PAL16R8 PAL DESIGN SPECIFICATION P7094 COLI/SACKETTE 12/07/82 DUAL STEPPER MOTOR CONTROLLER MMI SUNNYVALE, CALIFORNIA CLK /ENA SETA ROTA MODEA /ENB SETB ROTB MODEB GND /OC /SW1B /SW2B /SW3B /SW4B /SW4A /SW3A /SW2A /SW1A VCC SW1A := SW1A */ENA ;HOLD SW1A (DISABLE) + /SW2A */SW4A* ENA* ROTA* MODEA ;HALF-STEP MOTOR CW + SW3A * ENA* ROTA*/MODEA ;FULL-STEP MOTOR CW + /SW2A*/SW3A * ENA*/ROTA* MODEA ;HALF-STEP MOTOR CCW + SW4A* ENA*/ROTA*/MODEA ;FULL-STEP MOTOR CCW + ENA * SETA ;SET A TO STEP 1 SW2A := SW2A */ENA ;HOLD SW2A (DISABLE) + /SW1A */SW3A * ENA* ROTA* MODEA*/SETA ;HALF-STEP MOTOR CW + SW4A* ENA* ROTA*/MODEA*/SETA ;FULL-STEP MOTOR CW + /SW1A */SW4A* ENA*/ROTA* MODEA*/SETA ;HALF-STEP MOTOR CCW + SW3A * ENA*/ROTA*/MODEA*/SETA ;FULL-STEP MOTOR CCW SW3A := SW3A */ENA ;HOLD SW3A (DISABLE) + /SW1A */SW4A* ENA* ROTA* MODEA ;HALF-STEP MOTOR CW + SW2A * ENA* ROTA*/MODEA ;FULL-STEP MOTOR CW + /SW2A */SW4A* ENA*/ROTA* MODEA ;HALF-STEP MOTOR CCW + SW1A * ENA*/ROTA*/MODEA ;FULL-STEP MOTOR CCW + ENA * SETA ;SET A TO STEP 1 SW4A := SW4A*/ENA ;HOLD SW4A (DISABLE) + /SW2A*/SW3A * ENA* ROTA* MODEA*/SETA ;HALF-STEP MOTOR CW + SW1A * ENA* ROTA*/MODEA*/SETA ;FULL-STEP MOTOR CW + /SW1A */SW3A * ENA*/ROTA* MODEA*/SETA ;HALF-STEP MOTOR CCW + SW2A * ENA*/ROTA*/MODEA*/SETA ;FULL-STEP MOTOR CCW SW1B := SW1B */ENB ;HOLD SW1B (DISABLE) + /SW2B */SW4B* ENB* ROTB* MODEB ;HALF-STEP MOTOR CW + SW3B * ENB* ROTB*/MODEB ;FULL-STEP MOTOR CW + /SW2B*/SW3B * ENB*/ROTB* MODEB ;HALF-STEP MOTOR CCW + SW4B* ENB*/ROTB*/MODEB ;FULL-STEP MOTOR CCW + ENB * SETB ;SET B TO STEP 1 SW2B := SW2B */ENB ;HOLD SW2B (DISABLE) + /SW1B */SW3B * ENB* ROTB* MODEB*/SETB ;HALF-STEP MOTOR CW + SW4B* ENB* ROTB*/MODEB*/SETB ;FULL-STEP MOTOR CW + /SW1B */SW4B* ENB*/ROTB* MODEB*/SETB ;HALF-STEP MOTOR CCW + SW3B * ENB*/ROTB*/MODEB*/SETB ;FULL-STEP MOTOR CCW SW3B := SW3B */ENB ;HOLD SW3B (DISABLE) + /SW1B */SW4B* ENB* ROTB* MODEB ;HALF-STEP MOTOR CW + SW2B * ENB* ROTB*/MODEB ;FULL-STEP MOTOR CW + /SW2B */SW4B* ENB*/ROTB* MODEB ;HALF-STEP MOTOR CCW + SW1B * ENB*/ROTB*/MODEB ;FULL-STEP MOTOR CCW + ENB * SETB ;SET B TO STEP 1 SW4B := SW4B*/ENB ;HOLD SW4B (DISABLE) + /SW2B*/SW3B * ENB* ROTB* MODEB*/SETB ;HALF-STEP MOTOR CW + SW1B * ENB* ROTB*/MODEB*/SETB ;FULL-STEP MOTOR CW + /SW1B */SW3B * ENB*/ROTB* MODEB*/SETB ;HALF-STEP MOTOR CCW + SW2B * ENB*/ROTB*/MODEB*/SETB ;FULL-STEP MOTOR CCW FUNCTION TABLE CLK /OC /ENA SETA ROTA MODEA SW1A SW2A SW3A SW4A /ENB SETB ROTB MODEB SW1B SW2B SW3B SW4B ; CHIP STEPPER MOTOR A SSSS STEPPER MOTOR B SSSS ;CONTROL WWWW WWWW ;CLK /OC /EN SET ROT MODE 1234 /EN SET ROT MODE 1234 COMMENTS ------------------------------------------------------------------------------- C L L H X X HLHL L H X X HLHL SET A AND B TO STEP 1 C L L L H H HLLL L L L H LLHL FULL STEP A CW, B CCW C L L L H H HLLH L L L H LHHL FULL STEP A CW, B CCW C L H L H H HLLH H L L H LHHL HOLD MOTOR POSITION C L L L H H LLLH L L L H LHLL FULL STEP A CW, B CCW C L L L H H LHLH L L L H LHLH FULL STEP A CW, B CCW C L L L H H LHLL L L L H LLLH FULL STEP A CW, B CCW C L L L H H LHHL L L L H HLLH FULL STEP A CW, B CCW C L L L H H LLHL L L L H HLLL FULL STEP A CW, B CCW C L L L H H HLHL L L L H HLHL FULL STEP A CW, B CCW C L H L L L HLHL H L H L HLHL HOLD MOTOR POSITION C L L L L L LHHL L L H L HLLH HALF STEP A CCW, B CW C L L L L L LHLH L L H L LHLH HALF STEP A CCW, B CW C L L L L L HLLH L L H L LHHL HALF STEP A CCW, B CW C L L L L L HLHL L L H L HLHL HALF STEP A CCW, B CW X H X X X X ZZZZ X X X X ZZZZ TEST HI-Z ------------------------------------------------------------------------------- DESCRIPTION CLK /OC /EN SET ROT MODE SW1-SW4 COMMENTS ------------------------------------------------------------------------------- X H X X X X Z HI-Z C L H X X X HOLD HOLD MOTOR POSITION C L L H X X 1 SET MOTOR POSITION TO STEP 1 C L L L H H SW PLUS 1 HALF-STEP MOTOR CLOCKWISE C L L L H L SW PLUS 2 FULL-STEP MOTOR CLOCKWISE C L L L L H SW MINUS 1 HALF-STEP MOTOR COUNTERCLOCKWISE C L L L L L SW MINUS 2 FULL-STEP MOTOR COUNTERCLOCKWISE -------------------------------------------------------------------------------