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Revision B Changes
This document, 88-021610-01B, supercedes 88-021610-1A. Changes
associated with Aries User Guide revisions, and document clarifications and
corrections are as follows:
Topic Description
Fault Operation
Enhancement: Added a discussion about fault
operations for the
DRIVE I/O connector. See Fault
Operation on page 52.
DRIVE I/O connector-
internal circuit diagram
Correction: Simplified the circuit diagram for the
Enable input. See Figure 34 on page 53.
Inputs—Enable and
Reset
Enhancement: Added specifications detailing
electrical and timing characteristics on the
DRIVE
I
/O connector. See Table 30 on page 55.
Outputs—Encoder
Enhancement: Added specifications detailing
electrical and timing characteristics on the
DRIVE
I
/O connector. See Table 31 on page 55.
Inputs—Step &
Direction
Enhancement: Added specifications detailing
electrical and timing characteristics on the
DRIVE
I
/O connector. See Table 33 on page 56.
Inputs--Analog
Enhancement: Added specifications detailing
electrical and timing characteristics on the
DRIVE
I
/O connector. See Table 34 on page 56.
RS-485 Communication
Correction: Both RS-485 channels are Tx/Rx. See
Table 37 on page 60.
Tuning
Enhancements: Added Chapter 5 Tuning,
describing servo tuning.
Added Appendix D Servo Tuning Flow Diagram.
Command Reference
Enhancements: Added the following commands:
DMTD, DMTJ, DNOTAD, DNOTAF, DNOTAQ, DNOTBD,
DNOTBF, DNOTBQ, DNOTLD, DNOTLG, SGVF
Modified CONFIG—now includes error messages
E13-E18.
Error Messages
Enhancement: Added error messages E13-E18.
See Table 50 on page 147.
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