C 0 6 8 5 = 5 (|IN 1 | > |IN 2 |)

C 0 6 8 6 = 0 %
A IN 1 C 0 6 8 5 C M P 2
X 6 C 0 0 3 4
C 0 6 8 6
C 0 6 8 7
1 A IN 1 -O U T N O T 1
2 C M P 2 -IN 1 C M P 2 -O U T N O T 1 -IN N O T 1 -O U T
C 0 4 0 0 C 0 6 8 8 /1 C 0 8 4 0 1
F C O D E 2 6 /1 A IN 1 -O F F S E T
C 0 6 8 9 /1
C 0 4 0 2 C 0 0 1 0 C 0 8 4 1
C 0 4 0 4 /1 C M P 2 -IN 2
C 0 6 8 8 /2
F C O D E 2 7 /1 A IN 1 -G A IN
C 0 6 8 9 /2
C 0 4 0 3
C 0 4 0 4 /2

C 0 0 1 2 = 1 s (T ir ), C 0 0 1 3 = 1 s (T if), C 0 1 9 0 = 0
In te r n a l d is ta n c e s e tp o in t C 0 7 8 4
N S E T -C IN H -V A L
N S E T
X 6 A IN 2 C 0 5 6 0 /1 = 1 0 0 % C 0 7 9 8 /1
3 F IX S E T 1 N S E T -R F G -S T O P
A IN 2 -O U T F IX S E T 1 -A IN C 0 7 9 0
D is ta n c e s e tp o in t C 0 5 6 1
4 F IX S E T 1 -IN 1 1 C 0 5 6 0 /1
F C O D E 2 6 /2 C 0 4 0 5 *
F IX S E T 1 -O U T C 0 7 9 9 /1 3
A IN 2 -O F F S E T C 0 5 6 2 /1 C 0 5 6 3
C 0 5 6 0 /2
N S E T -R F G -0
C 0 4 0 7 C 0 7 8 9
C 0 4 0 9 /1 C 0 5 6 4 /1 C 0 5 6 0 /1 5
C 0 7 9 9 /1 2
F C O D E 2 7 /2 A IN 2 -G A IN C 0 5 6 2 /2
F I X S E T 1 - I N 2 *2
C 0 7 8 1
N S E T -N -IN V
C 0 4 0 8 0 C IN H
C 0 4 0 9 /2
C 0 5 6 4 /2
F IX S E T 1 ...1 5 C 0 7 9 9 /1 G S B C 0 1 8 2 C 0 1 9 0
N S E T -N
F IX S E T 1 - IN 3 *4 C 0 7 8 0
C 0 5 6 2 /3 3 0 ± 1 9 9 ,9 9 %
C 0 0 3 9 /1 x
C 0 0 4 6 + - * N S E T -N O U T
N S E T -J O G *1 C 0 0 3 9 /2
1
C 0 5 6 4 /3 C 0 7 8 7 /1 D M U X
1 y x /(1 -y )
C 0 0 3 9 /1 5 /
F I X S E T 1 - I N 4 *8 N S E T -J O G *2 0
R /L /Q C 0 5 6 2 /4 C 0 7 8 7 /2 0 J O G 1 ...1 5 C 0 1 3 4
C 0 8 8 9 /1 C 0 0 4 5
N S E T -J O G *4 1 5 C 0 2 4 1
R /L /Q -R R /L /Q -Q S P C 0 5 6 4 /4 C 0 7 8 7 /3
C 0 8 8 5 3 C 0 0 1 2 C 0 0 1 3
N S E T -J O G *8 C 0 1 0 4
R /L /Q -L R /L /Q -R /L C 0 7 8 7 /4
C 0 1 0 1 /1 C 0 1 0 3 /1
N S E T -R F G -I= 0
C 0 8 8 6 C 0 1 0 1 /2 C 0 1 0 3 /2

N S E T -T I* 1
C 0 8 8 9 /2 C 0 7 8 8 /1 D M U X C 0 1 0 1 /1 5 C 0 1 0 3 /1 5

N S E T -T I* 2 0
O R 1 C 0 7 8 8 /2
0 T I 0 ...1 5
O R 1 -IN 1 N S E T -R F G -I
C 0 8 3 0 /1 N S E T -T I* 4 1 5
C 0 7 8 8 /3 3
C 0 8 3 1 /1
O R 1 -IN 2 N S E T -T I* 8 C 0 1 3 0
³ 1 O R 1 -O U T C 0 7 8 8 /4
C 0 8 3 0 /2 N S E T -C 1 0 -C 1 1
C 0 8 3 1 /2 N S E T -S E T
C 0 7 8 5
O R 1 -IN 3
C 0 8 3 0 /3 M C T R L -N A -
C 0 7 9 8 /2
C 0 8 3 1 /3 N S E T -L O A D
C 0 7 8 6
C 0 2 2 0 / C IN H
X 5 D IG IN D C T R L -X 5 /2 8 C 0 7 9 9 /3
D IG IN -C IN H N S E T -N A D D -IN V C 0 2 2 1 G S B
C tr l. e n a b le 2 8 1 C 0 7 8 3

D IG IN 1 C 0 7 9 9 /2 0
C W r o ta tio n -Q S P E 1
C 0 7 1 0 = 1 (fa llin g tr a n s ) C 0 7 8 2
N S E T -N A D D
1
1
D IG IN 2
C C W r o ta tio n -Q S P E 2 C 0 1 1 4 /1 ...6 C 0 7 1 0 C 0 7 1 1 T R A N S 1 C 0 0 4 9
D IG IN 3
In t. d is t. s e tp o in t E 3 0
T R A N S 1 -IN T R A N S 1 -O U T
D IG IN 4 C 0 7 1 3
S ta rt E 4 1
1
0 t
D IG IN 5 C 0 7 1 4
T R IP -R e s e t E 5
D IG IN 6
S T
C 0 4 4 3

C 0 1 1 4 /4 = 1
C 0 3 3 8 A R IT 1
A R IT 1 -IN 1
C 0 3 3 9 /1 ± 1 9 9 ,9 9 % C O N V 1
x
C 0 3 4 0 /1 + - * A R IT 1 -O U T C O N V 1 -IN C 0 9 4 0 C O N V 1 -O U T
C 0 9 4 2
/ x /(1 -y ) C 0 9 4 1
A R IT 1 -IN 2 y C 0 9 4 3
C 0 3 3 9 /2
C 0 3 4 0 /2

± 1 9 9 ,9 9 % A D D 1
C 1 3 5 1 = s c a le fa c to r A D D 1 -IN 1 A D D 1 -O U T
C 0 6 1 0 /1
(6 5 5 3 6 · n u m b e r o f r o ta tio n s fo r 1 0 0 % d is ta n c e s e tp o in t) C 0 6 1 1 /1

C 1 3 5 0
IN T 1 A D D 1 -IN 2
C 0 6 1 0 /2
IN T 1 -R E F C 0 6 1 1 /2
IN T 1 -D O U T
C 1 3 5 4 A D D 1 -IN 3
C 0 6 1 0 /3
C 1 3 5 7 C 0 6 1 1 /3
± 3 2 0 0 0 re v
IN T 1 -IN IN T 1 -P O U T
C 1 3 5 5

C 1 3 5 8
± 1 9 9 ,9 9 %
IN T 1 -R E S E T IN T 1 -A O U T
C 1 3 5 6 C 0 6 9 0 = 5 (|IN 1 | > |IN 2 |)
C 1 3 5 9 C 0 6 9 0 C M P 3
C 1 3 5 1 C 0 6 9 1
C 0 6 9 2

C M P 3 -IN 1 C M P 3 -O U T
C 0 6 9 3 /1
A B S 1 C 0 6 9 4 /1
A B S 1 -IN A B S 1 -O U T C M P 3 -IN 2
C 0 6 6 1 C 0 6 9 3 /2
C 0 6 9 4 /2
C 0 6 6 2

D C T R L S T A T .B 0 S T A T
C A N -C T R L .B 3
A IF -C T R L .B 3
³ 1 C 0 1 5 6 /1
D C T R L -IM P
0
Q S P 1
C 1 3 5 .B 3 D C T R L -Q S P S T A T .B 2
C 0 1 5 6 /2 2
C A N -C T R L .B 8
A IF -C T R L .B 8
³ 1 D IS A B L E D C T R L -R D Y C 0 1 5 6 /3
S T A T .B 3
3
S T A T .B 4
C 1 3 5 .B 8 C 0 1 5 6 /4 4 C 0 1 5 0
D C T R L -C IN H S T A T .B 5
5
C A N -C T R L .B 9 C 0 1 5 6 /5
A IF -C T R L .B 9 D C T R L -N A C T = 0
6
C 1 3 5 .B 9 D C T R L -IM P D C T R L -C IN H
X 5 /2 8 7 A IF -
D C T R L -C IN H 1 ³ 1 C IN H D C T R L -T R IP D C T R L -S T A T *1
8
S ta tu s w o rd
C 0 8 7 0 /1 D C T R L -S T A T *2
9
C 0 8 7 8 /1 D C T R L -W A R N D C T R L -S T A T *4
1 0 C A N -O U T 1 -
D C T R L -C IN H 2 D C T R L -M E S S D C T R L -S T A T *8 S ta tu s w o rd
C 0 8 7 0 /2 1 1
D C T R L -W A R N
C 0 8 7 8 /2 ³ 1 D C T R L -F A IL D C T R L -M E S S
1 2
1 3
C A N -C T R L .B 1 0 S T A T .B 1 4
A IF -C T R L .B 1 0 C 0 1 5 6 /6 1 4
C 1 3 5 .B 1 0 ³ 1 T R IP -S E T D C T R L -C W /C C W
C 0 1 5 6 /7
S T A T .B 1 5
1 5
D C T R L -T R IP -S E T
C 0 8 7 1 D C T R L -N A C T = 0
C 0 8 7 8 /3
C A N -C T R L .B 1 1 D C T R L -S T A T *1
A IF -C T R L .B 1 1 C 0 6 8 0 = 6 (|IN 1 | < |IN 2 |)
C 1 3 5 .B 1 1 ³ 1 > T R IP -R E S E T D C T R L -S T A T *2 C 0 6 8 0 C M P 1
D C T R L -T R IP -R E S E T D C T R L -S T A T *4 C 0 6 8 1
C 0 8 7 6 C 0 6 8 2
D C T R L -S T A T *8
C 0 8 7 8 /4
C M P 1 -IN 1 C M P 1 -O U T
D C T R L -P A R *1 C 0 6 8 3 /1
D C T R L -IN IT
C 0 8 8 0 /1 C 0 6 8 4 /1
C 0 8 8 4 /1 C M P 1 -IN 2
D C T R L -P A R B U S Y C 0 6 8 3 /2
D C T R L -P A R *2 C 0 6 8 4 /2
C 0 8 8 0 /2
D C T R L -P A R *1 -O
C 0 8 8 4 /2 F C O D E 0 1 7 = 5 0 rp m
D C T R L -P A R -L O A D D C T R L -P A R *2 -O
C 0 8 8 1
C 0 8 8 4 /3 C 0 1 1 8 /1 = 1
C 0 1 1 8 /2 = 1
C 0 1 1 8 /4 = 1
D IG O U T
F C O D E 4 7 2 /3 = 1 0 0 % D IG O U T - X 5
C 0 1 1 7 /1
C 0 1 1 8 /1 ...4
C 0 1 1 7 /2
D IG O U T - A 1 T R IP
A N E G 1 D IG O U T -
0

C 0 7 0 0
A N E G 1 -IN
*(-1 )
A N E G 1 -O U T C 0 1 1 7 /3
1
1
A 2 Q m in
D IG O U T -
C 0 7 0 1 C 0 1 1 7 /4 A 3 R D Y
C 0 4 4 4 /1
C 0 4 4 4 /2 A 4 T a rg e t re a c h e d
C 0 4 4 4 /3
C 0 4 4 4 /4

C 0 1 0 5 = 5 s
C 0 5 4 0 = 0 (A N -IN )
M C T R L 2 (C 0 0 0 6 = 1 ) C 0 0 3 0 D F O U T
C 0 5 4 0
D C T R L -Q S P M C T R L -Q S P -O U T D F O U T -D F -IN D F O U T -O U T
M C T R L -Q S P ³ 1 C 0 5 4 2
C 0 9 0 0 C 0 0 4 2 A u to -G S B C 0 5 4 9

C 0 9 0 7 /3 C 0 0 1 9 D F O U T -A N -IN
M C T R L -G S B -O U T C 0 5 4 1
C 0 1 0 7 ³ 1 C 0 5 4 7
M C T R L -G S B
C 0 9 0 4 D F O U T -S Y N -R D Y
M C T R L -N S E T 2 C 0 5 4 4
C 0 9 0 5 C T R L C 0 5 4 0
C 0 5 4 8
M C T R L -H I-M -L IM C 0 0 5 0 M C T R L -M M A X
C 0 8 9 3 X 5 E 5
0
C 0 9 0 6 /4 M C T R L -M S E T 2 C 0 5 4 5 X 1 0
M C T R L -L O -M -L IM 1
C 0 8 9 2 C 0 0 5 6 M C T R L -IM A X X 9 C 0 4 2 9
2
C 0 9 0 6 /3 3
a c t. s p e e d
M C T R L -N /M -S W T M C T R L -IA C T
C 0 8 9 9 4
C 0 9 0 7 /2 X 8
5
M C T R L -I-L O A D C 0 0 5 4
C 0 9 0 2
C 0 9 0 7 /4 M C T R L -D C V O L T
M C T R L -I-S E T
C 0 9 0 1
C 0 0 5 3
C 0 1 0 5 C 0 9 0 6 /5 C 0 4 3 4 /1 A O U T 1 X 6
M C T R L -V A C T
A O U T 1 -IN
Q S P
C 0 4 3 1 6 2 a c t. s p e e d
C 0 0 5 2 F C O D E 1 0 9 /1 A O U T 1 -G A IN
1 0 0 % C 0 4 3 3
1 1
+ + V E C T -C T R L P W M C 0 4 3 4 /3
M C T R L -N -S E T
C 0 8 9 0 0 - +
0
0
F C O D E 1 0 8 /1 A O U T 1 -O F F S E T
C 0 4 3 2
1
C 0 9 0 6 /1 C 0 4 3 4 /2

M C T R L -V P -N -A D A - M C T R L -IX T
C 0 0 7 0 C 0 0 2 2 C 0 0 1 8
C 0 9 1 0 C 0 0 7 1 C 0 0 2 3 C 0 0 2 1 C 0 4 3 9 /1 A O U T 2 X 6
C 0 4 9 7
C 0 9 1 1 C 0 0 7 4 C 0 0 8 1 C 0 0 3 6 C 0 0 6 4 A O U T 2 -IN m o to r
F IX E D 1 0 0 %

C 0 4 3 6 6 3
C 0 0 8 7 C 0 0 7 5 M C T R L -F A C T c u rre n t
M C T R L -B O O S T C 0 0 8 6
C 0 0 8 8 C 0 0 7 6 F C O D E 1 0 9 /2 A O U T 2 -G A IN
C 0 9 0 3 n .c . s p e e d c o n tro l C 0 0 8 9 C 0 1 4 3 C 0 0 5 8
C 0 4 3 8
C 0 4 3 9 /3
C 0 9 0 6 /6 C 0 0 9 0 C 0 2 3 4 F C O D E 1 0 8 /2
F C O D E 0 1 6 = 0 %

M C T R L -M A C T A O U T 2 -O F F S E T
C 0 0 9 1 C 0 2 3 5 C 0 4 3 7
C 0 2 3 6 C 0 4 3 9 /2
C 0 0 8 2
C 0 1 4 8 C 0 0 8 4 C 0 9 0 9
M C T R L -M -A D D
C 0 8 9 1 C 0 0 8 5
C 0 0 9 2 M C T R L -M -T E M P

C 0 4 2 1
C 0 9 0 6 /2 K T Y
C 0 0 6 3 9 3 0 0 v e c to r
C 0 0 1 1
E N C O D E R
X 8

C 0 4 2 0 1
M C T R L -N A C T
M C T R L -P H I-A C T
C o n fig u r a tio n C 0 0 0 5 = 2 0 0 0
X 9 M C T R L -P H I-A N G
C 0 0 5 1
C 0 0 2 5
C O N S T
M C T R L -P H I-A N A
D a te : 0 5 .0 5 .2 0 0 0