4
1 Abstract
1-1 Introduction
Like the PM16C-HW, the PM16C-HW2 is a stepping motor controller that has two
Ethernet connection ports. It has 2 IP addresses and 8 connection ports for each IP address,
and high-speed Ethernet communication is possible. H LAN is a high-speed communication
LAN port that can read the location information of all 16 channels within 1ms. An operation
system is almost the same as PM16C-04XDL and PM16C-16.
The difference with PM16C-04XDL is described below.
1.
PM16C-16HW2 controls 16 motors at the same time by Ethernet, RS-232C, and GP-IB
communication.
2.
The command which reads the state of all channel was added.
3.
“Answer all mode” which adds an answer to all the commands was added.
4.
Two axis interpolation commands which starts with “C0” or “C1” and Oscillation drive
command which starts with “Y” are not mounted now
The difference with PM16C-16 is described below.
1.
Independent IP addresses can be set for the two Ethernets. Each has 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 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
）
is available for
each channel.
3.
Absolute position drive, relative position drive, continuous drive, and find home position
drive is available. These drive have 3 acceleration and deceleration mode, constant,
trapezoid, and “S” shaped.
4.
The output of trigger pulse or gate signal (TTL) is available at the arbitrary sections and
intervals.
5.
There are five kinds of the way of stopping motor.
by the limit switch signal
by the home position limit switch signal
by the digital limit switch signal
when the “STOP” button is pushed
when the stop command is published
6.
Firmware ROM update via communication line is available.
