PM4C-05A Manual
Contents
1. LI LI 0 LI 0 DO 0 DO 0 L 0 DO 0 DO DO DO 0 DO LI 0 0 U DO DO 0 LI 0 DO 0 DO 0 L DO 0 0 DO 0 DO 0 LI 0 DO Oyo O REMITE MODE CHANCE LOCAL MODE CHANCE H SPEED CHANCE M SPEED CHANCE L SPEED CHANCE E L1 Hj pa ja L1 apa E3 E3 ja apa apa ja ra Ea page 2 Concept of PMIC contro 1 Characteri sti cs 0 0 DO O Panel layout O O Abstract a a ciiai c ciao Se a a See Pz ca ca a ES ERE UEBREEgEgEd EXE e SSeS e e Y cr e ca ro A a e eee EE EI See aS Se SSS e a e SaaS Ss ea Eee noo DAGGA GOGE LDCEIEIEIEIEJEIJEJEIJEIJEUE DEA ooooo noo DEJEEEEEEE Oda DEA ooooo noo e esc msm a e a a es fe Fe ees i O ee en es sf cs FO os es E 6550556 50850008 6000065200 1050006 SSeS eee noo mf eo ss a os a a o a Oc A a fF noo pc O a 0 a a e a e fl a fe ER em oF a Gm Gil ESEE EE ES ESI e ce cn e e Y a e o Y a eci EEE E EE Se Se ete eS Sea e o e e ee EEE noo EJEEEEEEE DDCEPEEIEIEIEIEIJEIEIEIE DEA CELA noo DEJEEEEEIEE Oda DEA CELA noo 000600060 dic c era ees el we een ws A sf 6 noo ESI ESEESLESEEZE a ase SS Sea Saat eee 1060506 Sa eae Ez CRE E lt G EX Ed ea cit eo Caro Hia E EE EE noo oO A oS ca a eee ee nc o a a a cs OI a a ere noo oO SA Eee ESSE See aie Se eee ES Oooo OSSSSSSE L3 C3 E3 E3 n EJ EJ EJ n C3 C3 C3 C3 C3 E3 C3 C3 L3 E3 C3 C3 EJ noo oO amp i ja E Ee fo e AB fa e a rn A om iem noo rl9999999 sss fu ca rsa i ff va ff Ba oo e E O2. S3931LLD D POSI TI CN MPD set DDD 3 di gi t 0000 187 after S71 conmand S3932LLD D POSI TI CN LSPD set DDD 3 di gi t O00 187 S3933ED D POSITION RATE set DD 2 digit 00 18 D POSITION J OG pulse DODD 4 di git 0000 9999 S3936D D POSI TI CN PB STP MIE set D 0 FAST STOP 2 SLONSTOP S53938D D POSITION FP SCAN DR set D 0 CON O M D POSITION counter preset DODDDD DOOD 7 di gi t 0000000 8388607 RL A POSI TI CN HPD read A POSI TI CN MPD read A PCBI TI CN LSPD read RAL O A POSI TI CN J OG pul se read TT A POSI TI CN status read B POSI TI CN HSPD read B PCBI TI CN MPD read B PCBI TI CN LSPD read B PCBI TI CN RATE read B PGI TI CN J OG pul se read B PCBI TI CN status read C PCBI TI CN HPD read C PCBI TI CN MPD read C PCBI TI CN LSPD read C POSI TI CN RATE read C POSI TI ON J OG pul se read C POSITION status read D PCBI TI CN HPD read D PCBI TI CN MPD read D PCBI TI CN LSPD read D PCBI TI CN RATE read RERO D POSITION JOG pul se read ROPOOOO D PCBI TI CN status read RDSCTEILI EI Front panel i nfornati on read 000000 00 L LOCAL R REME OO C GOM Ti CN HH b0 A P bl B P b2 C PG E hh bO ABS bl ND b2 HP b4 H speed b5 M speed b6 L speed d 2 3 aja 0 0 0 U DO 0 DO 0 U 0 0 DO 0 U DO 0 DO 0 0 DO 0 0 DO 0 DO LI 0 DO 0 LI 0 DO 0 0 L Li 0 DO 0 i
3. B P BAJ B7 0 B6 SPEED H B2 C PG B7 0 O O sanpl el A POSITION HPD data read 0000000000 CRHEF B POSITION MPD data read TO L L EL 00000 RHF C POSITION LSPD data read 000000000 RHF D PCBI TI CN RATE data read 0000000000 Qtr A POSITION J OG pulse data read 1 0 0 0000 RHF D POSITION status data read 0000 0000 RHF status i nf ornati on for the panel 0 0 0 0 0 0 RHF 5 0 0 conmand Useful both in CP IB and RS232C conmuni cati on It is used to change status of the panel O Conmand for nfi O00 OA CHF O nark data nark data 0 REM LOC change E R REMOTE MOE change L LOCAL MIDE change 1 SPEED change H SPEED H change M SPEED Md change L SPEED Low change O O sanpl el PMIC 05A REMOTE node change 00000000 RAF PMIC 05A LOCAL node change 00000000 RHF PMICO5A SPEEDH change 000000000 Qtr PMIC 05A SPEED Md change DoO000000 RHF PMC 05A SPEED Low change 00000000 RHF 20 AUREA logi cal setti ng Logi cal setting swtch for the external limt swtches are on the nai n board If you need ogi cal change for the limt swtches you can renove upper cover and treat swtches as foll ovs lt lt lt Warning gt gt Be sure to disconnect nai n power suppl y cable before this process Board N 10 B B 7 D Switch No for and chr L1 D LH for and chjj O00 TE460 1 SWI SW o i 00000 details 0040 POITIONHP TENE ON ANO type OO KD POSITION HP CFF BN O type DO AG POCBI TI CN OWLS DO AO
4. CN 2 digit HEX data 08 OA 00 1 pul se 09 OB J OQ 1 pul se OC SCAM no acc OD SCAN no acc OE 4SCAN wth acc OF SCAN wth acc 16 PAUSE ON 17 PAUSE CFF 18 HOLD OFF set 19 HOLD CFF cl ear 1 PAUSE on off conmand controls one ci rcui t line on the board any positi on nark ABCD wll work as the sane conmand 1E PP STOP 4 SCAN wth acc 1F PP STOP SCAN wth acc 40 SLOW STOP 80 EM STOP O O sanpl ef O A PCBI TI ON 4j OG comand B POSITION HOLD CFF set J C POSITION SCAN conmand D PCBI TI CN sl ow stop conman OOM 17 CFaLF or O D U 0 0 RAF Nm RL CR4L RL n O Conmand formtype 0 DODO 7 digit deci nal data 2 digit FEX dat a CRALF O nark data O A PCBI TI ON 1 B POSITION 2 C POSI TI CN 3 D PCBI TI CN 2digit FEX data 10 1NCEX SCAN no accel erati on 11 ABSOLUTE SCAN no accel erati on 12 INCEX SCAN accelerati on 13 ABSOLUTE SCAN accel erati on 7 digit deci nal data mst be wthin 8388607 0 FFFFFFH in FEX O O sanpl el A PGI TI ON B POs TI CN C POSITION D POs TI CN 11234567 0200000 30000000 0000100 NDEX SCAN no acc DO ABSOLUTE SCAN no acc NEX SCAN wi th acc ABSOLUTE SCAN wth acc O Gonmand f ormtype 000 OA onst 1 gt CRHLF O nark data A nark data const 1 0 A POSI TI CN 0 HSPD change 3 di gi t 0000 187 1 B PCBI TI CN 1 MPD change 3 digi t 000 18
5. POSI TI CN 2 BYTE COMMAND ii i Oyo o E n E3 nn a Cf DC ooo ooo ooo ooo ooo ooo OOOO ooo ooo ooo ooo 0000 mnm OD CSPD SCAN 17 PAUSE CFF 1F SCAN amp FP STOP OC CSPD SCAN OD CSPD SCAN 16 PALBE CN 17 PAUSE CFF 18 HOLD F 1 HLD CN 1E 4SCAN HP STCP 1F SCAN amp FP STOP 40 SLONSTCP 80 EM STOP C POSI TI ON 2 BYTE COMAND ODO COWAND 08 4J OG E OC CSPD SCAN OD CSPD SCAN OE 4SCAN 16 PAUSE CN 17 PAUSE CFF 18 HOLD F 19 HLD ON 1E 4SCAN amp HP STC 1F SCAN amp FP STOP 40 SLONSTCP 80 EM STOP OC CSPD SCAN OD CSPD SCAN 16 PAUSE CN 17 PAUSE CFF 18 HOLD F 19 HLD ON 1E 4SCAN HP STOP 1F SCAN amp FP STOP 40 SLONSTCP 80 EM STOP A POSI TI ON DEC MAL NDEX COMMAND H4 10 CSPD NDEX SCAN 11 CSPD ABSOLUTE NDEX SCAN 12 NLEX SCAN 13 ABSOLUTE SCAN UB B POSI TI CN EEG MAL INDEX COMMAND OOOH HH 10 CSPD NDEX SCAN 11 CSPD ABSOLUTE NDEX SCAN 12 EX SCAN 13 ABSOLUTE SCAN Utt C POSI TI ON DEG MAL NDEX COMVAND OH HH 10 CPD NDEX SCAN 11 CSPD ABSOLUTE NDEX SCAN 12 NLEX SCAN 13 ABSOLUTE SCAN UD D POSI TI CN DEG MAL NDEX COMAND DODDDDDHH HH 10 CPD NDEX SCAN 11 CSPD ABSOLUTE NDEX SCAN 12 NLEX SCAN 13 ABSOLUTE SCAN S3900LLD A POSI TI CN HPD set DDD 3 di gi t 000 187 data avai abl e S3901LLD A POs TI CN MPD set DDD 3 di gi t 0000 187 after S71 conm
6. POSITION OWLS DO O BD POSITION OWLS CN B N O type O O BD POSITION WLS CFF ANO type default status is shown Default status is set OW GOWas NC and HP as NO 21 8 Connection wth outer equi pnent 1 Connection wth dri vers Connection cables are reconmended to be shi el ded tw st pair cable nore than 0 2nmi connector PI N assi gn DE9S TO DRI VER Cri ver H ECE O ici ii pinnae proxi mty SWconnecti on oms VA LE9P TO LS LS type both N O and NC ok 12V CWLS 1P SIG 2P OV CI O O CONS 1l2VTotal Max 0 8A 12V HP 3P SG 4P OV 12V 6P SIG PML6C 7P OV cauti on Connector shell size of LE9P and 9S is vari ed fromeach maker s Qutward form lt 35Wcan be used for PMLEC D C1 6 J AE XMS 0911 ORON and HLE CTF H ROSE are possi bl e to be used 22
7. continuous scan is started Then you can stop the pul se by rel easi ng the sw tch This is not available in the SCAN node 9 Position counter preset By PRESET button the digital switch data set to the posi ti on counter 10 Synchronous start dri vi ng You can dri ve each channel respecti vel y and also you can start two to four of themsynchronousl y If you select nore than one notor they start synchronousl y 11 Auto hold off function In local node the notor that is set as hold off state in the condi ti on node clear the hol d off state before starting and set hold off state after finishing the scan agai n 12 HAND BOX operati on Can use Hand box operation useful when checki ng the nechani cal nove The rotary swtch on the hand box can choose one of four channel s JOG swtch works as the sane one on the front panel This function is available only in Local node O O REMOTE node dri vi ng This node is possi bl e when renote local SWshovs to be REM If the renote local SWshovs LOC push the SWagai n or send the conmand externally to change the node to be REM And after that conti nue to operate as below Also renote local change can be done by conmuni cati on i ne 1 Sunmary of the conmuni cati on data read CHANNEL PCBI TI ON DATA PD MPD LSPD RATE STOP MIE LS REMLOC status etc data wite HSPD MPD LSPD RATE LMSW Conmand 4 OG JOG SCAN CONSTANT SPEED RELATI VE NDEX SCAN CONSTANT SPEED ABSOLUTE NDEX SCAN RELATI VE NCE
8. status O 7 digit digital rotary sw tch It gi ves the data for ABS RUN IND RUN PRESET DATA Q 0000000 above are provi ded for each channel 2 Rear panel layout PULSE et je et Je eC e Leto e e LS LS LS LS ENABLE DISABLE ENABLE DISABLE ENABLE DISABLE ENABLE DISABLE eme emo omo e e e ACLOOW 200V power supply connector Inl et type AC connector for AC100V 200V power suppl y Use AC cabl e attached Q Fuse hol der m For safety of AC power line 3A mini fuse avail abl e Address set swtch For use of GP IB conmuni cati on port address Address data is read only power on ti mng If Address is changed you nust power on the unit again Detail s are 5 REMOTE node dri vi ng 2 b CP IB conmuni cati on connect or 24P connector for CP IB Conmauni cati on port select sw tch Sel ect conmuni cati on port RS232C or GP 1B Sw tch status is read only power on ti ning If the status is changed you must pover on the unit agai n Setting swtch for RS232C Set data for RS232C conmuni cati on Swi tch status is read only power on ti ning If the status is changed you nust power on the unit agai n Details are 5 REMOTE node driving 2 c RS232C connector D Sub 25P socket type Pul se out put connector Three signals are fromthis connector CW QGOWpul se and Hol off si gnal D Sub 9P socket type Connecti on details are 7 Connection wth external equi pnent O External swtch input connector E
9. to 15 Details of data upper 4 bit lover 4 bit HE 9 0 0 0 m0 0 0 o 0 0 20 29 LS STCP node 1 EM 0 SLON PB STOP node 1 SLOVO EM H CFF 1 set O reset HP SCAN OR 1 OWdir 0 GWdir not used not used not used not used HOLD CFF IF sone torque is required to keep the notor renai ni ng stati onary power should be kept to be turned on But if there is not such a requirenent sone notor drivers can be hold off to prevent the heating up and to save the pover When you use these types of drivers notor can be nore effecti vel y dri ven by this bit operation When this bit is 1 hold off signal is disable so that pover is kept to be turned on all tine Wien this bit is O in nanual node the power is turned on 0 1s before jog starting and turned off 0 1S after jog finishing The nator whose power is required to be hold off in renote node shoul d be controlled by the sequence in which the hold off is set to be di sabl e before j og starting and reset to be enable after jog fini shi ng 10 Tabl e Speed data no PPS N PPS Nb PPS No PPS O0 5 047 3600 094 8600 141 17990 002 25 049 3800 096 9000 143 18380 004 75 051 4000 098 9400 145 1890 005 100 052 4100 099 9600 146 19230 006 150 053 4200 100 9800 147 19530 19840 009 300 056 4500 103 10400 150 20500 0830 noo 15 2150 012 450 059 4800 106 11010 153 21550 0
10. 1 step dri vi ng set pulse dri vi ng 0 9999 pul se i nchi ng dri vi ng conti nuous dri vi ng RUN H P STCP dri vi ng Enabl ed channel and dri vi ng node are shown by LED anp Can change dri vi ng node Can choose sl ow EM stop node when stop push button or Li nit SW Set data and posi ti on data are battery back upped over five years Four notors can be dri ven synchronousl y If start nore than one nator they start synchronous y Local node HAND BOX i s useful when checking nechani cal posi ti on needed by yoursel f By HAND BCX you can choose one of the notors and j og dri ve di recti on Each channel has LED anps that indi cate LS status and pul se out status Hol d off characteristics for each channel If you start dri vi ng hol d off channel hold off state is autonati cally reset and after dri vi ng autonati call y set to hol off state Local node Hol d off control is also set by conmuni cati on conmand It has a B I EEE 488 and a RS 232C conmani cati on port Me of wich is available at a tine by swtch selection Concept of PMIC control Steppi ng nator controller PMG 05A has a CPU whi ch control s the hol e of the system four CPU whi ch control the stepping motors The four CPU control four channels independent y Present positions present velocities differenti al vel ociti es in starti ng and stoppi ng phase etc are stored i n the nenori es as battery back up which are read out and ren
11. 14 550 061 5000 108 11410 155 22320 015 600 062 5100 109 11600 156 017 700 064 5300 111 11990 158 23590 019 800 066 5500 113 12400 160 020 900 067 5600 114 12600 161 162 022 1100 069 5800 116 12990 163 033 2200 080 6900 127 15200 174 31850 040 2900 087 7600 134 16610 181 36500 043 3200 090 7900 137 17240 184 38170 044 3300 091 8000 138 17420 185 38760 046 3500 BEE N N NI UJ eo m NIN ININ eed RS e ojojojo N Q eo 11 Table Rate data ns 1000 PPS 1000 800 600 O O LOCAL node dri vi ng MI y when renate local SWis set to be local the nator can be driven in local node If this SWis renote you need to push the SWonce and reenter into local node 1 Speed selection By use of speed sel ecti ng PB any speed can be sel ected fromthe three speed that are preset in each channel which are HSPD MPD and LSPD Starting speed of accel eration and final speed of decel eration i s LSPD 2 Changi ng the dri vi ng node By use of driving node sel ecti ng PB you can select the node as you like HP REL ABS and scarf scan node is the case that all LED whi ch show dri vi ng node are turned off Just after power on REL node is selected 3 Channel sel ect In LOCAL node you can choose the channel that you want to dri ve by channel sel ect button A B G D 4 Rel ative or i n
12. 7 2 C POSI TI CN 2 LSPD change 3 digi t 000Q 161 3 D POSI TI CN 3 RATE change 2 digit 00 18 4 J OG pul se set 4 di gi t 00000 9999 5 LS SICP MEE set 1digit 0 SLONSTOP 1 EM STOP 6 PB SICP MEE set 1digit 0 EMSICP 2 SLONSTCP 7 HOFF set clear ldigit O clear 4 set 8 P SCAN DIR set 1ldigit 0 0W 8 OW 9 counter preset 7 digit deci nal nax 8388607 2 It must be 3 digit data 3 It must be 2 digit data 4 It must be 4 digit data 00000 Gaution O00000 X Speed data change by this S39 needs S71 conmand to effecti ve new data S71 conmand is the sign to start changi ng speed data 18 171 1 m O O sanpl er A POSITION HPD set to 100 000000000000 00 RHF B PCSITICN MPD set to 15 jt 000000000000 00 RHF C P TION LSPD set to5 0000000000000 0000 RALF D POSITION RATE set to 10 00000000000 000 RHF A POSITION J OG pulse set to 1234 po0d0000000000 CREF B POSITION LS ST set to slowstop 1 1 DOGDODOOGGALF C POSITION LS STOP set to EMstop 1 D H D 0000000 R F D POSI T ON PB STCP set to slowstop 1 1 00000000 RHF A POSI TI CN H CFF cl ear D00000000000 00 O0 HF B P ITION H CFF set ugmamamaguialidlutucqsar C PO TION FP SCAN OR set to CON 0 000000000 RHF D POSITION FP SCAN OR set to W 0000000000 RF A POSITION counter preset 412345677 0000000000000 0000 RAF 4 O O conmand Useful both in CP IB and RS232C conmuni cati on S4 conmand is nai nl y used t
13. ACH STEPPI NG MOTOR CONTROLLER PMIC 05A USER S MANUAL 1149B VER 1 APPLI CATI ON OF ELECTRONI C DEVI CES TSUJICON TSU ELECTRON CS CD LTD 3739 Kandatsu nachi Tsuchi ura ci ty baraki Pref 300 0013 Japan Phone 481 0 29 832 3031 fax 481 0 29 832 2662 URL http www tsuj i con j p E nail info2 suji denshi co jp Cno Y OU ELIT 12 00 000000000 deli mter CRALF f1 xed REPLY ETC cancel A H SRQ CP I B onl y SRQ set when A MOTCR stopped O cancel B CH SRQ O SRQ set when B notor stopped CO cancel C CH SRQ O SRQ set when C nator stopped O SRQ set when D notor stopped O SRQ fl ag read 00o DO VA P 2 B P 3 B P DOD SRQ out CHread DOO O0 VAPG 2 B PO ABPO DD A H position data read 00 0000000 OOceina A CH CPU status read uuu hex code bO BI T BUSY A CH LS FP HOLD CFF status read 0 VIS bl COWS b2 HP b3 H OFF B H position data read 00 0000000 OOdecinal B OH CPU status read 0000 UU hex code bOBT BEY B CH LS FP HOLD CFF status read 0 OUS bl COWS b2 FP b3 H CFF C H position data read DO 0000000 dein COH CPUstatus read Q000 UU hex code bOBT BSY C CH LS HP HAD F status read 0 ONS bl OWS b2 HP b3 H OFF D CH posi ti on data read ED DE U U DB D O O deci nal D CH CPU status read uuu O O hex code bO BIT BUSY D CH LS P HOLD CFF status read 0 OWS bl CWS b2 HP b3 H OFF A
14. OO oO d noo CREE SiGe ag diodo DORSO EE Ed m 5 Ss e ERE e os EH ES EE O O Gy SR SS 220 E E E O gt 0 ag si Devo mnogooo SEGON TESI EST EST E Ee a FE Ojos cgrugruruur t cooo OOO S DL E lt of o0BHBS OOS au G o OOO 4 3 y UNOS DOOR os 00 o 58 Tog DODO o 5 S o of CSUR cs ED o0 Sco ud amp v CU coo D oova OOo 6 2 CR E Q Sor M onu eq S mag m ae a t te _ 2109 5725 V DOO ue cdd 55555 Ham C c POE mE od aoyo csa H58 Cc ccc c DON LODO 3 9 va 5 oT ny O sO S0p438 c J One lene Pets Yl zc 5 O 86 BRES TORRE gt GE Om Rg ogre gs Sint 550 5 eg Ede ole stehe o e mc Sm cr otuo mugooooo tU v FAQA pai Pe ae o yverMFa S5 FP RRRSERSSREEDRSESBESZ EER CHAR Hb vai LL LL a a 2 E x r cz D ea M A i d dg a N aA NO S DGOfRE ANMTFTHORDHDAORAN LAN ann sti y i 4 Y 8 Oo o oO oO oO o Oo setti ng 1 NONC setin 0000000000000000 000000000000 Connection wth outer equi pnent 1 Connection wth netor dri verp O0 0000000000000000000 QO000000 00 QGOO0o U00 User s Manual O O Abstract 1 Characteristics Can control 4 stepping motors at a ti ne Can set i ndi vi dual characteristics H5PD MPD LSPD RATE LMSW Scan to set positi on by trapezoidal dri vi ng I NDEX node O Absol ut e Rel ati ve posi ti on are avail abl e Can stop when limt swtch is detected Li mt SWstatus can be set N QN GC Enable Disable i ndi vi dual y Can stop by stop push button when scanni ng
15. RQ fl ag 9 SRQ repl y channel read O O sanpl ell O A PCBI TI CN SFQ set 0000000000 RHF B PCBI TI CN SRQ cl ear 000000000 RF Current SRQ fl ag read 000000 RHF SRQ repl y channel read 00000 RHF 1 S18 conmand is available both renote and local node 2 Can get channel infornation that replied SRQ by S19 conmand After reply to S19 conmand channel infornation is cleared in the nenory 7 0 Repl y to S18 S19 conmand O Repl y forni O O OHF o A POSI TI CN 1 B POITION2 O is total val ue C POSI TIM 4 of 1 2 4 8 in hex D POSI TI CN 8 15 2 0 0 conmand Useful both in CP IB and RS232C conmani cati on S2 conmand is used to read position data status LS HP and Hld off status Can be used in all node REM LOG COND TI ON Conmand formand reply forns are bel ow O Conmand for nfi O00 OA CRLF O nark data A nark data 0 A PCBI TI CN O pul se count data 1 B POSITION l internal CPU status 2 C PCBI TI CN 2 LSO POH CFF status 3 D PCBI TI CN O O sanpl el A PCOS TI CN pul se counter read 0000000000 RH B POSI TI CN internal CPU status read 0000000 RL C POSI TI CN LYHPOH CFF status read Do00000 RH D POSI TI CN internal CPU status read 0000000 QL O Repl y forni a For S2 0 conmand OA digit deci nal data CRALF T c polarity O or position nane 0000000 b For S2 1 conmand O O 2 digit hex data CRHF TT 2 digit hex data bit nap upper di git lower di git bit i nf o
16. X ABSOLUTE NDEX SPEED SELECT PAUSE ON CFF HOLD CFF SET RESET SLOWSTCP EMergency STOP Data read is available in both REMOTE and LOCAL node 2 Conmani cati on speci fi cati on a I ntroducti on A PMG 05A has a CP IB control 1C TM69914A and has a RS232C control IG H 4941 In this system nonsense conmand or i npossi bl e conmand EX reverse dri ve duri ng nornal dri ve are i gnored so that al nost all ti ne you can access fromthese conmuni cati on lines protect fromhung up Recei ve formshoul d be 0 00 0 0 0 ORF O ASAI de limtter is fixed to CRF Vhen CR ODH 4LF OAH i s detected duri ng recei vi ng the conmand is rapi dl y anal yzed and done by PMIC 05A However if it can t be anal yzed no operation is done Vhen PMC receives i nf ornati on that sone data should be returned back the data are rapi dl y prepared and sent back These operations are done for about less than 1n 413s Wi le using CP 1Bline you can use SRQ request so that you don t need to check the notor stop conti nuousl y Vhen PMG 05A needs sone reply Send out forns are 0000000 E CRHEF b CP IB port address setti ng Five bit OP slide swtch in the rear panel is for IB ny address Setti ng shoul d be done before power on ti ning The address shoul dn t be the sane as the other equi pnent that is connected to the sane 1B line Address setting OP slide swtch ogi c 1 The address should be to T Don t use or
17. and S3902LLD A PCS TI CN LSPD set DDD 3 di gi t 0000 187 S39030D A PCBI TI CN RATE set DD 2 di git 00 18 A POSI TI ON J OG pulse DOOM 4 di gi t O000 9999 S3905D A POSI TI CN LS STCP MIDE set D 0 SLONSTOP 1 FAST STOP A POSI TI CN HOLD CFF set reset D O set 4 reset 53908D A POSITION FP SAND Rset D w 80w 3909 A PCBI TI CN counter preset DDDDDD DOO 7 di gi t 0000000 8388607 S3910LLD B POSI TI CN HSPD set DDD 3 di git 000 187 data available after S71 conmand B POSITION OG pulse DODD 4 di gi t 0000 9999 S3916D B POSI TI CN PB STOP MIE set D 0 FAST STOP 2 SLON STOP S3917D B POSITION HOLD CFF set reset D O set 4 reset 3918D B POSITION HP SCAN DIR set D 0 CW 3919 B PCBI TI CN counter preset DODDDD DO 7 digit 0000000 8388607 S3920CDD C POSI TI ON HPD set CDD 3 di gi t 0000 187 data available 53921000 C POSITION MPD set DDD 3 di gi t 0000 187 after S71 conmand S3922LLD C POSI TI ON LSPD set DDD 3 di gi t O00 187 3923DD C PGI TI CN RATE set DD 2 digit 00 18 S3924LLLD C POSITION J OG pulse DOM 4 di gi t 00000 9999 S3925D C POSI TI CN LS STOP MIDE set D 0 SLONSTOP 1 FAST STOP S 3926D C PCBI TI CN PB STOP MIDE set D O FAST STOP 2 SLONSTCP S3927D C POSITION HOLD CFF set reset D 0O set 4 reset 8 ON 53928D C POSI TI CN HP SCAN DIR set D 0 CW 3929 C PCBI TI CN counter preset D0000D DO 7 digit 0000000 8388607 S3930DDD D PCBI TI CN HSPD set DDD 3 di git 000 187 data available
18. crenental indexed scan RUN node ND In I ND node when START PB pressed the nator steps rel ati vel y by the digital SWdata If nore than one notor is selected they start synchronousl y After finishing the set pulse out it stops autonati call y In this node it can stop by ST button or limit switch input 5 Absolute i ndexed scan RUN node ABS I n ABS node when START PB pressed the notor steps to the absol ute data that the digital SWi ndi cate If nore than one nator is selected they start synchronousl y After finishing the set pulse out it stops autonati call y In this node it can stop by STOP button or limit swtch input In this node it can stop by ST button or limit swtch input 6 Scan and stop at hone positi on RUN node FP I n FP node when START PB pressed the nator scans to one direction that are set in advance in condi ti on node then when FP sensor turns on it stops aut onat i cal y In this node it can stop by ST button or limit swtch input 7 Conti nuous scan RUN node SCAN all lanp off In this node the nator scans conti nuousl y Vhen START button is pressed the anp on the button is on and pronpt to deci de novi ng di rection Then throw on JOG sw tch to one di recti on si de you vant In this node it can stop by STOP button or limit swtch input I2 8 Jog dri vi ng In the direction which is set by jog SW pulses are sent and rotor is dri ven If you keep the SWto be pushed nore than 0 5 seconds
19. e except SCAN node all lanp off shown by O Throw ng on this sw tch cause pul se output to the OM GOWdi recti on If you keep the SWto be thrown on nare than 0 5 seconds or after the end of J OG pul se nunter continuous pulse output is started It wll stop when you throw off the swtch This swtch is not available at renote node 1 Nunber of pulses are set by J OG pul se nunber setti ng 1 to 9999 in the condi ti on node 5 Run node LED i ndi cator Run node change sw tch The LED lanp O indicate current run node and the swtch change the node These are 4 node 1 ABS node nove to absolute i ndexed posi ti on Can nove to the absol ute position that is show by 7 digit digital swtch 2 IND node nove to relati ve indexed posi ti on Can nove to the rel ati ve position that is shown by 7 digit digital swtch 3 HP node nove to hone posi ti on zou Conti nuous scan and stop at hone position by hone posi ti on sensor The start directi on OM GOW should be set in the condition node i n advance 4 SCAN nade all lanp off Conti nuous pul se out to QWor COWdi recti on After preparati on start switch lanp on of SCAN by START SW then deci de scan di recti on by J OG SW 6 Pul se out can be stopped by STCP button or LIMT SW Speed sel ect LED i ndi cator Speed sel ect swtch The LED anp i ndi cate current set speed and the swtch select the speed These are 3 node 1 H SPEED Pul se out b
20. eved any ti ne you need DU O Schenati cs of i nternal ci rcui t Push Button SW LED Lanp Data Menory pul se out control CPU L S i nput M i n 1 LI LH Mai n CPU Bus pul se out control CPU L S i nput Di spl ay RS232C 1B Digital SW com port com port C POSITION pul se out pul se control CPU L S i nput D spl ay Digital SW D PC5I TI CN pul se out pul se control CPU L S i nput ere lt O Panel layout 1 Front panel ayout PMAC O5A ACH PULSE MOTOR CONTROLLER g APOSITION gy BPOSITION gy g __CPOSITION gu d LISTEN e 98888888 g 98889988 3 s 88888888 y ps HP k HOFF HP HOFF ne MODE SPEED H PINDABS E id se ed OGG de em A d CH SELECT LINO KDATATDECI ja 1 bue sieti E ddd dd Power swtch It turns on off the power suppl y of the uni t PMC 05A The lanp of the swtch is on when the power is on Renote Local node change 0 The swtches on the panel are available when the node is Local The conmand control are available when the node is Renote Thi s swtch changes the node LOG REM LOC al ternatel y Each Posi ti on control dataset TU O 0000000000 You can change speed data up down rate data etc of each positi on control in the condition node that is nade by this swtch This swtch can t work when this unit is Renote node or dri vi ng notors Control channel select sw tch Choose the channel
21. nt or decrenent will start 2 HSPD H ghest Speed a Select set No 1 by DATA START button It s the state just entered this node b Set new data by INC PRESET button DEC STOP button See table 1 about the rel ation between data and speed C Set data are witten as deci nal data 0 to 187 3 MPD Medi um Speed a Select set No 2 by DATA START button b Set new data by INC PRESET button DEC STOP button See table 1 about the rel ation between data and speed C Set data are witten as deci nal data 0 to 187 9 4 LSPD Low Speed a Select set No 3 by DATA START button b Set new data by INC PRESET button DEC STOP button See table 1 about the relation between data and speed C Set data are witten as deci nal data 0 to 161 5 RATE Speed up down rat el a Select set No 4 by DATA START button b Set new data by INC PRESET button DEC STOP button See table 2 about the rel ati on between data and rate C Set data are witten as deci nal data 0 to 18 6 J OG pul se nunber a Select set No 5 by DATA START button b Set new data by INC PRESET button DEC STOP button C Set data are witten as deci nal data 1 to 9999 d The nunber of JOG pulse is available when jog SWis used default nunber 1 7 Flags STOP node etc a Select set No 6 by DATA START button b Set new data by INC PRESET button DEC STOP button C Set data are written as deci nal data 0
22. o read setti ng data for each channel It can be used at any ti ne whether pulse control CPUis busy or not renote node or local node Gonmand form O00 OA RALF O nark data A nark data 0 A PCBI TI CN O HSPD data read conditi on node 1 1 B POSITION 1 MBPD data read condition node 2 2 C PCBI TI CN 2 LSPD data read conditi on node 3 3 D PCBI TI CN 3 RATE data read conditi on node 4 8 status of panel 4 J OG pul se data read condi ti on node 5 5 status data read condi ti on node 6 Receive data form a PCBI TI CN data read O OO const 2 gt CRHLF O nark data nark data const 2 is A A PCBI TI CN H HSPD data read condition node 1 4 digit deci nal B B POSITION M MPD data read condition node 2 data that is shown C C PO TI CN L LSPD data read conditi on node 3 in the panel when D D POs TI CN R RATE data read condition node 4 condi ti on setti ng J P J OG pul se data read condi ti on node 5 S status data read condi ti on node 6 19 b Status infornation for the panel O OO const 3 gt lt const 4 gt CR LF O nark data const 3 is 2 digit hex jconst 4is 2 digit hex L LOCAL node code as the bit pattern code as the bit pattern R REMOTE node shom bel ow i shom bel ow upper I ower upper lover C COND TI hode O O il o O B1 ND node N NORMAL node 7 0 7 O0 B2 HP node I I I I i B3 SCAN node B4 SPEED Low i I I BO A P B3 D PG B5 SPEED Md B1
23. rnati on gt gt BUSY BIT internal CPU is busy 7 0 any conmand are recei vabl e when bit 0 T T T e et i DRIVE BIT internal CPU is now on T LBUSY BIT i pulse out status DR VE BIT not used COMERR BIT conmand is not regal not used COMERR BT LSEND BIT SSEND BIT ESEND BIT LSEND BIT PULSE was stopped by limt swtch 2 3 i i i i i 1 Gly SLOWSTO EM STCP conmand are i SSEND BIT PULSE was stopped avai abl e i n BUSY 1 DRI VE L on dri vi ng state by sl ow stop conmand i i i i i i 2 CMRR LSEND SSEND ESEND BIT are ESEND BIT PULSE was stopped valid in BUSY 0 status by EM conmand These bit are cleared by next conmand 3 LSEND SSEND ESEND BIT are valid only after end of dri vi ng 16 O For S2X 2 conmand O O 1 digit HEX data ORF 1 l 1 digit hex data bit nap go O Dm ae i ae T T T LOWLS status LS status HP LS status H CFF status 0 H CN 1 H CFF 3 0 0 conmand Useful both in CP IB and RS232C conmuni cati on position nane 0000000 O NON ACTI VE 1 ACTI VE O NON ACTI VE 1 ACTI VE O NON ACTI VE 1 ACTI VE 53 conmand is used to pulse out or pulse stop and set condi ti on data If the channel is scanni ng BUSY BI T 1 these conmands are i gnored except pul se stop conmand Conmand form type O 0 O 2 digit HEX data RF O nark data 0 A PCBI TI CN 1 B POSITION 2 C PCBI TI CN 3 D PCBI TI
24. s that is to be controlled At the local node or condi ti on node pushing these swtches change on off state which is known by LED di spl ay on the swtches 4 amp Preset swtch At Local node pushing this swtch set 7 digit digital swtch data on the panel to the position counter which is enabled by control channel sel ection At condi ti on node pushing this switch i ncrenent 1 the data shown i n the di spl ay If you keep the SWto be pushed nore than 0 5 seconds conti nuous i ncrenent that is about 50 60 per second is started This swtch is not available at renote node Start swtch At local node pushing this swtch start pulse output driving for the channel that are set by and the node show by O and by the speed shown by Wien O indicate nothing all lanp off this swtchis used for preparati on to SCAN dri vi ng Preparation state is shown by start swtch lanp on After JOG switch on SCAN starts to the direction that is gi ven by the J GG sw tch At the condi ti on node pushing this switch increnent 1 the node of the di spl ay This swtch is not available at renote node O Stop swtch It can stop pul se output both at Local and Renate node At the condi ti on node pushing this switch decrenent 1 the data shown in the di spl ay If you keep the SWto be pushed nore than 0 5 seconds continuous increnent that is about 50 60 per second is started Jog swtch This swtch is for inching that is availabl
25. xternal swtches OW COW Hone position li nnt switch are connected D Sub 9P pi n type Gonnecti on detail s are 7 Connection wth external equi pnent Li it sw tch node change Can choose node whether i mt swtches are enable or disable When node is O SABLE si de pulse output never stop by li nit switch 8 O O Setting the notor characteri sti cs In PMIC 05A each data of four stepping notors can be set and stored which is kept as battery back up The data are kept to be nenori zed until reset Then accurate control is realized for any system In setting node pulse out is stopped Data can not be set duri ng notor navi ng 1 Power on Wien Power SWis turned on status becone to be default node w thin 1 second operati on dri vi ng dri vi ng node node posi ti on def aul t LOCAL REL nenori zed Crher data are set as the val ue which are the one last ti ne turned off the power because the all of these data are kept by battery back up O Preparati on a Set to Local node by REMLOC button b Set to Condition node by COND TI CN button Then all channel select button anp are off D spl ay vi ndow set No blank set data Sel ect channel by channel select button the di spl ay w ndow changes above Set nunber is 1 to 6 and can be changed by DATA button START button Set data can be changed by NY PRESET DEC STOP button If you keep the SWto be pushed on nare than 0 5 seconds conti nuous i ncrene
26. y HSPD data that was set in advance 2 M SPEED Pul se out by MPD data that was set in advance 3 L SPEED Pul se out by LSPD data that was set in advance 1 Speed data 0 187 set by condition node 1 HPD setti ng 2 Speed data 0 187 set by conditi on node 1 M5PD setti ng 3 Speed data 0 161 set by conditi on node 1 LSPD setti ng See speed data table on page 11 table 1 Gonnector for Hand box It is use for the Hand box attached to PMIC 05A To use hand box onl y connect to the connector here O G IBline noni tor LED Wien conmuni cati on over CP IB li ne used these LED anp indicate listener tal ker Aso SRQis requested SRQ LED anp i ndi cates the status Pulse counter data di spl ay At the Local node it indi cate current positi on Left side of the di spl ay windowis for the polarity indicate shows mnus and bl ank shows pl us si gn An extent of the data is 48388607 O 8388608 At the condi ti on node it di spl ay setti ng data for confi rnati on Left side data shows node No that is nowset and 4 digit of right si de shovs setti ng data and the other will shovg bl ank See 3 Setti ng the nator characteri sti cs LEDindicator for external swtch i nput bio Indi cate the status of external swtches LI MT SW QVCW HP LS HP O Indicator LED for pulse output amp hol d off LED i ndi cates pul se output status hold off status If the LED lanp is on it indicate active
27. y Left sanpl e shows address 07H 00111 ogi c O address bit wei ght zu EC gg S DI c RS232C port setti ng Eight bit DIP slide swtch in the rear panel is for RS232C port setti ng Setti ng shoul d be done before power on ti ning The setti ngs of counter side PC etc shoul d al so be done QOOOOO port setti ng logi c 1 Left sanpl e shovs T 4800 baud 8 bit data 1 stop bit y ogi c O 00 No SW SV SVB SW SVB 7 stop bit O 0 reserved 0 0 Off 75 BAD O 1 IMlstop bit al ways 0 set 1 0 00L 5 stop bit al ways O set 1 1 02 stop bit 1 8 bit data 0 7 bit data l I 150 BAD O HT 300 BALD 1 II 600 BALD O IT 1200 BALD 1 II 2400 BALD O IT 4800 BALD 1 II 9600 BALD RREARAPOOO HpPO0OFHO 14 0 O Conmand in detail for both RS232C and 1R Conmand is available only in ASCII code De limtter is fixed to be CRHF both in send data and receive data 1 0 0 conmand It can be used onl y CP IB conmuni cati on and is for SRQ request on 1B line It can be used duri ng notor stop state If SRQis set to one channel SRQ signal occurs when the channel notor stops This conmand is available only in renate node Send formof the conmands are bel ow The SRQ flags that were set once before are cleared at the SRQ send out ti ning O Conmand for nfi O00 OA QHF O nark data nark data O A POSI TI CN 1 SRQ set 1 B PCBI TI CN 0 SRQ cl ear 2 C POSI TI CN 3 D POSI TI CN 8 current S
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