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PM16C-04XD(L) Remote mode User`s manual rev.4

1. reply B position DEC index command A absolute index scan R relative index scan DDDDDDD DEC position data auto backlash correction with B speed change S34 L SPEED 5835 M SPEED S36 H SPEED C position 2 byte command command jog 09 jog 0C CSPD scan scan OF scan 16 pause on 18 hold off 19 hold on 1E scan amp HP stop 40 slow stop 80 EM stop D position 2 byte command command jog 09 jog 0C CSPD scan scan OF scan 16 pause on 18 hold off 19 hold on 1E scan amp HP stop IF 40 slow stop 80 EM stop 3 AXXXXXX or 3 AXXXXXX B A D A D DDDDDD or DDDDDDB C position 8 byte command XXXXXX HEX position data gt command 10 CSPD REL IDX 11 CSPD ABS IDX 12 REL IDX 13 ABS IDX auto backlash correction with C position DEC index command A absolute index scan R relative index scan DDDDDDD DEC position data auto backlash correction with BXXXXXX BXXXXXX B DDDDDD or DDDDDDB D position 8 byte command XXXXXX HEX position data gt command 10 CSPD REL IDX 11 CSPD ABS IDX 12 REL IDX 13 ABS IDX auto backlash correction with D position DEC index command At absolute index scan R relative index scan DDDDDDD DEC position data
2. auto backlash correction with data read command X channel No 0 F Y data No 0 F reply R HEX 3 byte data from read data address position data read X channel No 0 F PS position data read reply DDDDDDD DEC forward DGLS read X channel No 0 F FL forward DGLS read reply DDDDDDD DEC backward DGLS read X channel No 0 F BL backward DGLS read reply DDDDDDD DEC data write command X channel No Y data No write data HEX position data write X channel No 0 F PS position data write DDDDDDD write data DEC forward DGLS write X channel No 0 F FL forward DGLS read DDDDDDD write data DEC backward DGLS write X channel No 0 F BL backward DGLS read DDDDDDD write data DEC status amp LS read a row of data is B A D C for 02N compatible reply R HEX CODE REM LOC LIMIT SW sh correction data for CH X set h HEX D8F1 270F sh correction data for CH X read reply Rhhhh HEX backlash correction data for CH X set 0 9999 decimal backlash correction data for CH X read reply DDDD DEC Find Home Position of channel A Find Home Position of channel B Find Home Position of channel C Find Home Position of channel D mode command reply RTHPA Return Home Position of channel A RTHPB Return Home Position of channel
3. 62 49 9 1 69 1 3 89 i 56 50 8 2 70 90 0 18 51 51 7 5 71 4T 52 6 8 72 43 53 6 2 73 39 54 5 6 74 36 55 5 1 75 95 33 56 47 76 s ps lr ss 27 58 13 9 78 0 08 24 59 3 6 79 0 51 99 0 075 Commands for set and read out latest pulse position parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode PSx dddddd Set the current position data of motor channel x The range of dddd is 2 147 483 674 2 147 483 647 the number of digit is arbitrary 11 PS x Read out the current data of motor channel x The reply is xddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Commands for set and read out digital limit position parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode FLx ddddddd FL x BLx ddddddd FL x Set the digital limit data to CW side of motor channel x When you set the digital limit switch available the motor doesn t move over the preset position When limit switch stop mode is deceleration stop mode motor overrun at some range If you set digital limit switch available and present position is out of moving area motor could move to the moving area direction Read out the digital limit data to CW side of motor channel x
4. Can read out the data prepared by ACSxyyy PNT JJJ FNC LLL L ACS xyyy reply xyyy PNT JJJ J FNC LLL eL Read out sample assume data set as previous clause Send command reply ACS 0000 0000 ADD 005000 SPD 003000 6 digit at least replied ACS 0001 0001 ADD 010000 SPD 006000 ACS 2000 2000 T1M 000000 SPD 001000 ACS 2001 2001 T1M 001000 SPD 003000 20 3 Ready set command for auto chagne scan This command are acceptable only in REMOTE mode This command must be send to every motors if more than one motor are to start synchronously Must be send before auto change scan moving ACSPx set ready auto change scan data Can confirm ready status by the command next clause Can t set ready if the END is not written at the end of the list 4 Ready set confirmation for auto change scan This command are acceptable both in REMOTE and LOCAL mode Can know if the status is ready or not ACSP x reply ready not ready After starting auto change scan the reply of this command become not ready After sending data write command ACSxyyy PNT JJJ the reply of this command become not ready At not ready status auto change scan drive can t work 5 Clear ready flag for auto change scan This command are acceptable only in REMOTE mode Clear ready flag for auto change scan ACSCx Only channel x become not ready by this command By this command you can stop the auto chagne scan drive already pr
5. R HOLDTMxddd Preset hold on time before motor drives ddd 50 500 msec no reply FOR MAINTENANCE MODE COMMAND NOTE R L ACSK x aabb hhhh hhhh Auto change scan data read code 00 END 01 ADD 02 TIM 80 ACC 81 DEC R L sequence number 0 to 7F hh data ACSH x reply aabb hhhh hhhh Auto change scan data read aa code 00 SPD 01 RTE 02 SLW 03 FST OF NOP bb sequence number 0 to 7F hh hh data FROM select R REST i restart without power off on Existing commands below are available to PM16C 04XD and PM16C 04XDL OLD COMMAND LIST COMPATIBLE COMMANDS with PM16C 02N 02Z 04 04S series remote mode change local mode change R motor channel No reply of D for 04 type R motor channel No reply of for 02 type set motor channel to A 12 set motor channel to B S130F SRQ when A B C D motor stopped combination available 1380 SRQ cancel also with GP IB COMMAND IFC S14 SRQ flag read R HEX S15 set motor channel to C S16 set motor channel to D S20 A position data read reply R HEX 522 i ata ata B position data read reply R HEX S22D B position da read reply DDDDDDD DEC S23 B position status read reply R HEX C position data read repl
6. The reply is ddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Set the digital limit data to CCW side of motor channel x When you set the digital limit switch available the motor doesn t move over the preset position When limit switch stop mode is deceleration stop mode motor overrun at some range If you set digital limit switch available and present position is out of moving area motor could move to the moving area direction Read out the digital limit data to CCW side of motor channel x The reply is ddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Commands for set and read out home position status flag parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode SETHPxOXYZ SETHP x SHPx ddddddd Set the parameters of home position setting for motor channel x X O not found 1 LS already found Home position data is already found or not Y O CW direction 1 CCW direction The direction when detecting the home position Z O CW direction 1 CCW direction The start moving direction of motor channel x when detecting the home position in automatic detecting mode Read out the state of home position setting for motor channel x The meaning of reply data is above command The reply data format is 0XYZ Example is 0100 Set
7. utete vv decimal under 7 digit A Absolute data Destination x y Current position D Absolute data CCW Destination x y Center u v e Qu cof Current position B Relative data Destination x y Current position C Absolute data CW Destination x y 9 center u v Current position E Relative data Destination x y N e Center u v Current position F Relative data Destination x y Center u y Ge Current position G Absolute Destination x y Bypass point u v Current position H Relative Destination x y Bypass point u v Current position I Absolute Bypass point2 u v Bypass pNintl x y M OW Current position J Relative Bypass point2 u v Bypass poldntl x y Current position 16 8 Timing pulse out commands A This unit outputs the TTL level signal in these two modes One is gate mode gate signal outputs between start point and stop point Those setting must be done in advance reset puls e Another is interval output mode pulse outputs from pulse start point every interval p The pulse width of this mode is selectable 200 ns 10us 1004s and 1 ms These mode and parameters are configurable for each motor channel The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCA
8. VERO HD VERI and HD VER6 It means the hardware version of PM16C 04XD and PM16C 04XDL For maintenance command You can restart the program without power switch operation 23 11 Added command and function V1 14 SETCHabcd SETCH V1 14 Set channel 0 9 A B C D E F to the control window A B C D position By using like SETCHO1 the channel won t be changed This command is acceptable only in REMOTE mode If the channel is busy while moving etc the command is ignored Read out current setting channel reply 34AB in order A B C D position Motor stop function by speed change button on hand box PMI6C HDX HDX2 This function can be used only in REMOTE mode Press the speed change button on the hand box while REMOTE mode more than 3 second H M L LED on it all lighten and the speed change button become stop button At this status moving motor by the remote command can be stopped by this button Also by 3 seconds pressing this button this button return back to normal speed change button V1 39 You can leave three character comment to all 16 channel CHCMNT x CHCMNTx eek LCD DISP T LCD DISP C Read the comment of channel x If you input a on x you can read all channel comment Set the comment to channel x Display timing out port Display channel comment data Adjust the LCD illuminance LCDB LCDB 100 V1 47 Read LCD illumi
9. channel x to CW direction at constant speed CSCANNx Activate the motor channel x to CCW direction at constant speed Detect home position drive command These commands are acceptable only for REMOTE mode These commands are related to Local Mode Operation See the instruction manual Local Mode Operation 4 4 Setting of home position 5 5 Setting of home position original point PM16C 04XD 4 6 Setting of home position 5 3 Setting of home position original point PM16C 04XDL FDHPx Auto home position search sequence for channel x starts First start home position sensor search moving to one direction that is set in advance by SETHPx etc as a start direction A If the sensor find the home position along this direction A and go through the sensor motor stops slowly Then back to opposite side slowly and find the home position and stops finished Otherwise motor begins to start to direction A then find limit switch along this direction motor stops slowly and move to opposite direction B In this case motor find the home position rising edge then stops Next motor begins start for direction A again Then find the home position and go through the sensor and stops slowly Then starts for direction B slowly finally find the home position and stops finished GTHPx SCANHPx SCANHNx Thus start moving direction A and detecting home position direction B is always opposite for each other by this command The home
10. off 0 LS off 0 LS off 14 7T Interpolation drive command for two axes By two axis interpolation drive command you can move 2 motors as straight line move circular move and perfect circle move on a X Y flat plane The setting commands are acceptable only for REMOTE mode There are 4 motor channels A B C D those can be driven independently each other Two axis interpolation driving command is applicable to a combination of A and B or C and D Interpolation driving command using channel A B begins CO Interpolation driving command using channel C D begins Cl The speed of interpolation move is preset value of channel A and C command details of command FIG COALNa tyy absolute address a b axis straight line C1ALNa tt interpolatin to the destination a b 07 F xx yy decimal under 9 digit CORLNa LE relative address a b axis straight line C1RLNa tt interpolation to the destination a b 07 F xx yy decimal under 9 digit absolute address a b axis cw direction circular interpolation with center position data a b 0 F x y destination u v center position Xeessyres uree vvee decimal under 9 digit perfect circle interpolation will be done by setting the destination to current position absolute address a b axis ccw direction circular interpolation with center position data another data are same as above relative address a b axis cw direction circular interpolation wit
11. the home position data of motor channel x Normally the home position data is automatically set by HP mode but this command changes the data by force 12 SHP x SHPFxdddd SHPF x Read out home position data The reply is ddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase When the home position was not found the reply data is NO H P The origin detect flag that is in the reply for the command SETHP x X is 0 Set the home position offset for motor channel x When you detect home position by command GTHPx home position searching starts from the distance of offset value from current home position When there is no home position even if motor moves two times of distance of this offset value then this detection is failure and memorized original point data were lost The range of dddd is 0 9999 When you set this value over 9999 set data will be 9999 Read out the original point offset position data of motor channel x The reply is dddd 4 digit decimal number Commands for set and read out data in local mode The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode These data are useful only for LOCAL MODE SABSx ddddddd SABS x SRELx ddddddd SREL x SPRSx ddddddd SPRS x SET JGxdddd Set the absolute position data of motor channel x by LOCAL mode This value is shown o
12. 04XD L RJ 4 PM16C 04XR L CW LS CCW LS HOME LS 12V 5mA GND common Power supply 12V MAX 1A for sensor DE9P M PM16C 04XD L RJ 4 PM16C 04XR L PM16C 04XD 40 characters X4 lines Size 4 9H 2 8W PMI6C 04XDL 20 characters X4 lines Size 9 2H 4 8W channel number current position of 10 digit number speed display contents of limit switch relative moving value preset count value home position information paneloperation ready not ready limit switch setting information pulse output mode value of speed HSPD MSPD LSPD acceleration and deceleration ra te value Push button stop mode origin detect function timing pulse generate function RS232C settings GP IB settings HAND BOX selection FIRMWARE version selection switch button JOG CW CCW PRESET START STOP REM LOC SETUP REM LOC CURSOR CHG MODE TEN KEY REM LOC START STOP SETUP HP REL ABS SCAN CH SEL JOG CW CCW channel act REM LOC SETUP PRESET START STOP CURSOR CHG MODE NUMERIC KEYS lamp limit switch home position hold off motor select PRESET START STOP REM LOC SETUP MODE lamp switch button channel selection by numeric keys and cursor key Selectio n of control ready not ready for each channel and change preset values selectable speed of H M L for each channel and preset speed value of H M L for each channel preset specified data to the selected display moving start for selected channel according
13. 16CH STEPPING MOTOR CONTROLLER PM16C O4XD L USER S MANUAL FOR REMOTE CONTROL 2658 2735 V4 140620 V16JP gt CY APPLICATION OF ELECTRONIC DEVICES TSUJICON TSUJI ELECTRONICS CO LTD Head office 3739 Kandatsu machi Tsuchiura city Ibaraki Pre 300 0013 Japan Phone 81 0 29 832 3031 Fax 81 0 29 832 2662 URL http www tsujicon jp E mail info2 tsuji denshi co jp COMMAND LIST LAN RS 232C GP IB x 0 F motor dd d decimal data ABSx dddddddddd ABSxS dddddddddd absolute index scan single dir backlash reject BLx ddddddd set backward digital limit R L read backward digital limit reply ddddddd decimal L read forward digital limit reply ddddddd decimal JOGPx JOGNx Jog command one step to cw or ccw direction LS LS read reply abcdHJKL set pause clear pause read out reply ON or OFF PSx ddddddd preset position data reply ddddddd decimal RELx dddddddddd RELxB dddddddddd relative index scan both dir backlash remove RELxS dddddddddd relative index scan single dir backlash remove L REM Remote mode change RTExddd acc rate set ddd 0 115 see rate table p R R L RTE x read acc RATE reply ddd R SABSx ddddddd set abs pos data for local mode R L SABS x read abs pos data for local mode reply ddd dd R SACTXY set active for local Y 0 non active l active SACT x read active for local reply 0 or 1 SCANHPx SCANHNx accelerative scan to cw or ccw direc
14. 3 axis drive mode 3 axis drive mode Pd D synchro C m l A l GATE EE LT SR PULSE B HR HH d B sk dz 5 Ld ji d l1 Ld l 3 axis drive mode B axis jump mode A i D synchro C time GATE KSEE AEREE AANEEN AAEE LMG A PULSE fg 5 8 s B 8 8 HE HN g LA 1 I Li in N Signal output If timing out pulse mode is enable outputs TTL signal from TP1 at the timing of GATE or PULSE shown on the above figures Please use this commands to set timing out pulse mode TMGMxY x channel allocated at B position 0 to F Y signal mode O disable no output 1 GATE 2 200ns 3 104 sec 4 1004 sec 5b lmsec PULSE TMGM x Read timing out pulse setting Reply 0 to 5 26 Oscillation drive command list R shows that only remote mode and R L shows that enable every time Commands which presets oscillation drive parameter will be ignored while oscillation drive e ctivates including pause status Be sure to enter these commands while oscillation drive status is stop YMDabc R YMD R L YSTRT R YPAUS R YSTOP R L YAP d ddd R YAP R L YBP d ddd R YBP R L YRPd ddd Select the oscillation drive mode a Number of axis Select usage axis 2 two axis drive 3 three axis drive b D axis synchro mode D position activates at the timing of A starts 0 disabl
15. B RTHPC Return Home Position of channel C RTHPD Return Home Position of channel D DPX change start direction of channel X to positive DNX change start direction of channel X to negative GFXDDDD write offset data X channel OD decimal SPHXDDDDD write HSPD X channel DDDDD PPS unit speed data SPMXDDDDD write MSPD X channel DDDDD PPS unit speed data SPLXDDDDD write LSPD X channel DDDDD PPS unit speed data SPCXDDDDD change speed while scanning X channel DDDDD PPS unit speed data d home position status X 0 F channel reply RHH H ASCII hex d offset data X channel reply RDDDD d ASCII dec ad home position X channel reply DDDDDDD ASCII 7 dec ad HSPD of channel X reply RDDDDD D ASCII 5 dec d MSPD of channel X reply RDDDDD D ASCII 5 dec d LSPD of channel X reply RDDDDD D ASCII 5 dec CONTENTS L Abstract crc ne ee ee ee eee 2 2 Preparation for command COMMUNICATION rrr ne eee eee ee 2 1 Setting for LAN thernet TCP IP communication 4 eeeverene ertet ine Cc e aee 2 2 Setting for GP IB communication 50 tttm 2 3 Setting for RS232C communication sscc rrt tttm I H cH HH R c e c c cKeecee e e eee 3 3 The detail of communication commands Mee hmmm hh i hh hy hh Rh hy mmm hc ch ttn 4 1 REMOTE LOCAL command Mee mi hmmm hh hh i hh hh yh o yh mh hy mh r9 c ec n tn 4 2 SRQ command SRO signal is one of GP IB signal lines teen m prre rep hon p n 4 3 Stat
16. CD BRIGHT 100 LCD brightness of back light write 1 100 no reply Chanel comment read x ch 0 1 9 A B D E F reply cnannelx comment a all chanel data Channel No 0 comment ABl write no reply LCD disp is TIMING OUT PORT No LCD disp is comment of each channel Yida x 07 F Each channel G All channels SRQGO All channels of SRQ flag via GPIB are reset i SRQ G All channels of SRQ flag via GPIB read Reply data is HEX 8000 when channel F active R L R L RS_SRQx1 STOPx reply set via RS232C when channel x motor s topped Auto reset after STOPx reply out R L RS SRQxO STOPx reply reset via RS232C when channel x motor stopped RS SRQGO All channels of RS SRQ flag via RS232C are reset R L RS SRQ x SRQ flag of channnel x is read reply 1 or 0 R L RS SRQ G All channels of SRQ flag via RS232C read Reply data is HEX 8000 when channel F active R L LN SRQx1 STOPx reply set via ethernet when channel x motor stopped Auto reset after STOPx reply out R L LN_SRQx0 STOPx reply reset via ethernet when channel x mot or stopped LN_SRQGO All channels of LN_SRQ flag via LAN are reset R L LN_SRQ x SRQ flag of channnel x is read reply 1 or 0 R L LN SRQ G All channels of SRQ flag via LAN read Reply data is HEX 8000 when channel F active command reply Oscillation drive mode set command a drive mode 2 2 axis 3 3 axis b A D axis synchro mode 0 disable 1 enable c B axis jump drive 0 disable
17. Cx then ready flag is cleared and pulse out is cancelled Another case of gate mode timing out mode is 1 the ready flag is not cancelled after motor passed the start point Gate signal continues output H within the limited area despite of the motor direction If you want to stop output signal in midstream you need to send the command TMGCx then ready flag is cleared and gate out is cancelled goes to L The ready flag of motor channel x is cleared This command is acceptable only for motor stopped period Read out the ready flag state of motor channel x The reply is that when in ready mode reply is YES otherwise reply is NO 17 You can also check the ready flag to see the LCD display of front panel For PM16C 04XD non active can no control in LOCAL mode CH05 active can control in LOCAL mode CHO5 active and timing pulse ready CHO5 For PM16C 04XDL 2 TMGSx ddddddd TMGS x 3 TMGSx ddddddd TMGS x TMGSx ddddddd TMGS x non active can no control in LOCAL mode orange LED lamp on active can control in LOCAL mode orange LED lamp off active and timing pulse ready W display on LCD Set the start position of motor x timing out mode Read out the start position of motor x timing out mode Set the stop position of motor x timing out mode Read out the stop position of motor x timing out mode Set the interval pulse count of mot
18. J enable Oscillation drive mode status read Reply YMDabe XXXX XXXX STOP START PAUSE axis drive pulse set command on cillation mode No reply E YAP ddd d d R YBP ddd A os A axis drive pulse read on oscillation mode Reply ddddddd B axis drive pulse set command on oscillation mode No reply xis drive pulse read on oscillation mode ly ddddddd mode command reply B axis jump pulse set command on oscillation mode No reply B axis jump pulse read on B axis jump mode Reply cddddddd No reply i Reply ddd C axis drive pulse set command on oscillation mode No reply C axis drive pulse read on oscillation mode Reply ddddddd C axis repeat count set command on oscillation mode No reply C axis repeat count read on oscillation mode Reply ddd D axis drive pulse set command on oscillation mode No reply R L D axis drive pulse read on oscillation mode Reply cddddddd R L YSTS Read current repeat count of oscillation and C axis Reply RPaaa CRecc aaa oscillation repeat count ccc C axis repeat count R L YOR A axis 1 cycle counter read Reply dddd msec IR YSTRT Oscillation drive start command YPAUS Oscillation drive suspend command rf If oscillation drive is suspending release suspending status All oscillation driving motor are stopped 1 48 Read hold on time before motor drives Reply xxxms xxxthold on time 50 500ms
19. L mode B Command Explanations D TMGMxY Q TMGM x 8 TMGRx QD TMGCx B TMGR x oed oed KK c o AUNe c Preset the timing mode of motor channel x Disable output of timing pulse Gate mode Gate signal outputs between start point and stop point Interval mode Output pulse width is 200 ns Interval mode Output pulse width is 10 ws Interval mode Output pulse width is 100 ws Interval mode Output pulse width is 1 ms In interval mode timing pulse output every interval preset pulse between start and stop pulse area Read out the mode of timing pulse o motor channel x The Reply data is 0 5 above content Timing out mode of motor channel x becomes ready This command is acceptable only for the motor x stopped For interval mode timing out mode is 2 5 this command works correctly only in the position that is before the start pulse position Mode ready means the preparation of pulse out has finished When in ready mode timing pulse outputs after motor passed the start position In case of interval mode once the motor has passed the start point ready condition is cleared But the output action continues until the stop position When motor stopped in the midstream even if the ready flag is cleared timing pulse outputs until the stop position But once pulse are output pulses never output in the same area again If you want to stop output pulse signal in midstream you need to send the command TMG
20. Q flag to channel x Once STOPx command have sent from PM16C this flag is cleared LN SRQxO Clear the LAN SRQ flag of channel x LN SRQGO Clear the LAN SRQ flag at all channel 4 LN SRQ x LN SRQ G Read out LAN SRQ flag of channel x If flag is on reply is 1 Otherwise 0 Read out All channel LAN SRQ status flag hex format For example if channel E and F are set the reply is C000 3 Status read out commands These commands are acceptable in REMOTE and LOCAL mode STQ STS Read out the Local Remote mode and the number of stopped motors The reply is when in REMOTE MODE Rn when in LOCAL MODE Ln The maximum number of driving motor simultaneously is 4 When the numbers of stopped motors is 0 there is no left motor to activate In this case access command is ignored Before activating motors you can check whether activate motor is left or not by this command if you need Read out the Local Remote mode and the details of each motor state The format of reply data is like this R L abed PNNS VVVV HHJ JKKLL uu Xwwttt twweeee Xxxttt R or L R Remote mode L Local mode a b c d The selected motor channel number for each display channel 0 F in hexadecimal number PNNS The state of motor action for each channel P Driving to CW direction N Driving to CCW direction S stopped VVVV The states of limit switch and motor hold off function for each channel in hexadecimal Each data bit is b3 Motor ho
21. S0002 ADD 20000 SPD 10000 ACS0003 ADD 30000 SLW ACS0004 END ACS1000 ADD 5000 SPD 3000 ACS1001 ADD 10000 SPD 6000 ACS1002 ADD 20000 SPD 10000 ACS1003 ADD 30000 SLW ACS1004 END speed change to 3000pps at position 5000 speed change to 6000pps at position 10000 speed change to 10000pps at position 20000 slow stop at position 300000 program end must be written speed change to 3000pps at position 5000 speed change to 6000pps at position 10000 speed change to 30000pps at position 20000 slow stop at position 30000 program end must be written Sample Speed change at same timing of CH2 and CH3 with synchronous start ACS2000 TIM 0 SPD 1000 dummy ACS2001 TIM 1000 SPD 3000 ACS2002 TIM 1500 SPD 6000 ACS2003 TIM 2000 SLW ACS2004 END ACS3000 TIM 0 SPD 1000 dummy ACS3001 TIM 1000 SPD 3000 ACS3002 TIM 1500 SPD 6000 ACS3003 TIM 2000 SLW ACS3004 END You must prepare dummy data speed change to 1000pps at 0 ms speed change to 6000pps at 1000ms speed change to 10000pps at 1500ms slow stop at 2000ms program end must be written speed change to 1000pps at 0 ms speed change to 6000pps at 1000ms speed change to 10000pps at 1500ms slow stop at 2000ms program end must be written If you intend to change first data by time more than one motor synchronously you must prepare dummy data at 2 Data read command the top of the list This command are acceptable both in REMOTE and LOCAL mode
22. SE OFF command added Firmware V1 13 Auto change drive function added Vl 13 While moving speed change etc can be done by previous setting 2008 07 17 manual rev 9 at Japanese manual Altered the order of A B data in the sentence of STOPMDxAB explanation Add command SETCHabcd SETCH HDSTLS Firmware V1 14 Auto hold on off function added for REMOTE mode Firmware V1 15 2009 09 16 manual rev 2 rev 10 at Japanese manual HOLDxON HOLDxOFF HOLD x reply ON or OFF added Firmware V1 17 V1 20 V1 29 skipped Direction logic change available when Direction Pulse output mode for those that has hardware type VERH HD VERn n gt 4 V1 30 Motor stop while REMOTE mode contorl by speed change button on the hand box V1 31 2014 05 15 manual rev 3 rev 15 at Japanese manual Added the mention of firmware version up program at 4 The firm ware version up section Added new function of LCD brightness adjustment and 3 character channel comment for all channel V1 39 rev 11 at Japanese manual Added SRQ imitated LAN and RS 232C commands V1 42 STOPx command are sent on LAN and RS 232C communication when motor is stopped rev 12 at Japanese manual Added Oscillation drive mode and commands for it V1 43 rev 13 at Japanese manual Added STSx command This is one channel version of STS command V1 47 rev 14 at Japanese manual A
23. STOP GATE and PULSE when B POSITION 1 positi different Falls GATE signal when B posi Outputs PULSE signal when B positon reached 1 pulse before at stop point on returnd are strictly A tion reached stop point B 29 4 The firm ware version up 1 Upgrade the firmware You can perform firmware upgrade of PM16C 04XD L via communication line To keep safety you had better cut off the connection from unit to motor driver or put off the power line of motor drivers It s convenient to use RS232C or LAN connection These are the procedures of upgrade via LAN communication using Tera Term free software Download the text file for version upgrade from TSUJI ELECTRIC HP and unzip it to your PC Launch the program TeraTerm Select TCP IP and enter IP address and port No of PMI6C 04XD L Operation is SETUP gt Terminal then setting of New Line is to be CR LF in Receive and Transmit set Mark on Local echo and OK Send the command VER and reply is like 1 00 06 10 14 PM16C04X then the connection will be good Set PM16C 04XD L to REMOTE MODE by local operation or remote operation To change in remote operation send the command REM Operation is File gt Send file then click the file name Specify the file name and OPEN It begins the download procedure You can see the process of transferring the file data to PM16C 04XD L on your PC The REMOTE lamp on the PM16C 04
24. XD L is blinking on and off slowly that indicate receiving the file by PMI16C 04XD L For about 90 seconds download procedures continues then REMOTE lamp turns on quick blinking mode Then the data write procedure begins to start for about 20 seconds After finishing data write procedure to flash ROM REMOTE lamp turns off then LOCAL lamp turn on Program upgrade procedure is finished Set TCP IP line off then finish the TeraTerm program Put off the power line of PMI6C 05XD L then put on this unit again If you don t want to put off the unit send command REST V1 09 Thus the unit runs again from new version program 2 If troubles occurred If trouble occurred in download process when put on the unit again sometimes program runs out of control Initial display character isn t correct In this case once put off the unit and put on it again pushing ten key 0 switch Type XD ten key 0 type XDL ten key 8 The unit runs from previous ROM version again And you can try again upgrade procedure NOTE This method is useful at any time but the display NEW OLD those are shown in LCD display in SETUP mode will not be changed Even if by the above operation program runs out of control you can start again next procedure There is a communication program inside CPU ROM When you use this mode you have to pay attention to following procedures CAUTION When you open the cov
25. ally This command is as same as SCANHPx without the direction CW The starting direction is CCW 5 Commands for set and read out parameters D Commands for set and read out motor parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode SETMTxABCD Set the fundamental characteristics of motor channel x A l drive enable O drive disable If you set the motor disable you won t activated it and you can avoid unexpected moving by the operation error Unless you set enable you can t move the motor B 1 hold on 0 hold off When you set the motor hold off this unit outputs the hold off signal to external devices Before you send motor active commands you have to set hold on After motor stopping you have to set hold off again if you need to set the motor hold off state 1 In LOCAL mode these hold on action are done automatically C O constant l trapezoidal 2 S character The acceleration and deceleration mode of moving motor is selectable That is constant form trapezoidal form or S character form 9 SETMT x HOLDxOFF HOLDxON HOLD x D O Pulse Pulse 1 Pulse Direction 2 Pulse Direction Reverse 2 Output signal to motor driver that is set outside of this unit is selectable They are P P way P D way or PDR way 2 1 Vl 15 Automatic hold on off moving in REMOTE mode supported 2 V1 30 PDR can be chosen
26. and the direction to target position are same motor goes to target position directly Otherwise once motor goes to specified backlash compensation position then goes to a target position at slow speed Backlash compensation if needed If the specified backlash compensation position is over the range command will be ignored At this occasion by using the status read command ERR you ll get BAD ABS COMMAND as a reply 5 SCAN command set by relative position data including backlash data These commands are acceptable only for REMOTE mode RELx dddddddddd The motor of channel x moves at specified relative data The range of dddd is 2 147 483 647 2 147 483 647 Digit number is arbitrarily specified RELxB dddddddddd The motor of channel x moves at specified relative data The range of dddd is 2 147 483 647 2 147 483 647 Digit number is arbitrarily specified First motor goes to a specified backlash compensation position then goes to a target position at slow speed Backlash compensation at every moving RELxS dddddddddd The motor of channel x moves at specified relative data The range of dddd is 2 147 483 647 2 147 483 647 Digit number is arbitrarily specified When the direction of backlash compensation and the direction to target position are same motor goes to target position directly Otherwise once motor goes to specified backlash compensation position then
27. change scan data written inner IC MCCO6 The data indicate the point where change occurs aabb hhhh hhhh aa code 00 END 01 ADD 02 TIM 80 ACC 81 DEC bb sequence number 0 to 7F hh hh data Read out auto change scan data written inner IC MCCO6 The data indicate the contents of change aabb hhhh hhhh aa code 00 SPD 01 RTE 02 SLW 03 FST OF NOP bb sequence number 0 to 7F hh hh data Error status read out ommand If there are more than one error the reply will be the information that is stored to lower bit of error flag Read out error flag can be read in two digits of hexadecimal HH BO COMMAND ERROR B1 MCCO6 BUSY ERROR B2 BAD ABS COMMAND All error flag clear Indexed error flag clear x 0 COMMAND ERROR clear x 1 MCC06 BUSY ERROR clear x 2 BAD ABS COMMAND clear For maintenance command There are two flash ROM for program memory inside You can check which one is active for flash ROM The reply is FROMO or FROMI For maintenance command You can select the active flash ROM NOTICE When you set this command and power on this unit or send command REST program starts again by specified ROM and all parameters are initialized For maintenance command Can be read out status port 1 of inner IC MCCO6 aaaa bbbb cccc dddd The status of control IC A B C D are read out in hexadecimal style For maintenance command Read out the hardware version of this unit The reply is like this HD
28. cillation drive Step pulse of A position 120 repeat times 50 pulse value for reciplocating drive of B position 2500 Step pulse of C position 100 repeat times at C 5 3 axis drive YMD300 Set to 3 axis drive mode YAP120 Set step pulse value at A position to 120 250 00 Set pulse value for reciplocat i ion to 100 YRP50 Set drive repeat times to 50 28 z for B position to 2500 YCR5 Set drive repeat times at C position to b YSTRT Start oscillation drive Case 3 Step pulse of A position 10 repeat times 200 NOTICE GATE PULSE signal GATE and PULSE signal are linked with B position drive Signal pulse value for reciplocating drive of B position 1000 Jump pulse of B position 10 Step pulse of D position 20 2 axis B jump D synchro drive NOTICE You can use not only positive number but also 0 and negative for drive pulse and step pulse If you set negative number for pulse value for reciplocating d rive of B position changes drive pattern from CW to CCW drive to CCW to CW drive If you set to 0 there is no drive on B position YMD21J Set to 2 axis D synchro and B jump drive mode YAP 10 Set step pulse value at A position to 10 YBP 1000 Set pulse value for reciplocating for B position to 1000 YBJ10 Set jump pulse value at B position to 10 YDP 20 Set step pulse value at D position to 20 YRP200 Set drive repeat times to 200 YSTRT Start oscillation drive DETAIL output timing between
29. command for two axes 5 55 tnn 15 8 Timing pulse out commands 5 5500 n teet 17 9 Auto change drive function while moving ss n n n t m Hn 19 10 Other commands 5506t ttt tttm Hmm II III ee t 23 11 Added command and function sss n t t t t m HM Ie 24 V1 43 Oscillation drive mode 555t n n n e M HMM 25 4 The firm ware version up Bee hmmm hmmm hohem hh hh hh m hh Rh e hymn he e fh ht n 30 5 Manual and Firmware History eee hmm mh h m hh hh ho m hh yh hm rh c t n tn 32 6 Specifications eem hmmm hh hh ETE homm hh hm hh hh ry hh rhyme ch th t n 33 PM16C 04A4XD L REMOTE MODE USER S MANUAL 1 Abstract This manual shows the remote operation via RS232C GP IB and LAN Ethernet TCP IP About the local operation please see the other manual called PMI6C 04XD L LOCAL MODE USER S MANUAL In addition to manual operation by front panel and hand box controller you can operate PMI6C 04XD L via communication line by your PC Existing commands for PMI16C 027 series PMI6C 04 and PM16C 048 are available to this one New commands for this one are available to select the access motor number directly 0 to 9 A to F without considering the exchange of control channel 2 Preparation for command communication Control commands are acceptable when REMOTE LOCAL switch is in REMOTE side But inquiry commands are acceptable at any time When REMOTE LOCAL mode is in LOCAL side press REMOTE LOCAL button or give the c
30. dded the commands which adjusts the interval between hold off signal release and motor drive time V1 48 2014 06 19 manual rev 4 rev 16 at Japanese manual Deleted Existing connection method of LAN connection setting There is no necessary for setting IP address and Port No with this method at current PM16C version For the further information feel free to ask us Tsuji Electronics Co Ltd TEL 481 0 29 832 3031 FAX 81 0 29 832 2662 E mail info20tsuji denshi co jp URL http www tsujicon jp 3739 Kandatsu machi Tsuchiura city Ibaraki 300 0013 Japan 32 6 Specifications IN OUT LCD display panel push button and lamp numeric keys and cursor key control stepping Voltage and Freq Control AC 85V 264V 47 440Hz 16 motors can be controlled 50VA Capability 4 motors can be controlled synchronously or simultaneously Out put CW CCW HOLE OFF 5V 8mA line driven for each 16 motor Pulse rate 1 5MPPS Pulse control 2 147 483 647 2 147 483 647 Acc dec rate 1048 56 0 0125 ms KHz Acc dec form Constant speed S character form Trapezoidal form Output format Pulse out LS signal in LS in LCD display specification Contents in control mode Contents in data set mode PM16C 04XD PM16C 04XDL PRESET START STOP JOG SCAN MODE ABS IDX MODE REL IDX MODE 2 pulse lpulse and direction DE9S F PM16C
31. e 1 enable c B axis jump mode When A position activates B position also drives 0 disable J enable Read current oscillation drive mode and status Reply YMDabe xxxx xxxx START STOP PAUSE Starts oscillation drive This command is ignored if motor that is going to drive is driving or the sum of drive parameter and current position results in overflow Hold off signal is disable during oscillation drive Pauses oscillation drive Send YPAUS or YSTRT and restarts oscillation drive Please use this command after A position have activated because PMI6C have not measured 1 cycle time This causes the loss of accurate cycle time for oscillation drive Stops oscillation drive All motors that is using this drive are stopped the same way of pushing stop button Read step count of A and C position Response format is RPaaa CRecce aaa step count of A ccc step count of C smore than 3 digit integer If 2 axis mode ccc equals to 000 Read the cycle time at A position The reply is over 4 digit msec units integer Replies 0000 if there is no activation at A position Set step pulse value at A position d ddd 2 147 483 647 to 2 147 483 647 arbitrary signed digits of number It is the same hereinafter during oscillation drive description Read step pulse value at A position Reply is signed integer more than 7 digits Set pulse value for reciplocating drive of B position Read pulse value for reciploca
32. end The procedure of GP IB address setting from front panel is as follows Put on power switch of the unit Set into LOC mode by REN LOC button Then set into setup mode by SETUP button In case of PMI6C 04XD open the setup screen P7 of LCD by CW button When over the page you can set back page by CCW button In case of PMI6C 04XDL open the setup screen P9 of LCD by CW CCW lever switch Set the cursor of LCD display to GP IB address Set into the numeric by ten key GP IB address must be 2 to 31 When the setting number is incorrect you 11 see the number is blinking After changing the address push the SETUP button then the mode has changed and setting will be finished There is no need to power on again You can check the communication is OK or NOT by the command VER for example 3 Setting for RS232C communication The pin assignment of connector is as follows PM16C 04XD L side PC side Pin No Connector of panel side DE9P Connector of cable side DE9S RXD RXD TXD TXD GND GND The way of setting RS232C is only put in BAUD RATE data from front panel Another parameters of RS232C communication is fixed as follows DATA BIT 8 STOP BIT 1 NO FLOW CONTROL NO PARITY The delimiter for the data is CR LF The procedure of setting BAUD RATE from front panel is as follows Put on power switch of the unit Set into LOC mode by REN LOC button Then set into setup mode by SETUP bu
33. epared before At not ready status the moving does not become auto change scan drive 6 PAUSE ON or S3016 command for auto change scan This command are acceptable only in REMOTE mode Use when synchronous start for more than one motor is needed PAUSE ON or 53016 7 Auto change scan command This command are acceptable only in REMOTE mode Send this command to every motors when synchronous start for more than one motor is needed Four commands below work as auto change scan command when ready for auto change Scan are set ABSx B dddddddd absolute position moving RELx B dddddddd relative position moving SCANPx scan to positive direction SCANNx scan to negative direction 8 PAUSE OFF of S3017 for synchronous start This command are acceptable only in REMOTE mode Use when synchronous start for more than one motor is needed as a pare with PAUSE ON or S3016 command described in term 6 above 29 PAUSE OFF or 83017 The moving motors by auto change scan command always can be stopped by normal stop command for example SSTPx ESTPx ASSTP or AESTP About timing error when using auto change scan command The change start time after detection of the change condition when moving in auto change scan drive are below and they are different when moving in constant speed or moving in acceleration or deceleration in constant speed in acceleration in deceleration Further i
34. er of this unit be careful to get shock First take out power cable of it If you have some troubles to do next procedure please contact us Put off the power switch of this unit and open the top cover 30 Set the dip switch 2 to side ON Dip switch 1 is still side OFF Dip switch is beside the button battery on print circuit board TEPO36 XD In case of XDL the print circuit board is TEP063 Put on the power line pushing ten key switch 5 The RED led lamp that indicate REMOTE is flashing on and off for 15 seconds then RED lamp turn on red continuously At this stage LCD display is not correct yet Put off the power switch of this unit again then set the dip switch 2 to side OFF Dip switch 1 is still side OFF Put on the power line pushing REL LOC button Program starts by Version 1 00 firmware In this stage if LCD display may not be correct but don t care of it It s OK if you can change remote local mode by REM LOC button Next procedure is above describes D In local mode you can change NEW OLD program by button control In setup mode XD p8 or XDL p11 If you try to use by previous version program this function is useful When you change firmware program all preset data are cleared and setting data will become default state 3 5 Manual and Firmware History 2007 09 13 manual rev 1 rev 4 at Japanese manual PAUSE ON PAU
35. f the condition of auto change scan are detected simultaneously for A pos B pos C pos and D pos then the timing of B D pos are delayed 80 ws than those of A B pos So be careful to use these function synchronously to four motors Period data for speed change extract lt 320us X 160us period of acceleration lt 160us period of deceleration unit ms RATE No ms KHz L1 type L2 teyp Ml type M2 type HI type H2 type 1 000 000 50 000 24 3l 41 100 000 51 000 20 000 5 000 2 550 1 000 25 000 50 000 12 750 25 500 51 000 5 000 10 000 20 000 50 000 T 510 000 25 500 17 200 000 10 000 50 000 0 825 3 300 1 600 0 165 0 820 0 680 0 400 0 800 1 600 4 000 16 000 0 205 0 410 0 820 2 050 8 200 8 0 390 0 170 0 340 0 680 1 700 6 800 0 195 0 390 0 975 3 900 2 84 0 330 0 165 0 330 0 825 3 300 89 0 200 0 200 0 500 2 000 91 0 160 98 0 082 106 0 039 113 0 020 115 0 016 pou 10 0068 J aes ll 22 10 Other commands VER ACSK x reply ACSH x reply ERR ERRF reply ERRC ERRCx FROM FROM1 FROM2 STEM reply VERH REST Read out version information of inside firmware program The reply will be like 1 00 06 10 14 PM16CO4X The same firmware is installed to PM16C 05XD and PM16C 04XDL Read out auto
36. for hard ware type HD VERn n gt 4 replied by the command VERH This command is readout command above motor characteristics The reply data is in order ABCD The default data is 1010 Outputs the hold off signal to external devices when motor have stopped and passed 500ms Before activating the motor hold off signal turns off and waits from 50ms to 500ms changeable this time with HOLDTM command PMI6C does not output the hold off signal Read out the hold off signal setting The response is ON or OFF V1 48 available HOLDTMxddd HOLDTM x STOPMDxAB STOPMD x When hold off signal is enable adjusts the waiting time before activa ting the motor ddd 50 to 500 by 10 unit msec Factory setting is 80msec Read out the waiting time which you can set with HOLDTM command Response shows dddms This command is set to stop motor channel x slowly or fast A 0 PB slow stop 1 PB fast stop It means slow stop or fast stop by STOP switch on front panel B O LS slow stop 1 LS fast stop It means slow stop or fast stop by limit switch This command is readout command above motor stop way The reply data is in order AB The default data is 00 Commands for set and read out speed parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode SPDHxdddd SPDH x SPDMxdddd SPDM x SPDLxdddd The high speed of m
37. goes to a target position at slow speed Backlash compensation if needed Speed change command while driving This command is acceptable only for REMOTE mode SPCxddd The motor speed of channel x can be changed while moving The unit of speed is PPS The range of dddd is 1 to 5 000 000 SLOW STOP FAST STOP command These commands are acceptable both in REMOTE and LOCAL mode SSTPx Stop the driving motor channel x with deceleration ESTPx Stop the driving motor channel x without deceleration ASSTP Stop all the driving motors with deceleration AESTP Stop all the driving motors without deceleration Another commands concerning motor moving PAUSE ON OFF command These commands are acceptable only for REMOTE mode PAUSE ON PAUSE ON command This command means the motion hold S3016 Once received this command further commands are in suspended Those commands are in waiting state This suspended mode is released by the command PASE OFF This command is useful when you activate some motors simultaneously This command doesn t affect any motor that is already moving PAUSE OFF PAUSE OFF command This command release the suspended mode S3017 Motors that are in suspended mode by command PASE ON are released Those motors start simultaneously after this command PAUSE Read out pause status reply ON or OFF Constant speed SCAN command These commands are acceptable only for REMOTE mode CSCANPx Activate the motor
38. h center position data a b 0 F x y destination u v center position xte ytte utte vv decimal under 7 digit perfect circle interpolation will be done by setting the destination to 0 0 position CORCNa EE ross relative address a b axis ccw direction circular Xwwt interpolation with center position data C1RCNa nts eter ES another data are same as above absolute address a b axis circular interpolation with bypass point data Destination setting to current position aren t allowed use COACC command a b 0 F x y destination u v bypass point xte ytte utte vv decimal under 9 digit RACab xx tt relative address a b axis circular interpolation Xwwt with bypass point data Destination setting to RACabzcxx ee current position aren t allowed use CORCC Jv command a b 0 F x y destination u v bypass point Xxttt yttt u 5 vv decimal under 7 digit COACCab xx tt absolute address a b axis perfect circle Xwwtt interpolation with two bypass point data ACCabzcxx ttt ttt a b 07 F x y bypass point 1 u v bypass point 2 avv xt U Vv decimal under 9 digit 15 command CORCCabzcxx zmyy muu Jyyess CIRCCabe xx Jvyess details of command relative address a b axis perfect circle interpolation with two bypass point data a b 0 F x y bypass point 1 u v bypass point 2 xte ytte
39. ld off status b2 The limit switch status of home position bl The limit switch status of CCW direction b0 The limit switch status of CW direction HHJJKKLL This value shows the status of motor driving for each channel in 2 digit hexadecimal data b7 ESEND received emergency stop command b6 SSEND received deceleration stop command b5 LSEND stopped by limit switch b4 COMERR occurs error b3 ACCN decelerating b2 ACCPD accelerating b1 DRIVE stepping b0 BUSY data processing or stepping busy U VV WW tu XX tot These are the latest pulse position data for each channel If the number is less than 7 digit number the reply data 7 digit number In case of more than 7 digit number the digit will be expanded according to the number available from V1 47 STSx Read out the detail status of channel x The reply is this R L aPVHHcuu The response data and order are the same of STS command except symbol If there is no channel x at LCD V and HH is ou displayed 4 Motor control commands D JOG Command This command is acceptable only for REMOTE mode JOGPx Moves one pulse of motor channel x to CW direction JOGNx Moves one pulse of motor channel x to CCW direction 2 Speed select Command These commands are acceptable only for REMOTE mode SPDHx Motor speed selection of channel x is H SPDMx Motor speed selection of channel x is M SPDLx Motor speed selection of channel x is L Next c
40. n LCD in ABS scan motion by LOCAL mode shown on the second screen for the type XDL Read out the absolute position data of motor channel x by LOCAL mode The reply is ddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Set the relative moving data of motor channel x by LOCAL mode This value is shown on LCD in REL scan motion by LOCAL mode shown on the second screen for the type XDL Read out the relative moving data of motor channel x by LOCAL mode The reply is xddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Set the preset position of motor channel x by LOCAL mode This value is shown on LCD in SCAN motion by LOCAL mode shown on the second screen for the type XDL Read out the preset position of motor channel x by LOCAL mode The reply is xddddddd decimal number When the digit of reply data is over 7 digit the digit of reply data will increase Set the JOG steps of motor channel x by LOCAL mode When you put on JOG switch motor moves by JOG steps at one time in LOCAL mode The range of dddd is 0 9999 13 This value is shown on LCD in SETUO screen by LOCAL mode SETJG x Read out the JOG steps of motor channel x by LOCAL mode The reply is dddd 4 digits decimal number When the digit of reply data is over 4 digit the digit of reply data will increase SACTxY No use SACT x No use 6 C
41. nance data Response LCD BRIGHT 100 1 to 100 Set LCD illuminance data 1 to 100 One channel version of STS command STsxT V1 48 Read the detail data of channel x Response format is R L aPVHH cuu u See STS command Page 9 in detail Adjust the wait time before motor activating when hold off signal is enable HOLDTM x HOLDTMxddd Read this wait time on channel x Response dddms ddd 50 to 500 by 10 msec Set this wait time on channel x ddd 50 to 500 by 10 msec 24 V1 43 Oscillation drive mode Available the oscillation drive mode This drive mode is repeating the drive cycle which drives the motor allocated at A position every B position have done one reciplocating drive 2 axis driving mode using A and B position and 3 axis driving mode using A B and C position are main mode at oscillation drive D position is also available which drives concurrently with A positon To fix oscillation drive cycle PM16C 04XD L measures the cycle In this way you can read cycle time at A position driving By using timing out signal outputs TTL gate or pulse signal from TPI according to B position driving Two axis drive mode This figure shows oscillation drive motion when A position activating times is 4 At first position B drives between and waits 5 or 10 msec Next position A starts driving If D synchro mode also starts position D If B jump mode also starts for step drive positi
42. nd LOCAL mode SRQx1 Set SRQ flag to channel x x means motor channel 0 F When channel x motor stopped at this state SRQ line of this unit goes H to inform the state to PC and the SRQ status flag of this unit is set to 1 Once SRQ status flag read out from PC SRQ status flag is cleared automatically and the SRQ line goes L SRQ flag is cleared automatically just after SRQ line of this unit goes H If you use SRQ signal when motor stopped you may set this flag every time SRQx0 Clear the SRQ flag of channel x SRQGO Clear the SRQ flag at all channel SRQ x Read out the status of SRQ flag of channel x The reply is 1 or 0 SRQ G Read out All channel SRQ status flag hex format For example if channel E and F are set the reply is C000 V1 42 available Imitated SRQ signal command added for RS 232C and LAN communication When channel x motor have stopped the coomand of STOPx is sent from PM16C for RS 232C communication RS SRQxI Set RS 232C SRQ flag to channel x Once STOPx command have sent from PM16C this flag is cleared RS SRQxO Clear the RS 232C SRQ flag of channel x RS SRQGO Clear the RS 232C SRQ flag at all channel RS SRQ x Read out RS 232C SRQ flag of channel x If flag is on reply is 1 Otherwise 0 RS SRQ G Read out All channel RS 232C SRQ status flag hex format For example if channel E and F are set the reply is C000 for LAN communication LN SRQx1 Set LAN SR
43. om start point TIM relative time from previous point ACC speed data while accelerration DEC speed data while deceleration relative address 2 147 483 647max time 0 to 65 535ms SPD LLL L means speed data in pps RTE LLL L means rat data SLW slow stop FST fast stop NOP no operation skip this seq number speed 1 to 5 000 000pps rate rate data number in the same range ACS xyyy data read command x channnel 0 1 2 SA B GD E F yyy sequence number 0 to 127max reply xyyy PNT JJJ J FNC LLL L ACSPx auto change scan ready set command L ACSP x auto change scan ready read command reply ready not ready PAUSE 0 send before scan start command PAUSE reply ON or OFF R ABSx B dddddddd auto change scan start command when the axis is RELx B dddddddd auto change scan ready SCANPx SCANNx R PAUSE OFF send after scan start command for synchronous scan start of multi channels command reply HDSTLS hard and soft limit sw read reply abcdHHHHSSSS abcd ch HHHH hard SSSS soft SETCHabcd set ch a b c d to control window A B C Dposition a b c d 0 9 A B C D E F HEX not changed SETCH read channel setting to current control A B C D mode command reply R L HOLD x hold on off state read x ch 0 1 9 A B G D E F reply ON or OFF HOLDxON hold on set to ch x HOLDxOFF hold off set to ch x LCD brightness of back light read 1 100 reply L
44. ommand REM via communication line before using in REMOTE mode Remote mode operation can be used in three ways 1 LAN 2 GP IB 3 RS232C These are details regarding to each REMOTE control method 1 Setting for LAN Ethernet TCP IP communication Easy setting using front panel switches in LOCAL mode V 1 09 Turn on the power Go to LOCAL mode by REM LOC switch and go to SETUP mode by SETUP switch Go to P9 by CW switch in SETUP mode PM16C 04XD In case of PM16C 04XDL go to P10 in SETUP mode by CW lever type switch Move cursor to the data that is to be changed Push numeric keys to change the data Default IP address data is 192 168 1 55 port number is 7777 You can change these data according to your LAN If you need to change port number 10001 to 10999 are recommended After setting you must power off the unit to enable the new setting To confirm the new setting you may try if command VER for example is received and reply is sent out by the unit using client PC after connecting by telnet to the unit f you change the detail connection setting such as the Gateway IP address and subnet mask please contact us 2 Setting for GP IB communication The only way of setting GP IB is put in GP IB address from front panel The delimiter for the data is fixed to CR LF EOI PM16C 04DX can receive data whether EOI exists or not When sending data EOI is always added to data
45. ommand for set and read out limit switch data parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode SETLSxDYYYOyyy Set the states of limit switch of motor channel x D O Digital limit switch disable 1 Enable YYY O Limit switch disable l Enable yyy O Limit switch set is N 0 1 N C YYY yyy Order is H P LS CCW LS CW LS SETLS x Read out the states of limit switch of motor channel x The reply is DYYYOyyy Meaning is shown above LS Read out the motor channel and the states of limit switch for each drive channels The reply data is abcdHJKL a b c d Shows the motor channel for A B C D drive channel Display with hex one digit number H J K L Shows the state of limit switch for each drive channel Also detail meaning of H is shown below b3 hold off b2 HP LS b1 CCW LS bO CW LS 1 hold off 1 LS on 1 LS on 1 LS on 0 hold on 0 LS off 0 LS off 0 LS off HDSTLS Read out the motor channel and hardware and software limit switch status for each drive channels The reply data is abcdHJKLhjkl a b c d Shows the motor channel for A B C D drive channel Display with hex one digit number H J K L Shows the state of hard limit switch for each drive channel h j k 1 Shows the state of soft limit switch for each drive channel Detail of H and h is shown below b2 HP LS hard only b1 CCW LS bO CW LS NIEMM ANE TENIS 0 LS
46. ommand is acceptable for REMOTE and LOCAL mode SPD x Read out the set speed of channel x The replay is HSPD MSPD or LSPD SCAN Command These commands are acceptable only for REMOTE mode SCANPx Continuous movement of motor channel x to CW direction SCANNx Continuous movement of motor channel x to CCW direction The speed of this movement is determined by speed select command 2 SCAN command set with absolute position data including backlash remove scan These commands are acceptable only for REMOTE mode ABSx dddddddddd The motor of channel x goes to the set position absolutely The range of dddd is 2 147 483 647 2 147 483 647 Digit number is arbitrarily specified ABSxB dddddddddd The motor of channel x goes to the set position absolutely The range of dddd is 2 147 483 674 2 147 483 647 Digit number is arbitrarily specified First the motor goes to a specified backlash compensation position then goes to a target position at slow speed Backlash compensation at every moving If the specified backlash compensation position is over the range command will be ignored At this occasion by using the status read command ERR you ll get BAD ABS COMMAND as a reply ABSxS ddddddddd The motor of channel x goes to the set position absolutely The range of dddd is 2 147 483 647 2 147 483 647 Digit number is arbitrarily specified When the direction of backlash compensation
47. on B These sequential drive are defined 1 cycle drive If finished 1 cycle waits 5 or 10 msec and if remains activatiing time repeats 1 cycle drive again 2 axis drive mode 2 axis drive mode B axis jump mode I I l l bi y i L i D LL pamm synchro D H 71t 1 NM LM Lt i synchro L4 i 4 A I lod Jet A Il lod 1 lod I T I lod Il I Io I lod d Il I Id B L4 bg j 1l B Il Io I Io Fu pai Io el I Id pel Il I LI I lod time 1 Vd time LI Lt Lt NT Ld ez l GA T E Esssssssssssssssss DNSSSSSSSSSSSNSNSSS EXSSSSSSSSSSSASNSS NSSSSSSSSSSSSSNSY GATE PULSER Nh S hk Som s PULSE o u uci Boh m I Io a Hii I Io a Pal Fl Fat Fel eal 1 1 cycle 1 cycle Three axis drive mode This figure shows 3 axis oscillation drive motion when position A activating times is 2 and C is 3 The differenses of 2 axis mode are these A posit position activation times is less than C position repeat times ion does not activate and C position activates alternately if current C If current C activation times is equal to repeat times C position goes back to start position and activates A position If D synchro mode also starts position D If B jump mode also starts for step drive position B These sequential drive to activation of A posit 25 ion are defined 1 cycle drive on
48. or x timing out mode Read out the interval pulse count of motor x timing out mode C The procedure of setting timing out mode D Set the activate motor channel to control display channel A D TPO TP3 by channel set command SETCHabcd The output timing pulse for window A is gotten from TPO and B C D for TPl 2 3 To confirm the setting SETCH is convenient These setting can be done by old command below too Sllx Motor S12x Motor S15x Motor S16x Motor To check the preset You need to set To set timing To set timing To set timing To set timing Once you have never changed channel x to display channel A channel x to display channel B channel x to display channel C channel x to display channel D motor channel S10 STS and LS commands are useful these parameters to motor channel x out out out out set mode TMGMxY start position TMGSx ddddddd stop position TMGEx ddddddd interval pulse count TMGIx ddddddd these parameters these data are stored in this unit and until your next data change operation In factory shipment default data are installed 9 Move the timing out motor channel to outside the range of timing start position If the motor position is outside the range of timing start position you don t need to move it In case of gate mode timing out mode is 1 you don t need above operation But when the motor position is within start and stop position
49. otor channel x is dddd Unit is PPS This command is readout command above SPDHx The reply is dddd Unit is PPS The middle speed of motor channel x is dddd Unit is PPS This command is readout command above SPDMx The reply is dddd Unit is PPS The low speed of motor channel x is dddd Unit is PPS 10 SPDL x This command is readout command above SPDLx The reply is dddd Unit is PPS SPDAL This command is readout preset speed values for 4 channel motors The reply is like these Abcd Hddddddd Mddddddd Lddddddd Hddddddd a b c d O F means motor channel ddddddd preset speed value 1 5 000 000 Unit is PPS While at least one motor is moving the reply of it is 0000000 3 Commands for set and read out acceralaton and deceleration parameters The setting commands are acceptable only for REMOTE mode The read out commands are acceptable for REMOTE and LOCAL mode RTExddd The acceleration and deceleration of motor channel x is set by this command ddd 0 115 This is a code number See RATE DATA TABLE RTE x This command is readout the acceleration and deceleration value of motor channel x The reply is ddd RATE DATA TABLE unit ms 1000pps RATE No RATE No RATE 150 40 22 60 80 0 47 130 41 20 61 120 42 18 62 110 43 16 63 100 44 15 64 2 2 1 91 45 13 65 2 0 0 30 1 82 46 12 66 75 4 u 67 1 6 68 48 10 68
50. output signal goes High when this motor channel becomes ready Set timing out mode ready Command TMGRx Preparation of signal out is finished 18 Move the motor position toward to stop position You can use absolute position move command relative data move command and continuous move command If you set timing out parameters to several channels 2 4 start them simultaneously you can use this unit as a timing generator that has four kinds of signal output Note When in interval out mode timing out mode is 2 3 4 and 5 if output pulse width gt interval pulse period output signal goes High and remain the status instead of pulse shape 9 Auto change drive function while moving While trapezoidal drive moving speed acceleration deceleration rate can be changed by the data scheduled in advance This function can be started by S character drive command but the result moving become trapezoidal he timing and the contents of the change data can be set to maximum 128 data he timing of the change can be set by relative position data from the start point he time ms from change point before or drive pulse speed pps he contents of change data are speed acceleration deceleration rate 1 and stop comm nd 3339 1l Data write command This command are acceptable only in REMOTE mode Scheduled data can be written by this command Synchronous start driving by two or more motors the data mu
51. ply DDD DD R L SRQx1 ONLY FOR GP IB SRQ flag set auto reset after SRQ out SRQxO ONLY FOR GP IB SRQ flag reset SRQ x ONLY FOR GP IB SRQ flag read reply l or 0 SSTPx ESTPx slow stop or fast stop STOPMDxAB set PB and LS stop mode A 0 LS slow stop 1 LS fast stop B 0 PB slow stop 1 PB fast stop R L R L STOPMDx read PB amp LS stop mode reply AB A B 0 1 R L STQ Remote Local mode and moving motor information reply Rn or Ln n 0 4 stopping motor number if n 0 then you can t start another motor R L STS Status read out reply Roue een ATA eva tvv wwees Exxes PNNS P cw moving N ccw moving S stopped VVVV LS status amp hold off status HH JJ KK LL mcc status UU VV WW XX current position STSx available from V1 47 Channel x status read out reply R L aPVHH uu reply data and sequence are matched with STS command except TMGEx ddddddd timing out end point set TMGE x read timing out end point reply DDD DD TMGIxddddddd timing out interval step set TMGI x read timing out interval step reply DDD DD TMGMxY timing out mode set Y 0 disable 1 gate 2 200ns 3 10us 4 100us 5 1ms pulse out R L TMGMx read timing out mode reply 0 5 s Ee Ee Ss c mode command reply TMGRx TMGCx timing out ready set or ready clear R L TMGR x read timing ready reply YES or NO R TMGSx ddddddd timing out s
52. polation will be done by setting the destination to 0 0 position CORCNa Soros relative address a b axis cew direction circular Xwwtt interpolation with center position data CIRCNab xx sexe sens another data are same as above vv COAACab xx tt absolute address a b axis circular interpolation Xwwtt with bypass point data C1AACab cxx pes E a b 0 F x y destination u v bypass point Jtyvee xte ytet utete vv decimal under 9 digi CORACab xx See relative address a b axis circular interpolation Xwwt with bypass point data CIRACab cxx E pe a b 0 F x y destination u v bypass point Xwwet Xt 5 y775 u 5 vv decimal under 7 digit COACCa tt absolute address a b axis perfect circule Xwwtt interpolation with two bypass point data ClACCab cxx t t a b 0 F x y bypass point 1 u v bypass point 2 Jw xte ytte utte vv decimal under 9 digit CORCCab xx tt relative address a b axis perfect circule Xwwt interpolation with two bypass point data CIRCCab cxx ttt ttt a b 0 F x y bypass point 1 u v bypass point 2 Jtyvee xte ytte utte vv decimal under 7 digit New added command V1 13 mode command reply Auto change scan command set data command ACSxyyy PNT JJJ J FNC LLL L X channnel 0 1 2 9 A B C D E F yyy sequence number 0 to 127max PNT END should be written at next to end seq ADD relative address fr
53. position value is memorized as home position data and set the status flag that means home position was memorized And the direction for detecting is also memorized because the other way to detect home position may alter detecting direction These information can be read out by SHP x and SETHP x NOTES If there is no home position in moving by this command motor will go and return between CW LS and CCW LS Including digital limit switch In this case STOP command and STOP button is available If digital limit switch position is set near the limited range near 2 147 483 647 during the deceleration moving the sign of position will be changed The home position detect process won t be finished correctly This command is useful when repeat the home position detect process again If the home position is already saved to the unit motor can move to certain area and goes to the home position slowly The home position detect direction is as same as the memorized one To detect the home position of motor channel x along CW direction When detect the home position motor stops suddenly So you need to move slowly to avoid step out of motor When there is no home position motor will be stops at CW or CCW limit switch If you know the home position roughly you can check the home position in a short time After detecting home position by this command using GTHPx command you can detect the home position in a short time tot
54. st be written for each axes You don t need to rewrite the data again if the data have no change ACSxyyy PNT JJJ J FNC LLL L ACS Auto Change Speed command fixed x channel 0 F yyy data number 0 127 PNT END no more data After the end of data ACSxyyy END must be sent ADD relative address from start point TIM relative time from previous point ACC speed data while acceleration DEC speed data while deceleration JJJ J relative address 2 147 483 647 or time 0 65 535ms or speed data 1 5 000 000pps FNC SPD speed in pps means LLL L is speed data RTE rate number means LLL L is rate data SLW slow stop SLOW STOP LLL L not used FST fast stop FAST STOP LLL L not used NOP no operation no operation skip this data LLL L speed data 1 5 000 000pps or RATE rate data number in the range 1 Rate can be changed only in the same range where current rate belongs The range that can be changed are below The group where current rate number belongs is the upper range in the list below Then for example if you need to change rate in group M2 you must set the rate number 31 to 91 in advance 19 Rate group RATE No L1 TYPE 0 60 L2 TYPE 17 76 M1 TYPE 24 84 M2 TYPE 31 91 H1 TYPE 41 100 H2 TYPE b5 115 Sample Speed change at same position of CHO and CHI with synchronous start ACS0000 ADD 5000 SPD 3000 ACS0001 ADD 10000 SPD 6000 AC
55. tart point set R L TMGS x read timing out start point reply DDD DD Continuous interpolation function command A pair of position controller A B or position controller C D is available C0 command is to use controller A B pair Cl command is to use controller C D pair Speed of synthesis depend on the motor that is seto to A C controller COALNa absolute address a b axis straight line C1ALNa interpolative move to the destination a b 07 F xx yy decimal under 9 digit CORLNa ur relative address a b axis straight line CIRLNa sre interpolative move to the destination a b 0 F xx yy decimal under 9 digit COACPa enn ses absolute address a b axis cw direction circular Jv interpolation with center position data C1ACPab xx gt fans ths a b 0 F x y destination u v center position Jaws Xt 5 y775 u 5 vv decimal under 9 digit perfect circle interpolation will be done by setting the destination to currnt position COACNab cxx ttt absolute address a b axis cew direction circular Jv interpolation with center position data C1ACNab xx es ses another data are same as above Xwwtt CORCPab cxx ttt relative address a b axis cw direction circular Xwwtt interpolation with center position data CIRCPab cxx ttt ttt a b 0 F x y destination u v center position Xwwet xte ytte utete vv decimal under 7 digit perfect circle inter
56. ting drive of B position Reply is signed integer more than 7 digits Set repeat times of activation on A position d ddd 1 to 2 147 483 647 27 YRP R L YBJ d R YP Ed R YCP R L Read repeat times of activation on A position Reply is unsigned integer more than 3 digits ddd Set step pulse value at B position at B jump mode Read step pulse value at B position at B jump mode Reply is signed integer more than 7 digits ddd Set step pulse value at C position Read step pulse value at C position Reply is signed integer more than 7 YCRd ddd Set repeat times at C position R YCR R L R YDP R L d ddd 1 to 2 147 483 647 Set repeat times at C position Reply is unsigned integer more than 3 digits ddd Set step pulse value at D position at D synchro mode Read step pulse value at D position at D synchro mode Reply is signed integer more than 7 digits Oscillation drive example Drive speed rate usage motor and start position are already set Case 1 Case 2 YBP250 YCP100 Set step pulse value at C posit Step pulse of A position 1000 repeat times 100 pl 2 axis drive se value for reciplocating drive of B position 1000 YMD200 Set to 2 axis drive mode YAP50 Set step pulse value at A position to 50 YBP1000 Set pulse value for reciplocating for B position to 1000 YRP100 Set drive repeat times to 100 YSTRT Start os
57. tion if HP switch then stop R SCANPx SCANNx R SETHPxOXYZ HP find information set X found 1 not found 0 Y found dir 0 cw 1 cew Z auto start dir 0 cw l ccw SETHP x read HP find information reply OXYZ R L SETJG x read JOG pulse for manual PB reply DDDD SETLSxDYYYOyyy se LS characteristics D digital limit enable 1 disable 0 Y LS enable 1 disable 0 LS N C 1 N 0 0 y SETLS x read LS setting reply DYYYOyyy see SETLSx R R R R L R L SETMTxABCD motor drive set A 1 drive enable 0 disable B 1 hold on 0 hold off C 0 const l trapezoidal 2 S character D 0 Pulse Pulse 1 Pulse Direction 2 PDR ae command reply read motor set reply ABCD SHPx ddddddd set home position data m read home position reply ddddddd or NO H P SHPFxdddd set home position offset UL read home position offset reply dddd change speed while moving 1 5 000 000 change speed RL read speed reply HSPD or MSPD or LSPD SPDAL active axis and their set speed read reply abcd Hxxxxxxx Mxxxxxxx Lxxxxxxx Hxxxxxxx busy axis will reply 000000 ut set HSPD to ddd in pps unit 1 5 000 000 read HSPD reply dddddd mL set LSPD to ddd in pps unit 1 5 000 000 read LSPD A t MSPD to ddd in pps unit 1 5 000 000 read MSPD e TETTE R L read preset data for local ode reply DDD DD SRELx ddddddd set rel pos data for local mode R L SREL x read rel pos data for local mode re
58. to the mode stop moving for selected channel jog stepping for selected channel continuous stepping of ready ch Stepping direction is according to JOG switch move ready ch to absolute position move ready ch specified steps relatively mode HP STOP MODE communication Stop by HOME POSITION LS total 3 moving style One is for with HP detection memory another two are for no HP detection memory LAN GP IB RS232C port remote case size EIA 2 UNIT rack mount type 88H X 482W X 325D 833
59. tton In case of PMI6C 04XD open the setup screen P6 of LCD by CW button When over the page you can set back page by CCW button In case of PMI6C 04XDL open the setup screen P9 of LCD by CW CCW lever switch Set the cursor of LCD display to BAUD RATE Press the CHG button BAUD RATE value is changing 1200 2400 4800 9600 19200 38400 in rotation After changing BAUD RATE push the SETUP button then the mode will be changed and setting will be finished There is no need to power on again You can check the communication is OK or NOT by the command VER for example 3 The detail of communication commands The format of command is ASCII data and the delimiter is CR LF ODH OAH After receiving CR LF command interpretation begins When the unit receives the command without delimiter the receiving data will be considered to be a front part command characters In this case followed commands will be lost and command interpretation will be impossible When sending commands CR LF must be added at the end of the command though the CR LF are omitted in the command explained below 1 REMOTE LOCAL command These commands are acceptable both Remote and Local mode These commands are acceptable when all channel motors are stopped LOC Set into the Local mode REM Set into the Remote mode 2 SRQ command SRQ signal is one of GP IB signal lines These commands are acceptable in REMOTE a
60. us read out commands s A III IH hh Hh hh hens 5 4 Motor control commands s550ctt tette mm I IIem Ime t etn 6 D JOG Command s n ttt mh hmmm 6 2 Speed select Command rrr rrr tn n t tnt mh meme heme 6 SCAN Command s mmm He III eme hehe eminent 6 SCAN command set with absolute position data including backlash remove scan 6 5 SCAN command set by relative position data including backlash data 55550s T Speed change command while driving sss n n e e e e e I 7 D SLOW STOP FAST STOP command Se E hmm hh E Aa hh hh yh E hh hc ec E T PAUSE ON OFF command ss tttm mH II II e Iii i 8 9 Constant speed SCAN command ss ttt mme 8 Detect home position drive command ss tn n t t mme 8 5 Commands for set and read out parameters 5s tttm 9 D Commands for set and read out motor parameters v nx e e es 9 2 Commands for set and read out speed parameters 55555 t n e nn 10 3 Commands for set and read out acceralaton and deceleration parameters 555555500 11 4 Commands for set and read out latest pulse position parameters 555500 nns 11 Commands for set and read out digital limit position parameters 55550c 6s 12 Commands for set and read out home position status flag parameters lt crrttttt trees 12 D Commands for set and read out data in local mode 5394999 emet eed 13 6 Command for set and read out limit switch data parameters 550000 nnn n e 6 6n 14 T Interpolation drive
61. y R C position data read reply DDDDDDD C position status read reply R D position data read reply R D position data read reply DDDDDDD DEC D position status read reply R A position 2 byte command command 08 jog 09 jog 0C CSPD scan scan OE scan OF scan 16 pause on off 18 hold off 19 hold on 1E scan amp HP stop i amp HP stop 40 slow stop 80 EM stop B position 2 byte command command jog 09 jog 0C CSPD scan 3 scan scan OF scan 16 pause on s off 18 hold off 19 hold on 1E scan amp HP stop 1F amp HP stop 40 slow stop 80 EM stop S32XXXXXX A position 8 byte command XXXXXX HEX position data or command S32XXXXXX 10 CSPD REL IDX 11 CSPD ABS IDX B 12 REL IDX 13 ABS IDX auto backlash correction with B 2 A position DEC index command DDDDDDD or A absolute index scan R relative index scan 2 D 3 DDDDDDD DEC position data DDDDDDDB auto backlash correction with B S33XXXXXX B position 8 byte command XXXXXX HEX position data or gt command S33XXXXXX 10 CSPD REL IDX 11 CSPD ABS IDX B 12 REL IDX 13 ABS IDX auto backlash correction with B

PM16C-04XD(L) Remote mode User`s manual rev.4

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