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CMS-100 User`s manual

1. 7 5 10 15 L10 35 Frontview Sideview Unit mm 4 Connector 4 1 Connector pin assignment 4 1 1 CONTROL Connector Model number Plug XG4C 2034 XG4M 2030 Omron Signal COM 24V 20 nana Be P Description common for RDY ALARM circuit RDY Ready for command On moving signal ALM Abnormal monitor signal Output Circuit 1 NC Not used DSELO DSEL1 DSEL2 DSEL3 Moving data selection signal ST HOME Homing start signal ST POS Starting of Position data moving ST_SCAN Starting of Scanning ST JOG Starting of jog DIR Direction signal SDOWN Deceleration signal SSTOP Deceleration stop signal ES Emergency stop signal Remark 1 Circuit 2 COM 0V common for input signal Remark 1 Please use with the status of normal close B connection when normal operating Please connect with COM 0V terminal if it is not used If this unit is not the status of normal close this unit does not work 4 1 2 SE NSOR connector Model number XG4C 1034 XGAM 1030 SECH Socket Signal name Description Circuit Home sensor signal Limit sensor signal of forward direction Circuit 2 Limit sensor signal of reverse direction Not used Common for HOME FOR REV 4 1 3 DRIVER connector Mo
2. 4 Data Lower END code Description of Status number Items Description Number Upper Lower This is current position monitor The unit is pulse Input signal status This is status monitor of input signal Output signal status This is status monitor of output signal Model number code This is model code version and axis number Current position Description 1 of status Description 2 of status Description of input signal status status ST_HOME input ALM output signal signal status status ST_POS input RDY output signal signal status status ST_SCAN input CO output signal Model Current code status signal status status H 6 5 ST JOG input 4 signal status Position data DIR input signal 3 status status 1 status 0 status number DSELO input signal DESL1 input signal DESL2 input signal 34 DSEL3 input signal status SDOWN input signal status SSTOP input signal status HEAT input signal status ES input signal status FOR input signal status REV input signal status HOME input signal status Deceleration command signal status 35 9 1 3 6 Alarm release Command Response Byte Byte Command code 0x98 Command code 0x98 T Number U pper TOE EER Status Status 4 Number Lower Error code Error code T Data U pper T Number U pper 4 Number Lower T Data U pper Reservation R
3. HEAT 9 1 3 Description of communication data 9 1 3 1 Parameter reading Movement data Command Response Byte e Command code 0x80 Command code 0x80 T Number Upper Parameter Status Status 4 Number Lower number Error code T Data U pper Error code T Number Upper Parameter 4 Number Lower number T Data Upper Reservation Parameter 4 Data Lower END code 4 Data Lower END code Description of parameter number Upper Lower Items Value Items Speed range and function selection Movement Start speed data Maximum speed number Acceleration ramp Deceleration ramp Position data 30 9 1 3 2 Parameter reading System setting Command Response Byte Command code 0x81 Command code 0x81 T Number Upper Parameter Status Status 4 Number Lower number Error code Error code T Data U pper T Number Upper Parameter 4 Number Lower number T Data U pper Reservation Parameter 4 Data Lower END Code 4 Data Lower END code Description of parameter number Items U pper Homing speed range Homing direction Homing start speed Homing maximum speed Homing acceleration ramp Homing deceleration ramp Waiting time Forward limit Reverse limit Resolution setting Function selection 31 9 1 3 3 Parameter writing Movement data Command Response Byte Command code 0x88 Command code 0x88 T Numbe
4. 4 3 2 Description of SENSOR connector signal 4 3 2 1 HOME Home sensor signal This is input signal for home sensor Thisis used for home searching 4 3 2 2 FOR Forvvard limit signal This is input signal for forward limit sensor 11 While pulse is outputting for clockwise direction if this signal goes ON it stops instantly and turns ALM output ON 4 3 2 3 REV Reverse limit signal This is input signal for reverse limit sensor While pulse is outputting for counter clockwise direction if this signal goes ON it stops instantly and turns ALM output ON 12 4 3 3 Description of DRIVER connector signal 4 3 3 1 CW CW CW pulse output signal This is output signal for CW pulse of open collector output In case of 2 pulses mode this is CW pulse output and in case of 1 pulse mode this is pulse output 4 3 3 2 CCW CW CCW pulse output signal This is output signal for CCW pulse of open collector output In case of 2 pulses mode this is CCW pulse output and in case of 1 pulse mode this is direction output 4 3 3 3 RSCW RSCCW CW pulse output signal This is output signal for CW pulse of line driver output In case of 2 pulses mode this is CW pulse output and in case of 1 pulse mode this is pulse output 4 3 3 4 RSCCW RSCCW CCW pulse output signal This is output signal for CCW pulse of line driver output In case of 2 pulses mode this is CCW pulse output and in case of 1 pulse mode this is directi
5. Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting 0x80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 Ox03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting 0x80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data 0x80000000 Ox7fffffff 15 0x00000000 Description of Movement data ee Range
6. 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting 0x80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Ox80000000 Ox7fffffff 0x00000000 Movement data8 Movement data9 Movement data10 Movement data11 Movement data12 Movement data13 Movement data14 Speed range function setting Range of setting 0x0000 Ox03ff Factory default 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 Ox03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001
7. 20cm the humidity might rise too high or too low The operating ae Earth if the products humidity should be within 30 80 The storage humidity should be within 20 90 have earth terminal WII KS N N s lt ZZ Contents 1 5 6 7 FOF CW ge EE 1 1 1 Checking contents Of DACK AGE EE 1 1 2 Optional accessories eee mmm anna eter 1 Specification ET 2 DIMENSIONS ara sosise ot dota oa ada da aan ata Data a Le baia etate atacata ia a dd eg 3 EE EE sna E 4 4 1 Connector pin assignment men neam nn 4 T CONTROL CONnNector insetat cae eee Late aa det ai aa at d 4 4 12 SENSOR CONNECtOr isi iasa aa nea aaa anala asa ana a n n ap ana aaa aa ui 4 4 1 3 DRIVER e UN Re E 5 I 6 4 1 5 USB DEVICE connector NNN 6 4 1 6 Power source terminal e nenea nenea nana nana 7 4 25 TApUtOU DU e Te EE 7 4 3 Description of EIKS OTE I A 9 4 3 1 Description of CONTROL connector sonal 9 4 3 2 Description of SENSOR connector sonal 11 4 3 3 Description of DRIVER connector sonal 13 4 3 4 Description of USB HOST connector USB DIVICE connector signal 13 Paramete EE 14 5 1 List of parameter Movement data E 14 5 2 List of parameter System Seiti nd sana aaa aaa aaa eee nse vonese vere e vere e veren 17 E do adesea pda at oaia 19 6 1 External starts E ENE DER EA EEN ED eneaneanan ana annana nana nana 19 6 1 1 Timing chart of external sonal 19
8. information mucom nc Head office 12 S Shimobano Saga hirosavva U kyo Kyoto J apan 616 8303 TEL 075 882 3601 FAX 075 882 6531 Home Page http www mycom japan co jp Sales office Kyoto Tokyo Oita Factory Kyoto Subsidiary Taiwan Korea U SA Singapore Malaysia English URL http www nyden com
9. of parameter setting Moving to position data Scanning J ogging Speed range function selection 0x0000 Ox03ff same as left same as left Start speed 0x0001 Oxffff same as left same as left Maximum speed 0x0001 Oxffff same as left same as left Acceleration ramp 0x0001 Oxffff same as left same as left Deceleration ramp 0x0001 Oxffff same as left same as left Position data 0x80000000 Ox7fffffff Not used Not used Remarks 1 Position data is setting value by numbers of pulses 2 Calculation for start speed and maximum value of speed setting Value of setting F requency Hz N 100 N 1 256 3 Acceleration ramp deceleration ramp Value of setting Ramp Hz msec N 10 N 1 256 N is value of setting for speed range However in case of N 256 setting please set O for speed range setting Description for speed range function selection Speed range 0x00 Oxff Selection of coordinates 1 Relative 0 Absolute Selection of sequential start 1 Valid 0 Invalid 16 5 2 List of parameter System setting Homing speed range Homing direction setting Setting range 0x0000 0x01ff Factory default This sets speed range for homing and homing direction 0x164 Homing start speed This sets start speed for homing 0x0001 Oxffff 0x00000000 Homing maximum speed This sets the maximum speed for homing 0x0001 Oxffff 0x0001 H
10. 6 1 2 Movement data selection signal DSE LO 3 au nene nenea 19 6 1 3 External start signal ST HOME ST POS ST SCAN ST JOG 20 6 1 4 Movement direction selection signal DIR 22 6 1 5 Deceleration Stop signal SDOWN SSTOP ES 23 6 2 USB Communication Fun Cili ON aa uaa aaa aaa ea neneve nese eee vetevete reze 24 6 3 Other tun ele VE 24 6 3 1 Function dange 24 6 3 2 Software limit undoen 25 Example OF WIRING EE 26 7 1 Wiring example with DRIVER connector A 26 7 2 Wiring example for SENSOR Connect 26 7 3 Wiring example for CONTROL connector nenea nea esen 27 8 Listo erro GOC REPER 28 E ER 29 9 1 Communication command nenea 29 OT e com Mand E 29 9 1 2 Communication data format eect eee eects nenea nenea 29 9 1 3 Description of communication data 30 1 Foreword Thank you using our CMS 100 one axis controller for COSMOS NET control system this time Please read this manual thoroughly in prior to using this unit and operate this unit correctly 1 1 Checking contents of package CMS 100 includes main unit and user s manual Please check that all of them are included in the package We are carefully packaging the products but please contact our agencies or us if contents are incomplete Main unit CMS 100 User s manual This Book 1 2 Optional accessories There are following optional accessories for CMS 100 Control software MYC
11. IS II CMS 100 GUI O 1 0 Connector Set CMS 100 I OCS 2 Specification The specification of CM S 100 is as follow Control system Microprocessor control system Communication type USB 2 0 supporting Number of axes controlled One axis Control Motor Stepping motor Program capacity Moving 12 different types data Serial EEP ROM writing times 102 Acceleration deceleration system Trapezoidal or triangle Command system External start signal Communication command External start Homing positioning absolute relative Scanning J og Deceleration Decelerated stop Emergency stop Parameter write Parameter read Status read Alarm release Start speed and Maximum speed 100 N to 6553500 N Hz N to 256 N 1 100Hz to 6 5535MHz to N 256 about 0 39Hz to 25 599K Hz Setting range depends on speed range setting When N 256 please set 0 at speed range setting Moving distance setting Available moving distance setting 2147483648 pulses to 2147483647 pulses One moving command setting range 2147483648 pulses to 2147483647 pulses Driver F Output for clock Each one series of Open collector and Line driver Resolution selection DIVO to DIV3 CO HEAT Mechanical sensor F F orward Reverse over run Home Exclusive I O Photo coupler isolated 5mA internal power source 24V used External start signal Homing Positioning Scannin
12. No QI36 02001B mycom One axes controller for CosmosNet Control System CM S 100 User s manual mucom Inc History of change for user s manual Date of change Change part Description of change Name of changer i Current ON and current GE OFF command are added ANAIS P36 Status writing command Attention on Safety Please read this user s manual carefully before using this device Please keep the followings and use safely to avoid a fatal accident Do not use or leave it unattended after e disassembling or damaging this unit o not touch the unit with wet hand The above might The above might cause an electrical M cause electric shock shock or an accident Qa or accidents We will not be responsible for repair if the unit is disassembled by the customer 6 Avoid having metals and other foreign objects enter into the device The above might cause fire electric shock or accidents Attention on safety Please read this user s manual carefully before using this unit u Please keep the follovings and use safely to avoid an AN Attention accident 6 Donot use or store the unit near by corrosive gas watery or chemical place It may cause fire electric shock or accident III T N N Do not use or store this unit in a place of direct rays of the sun It may cause an accident Confirm the input voltage and wiring before power on Wrong wirin
13. When this signal goes ON positioning movement is executed by selected movement data of DSELO 3 M oving data selection signal 10 4 3 1 6 ST SCAN Scan movement start signal This is input signal for scanning start VVhen this signal goes ON movement to the direction specified by DIR direction signal with data selected by DSELO 3 Moving data selection signal is executed If SSTOP signal goes ON decelerated stop is executed 4 3 1 7 ST J OG J og movement start signal This is input signal for jog movement start When this signal goes ON movement to the direction specified by DIR direction signal with data selected by DSELO 3 Moving data selection signal is executed If signal goes OFF it stops 4 3 1 8 DIR Direction signal This is input signal for selection of moving direction This signal is used to select moving direction for scan movement or jog movement _ Clockwise Counter clockwise DIR ____ OFF JON 4 3 1 9 SDOWN Deceleration signal This is input signal for deceleration When this signal goes ON it decelerates until start speed 4 3 1 10 SSTOP Deceleration stop signal This is input signal for deceleration stop When this signal goes ON it decelerates and stops pulse output If this signal goes ON in emergency case while pulse output stops ALM output is released 4 3 1 11 ES Emergency stop This is input signal for emergency stop When this signal goes ON pulse output stops and ALM output turns ON
14. ault LIM logic selection B connection A connection HEAT logic selection B connection A connection Pulse output selection 1 pulse 2 pulses Forward direction selection CCW CW Backlash compensation Valid Invalid HEAT alarm makes abnormal factor or not Make 18 Not make 6 Function 6 1 External start External start signal ST HOME ST POS ST SCAN ST_J OG can execute movement command of movement to home movement to position scanning and jogging DSELO DSEL3 signals select movement data and DIR specifies the direction of movement 6 1 1 _Timing chart of external signal TI T2 Timelmseci TI More than 0 T2 More than 0 T3 Less than 3 T4 Morethan 0 External start signal Movement data selection signal Movement direction selection signal RDY signal output While RDY signal output is ON signal inputs of ST HOME ST POS ST SCAN and ST J OG are acceptable RDY signal output is OFF during activating 6 1 2 Movement data selection signal DSE L 0 3 This is movement data selection signal to use for position data movement scanning and jogging Please refer the column of DSE LO 3 movement data selection signal in description of signal with reference to DSEL 0 3 and selected position data 19 6 1 3 External start signal ST HOME ST POS ST SCAN ST J OG 6 1 3 1 ST HOME Homing start signal Homing i
15. b Sequential start In case that all of DSELO 3 is ON and positioning movement starts it is sequential start In case that DSELO 3 are ON status whenever positioning start signal goes ON valid movement data of 0 14 movement data for sequential start is searched and start is executed Searching order of position data is cleared by homing execution Example movement of sequential start Sequential start Data Number Valid 0 5 6 10 14 Invalid 1 2 3 4 7 8 9 10 11 12 13 If movement data is set as above movement order is as below ee gt 5 gt 6 gt 10 PAAT 21 6 1 3 3 ST SCAN Scanning start signal Scanning is executed when DSELO 3 specifies movement data number DIR selects movement direction and ST_SCAN goes ON while RDY signal is ON Stop is executed when deceleration stop signal SSTOP goes ON Example movement of scanning ST_SCAN signal SSTOP signal Start Deceleration stop 6 1 3 4 ST JOG J ogging movement start signal J ogging is executed when DSELO 3 specifies movement data number DIR selects movement direction and ST_JOG goes ON while RDY signal is ON Movement continues whileST_J OG is ON Example movement of jogging ST_SCAN signal ON ON Se Start Stop Start Stop 6 1 4 Movement direction selection signal DIR This is movement direction selection signal for scanning and jogging Please refer DIR direction signal for the movement direction to be
16. backlash compensation is valid and the value is set outside of setting range software limit is automatically capped 25 7 Example of wiring 7 1 Wiring example with DRIVER connector CMS 100 INS 50 DRIVER connector CNI Pin No Signal CW CW CCW CCW RSCW RSCW RSCCW RSCCW CO CO DIVO DIV1 DIV2 DIV3 COM 5V Signal W 00 N Oy 01 BR QU N e vjojnjolulpjuljnin The above figure is wiring example with our INS5O series which is stepping motor driver for NanoDrive If in position signal is managed by external device and external start signal of CMS 100 is controlled wiring with pulse train servomotor driver is also available 7 2 Wiring example for SENSOR connector Sensor CMS 100 SENSOR connector Signal 26 7 3 Wiring example for CONTROL connector CM S 100 CONTROL connector Pin No Signal Sequencer etc COM 24V Vy eee Sg EES RER AM Lo 1A NC DSELO DSEL1 vjojnjolulpjujlnia DSEL2 DSEL3 ST HOME ST POS ST SCAN ST JOG DIR SDOWN SSTOP ES COM 0V 27 8 Listoferror code Error code Description Cause and measures No error Communicati Communication error is caused on error Please execute the alarm release then execute homi
17. c of HEAT signal input is changeable Bit2 of function change of system setting sets logic O is A connection 6 3 1 4 Pulse output change 1 pulse or 2 pulse mode is selectable Bit3 of function change of system setting sets pulse mode Setting value CW RS CW output CCW RSC_CCW output O CW pulse signal output CCW pulse signal output 1 Pulse signal output Direction signal output 6 3 1 5 Forward direction change Forward direction is selectable Bit4 of function change of system setting sets direction n case of 0 CW direction is forward 6 3 1 6 Back lash compensation change Valid or invalid backlash compensation function is selectable Bit5 of function change of systems setting sets valid or invalid O is invalid The value of backlash is set by homing execution 6 3 1 7 Selection whether HEAT signal makes abnormal factor or not Selection whether HEAT signal makes abnormal factor or not is available 24 Bit6 of function change of system setting sets valid or invalid 0 sets invalid 6 3 2 Software limit function There are software limit functions for forward direction and reverse direction In case that execution request of movement command which exceeds software limit position movement is not performed The setting range is Ox7fffffff 0x80000000 However in case that backlash compensation is valid setting ranges for both ends are smaller for the value of backlash In case that
18. del number Brand Right angle connector PCS E20LMD Flat cable connector PCS E 20F C Honda Connector case PCS E 20LT CW clock output Clock output in case of 1 clock setting CCW clock output Direction output in case of 1 clock setting CW clock output Line driver Clock output in case of 1 clock setting CCW clock output Line driver Direction output in case of 1 clock setting Circuit 3 Circuit 4 Current off output Circuit 5 Output of resolution selection Circuit 6 common 5V Not used Circuit 7 4 1 4 USB HOST connector Model number Socket B type XM 7B 0422 2 1 JE Description USB power pin USB data signal USB power pin 4 1 5 USB DEVICE connector Model number Socket A type XM 7B 0422 Pin Lower 1 Lower 4 Signal Descri ption USB Power pin USB data signal Lower 1 USB Power pin USB POWER PIN Lower 2 Lower 3 USB Data signal Lower 4 USB Power pin 4 1 6 Power source terminal Model number Through terminal W121C 3MC DOS Description Power terminal FG terminal 4 2 Input output circuit Circuit 1 RDY ALM TLP181 Equivalent Toshiba Circuit 2 DSELO DSEL1 DSEL2 DSEL3 ST HOME ST POS ST SCAN ST OG DIR SDOWN SSTOP JES HOME FOR REV PC3Q66Q d ZkO Equivalent Shar
19. eservation Reservation 4 Data Lower END code 4 Data Lower END code 9 1 3 7 Status writing Command Response Command code 0x99 Command code 0x99 T Number U pper Status Status Status 4 Number Lower number Error code Error code T Data U pper T Number U pper Status 4 Number Lower number T Data U pper Status Status 4 Data Lower END code 4 Data Lower END code Description of Status number and Description of Status Items Description Number umber Upper Lower DS This is current position Setting Current position Setting The unit is pulse KEE 36 9 1 3 8 Movement command Command Command code OxAO T Number Upper Movement i Number Lower command number Response Command code OxAO Status Status Error code Error code T Data U pper Movement command number T Number U pper 4 Number Lower Reservation T Data U pper Direction specification Data number specification Reservation 4 Data Lower END code Movement data number Ox0d 4 Data L ower END code Description of movement command number data Direction Direction This number Movement Items command Homing Upper Lower specification Reservation number specification Reservation Positioning movement Reservation Movement data number Direction Movement data number J ogging Direc
20. g J 09 Deceleration and stop signal Deceleration Decelerated stop Emergency s top Position specified signal DSELO to DSEL3 Direction signal DIR 12 points Photo coupler isolated Open collector output 10mA Less than 2 points dielectric strength 35V Error output E RR Ready output RDY Parameter function Systems setting Moving data for homing Soft limit resolution Speed range setting Function selection Moving data setting Position data Start speed Maximum speed Acceleration slope Deceleration slope Input power AC100 to AC220V Environment without condensation O to 45 degC 32 to 113 deg F O to 60 deg C 32 to 140 deg F Operating Temperature Humidity Storing Dimension 35 W x 126 D x 165 H mm excluding protuberance Weight 525g 3 Dimensions 945 165 SSC a 5 d E d CM 100 Oort O AM DRI VER gt 7 5 Topview 126
21. g or input voltage may cause fire or accident e Earth Earth D class earth or connect with protective earth in case of the product having protective earth terminal to avoid electric shock Attention on usage Please read this user s manual before using this device Please keep the following and use safely to avoid an A Attention acident 6 Donot use or store this device in a 6 Avoid condensation of devvs dusty place i Bringing the device This device is not Ki into a place of high constructed ES humidity or a place dustproof OCD where temperature Operatingin dusty E changes suddenly will place causes the cause condensation of accident dews Donot give the device a big shock Take measures against noises Noises will cause malfunctions and This is a precision Z accidents device and it should f not be dropped or i S Use the power supply given a big shock It Al which is not connected causes the accident to a noise generating device Do not use or store it in a place where the temperature might rise too high or too low Use shielded wires for wiring Makethem as short as possible The operating Usethe twisted pair REE temperature is wires for the clock 0 40 C and the outputs storage temperature is a In case of AC type 0 60 C products separate Avoid extreme temperature changes power cable AC from signal line DC more Do not use or store it in a place where than
22. ion ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 Ox03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting 0x80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed
23. ng Emergency Emergency stop signal is inputted stop Please execute the alarm release then execute homing Over run F orward Reverse over run signal is inputted Please execute the alarm release then execute homing HEAT alarm HEAT alarmis inputted Please execute the alarm release then execute homing 28 9 Appendix 9 1 Communication command 9 1 1 List of command reading Writing of system setting Parameter Movement data reading writing Reading of system setting Current position reading Input signal status reading Output signal status reading Model code reading Alarm release Abnormal status release Status writing Homing Movement Positioning movement command Scanning Jogging Deceleration Deceleration stop Emergency stop Current On Off Current On Off Status reading Deceleration stop 9 1 2 Communication data format Remarks Byte 1 Please transfer or Command code Command code receive number data T Number upper Status status error code 4 Number lower Error code after chaining into T Data upper T Number upper PSC COE Number lower 2 Please set 0 as T Data upper dummy data for appointed parts 4 Data lower END Code 4 Date lower END code Status bit assignment Error code Bit Ready No error On movement Communication error Abnormal Emergency stop Alarm No execution Over run
24. oming acceleration ramp This sets acceleration ramp for homing 0x0001 Oxffff 0x0001 Homing deceleration ramp This sets deceleration ramp for homing 0x0001 Oxffff 0x0001 Waiting time When homing if moving direction changes this insert waiting time of setting value 5msec 0x0000 Oxffff Ox0014 Forvvard limit This sets software limit for dock vvise Ox80000000 Ox7fffffff Ox ZTTTTTT Reverse limit This sets software limit for counter clock wise 0x80000000 Ox7fffffff 0x80000000 Resolution setting This sets the selection of resolution 0x00 OxOf 0x00 Selection of function This sets the selection of function for logic pulse output and so on 0x00 Ox7f 0x00 1 Calculation for homing start speed and homing maximum speed setting Value of setting F requency Hz N 100 N 1 256 2 Calculation for homing acceleration ramp homing deceleration ramp Value of setting RamplH z msec N 10 N 1 256 N is value of setting for homing speed range However in case of N 256 setting please set 0 for homing speed range setting Description for homing speed setting homing direction setting Range of homing speed 0x00 Oxff Homing direction 1 Reverse 0 Forward 7 0 8 17 Description of function selection Value Description HOME logic selection 1 B connection A connection Factory def
25. on output 4 3 3 5 C0O CO Current off output signal This is output signal for selection of current ON OFF for stepping motor driver 4 3 3 6 DIVO 3 Resolution selection output signal This is output signal for resolution selection of NanoDrive stepping driver 4 3 3 7 HEAT Driver alarm input signal This is input signal for alarm of stepping motor driver Function selection of System setting can select whether this alarm makes abnormal factor or not 4 3 4 _Description of USB HOST connector USB DIVICE connector signal 4 3 4 1 VBUS GND USB power pin This is power pin for USB bus 4 3 4 2 D DHUSB data signal This is data signal for USB communication 13 5 Parameter 5 1 List of parameter Movement data Movement data o Movement datal Movement data2 Movement data3 Movement data4 Movement data5 Movement data6 Movement data7 Speed range function setting Range of setting 0x0000 0x03ff Factory default 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Deceleration ramp 0x0001 Oxffff 0x0001 Position data Speed range function setting Ox80000000 Ox7fffffff 0x0000 0x03ff 0x00000000 0x0064 Start speed 0x0001 Oxffff 0x0001 Maximum speed 0x0001 Oxffff 0x0001 Acceleration ramp 0x0001 Oxffff 0x0001 Decelerat
26. p Circuit 3 CW CCW CW CCW TLP113 Equivalent Toshiba Circuit 4 RSCW SCCW RSCW SCCW HD26LC3 Equivalent Renesas Circuit 5 CO CO TLP181 Equivalent Toshiba Circuit 6 DIVO 3 Circuit 7 HEAT 4700 TLP181 Equivalent Toshiba 4 3 Description of signal 4 3 1 Description of CONTROL connector signal 4 3 1 1 RDY Command waiting M oving signal This signal shows active status of CMS 100 This signal is ON when command or start signal is acceptable This signal is OFF while communication command or command by external start signal is proceeding or moving 4 3 1 2 ALM Abnormal monitor signal This signal is output signal which show the abnormal status of CMS 100 In abnormal case this signal is ON When ALM is ON please release alarm after clearing the abnormal condition 4 3 1 3 DSELO 3 Moving data selection signal This signal is input signal for selection of moving data This signal is used for the selection of data for positioning movement scan movement and jog movement 0 1 2 3 4 5 6 7 8 9 Sequential start 4 3 1 4 ST HOME Homing start signal This signal is input signal for homing start When this signal becomes ON homing is executed by the data of homing movement of system setting 4 3 1 5 ST_POS Positioning movement start signal This is input signal for positioning movement start signal
27. r Upper Parameter Status Status 4 Number Lower number Error code Error code T Data U pper T Number U pper Parameter 4 Number Lower number T Data U pper Parameter Parameter 4 Data Lower END code 4 Data Lower END code Description of parameter number U pper Lower Items Value Items Speed range Function selection Movement M SE eed data number Acceleration ramp Deceleration ramp Position data 32 9 1 3 4 Parameter writing System setting Command Response Byte Command code 0x89 Command code 0x89 T Number Upper Parameter Status Status 4 Number Lower number Error code Error code T Data U pper T Number U pper Parameter 4 Number Lower number T Data U pper Parameter Parameter 4 Data Lower END code 4 Data Lower END code Description of parameter number Items U pper Homing speed range Homing direction Homing start speed Homing maximum speed Homing acceleration ramp Homing deceleration ramp Waiting time Forward limit Reverse limit Resolution setting Function selection 33 9 1 3 5 Status reading Command Response Byte e Command code 0x90 Command code 0x90 T Number U pper Status Status Status 4 Number Lower number Error code Error code T Data U pper T Number U pper Status 4 Number Lower number T Data U pper Reservation Status 4 Data Lower END code
28. s executed when ST HOME goes ON while RDY signal is ON The parameter to use for homing is required to set at CMS 100 in advance Movement patterns for homing Example Movement of homing to the reverse direction In case of forward direction forward and reverse is converse HOME signal ON Reverse limit signal ON RRS sta Mad U UU UD a cet a all Homing maximums speed Homing from normal Reverse driving position Forward driving Homing from on i Reverse driving position of HOME i Forward driving Homing from the position Reverse driving between HOME signal Forward driving and LIM signal i 20 6 1 3 2 ST_POS Positioning movement start signal Movement is executed as target position to the position data of movement data when DSELO 3 specifies movement data number while RDY signal is ON The movement data to use for position data movement is required to set at CMS 100 in advance a Start by selection of position data Example movement of positioning movement Absol ute movement In case that current position is 1000 the value which is set by position data is 4000 and the setting of coordinates is absolute 1000 4000 3000 pulses Reverse 0 Forward Example movement of positioning movement Relative movement In case that current position is 1000 the value which is set by position data is 4000 and the setting of coordinates is absolute 1000 5000 Reverse 0 Forward
29. selected by DIR 22 6 1 5 _Deceleration Stop signal SDOWN SSTOP JES 6 1 5 1 Deceleration signal SDOWN This signal decelerates up to start speed when SDOWN signal goes ON during movement Example of deceleration SDOWN signal Start speed Deceleration 6 1 5 2 Deceleration stop signal SSTOP When SSTOP signal goes ON during movement deceleration stop is executed and movement is finished Example of deceleration stop SSTOP signal Deceleration stop Further more in emergency case alarm is released if this signal goes ON when pulse output stops ALM signal SSTOP O 6 1 5 3 Emergency stop signal E S When ES signal goes ON during movement emergency stop is executed and movement is finished Example of emergency stop ES signal Emergency stop 23 6 2 USB Communication function Performance of Parameter writing and reading Status reading Alarm release Movement command execution and deceleration stop command execution are available through USB communication 6 3 Other functions 6 3 1 Function change 6 3 1 1 HOME logic change Logic of home sensor input HOME is changeable Bito of function change of system setting sets logic O is A connection 6 3 1 2 LIM logic change Logic of limit sensor FOR REV is changeable Bit1 of function change of system setting sets logic O is A connection 6 3 1 3 HEAT logic change Logi
30. tion 37 Movement data number specifies movement direction 1 reverse O forward Movement data number This specifies movement data number for the use of movement command Numbers are0 E 9 1 3 9 Deceleration stop command Command Response Byte Command code OxAl Command code OxAl T Number U pper Deceleration Status Status 4 Number L ower stop Error code Error code command number T Data U pper T Number Upper Deceleration 4 Number L ower stop command number T Data U pper Reservation U pper Reservation 4 Data Lower END code 4 Data Lower END code Description of Deceleration stop command number Deceleration stop Items command number U pper Lower 0 stop 0 stop 38 9 1 3 10 Current ON OFF command Command Byte Command code OxBO Response Command code OxBO T Number U pper 4 Number Lower Reservation Status Status Error code Error code T Data U pper Reservation T Number U pper Number Lower Reservation 4 Data Lower State specification END code OxOd State specification Current ON 1 Current OFF 0 39 T Data U pper Reservation 4 Data Lower State specification END code OxOd Please understand that we may make modifications to our products without notification in order to improve the capabilities and external appearance of our products For more

CMS-100 User`s manual

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