6.5.29. Gear Source PRM:232 ...................................................... 6-54
6.5.30. Gear Scale Factor PRM:233............................................... 6-55
6.5.31. Axis Calibration Mode PRM:234....................................... 6-55
6.5.32. Axis Calibration Table Size PRM:235............................... 6-55
6.5.33. Axis Calibration Increment Size PRM:236........................ 6-56
6.5.34. Axis Calibration Backlash PRM:237 ................................. 6-56
6.5.35. Brushless Commutation Type PRM:239............................ 6-57
6.5.36. Brushless Commutation Step/Cycle PRM:240................... 6-57
6.5.37. Brushless Commutation Table Step Shift PRM:241 .......... 6-58
6.6. System Parameters............................................................................ 6-59
6.6.1. Port Variable (PV) Wait States PRM:300.......................... 6-60
6.6.2. Task 1 Background Time PRM:301................................... 6-60
6.6.3. Task 2 Background Time PRM:302................................... 6-60
6.6.4. Scaled Trajectory External Port Fetch On/Off
PRM:303............................................................................ 6-61
6.6.5. Servo Loop Update Time PRM:304................................... 6-61
6.6.6. Commutation Loop Update Time PRM:305...................... 6-62
6.6.7. Stepper Loop Update Time PRM:306................................ 6-62
6.6.8. Encoder 1 Update Time PRM:307..................................... 6-63
6.6.9. Encoder 2 Update Time PRM:308..................................... 6-64
6.6.10. ENC Update Time PRM:309 ............................................. 6-65
6.6.11. Resolver-to-Digital Update Time PRM:310....................... 6-66
6.6.12. Fault Mask Update Time PRM:311 ................................... 6-66
6.6.13. Control Loop Checks PRM:312......................................... 6-67
6.6.14. Combine Task 1 and Task 2 Time Slots PRM:313............ 6-67
6.6.15. Library Ending Offset PRM:314........................................ 6-67
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