PM16C-04XD(L)取扱説明書 リモートモード操作編 改訂16
Contents
1. CR LF ODH OAH CR LF ODH 0AH 1 REMOTE LOCAL MODE LOC REM 2 SRQ GPIB RS232C LAN REMOTE LOCAL MODE GPIB SRQ SRQx1 x SRQ2. E 3 SHP x ra E CW LS CCW LS le WH Le SETHP x
3. FLx BL x x CCW tddddddd decimal 7 HP REMOTE REMOTE LOCAL SETHPx0XYZ x X found 1 not found 0 AY Y found dir 0 cw 1 ccw Z auto start dir 0 cw 1 ccw SETHP x x 0XYZ 0100 SHPx ddddddd x UK 3
4. busy 16 3 x a x 3 LCD TimingOut LCD 22 ET LCD LCDB LCD BRIGHT 100 1100 LEON 1 100 V1 47 STS 1 d x R L aPVHH uu u STS 5
5. ACSxyyy PNT JJJ J FNC LLL L ACS Auto Change Speed command fixed X C hannel 0 F yyy data number 0 127 PNT KTS E S JIJ FNC SPD speed in pps LLL L END no more da ta ACSxyyy END ADD relative a TIM relative t ACC speed data DEC speed data ddress from start point ime from previous point while acceleration while deceleration J fEox X BL A 2 147 483 640 0 65 535ms 1 5 000 000pps RTE rate number ae aPC T es 4 SLW slow stop FST fast stop NOP no operati SLOW STOP LLL L FAST STOP LLL L on xit 7LLL L 1 5 000 000pps RATE
6. 0 9 A B C DE F REM LAN GP IB 3 RS232C 3 Bir P9 XDL P10 Fs 77777 IP 10001 10999234f E EE TUCU xS telnet
7. BAUD RATE c STOP BIT 1 AMOS KIVA 2 gt 6 RO FIIR CBAUD RATE REM LOC SETUP BUR AWE LOC CW DL LCD CW CCW BAUD RATE yu EX E NO FLOW CONTROL NO PARITY P6 XDL P9 3 CCW E JW d BAUD RATE CHc 1200 2400 4800 9600 1920 SETUP 4 zyuct EX VER 0 38400 Eu
8. RS232C LAN Windows http www tsuji denshi co jp download file lan rs file send EXE http www tsuji denshi co jp manual_pdf pm16c_04xd_vup_soft pdf PDF TeraTerm LAN D HP TeraTerm TCP ITP PM16C 04XD L TP SETUP gt Termina1l New line Receive Transmit CR4LF Local echo OK VER PM16C 04XD L REMOTE MODE
9. 2 3 4 5 ready ready 2 5 ready ready TMGCx ready 1
10. 1 ready ready TMGRx 1 3 2 4 4 2 3 4 5 17 TH
11. SPDHxdddd x HSPD ddd pps SPDH x ddd SPDMxdddd x MSPD ddd pps SPDM x ddd SPDLxdddd x LSPD ddd pps SPDL x ddd SPDAL 4 abcd Hddddddd Mddddddd Lddddddd Hddddddd a b c d O F ddd pps 1 5 000 000 0000000 10 RATE DATA TABLE unit ms 1000pps RATE No RATE No 0 1000 150 40 22 60 130 41 20 61 120 42 18 62 110 43 16 63 4 680 100 44 15 64 91 45 13 65 6 560 82 46 12 66 75 47 11 67 8 470 68 48 10 68 9 430 62 49 9 1 69 56 50 8 2 70 51 51 7 5 71 47 52 6 8 72 43 53 6 2 73 39 54 5 6 74 15 240 36 55 5 1 75 33 56 4 7 76 17 200 30 57 43 77
12. 7 C C 7 C d ddd 17 2 147 483 647 C 3 D D 7 26 SPEED RATE 1 B 1000 A 50 100 2 YMD200 2 YAP50 A 50 YBP1000 B 1000
13. STOP 2147483647 cu ml EC SCANHPx SCANHNx b Sy H ME d ml x CW
14. ABSxS dddddddddd SCAN F x ARI Hi dd E HE 2 147 483 647 yya amp BE 0 BF ETO CER avy SC BAD ABS COMMAND rox EE Ls o r xz mos TY A HEME PEHEZ Ht Qr AT o o E H 2 147 483 647
15. at IW o 1 j TW C D C1 A C p 7 absolute address a b axis strai interpolative move to the dest a b 07 F xx yy decimal relative address a b axis strai interpolative move to the dest a b 07 F xx yy decimal absolute address a b axis cw d t line ination under 9 digit t line ination under 9 digit irection circular interpolation with center position data a b 0 F x y destination u v center position Xeeeysyree uree vvee decimal under 9 digit perfect circle interpolation will be done by setting the destination to currnt 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 with center position data a b 0 F x y destination u v center position xte ytte utete vv decimal under 7 digit perfect circle interpolation will be done by
16. REMOTE REMOTE LOCAL SETLSxDYYYOyyy x D digital limit enable 1 disable 0 Y LS enable 1 disable 0 HP LS CCW LS CW LS y LS N C 1 N 0 0 HP LS CCW LS CW LS SETLS x x DYYYOyyy Qr ZW o LS wH 4 pd CN abcdHJKL 8 gt cd HLJ KL a ch LS H b ch J c ch K d ch L 4 16 b0 CW LS b1 CCW LS b2 HP LS b3 hold off CW LS 0N 1 CCW LS ON 2 HP LS ON 4 hold off
17. GTHPx SCANHPx REMOTE REMOTE LOCAL SETMTxABCD SETMT x HOLDxOFF HOLDxON HOLD x V1 48 HOLDTMxddd HOLDTM x x A 1 drive enable 0 disable disable enable 1 ho1d on 0 ho1d off hold off EO 2 S character 0 const 1 trapezoidal CEPS E ho1d off 1 CCW 3 ho1d on A He On qax IW
18. ERR E BAD ABS COMMAND REMOTE RELx dddddddddd x dd RELxB dddddddddd x dd RELxS dddddddddd x 2 147 483 647 dd zx Zi 2 1 47 M EL 483 2 147 483 647 2 147 483 647 ent 2 147 483 647 2 147 483 647 HEME
19. 1 TEPO36 QDL TEP0637 2 ON 1 OFF 2 5 REMOTE LED 15 LED 28 3 2 OFF 1 OFF 4 REM LOC V1 00 LCD REM LOC OK ZW o P8 PROGRAM CHANGE 2 E uc a UM
20. SETCH S16x LS SETCHabed ET E S10 PM16C 04 PM16C 04XD PM16C 02Z PM16C 04 PM16C 04S5 TMGMxY 5 1ms TMGSx dddddd 1 000 TMGEx dddddd 10 000 TMGIxddddddd 200 OK
21. SHP x ddddddd decimal 7 NOH P 23 SHPFxdddd x GTHPx 2 dddd 0 9999 9999 SHPF x x dddd 10 4 12 D SABSx ddddddd SABS x SRELx ddddddd SREL x SPRSx ddddddd SPRS x SET JGxdddd SETJG x SACTxY SACT x IF FRE REMOTE 3
22. LCD 3 2011 06 29 12 GPTB SRQ RS232C LAN STOPx 2011 11 10 13 P24 27 Y 2013 05 17 14 V1 47 1 STSx 2013 06 19 15 V1 48 2014 06 03 16 IP LAN 29 6 PEPE EFR AC 85V 264V 47 440Hz 50VA N XV 47
23. 2 2 Va ages REMOTE LOCAL 2 ACS xyyy 1 nm CSET reply xyyy PNT JJJ J FNC LLL L ACS 0000 ACS 0001 ACS 2000 ACS 2001 0000 ADD 005000 SPD 003000 6 6 0001 ADD 010000 SPD 006000 6 2000 TIM 000000 SPD 001000 2001 TIM 001000 SPD 003000 3
24. 5V TTL 200ns 10us 100us 1ms T3 TMGMxY TMGM x TMGRx TMGCx TMGR x REMOTE REMOTE LOCAL x Y 0 disable 1 gate 2 200ns 3 10us 4 100us 5 1ms pulse out 0 disable 1 gate TTL GE 2 5 200ns 10us 100us ImsMTTL ul H DLH x 0 5 LC Qr TIT u x ready
25. Wa 7 4 v Of oils LOC REM LOC SW REM LOC SW LED REMOTEt Lek We FI 1 LAN Ethernet TCP IP Sue IP Firmware Version 1 09 REM LOC LOC SETUP XDL CW CCW CW LCD IP 192 168 1 55 REMOTE
26. RS SRQxO x SRQ RS_SRQGO CM c e RS SRQ x x SRQ 1 0 RS SRQ G SRQ 16 E F C000 LAN SRQ LN_SRQx1 x LAN STOPx SRQ LN_SRQx0 x SRQ LN_SRQGO E Gr aa el ne ae i iar LN_SRQ x x SRQ 1 0 LN SRQ G SRQ 16 E F C000 3 REMOTE LOCAL MODE STQ STS V1 47 STSx 4
27. TMGS x x TMGEx ddddddd x TMGE x x TMGIxddddddd x TMGI x x A D TP0 TP3 A D H au AB C D S11x SI2x S15x Sllx S12x S15x S16x 810 FAP STS
28. EIA 2 UNIT AI 88H X 482W x 325D 300 0013 3739 TEL 029 832 3031 FAX 029 832 2662 E mail info20tsuji denshi co jp 30
29. rea dy ready TMGCx ready x ready x ready ready YES NO non active CHO5 active CH05 active and timing pulse ready CH05 ready 16 XDL active LED timing pulse ready TMGSx ddddddd x
30. YSTRT R YPAUS YSTRT R A 2 25 YSTOP R L YSTS R L YCY R L YAP d ddd R YAP R L YBP d ddd R YBP R L YRPd ddd R YRP R L YBJ d ddd R YBJ R L yCP d ddd R YCP R L YCRd ddd R YCR R L YDP d ddd R YDP R L ET FRRDBIE CHA LCS ETON NANO STOP A C
31. ay basi 2 16 4 4 AEA TAN CW CCW HOLD OFF 5V 8mACHv NF 74 1 5MPPS O 2 147 483 647 1048 56 0 0125 ms kHz SF RUE HZ ES WAL Ja 2N 1 WA DE9S F PM16C 04XD RJ 4 PM16C 04XR SW CW LS CCW LS HOME LS 12V MAX 1A 12V 5mA Jy hA Jg DE9P M PM16C 04XD L RJ 4 PM16C 04XR L PM16C 04XD 40 X4 7 4 9H2 8W PM16C 04XDL 20 X4 77 9 2H 4 8W 10 SW 7 3 ready not ready PM16C 04XD PM16C 04XDL PRESET SCAN MODE SW HSPD MSPD LSPD LS PB 2 RS232C GP IB
32. TeraTerm REM TeraTerm File gt Send file S TeraTerm PM16C 04XD PM16C 04XD L REMOTE 90 REMOTE ROM 20 REMOTE LOCAL PM16C 04XD L TeraTerm TCP IP PM16C 04XD L REST
33. C C A D B B 3 1 i N Pi in Adi pe I1 Dih oo a MEM D Ng y C Be 11 I I 2 N Bi TE E N 1 1 1 11 t 1 GATE SSS SSS ERE ELE SEE EEE SSS PULSE HR HH S B S i s 8 1 AI 1 hoc d bal 24 iiti iN 1 1 Ai Ai a f H Dill m Fg D We i Li I citt E eu Fd Il 7 ji 1 Bait Fg i Fd qid Fd 1 1 N 11 GATE RS SNS messes NNNM SSS PULSE B SH 5 8 8 R HH LN a LT RA d GATE PULSE TMGMxY x B 0 F Ya 0 disable 1 GATE 2
34. 2 16 b7 ESEND b6 SSEND b5 LSEND b4 COMERR b3 ACCN b2 ACCP b1 DRIVE b0 BUSY uute vvets Wett XXt 4 F V 7 7 x STS RLL aPVHH uu STS LCD XE V HH REMOTE JOGPx JOGNx x 1 P CW N CCW SPEED REMOTE SPDHx SPDMx SPDLx R
35. VER IZ EA 15 PM16C 04XD L AHED IW UP E gt PDF http www tsuji denshi co jp support ver_3 html IP 2 GP IB GP IB GP IB CR LF EOI EOI PM16C 04XD gt 3 Ww
36. ERRF ERRC ERRCx FROM FROM1 FROM2 REST STEM VERH 8 16 BO COMMAND ERROR B1 MCCO6 BUSY ERROR B2 BAD ABS COMMAND x 0 COMMAND ERROR 1 MCCO6 BUSY ERROR 2 BAD ABS COMMAND ROM FROMO FROM1 ROM OFF ON MCC06 status port1 aaaa bbbb cccc dddd A B C D control IC status 16 3 HD VERO HD VER1 HD VER2 HD VER5 HD VER6 3
37. d E WHA gt E 9 DD S p rus Z 1 128 ms PPS 1 2 o
38. rane o 20 3200s 160zs Apos B pos C pos D pos d Mb i Re Pee eee 4 EE ms CAE SE BR AR ARTI JERO Z4 HH 35 F2 pH E ET 80 u s73 pop 50 000 25 500 10 000 1 000 000 510 000 17 200 000 Se es uc 50 000 E 24 10o Sooo 25 000 ooo o _ 31 51 000 2 550 41 20 000 1 000 5 000 55 5 100 0 255 1 275 12 750 E 1 10 000 20 000 50 000 3 300 0 825 1 600 0 400 0 165 2 F 5 300 12 750 51 000 1 650 3 300 8 250 33 000 0 820 0
39. a 2007 09 13 8 PAUSE ON PAUSE OFF V1 13 V1 13 2008 07 07 9 STOPMDxAB AB V1 147 SETCHabed SETCH HDSTLS V1 14 V1 15 2009 09 16 10 HOLD ON OFF HOLDxON HOLDxOFF HOLD x reply ON or OFF V1 177 V1 20 V1 29 skipped PULSE DIR DIR CVERH HD VERn n gt 4 V1 30 V1 31 2011 03 01 11 Teraterm A HP 4
40. V1 48 HOLDTM x x dddms ddd 50 500 msec HOLDTMxddd x ddd 50 500 10 msec 23 V1 43 B Position B B 1 A A B 2 A B C 3 D A 2 eG FCI A os LAHJA B TTL OUTPUT TP1 B 2 A 4 B Ts BC
41. v B ETE B 1 18 r3 5H HACER 5 10msec A D B B DE A 5 10msec B A GATE PULSE Hi ESO LET 2 2 B mm mw D 1 D AH Fd Ath 7 1 T E 7 7 i T E 7 7 M XP Na git s UE Pi i m i P 3 A 2 C 3 2 B 1 B A
42. REST dd HD VERO PM16C 04XD HD VERI PM16C 04XD HD VER2 PM16C HD VER5 6 PM16C 04XD 04XDL DIR 1 1 V1 147 SETCHabcd SETCH V1 14 Y y rp V1 39 CHCMNT x CHCMNTx LCD DISP T LCD DISP C 34AB A B C 3 ET ERRAR ZEIT ABR E 3 H M I 3 o Dposition m OD LED 3 XE 04XDL 0 9 A B C D E P A B C Dposition 3 SETCHO1
43. RPaaa CRccc aaa A ccc C 3 2 ccc 000 A 4 msec 1 A 0000 A d ddd 2 147 483 647 2 147 483 647 pua FEM A 7 Di oo f B 7 d ddd 17 2 147 483 647 3 B B
44. LOCAL MODE SCAN LCD XDL PRESET LOCAL MODE x 10 7 ddd ee 7 3 Ed E Ed H ul cit EE m LOCAL MODE x JO0G LOCAL MODE J0G JO0G dddd 0 9999 ET LOCAL MODE x J0G ddd 4 No use command No use command 3 13 10 4 E a 6
45. SRQ SRQx0 x SRQ0 SRQGO pu eM Uc e EE E SRQ x x SRQ 1 0 SRQ G SRQ 16 E F C000 PM16C GPIB SRQ ON 8 2 6 ie anaes A 2 1 B 2 2 C 2 3 D A B C D 0x4F RS232C SRQO RS_SRQx1 x RS232C STOPx SRQ
46. V1 09 PM16C 04XD L 0 DL 78 NEW OLD ROM
47. HP 6 7 2 8 9 10 1 1 4 5 6 PM16C O4XD L 1 OX PM16C 04XD L LAN Ethernet TCP IP RS232C GP I PM16C 04XD L B A E PM16C 04XD L VE PM16C 02Z PM16C 04 PM16C 04S
48. REMOTE LOCAL LOCAL MODE LOCAL MODE x 2 E s LORE CT LOCAL MODE CABS SCAN LCD DL FW LOCAL MODE x ddd 7 LOCAL MODE x 2 LOCAL MODE CREL SCAN LCD XDL 3 3 10 7 E E E LORE CT LOCAL MODE x ddd ee 7 3 10 7 E E LOCAL MODE x
49. RATE DATA No 1 RP LEER E RATE No M2 TYPE RATE RATE No 85 91 RATE No L1 TYPE 0 60 L2 TYPE 17 76 M1 TYPE 24 84 M2 TYPE 31 91 H1 TYPE 41 100 H2 TYPE 55 115 CHO CH1 2 ACS0000 ADD 5000 SPD 3000 5000 3000PPS ACS0001 ADD 10000 SPD 6000 10000 6000PPS ACS0002 ADD 20000 SPD 10000 20000 10000PPS ACS0003 ADD 30000 SLW 22 30000 ACS0004 END 2 18 ACS1000 ADD 5000 SPD 3000 ACS1001 ADD 10000 SPD 6000 ACS1002 ADD 20000 SPD 10000 ACS1003 ADD 30000 SLW ACS1004 END 2 5000 3000PPS
50. vv interpolation with center position data C1ACNab xx es ses another data are same as above vv CORCPab xx ttt relative address a b axis cw direction circular vv interpolation with center position data C1RCPab xx ttt ttt a b 0 F x y destination u v center position vv xte ytte utete vv decimal under 7 digit perfect circle interpolation will be done by setting the destination to 0 0 position CORCNa Soros relative address a b axis cew direction circular vv interpolation with center position data C1RCNab xx seas sens another data are same as above vvy COAACab xx tt absolute address a b axis circular interpolation vv with bypass point data C1AACab xx pes E a b 0 F x y destination u v bypass point vv x ytet utete vv decimal under 9 digi CORACab xx See relative address a b axis circular interpolation vv with bypass point data C1RACab xx E pe a b 0 F x y destination u v bypass point vv Xt 5 y775 u 5 vv decimal under 7 digit COACCa tt absolute address a b axis perfect circule vv interpolation with two bypass point data C1ACCab xx t t a b 0 F x y bypass point 1 u v bypass point 2
51. 647 sd Man Hy Y 6 HEE Eze Eng fT x3 a REMOTE Ds i Hn p SPCxdddd x pps ddd 1 5 000 000 SLOW STOP FAST STOP REMOTE LOCAL MODE SSTPx x ESTPx x ASSTP AESTP 8 PAUSE ON OFF REMOTE PAUSE ON S301 PAUSE OFF S301 PAUSE 6 7 9 PAUSE ON l PAUSE O
52. 2 10000 6000PPS 2 20000 10000PPS 2 30000 CH2 CH3 ACS2000 TIM 0 SPD 1000 7 i9 2 Oms 1000PPS 1000ms 6000PPS 1500mns 10000PPS 2000ns 2 ACS2001 TIM 1000 SPD 3000 ACS2002 TIM 1500 SPD 6000 ACS2003 TIM 2000 SLW ACS2004 END ACS3000 TIM 0 SPD 1000 0ms 1000PPS 1000mns 6000PPS 1500mns 10000PPS 2000mns ACS3001 TIM 1000 SPD 3000 ACS3002 TIM 1500 SPD 6000 ACS3003 TIM 2000 SLW ACS3004 END 9
53. 3 ACSPx ET END 19 4 g REMOTE LOCAL ACSP x reply ready not ready not ready not ready 3 JW o not ready AUTO CHANGE 5
54. ACSCx x not ready AUTO CHANGE not ready AUTO CHANGE 6 PAUSE ON PAUSE ON or S3016 7T 4 ABSx B dddddddd RELx B dddddddd SCANPx SCANNx 8 PAUSE OFF 5 PAUSE ON PAUSE OFF or S3017 a Sh
55. D JOG REMOTE LOCAL MODE REMOTE MODE MEX Rn n 0 4 LOCAL MODE Ln n 0 4 4 0 REMOTE LOCAL 4 R L abcd PNNS VVVV HHJJKKLL uu vv ww xx R or L REMOTE MODE or LOCAL MODE a b c d PNNS P cw N ccw VVVV LS status hold off b3 hold of 0 F S status 16 f b2 hp Is bl ccw ls b0 cw Is Qr At o HH JJ KK LL 4
56. 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 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 re
57. 10 YBP 1000 B 1000 YBJ10 B 10 YDP 20 D 20 Leeds YRP200 200 YSTRT GATE PULSE B GATE PULSE B GATE B 1 PULSE B B 27 1 ral lO AE vyTNVA I1O d IW PM16C 04XD L PM16C 04XD L
58. hold BETIS PRERE E T HOLDTM 500ms HOLD SETMT ho1d off hold off ddd 50 500 10 80ms HOLDTM 3 dddms msec E STOPMDxAB x A 0 PB slow stop 1 PB fast stop STOP B 0 LS slow stop 1 LS fast stop CW CCW ZW o STOPMD x AB 00 default REMOTE REMOTE LOCAL
59. YRP100 100 YSTRT 2 B 2500 A 120 C 100 C 5 50 3 YMD300 3 YAP120 A 120 YBP2500 B 2500 YCP100 Cc 100 YRP50 50 YCR5 C 5 YSTRT 3 B 1000 B R0 A z D 20 200 2 D 0 B CW CCW CCW CW 0 YMD21J 258 DES BS v VB VEE FE YAP10 A
60. vv xte ytte utte vv decimal under 9 digit CORCCab xx tt relative address a b axis perfect circule vv interpolation with two bypass point data C1RCCab xx ttt ttt a b 0 F x y bypass point 1 u v bypass point 2 vv 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 JJ J 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 from 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 C D 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 dd
61. REMOTE LOCAL FLx ddddddd x CW FL x x CW ddddddd decimal 7 BLx ddddddd x CCW
62. DDDDDDB C position 8 byte command XXXXXX HEX position data 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 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 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
63. 205 0 680 0 170 0 800 1 600 4 000 16 000 0 410 0 820 2 050 8 200 0 390 106 0 039 m ae 3 900 20e 0 500 e 0 i6O 0 400 1 600 osom osso 113 0 020 115 0 016 0 390 0 200 0 160 oil 0 680 10 VER 1 00 06 10 14 PM16C 04X PM16C 04XD 04XDL ACSK x IC MCC06 reply aabb hhhh hhhh aa code 00 END 01 ADD 02 TIM 80 ACC 81 DEC bb sequence number 0 to 7F hh hh data ACSH x IC MCC06 reply aabb hhhh hhhh aa code 00 SPD 01 RTE 02 SLW 03 FST OF NOP bb sequence number 0 to 7F hh hh data ERR 21
64. GP TB REM LOC LOC LET SETUP CW DL LCD HX RS232C A 2 31 SETUP E VER CW CCW GP IB P7 XDL P9 CCW T DE9P DE9S RS232C DATA BIT 8 CR LF
65. read HSPD reply dddddd det set LSPD to ddd in pps unit 1 5 000 000 read LSPD tel Sanda t MSPD to ddd in pps unit 1 5 000 000 read MSPD a 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 reply 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 60 een ATA eva vv ww xx 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 TMGMx
66. setting the destination to 0 0 position relative address a b axis ccw direction circular interpolation with center position data another data are same as above absolute address a b axis circular interpolation with bypass point data Destination setting to tyy RACab xx current position aren t allowed use COACC command a b 0 F x y destination u v bypass poi nt xe yer ue Vy decim i i a relative address a b axis circul P with bypass point data Destina current position aren t allowed command a b 0 F x y destinat under 9 digit ar interpolation ion setting to use CORCC ion u v ibypass po int x 5 y 5 us s vv decimal under 7 digit absolute address a b axis perfect circule interpolation with two bypass point data a b 0 F x y bypass point 1 u v bypass point 2 Xt ytt7 ut s Vv decimal under 9 digit relative address a b axis perfect circule interpolation with two bypass point data a b 0 F x y bypass point 1 u v bypass point 2 xett ytte utete vvet decimal 15 under 7 digit 8 5V TID
67. 8 JW o HDSTLS 4 abcdHHHHSSSS a b c d H H H H HARD S S S S SOFT 4 16 b0 CW LS b1 CCW LS b2 HP LS HARD CW LS 0N 1 CCW LS ON 2 HP LS 0N 4 HARD 14 7 2 2 X Y REMOTE PM16C 04XD 4 4A4 B C D 2 A B C D 3 A B CO Cha
68. HANDBOX FIRMWARE 3 883 Myf AY JOG CW CCW PRESET START STOP REM LOC SETUP REM LOC CURSOR CHG MODE TEN KEY REM LOC START STOP SETUP HP REL ABS SCAN777 PM16C 04XD Myf ek Ay CH RDY 4 CH SEL 4 DSP CHG 25 CH RDY 4 CW_CCW_PULSE 4 CW_CCW_HP_LS 4 HLDOFF 4 4 n ready not ready H ML H M L gt ch 7 ch choi choi yay JOGARE ch JOG SW ABS IDX MODE REL IDX MODE ch ready ch 3 HP STOP MODE LAN GP IB RS232C HOME POSITION LS 2 1 3 J
69. channel No reply of for 04 type R motor channel No reply of for 02 type set motor channel to A S12 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 reply 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 scan gt scan OF scan 16 pause on 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 comman
70. o hold off IT S 0 Pulse Pulse 1 Vl 15 2 V1 30 ABCD REMOTE 2 ho1d off hold off 1 Pulse Direction 2 Pulse Dire P P P D PDR 2 SOLD ON OFF le A o hold off ON OFF ET ction Reverse 2 PDR VERH HD VERn n gt 4 1010 default ho1d off
71. 16CH At 53 1 7 PM16C O4A4XD L 2658 2735 16 140603 2 APPLICATION OF ELECTRONIC DEVICES TSUJICON 300 0013 3739 TEL 029 832 3031 FAX 029 832 2662 URL http www tsujicon jp E mail info2 tsuji denshi co jp COMMAND LIST LAN RS232C GP IB x 0 F motor dd d decimal data ABSx dddddddddd absolute index scan ABSxB dddddddddd absolute index scan both dir backlash reject ABSxS dddddddddd absolute index scan single dir backlash reject ASSTP AESTP al moving motor slow stop or fast stop BLx ddddddd set backward digital limit R L BL x read backward digital limit reply ddddddd decimal CSCANPx CSCANNx constant speed scan to cw or ccw direction FDHPx find home position start auto find sequence FLx ddddddd set forward digital limit position R L read forward digital limit reply ddddddd decimal go to home position if it exists JOGPx JOGNx Jog command one step to cw or ccw direction R L LS LS read reply abcdHJKL set pause clear pause read out reply ON or OFF PSx ddddddd preset position data R L read position data reply ddddddd decimal RELx dddddddddd relative index scan RELxB dddddddddd relative index scan both dir backlash remove RELxS dddddddddd relative index scan single dir backlash remov
72. 200ns 3 10 u sec 4 100 u sec 5 1msec PULSE TMGM x 0 5 R R L YMDabc R i DARREN Ee 2 2 3 3 b AD D A 0 1 c B A B 0 J YMD R L YMDabc xxxx xxxx START STOP PAUSE
73. 27 58 3 9 78 19 160 24 59 3 6 79 RATE REMOTE REMOTE LOCAL RTExddd x ddd 0 115 RATE DATA TABLE RTE x ddd REMOTE REMOTE LOCAL PSx ddddddd x ddd 2 147 483 647 2 147 483 647 PS x x ddddddd decima1 7 3 LXX X 11 o o ET Ju B z5 m REMOTE
74. EMOTE LOCAL amp b MODE T SIT T 3 SPD x x x x TW 3 5 RHSD LET IS AMSPDIC Lx d IZ LSPDIC UL x d o SCAN REMOTE QD SCAN SCANPx SCANNx HSPD or MSPD or LSPD x CW SCAN SPEED REMOTE ABSx dddddddddd db E RUD TW o x dd ABSxB dddddddddd x 2 147 483 647 242 147 483 647 dd 2 147 483 647 2 147 483 647
75. FF 3 MERE ave RCS 2 448 PAUSE PAUSE OFF CSS ON OFF SCAN REMOTE CSCANPx CSCAN X x COW x CCW R H H REMOTE FDHPx GTHPx x 3 1 Ea Cun 1 1 EROK FTE Sul TUR
76. Y 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 start 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 C1RLNa 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 vv interpolation with center position data C1ACPab xx sce s ens 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 xx ttt absolute address a b axis cew direction circular
77. d 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 x 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 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 S35 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 1F 40 slow stop 80 EM stop SO AXXXXXX or SO AXXXXXX B A D A D DDDDDD or
78. ddd YCRddd d C axis repeat count set command on oscillation mode No reply YCR C axis repeat count read on oscillation mode Reply ddd pee luae e mode No reply Reply ddddddd R L YSTS Read current repeat count of oscillation and C axis Reply RPaaa CRccc aaa oscillation repeat count ccc C axis repeat count ii Reply dddd msec R YSTRT Oscillation drive start command YPAUS Oscillation drive suspend command FE tE If oscillation drive is suspending release suspending status All oscillation driving motor are stopped V1 48 Read hold on time before motor drives Reply xxxms xxx hold on time 50 500ms HOLDTMxddd Preset hold on time before motor drives ddd 50 500 msec no reply R L ACSK x reply aabb hhhh hhhh aa code 00 END 01 ADD 02 TIM 80 ACC 81 DEC bb sequence number 0 to 7F hh hh data R L ACSH x reply aabb hhhh hhhh aa code 00 SPD 01 RTE 02 SLW 03 FST OF NOP bb sequence number 0 to 7F hh hh data R REST restart without power off on PM16C 04XD PM16C OLD COMMAND LIST COMPATIBLE COMMANDS with PM16C 02N 02Z 04 04S series JW o local mode change R motor
79. dddddd 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 LCDB 100 C LCD brightness of back light read 1 100 reply LCD BRIGHT 100 LCD brightness of back light write 1 100 no reply Chanel comment read x ch 0 1 9 A B C D E F reply cnannelx comment a all chanel data LCD DISP T LCD disp is TIMING OUT PORT No LCD DISP C LCD disp is comment of each channel CD CD HC CD CD M CHCMNTO ABI Channel No 0 comment ABl write no reply x 07F Each channel G All channels SRQGO All channels of SRQ flag via GPIB are reset R R L SRQ G All channels of SRQ flag via GPIB read Reply data is HEX 8000 when channel F active L RS SRQx1 STOPx reply set via RS232C when channel x motor s topped Auto reset after STOPx reply out L R RS SRQxO STOPx reply reset via RS232C when channel x motor stopped RS SRQGO All channels of RS SRQ flag via RS232C are reset L SRQ flag
80. e R RTExddd acc rate set ddd 0 115 see rate table p R L read acc RATE reply ddd R SABSx ddddddd set abs pos data for local mode read abs pos data for local mode reply ddd dd R SACTXY set active for local Y 0 non active 1 active SCANHPx SCANHNx accelerative scan to cw or ccw direction if HP switch then stop R SCANPx SCANNx R SETHPx0XYZ HP find information set X found 1 not found 0 Y found dir 0 cw 1 ccw Z auto start dir 0 cw 1 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 y LS N C 1 N 0 0 SETLS x read LS setting reply DYYYOyyy see SETLSx R SETMTxABCD motor drive set A 1 drive enable 0 disable B 1 hold on 0 ho1d 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 set HSPD to ddd in pps unit 1 5 000 000
81. of channnel x is read reply 1 or 0 R RS_SRQ x 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 SRQxO STOPx reply reset via ethernet when channel x mot or stopped LN SRQGO All channels of LN SRQ flag via LAN are reset SRQ flag of channnel x is read reply 1 or 0 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 J enable uH YAP ddd d R YBP ddd d Oscillation drive mode status read Reply YMDabe XXXX XXXX STOP START PAUSE axis drive pulse set command on A axis drive pulse read on oscillation mode ply ddddddd B axis drive pulse set command on A oscillation mode No reply Re oscillation mode No reply xis drive pulse read on oscillation mode ly ddddddd mode command reply pss B axis jump pulse set command on oscillation mode No reply pe B axis jump pulse read on B axis jump mode Reply ddddddd le tn 5 No reply a Da RSEN LL ddd YCP ddd axis drive pulse set command on oscillation a No reply YCP C axis drive pulse read on oscillation mode Reply dddd
82. ply RDDDDD D ASCII 5 dec d LSPD of channel X reply RDDDDD D ASCII 5 dec 1 SL X 2 1 LAN Ethernet TCP IP 2 GP IB 3 RS232C 3 SRQ J0G SPEED SCAN wR SLOW STOP FAST STOP PAUSE ON OFF SCAN 5 RATE SISISISISCISISNE SISICISISISISISISIS SCAN SCAN
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