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Functional Description
7936 and 7937
SERVO CONTROLLER POWER
ON (2)
HOLDOff
=
1 - '
REPORT STATUS--
ALLOW
25ms
fOR
OFTF TO
STABILIZE AT
0
FOR AT LEAST
1.6ms
aSTAT ..
0
STATUS -
0
OfTF
aSTAT - 1
ABORT
REQUEST STATUS
NO
RESET STACK
POINTER ---...
ENABLE
INTERRUPTS
DISABLE
INTERRUPTS ---..
OPCODE ..
0
(UNSOLICITED
REPORT)
QSTAT - 1---..
STATUS
=
"BIT ARRAY"
(see note)
fSEN, SOSEN
=
0
QUAD. ABORT,
PONST
=
1
COAST
OUTPUT 2 BYTE
MESSAGE: ByTE 1
- OPCODE + QSTAT
BYTE 2 = STATUS
-.
HOLDOff
=
1
aSTAT - 0
STATUS -
0
HOLDOff - 1-.
REPORT STATUS ...
SEE If STE
STE
CLEARS AND
REMAINS CLEAR
fOR
2ms
NOTE: BIT ARRAY(BIT I)-SPIN_8(7).SPIN_L(6).SPIN_H(5).STE(4).OFTF(3).LCK_8{2).AGCF{1).AMPF(O)
S7tJ7A75
5-40
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