TSUJI ELECTRONICS PM16C-16 User Manual Download Page 1

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16ch STEPPING MOTOR CONTROLLER

PM16C-16

USER

’

S MANUAL

No. 3288(rev.2)

APPLICATION OF ELECTRONIC DEVICES

TSUJI ELECTRONIC CO. Ltd.

3739 Kandatsu-machi Tsuchiura-city

Ibaraki-Pre 300-0013 JAPAN

PHONE.+81-(0)29-832-3031 FAX. +81-(0)29-832-2662

URL http://www.tsujicon.jp/

E-mail [email protected]

Summary of Contents for PM16C-16

Page 1: ...S MANUAL No 3288 rev 2 APPLICATION OF ELECTRONIC DEVICES TSUJI ELECTRONIC CO Ltd 3739 Kandatsu machi Tsuchiura city Ibaraki Pre 300 0013 JAPAN PHONE 81 0 29 832 3031 FAX 81 0 29 832 2662 URL http www...

Page 2: ...Const 12 Trapezoidal form acceleration drive Trape 12 S shaped form acceleration drive Schar 12 4 4 Control screen 13 Initial screen 13 Motor drive screen 13 Mode setup screen 14 4 5 Home Position Set...

Page 3: ...tput function 37 SRQ for GPIB communication 37 SRQ for LAN RS 232C communication 38 7 Commands for parameter set up 39 7 1 Basic configuration of motor 39 7 2 Moving speed setting 40 7 3 Acceleration...

Page 4: ...CONTENTS 3 12 2 Command List 65 13 Revision History 67 14 Performance and Specifications 68...

Page 5: ...ot mounted now Take over the following functions of PM16C 04XDL 1 Count pulse step bit is 32bits Numerical range is 2 147 483 647 to 2 147 483 647 2 Each characteristics HSPD MSPD LSPD RATE LMSW DGLS...

Page 6: ...or 16ch FLSH ROM for firmware version up 2 Data Memory Communication Line LAN RS 232C GP IB main CPU Pulse controller 2ch 8 Pulse output connector 16ch LS Cable Dsub 9pin Pulse Cable Dsub 9pin LAN Cab...

Page 7: ...tive for each position Bright position shows active state In local mode motor drives active position only 7 Motor status LED These LED shows the motor status Details are shown at 7 Page 8 PRESET butto...

Page 8: ...lse with one push If you hold over 0 4 sec motor drives while holding In SETUP mode changes the page of setup function 14 MODE button Select the drive mode when pushing start button Bright LED mode is...

Page 9: ...t Dsub9 male connector are attached Pin assignment are shown below 2 GP IB connector Connect the GP IB cable here 3 RS 232 connector Connect the RS 232C cross cable here 4 LAN connector Connect the LA...

Page 10: ...tor pitch is 37 6mm DE C1 J6 JAE XM2S 0911 OMRON HDE CTF HIROSE etc are recommended connectors RS 232C connector The pin assignment of Dsub 9pin connector at PM16C 16 side is shown right Use cross cab...

Page 11: ...nge is completed the SETUP button will be pushed and escape from SETUP screen The change will be reflected after a while Please check that communication is established by the VER command etc 3 3 Confi...

Page 12: ...ive mode LOCAL Push and motor drives to preset destination value REMOTE Motor drives by entered position SCAN mode Continuous drive mode to CW CCW direction LOCAL Push and click CW or CCW jog switch m...

Page 13: ...idal form acceleration drive Trape Acceleration operation is carried out until it will reach MSPD or HSPD by making LSPD into initial velocity if a motion command is executed When a stop command is in...

Page 14: ...os A to D pulse position are displayed Colored area means cursor moveable area at local mode No Data Function 1 Channel No The display of the allocated channel at A to D Position You can change these...

Page 15: ...button and enter the new value with numeric keys Inverts the Sign of value with resets entering value with Entering value is displayed with zero suppression If you move cursor up and down entering val...

Page 16: ...CW Once detect the origin point motor stopped automatically and memorize the direction and H P pulse data In this case motor speed must be low within response time of sensor You need to check the set...

Page 17: ...the origin point detection is CW The start direction of the origin point detection set in the opposite direction of the direction of the origin point detection You can set at Page6 Home position sett...

Page 18: ...hen motor enter the offset area then goes to origin point at low speed Motor stopped suddenly if the origin point sensor is detected and H P procedures finished While in this procedures CW CCW limit s...

Page 19: ...multaneous control of channels A and B which is displayed on the display is possible 1 Speed change switch In local mode you can change the speed of the channel A B from HSPD MSPD and LSPD In remote m...

Page 20: ...mode In local mode you can change the speed of the channel A B from HSPD MSPD and LSPD In remote mode it becomes the STOP button see below 4 JOG switch useful in local mode When you press once it give...

Page 21: ...efault ENA ENA Motor control is enable DIS Motor control is disable CW CCW LS light 3 Motor hold off ENA DIS default ENA The hold off function you can set whether or not to enable you to release the p...

Page 22: ...1 000 000 Set the limit value when digital limit switch is enabled with numeric keypad 4 Backlash data Setting range 9999 9999 Initial value 100 You can set the amount of backlash movement to be perfo...

Page 23: ...lerating or decelerating by numeric keypad It becomes sudden stop or sudden acceleration this value is larger For more information please refer to the rate table 12 1 Acceleration and Deceleration Rat...

Page 24: ...is page is available 1 SETUP channel selection Same as Page 1 2 REL mode set value Setting range 2 147 483 647 2 147 483 647 Initial value 10 000 Set the pulse value that relative movement when you pr...

Page 25: ...CCW Set to CCW the origin detection start direction 5 Origin detection direction CW CCW When it is stopped by detecting the origin direction heading for the origin will be recorded You cannot change t...

Page 26: ...output of 1ms 3 TIMING OUT Start Position Setting range 2 147 483 647 2 147 483 647 Initial value 1000 Set the starting point of the interval to perform TIMING OUT signal output of the above 4 TIMING...

Page 27: ...lect the FIX in 1 you can set the channels that will be assigned Set by using the CH SEL switch or numeric keypad It cannot be set to the same channel as two or more locations 5 9 Page9 Parameters of...

Page 28: ...ge return time from mode set screen and LCD brightness adjustment 1 To change software version NEW OLD Select the firmware version See 11 Firmware version up Page 62 for more information 2 Return time...

Page 29: ...switch or press green START button 3 Press the MODE button and choose how to move from four types of REL ABS SCAN and HP The moving method that is showed by lit is currently selected 4 Start the moto...

Page 30: ...CCW LS b0 CW LS MT Indicate current motor status by 2 digit hex b7 ESEND Emergency stop command executed b6 SSEND Normal stop command executed b5 LSEND Stopped by LS signal b4 COMERR Command error b3...

Page 31: ...al stop command executed b5 LSEND Stopped by LS signal b4 COMERR Command error b3 ACCN Decelerating b2 ACCP Accelerating b1 DRIVE Motor is moving b0 BUSY Driving or dealing with command The data is in...

Page 32: ...at b3 and b2 is always 0 on STLS b3 HOLD off b2 HP LS b1 CCW LS b0 CW LS Example HDSTLS Reply 0123888B0000 Remarks Command LS_16 Read all 16CH motor LS status Reply LS LS LS LS LS Hold off and LS sta...

Page 33: ...16 Command PS ch pos Preset current position Argument pos position 2 147 483 647 2 147 483 647 Reply Nothing Example PS2 10000 Current position of CH2 set to 10000 Remarks Only remote mode And the mo...

Page 34: ...peed continuous move No acceleration and deceleration Argument d Direction P CW N CCW Reply Nothing Example CSCANN2 Start continuous move for CCW direction at CH2 Remarks Only remote mode And the moto...

Page 35: ...move B With backlash no auto adjust S With backlash auto adjust deg Destination 2 147 483 647 2 147 483 647 Reply Nothing Example ABS3 10000 Start absolute move to 10000 point at CH3 ABS0S 2500 Start...

Page 36: ...mal Example B 3 Reply 0500 Backlash adjustment value of CH3 is 500 Remarks Command B ch deg Set the backlash adjustment value Argument deg Value 9 999 9 999 Initial value 100 Reply Nothing Example B0...

Page 37: ...the method 3 of the Home Position Set and Search drive page 15 Reply Nothing Example GTHP2 Start home position search move at CH2 Remarks Only remote mode and the motor is stopped Command SSTP ch EST...

Page 38: ...munication Serial poll register on GPIB is always 0x10 when SRQ signal is outputted To check which CH have sent the SRQ signal send SRQ_OUT command Command PAUSE ON PAUSE OFF Set all motor standby sta...

Page 39: ...l CH Reply 0 SRQ output flag off 1 SRQ output flag on HHHH 4 digit hex b15 CHF b0 CH0 SRQ G sent Bit has been set as 1 and SRQ output flag has been set to this bit Example SRQ 0 Reply 1 SRQ output fla...

Page 40: ...cter Please refer to Drive speed setting page 11 for details pl Pulse output method 0 Pulse Pulse 1 Pulse Direction In CW direction H 2 Pulse Direction Reverse In CCW direction H Reply Nothing Example...

Page 41: ...STOP botton is set to the deceleration stop and LS switch is set to the emergency stop Remarks Only remote mode Command STOPMD ch Confirm the way to stop motor Reply pb ls Please refer to STOPMDx for...

Page 42: ...H HSPD M MSPD L LSPD Display the speed that has been set to the motor dddddd Display the speed as pps Example SPDAL Reoky 0123 M000650 H010000 L000100 M000650 Remarks If the motor is in operation dis...

Page 43: ...f LS set N Open in HPLS set N Close in CCWLS and set N Close in CWLS Remarks Only remote mode Item that is shaded is the default settings at parameter reset Command SETLS ch Confirm the basic operatio...

Page 44: ...CH0 hpf is not found hpd is CW atd is CCW Remarks Only remote mode Item that is shaded is the default settings at parameter reset Command SETHP ch Confirm the infomation of the home position and how t...

Page 45: ...of the relative movement by START button in REL mode ABS Value of the absolute movement by START button in ABS mode PRS Value to be set by PRESET button in SCAN mode pos Set posotion 2 147 483 647 2...

Page 46: ...0 Remarks Command SETCH ch ch ch ch Select channels to be displayed on LCD Argument ch channel Set the channel number Hexadecimal to display in order as A B C D Please enter if the channel doesn t cha...

Page 47: ...ss of the LCD backlight Argument brt brightness Please enter an integer of 1 100 Initial value 100 Reply Nothing Example LCDB 50 Remarks Only remote mode Command LCDB Confirm the brightness of the LCD...

Page 48: ...t point Example Set START 10000 STOP 10000 and 1000PPS GATE signal having a pulse width of 1ms is output when it has passed through the position 10000 Pulse signal When the motor direction is to the e...

Page 49: ...nd TMGM ch Confirm type of timing signal Reply 0 5 1 digit integer please refer to TMGMx type for meaning Example TMGM 2 reply 1 Remarks Command TMG md ch Read out the timing signal start point or the...

Page 50: ...ing signal start point and end point Argument md mode S set start point E set end point data start end point 2 147 483 647 2 147 483 647 Initial value Start point 1 000 end point 10 000 Reply Nothing...

Page 51: ...lse is not output until the ready state to the next Timing output channel fixed mode from V1 01 From firmware version 1 01 in addition to the conventional mode the timing signal output channels are li...

Page 52: ...signal Argument ch channel In order to TP3 from TP0 must be entered in hexadecimal notation the channel to output the signal Please enter in place that does not change the display Can not be set at th...

Page 53: ...change command you must be set to 24 84 the rate No beforehand Command ACS ch dno chg data fnc spd Set the auto change drive function Argument dno Data No 000 127 Select data that will store the comma...

Page 54: ...ms dummy data ACS0001 TIM 3000 SPD 8000 speed change to 8000pps at 3000ms ACS0002 TIM 5000 SPD 2000 speed change to 2000pps at 5000ms ACS0003 TIM 5000 FST fast stop at 5000ms ACS0004 END program end m...

Page 55: ...please enter the synchronized axis all the moving related commands And please start to operate by PAUSE OFF command Supplement For timing error The change start time after detection of the change cond...

Page 56: ...tching with the following command Command LCD_DISP md Switch the display of the LCD Argument md state T Timing signal output port display C Channel comment display Initial value Timing signal output p...

Page 57: ...The M will appear in the cursor location And press the numeric keypad 1 repeatedly until the uppercase letter A is displayed After completed to input the display shows as follows 3 In order to enter...

Page 58: ...ent cmt comment Please enter alphanumeric up to three characters Initial value CH ch Reply Nothing Example CHCMNTAA 3 Set the comment A 3 to CH10 Remarks Only remote mode Command CHCMNT ch You can con...

Page 59: ...hat can be executed is not found NG The command arrived but the process did not complete Even if the reply is OK it is not guarantee the behavior of as intended So please use as a tool of communicatio...

Page 60: ...0000 0000 0000 Remarks Command ERRF ERR Read out error status Reply ERRF HH Hexadecimal two digit b3 OTHER ERROR b2 PARAMETER ERROR b1 MCC06 BUSY ERROR b0 COMMAND ERROR ERR Example MCC06 BUSY ERROR Di...

Page 61: ...647 code 02 Elapsed time 0 65 535ms code 80 81 Pulse speed 1 5 000 000pps Show the above data in hexadecimal i e HHHH HHHH Example ACSK 0 reply 0100 0000 2710 Remarks Command ACSH ch Read out the dat...

Page 62: ...FROM1 Remarks Command FROM0 FROM1 Select the one of two ROM that are saved the firmware Reply Nothing Remarks Please note that when you restart the the equipment after you run this command various pa...

Page 63: ...ransmit set Mark on Local echo and OK Send the command VER and the connection will be good if there is reply 5 Set PM16C 16 to REMOTE MODE In Local mode version up is not recognized even if version up...

Page 64: ...se be careful about an electrical shock when you have opening the cover of this unit First take out power cable of it If you have some troubles to do next procedure please contact us 1 Put off the pow...

Page 65: ...4 680 24 100 44 15 64 2 2 84 0 33 104 0 047 5 620 25 91 45 13 65 2 85 0 3 105 0 043 6 560 26 82 46 12 66 1 8 86 0 27 106 0 039 7 510 27 75 47 11 67 1 6 87 0 24 107 0 036 8 470 28 68 48 10 68 1 5 88 0...

Page 66: ...35 C CHCMNT x 57 CHCMNTx ccc 57 CSCANNx 33 CSCANPx 33 E ERR 59 ERRF 59 ESTPx 36 F FDHPx 36 FL x 42 FLxddddddd 42 FROM 61 FROM0 61 FROM1 61 G GTHPx 36 H HDSTLS 30 31 HOLD x 39 HOLDxOFF 39 HOLDxON 39 J...

Page 67: ...SETMTxabcd 39 SHP x 43 SHPF x 44 SHPFxdddd 44 SHPx dddd 43 SPCxdddd 36 SPD x 33 SPDAL 41 SPDH x 41 SPDHx 32 SPDHxdddddd 40 SPDL x 41 SPDLx 32 SPDLxdddddd 40 SPDM x 41 SPDMx 32 SPDMxdddddd 40 SPRS x 44...

Page 68: ...rrection of erroneous description 2 1 Table No 11 REM LOC button all driving initial data are initialized changed to various types of parameter except the current pulse value are initialized 2 1 Table...

Page 69: ...connector Dsub9P LCD display Characters and lines of display device 20charactors 4 lines Size 9 2H 4 8W Display contents in control mode channel number current position of 10 digit number speed displ...

Page 70: ...f HP switch then stop FDHPx find home position start auto find sequence GTHPx go to home position if it exists SPCxdddd change speed while moving 5 000 000 SSTPx ESTPx slow stop or fast stop ASSTP AES...

Page 71: ...ll channel position data at once reply ddddddd ddddddd ddddddd sequence is CH0 to CHF STQ No use command at PM16C 16 STS Status read out reply R L abcd PNNS VVVV HHJJKKLL uu vv ww xx PNNS P cw moving...

Page 72: ...TxY No use command at PM16C 16 SPDH x read HSPD reply dddddd SPDHxdddd set HSPD to ddd in pps unit 5 000 000 SPDM x read MSPD reply dddddd SPDMxdddd set MSPD to ddd in pps unit 5 000 000 SPDL x read L...

Page 73: ...Y timing out mode set Y 0 disable 1 gate 2 200ns 3 10us 4 100us 5 1ms pulse out TMGM x read timing out mode reply 0 5 TMGR x read timing ready reply YES or NO TMGRx TMGCx timing out ready set or ready...

Page 74: ...E F yyy sequence number 0 to 127max reply xyyy PNT JJJ J FNC LLL L ACSCx auto change scan ready clear command ACSH x reply aabb hhhh hhhh aa code 00 SPD 01 RTE 02 SLW 03 FST 0F NOP bb sequence number...

Page 75: ...DDDD DEC S21 A position status read reply R HEX S22 B position data read reply R HEX S22D B position data read reply DDDDDDD DEC S23 B position status read reply R HEX S24 C position data read reply R...

Page 76: ...C CSPD scan 0D CSPD scan 0E scan 0F scan 16 pause on 17 pause off 18 hold off 19 hold on 1E scan HP stop 1F scan HP stop 40 slow stop 80 EM stop S39 D position 2 byte command command 08 jog 09 jog 0C...

Page 77: ...te X channel No 0 F BL backward DGLS read DDDDDDD write data DEC S6 status LS read a row of data is B A D C for 02N compatible reply RHHHHH HEX CODE REM LOC LIMIT SW BXhhhh backlash correction data fo...

Page 78: ...change speed while scanning X channel DDDDD PPS unit speed data G X read home position status X 0 F channel reply RHH H ASCII hex GF X read offset data X channel reply RDDDD d ASCII dec HP X read hom...

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