M-Elec C-875 User manual

Stepping & Servo Motor Controller
C-875
Instructions Manual
(For designers' use)
PR0815-1
Please ensure to read and understand this
Instructions Manual before using the Product.
Please keep this Instructions Manual at hand
so that it is always available for reference.

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Introduction
This User's Manual describes the method of dealing with "STEPPING AND SERVO MOTOR CONTROLLER C-875",
which set weight in specification in order to have a product used safely correctly for the designer
of the control system using the stepping motor or servo motor.
Before using this product, carefully read this User's Manual to have a sufficient understanding
of the functions.
Keep this User's Manual on hand so that you can refer to it whenever you want.
Description of Safety
Correct operation procedures are essential.
If you use in a wrong way, an unexpected accident may occur to cause personal injuries
or damage of your properties.
Many of the possible accidents can be avoided if you have a preliminary knowledge about
dangerous situations. For this purpose, this User's Manual describes the precautions if
any dangerous situation can be anticipated.
Such descriptions are given in terms of the following symbols and signal words.
WARNING Death or serious injury may be caused by
incorrect handling.
CAUTION Slight injury or damage of your properties
may be caused by incorrect handling.
Before use
■ This product is not designed for use in the equipment related to nuclear power,
aerospace equipment, vehicles, marine vessels, medical equipment directly in
touch with human body, equipment anticipated to give a serious impact to
properties, and other equipment required to provide high reliability.
■ This product is provided with a LIMIT (overtravel) signal to prevent mechanical
damage.
This signal is an ACTIVE OFF input. Accordingly, even if the system does not
use the LIMIT signal, connect an external power supply for coupler so that the
LIMIT signal may be put into the NORMAL ON state to output pulses.
For details, refer to 14-2.
■ This product is surely used for within this description of the specification method
of this manual, and the limits of specification.
■ Before connecting this product to the expansion slot, certain setting operations must
be done for the circuit board. Refer to the following sections for the setting:
４－２． Board identifier port page １４
１０． Initial Specification page ６８
１１． Interrupts page ６９
１５－２． Board Shape and Dimensions page ８７
■ For details of applied functions referred to in this manual, see the separately issued
the User's Manual [Applied Functions Part].

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Ｃｏｎｔｅｎｔｓ
Page.
７１．ＯＶＥＲＶＩＥＷ
２．ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ
2-1. Function Block Diagram ７
2-2. Description of Blocks ８
３．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ
3-1. PCI Local bus Specification ９
3-2. Basic Functions ９
3-3. Ratings １０
3-4. Options １０
3-5. Applied Functions １１
４．Ｉ／Ｏ ＰＯＲＴＳ
4-1. I/O Port Table １３
4-2. Setting the board identifier port and rotary switch １４
4-3. DRIVE COMMAND PORT １４
4-4. DRIVE DATA1,2,3 PORT (WRITE) １４
4-5. DRIVE DATA1,2,3 PORT (READ) １４
4-6. COUNTER COMMAND PORT １４
4-7. COUNTER DATA1,2,3 PORT (WRITE) １４
4-8. STATUS1 PORT １５
4-9. STATUS2 PORT １６
4-10. STATUS3 PORT １６
4-11. STATUS4 PORT １６
4-12. STATUS5 PORT １７
4-13. General-purpose I/O PORT １７
4-14. I/O INT SET PORT(Additional I/O) １８
4-15. IN10_20INT STATUS PORT(Additional I/O) １８
4-16. IN30_40INT STATUS PORT(Additional I/O) １８
4-17. IN10 PORT(Additional I/O) １９
4-18. IN20 PORT(Additional I/O) １９
4-19. IN30 PORT(Additional I/O) １９
4-20. IN40 PORT(Additional I/O) １９
4-21. OUT10 PORT(Additional I/O) ２０
4-22. OUT20 PORT(Additional I/O) ２０
4-23. OUT30 PORT(Additional I/O) ２０
５．ＤＥＴＡＩＬＳ ＯＦ ＤＲＩＶＥ ＦＵＮＣＴＩＯＮＳ
5-1. JOG DRIVE Function ２１
5-2. SCAN DRIVE Function ２１
5-3. INDEX DRIVE Function ２２
5-4. Drive Speed Change Function ２２
5-5. Machine Origin Detecting Function (ORIGIN DRIVE) ２３
5-6. Machine Origin Detecting Function Using Limit Sensor ２３
5-7. S-RATE SCAN DRIVE Function ２４
5-8. S-RATE INDEX DRIVE Function ２４
5-9. S-RATE DRIVE Parameter Adjusting Function ２５
5-10 Slow Stop Function ２７
5-11. Fast Stop Function ２７
5-12. LIMIT Stop Function ２７
5-13. Function for Servo Driver ２７
5-14. Current Position Reading Function ２７
5-15. Interrupt Request Function ２８
5-16. Speed Data Hz Unit Setting Function ２８
5-17. DRIVE TYPE Switching Function ２９
5-18. Present Speed Reading Function ２９
5-19. Set Data Reading Function ２９

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６．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＢＡＳＩＣ ＦＵＮＣＴＩＯＮ ＤＲＩＶＥ
ＣＯＭＭＡＮＤＳ ＡＮＤ ＯＰＥＲＡＴＩＯＮ ＳＥＱＵＥＮＣＥＳ
6-1. Basic Function DRIVE Command Table ３０
6-2. Special Command Table ３１
6-3. NO OPERATION Command ３１
6-4. SPEC INITIALIZE1 Command ３２
6-5. PULSE COUNTER INITIALIZE Command ３３
6-6. ADDRESS INITIALIZE Command ３６
6-7. ADDRESS READ Command ３６
6-8. SERVO RESET Command ３７
6-9. RATE SET Command ３７
6-10. LSPD SET Command ３７
6-11. HSPD SET Command ３８
6-12. DFL COUNTER INITIALIZE Command ３９
6-13. SET DATA READ Command ４１
6-14. +/-JOG Command ４２
6-15. +/-SCAN Command ４２
6-16. INCREMENTAL INDEX Command ４２
6-17. ABSOLUTE INDEX Command ４３
6-18. CSPD SET Command ４３
6-19. OFFSET PULSE SET Command ４４
6-20. ORIGIN DELAY SET Command ４４
6-21. ORIGIN FLAG RESET Command ４４
6-22. ORIGIN Command ４５
6-23. SRATE SET Command ４５
6-24. SLSPD SET Command ４６
6-25. SHSPD SET Command ４６
6-26. SSRATE ADJUST Command ４７
6-27. SERATE ADJUST Command ４７
6-28. SCSPD1 ADJUST Command ４８
6-29. SCSPD2 ADJUST Command ４８
6-30. +/-S-RATE SCAN Command ４９
6-31. S-RATE INCREMENTAL INDEX Command ４９
6-32. S-RATE ABSOLUTE INDEX Command ４９
6-33. ERROR STATUS READ Command ５０
6-34. SPEED CHANGE Command ５０
6-35. INT MASK Command ５１
6-36. PORT SELECT Command ５２
6-37. SLOW STOP Command ５２
6-38. FAST STOP Command ５２
6-39. COUNTER READ ５３
6-40. SPEED READ ５３
７．ＭＡＣＨＩＮＥ ＯＲＩＧＩＮ ＤＥＴＥＣＴＩＮＧ ＦＵＮＣＴＩＯＮ
7-1. Machine Origin Detection Types ５４
7-2. ORG-0 Type ５５
7-3. ORG-1 Type ５５
7-4. ORG-2 Type ５６
7-5. ORG-3 Type ５６
7-6. ORG-4 Type ５７
7-7. ORG-5 Type ５７
7-8. ORG-10 Type ５８
7-9. ORG-11 Type ５９
7-10. ORG-12 Type ５９
7-11 Sensor Arrangement ６０
7-12. Detecting Conditions ６０
7-13. Other Functions ６０

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８．ＤＥＴＡＩＬＳ ＯＦ ＣＯＵＮＴＥＲ ＦＵＮＣＴＩＯＮＳ
8-1. Function Block Diagram ６１
8-2. ADDRESS COUNTER Function ６２
8-3. PULSE COUNTER Function ６２
8-4. DIFFERENTIAL COUNTER Function ６３
8-5. Details of COMPARATOR Function ６４
９．ＤＥＳＣＲＩＰＴＩＯＮ ＯＦ ＰＵＬＳＥ ＣＯＵＮＴＥＲ ＡＮＤ
ＤＩＦＦＥＲＥＮＴＩＡＬ ＣＯＵＮＴＥＲ ＣＯＭＭＡＮＤ
9-1. Command Table ６５
9-2. PULSE COUNTER PRESET Command ６５
9-3. PULSE COUNTER COMPARE REGISTER1 SET Command ６６
9-4. PULSE COUNTER COMPARE REGISTER2 SET Command ６６
9-5. PULSE COUNTER COMPARE REGISTER3 SET Command ６６
9-6. PULSE COUNTER COMPARE REGISTER4 SET Command ６６
9-7. PULSE COUNTER COMPARE REGISTER5 SET Command ６６
9-8. DFL COUNTER PRESET Command ６６
9-9. DFL COUNTER COMPARE REGISTER1 SET Command ６７
9-10. DFL COUNTER COMPARE REGISTER2 SET Command ６７
６８１０．ＩＮＩＴＩＡＬ ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ ＴＡＢＬＥ
１１．ＩＮＴＥＲＲＵＰＴＳ
11-1. Interrupt Request Signals upon Termination of Command ６９
11-2. Interrupt Request Signal from PULSE COUNTER and DFL COUNTER ６９
11-3. Interrupt Request Signal by Input Signals of the Additional I/O ６９
11-4. Interrupt Pin Arrangement ６９
11-5. Precautions on Using Interrupts ６９
１２．ＴＩＭＩＮＧ
12-1. JOG DRIVE Timing ７０
12-2. SCAN DRIVE/S-RATE SCAN DRIVE Timing ７０
12-3. INDEX DRIVE/S-RATE INDEX DRIVE Timing ７０
12-4. ORIGIN DRIVE Timing ７０
12-5. SPEED CHANGE TIMING ７１
12-6. DEND Signal Confirmation Timing ７２
12-7. SLOW STOP Timing ７２
12-8.FASTSTOPTiming(1) ７２
12-9.FASTSTOPTiming(2) ７３
12-10.LIMIT STOP Timing ７３
12-11.EA/EB Clock Input Timing ７４
12-12.RDYINT Timing (INTA#) ７４
12-13.CNTINT Timing (INTA#) ７５
12-14.DFLINT Timing (INTA#) ７６
12-15.IOINT Timing (INTA#) ７７
12-16.RESET Timing ７７
12-17.BUS Timing ７８
１３．ＵＳＥＲ ＣＯＮＮＥＣＴＯＲ ＡＮＤ Ｉ／Ｏ ＣＩＲＣＵＩＴ
13-1. User Connector J1, 2 Pin Arrangement ７９
13-2. J1 Signal Table ７９
13-3. J2 Signal Table (for Additional I/O) ８１
13-4. I/O Circuit ８２
１４．ＣＯＮＮＥＣＴＩＯＮＳ
14-1. Connection to the Driver ８３
14-2. Connection Examples of a LIMIT Switch or Sensor ８４
14-3. Connection Example of the Origin Sensor ８４
１５．ＢＯＡＲＤ ＥＤＧＥ ＣＯＮＮＥＣＴＯＲ ＡＮＤ ＢＯＡＲＤ ＳＨＡＰＥ
15-1. Board Edge Connector Signal Table ８６
15-2. Board Shape and Dimensions ８７

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１６．ＣＯＮＴＲＯＬ ＰＲＯＧＲＡＭ ＥＸＡＭＰＬＥＳ
16-1. INITIAL Setting Example ８８
16-2. INITIALIZE Program Example ９０
16-3. JOG DRIVE Program Example ９１
16-4. SCAN DRIVE Program Example ９１
16-5. Example of INDEX DRIVE Program Specified in Absolute Value ９２
16-6. ORIGIN DRIVE Program Example ９３
16-7. PULSE COUNTER Read Program Example ９４
９５１７．ＴＲＯＵＢＬＥＳＨＯＯＴＩＮＧ
１８．ＤＡＴＡ ＴＡＢＬＥＳ
18-1. L-TYPE RATE Data Table ９７
18-2. M-TYPE RATE Data Table ９７
18-3. H-TYPE RATE Data Table ９７
18-4. RATE Curve Graph ９７
９９１９．ＳＡＦＥＴＹ ＤＥＳＩＧＮ ＰＲＥＣＡＵＴＩＯＮＳ
２０．Ｃ－８７０ｖ１ ＡＬＬ ＣＯＭＭＡＮＤ ＴＡＢＬＥＳ
20-1. DRIVE Command Table １００
20-2. Special Command Table １０１
２１．ＭＡＩＮＴＥＮＡＮＣＥ
21-1. Maintenance and Inspection １０２
21-2. Storage and Disposal １０２

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１．ＯＶＥＲＶＩＥＷ
The C-875, equipped with Additional I/O(IN:32points,OUT:24points) and 4 independently functioning axes,
is a high performance controller that can bedirectly connected to the PCI bus expansion slot based on
PCI Local Bus Specification Rev. 2.1.
It is designed to offer control for both servo and stepping motors.
Its board is a compact half-size (107 x 170).
Equipped with our high grade chip controller MCC05v2, the pulse generator permits motor control using easier-to-
operate command type.
The multi-function PULSE COUNTER and DIFFERENTIAL COUNTER on the MCC05v2 enable chip controller to count
feedback pulses from a servo driver as well as detecting step-out of a stepping motor with the encoder.
Since the C-875 are provided with the 4 independent axes, the first axis, the second axis, the third axis and
the fourth axis are called X axis, Y axis, Z axis and A axis respectively.
As a rule, the following description will be given about only the X axis.
２．ＢＡＳＩＣ ＣＯＮＦＩＧＵＲＡＴＩＯＮ
2-1. Function Block Diagram
X axis MCC05v2
(2)
Drive control block
Counter block
(3)
Y axis MCC05v2
(2)
Drive control block
Counter block
(1) (3) (7)
ＰＣＩ Bus Bus interface Z axis MCC05v2 User interface
block (2) block
Drive control block
Counter block
(3)
A axis MCC05v2
(2)
Drive control block
Counter block
(3)
(4)
General-purpose I/O block
Input buffer, output buffer
(5)
Additional I/O block
(6)
Board identifier port

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2-2. Description of Blocks
(1) Bus interface block
Interface block with the PCI bus.
This block consists of the interface IC dedicated to PCI bus and a serial EEPROM, etc.
(2) Drive control blocks
These blocks output serial pulses for motor control. The blocks mount pulse generators MCC05v2 for
individual 4 axes, so the 4 axes can be independently driven.
For distinction among the 4 axes, these drive control blocks are called X axis MCC05v2, Y axis MCC05v2,
Z axis MCC05v2 and A axis MCC05v2 respectively.
(3) Counter blocks
This counter block consists of the ADDRESS COUNTER, general purpose PULSE COUNTER and DIFFERENTIAL COUNTER.
The ADDRESS COUNTER is used for counting pulses from the MCC05v2, the general purpose PULSE COUNTER is used
for counting external 90゜phase shifted clocks and the DIFFERENTIAL COUNTER is used for counting deviation
of these pulses.
This block allows to read a counting any time as needed, preset a count or interrupt at any counting
(or deviation level).
(4) General-purpose I/O block
This block is provided with 4 inputs and 4 outputs isolated by photo coupler.
Because of a +24V coupler interface, it can control relays and solenoid valves.
The host controls this block completely independent of the other blocks.
(5) Additional I/O block
This block is provided with 32 inputs and 24 outputs isolated by photo coupler.
Because of a +24V coupler interface, it can control relays and solenoid valves.
4 of 32 inputs can generate an interrupt at the time of ON or OFF.
The host controls this block completely independent of the other blocks.
(6) Board identifier port
When more than two C-875s are used, the boards must be numbered. This is used only for the port.
(7) User interface block
Interface block for signals of the servo/stepping motor drivers and sensors, etc.

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３．ＳＰＥＣＩＦＩＣＡＴＩＯＮＳ
3-1. PCI Local Bus Specification
(1) PCI Local Bus Specification Rev. 2.1
(2) Bus interface
32 BIT BUS(inside 8 BIT), 5V signaling environment, 33MHz clock
(3) PCI configuration register
31 16 15 0 Offset
Device ID Vendor ID 00h(1090h) (152Eh)
Status Command 04h
Base Class(0Eh) Sub Class(80h) Prog.I/F(00h) Revision ID(00h) 08h
BIST Header Type(00h) Latency Timer Cache Line Size 0Ch
Base Address Register０：Reserved(Cannot use) 10h
Base Address Register１： 14hBase Address of C-875
Base Address Register２：Reserved 18h
1Ch
Reserved 20h
24h
Cardbus CIS Pointer 28h
Subsystem ID(00h) Subsystem Vendor ID(00h) 2Ch
Expansion ROM Base Address：Reserved 30h
Reserved 34h
Reserved 38h
Max_Lat Min_Gnt Interrupt pin(01h) Interrupt Line 3Ch
(4) Interrupt
・INTA#
・Resets interrupt by STATUS PORT READ of the interrupt request axis.
(5) Dimensions
5V SHORT CARD (107m x 170mm x 17mm)
3-2. Basic Functions
(1) Drive function
JOG ………………… 1-pulse drive
SCAN ……………… Continuous drive until a stop command is input.
INDEX ……………… Positioning drive up to the specified number of pulses or the specified address.
ORIGIN …………… A series of drive until machine origin detection (9-type detection type).
S-RATE SCAN ……… The same as SCAN. Drive with S-shaped acceleration and deceleration.
S-RATE INDEX …… The same as INDEX. Drive with S-shaped acceleration and deceleration.
"SCAN DRIVE" and "INDEX DRIVE", as used in this manual, do not include "S-RATE SCAN DRIVE" and＊
"S-RATE INDEX DRIVE", respectively.
(2) Number of drive pulses
JOG …………………………… 1 pulse/drive
SCAN,S-RATE SCAN ………… Up to infinite pulses/drive
INDEX,S-RATE INDEX ……… 0 to 8,388,607 pulses/drive (when relative is specified)
0 to 16,777,214 pulses/drive (when absolute is specified)
(3) Speed/rate range
Speed range ……… 1Hz to 3.3MHz
Rate range ……… 1030ms/1000Hz to 0.004ms/1000Hz
(4) Speed data Hz unit setting function
The output pulse speed can be set in 1 to 3,333,333Hz.
(5) Acceleration/deceleration time constant(RATE) individual setting function
An acceleration time constant and a deceleration time constant can be separately set.
(Enabled in applied function for S-RATE SCAN and S-RATE INDEX DRIVE.)

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(6) DRIVE SPEED change function
You can change a SCAN DRIVE or INDEX DRIVE speed to any desired speed while the drive is taking place.
(This feature, however, is not available when different time constants are specified for the acceleration
and deceleration at INDEX DRIVE.)
(7) ADDRESS COUNTER function
The ADDRESS COUNTER counts the absolute address of the pulse output from the MCC05v2 and allows to read
the count data any time as needed.
(8) PULSE COUNTER function
The PULSE COUNTER can always read out output pulses and 90゜phase difference clocks or CW/CCW independent
clocks from the servo driver and read out count data. Five COMPARE REGISTERs are connected to the PULSE
COUNTER, so this permits detecting an optional count value.
(9) DIFFERENTIAL COUNTER function
The DIFFERENTIAL COUNTER counts deviation between the output pulse and the 90゜phase differentiated
external clock or the mutually independent external CW and CCW clocks. It allows to read the count data
any time as needed.
Two COMPARE REGISTERs on the DIFFERENTIAL COUNTER enables to detect any deviation level.
Other than determining deviation level, this counter offers independent counting of the external 90゜phase
differentiated clock or the mutually independent external CW and CCW clocks.
(10)Function for fast/slow stop by LIMIT STOP
Two stop types using the LIMIT signal, namely, fast and slow, are available and can be specified by
user program.
(11)Function for the servo driver
A function for the END signal and deviation COUNTER RESET signal of the servo driver is provided.
(12)Interrupt generating function
An interrupt can be generated for the PCI bus master.
RDYINT interrupt ……… Interrupt request signal(RDYINT) that is generated upon termination of a command.
CNTINT interrupt ……… Interrupt request signal(CNTINT) that is generated at an optional count value of
the PULSE COUNTER.
DFLINT interrupt ……… Interrupt request signal(DFLINT) that is generated at an optional count value of
the DIFFERENTIAL COUNTER.
IOINT interrupt ……… Interrupt request signal(IOINT) that is generated upon additional inputs ON or OFF.
(13)ORIGIN DRIVE function using the limit sensor
The ORIGIN DRIVE using the limit sensor is available, too.
(14)Current speed read function
You can read current speed during the drive.
(15)Setup data read function
It allows you to read the user program specified settings for HSPD, LSPD, RATE, SPEC INITIALIZE and such.
3-3. Ratings
(1) Power supply voltage : ＋５Ｖ±５％ １．１Ａ ｍａｘ
＋２４Ｖ±２Ｖ ３１０ｍＡ ｍａｘ(at EXTV is +24V) (for photo coupler interface)
(2) Ambient temperature : ０℃ to ４５℃
(3) Ambient humidity : ８０％ＲＨ or less (without dew condensation)
(4) Mass : Approx 0.2 kg
3-4. Options
Optional functions are prepared for the C-875. For details, Please contactus.

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3-5. Applied Functions
For the C-875, Applied functions are available in addition to the basic functions shown in 3-1. to order
to meet the requirements of various users' specifications.
For the details on these applied functions, refer to the User's Manual [Applied Functions Part].
(1) Applied Drive Functions
SPECIAL SCAN ……The drive is similar to SCAN DRIVE but the speed can be adjusted during the drive.
SPECIAL INDEX……The drive is similar to INDEX DRIVE but the speed can be adjusted during the drive.
SERIAL INDEX ……The drive executes previously set drive patterns continuously without stop.
SPECIAL SERIAL INDEX…SERIAL INDEX DRIVE where a rate can be set for each section.
SENSOR INDEX …Combining the INDEX DRIVE and SENSOR input detection, this drive implements the positioning.
SENSOR SCAN ……DRIVE where SCAN DRIVE and SENSOR input detections are combined to provide positioning.
* The description of "SCAN DRIVE" and "INDEX DRIVE" in this Manual does not include the application DRIVE.
(2) INDEX Change Function During Drive
It enables to change the specified pulse number or the address during the INDEX DRIVE.
(3) RATE Change Function During Drive
It enables to change an acceleration/deceleration time constant during the SCAN DRIVE.
(4) DIFFERENTIAL COUNTER Input Clock Change Function
It enables to change to divide input clocks (MCC05v2 output, or pulse or EA orEBinput)totheDIFFEREN-
TIAL COUNTER. EA and EB are disabled for a controller not capable of accepting external clock input.
(5) DIFFERENTIAL COUNTER Comparator Detecting Condition Select Function
It enables to select detecting method of the DIFFERENTIAL COUNTER comparator1and2from≧,≦or＝.
(6) DIFFERENTIAL COUNTER Compare Resistor Setup Switching Function
It enables to select an absolute value or signed value for the comparison made between the DIFFERENTIAL
COUNTER and the COMPARE REGISTER.
(7) Acceleration/Deceleration Time Constant Parameter Setting Function
Acceleration/deceleration time constant can be freely set by parameter.
(8) Speed Data Setting Method Changing Function
Output pulses are generally set in Hz in the Hz setting mode, but it is possible to change this mode to
the reference clock magnification setting mode, in which output pulses are set to any integer times of
the reference clock.
(9) First Output Pulse Width Selecting Function
The width of the first active pulse after drive start can be selected from anyofhalfperiod,
100μs fixed period and 20μs fixed period.
(10)Pulse Output Pattern Changing Function
Pulse output pattern is generally separate between CW and CCW, but this can be changed to the
direction designated output pattern.
(11)Triangular Drive Prevention Function
In order to avoid the triangular drive which starts decelerating without reaching the high speed in the
S-RATE INDEX DRIVE due to shortage of pulse number, this function enables to designate pulse number for
the top constant speed in advance and to secure constant speed operating ranges.
(12)END PULSE Drive Function
In order to reduce damping at the end of the INDEX DRIVE and the S-RATE INDEX DRIVE, this function
enables to make a continuous drive of designated frequency and of designated pulse number after the end of
deceleration up to the low speed.

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(13)Origin Drive Direction Changing Function
The precondition for origin drive is that the ORG (or NORG) sensor has been installed at the -(CCW)
limit side along works, but the origin drive direction changing function enables to install the ORG
(or NORG) sensor on the +(CW) limit side.
(14)Margin Time Function
In order to prevent the origin drive from malfunctioning due to hunting, this function enables to insert
a margin time between the sensor signal detection and the pulse stop.
(15)SOFT LIMIT Function
This function allows you to set up CW or CCW SOFT LIMIT.
(16)DEND ERROR Detection Function
If active level of DEND signal is not returned during the predetermined time span, this function ends the
drive forcibly by setting 1 to the error bit of STATUS1 PORT.
(17)Origin Sensor Type Select Function
This function allows you to switch the ORG sensor detection approach from the edge sensing to the level
sensing.
(18)ORIGIN ERROR Detection Function
Specifying the maximum number of pulses to be output during the CONSTANT SCAN DRIVE process and JOG DRIVE
process, this function can end the drive forcibly if the sensor fails to make detection during that range
of pulse number.
(19)PO Input Function
This function offers origin detection utilizing PO (excitation) output signal from stepping motor drivers.
When PO input is enabled, ANDing of PO signal and ORG signal is output as ORG signal.
(20)AUTO DRST Output Function
This function automatically outputs DRST signal as the machine origin detection completed.
(21)Special DRST Output Function
This function allows you to constantly generate DRST output.
(22) Asymmetric S-RATE DRIVE function
Acceleration/deceleration constant can be set separately in the S-shaped DRIVE.
(23) S-RATE DRIVE triangular drive workaround function
The DRIVE profile is rounded automatically when there are few output pulses in the S-shaped
DRIVE, thereby working around the triangular drive. It should be noted, however, that this
is disabled in the asymmetric S-RATE DRIVE.
(24) SPEED/RATE CHANGE speed increase function
The operation from the writing of CHANGE command is performed on the real time basis
in the SCAN DRIVE.
(25) AUTO CHANGE function
The SPEED and RATE are changed automatically according to the preset numberofoutput
pulses, speed or time.
(26) DRIVE calculation function
The number of acceleration pulses, acceleration time and INDEX DRIVE drive time can be
obtained by simulated calculation.

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４．Ｉ／Ｏ ＰＯＲＴＳ
4-1. I/O Port Table
Axis Low-order PORT Name R/W Axis Low-order PORT Name R/W
Address Address
００ DRIVE COMMAND GP I/O ６０ General-purpose I/O R/WＨ Ｈ
０１ DRIVE DATA1 ６１ I/O INT SET WＨ Ｈ
W
０２ DRIVE DATA2 ６２ Using is disabled -Ｈ Ｈ
r
０３ DRIVE DATA3 ６３ Using is disabled -Ｈ Ｈ
i
０４ COUNTER COMMAND ６４ IN10_20INT STS RＨ Ｈ
t
０５ COUNTER DATA1 ６５ IN30_40INT STS RＨ Ｈ
ＸAxis e
０６ COUNTER DATA2 ６６ Using is disabled -Ｈ Ｈ
Ｖ２MCC05 ０７ COUNTER DATA3 ６７ Using is disabled -Ｈ Ｈ
００ STATUS1 ADT I/O ６８ IN10 RＨ Ｈ
０１ DRIVE DATA1 ６９ IN20 RＨ Ｈ
０２ DRIVE DATA2 R ６Ａ IN30 RＨ Ｈ
０３ DRIVE DATA3 e ６Ｂ IN40 RＨ Ｈ
０４ STATUS2 a ６Ｃ OUT10 R/WＨ Ｈ
０５ STATUS3 d ６Ｄ OUT20 R/WＨ Ｈ
０６ STATUS4 ６Ｅ OUT30 R/WＨ Ｈ
０７ STATUS5 ６Ｆ Using is disabled -Ｈ Ｈ
１０ DRIVE COMMAND BOARD ID ７０ Board identifier RＨ Ｈ
１１ DRIVE DATA1ＨW
１２ DRIVE DATA2Ｈr
１３ DRIVE DATA3Ｈi
１４ COUNTER COMMANDＨt
１５ COUNTER DATA1Ｈ
ＹAxis e
１６ COUNTER DATA2Ｈ
Ｖ２MCC05 １７ COUNTER DATA3Ｈ
１０ STATUS1Ｈ
１１ DRIVE DATA1Ｈ
１２ DRIVE DATA2 RＨ
１３ DRIVE DATA3 eＨ
１４ STATUS2 aＨ
１５ STATUS3 dＨ
１６ STATUS4Ｈ
１７ STATUS5Ｈ
２０ DRIVE COMMANDＨ
２１ DRIVE DATA1ＨW
２２ DRIVE DATA2Ｈr
２３ DRIVE DATA3Ｈi
２４ COUNTER COMMANDＨt
２５ COUNTER DATA1Ｈ
ＺAxis e
２６ COUNTER DATA2Ｈ
Ｖ２MCC05 ２７ COUNTER DATA3Ｈ
２０ STATUS1Ｈ
２１ DRIVE DATA1Ｈ
２２ DRIVE DATA2 RＨ
２３ DRIVE DATA3 eＨ
２４ STATUS2 aＨ
２５ STATUS3 dＨ
２６ STATUS4Ｈ
２７ STATUS5Ｈ
３０ DRIVE COMMANDＨ
３１ DRIVE DATA1ＨW
３２ DRIVE DATA2Ｈr
３３ DRIVE DATA3Ｈi
３４ COUNTER COMMANDＨt
３５ COUNTER DATA1Ｈ
ＡAxis e
３６ COUNTER DATA2Ｈ
Ｖ２MCC05 ３７ COUNTER DATA3Ｈ
３０ STATUS1Ｈ
３１ DRIVE DATA1Ｈ
３２ DRIVE DATA2 RＨ
３３ DRIVE DATA3 eＨ
３４ STATUS2 aＨ
３５ STATUS3 dＨ
３６ STATUS4Ｈ
３７ STATUS5Ｈ

-14-
4-2. Setting the board identifier port and rotary switch
(1) Board identifier port
This is a port to read out the board number assigned by the rotary switch.
* "1" when activeDDDDDDDD
７６５４３２１０
BITRotary switch ２０
BITRotary switch ２１
BITRotary switch ２２
BITRotary switch ２３
Reserved（０）
(2) Setting the rotary switch
C-875 board numbers are assigned by the rotary switch on the board.
If more than two C-875s are used, numbers must be assigned artificially.
Set them by avoiding possible overlaps. When only one C-875 is used, set
the rotary switch to "0". (This setting is made at the time of shipment).
The following sketch shows the example where the board is set to 2.
０
９１
２
８
３
７
６４
５
4-3. DRIVE COMMAND PORT
Used to write a drive command. For the details of commands, refer to Chapter ６.
4-4. DRIVE DATA1,2,3 PORT (WRITE)
Various data are written by each drive command.
4-5. DRIVE DATA1,2,3 PORT (READ)
Used to read various data.
When reading data by the ADDRESS READ command, SET DATA READ command and ERROR STATUS READ command,
confirm BUSY BIT＝0 in STATUS1 after writing a command.
Reading the count data of the PULSE COUNTER, DIFFERENTIAL COUNTER and ADDRESS COUNTER is always enabled.
4-6. COUNTER COMMAND PORT
Used to write a command to control the PULSE COUNTER and DIFFERENTIAL COUNTER.
For the details of commands, refer to Chapter ９.
4-7. COUNTER DATA1,2,3 PORT (WRITE)
Used to write various data by counter command.

-15-
4-8. STATUS1 PORT
Used to read the current status of each axis. This read operation is always enabled.
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
BUSY BIT
DRIVE BIT
DREND BIT
ERROR BIT
MAN BIT
LSEND BIT
SSEND BIT
FSEND BIT
BUSY BIT : When this bit is 0, it indicates that writing a command to the corresponding axis is enabled.
When this bit is 1, it indicates that the corresponding axis is in the drivingstatusorinthe
data processing status. The command is ignored. A command must be written after confirming
BUSY BIT＝0.
However, special commands(refer to the paragraph 6-2) can be written even when BUSY BIT＝1.
DRIVE BIT : When this bit is 1, it indicates that the corresponding axis is in the driving status.
DREND BIT : When this bit is 1, it indicates that the drive of the corresponding axis has been terminated
(Note 1,3). Judge the termination of driving when multiple control.
This bit is reset by writing the next command.
ERROR BIT : This bit indicates that the written command is undefined or has a data error(Note 1,3).
You can check description of the error using the ERROR STATUS READ Command.
This bit is reset by writing the next command.
MAN BIT : This bit is not used on this product. 0 is output (Note3).
LSEND BIT : When DRIVE BIT＝1, it indicates a valid CWLM or CCWLM signal has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by CWLM or CCWLM signal
(includes the output stopped by an applied function SOFT LIMIT).
This bit is reset at start of the next drive (Note2).
SSEND BIT : When DRIVE BIT＝1, it indicates the SLOW STOP Command has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by the SLOW STOP Command.
This bit is reset at start of the next drive (Note2).
FSEND BIT : When DRIVE BIT＝1, it indicates the FSSTOP signal or FSSTOP Command has been entered.
When DRIVE BIT＝0, it indicates pulse output has been stopped by the FSSTOP signal or
FAST STOP Command. This bit is reset at start of the next drive (Note2).
Note1: It is valid only when BUSY＝0.
Note2: Reset by the up edge of the DRIVE signal. Not reset by a command not accompanied by drive.
When the power is turned on or the RESET signal is input, each of DREND, ERROR and MAN bitsNote3:
has an undefined value. So, check only whether BUSY bit is 0, run an NOP command and then
initialize the DREND, ERROR and MAN bits.

-16-
4-9. STATUS2 PORT
Used to read the input signal state of each axis. Reading is always enabled.
The contents shown below are of the X axis but also applicable to another axis.
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
XDEND/PO signal
XORG signal 0＝HIGH 1＝LOW
XNORG signal
XCWLM signal 0＝LOW 1＝HIGH
XCCWLM signal
Unused(０)
Unused(０)
XDEND/PO signal (same to D ）
０
Note: This STATUS PORT is real-time data.
4-10.STATUS3 PORT
Used to read the status information from the PULSE COUNTER and DIFFERENTIAL COUNTER.
Reading is always enabled.
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
PLS COMP1 BIT
PLS COMP2 BIT
PLS COMP3 BIT
PLS COMP4 BIT
PLS COMP5 BIT
PLS OVF BIT
DFL COMP1 BIT
DFL COMP2 BIT
PLS COMP1 BIT : Indicates that the PULSE COUNTER has matched the COMPARE REGISTER1. (Note)
＊
PLS COMP2 BIT : Indicates that the PULSE COUNTER has matched the COMPARE REGISTER2. (Note)
PLS COMP3 BIT : Indicates that the PULSE COUNTER has matched the COMPARE REGISTER3. (Note)
PLS COMP4 BIT : Indicates that the PULSE COUNTER has matched the COMPARE REGISTER4. (Note)
PLS COMP5 BIT : Indicates that the PULSE COUNTER has matched the COMPARE REGISTER5. (Note)
PLS OVF BIT : Indicates that the PULSE COUNTER has overflowed.
DFL COMP1 BIT : Indicates the DIFFERENTIAL COUNTER≧DFL COMPARE REGISTER1 (excessive deviation). (Note)
＊
DFL COMP2 BIT : Indicates the DIFFERENTIAL COUNTER≦DFL COMPARE REGISTER2 (positioning complete).(Note)
Note: In the initial state, there bits are reset after this status has been read except for when the following
state is indicated matching between the PULSE COUNTER and REGISTER, excessive deviation or positioning
complete has been indicated. It is enable to reset all the time after status has been read by setting
each of the COUNTER INITIALIZE COMMAND.
* Throughout this manual, the abbreviations "PLS" and "DFL" stands for PULSE and DIFFERENTIAL, respectively.
4-11.STATUS4 PORT
Used to read the input signal state of each axis. Reading is always enabled.
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
FSSTOP signal (common to all axes) 0＝LOW 1＝HIGH
〃
ASENSOR input signal (Note1) 0＝HIGH 1＝LOW
-XEA input signal 0＝LOW 1＝HIGH
-XEB input signal 0＝LOW 1＝HIGH
XDRST output signal 0＝HIGH 1＝LOW
Unused (undefined)
Note1: SENSOR input signal is available for the A and Z axes alone. 0 is output for other axes.
For details of SENSOR input signal, refer to the User's Manual [Applied Functions Part].
Note2: This status is real time data of input/output pins.

-17-
4-12.STATUS5 PORT
This port is used for reading current state of the SOFT LIMIT (An applied function, see Note) and speed
change. Data read is always enabled.
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
CCW SOFT LIMIT BIT (Note1)
CW SOFT LIMIT BIT (Note1)
Unused(０)
RDYINT BIT (Note2)
Unused(０)
SPEED CHANGE BUSY BIT
RATE CHANGE BUSY BIT (Note1)
INDEX CHANGE BUSY BIT (Note1)
Note1: For details, see User's Manual(Applied Functions Part).
Note2: When interrupt is used, RDYINT request axis is identified by this bit.
4-13.General-purpose I/O PORT
The C-875 is provided with a general-purpose I/O with 4 input points (IN0 to IN3 input signals) and
4 output points (OUT0 to OUT3 output signals). The user can freely use this general-purpose I/O.
These signals are active low. When each of them is in the active state, the LEDontheboardcomeon.
(1) Input port
The input port consists of an input data division and an output data division as shown below.
The external input (IN0 to IN3) states are read into the input data division.
The output data division reads the current output port state (data previously output to the output port).
* Each of these bits becomes 1 in the active state. 
OUT0
OUT1 Output data division
OUT2
OUT3
IN0
IN1 Input data division
IN2
IN3
(2)Outputdataport
The output port consists of the following bits and outputs the contents of the 4 low-order bits to the
outside (OUT0 to OUT3).
* Each of these bits becomes 1 in the active state. 
OUT0
OUT1 Output data division
OUT2
OUT3
The output port is put into the OFF output (NOT ACTIVE) state at POWER ON/RESET.

-18-
4-14.I/O INT SET PORT(Additional I/O)
This product is provided with the interrupt function (IOINT) using 4 input points (IN10, IN20, IN30
and IN40 input signals) of the additional I/O. This PORT allows selection of interrupt enable/disable and
interrupt generation edge (at ON/OFF).
７６５４３２１０
DDDDDDDD
IN10INT ENABLE
IN20INT ENABLE
IN30INT ENABLE
IN40INT ENABLE
IN10INT EDGE TYPE
IN20INT EDGE TYPE
IN30INT EDGE TYPE
IN40INT EDGE TYPE
The details of each bit are shown below. The bit is set to the underlined side at POWER ON/RESET.
(1) IN10/20/30/40INT ENABLE
Specifies the by the IN10,IN20,IN30 and IN40 signals.Interrupt enable/disable
Interrupt disable Interrupt enable0： 1：
(2) IN10/20/30/40INT EDGE TYPE
Specifies the by the IN10,IN20,IN30 and IN40 signals.Interrupt generation edge
Falling edge(At Input ON) Rising edge(At Input OFF)0： 1：
4-15.IN10_20INT STATUS PORT(Additional I/O)
This is a port to read the interrupt generation status by the additional I/O input signals ( ).IN10,IN20
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
IN10INT BIT
Unused(０)
Unused(０)
Unused(０)
IN20INT BIT
Unused(０)
Unused(０)
Unused(０)
Indicates that an interrupt is generated by signal. (Note)IN10INT BIT IN10
Indicates that an interrupt is generated by signal. (Note)IN20INT BIT IN20
Note: It is reset after reading this status port.
4-16.IN30_40INT STATUS PORT(Additional I/O)
This is a port to read the interrupt generation status by the additional I/O input signals ( ).IN30,IN40
DDDDDDDD*Eachofthebitsbecomes1intheactivestate.
７６５４３２１０
IN30INT BIT
Unused(０)
Unused(０)
Unused(０)
IN40INT BIT
Unused(０)
Unused(０)
Unused(０)
Indicates that an interrupt is generated by signal. (Note)IN30INT BIT IN30
Indicates that an interrupt is generated by signal. (Note)IN40INT BIT IN40
Note: It is reset after reading this status port.

-19-
4-17.IN10 PORT(Additional I/O)
This is a port to read the status of the additional I/O input signals ( ).IN10～IN17
DDDDDDDD*Eachofthebitsbecomes1intheactivestate
７６５４３２１０
(at ON).
IN10
IN11
IN12
IN13
IN14
IN15
IN16
IN17
4-18.IN20 PORT(Additional I/O)
This is a port to read the status of the additional I/O input signals ( ).IN20～IN27
DDDDDDDD*Eachofthebitsbecomes1intheactivestate
７６５４３２１０
(at ON).
IN20
IN21
IN22
IN23
IN24
IN25
IN26
IN27
4-19.IN30 PORT(Additional I/O)
This is a port to read the status of the additional I/O input signals ( ).IN30～IN37
DDDDDDDD*Eachofthebitsbecomes1intheactivestate
７６５４３２１０
(at ON).
IN30
IN31
IN32
IN33
IN34
IN35
IN36
IN37
4-20.IN40 PORT(Additional I/O)
This is a port to read the status of the additional I/O input signals ( ).IN40～IN47
DDDDDDDD*Eachofthebitsbecomes1intheactivestate
７６５４３２１０
(at ON).
IN40
IN41
IN42
IN43
IN44
IN45
IN46
IN47

-20-
4-21.OUT10 PORT(Additional I/O)
This is a port to set ON/OFF of the additional I/O output signals .OUT10～OUT17
It outputs the contents of the following bits to .OUT10～OUT17
It also reads the current output status (previous data output to this port).
DDDDDDDD*Itbecomesactivestate(ON)atsetting1.
７６５４３２１０
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
OUT16
OUT17
The output port is put into the OFF output (NOT ACTIVE) state at POWER ON/RESET.
4-22.OUT20 PORT(Additional I/O)
This is a port to set ON/OFF of the additional I/O output signals .OUT20～OUT27
It outputs the contents of the following bits to .OUT20～OUT27
It also reads the current output status (previous data output to this port).
DDDDDDDD*Itbecomesactivestate(ON)atsetting1.
７６５４３２１０
OUT20
OUT21
OUT22
OUT23
OUT24
OUT25
OUT26
OUT27
The output port is put into the OFF output (NOT ACTIVE) state at POWER ON/RESET.
4-23.OUT30 PORT(Additional I/O)
This is a port to set ON/OFF of the additional I/O output signals .OUT30～OUT37
It outputs the contents of the following bits to .OUT30～OUT37
It also reads the current output status (previous data output to this port).
DDDDDDDD*Itbecomesactivestate(ON)atsetting1.
７６５４３２１０
OUT30
OUT31
OUT32
OUT33
OUT34
OUT35
OUT36
OUT37
The output port is put into the OFF output (NOT ACTIVE) state at POWER ON/RESET.