 





  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  


 
 



 



  

 







  
  
 

  
  
 

 
    


 




  

  
  
  


 


 
 

  
 
 




 

  
  

 
  
  


   


 



 


  

  
  


 



 

 



 

 
   
 







 








 
 


    

  

  
  


 


 

 
    
 
 
 
   
 
 

  
  

 




 










 












 



 






 



 

   

  

  
  
  








 



  


   

  

  
  
  


 







 





 



 




 

 

   

  

  
  


 







 
 



 


 
 

 


 

 

   

  

  
  



 
 
  
 
 

   


 


 

 
   
 
 
 

















 



 













 



 
 



 
 






 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

   

  

  
  


 


 








 
 

  
  
 
 
 
 
 
 
 
 
 
 
 
 
 
 

   

  

  

  


 


 
 






 
  
  
  
 
 
 
 
 
 
 
 
 
 
 
 
 
 

   

  

  
  


 


 
 






 
 

  
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

   

  

  
  


 


 



 
 

 






 




 


 


 
 




 



 
 



 retardo a la conexión memorizado. Éste último sirve para



 
 


  
   

 



   












  

  
  
  
  



 
 




 

 
 
 
   


  
  
  
   


  
  
  






 










 

   

    

    
  
  

    
  
  
  
    
   
   


 















 
 

















































 



















 
   
   

   
   

 
   
   

   
   

 

   

   

   

   

 


 


 

  


 

   



 
 








 
 

 

 


 


 

  

 

   



 
 









 

 

 



 


 

  

 
 

   



 
 





 

 

 

 



 
 







 

 

 
 

 



 


 



 


  
   
  


   







  

  
  

  

  



 
































 


 

  

  



 

   



  
  
 







 
 
 
  



 


 
  

 


 

  

  

 
 



  
  
  
 









 
  
 

 
  



 


 



  
 




  




 

 


    




  

  
  
  














 



encoder incremental. Éste último provee un número determinado de valores de contaje por





























 










 


 
  
 

   

   

 


 



  

   
 





 






 


 




 
 
  





 


 
 





 


 




 
 
 
  



 














  




 

 


 
 
 
  



 


 
 


 


 
 

 



 
 

 
 

 










 


 



 
 
 
 
 
 






 

 



 





 

 
 
 
 
 
 
 
















 
  


              
   
    
    
 
   
 
    


 


   

 
 

     
  

 

  
  

 
 
  
   

 
  
  
    
 




 
 


    

 
     
  
    

 

 
    
  
 

    
  
 

       
   
  
 
 
 
 

           
    
         

  

 


    

 
    
 
 
 

   
  
 
    
  
 

    
  
 

       
   
  
 
 
 
   

             
  
         

  


 
 


 

 
 



 


   

 
 

     
  

  

 
  

   

           
   

 
   
  

  
  


 


 

 
 




 





  

 
  
 

   





 






















 














 



   

    


    

    



 









 

      

      

      


      


      


      


















 

      

      
      


 

Todos los contadores rápidos disponen de un byte para marcas de estado. Éstas indican el



 

      

      
      
      
      
      
      



      


      




















 
 
















 



 


 

 





 


 

 
 



 

 

 




 



 


 

 





 


 

 
 



 


 

 



 


 



 


 

 





 


 

 
 



 


 

 



 


 


 


 


 






 





 


 

 
 



 


 

 



 


 



 
 

 

 






 
 

 

 



 


 
 

 
 




 
 
 






 


 


  
   
 




 
   
   
    
  
   
  
  
  
  
  
  

  
    

  

   

  
  

  
 

  
 

RUTINA DE INTERRUPCIÓN 0

 
 
   
    
     


  
   

  
 

 


 
 



  






      

         
 

     

       
 



RUTINA DE INTERRUPCIÓN 0



      

         

 


 



  
 
  
   
 
   
































 
 

































PWM se utiliza una actualización asíncrona. Ésta inhibe el generador PTO/PWM mo-






 
 





























 
 


















 












 
 













 

 

 
 

  

 


 
  

 


 
  
  


 














  

 



 
















  
  
  








 
 



 

 
  
  
  
  
  
  
  
  
  
  












  
  
  













 
 




  
  
  













 
 

  

  
 
  
 
  
 
    
  
  
 
  
 
  
 
    
  
 
    
    
    
  
  
  
  
  

  



 
 

 
 
    
  
     
  
  
      

      

       

     

     

      

     

    

      
      
       
     
     
      











 


 



 




 
 
 
 


 




 

 
 


 


 


 




 
 
 





 
 




 




 
 


 


 



 




 
 


 





 




 
 
 


 


 


 


 




 

 

 




 
 


 




 


 
   

   
   

 
 
  
  
    
 

 




  
  
   
      
 
 

   
   
      


  


     

  

 
 
 
  
   



  

    
  
   
 


  

 

 


 
 


 


  




 






    

       

     

         




    

     




   
   






 



 


 


 

 
 
 
  
  




 
  

     
   
       
  
 

 
    

   


  
   


  
  

 

 


  

 


  

   

 



 
  
RUTINA DE INTERRUPCIÓN 3


  
     
   
      
 

 
 



  
     
   
      


 

 



 
 



 

 
 

 


 
 






 



 





      

           

 
 
 
   

     

RUTINA DE INTERRUPCIÓN 3



    

      



    

      

 


 


 



  
 
  
  

  




 
   
     
   
      
   
 
  
  

   


  

   


  

   


  

   


  

   

 


 
  

 
  
   

  
   
 
 
 
  
 
      

  

   


  

   


  

   


  
   

  
  

  






  
 

RUTINA DE INTERRUPCIÓN 0
 

    
 

 


 
 







 



 




      

           

     

           



      

           

     

           

   
 
 
 

RUTINA DE INTERRUPCIÓN 0






 


 
 




  
 


 

 

  
 



   




  

  



       

       



 


 
 

 
 
 




       
       
       
       
  


















 
 




  
 
  


 
 


 


 


 

 

   

  

  

  


 



  
 
  


 

 

 
 
 


 

 

   

  

  
  


 



 

 
 




  

 

  
 
  

 

  

    










  

  

  


 



 

 
 


  
  
  
 






 

  

    








  

  
  


 



  
 
 




 

 
 




  
    

  
   











  

  

  


 


 

 
  
   
 
  
   

 

 

  

 

 

 

  

 

 




      

  

    
    
 

     



  

     

  
     
  
      
 
 
 


 


 



  

  


 
 

 
 


 

  

    

  

  
  




  
  

 
  
   


 

  

    

  

  

  


 



  

   



  
   


 

  

    

  

  
  


 


 

  
   
 
   

 

   



    

       


 

   

 

   

 



 
 




  
 
  


 

 

 


 


 

  


   




  

  
  







 



  
 
 




 
  

 

  
 


  
  


   










  

  
  







 


 

 
  
   
 
  
   

 

 

  

 

 

 

  

 

 





      

  
    
    
 

     



  

     

  
     
  
     

 



 
 




 

 


  


    








  

  
  




  
  


  

    


  

  
  


 

 

 

  


  


    










  

  
  

 


 

  

  

 

  

  


 
 
 

   


 
   
  
  




 

 

 


  

   

  

  
  


 
 






















 







           



      

 


 
 
 
 






            


      

 


 
 
 
   
 
 
 







 
 





            
      
 


 
 
 
   
 
 
 



      

      
 


 
 

 
 







   

 

 
 
 


 



  

 
 
 
 

 
 
 












 



      


  

    

    

 

 
 
 

 
   
 
   




















 














   
   
   
  
 
   
 
   



 

 

  

 

 




   
   
   


 









 
 
 

 



   
   

   



   
   









 













 

 


 
 
 
 









 





 
































 

















 

    

    
 
    
 
    
 
    
 

    
 
    
 
    
 
    

    
 
 


 































 
  


 
   
   



 
 
   
  
  
      

  
  
    
   
    
  

       

  
 
    

 
   

 
   

 
 

 




 


 
  
RUTINA DE INTERRUPCIÓN 0

 

  

    


 
    

    
  

    

      

 

 

   

 
 
  
  

    
 

 
 

 


  
 
 
  
  
 

    

    
  

  
   




 


 
 



 



      

           

     

           

 
 

 

RUTINA DE INTERRUPCIÓN 0


        

          

     

 


  
 
 



      

  

         

 

 


 
 



 

 

 


  

  


 

  

  

 



 
 
 
 

   

   

  
 
  
  


  

  

 
  
  
 
  


 




  
 





  

  




  

 







   

   


  
   

  

  
 
  

  

   



 


 

   

    

   

 



  
   

 



   

    



   

    

 


 



 





 

   

  

  



 

  
  

 

   

 

 



    

     


 

   
 
   

 


 



 

  

 

   

  

  
  



 







 

   

  

  
  


 
 




 

 

 


  


    





  

  

  


 


 

 
 

 

 
 
  

 
 



 
 

     

     
     
     
    
   
   
   

 


 



  



 
 
 


 


 



 
 
  



    

  

  
  

  
  










 
  
     
     
     
     
     
     
     

 



 


 

 
 

 
  
     

   

   
   
 





  

  
  
  
  
  
  

  



  

 




 


 




 



  

 


 



 


 


 



   





  

  
  



 

  
   
    

  

   



 
 

     

     
     
     
    
   
   
   

 



 



  

 


  

   



  

  
  



 

 
  
 

   
  

   


 
 

     

     
     
     
    
   
   
   

 



 



 

  
 


 

   

  

  

  
  



 

   

   
 

   

 

   

   
  
     

 


 
 





 

  




 


  
 


  

 



 
 
 

   

  

  
  


 




 

  
 

  

  




 

  


 
 
 

   

  

  

  


 




  
 




  

  


 

  

 




 
 
 

   

  

  

  


 


 

   
     
 
   

 
   
 

 
   

 



      

           
     



  

     

  
     
  
     

 



 



  
  


 

 


  
  


 
 
 

   

   

  
 
  
  


  

  

  
  


 


 
  
   

   
  

   





 

 

 


 
 




  
 
 


 
  
  
 







 

 


   



  

  
  
  


 



  

 



 

  

 


 


  

  


   



  

  

  
  


 



  
 
 

 
 
  
 
 

 


 

  


   



  

  
  
  


 


 
  


 




  

 


 


  
  

    




  

  
  
  


 



  

 





  


 

 


  
  


   







  

  

  
  


 



  

 


 

  

 


 


  
  


   







  

  
  
  


 


 

  
   
 
 

   

    

 
       
   
   
 


 
   
     

  

   
     

  

   
     

  
   

 
  

  
  

 



 



  

 

 




  



    

  

  
  


 











 













 
 
   
       

     

       

 

 


 


 
  
   
 
 
 
 



    

 
 
 







 
 
  
      

 

      

 

      

 

 


 
 




  
 



 

  

 

  


   

  

  

  



  

 


 

   

  

  
  


 



 

  


 


   

  

  
  




 

  


 



   




  

  
  


 



  
  


 



   



  

  
  





 

 



 

   

  

  

  






 



 

  


 

   

  

  
  




 

  


 



   



  

  

  


 


 
 
  
    
 
  
      
  
 
 

   

 
  
 

 

 


   


 
 
   

   




        

   
             



  

   


 
  
   
   
    

  

 


 



  
  


 

   

  

  
  


 

  
  


 

   

  

  

  


 


 

  
  
 


   
  

   



  



  
  

 


 
 
  

  


   

  

   



  
  


 

 



 



  
 



 


    

  

  
  

     

     

   
    
      
   
 
   

   
   
   

 


 


 
 
 

  

      

   



 

  

 


 



 

 






  

 




  
 
  



    



  

  
  



 

 
 
 
   

 

 

      


   
  
  

 



 



  
 


 


  



   

  

  

  
  


 
 








 
 

 

 



 
       

       

        

      
      
 
      
 
   

      

 


 



 

 





  

   

  

  
  
  









 
 

 

 


 
 


 

       
       


           
           
  
    
        

 




  
 


 


 



    

  

  
  
  


 
 








 
 

 

 

 

 




 
       
     
       
    
       

    
   
 
  


 







 
 




 
 
 



   














 







   


 






 



   






















 


 

 
  
 

 

 
 
  
 

  
  
 

  
 


 








 
 



 
 



 
 

 


 


 


 
  
  
  

 




 

 

   



 

 
    
    

  
  
 

 

   
 




 

 
 

 
 
 
 
 




 



 



 

   




  
 


  
 

    




















 




























   

  
   
   
   
   
   
   


 


 
 

















 

  
 
 
 
  
 
 


 

 





















 
 











 




 
 

 



   
   
 




  
 
 
 
  
 


  
 
 





 





 


 

 

  




 




 



  
 






 




   

  

  
  

  



 
 











 


 
 
 
 

   

  


  
  
 
  
  
  
  
  
 
 

 
 
 


 






  
 
 
 



  
 
 
 




 


 


 
 


 

 








 
 


   

  

  













 
 

 DESPUÉS
   

     
 
 
 
 
 
 
 
 

 




















 








 

 
    
   

 
 
   

  
  
 
  
 
  
 
 




  

  
   
  

 
 



 



 
  

 
   
 

 
 
  
   
  




 

  
   
  
 

 


 
 
  




 
 

  



 

 
  



  





  







 



 
 













 
  


 
 




 






 











 

 


 
 



 

  


   

 
 

 
    
   
 
 

 

 
  











 



 


 





 





 


 
 




 

  

  



 
 



 
  
  


  
 
 
 
   

 
 

 
   
   



 
 


  
  
  
  
  
   


 


 


 
 

 






 





 





 









  




 




 




 
 





 

 

 



 

 
 
   

 
 

 
   
   

 
   
   

 
  


 


 
 
























 


 


    
















 
 


 
 




  
 




 

 

 

 

   

  

  
  




















 
 

 

    


   
     
     
     
     
     
     
     
     
     
     
     
     
     

   

   
   
   

   
   
     
     
     
     
     
  
  
  
     
     
     

     
     
     

     



 



 
  

 
 





   




 























 









































 


 

 
 
 







 


   




















 
  

 
 














 



































 














 

    

    
    
    








 

 
 
 
 


 
 

 


  

  
  
   
   
  
  
  
  
  
  
  
  
  
  
  
  
  
  
 

  
  
  
  
  
  
  
  
  
  
  
  
  
   
 
   
  


 



 

 

   
    

 
 

 

 
   
    

  

 
  

 



RUTINA DE INTERRUPCIÓN 4

  
   
  







  
 
 


  

 




RUTINA DE INTERRUPCIÓN 4



 


 
 


 


 
   
   



  

  
    

   



  


  

  

 



RUTINA DE INTERRUPCIÓN 0

 

  
 
 

   






 




    

     

 

RUTINA DE INTERRUPCIÓN 0


  

   

 


 



 

 



  

 




  

 


    






  

  
  


 
    
   
   

 
 
      
  
  
  
  
  Área de datos a recibir o transferir:

 
 


  

  


 
 
 
 
 
 

 
 
 

 
 
 

 


 












   
    
    
    

         
 
         

   

 

   

 
         
    
    

    


  

 
 
 
 
 

 


 
 









 
 

   
           

   

   

   

   

   

   

   

   

 

 


 
  
 

  

    
   
  
  

   
  
 
  
   

     
       


 
 
  
  
    


  

   


  
   

  

  

 
 
   
    

    
 
 
     
       
  
   
  

   

      
  
  

   


  


  
 

 


 
 


    

       
 


    


        

     

         
  

  
   



    

        


   
     
 

 


 



 

 

 

  



 


  
 



    






  

  
  



 





























 





 

  

   
 
  
       

   

   
 
 
 
   
 
 
   
   
 
 
 
 
 
 
 
   
   
 
 
 











 
 







       

  

 

 




















 
        


 


 
  

  

  




        
  
  

  
  

  

  



 
  

  

   
 

       

 



 


 


 


 

 


 
















  
  

  

  


  

  
 



  


 
  

  

  
  
  


  
  


  



























 






 


  
     
   
   
       
 
  

   
 
   
 
     
 


 


    


  

   


  

   


  

 

 


  

 

 

 


  

 

 

 


 
 RUTINA DE INTERRUPCIÓN 0


   
     
  
    


  
  
  

 

 


  

 

 

RUTINA DE INTERRUPCIÓN 1
  
  
  
 
  
 

 

  
 

RUTINA DE INTERRUPCIÓN 2

 
   
   

 
 

 



 
 


      

           

     

         

 

 

 
 
 
 
 

RUTINA DE INTERRUPCIÓN 0


    

      

 

 

 

 

RUTINA DE INTERRUPCIÓN 1

    

   
 

RUTINA DE INTERRUPCIÓN 2

  

 
 

 



 



  

 


 


   

  

  
  




 


 


 
 



   

  

  
  


 
 



 


    

 



 


    

 



 


     



 


    

 


 


 

 
   



  

 
   





 
 
 
   
     
   
   
   
   
   
   
   
   



 


 
 


  

  
     
     
     
     
     
     
     
     
     
     

 


 





 
 
 
 
 
 
 
 
 
 

 


 


 

 
    
 
 
   


 

 
    

 
  

 

   
 

  

 
 
 

 





 
  



 
 

 

 

 


 


 