TSUJI ELECTRONICS PM16C-16HW2 User Manual Download Page 1

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16ch STEPPING MOTOR CONTROLLER

PM16C-16HW2

USER

’

S MANUAL

No. 4071(rev.4)

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-16HW2

Page 1: ...ER S MANUAL No 4071 rev 4 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 info2 tsuji denshi co jp ...

Page 2: ... mode and Local mode 12 4 2 Drive mode 12 4 3 Drive speed setting 12 Constant drive Const 13 Trapezoidal form acceleration drive Trape 13 S shaped form acceleration drive Schar 13 4 4 Control screen 14 Initial screen 14 Motor drive screen 14 Mode setup screen 16 4 5 Home Position Set and Search drive 17 At the beginning 17 Selection of detecting ways 17 4 6 Hand box Optional 21 04TYPE Hand box con...

Page 3: ...g 43 6 8 Command of SRQ output function 43 SRQ for GPIB communication 43 SRQ for LAN RS 232C communication 44 7 Commands for parameter set up 46 7 1 Basic configuration of motor 46 7 2 Moving speed setting 48 7 3 Acceleration and deceleration Rate Setting 49 7 4 Details of acceleration deceleration rate 50 7 5 Setting of the limit switch related 51 7 6 Setting of the home position related 52 7 7 S...

Page 4: ...CONTENTS 3 13 Performance and Specifications 74 ...

Page 5: ...as 8 ports and a total of 16 locations can be connected at the same time 2 Response time has been reduced to a maximum of 25ms for all commands 3 With H_LAN all 16ch positions can be read within 1ms 4 The STOPx response which is a pseudo SRQ signal related to LN_SRQ is sent to the port that last sent SRQx1 x 0 to F The settings are independent for each connection port Take over the following funct...

Page 6: ...or Pulse Motor PC Sensor Pulse Motor LAN Cable RS 232C Cable GP IB Cable Driver RS 232C GP IB Front panel Control switch FLSH ROM for firmware version up x 2 Data Memory L LAN CPU LCD Display Pulse output connector Limit switch input connector FPGA Pulse controller 2ch x 8 Up to 16 set connectable H LAN Hi speed LAN ...

Page 7: ... active 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 page 7 8 PRESET button When motor drive mode is scan current pulse position is set to preset value 9 START button All activated motor start driving according to the motor drive mode 10 STOP button All activated driving...

Page 8: ...ulse 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 selected mode Drive mode changes every pushing 15 cursor button Move the cursor position with these keys Changes set data at SETUP mode with CHG button 16 DSPCHG button Exchanges motor drive screen ...

Page 9: ...able here 4 H LAN connector Connector for Hi speed LAN for command PC_16 Connect the LAN cable here Available to connect from 8 locations at the same time 5 L LAN connector Connect the LAN cable here Available to connect from 8 locations at the same time 6 Fuse holder 250 V 3A 250V 3A fuse is equipped here 7 Power cable connector Insert attached AC cable here 100 220V AC power is available dotted ...

Page 10: ...input Dsub connector LS IN Pin assignment Both a contact limit switch and b contact are available Logic inverting is also available at PM16C 16HW2 settings Use Dsub connector which shell width is under 35mm since each Dsub connector 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 HW2 sid...

Page 11: ...uipment To change the IP address port number subnet mask and gateway address move the blinking cursor with the CURSOR button and enter the number directly with the numeric keypad As for a port number 10001 to 10999 is a recommended value There are eight port numbers 0 to 7 for each of LAN_H and LAN_L and you can check or change other port numbers with the CH SEL lever switch or numeric keypad at t...

Page 12: ...t is only baud rate that can set up and other values are being fixed to DATA BIT 8 STOP BIT 1 NO FLOW CONTROL NO PARITY Aconfiguration of GP IB only sets up address Acursor is moved on the figure of ADDRESS and address is set up within the limits of 2 to 31 IF change is completed the SETUP button will be pushed and escape from SETUP screen 3 5 About delimiter character The format of command is ASC...

Page 13: ...pulse drive 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 motor drives to dedicated direction continuously A push on the PRESET button will set a pulse to the value set up beforehand HP mode Drive detecting origin point of pulse count for each channel...

Page 14: ...onstant drive at all drive mode Trapezoidal 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 input the motor starts deceleration And the motor stop when speed reached LSPD Acceleration and deceleration curve become rapid and time to reach maximum speed sho...

Page 15: ...rrent firmware version is displayed at screen just after turning on the power Firmware version 1 08 or later does not display the version on the upper screen but automatically switches to the following page and the firmware and hardware versions are displayed Motor drive screen A Pos B Pos C Pos D Pos This is default screen when you control the motors 4 channels which allocated Pos A to D pulse po...

Page 16: ...anges See 8 Timing out signal output page 54 in detail 4 Timing signal output port Channel comment The display of channel comments can be switched and comments can be displayed on each channel using 3 alphanumerical characters For comment settings refer to 9 1 Channel comment setting page 59 With the CHG button when this display and timing signal are output you can switch the display indicated by ...

Page 17: ...h SCN Enter preset value when you push H P If you have found the home position at this position displays its data If not displays NO_HOME POS Home position data is rewritable if you have found it When you change these values move the cursor where you change with cursor button and enter the new value with numeric keys Inverts the Sign of value with resets entering value with Entering value is displ...

Page 18: ... 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 speed Selection of detecting ways There are three ways of detecting origin point Some are in case of memorized data had existed and another is in case of no memorized data METHOD A METHOD ORIGINAL ST...

Page 19: ... is memorized and the direction approaching a sensor is also memorized In the case of the above figure the CW direction This way is applicable also to the detection in the case of using HP sensor as CWLS or CCWLS In that case input CWLS or CCWLS also into HPLS METHOD B The following example is the case that the direction of the origin point detection is CW The start direction of the origin point d...

Page 20: ...rigin sensor H P LS 2 Detect the origin point then back to CW side at low speed 1 It starts present speed H M L 3 Again detect the origin point at low speed Cam CW CCW origin sensor H P LS 2 Detect the CCW limit switch then back to CW side 1 It starts present speed H M L 3 Detect the origin point then goes to CCW side at low speed CCW limit switch 4 Again move to CW side and detect the origin poin...

Page 21: ...gin point information is memorized by the way previously described The origin point is detected automatically based on the information memorized If you push START button motor goes to origin point offset pulse area by preset speed When 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 i...

Page 22: ...ional In local mode operation you can control a motor using the panel directly In addition you can control a motor using Hand box sold separately Connect the Hand box to HAND BOX connector And select the type of the Hand box in the item HAND BOX CONT in the page 9 of the SETUP mode from the below types ...

Page 23: ...Simultaneous 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 mode it becomes the STOP button see below 2 CH A JOG switch It is the same function as the JOG switch of the front panel of PM16C 16 and it operates the channel A which is displayed on LCD display Wh...

Page 24: ... 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 gives the instruction once in the direction CW or CCW in which you move the JOG switch If press and hold it continues to operate About Speed change switch In remote mode all of LED H M L will light if th...

Page 25: ... and rounded up if there is a remainder Initial Value HSPD 3 700 MSPD 650 LSPD 10 You can set the speed when moving HSPD high speed MSPD middle speed and LSPD low speed The setting unit is pps pulse per second Please enter it using the numeric keypad These rates will be used in Drive speed setting on page 12 3 JOG STEP value Setting range 1 99 999 initial value 1 Set the number of steps of the JOG...

Page 26: ...Refer to 4 3 Drive speed setting on page 12 for more information 5 Motor hold off ENA DIS default ENA The hold off function you can set whether or not to enable you to release the power supply current to the motor when the motor is stopped ENA hold off signal is enable DIS hold off signal is disable 6 Hold off inversion ENA DIS default DIS Inverts the polarity of the holdoff signal output logic EN...

Page 27: ...ange to When the limit switch is active N O Select when using the limit switch normally open A contact N C Select when using the limit switch normally close B contact 4 Selection of stop mode In case of limit switch SLOW FAST default SLOW Select from the FAST Sudden stop or SLOW Deceleration stop how to stop when it detects a limit switch 5 Selection of stop mode In case of push button Panel opera...

Page 28: ...9999 Initial value 100 You can set the amount of backlash movement to be performed in remote mode with numeric keypad For digital limit switch In the case of CWLS digital limit switch is activated when it exceeds the set value the motor will not work in that direction In the case of CCWLS digital limit switch is activated when it becomes less than the set value the motor will not work in that dire...

Page 29: ...t when you press the START button in local mode 3 ABS mode set value Setting range 2 147 483 647 2 147 483 647 Initial value 0 Set the absolute movement of the pulse value when you press the START button in local mode 4 SCAN mode set value Setting range 2 147 483 647 2 147 483 647 Initial value 0 Set the value to be preset when you press the PRESET button in local mode C H 0 0 M O D E _ D A T A P ...

Page 30: ...is the direction you want to move to the first by pressing the START button CW Set to CW the origin detection start direction 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 this value 6 Origin detection offset pulse Setting range 1 9999 initial val...

Page 31: ... pulse with a manually set width once 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 OUT Stop Position Setting range 2 147 483 647 2 147 483 647 Initial value 10000 Set the end point of the interval to perform TIMING OUT signal output of the above 5 TIMING OUT ...

Page 32: ...the channel that has been set TIMING OUT channel fixed mode Regardless of the display the signal of the channel that has been set is output 2 TIMING OUT output channel When you select 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 remote mode setting 1...

Page 33: ... or the CH SEL lever switch at the bottom 4 PORT number Initial value 7777 7784 Set the PORT number of PM16C 16HW2 with numeric keypad Can be set up to 1 32767 but the recommended value is 10000 10999 5 Subnet mask setting Initial value 255 255 255 0 PM16C 16HW2 with the numeric keypad and cursor keys 6 Gateway address setting Initial value 192 168 1 1 PM16C 16HW2 with the numeric keypad and curso...

Page 34: ...e 67 for more information 2 Return time from mode set screen Setting range 0 99 Initial value 60 In the control screen it changes to mode display screen by pressing the DSP CHG button If you do not operate during the number of seconds set here the screen will return to the control screen It does not return until you press the DSP CHG button again if it is set to 00 3 LCD brightness adjustment Sett...

Page 35: ...G 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 motor moving when the START button is pressed REL Move relative movement amount that has been set ABS Move for absolute point amount that has been set SCAN Green lamp at start button keep blighting and s...

Page 36: ...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 ACCN Decelerating b2 ACCP Accelerating b1 DRIVE Motor is moving b0 BUSY Driving or dealing with command POS Displaying current position with signed 10 digit decimal Digit is increased if data is more than 10...

Page 37: ... Example STS_16 Reply SSSSPSSSSSSNSSSS 00000080030000000000000300000000 Remarks Command LS a Read displayed 4 CH motor on LCD LS status Argument a No input Hard or soft limit conventional specifications H hard limit S soft limit Reply 0123 LS 0123 Show displayed motor CH No at 1 digit hex The order of this data is applied on LS LS Hold off and LS status hex When these signals are activating its bi...

Page 38: ...rd limit S soft limit Reply LS LS LS LS LS Hold off and LS status hex When these signals are activating its bits stands 1 When H is assigned to a the state of the externally connected LS is read and when S is assigned the state of the internal software LS is read If not assigned it will be or of hard and soft b3 HOLD off b2 HP LS b1 CCW LS b0 CW LS The data is in order from CH0 to CHF Example LS_1...

Page 39: ...on 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 motor is stopped Command JOG d ch Move 1 pulse Argument d Direction P CW N CCW Reply Nothing Example JOGP1 CH1 moves 1 pulse for CW direction Remarks Only remote mode And the motor is stopped Command SPD sp ch Select motor move speed Argument sp...

Page 40: ...tion 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 motor is stopped Be careful of LSPD value because too fast LSPD value causes motor step out Command SCANH d ch It is the same as SCAN command except stop moving if home position sensor activates It is a move that corresponds to the method 1 of the Home ...

Page 41: ... 2500 Start absolute move to 2500 point with auto adjust backlash at CH0 Remarks Only remote mode And the motor is stopped Please see below topics about backlash move Command REL ch b deg Start relative move Argument b Backlash None Without backlash move B With backlash no auto adjust S With backlash auto adjust deg Value 2 147 483 647 2 147 483 647 Reply Nothing Example RELC 10000 Start CW 10000 ...

Page 42: ...justment value is checked and changed at Page 2 on SETUP mode or this command ch 0 F Hexadecimal for channel Command B ch Check the backlash adjustment value Reply dddd signed 4 digit decimal 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 99 999 99 999 Initial value 100 Reply Nothing Example B0 400 Set ba...

Page 43: ...t corresponds to the method 3 of the Home Position Set and Search drive page 17 Reply Nothing Example GTHP2 Start home position search move at CH2 Remarks Only remote mode and the motor is stopped Command SSTP ch ESTP ch Stop the specified motor Reply Nothing Example SSTP1 Stop the motor at CH 1 ESTP7 Stop the motor at CH 7 immediately Remarks SSTP is stop with deceleration and ESTP is stop withou...

Page 44: ...communication 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 status or release it Reply Nothing Example PAUSE ON All stopped motors get standby status Remarks Only remote mode Command PAUSE Check the motor standby status Reply ON OFF Example PAUSE Reply ON All ...

Page 45: ...H port 2 If you do these in sequence the SRQ will be STOP1 and STOP2 are output to LAN_H and port 2 and STOP1 is output to LAN_L and port 1 Command SRQ ch md Set or reset SRQ signal output flag Argument md Mode 0 SRQ flag reset 1 SRQ flag set Reply Nothing Example SRQ71 Set SRQ output flag for the channel 7 Remarks Command SRQG0 cancels SRQ output flag of all channels Flag will be cleared when SRQ...

Page 46: ...command SRQ flag is cleared after SRQ signal is outputted The SRQ output flag is independent for LAN_H and LAN_L Command LN_SRQ ch LN_SRQ G Check SRQ output flag on LAN or RS 232C In the case of LN_SRQ G check all CH Reply 0 SRQ output flag off 1 SRQ output flag on HHHH 4 digit hex b15 CHF b0 CH0 when LN_SRQ G is sent Bit has been set as 1 and SRQ output flag has been set to this bit Example LN_SR...

Page 47: ...nergization signal ac Acceleration and deceleration method 0 Constant 1 Trapezoidal 2 S character Please refer to Drive speed setting page12 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 SETMT01110 Selected ch0 enable motor operation no output hold off signal trapezoidal mode pulse pulse outpu...

Page 48: ...e time from exciting the motor to the actual movement Reply DDDmsec Example H_ONTM A Reply 100 msec Channel A will start operating 100ms after the holdoff is released Remarks Command H_OFTM ch t HOLDTM ch t Set the time to output the hold off signal after the motor has stopped Both commands have the same behavior Argument t Excitation time Setting range 50 to 3000 msec Initial value in 10ms increm...

Page 49: ...ng Example STOPMD 3 reply 01 Remarks Command SPD sp ch pps Set the speed for LSPD MSPD HSPD Argument sp Speed L LSPD M MSPD H HSPD Select the speed at which you want to set pps Speed pps Set the speed at 5 10 000 000 5pps units pps pulses per second Initial value LSPD 10pps MSPD 650pps HSPD 3 700pps Reply Nothing Example SPDH02000 Set the speed to 2000pps for when ch0 s HSPD is selected SPDLF50 Se...

Page 50: ...15 Refer to page 48 about the relationship of acceleration and deceleration of the actual code Initial value 013 Reply Nothing Example RTE040 Set to 40 for the acceleration and deceleration rate of CH0 Remarks Only remote mode And the motor is stopped Command RTE ch Confirm the code in the acceleration and deceleration rate Reply DDD 3 digit integer Example RTE 0 reply 050 The acceleration and dec...

Page 51: ...ster than 1 500 000 20 0 00125 ms 1000pps 0 00125steps NO RATE NO RATE NO RATE NO RATE NO RATE NO RATE 0 1000 20 150 40 22 60 3 3 80 0 47 100 0 068 1 910 21 130 41 20 61 3 81 0 43 101 0 062 2 820 22 120 42 18 62 2 7 82 0 39 102 0 056 3 750 23 110 43 16 63 2 4 83 0 36 103 0 051 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...

Page 52: ... CH2 enable all of 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 operation of the limit switch Reply D lsen 0 lsiv Refer to SETLS for meaning Example SETLS 2 reply 01110000 Remarks Command D L ch dls Set the threshold of digital LS that is enabled Argument...

Page 53: ... 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 information of the home position and how to set the home position Reply 0 hpf hpd atd refer to SETHP for meaning Example SETHP 2 reply 0110 detected the home position Remarks Command SHP ch pos Normally the home position data is automatical...

Page 54: ...de Mode REL Value 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 2 147 483 647 Initial value REL 10000 ABS 0 PRS 0 Reply Nothing Example SPRSB 10000 Set 10000 to the preset value of CH11 for when PRESET button will be pressed Remarks Only remote mode...

Page 55: ...50 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 change It is not possible to display two or more places at the same time the same CH Reply Nothing Example SETCH0123 Display CH0 1 2 3 in order from Pos A on the LCD SETCH 8A Display CH8 to Pos C of LCD...

Page 56: ...ust the brightness 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 backlight Reply 001 100 3 digit integer Example LCDB reply 050 Remarks ...

Page 57: ...at 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 end point from the start point the pulse signal width 200ns 1ms is outputted if it passes through START And the pulse signal is outputted every time the value of the interval only proceed until it pas...

Page 58: ... output Reply nothing Example TMGM15 Remarks Only remote mode Item that is shaded is the default parameter settings at reset Command TMGM ch Confirm type of timing signal Reply 0 A HEX 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 timing signal end point Argument md mode S start point E end poin...

Page 59: ...end point 2 147 483 647 2 147 483 647 Initial value Start point 1 000 end point 10 000 Reply Nothing Example TMGS2 10000 CH2 s timing signal start point will be set to 10 000 TMGE2 50000 CH2 s timing signal end point will be set to 50 000 Remarks Only remote mode Command TMG md ch Set clear the timing signal output preparation mode Argument md state R Ready H level Pulse output Manual C Clear L le...

Page 60: ...utput mode If you set type to 6 with the command TMGM ch type you can output the timing signal to the level output arbitrarily and if you set 7 to A you can output 1 pulse In case of 6 H level is output by TMGR ch and L level is output by TMGC ch For 7 to A a pulse with the set width is output once each time TMGR ch is input Timing output channel fixed mode In addition to the conventional mode the...

Page 61: ...annel fixed mode Example TMGFX reply EN Remarks Command TMGCH ch ch ch ch Set the channel of the timing 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 the same time two or more the same ch Reply Nothing Example TMGCH48CF Set TP0 CH4 TP1 CH8 TP2 CH12...

Page 62: ...ching 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 port display Reply Nothing Example LCD_DISP C Remarks Remote mode only 0 0 H T P 0 0 1 2 3 4 5 6 7 8 9 0 1 H T P 1 0 1 2 3 4 5 6 7 8 9 0 2 M T P 2 0 1 2 3 4 5 6 7 8 9 1 5 L T P 3 0 1 2 3 4 5 6 7 8 9 0 0...

Page 63: ...s 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 move the cursor to the location where colored in the figure above Please press the numeric keypad for select the symbol The will appear in the cursor location And press the numeric keypad CLR repeate...

Page 64: ...to channel Argument 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 confirm the channel comments You can check the comments of all channels if you enter a to ch Reply ccc Comment is returned ccc ccc ccc ccc If you send a CHCMNT a the comments are returned...

Page 65: ...complete Even if the reply is OK it is not guarantee the behavior of as intended So please use as a tool of communication debugging only You can set this by SETUP mode 5 10 Page10A 10B 11A 11B LAN setting Page 30 for local mode And you can set this by the following command for remote mode Command ALL_REP md Set All reply mode Argument md setting EN Enable all reply mode DS Disable Initial value DS...

Page 66: ...t Example 0000 0000 0000 0000 Remarks Command ERRF ERR Read out error status Reply ERRF HH Hexadecimal two digit b7 BATTERY EMPTY b3 OTHER ERROR b2 PARAMETER ERROR b1 MCC06 BUSY ERROR b0 COMMAND ERROR ERR Example MCC09 BUSY ERROR Displays the error information of the lower most of the bits that are happening in error NO ERROR if there is no error Example ERR Reply COMMAND ERROR ERRF Replu 01 Remar...

Page 67: ...and FROM0 FROM1 Select the one of two ROM that are saved the firmware Reply Nothing Remarks Please note that when you restart the equipment after you run this command various parameters will be initialized V1 08 Parameters are no longer initialized Command REST Restart the equipment This is the same as pressing power switch Reply Nothing Remarks ...

Page 68: ...16c_04xd_vup_soft pdf PDF file Instruction manual for file transmission software http www tsuji denshi co jp download_file lan_rs_file_send EXE EXE file File transmission software has been uploaded Depending on the network conditions for file transmission and upload with the above file transmission software It may take some time The below explanation is how to perform firmware version up by using ...

Page 69: ...are that you downloaded to the last OLD Firmware that you have downloaded to 2 times before Remark The position data will be set to all zero if the firmware is changed and started Switched the firmware to be used in the PROGRAM CHANGE Or downloaded the latest firmware If trouble occurred in download process when power on the unit again sometimes program runs out of control Initial display characte...

Page 70: ...s then RED lamp turn on red continuously At this stage LCD display is not correct yet 3 Put off the power switch of this unit again then set the dip switch 1 No 2 to side OFF Dip switch 1 is still side OFF 4 Put on the power line pushing REL LOC button Program starts by Version 1 00 firmware It s OK if you press the REM LOC button and the LEDs on the top light up alternately You can change the IP ...

Page 71: ...SCANPx 39 E ERR 65 ERRF 65 ESTPx 42 F FDHPx 42 FL x 51 FLxddddddd 51 FROM 66 FROM0 66 FROM1 66 G GTHPx 42 H H_OFTM x 47 H_OFTMxttt 47 H_ONTM x 47 H_ONTMxttt 47 HDSTLS 37 HOLD x 47 HOLDTM x 47 HOLDTMxttt 47 HOLDxOFF 46 HOLDxON 46 J JOGNx 38 JOGPx 38 L LCD_DISP C 61 LCD_DISP T 62 LCDB ddd 54 LCDB 54 LN_SRQ G 44 LN_SRQ x 44 LN_SRQx0 44 LN_SRQx1 44 LOC 34 LS 36 LS_16 37 P PAUSE OFF 43 PAUSE ON 43 ...

Page 72: ...ETLS x 51 SETLSxYYY0yyy 51 SETMT x 46 SETMTxabcd 46 SHP x 52 SHPF x 53 SHPFxdddd 53 SHPx dddd 52 SPCxdddd 42 SPD x 39 SPDAL 49 SPDH x 49 SPDHx 38 SPDHxdddddd 48 SPDL x 49 SPDLx 38 SPDLxdddddd 48 SPDM x 49 SPDMx 38 SPDMxdddddd 48 SPRS x 53 SPRSx dddd 53 SREL x 53 SRELx dddd 53 SRQ G 44 SRQ x 44 SRQ_OUT 43 SRQx0 44 SRQx1 44 SSTPx 42 STOPMD x 48 STOPMDxAB 48 STS 35 STS_16 36 STSM 65 STSx 35 T TMGCH 6...

Page 73: ...e one CR2032 ready when you replace the backup battery When you open the top lid of the main body the battery is stored in BAT1 at the lower left of the board in the center Push the battery in the opposite side of the claws on the battery the part surrounded by the circle in the figure on the right remove the battery and replace it with a new one When the replacement is complete push the battery i...

Page 74: ...12 Revision History 73 12 Revision History Revision Date Revision history 4 2022 07 19 First version release English version4 is matched with Japanese version4 ...

Page 75: ...ser for each motor total 1A Limit switch 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 display contents of limit switch relative moving value preset count value home position information panel operation ready not ready Display contents in data set mode...

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