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Autonics PMC-1HS Series, Instruction Manual

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Autonics PMC-1HS Series Instruction Manual Download Page 36

4. Configuration of Operation Program

35

© Copyright Reserved Autonics Co., Ltd.

4.2.2 Index

The index mode is the operation to execute ABS and INC commands�

If the following three items are configured as the input signal for the Parallel I/F connector (CN3), the drive 

start command and STROBE (3) are activated, the drive starts.

Item specified

Input signal configuration of CN3

Operation mode: Index mode

MODE0 (12)=OFF, MODE1 (13)=OFF

Axis

X (4), Y (5)=ON of the axis to execute

Register number 

Refer to the register number specification table for REGSL0 (6) to REGSL5 

(11)

<Register number specification table>

RGB number

Input signal configuration from REGS0 to REGS5
REGSL0 (6) REGSL1 (7) REGSL2 (8) REGSL3 (9) REGSL4 (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 mode.

The STROBE signal is activated in ON status and the Index mode operation on the specified axis starts 10 

msec later� The STROBE signal must be in on status of more than 10msec�
In driving, the nDRIVE output signal on the running axis must be in the ON state�
When nDRIVE signal is ON, drive will be remained even if other input signal is OFF�
The nDRIVE signal goes to the OFF status if the STROBE signal is checked in OFF status�

For PMC-1HS, X and Y-axis signals are disabled.

STROBE (CN3/3) input

X (CN3/4) input

OFF

ON

Min. 10 msec

Configuration value

ON (Drive starts)

ON

OFF

OFF

OFF

OFF

OFF

OFF

Y (CN3/5) input

MODE0 (CN3/12) input

MODE1 (CN3/13) input

REGSL0 to 5 (CN3/6 to 11) output

XDRIVE/END (CN3/14) output

YDRIVE/END (CN3/15) output

Summary of Contents for PMC-1HS Series

Page 1: ...C 1HS PMC 2HS INSTRUCTION MANUAL The invisible hand for more convenient world sensors controllers Thank you very much for selecting Autonics products For your Safety please read the following before using 1 2 Axis High Speed Motion Controller ...

Page 2: ... 10 3 Configuration of the Operating Mode and System Parameters 11 3 1 Execution of Operation Program 11 3 1 1 Mode 11 3 1 2 Parameter 15 3 1 3 Home Search Mode 19 4 Configuration of Operation Program 29 4 1 Starting the operation program 29 4 1 1 Commands in the Operation Program 30 4 1 2 I O port numbers 33 4 2 Drive by Parallel I F 34 4 2 1 Home Search 34 4 2 2 Index 35 4 2 3 JOG 36 4 2 4 Conti...

Page 3: ...Drive operation 58 6 2 1 Home Search 58 6 2 2 JOG operation 59 6 2 3 Execution of Operation Program 59 6 2 4 Record of the Current Position 60 7 Product Specifications 61 7 1 Dimensions 61 7 1 1 Sold separately teaching unit PMC 2TU 61 7 2 Specifications 62 8 Connector 63 8 1 Connector Types and I O Signal Connection 63 8 1 1 CN1 Power Connector 63 8 1 2 CN2 RS 232C Connector 63 8 1 3 CN3 Parallel...

Page 4: ...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 result in fire personal injury or economic loss 1 When connecting the power input use AWG ...

Page 5: ...he 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 wire is recom...

Page 6: ...t 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 sold separately to configure operation parameter mode position data and program data In addition a user can ...

Page 7: ... by PC Start with teaching unit PMC 2TU 232 sold separately 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 For more information refer to 6 Drive by Teaching Unit Control by serial communication The PMC 1HS 2HS Series provides serial communication commands The PMC 1HS 2HS is conn...

Page 8: ...n at Windows 98 ME and 2000 Windows 98 and ME Run InstMsiA exe in the InstMS folder Windows 2000 Run InstMsiW exe in the InstMS folder Windows XP additional installation is not required 3rd Double click PMC msi file on the Install folder and it starts installations 4th Select the Next button 5th Select the desired folder and click the Next button 6th The progress of the installation is displayed 7...

Page 9: ...and Delete 8 Copyright Reserved Autonics Co Ltd 2 2 Delete of Operation Program 1st Delete this program with Add remove programs in your Control Panel 2nd Click the Remove button after selecting PMC on the list of the screen ...

Page 10: ...e Manager If PMC HS 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 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 dis...

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

Page 12: ...ecting a teaching unit PMC 2TU 232 sold separately to RS232C port of the motion controller is also available to set For more information refer to 6 Drive by Teaching Unit 3 1 Execution of Operation Program With a communication cable connect the controller to your PC and start the operation program Click Parameter Mode in left of the middle on the main screen after executing the program Then Parame...

Page 13: ...es out and the controller 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 s...

Page 14: ...ation value of the trapezoid adjustable speed drive Display Selection Factory default 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 decele...

Page 15: ...is turn on or the main body is reset 8 Power On Program Start When the power is turned on select Enable Disable for the auto start of the program Display Selection Factory default 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 main body is res...

Page 16: ...f the drive speed 2 Acceleration Rate The acceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive accelerates In Mode tab set the Deceleration Value to Accel use this Acceleration Rate in drive deceleration Display Setting range Factory default Acceleration Rate 1 to 8 000 400 A is the Acceleration value configured as below formula Acceleration Rate pps A 125...

Page 17: ...red 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 5 Drive Speed 1 to 4 The drive speed is the speed for an adjustable speed drive Display Setting range Factory default Driver Speed 1 1 to 8 000 10 Driver Speed 2 1 to 8 000 100 Driver Speed 3 1 to 8 000 1 ...

Page 18: ... the value higher than the start speed 9 Home Search Offset The home search offset configures the amount of home search offset movement When the value is zero the offset is not moves Display Setting range Factory default Home Search Offset 8 388 608 to 8 388 607 100 The above configuration range is the value when numerator denominator of pulse scale 1000 1000 10 Soft Ware Limit It configures the v...

Page 19: ...se value Numerator of pulse value E g If one pulse of the drive pulse is about 0 01 mm of the moving amount Scale numerator 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 significant digit of 1 pulse will be output and d...

Page 20: ...n Near Home Signal nSTOP0 is activated before starting the step 1 Run the step 2 Limit signal of the detected direction is activated before starting the step 1 Run the step 2 Limit signal of the detected direction is activated in operating Stop the drive and runt the step 2 2 Step 2 Low Speed Home Search The step 2 outputs the drive pulse to the Home Search Low Speed set in Parameter tab and the s...

Page 21: ...he step 3 starts 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 4 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 set in Parameter tab and the specified direction This is used to move fro...

Page 22: ...onnector CN4 and 5 For the active 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 4 Step 1 to Step 4 Enable This mode configures the Enable Disable for each step Display Selection Factory default Step 1 Enable t...

Page 23: ...ut 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 9 DCC Level This mode specifies the level of the deviation counter clear pulse signal Display Selection Factory default DCC Level 0 ON 1 OFF 0 0 Since the output signal OUT0 is OFF in normal the DCC pulse of ON comes out 1 Since the output signal OUT...

Page 24: ...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 the step 2 it will be the irre...

Page 25: ...th trapezoid driving Home Search Low Speed 20 Slower then the start speed of 200 pps Home Search High Speed 2 000 20 000pps Home Search Offset 3 500 Home Search Mode Item Configuration value Note Near Home Signal 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 used Step 1 Enable Enable Operatio...

Page 26: ...vels identically Enable the Using Limit Signal in Home Search Mode tab Start the step 4 high speed 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 No operation Step 4 Offset movement of 500 pulses i...

Page 27: ...as Slow in Mode tab Mode Item Configuration value Note Limit Stop Mode Slow Deceleration stop Limit Active Level Low Parameter 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 tab Start Speed 50 Start Speed of trapezoid drive Home Search Low Speed 20 Slower t...

Page 28: ...sed 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 No operation Step 3 Direction direction Step 4 Enable Enable Operation escaping the limit Step 4 Direction direction Position Clear Enable Clear position counter after completing home...

Page 29: ...3 Configuration of the Operating Mode and System Parameters 28 Copyright Reserved Autonics Co Ltd ...

Page 30: ...ition 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 6 Drive by Teaching Unit The operation program can be available as the following three ways Using the the operation program the main screen on your PC Using a Parallel I F Using a teaching unit PMC 2TU 232 sold separately 4 1 ...

Page 31: ...Parameters tab 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 set in Parameter tab 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 I F after the movement is comple...

Page 32: ...s 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 commands are different from each other Error occurs 3 HOM home search CMD Data STD TIM END P Both HOM 0 1 0 1 Start the home s...

Page 33: ...s for output port number Data2 Specifies the ON time in msec the range is 0 to 65 535 msec 7 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 to 63 8 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 spe...

Page 34: ...description Signal 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 I F signal 21 CN3 7 REGSL1 22 CN3 8 REGSL2 23 CN3 9 REGSL3 24 CN3 10 REGSL4 PHC 1HS ca...

Page 35: ... 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 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 10 msec If the Home Search starts nDRIVE END 14 to 15 output signal of the running...

Page 36: ... 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 mode The STROBE signal is activated in ON status and the Index mode operation on the specified axis starts 10 msec later The STROBE signal must be in on status of more than 10msec In driving the nDRIVE output signal o...

Page 37: ... CN3 Operation mode specification JOG mode MODE0 12 ON MODE1 13 OFF JOG mode 1 specification JOG 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 to 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 2 JOG mode 2 JOG mode 2...

Page 38: ...d 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 SPD0 8 to SPD1 9 Refer to 4 2 3 JOG Drive Speed configuration 4 2 5 Program The program drive executes the operation program registere...

Page 39: ...4 Configuration of Operation Program 38 Copyright Reserved Autonics Co Ltd ...

Page 40: ...dware 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 communication with the main bo...

Page 41: ...e the operation program 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 Operations JOG JOG 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 St...

Page 42: ...e 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 pulse scale numerator in ...

Page 43: ...ng Display drive status Display Operations 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 Operations Parameter Mode Starts the parameter mode screen Program Edit Starts the program edit screen Input Output Starts ...

Page 44: ...l data Program All All programs Program X axis Program data 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 In the Option menu you ...

Page 45: ... the value is automatically added to the main body The mode tab is as listed in the table below For more information refer to 3 1 1 Mode Display Selection Factory default 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 End ...

Page 46: ...Deceleration Rate 1 to 8 000 400 Start Speed 1 to 8 000 50 Drive Speed 1 1 to 8 000 10 Drive Speed 2 1 to 8 000 100 Drive Speed 3 1 to 8 000 1 000 Drive Speed 4 1 to 8 000 8 000 Post Timer 1 1 to 65 535 msec 10 Post Timer 2 1 to 65 535 msec 100 Post Timer 3 1 to 65 535 msec 1 000 Home Search Low Speed 1 to 8 000 20 Home Search High Speed 1 to 8 000 1 000 Home Search Offset 8 388 608 to 8 388 607 1...

Page 47: ...h Mode Display Selection Factory default Near Home Signal 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 Enable Usi...

Page 48: ...eased by one In online state the data is automatically added in the main body Input item Command Description Command Click to select the following commands ABS move absolute position OUT ON OFF of output port IJP jump input condition INC relative position movement NOP no operation OTP ON pulse of output port JMP jump HOM home search REP start repetition TIM timer RPE end repetition END end program...

Page 49: ...ile menu of the main screen 2 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 ...

Page 50: ...in online state Input signal status of CN4 and 5 lights when the signal is active E g The limit signal nLMT lights when the Limit Active Level is low which is the signal is connected to GND by the Mode tab The input signal of Parallel 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 double click ...

Page 51: ...Receive buffer overflow 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 durin...

Page 52: ...600bps for more stable communication The teaching unit consists of data edit mode and drive handling mode The data edit mode displays a register 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 The DP button is used to convert the status of the data edit mode and the drive handling mode Mode...

Page 53: ...s editing Button display for drive operation Displays button function as yellow letters to the left or the top of the input button in drive handling status The top end and the bottom end of the button handle X axis and Y axis respectively 6 1 Operation of the data edit The data edit includes input display and change the operation mode parameter or the operation program In data edit mode a register...

Page 54: ...0 80 Drive Speed 2 1 to 8 000 81 Drive Speed 3 1 to 8 000 82 Drive Speed 4 1 to 8 000 83 Home search high speed 1 to 8 000 84 Home Search Low Speed 1 to 8 000 85 Home search mode 1 86 Home search mode 2 87 Home search offset 8 388 608 to 8 388 607 88 Soft Ware Limit 8 388 608 to 8 388 607 89 Soft Ware Limit 8 388 608 to 8 388 607 90 Post Timer 1 1 to 65 535 91 Post Timer 2 1 to 65 535 92 Post Time...

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

Page 56: ...tate 2 Select a command using the or button 3 Press the WRT button The command is confirmed 4 Input the first value Left side 5 Press the button Wait for the input of the second right value 6 Input the second value right side 7 Press the WRT button The display flickers twice to inform the completion of the registration RPE NOP END RPE NOP END R P E N O P E N D 1 Press the WRT button The ABS displa...

Page 57: ...of the number buttons 3 Press the WRT button The display flickers twice to inform the completion of the registration Mode 71 72 85 86 Data display part 1 2 3 4 5 6 7 8 For the items displayed as 8 digit at the data display part for each register refer to 6 1 4 Input of Operation Mode and Parameters 1 Mode display 1 Press the WRT button In input mode the mode of 1 in the Data display part is select...

Page 58: ... Open 1 Open 1 Enable 1 Deceleration Rate Value 1 Disable Caution The configuration logic is reversed 7 Power On Home Search 8 Power Program Start 0 Disable 0 Disable 1 Enable 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 Step 1 Enable 2 Step 2 Direction 3 Step 3 Enable 4 Step 4 Direction 5 Step 5 Enable 6 Step 6 Direction 7 ...

Page 59: ...s the DP button to convert into the mode In the mode Data displays the current position of the selected axis The button to handle is displayed in yellow letters on the left or the top of the input buttons and the higher end and the lower end of the buttons are used to handle X axis and Y axis respectively The yellow letters above the input button describes each function However the DP button only ...

Page 60: ...ified register number The program can operate 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 button Executing a program 2 Select an axis by pressing the X Y button If the X Y button is pressed X axis Y axis and...

Page 61: ...be changed 4 Move an axis to the position to record by means of the button for each axis 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 X Y button to select an axis to record When the current position data flickers you can cancel the recorded data by pressing the DP button 6 Press the WRT b...

Page 62: ...uct Specifications 61 Copyright Reserved Autonics Co Ltd 7 Product Specifications 7 1 Dimensions 150 23 90 95 2 Ø5 35mm Din Rail connectable 35 5 64 60 61 7 unit mm 7 1 1 Sold separately teaching unit PMC 2TU ...

Page 63: ...gram function Save EEPROM Steps 64 step Control command ABS INC HOM IJP OUT OTP JMP REP RPE END TIM NOP 12 types Start Available power ON program auto start setting Home search Available power ON home search setting General output 1 point 2 point Control interface Parallel I F Environ ment Ambient temperature 0 to 45 Ambient humidity 35 to 85 RH Access ory Common User manual CD Power connector CN1...

Page 64: ...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 Connector CN1 Power connector CN2 RS 232C connector connects with PMC 2TU 232 CN3 Parallel connector CN4 X axis I O connector CN5 Y axis I O connector CN6 USB connector Pin No Signal Nam...

Page 65: ...ting 5 Drive stop 12 MODE0 Input Operation mode setting 0 13 MODE1 Input Operation mode setting 1 14 X DRIVE END Output X axis drive Drive end pulse 15 Y DRIVE END Output Y axis drive Drive end pulse 16 X ERROR Output X axis error 17 Y ERROR Output Y axis error 18 GEX 0V GND 19 GEX 0V GND 20 VEX 24V Power output for sensor Less than 24VDC 100mA 1 Input RESET reset Make the ON state more 20 msec an...

Page 66: ... Register setting 4 JOG setting REGSL5 STOP Register setting 5 Drive stop These signals specify register numbers in the Index mode and the Program mode REGSL0 is the lowest bit and REGSL5 is the highest bit and set the register numbers 0 to 63 RUN and RUN are separately used in the JOG mode 1 and Continuous mode respectively Set the axis to drive and RUN is in the ON state the drive pulse comes ou...

Page 67: ... 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 Home and the drive end pulse comes out after ending Index mode The signal is ON in the drive pulse output and OFF after ending The drive end pulse comes out if the command that the end pulsed is enabled is completed JOG mode ...

Page 68: ...pulse is same as CN3 I O circuit Drive pulse output of motion controller which input by motor driver is line driver output 1 Output nP P CW direction drive pulse n X Y nP N CW direction drive pulse nP P CCW direction drive pulse nP N 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 a...

Page 69: ...nLMT input signal is active while the drive pulse comes out in the direction the drive decelerates to stop or stops immediately Meanwhile nLMT input signal is Limit signal 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 po...

Page 70: ... 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 REG number decimal Put the axis specification X in PMC 1HS Example To operate X Y axis from REG00 PRG XY00 CR Response No response JOG Start the continuous drive on the specified axis Format Command Axis specification REG number specification C...

Page 71: ...xis PAB 10 1 CR Response No response PIC 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 position 3000 p...

Page 72: ...of Y axis CR PIC CR Y axis speed X axis speed The actual drive speed is the value that the setting 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 axis SPD 2000 CR Response No response To acquir...

Page 73: ... 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 speed the drive sto...

Page 74: ...ntrol axis numbers PMC 1HS 1 PMC 2HS 2 Revision number Version number IDC It returns the current program number 0 to 63 when it 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 to 4 Format Command Axis specification Speed selection CR SSM X CR Y Put the axis specificatio...

Page 75: ... 13 12 11 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 Home output 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 3 2 1 0 XI...

Page 76: ... 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 condition is modif...

Page 77: ...e data for writing 2 In writing The data for writing is applied 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 drive step temporarily Format Command Axis spec...

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: ...OR BIT12 ALARM ERROR BIT11 HARDWARE LIMIT ERROR BIT10 HARDWARE LIMIT ERROR BIT09 SOFTWARE LIMIT ERROR BIT08 SOFTWARE LIMIT ERROR Error code 1 to 255 No error 0 Step number 0 to 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 EEP...

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: ... Start_Speed Start 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 searc...

Page 82: ...MCC CXU1 V1 2 1712US DRW170814AC ...

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