CONTROL BOARD FOR MLT-288/MLT-289
MODEL
BD2-2880/2890
Rev. 1.00 Newly Issued Aug 9th, 2002
User’s Manual
i
REVISION
Rev. No. Date Content
0.00 2000.06.26 Newly authored as a tentative edition for CS products reference.
1.00 2002.08.09 Cover, Page 1, 2, 3, 7, 9 is changed.
ii
CONTENTS
1. OUTLINE ........................................................................................................................ 1
1.1 Features ............................................................................................................................................................. 1
1.2 Precaution .......................................................................................................................................................... 1
2. BASIC SPECIFICATIONS ........................................................................................... 2
2.1 Model Classification..........................................................................................................................................2
2.2 Basic Specifications........................................................................................................................................... 3
3. CONNECTING CONNECTORS.................................................................................. 4
3.1 CN1 Connector for Printer Mechanism (For Print Head) ................................................................................. 4
3.2 CN2 Connector for Print Mechanism (For Motor & Sensor)............................................................................ 4
3.3 CN3 Connector for Interface ............................................................................................................................. 5
3.4 CN4 Connector for Paper Cutter .......................................................................................................................6
4. DIP SWITCH SETTING ............................................................................................... 7
5. POWER SUPPLY ........................................................................................................... 9
5.1 Specifications .................................................................................................................................................... 9
5.2 Precautions ........................................................................................................................................................ 9
6. PARALLEL INTERFACE ........................................................................................... 10
6.1 Specifications .................................................................................................................................................. 10
6.2 Explanation of Input/Output Signals ............................................................................................................... 10
6.3 Electrical Characteristics ................................................................................................................................. 10
6.4 Timing Chart.................................................................................................................................................... 11
6.5 Data Receiving Control ...................................................................................................................................12
6.6 Buffering.......................................................................................................................................................... 12
7. SERIAL INTERFACE ................................................................................................. 13
7.1 Specifications .................................................................................................................................................. 13
7.2 Explanation of Input/Output Signals ............................................................................................................... 14
7.3 Error Detection ................................................................................................................................................14
7.4 Data Receiving Control ...................................................................................................................................14
7.5 Buffering.......................................................................................................................................................... 15
7.6 Electrical Characteristics ................................................................................................................................. 15
iii
8. ERROR HANDLING ................................................................................................... 16
8.1 Peripheral Circuit Errors ................................................................................................................................. 16
8.2 Operation Errors ..............................................................................................................................................16
8.3 Errors Indication .............................................................................................................................................. 18
9. PRINTER MECHANISM CONTROL SYSTEM ..................................................... 19
9.1 Thermal Head Control System (Division Driving System)............................................................................. 19
9.1.1 Fixed Division Number System ................................................................................................................. 19
9.1.2 Variable Division Number System ............................................................................................................. 19
9.2 Motor Drive ..................................................................................................................................................... 20
9.2.1 Motor Drive Features ................................................................................................................................. 20
9.2.2 Maximum Motor Drive Speeds at Major Voltage ...................................................................................... 20
10. MAINTENANCE AND SERVICE ............................................................................ 21
11. PRINT CONTROL FUNCTIONS ........................................................................... 22
11.1 Command List ........................................................................................................................................ 22
11.2 Command Details ..........................................................................................................................................25
11.2.1 Description of Items ................................................................................................................................. 25
12. CHARACTER CODE TABLE .................................................................................. 72
12.1 International................................................................................................................................................... 72
12.2 Japanese ......................................................................................................................................................... 73
12.3 International Character Set ............................................................................................................................ 74
APPENDIX 1. BLOCK DIAGRAM ............................................................................... 75
APPENDIX 2. OUTER DIMENSION ............................................................................ 76
BD2-2880/2890 User’s Manual
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1. OUTLINE
This control boards is designed to be used to control our thermal printer, “MLT-288/289” series
through the computer etc.
As being provided with many abundant functions, it can be used widely in various applications.
Before you start using it, read this manual thoroughly and understand the content.
1.1 Features
(1) Ultra compact
(2) Both interface of Serial and Parallel can be selected by dip switch.
(3) Input buffer incorporated.
(4) Bar code printing is available (dedicated command).
(5) Auto paper cutter control incorporated.
(6) User-defined character registration function (94 characters)
(7) Low cost
1.2 Precaution
(1) Make sure to turn OFF the power supply in case of connecting/disconnecting the connectors.
(2) Absolutely do not make a short circuit between the terminals of connectors.
(3) Use power supply, LED, interface etc. following their specifications.
(4) Use the recommended paper shown below.
• Thermal Paper TF5KS-E2D (Nippon paper)
KF50-HDA (Shin-Oji paper)
F220VP, HP220A (Mitsubishi paper)
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2. BASIC SPECIFICATIONS
2.1 Model Classification
Models are identified by the following coding scheme:
BD2 - 2880 U C
Character Set
U : Internatiomal model
Model Name of applied printer mechanism
2880 : For MLT-288
2890 : For MLT-289
Model Name
Auto Cutter Drive
C : With auto cutter function
None : Without auto cutter function
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2.2 Basic Specifications
Printing system
Print width
Print Speed
Number of columns
Character dimensions
Character types
Bar code type
Line pitch
Interface
Input buffer
Supply voltage
Weight
Outer Dimension
Operating Environment
Storage Environment
Thermosensitive dot-matrix printing
48 mm
420 dot line/sec
Font A : 32 columns
Font B : 42 columns
Font A : 1.25 mm × 3.00 mm
Font B : 0.88 mm × 3.00 mm
Alphanumeric, international characters
UPC-A/E, JAN (EAN) 13/8 columns, ITFCODE 39, CODE128, CODABAR
4.23 mm (Can be changed by command)
Parallel (Conforms to Centronics) or Serial (Conforms to RS-232C) (Selectable by dip switch)
2 K bytes
VCC: 5V ± 5 % Approx. 130 mA (Self printing)
VP : 4.2V ~ 8.5V Approx. 1.5A (Ave) Approx. 4A (Peak) When 7.2V
Ordinal voltage is to be 7.2V (Max)
8.5V is a voltage, which is right after charging.
Approx. 40 g
75 mm (W) × 80 mm (D) (For height of component parts, see outer drawing.)
5 ~ 40˚C , 35 ~ 85% RH (with no dew condensation)
-20 ~ 60˚C , 10 ~ 90% RH (with no dew condensation)
Items Contents
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3. CONNECTING CONNECTORS
3.1 CN1 Connector for Printer Mechanism (For Print Head)
3.2 CN2 Connector for Print Mechanism (For Motor & Sensor)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
VH
VH
SI
GND
TM
STRB 1
STRB 2
Vdd
LATCH
GND
STRB 6
CP
GND
STRB 5
STRB 3
GND
GND
STRB 4
GND
GND
GND
VH
VH
VH
–
–
Output
–
Input
Output
Output
–
Output
–
Output
Output
–
Output
Output
–
–
Outpu
–
–
–
–
–
–
Function
Power for print head
Power for print head
Head data output signal
GND
Thermistor
Strobe 1
Strobe 2
Thermal head logics power (+5V)
Latch signal
GND
Strobe 6
Clock pulse
GND
Strobe 5
Strobe 3
GND
GND
Strobe 4
GND
GND
GND
Power for print head
Power for print head
Power for print head
Pin No. Signal Name I/O
Applicable Connector : 52806-2410 (Molex)
1
2
3
4
5
6
7
8
9
MOTOR B
MOTOR A
MOTOR B
MOTOR A
PE C
GND
PE A
H-UP
GND
Output
Output
Output
Output
Input
–
–
Input
–
Function
Operation signal for motor B
Operation signal for motor A
Operation signal for motor B
Operation signal for motor A
Photo-transistor collector (Paper sensor)
Photinterruptor emitter + cathode
Photo-LED anode (Paper sensor)
Head-up signal
Head-up sensor GND
Pin No. Signal Name I/O
Applicable Connector : 53047-0910 (Molex)
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3.3 CN3 Connector for Interface
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
Vcc
Vcc
GND
GND
Vp
Vp
Vp
Vp
Vp
Vp
P-GND
P-GND
P-GND
P-GND
P-GND
P-GND
LF-SW
ERROR
PEout
DTR
TXD
RXD
DSR
DATA0
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
STB
BUSY
FAULT
SELECT
PE
NC
NC
SELECTIN
RESET
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
––
Input
Output
Output
Output
Output
Input
Input
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
––
––
Input
Function
Power supply for circuit (5V)
Power supply for circuit (5V)
GND
GND
Power supply for operation
Power supply for operation
Power supply for operation
Power supply for operation
Power supply for operation
Power supply for operation
GND for operation
GND for operation
GND for operation
GND for operation
GND for operation
GND for operation
LF Switch input
ERROR LED output (Can be connected directly)
PE LED output (Can be connected directly)
Serial Interface DTR
Serial Interface TXD
Serial Interface RXD
Serial Interface DSR
Parallel Interface DATA0
Parallel Interface DATA1
Parallel Interface DATA2
Parallel Interface DATA3
Parallel Interface DATA4
Parallel Interface DATA5
Parallel Interface DATA6
Parallel Interface DATA7
Parallel Interface STB
Parallel Interface BUSY
Parallel Interface FAULT
Parallel Interface SELECT
Parallel Interface PE
Parallel Interface ACK
No Connection
No Connection
Parallel Interface RESET
Pin No. Signal Name I/O
Applicable Connector : 53313 - 4015 (Molex)
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CAUTION:
1. For LED of ERROR and PE, there is a resister of 330Ω on the circuit side to make current
value 10 mA.
Please use LED which its voltage is approx. 2V. LED over 10 mA may break a control board.
2. Control circuit requires power supply only for one pin of each VCC and GND.
However, Operation voltage is to be supplied to all of pin for safety use.
3. Serial interface equips a driver and receiver of RS-232C, make sure to use it at RS-232C
level.
4. RESET terminal is pulled up by 3.3KΩ. Make sure to make this terminal NC, when this
terminal is not used.
5. LF-SW input circuit is as below.
3.4 CN4 Connector for Paper Cutter
1
2
3
4
M+
M–
GND
SW
Output
Output
––
Input
Function
Cutter motor operational signal M +
Cutter motor operational signal M –
GND
Cutter switch input signal
Pin No. Signal Name I/O
Using Connector : 5267- 04A-X (Molex)
Note: Use the specified Paper Cutter (Model Name : ACS-220-5V)
CN
VCC
47k
1000pF
1k
CPU
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4. DIP SWITCH SETTING
(1) DIP SWITCH
(2) JUMPER
(3) INTERFACE & BAUD RATE
DS1-1
1-2
1-3
1-4
1-5
1-6
1-7
1-8
Auto Cutter
CR Selection
Print Density
DTR/XON-XOFF
Baud Rate
"
"
"
Enable
LF Enable
XON-XOFF
Factory Setting
OFF
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
Disable
LF Disable
DTR/DSR
Pin No. Function ON
Combination with J-6 (See next page (5))
See below (3)
J1
J2
J3
J4
J5
J6
J7
J8
International Character set
"
"
Paper Auto Loading
Print Drive System
Print Density
(Supplementary)
Not Used
Mechanism
Enable
Variable division
Factory Setting
Short circuit
Short circuit
Short circuit
Short circuit
Short circuit
Short circuit
Short circuit
Short circuit
Open
Disable
Fixed division
Pin No. Function Short
See next page (4)
Combination with DS1-3
See next page (5)
–
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
–
1200 bps
2400 bps
4800 bps
9600 bps
19200 bps
1200 bps
2400 bps
4800 bps
9600 bps
19200 bps
1200 bps
2400 bps
4800 bps
9600 bps
19200 bps
DS1-8 DS1-7
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
DS1-6
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
DS1-5
Parallel Input
Serial Input
"
"
"
"
"
"
"
"
"
"
"
"
"
"
Input Method
–
None
"
"
"
"
Odd
"
"
"
"
Even
"
"
"
"
Parity Baud Rate
MLT-288 MLT-289 *1
*1 : BD2-2890 is set to open circuit.
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Note:
1. Input Buffer is 2k byte. (Fixed)
2. Serial data length is 8 bits. (Fixed)
If print tone is set at 2 or above, printing rate tends to be lowered.
Open
Open
Open
Open
Short
Short
Short
Short
Open
Open
Short
Short
Open
Open
Short
Short
J-3 J-2
Open
Short
Open
Short
Open
Short
Open
Short
J-1
Japan (JIS)
Japan (Shift-JIS)
Sweden
Denmark 1
U.K.
Germany
France
U.S.A
InternationalCharacter
(4) INTERNATIONAL CHARACTER SET
(5) PRINT DENSITY
OFF
OFF
ON
ON
Open
Short
Open
Short
DS1-3 J-6
Light
Standard
Slightly Dark
Dark
Print Density
0
1
2
3
Level
80%
100%
120%
150%
Print Density Rate
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5. POWER SUPPLY
5.1 Specifications
VCC : 5V ±5% Approx. 130 mA
VP : 4.2V ~ 8.5V Approx. 1.5A (Peak : Approx. 4A) when 7.2V
Ordinal Voltage is to be 7.2V (Max). 8.5V is a voltage that is right after charging.
8.5V cannot be used for ordinal voltage.
5.2 Precautions
(1) Design the product to supply power to Vcc before VP when power is supplied to this control
board.
(2) Design the product to turn off the power for Vcc after VP when power is turned off.
(3) Make sure to turn off the power in case of connecting/disconnecting connectors.
(4) Make sure to use Vcc and VP following their specifications.
(5) Make sure to use this control board connecting all of terminals between VP and P-GND.
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6. PARALLEL INTERFACE
6.1 Specifications
Data input method : 8 bit parallel signal (DATA0~7)
Control signals : ACK, BUSY, STB, FAULT, PE, RESET
6.2 Explanation of Input/Output Signals
DATA0~7 : 8 bit parallel signal (Positive logic)
STB : Strobe signal to read 8 bit data (Negative logic)
RESET : Signal to reset control board (Negative logic)
ACK : 8 bit data request signal. Pulse signal output at the end of the BUSY
signal (Negative logic)
BUSY : Signal to indicate BUSY state of the printer. Input new data for “LOW”
(Positive logic)
FAULT : Signal which is made “LOW” when printer is in alarm state.
(Negative logic)
In this case all the control logics within the printer stop functioning.
PE : Signal which is output when paper runs out. (Positive logic)
6.3 Electrical Characteristics
(1) Input Signal Level
“HIGH” level : 0.7 Vcc MIN
“LOW” level : 0.3 Vcc MAX
(2) Output Signal Level
“HIGH” level : Vcc - 0.1V MIN
“LOW” level : 0.1V MAX
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[Printer side]
[Host side]
[Printer side]
[Host side]
All the output signals are pulled up by 50K
(3) I/O Conditions
STB, RESET input signals are pulled up by 3.3K .
Other input signals are pulled up by 50K .
VCC
TWIST PAIR WIRE
VCC
TWIST PAIR WIRE
6.4 Timing Chart
(1) Data Input and Printing Timing
T1, T2, T3 : 0.5 µs (MIN)
T4 : 270 ns (MAX)
T5 : 2.3 µs (TYP)
T6 : 500 ms (MIN) *On supplying power
SupplPower
DATA
STB
T6
T5
T1
T2
T3
T4
BUSY
BUSY
ACK
y
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6.5 Data Receiving Control
When BUSY signal is “LOW”, data from the host can be received. When it being “HIGH”, data
cannot be received.
6.6 Buffering
This control board incorporates 2K byte buffer.
Therefore, big data can be buffered in input buffer, and the host side can be released immediately.
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7. SERIAL INTERFACE
7.1 Specifications
(1) Data transfer system: Asynchronous
(2) Baud rates
1200, 2400, 4800, 9600, 19200 bps (Selectable by user)
(3) Configuration of one word
Start bit : 1 bit
Data bit : 8 bits Fixed
Parity bit : Odd/Even or No parity (Selectable by user)
Stop bit : 1 bit or more
(4) Signal polarity
RS-232C
• Mark = logic “ 1” (–3V ~ –12V)
• Space = logic “ 0” (+3V ~ +12V)
(5) Receiving data (RD signal)
RS-232C
• Mark = 1
• Space = 0
(6) Receiving control (DTR signal)
RS-232C
• Mark : Data transfer is not available
• Space : Data transfer is available
(7) Transmission control (TD signal)
DC1 code (11H) X-ON : Data reception is available
DC3 code (13H) X-OFF : Data reception is not available
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7.2 Explanation of Input/Output Signals
(1) RXD
Serial receiving data signal. On occurrence of framing error, overrun error, or parity error, the
data is printed as “?”.
(2) DTR
When this signal is READY, write data or a command. When they are written in BUSY, overrun
error is occurred and data is ignored. Data can be written into the input buffer even when the
printer is busy printing. A BUSY also occurs when the printer is powered on, in test print, in
Online mode, or being reset.
(3) TXD
If data remaining in the printer's input buffer is 256 bytes or less, the printer transfers a DC3
(13H: Data Receive Not Ready) signal to the host. If data in the input buffer exceeds 256 bytes,
the printer transfers a DC1 (11H: Data Receive Ready) signal to the host.
(4) GND
Common GND on the circuit.
7.3 Error Detection
Parity, framing, and overrun are detected. On detection of any error, the data are stored in the
buffer as “?”.
(1) Framing Error
With “space” state having been detected on detection of a stop bit, error takes place.
The data are stored in the buffer as “?”.
(2) Parity Error
With an error having been detected under specifying parity check, the data is stored in the buffer
as “?”.
(3) Overrun Error
On detection of an overrun error, the data are stored in the buffer as “?”.
7.4 Data Receiving Control
When DTR/DSR control having been selected, with BUSY signal at “LOW”, data from the host
side are received. With the signal at “HIGH”, they can not be received.
When DTR/DSR control not having been selected, after X-ON transmission, data is received
from the host side. No transmission of data can take place after X-OFF is transmitted.
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7.5 Buffering
Data transfer to the input buffer include DTR signals and TD signals as the control signals
concerned.
(1) DTR signals (See the page 7.2 (2))
(2) TXD signals (See the page 7.2 (3))
7.6 Electrical Characteristics
(1) RS-232C Circuit
Input (RXD, DSR)
<Printer side> <Host side>
Output (DTR, TXD)
<Printer side> <Host side>
Equivalent MAX232
Equivalent MAX232
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8. ERROR HANDLING
8.1 Peripheral Circuit Errors
These errors are detected at power-on or initialization just after a reset.
(1) Error types
(2) External signal outputs
(3) Resetting methods
8.2 Operation Errors
(1) Error types
Caution: The 8.5V upper-limit voltage for VP voltage error is only an assumptive voltage just
after charging the battery when using the battery power. It cannot be normally used. A
normal maximum voltage is 7.2V.
(2) External signal outputs
Memory error
Cutter error
Error
The CPU made a self-diagnosis of the circuit and detected an error with the external
RAM.
With the auto cutter enabled at the function selection terminal (DS1-1), the auto
cutter (ACS-220-5V) is not connected to the cutter connector (CN4).
Description
20
22
27
38
Pin No
ERROR
DTR
BUSY
FAULT
Signal Name
LED output. For a blinking pattern, see 8.3 Error Indication.
Serial interface
Parallel interface
Parallel interface
Remarks
Memory error
Cutter error
Error
Unrecoverable
After turning off the power, connect the auto cutter (ACS-220-5V) or turn off the
function selection terminal (DS1-1) and turn on the power again.
Resetting Method
No paper
Head –up
VH voltage error
Head temperature error
Cutter lock
(ACS-220-5V)
Error
The printing paper set is not set
The head-up lever is at its up position
A VH voltage is beyond its allowable range (4.2 to 8.5V)
A head temperature is less than 0˚C or 65 ˚C or higher.
When driving the cutter, the cutter is locked due to an external factor (Paper
jam, etc.).
Description
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(3) Resetting methods
Note 1. When auto loading has not been selected with the function selection jumper (J4), set the
paper manually. When it has been selected, the auto loading function is enabled to
facilitate replacement of the paper.
Note 2. The 8.5V upper-limit voltage for VP voltage error is only an assumptive voltage just
after charging the battery when using the battery power. It cannot be normally used. A
normal maximum voltage is 7.2V.
20
21
22
27
37
38
Pin No
ERROR
PE OUT
DTR
BUSY
PE
FAULT
Signal Name
LED output. For a blinking (Lighting) pattern, see 8.3 Error Indication.
LED output. This is always output at the time of no paper.
Serial interface
Parallel interface
Parallel interface
Parallel interface
Remarks
No paper
Head –up
VP voltage error
Head temperature
error
Cutter lock
(ACS-220-5V)
Error
Set the paper. See Note 1.
Bring down the head-up lever.
Set to a voltage within the allowable range (4.2 to 8.5V) and turn on the power
again. Alternatively, activate the Pin19 (LFSW) of the CN3(interface connector).
At the lower limit (less than 0 ˚C), printing becomes operational at 0 ˚C higher.
At the upper limit (65 ˚C or higher), it become operational at 60 ˚C or lower.
Eliminate paper jam and activate the Pin19(LFSW) of the CN3(Interface Connector)
or turn on the power again.
Resetting Method
Caution:
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Memory error
Cutter lock (Cutter error)
Head –up
VP voltage error
Head temperature error
Macro execution wait
Error
Blinking cycle of 200ms
Blinking cycle of 150ms(3 times)
and 500ms(1 time).
Illuminated until reverted
Illuminated until reverted
Blinking cycle of 1 sec.
Blinking cycle of 500ms.
DescriptionDisplay Pattern
8.3 Errors Indication
The errors other than no paper are indicated by a LED output (Illumination or blinking) of the
Pin 20 (ERROR) of the CN3 (Interface connector).
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9. PRINTER MECHANISM CONTROL SYSTEM
9.1 Thermal Head Control System (Division Driving System)
The MLT-288 (Line thermal printer) is driven by this control board has a384 dots/line head
divided into 6 blocks of 64 dots each. When actually driving the head, you can select either
Fixed Division Number system, which drives the head, always dividing it into 6 blocks or
Variable Division Number system which collectively drives several blocks at the time according
to the number of activated head dots.
For selection by function selection, see 4. DIP SWITCH SETTING.
For selection by a command, see 11. PRINT CONTROL FUNCTIONS.
9.1.1 Fixed Division Number System
This system always drives each block in the same sequence.
Note: for a stepping motor driving method, see 9.2 Motor Drive.
9.1.2 Variable Division Number System
This system counts the number of printing dots for each block of the printing dot line and drives
the blocks collective in such a manner not to exceed the maximum number of driving dots (64
dots).
1st Block
64 Dots
2nd Block
64 Dots
3rd Block
64 Dots
4th Block
64 Dots
5th Block
64 Dots
6th Block
64 Dots
1st Step of Motor
2nd Step of Motor
1 Dot Line
1st Block
64 Dots
2nd Block
64 Dots
3rd Block
64 Dots
4th Block
64 Dots
5th Block
64 Dots
6th Block
64 Dots
1 Dot Line
1st Step of Motor
2nd Step
1st Step of Motor
2nd Step of Motor
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9.2 Motor Drive
The MLT-288 uses a 4-phase bipolar stepping motor. It feeds the 1 dot line worth of paper in
two steps by 2-to-2 phase excitation.
9.2.1 Motor Drive Features
1) Drive at an optimum drive speed by the VP voltage.
2) Prevents heat generation of the motor by PWM control to restrain current consumption.
3) Provides acceleration control at the time of start.
9.2.2 Maximum Motor Drive Speeds at Major Voltage
Caution: The maximum drive speed depends on the VH voltage.
A printing speed may slightly differ depending on a processing time or voltage
detection accuracy. During the course of printing, a motor drive speed may be slower
than the maximum drive speed, depending on what is printed or the head divided drive
system.
5V
6V
7.2V
VH Voltage
400pps
600pps
840pps
Motor Drive Speed
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