Autonics PMC-1 HS User Manual Download

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8. Serial Communication Commands

© Copyright Reserved Autonics Co., Ltd.

8. Serial Communication Commands

8.1

Communication condition

Communication condition
Communication speed : 9600 ~ 115200bps
Data bit

: 8 bit

Stop bit

: 1 bit

Flow control : -
Parity bit : -
Control character : 0-9, A-Z,

(Space), [CR](Carriage return)

8.2

Command Cycle

(1) means a space.
(2)[CR] means 0x0d carriage return.

(3)[LF] means 0x0a line feed.

(4)Input the REG numbers in 20digit. (00, 01, 02, 03····63)

8.3 Command

PRG

It executes a program in the PMC-1HS/PMC-2HS from an assigned address.

Format

Command

[Axis specification] [REG number specification] [CR]

PRG

[CR]

Put the axis specification "X" in PMC-1HS.
[Example] To operate X/Y axis from REG00

PRG

XY00 [CR]

Response : No-response

JOG

Continuous drive command. Start the drive on the specified axis.

Format

Command

[Axis specification] [REG number specification] [CR]

JOG

+ X [CR]

- Y

Put the axis specification "X" in case of PMC-1HS.
[Example] To drive X axis and Y axis in the + and - directions respectively.

JOG

－

Y [CR]

The + direction can be omitted in the axis specification.

Response : No-response

Summary of Contents for PMC-1 HS

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Page 2: ...Power on Program Start 12 3 3 Configuration of Parameters 13 3 3 1 Speed Multiplier 13 3 3 2 Acceleration Rate 13 3 3 3 Deceleration Rate 14 3 3 4 Start Speed 14 3 3 5 Drive Speed 1 4 14 3 3 6 Post Timer 1 31 14 3 3 7 Home Search Low Speed 15 3 3 8 Home Search High Speed 15 3 3 9 Home Search Offset 15 3 3 10 Software Limit 15 3 3 11 Software Limit 15 3 3 12 End Pulse Width 16 3 3 13 Pulse Scale Nu...

Page 3: ...t Screen 45 5 5 I O Signal Screen 47 5 6 Errors 48 6 Drive by a Teaching Unit 49 6 1 Operation of data edit 50 6 1 1 Register Selection 50 6 1 2 Register Composition 51 6 1 3 Input of Operation Program 52 6 1 4 Input of Operation Mode and Parameters 53 6 1 5 Index Drive 55 6 2 Operation of drive 55 6 2 1 Home Search 55 6 2 2 JOG Operation 56 6 2 3 Execution of Operation Program 56 6 2 4 Record of ...

Page 4: ...ailure to follow this instruction may result in fire 6 Do not cut off power or disconnect connectors while operating the unit Failure to follow this instruction may result in personal injury economic loss or malfunction 7 Install the safety device at the out of the controller for stable system operation against external power error controller malfunction etc Failure to follow this instruction may ...

Page 5: ...upplying the power to the unit 7 Keep the distance between power cable and signal cable more than 10cm 8 It is recommended to use twisted pair shield wire when connecting cables to CN3 4 5 connectors Ground the shield wires depending on the installation environment 9 It is recommended to use the communication cables provided with the product RS232C USB 10 When wiring the RS485 cable twist pair wir...

Page 6: ...ne receiver input type drivers The sensor input is fully insulated by a photo coupler and can Input limit Home search input Servo inposition and Servo alarm The serial communication port has RS 232C and USB interface in case of 232 types RS 232C is only The serial communication port can be connected to a PC or teaching unit PMC 2TU 232 it is optional to configure operation parameter mode position ...

Page 7: ...h as JOG output at each axis and home search output program Refer to chapter 5 Start with teaching unit PMC 2TU 232 Connect a communication cable annexed to a teaching unit PMC 2TU 232 It is available to execute JOG output home output and programs by drive operation of teaching unit Refer to chapter 6 Control by serial communication The PMC HS series provides serial communication commands Refer to...

Page 8: ...Run InstMsiA exe in the InstMS folder Windows 2000 Run InstMsiW exe in the InstMS folder For Windows XP additional installation is not required 3 Double click PMC msi file on the Install folder 4 Select the Next button to go to the following screen 6 The progress of the installation is displayed 5 Select the desired folder and click the Next but ton to go to the following screen 7 The Installation...

Page 9: ...ogram The operation program needs to be removed to upgrade new version or to be deleted from a PC 1 Uninstall this program with Add remove programs in your Control Panel 2 Click the Remove button after selecting PMC on the list of the screen 3 The operation program is uninstalled from the system ...

Page 10: ...S USB Driver Autonics Corp exists in universal serial BUS controller and Autonics Serial port exists in Port COM and LPT the USB driver was installed normally In case of Windows XP 2 3 1 Check the starting of the operation Program When you connect the motion controller check the operation program is run correctly Caution When you start the operation program initially after installation the program...

Page 11: ...t button Click the Start Program Autonics Motion Controller PMC PMC 4 For initial access the communication error message is popped up Click the OK button 5 Select your product type PMC 2HS or PMC 1HS 6 Start the operation program as off line Select Option and mark the COM port the RS 232C communication cable is connected 7 Restart the operation program It will normally start in on line mode Check ...

Page 12: ...e Parameter screen The operating mode and the system parameters can be set by connecting a teaching unit to RS232C port of the motion controller Refer to chapter 6 for the setup method with a teaching unit 3 1 Execution of Operation Program With a communication cable connect PMC 1HS PMC 2HS to your PC and start the operation program Click Parameter Mode in left of the middle on the main screen aft...

Page 13: ...ontroller checks if nINPOS reaches to the active level and end the drive When the program is executed after it executes drive commands ABC and INC and checks if nINPOS reaches to the active level and operates the next register The servo inposition Level configures whether nINPOS is activated in open or GEX connection It selects High if the nINPOS is activated in open otherwise it selects Low If a ...

Page 14: ...ive Display Selection Default value Deceleration Value Accel Acceleration value Decel Deceleration value Accel PMC 1HS PMC 2HS can configure not only the symmetry adjustable speed drive that the acceleration value is the same with the deceleration value but also the asymmetry adjustable speed drive that the acceleration is different from the deceleration value The selection of the acceleration val...

Page 15: ...n the power is turn on or the main body is reset 3 2 8 Power on Program Start When the power is turned on select Enable Disable for the auto start of the program Display Selection Default value Power On Program Start Disable Enable Disable The Power on Program Start is the function to execute the program configured as the start of the program register 00 REG00 when the power is turned on or the ma...

Page 16: ...drive speed 3 3 2 Acceleration Rate The acceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive acceler ates In mode setup set the Deceleration Value to Accel default value use this Acceleration rate in drive deceleration Display Setting range Default value Acceleration Rate 1 8000 400 Acceleration Rate pps A 125 Speed multiplier A is the Acceleration value c...

Page 17: ... for the adjustable speed must be configured If the drive speed is smaller than the start speed the drive does not operate at adjustable speed but at constant speed from the first Home Search High Speed is also operates in the same way 3 3 5 Drive Speed 1 4 The drive speed is the speed for an adjustable speed drive Display Setting range Default value Driver Speed 1 1 8000 10 Driver Speed 2 1 8000 ...

Page 18: ...search offset movement When the value is zero the offset is not moves Display Setting range Default value Home Search Offset 8388608 8388607 100 The configured value is related to numerator denominator of pulse scale The above configuration range is the value when numerator denominator of pulse scale 1000 1000 3 3 10 Software Limit It configures the value of the software limit direction Display Se...

Page 19: ...e value Denominator of pulse value Numerator of pulse value For example if one pulse of the drive pulse is corresponding to 0 1 mm of the moving amount Scale nu merator Scale denominator is configured as 1 100 to execute the position display by mm If input value is 1 mm 100 pulse will be provided and 1 00 will be displayed If the resulting values are below the decimal point round off value to sign...

Page 20: ...tivated before starting the step1 Go to the step2 Limit signal of the detected direction is activated in operating Stop the drive and go to the step2 3 4 3 Step 2 Low Speed Home Search The step 2 outputs the drive pulse to the Home search low speed in configured to the parameter and the specified direction until the home signal nSTOP1 is activated To execute the low speed search operation the home...

Page 21: ... an error is occurred and the home search is ended If the limit signal of the detected direction is activated in use the detecting operation is stopped and the home search is ended 3 4 5 Step 4 High Speed Offset The step 4 outputs the drive pulses as many as the home search offset to the home search high speed is configured at the parameter and the specified direction This is used to move from the...

Page 22: ...e level in case of selecting Low the detecting operation of the step 3 starts If the signal is connected to the GEX the drive stops evaluating that the signal is active When high the drive stops evaluating that the opened signal is active 3 4 10 Enabling Step 1 4 This mode configures the Enable Disable for each step Display Selection Default value Step 1 4 Enable Disable Enable Disable If Disable ...

Page 23: ...he OUT0 signal cannot be used as output for common output The DCC output is simultaneously activated with the Z phase detection of the step 3 and the step 4 starts after the pulse output 3 4 15 DCC Level This mode specifies the level of the deviation counter clear pulse signal Display Selection Default value DCC Level 0 ON 1 OFF 0 0 Since the output signal OUT0 is OFF in normal the DCC pulse of ON...

Page 24: ...igh speed 20 000pps when the home signal is activated it starts to deceleration stop The stop position is in an active block of the home signal it escapes from the block in reverse by the irregular operation of the step 2 and enters the operation of the step 2 detect the home If the stop position of step 1 exceeds the active block of the home signal the limit of the detection direction goes into t...

Page 25: ... with trapezoid driving Home Search Low Speed 20 Slower then the start speed of 200 pps Home Search High Speed 2000 20 000pps Home Search Offset 3500 Configuration of home search mode Item Configuration value Note Near Home Signal Level nSTOP0 Low Active by connecting GEX Home Signal Level nSTOP1 Low Identified signal with STOP0 so the level is the same with STOP0 Z Signal Level nSTOP2 Low Non use...

Page 26: ...STOP1 signal levels identically Enable the Using limit signal of the home search mode Start the step 4 offset movement and end it after escaping the limit Operation Input signal and active level Detection direction Detection speed Step 1 STOP0 signal Low GEX connection direction 10 000pps Step 2 STOP1 signal Low GEX connection direction 200pps Step 3 Step 4 Offset movement of 500 pulses in directi...

Page 27: ... Mode configuration Item Configuration value Note Limit Stop Mode Slow Select the Deceleration stop Limit Active Level 0 Parameter configuration Item Configuration value Note Speed Multiplier 10 Acceleration Rate 400 Able to decelerate to stop within the active block of limit signal In case Deceleration Value is set to Accel in mode setting Start Speed 50 Start speed of trapezoid drive Home Search...

Page 28: ... limit signal is used the level is same with the limit signal Z Signal Level nSTOP2 Low Not used Step 1 Enable Enable Operation Step 1 Direction direction Step 2 Enable Enable Operation Step 2 Direction direction Step 3 Enable Disable Not operated Step 3 Direction Step 4 Enable Enable Operation escaping the limit Step 4 Direction direction Position Clear Enable Clear position counter after complet...

Page 29: ...3 Configuration of the Operating Mode and System Parameters 26 Copyright Reserved Autonics Co Ltd ...

Page 30: ...ddition you can execute the teaching unit PMC 2TU 232 of extra cost option after connecting to RS232C port in the main body For the configuration of the teaching unit refer to chapter 6 The operation program can be available as the following three ways Using the the operation programUthe main screen on your PC Using a parallel P I F Using a teaching unit 4 1 Starting the operation program You can ...

Page 31: ...efer to 3 3 TIM This value specifies the waiting time until the next register is executed after the movement is completer If 1 2 and 3 are specified at TIM the time of the post timer 1 to 3 is registered in a parameter see 3 3 If the waiting time is not configured zero is set to TIM END P If 1 is specified the end pulse comes out FROM the nDRIVE END output signal of parallel P I F after the moveme...

Page 32: ...hen the ABS operates on X axis and Y axis and both axis wait to be stopped 1 is configured This Both function is only applied to ABS INC and HOM commands on X axis If Both 1 Y axis with the same register number must have the same commands ABS INC and HOM commands to move the Y axis at the same time If com mands are different from each other Error occurs HOM Home search CMD Data STD TIM END P Both ...

Page 33: ...t port number Data2 Specifies the ON time in msec the range is 0 65535 msec JMP Jump CMD Data JMP Register number to jump Jump to the register specified Data Specifies the register number to jump The range is 0 63 REP Start repetition CMD Data1 REP Repetition count Repeat the execution from the next register of this command to the repetition end command RPE as many as the specified count Data Spec...

Page 34: ...ignal type 0 CN4 11 XSTOP0 Near home X axis signal 1 CN4 10 XSTOP1 Home 2 CN4 9 XSTOP2 Encoder Z phase 3 CN4 6 XINPOS Servo inposition 10 CN5 11 YSTOP0 Near home X axis signal 11 CN5 10 YSTOP1 Home 12 CN5 9 YSTOP2 Encoder Z phase 13 CN5 6 YINPOS Servo inposition 20 CN3 6 REGSL0 REGSL signal Parallel P I F signal 21 CN3 7 REGSL1 22 CN3 8 REGSL2 23 CN3 9 REGSL3 24 CN3 10 REGSL4 PHC 1HS can not use i...

Page 35: ...te of output signal means that the transistor output of open collector becomes ON OFF and the number in parenthesis in the back of signal name means the relevant pin number 4 2 1 Executing Home Search After activating the axis specification signal X 4 Y 5 of the axis to execute the home search is executed by activating the Home 2 input signal of more than 80 msec If the Home Search starts nDRIVE E...

Page 36: ... 10 REGSL5 11 0 OFF OFF OFF OFF OFF OFF 1 ON OFF OFF OFF OFF OFF 2 OFF ON OFF OFF OFF OFF 16 OFF OFF OFF OFF ON OFF 63 ON ON ON ON ON ON The following figure shows an example to execute X axis as Index drive The STROBE signal is activated in ON status and the Index drive operation on the specified axis starts 10msec later The STROBE signal must be in on status of more than 10msec In driving the nD...

Page 37: ...N3 Operation mode specification Scan mode MODE0 12 ON MODE1 13 OFF Scan mode1 specification SCAN 10 OFF Axis specification X 4 Y 5 On state of the axis to execute Drive speed specification Refer to drive speed configuration for SPD0 8 SPD1 9 Drive speed configuration Drive speed SPD1 9 SPD0 8 Drive speed1 OFF OFF Drive speed2 OFF ON Drive speed3 ON OFF Drive speed4 ON ON Scan drive2 Scan drive 2 i...

Page 38: ...ed is changed in driving the speed is changed into the changed speed at once Item specified Input signal of CN3 Operation mode specification Continuous mode MODE0 12 OFF MODE1 13 ON Axis specification X 4 Y 5 On state of the axis to execute Drive speed specification Refer to drive speed configuration for SPD0 8 SPD1 9 4 6 Program Drive The program drive executes the operation program registered Th...

Page 39: ...4 Configuration of Operation Program 36 Copyright Reserved Autonics Co Ltd ...

Page 40: ... is connected initially new hardware is detected Install the driver using the provided CD 3 Start the operation program by clicking the Start button Click Start Program Autonics Motion Controller PMC PMC If the communication with the main body is normal all data configured to the main body Operation mode parameters and operation program is uploaded on the PC and the main screen is displayed If the...

Page 41: ...In off line you can read files from the hard disk by means of Open or Save from the File menu and save the written program Selecting JOG mode You can operate JOG in three ways on the main screen Display Operation Handling item Scan Scan Only drives while you press the direction button Continuous Continuous Start to drive if you press the direction button and continue to drive until you press the s...

Page 42: ...0 is selected the value of the Speed 5 is increased decreased as many as 10 once you click the increment decrement button Position Displays the current position It ignores the power ON mark If the Home Search is executed zero is displayed If you click the position clear button C button you can clear the current position at any position This value applies the scale function Refer to the item of pul...

Page 43: ... program is running Display drive status Display Operation n RUN Lights LED when the relevant axis is driving or running a program n ERR Lights when limit over or servo alarm occurs and displays an error message at the bottom of the screen when an error occurs Start of the Sub screen Display Operation Parameter Mode Starts the parameter mode screen Program Edit Starts the program edit screen Input...

Page 44: ...a on X axis Program Y axis Program data on Y axis Parameter All All parameter mode Parameter X axis Parameter mode on X axis Parameter Y axis Parameter mode on Y axis Caution If data is added or changed on the parameter mode screen or the program edit screen in on line the data is automatically added to the main body Therefore additional download is not required In the Option menu you can mark ser...

Page 45: ...d the value is automatically added to the main body The mode tabs are as listed in the table below For more description of each refer to 3 2 Display Selection Default value Limit Stop Mode Instant Slow Instant Limit Active Level Low High Low Servo Inposition Enable Disable Enable Disable Servo Inposition Level Low High Low Servo Alarm Enable Disable Enable Disable Servo Alarm Level Low High Low En...

Page 46: ... 500 10 Acceleration Rate 1 8000 400 Deceleration Rate 1 8000 400 Start Speed 1 8000 50 Drive Speed 1 1 8000 10 Drive Speed 2 1 8000 100 Drive Speed 3 1 8000 1000 Drive Speed 4 1 8000 8000 Post Timer 1 1 65535 msec 10 Post Timer 2 1 65535 msec 100 Post Timer 3 1 65535 msec 1000 Home Search Low Speed 1 8000 20 Home Search High Speed 1 8000 1000 Home Search Offset 8388608 8388607 Note1 100 Soft Ware...

Page 47: ...o 3 4 Display Selection Default value Near Home Signal Level nSTOP0 Low High Low Home Signal Level nSTOP1 Low High Low Z Signal Level nSTOP2 Low High Low Step 1 Enable Disable Enable Disable Step 1 Direction Step 2 Enable Disable Enable Disable Step 2 Direction Step 3 Enable Disable Enable Disable Step 3 Direction Step 4 Enable Disable Enable Disable Step 4 Direction Position Clear Disable Enable ...

Page 48: ...eased by one In online state the data is automatically added in the main body Input item Command Description Commande Click to select the following commands ABS Move absolute position OUT ON OFF of output port IJP Jump of input condition INC Move relative position NOP No operation OTP ON pulse from output port JMP Jump HOM Home Search REP Start repetition TIM Timer RPE End repetition END Close the...

Page 49: ...le menu of the main screen Edit menu The Edit E menu of the Program Edit screen is listed as shown the table below Item Function Description Cut Clear of the selected area Move the selected area to the clipboard In online state the program data of the changed register is added to the main body Copy Copy of the selected area Copy the selected area to the clipboard Paste Paste Paste the selected are...

Page 50: ...state Input signal status of CN4 and 5 lights when the signal is active For example the limit signal nLMT lights when the limit active level is low which is the signal is connected to GND by the mode configuration The input signal of parallel P I F CN3 lights when the input signal is connected to GEX and its output signal lights when the signal is ON which is the output transistor is ON If you dou...

Page 51: ...low 405 Parity error Parity error 406 Send buffer Full Send buffer is full 407 Device control block of Port was received Unexpected error acquiring the device control block DCB of a port 408 There is no response No response for the command 501 X Axis is already driving now X axis was driven during the operation of X axis 502 Y Axis is already driving now Y axis was driven during the operation of Y...

Page 52: ...to select 9600bps for more stable communication The teaching unit consists of data edit mode and drive handling mode The data edit mode displays a regis ter number to the REG of the display part and the drive handling mode displays dp drive operation When turned on it starts as the drive handling mode dp display DP key is used to convert the status of the data edit mode and the drive handling mode...

Page 53: ...isplay for drive operation Displays key function as yellow letters to the left or the top of the input key in drive handling status The top end and the bottom end of the key handle X axis and Y axis respectively 6 1 Operation of the data edit The data edit includes input display and change the operation modeUparameter or the operation program In data edit mode a register number between 00 and 95 i...

Page 54: ...ive speed 2 1 8000 81 Drive speed 3 1 8000 82 Drive speed 4 1 8000 83 Home search high speed 1 8000 84 Home search low speed 1 8000 85 Home search mode 1 86 Home search mode 2 87 Home search offset 8388608 8388607 88 Software limit 8388608 8388607 89 Software limit 8388608 8388607 90 Post timer 1 1 65535 91 Post timer 2 1 65535 92 Post timer 3 1 65535 93 Drive and Pulse width 1 65535 Not changeabl...

Page 55: ...y and the key The flickering value is changed by means of the key the selected item is moved by means of the key 7 Press the WRT key The position data flickers twice to inform the completion of the registration HOM The HOM command selects HOM1 HOM4 depending on Enable Disable configuration of End P and Both Display End P Both HOM1 H O N 1 Disable Disable HOM2 H O N 2 Enable Disable HOM1 H O N 3 Di...

Page 56: ...rs twice to inform the completion of the registration Press the REG key to cancel the input and return to the previous data Caution Input position data in pulse unit The teaching unit PMC 2TU 232 does not have the pulse scaling function 6 1 4 Input of Operation Mode and Parameters The operation mode and the parameters are registered in REG71 to REG95 The display and input methods in the teaching u...

Page 57: ...EX Connection 1 Open 0 Disable 1 Enable 0 Acceleration Rate Value 1 Deceleration Rate Value 0 Enable 1 Disable Caution the configuration logic is reversed 0 Disable 1 Enable 0 Disable 1 Enable REG85 Home Search 1 Description of each digit in the Data part REG DATA 8 7 6 5 4 3 2 1 8 5 0 0 0 0 1 0 1 0 1 Step1 Enable 2 Step2 Direction 3 Step3 Enable 4 Step4 Direction 5 Step5 Enable 6 Step6 Direction ...

Page 58: ... is displayed press the DP key to convert into the mode In the mode Data displays the current position of the selected axis The key to handle is displayed in yellow letters on the left or the top of the input keys and the higher end and the lower end of the key are used to handle X axis and Y axis respectively The yellow letters above the input key describes each function However the DP key only h...

Page 59: ...rogram can oper ate only X axis Y axis or both of X and Y simultaneously It is not allowed to execute Y axis on operating X axis or vice versa The procedure to execute the program is listed in the table below Order Input Procedure Operation 1 Press the EXC key Executing a program 2 Select an axis by pressing the X Y key If the X Y key is pressed X axis Y axis and X Y axis is selected in turn and t...

Page 60: ...on to record by means of the or key for each axis The drive speed can be changed 4 Press the X Y key to select an axis to record The lamp for the selected axis is turned on The current position is recorded one axis by one axis X Y axis can not be recorded at the same time 5 Press the WRT key The current position data flickers requiring the confirmation of the recorded data You can cancel the recor...

Page 61: ...6 Drive by Teaching Unit 58 Copyright Reserved Autonics Co Ltd ...

Page 62: ...ications and I O Signal Connection 59 Copyright Reserved Autonics Co Ltd 7 Product Specifications and I O Signal Connection 7 1 Product Specifications 150 23 90 95 2 Ø5 35mm Din Rail connectable Unit mm 35 5 64 60 61 7 ...

Page 63: ...ion movement Relative position movement Home search Input Output IJP OUT OTP Jump input condition ON OFF of output port ON pulse of output port Program control JMP REP RPE END TIM NOP Jump Start repetition End repetition End program Timer No Operation Teaching Unit PMC STU 232 It is optional Record of operation mode parameter and program Drive operation Scan operation program execution home search...

Page 64: ...ommunication cable is as shown below 7 2 2 CN2 RS 232C Serial I F Connector It is the RS 232C serial communication connector It connects to a communication port in a PC or a teaching unit by means of the serial communication cable for the program edit mode or the manual operation mode by the PC or the teaching unit PMC 2TU 232 CN2 CN1 CN3 CN6 CN4 Connector CN1 Power connector CN2 RS 232C connector...

Page 65: ...Input Register specification 4 Scan specifica tion 11 REGSL5 STOP Input Register specification5 Drive stop 12 MODE0 Input Operation mode specification 0 13 MODE1 Input Operation mode specification 1 14 XDRIVE END Output X axis drive Drive end pulse 15 YDRIVE END Output Y axis drive Drive end pulse 16 XERROR Output X axis error 17 YERROR Output Y axis error 18 GEX Ground 19 GEX Ground 20 VEX Power ...

Page 66: ...ter specification2 Drive speed specification0 REGSL3 SPD1 Pin9 Input Register specification3 Drive speed specification1 REGSL4 SCAN Pin10 Input Register specification4 Scan specification0 REGSL5 STOP Pin11 Input Register specification5 Drive stop These signals specify REG numbers in the Index mode and the Program mode REGSL0 and REGSL5 are LSB and HSB respectively and the signals specify REG num b...

Page 67: ... I F and the mode configured in main body Operation of DRIVE END 14 15 output signal Operation Mode in Parallel P I F When the drive end pulse is disabled according to the mode configured in the main body When the drive end pulse is enabled according to the mode configured in the main body Home Search The signal is ON in searching the Home and OFF after ending The signal is OFF in searching the Ho...

Page 68: ... Output CCW direction drive pulse The drive pulse output signal comes out from the line drive AM26C31C of the differential output nP N and nP N are inverted outputs of nP P and nP P respectively When reset nP P nP P become Low and nP N nP N become High An example for the connection with a motor driver is as shown below Description 2 nOUT0 Pin5 Common output0 DCC output n X Y This signal is a commo...

Page 69: ...top or stops immediately Meanwhile nLMT input signal is Limit sig nal with the direction If the nLMT input signal is active while the drive pulse comes out in the direction the drive decelerates to stop or stops immediately Even if nLMT input signal is in active status after stop drive is still possible in the opposite direction of each limit sensor Deceleration to stop Instant stop of Limit stop ...

Page 70: ...1 02 03 63 8 3 Command PRG It executes a program in the PMC 1HS PMC 2HS from an assigned address Format Command Axis specification REG number specification CR PRG X CR Y Put the axis specification X in PMC 1HS Example To operate X Y axis from REG00 PRG XY00 CR Response No response JOG Continuous drive command Start the drive on the specified axis Format Command Axis specification REG number specif...

Page 71: ...sponse No response PIC Relative position movement drive It drives the specified axis to a relative position Format Command Relative position coordinate on X axis Relative position coordinate on Y axis CR PIC CR Y axis coordinate Pulse X axis coordinate Pulse Example To move only Y axis to a relative position 1500 pulse for 2 axis PIC 1500 CR In case of CCW rotation mark sign To move to a relation ...

Page 72: ...d indication of X axis Speed indication of Y axis CR PIC CR Y axis speed X axis speed The actual drive speed is the value that the configuration value is multiplied by speed multiplier Drive speed Axis speed speed multiplier To configure the speed individually ignore unnecessary axes and add comma Example To only change the Y axis speed as 1500pps SPD 1500 CR To change the speed as 2000pps for 1 a...

Page 73: ...t the Home Search of the specified axis Format Command Axis specification CR HOM X CR Y Put the axis specification X in case of PMC 1HS Example To carry out Home Search of X and Y axes at the same time for 2 axis HOM XY CR To carry out Home Search for 1 axis HOM X CR Response No response STO It decelerates to stop the drive of the specified axis However when the drive speed is lower than the start...

Page 74: ...l axis numbers PMC 1HS 1 PMC 2HS 2 Revision number Version number IDC It returns the current program number 0 63 when PMC 1HS PMC 2HS operates the program Format Command Axis specification CR IDC X CR Y Put the axis specification X in 1 axis PMC 1HS Response IDC X CR Y Program number SSM It selects the speed 1 4 Format Command Axis specification Speed selection CR SSM X CR Y Put the axis specifica...

Page 75: ...10 9 8 7 6 5 4 3 2 1 0 STOP0 STOP1 STOP2 INPOS LMT LMT ALARM EMG DRV Drive status 1 ON driving 0 End ERR Error occurrence status 1 Error HOM Home Search status 1 Operating RUN Drive operation Home output operation 1 ON PAUSE Pause 1 Pausing OUT0 nOUT0 signal CN4 CN5 1 ON DRIVE nDRIVE signal CN3 1 ON ERROR nERROR signal CN3 1 ON Bit composition of connector CN3 signal 15 14 13 12 11 10 9 8 7 6 5 4 ...

Page 76: ...RROR XOUT3 Not used XOUT4 Not used XOUT5 Not used XOUT6 Not used XOUT7 Not used YOUT0 YOUT0 YOUT1 YDRIVE YOUT2 YERROR YOUT3 Not used YOUT4 Not used YOUT5 Not used YOUT6 Not used YOUT7 Not used RST It resets the motion control IC The RST only resets the motion control IC Format Command CR RST CR Response No response SCI It reads or modifies the condition of a communication port If the port conditio...

Page 77: ...ting is applied Note When configuring baud rate as 115200 bps it may cause connection trouble of communication OGE It ends Home Search by force Format Command Axis specification CR OGE X CR Y Put the axis specification X in 1 axis PMC 1HS Example To end Home Search of X and Y axis by force for 2 axis OGE XY CR To end Home Search for 1 axis OGE X CR Response No response PSP It stops a program or a ...

Page 78: ...onse PRS It restarts a program Format Commad Axis specification CR PRS X CR Y Put the axis specification X in 1 axis PMC 1HS Example To restart a program on X Y axis PRS XY CR To restart a program for 1 axis PRS X CR Response No response PST It runs program step by step Format Command Axis specification Register specification CR PST X CR Y Put the axis specification X in 1 axis PMC 1HS Example To ...

Page 79: ...ERROR BIT12 ALARM ERROR BIT11 HARDWARE LIMIT ERROR BIT10 HARDWARE LIMIT ERROR BIT09 SOFTWARE LIMIT ERROR BIT08 SOFTWARE LIMIT ERROR Error code 1 255 No error 0 Step number 0 63 Always zero Step number information 0 No step information 1 Step information IHS It edits 2Byte EEPROM data Data should be transmitted after converted to hexademical 4 digit Format Command Axis specification CR IHS X EEPROM...

Page 80: ...d be transmitted after converted to hexademical 8 digit Format Command Axis specification CR IXS X EEPROM address Data hexademical 8 digit CR Y Example To set home search offset of X axis 100 IXS X79 00000064 Response Same with the written data Example To set speed multiplier of X axis 100 IXS X79 00000064 IXR It reads 4Byte EEPROM data Data is hexademical 8 digit Format Command Axis specification...

Page 81: ...tart speed EA EA 75 L 75 L EA EA Drive_Speed1 Drive speed1 EB EB 75 H 75 H EB EB Drive_Speed2 Drive speed2 EC EC 76 L 76 L EC EC Drive_Speed3 Drive speed3 ED ED 76 H 76 H ED ED Drive_Speed4 Drive speed4 EE EE 77 L 77 L EE EE Home_Search_High_Speed Home search high speed EF EF 77 H 77 H EF EF Home_Search_Low_Speed Home search low speed F0 F0 78 L 78 L F0 F0 Home_Search_Mode Home search mode F1 F1 7...

Page 82: ...turkey autonics com DRW170814AB ...

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