FMC32 User`s Manual
Contents
1. Project used recently VU FMC32 Control Software User s Manual YA7175 0 0 3 Design the data of pattern window Design operation you want to do using FMC32 Select Design the data of pattern from the Tool menu and the following window appears Design the data of pattern File F Setting Tool T 2000 pulse 2000 pulse CLE 5 8304 MHz foon Constant speed BUS pul 1000 in RE T S curve accel decel Magnification af one or less is permitted 749 pulse 148 pulse Rb OOO0FDO h RFL O1F4 h RFHI USES h RUR 2665 h ROR 2665 h f O00 ms RMG 4AF h 999 96 mz 99996 me RDP ZED h Pattern Number up 0 x down select MODE h positioning operation TN um D ITHUTIert 2000 ST4A amp U01 1000ms up down Using this window PCD2112 mounted in FMC32 is controlled simply At that time RMD and RENV1 registers show default values as follows Default value Even though FMC 32 is in a mode waiting for start if you confirm operation using the execute button in the above window the waiting mode stops temporarily and starts operation After the operation is completed the mode return to the waiting mode RENV1 008862C4 h This setting is fit for FMC32 s hardware FMC32 Control Software User s Manual YA7175 0 0 3 1 Set the maximum speed Set the maximum speed at the completion of acceleration in pps Only whole numbers can be used Set an initial speed at th2. 3 12 9 Confirmation of number of pulse at the maximum speed When the value shown in the Register setting value of PCD2112 field is set the actual number of pulse at the maximum speed will be calculated and shown as a decimal 3 12 10 Confirmation of magnification rate The magnification rate to be set in RMG register shown in the Register setting value of PCD2112 will be shown as a decimal This is a setting value that can actualize a setting speed in the maximum speed setting field 242 FMC32 Control Software User s Manual YA7175 0 0 3 13 Select operation mode You can select operation mode from the MODE pull down menu In positioning operation Continuous operation jOrigin return operation Origin escape operation Escape fram EL In positioning aperatian Timer operation The following 6 operation modes can be selected Contents of operation mode The motor continues to operate when it is stopped intentionally Continuous operation operation Note operation return operation operation escape operation EL from EL operation automatically Timer It is the same as positioning operation internally PCD2112 does not output operation pulses to the external Note To operate the motor in stand alone mode and stop intentionally you should use end limit slowdown point or excitation off If you do not provide these signals do not use the continuous operation mode 243 FMC32 Control Software
3. User s Manual FMC32 Compact Controller with Integrated Driver MODE Nr MC32 y gg Mine na WAERN r e I E gt r gt gt E gt 9 FMC32 Control Software User s Manual YA7175 0 0 Blank Page FMC32 Control Software User s Manual YA7175 0 0 Table of Contents T PIGIdCO uineas one ec ena run cues puoi aes Ec gee dace ase edwanas dy EerU i EIE Es ulum EE es 1 151 FMG32 S TUDCLUOT deu coni eius eap oue Ead Ro cedes a decus Ran redgeu cie prs MK EMT DeEU E 2 2 Basic operation procedure of this software eeeieeeee eei ieeeeee nein nennen nena nnne anna nnns 3 ou SIAL SOMW ALC m aa a aae aa EN 3 2 2 IILICE Melgel leytee t 4 2 3 Load DIO OCU NER m UT 5 2 4 5ave a DFo eG6b ouioi into oco iei peores fav Ide ests ein U css o cu coded Du D deus e t aa dI ue Tud 5 2 5 Load a project used recently eei aaa b pud Veo Eac Oso Dee deuda vex eo cma ernie ek dose HUP dud 6 dcm EXI SONWANE vu aaa E a a AEA Ea KERORA KENAAN 6 3 Design the data of pattern WInGOW istic ici ieee es 7 31 DCU UNG Ma XUN SPee en 8 SEES miniis e a 8 3 3 Set the number of positioning pulse 11 eee ciieeee eee ieeeeeene eee enne n anna anna anna an ranas 8 3 4 Set the Time Tor accelerato Mni a cu Caen nac ux CCo du aaa veu Sue raton erai vas eue tuus 8 3 5 Ser tne time Tor deceleratlOn sar seo ac Ee ceca o aa evoca b Sea PLE cec evo s
4. Operation direction select Selection of accel decel characteristic The SD input iz effective Ramping down point setting method The positioning counter is stepped n FH correction function ig invalidated r n This window is composed of the pull down menu and checkboxes If you select each item of operation setting register or check the checkbox the corresponding bit structure can be automatically generated The items that you cannot select cannot be changed because FMC32 does not use them After setting click the set button to set automatically generated data in the data entry field of the main window and write it in a register at the same time If you click the Cancel button the automatically generated data is input in the data entry field of the 50 FMC32 Control Software User s Manual YA7175 0 0 main window but data setting to register is not made Click the Write button in the main window to write this data to a register 9 2 5 Advanced setting of RCOM register If you double click Command register RCOM field and click the Detail button the following window appears Command select STAFL Start FL constant speed STAFH1 Starts FH constant speed STAFH2 Starts FH constant speed STALD1 Starts varied speed FL gt FHV STALD2 Starts varied speed FL gt FHA CNTFL Restarts FL constant speed GMTFHI Restarts FH constant speed GMTFH2 Restarts FH constant speed CNTUDI
5. RA Tool iD Import Pattern data E Save Pattern data iD Escape GO 3 22 Import pattern data You can load the operation pattern created in the past Select Import pattern data from the File menu On the next window select the file that you want to load Design the data of pattern Register F Tool tT Import Pattern data E Save Pattern data D Escape ij 1H mme After you load the operation pattern please save it 19 FMC32 Control Software User s Manual 3 23 Environment setting You can set and change the environment of FMC32 Select Environmental setting from the Setting menu Design the data of pattern File F Istum Meet Z Environmental setting 52 Adjustment mode 4 The following function setting window are shown By selecting the setting tabs the following two windows can be selected i i L1 a Erririnmenlal setting Ereirinsmenilal setting sengi satz Gangi etii Taisi cut uk pullo dest isi Sont thun rui filter Los PEL MEL SD ORG Route die mcos Meee direction cation sequence turned 1 Hi e D Theex i I off CMT fa D e uT DIE outpal FurTow Tow Fun rm Anc dang bos the Core rna mettle i Set the k ng pulse counts The SD ipt k effecti f Select Ehe process saben Ee SD input is turned Len mbeg nca The mask of the pulse out
6. The display of the button shows the excitation condition Excitation off 3 18 Start operation Click the execute button to start a specified operation execute The value shown in the Register setting value field is written in each register of PCD2112 and then the command to start operation shown in the COMMAND column is written to PCD2112 and operation starts Command cannot be changed to an arbitrary start command At that time if the excitation of FMC32 is off it is switched to ON forcibly It is not returned to OFF automatically after operation is complete However if you click the Stop button to stop the motor forcibly the excitation condition returns to OFF In the case that the excitation is ON from the start it does not turn to OFF Excitation on 3 19 Stop operation While operating you can stop the motor by clicking the Stop button 16 FMC32 Control Software User s Manual YA7175 0 0 3 20 Register and confirm operation pattern Up to 32 Operations Operation patterns designed in this window can be registered in one project This number of operations is the same as the number of operation patterns controlled by an external EEPROM Please refer to PCD2112 User s Manual in detail 3 20 1 Register operation Up to 32 operation patterns created can be registered At the registration specify operation pattern number 0 to 31 To specify the number use the Pattern Number
7. PUSB3503 is not connected to PC or OS cannot recognize an USB found device Possible causes are as follows 1 Device driver is not installed correctly n windowsXP you can check an USB device connection using device manager In the case that device driver is not installed correctly install device driver 2 OS stays in recognizing Select Initial from the Tool menu to operate or restart software 3 PUSB3503 is not connected Connect PUSB3503 or plug USB again PCD2112 is not Though PUSB3503 is connected PCD 2112 is not connected or power M0018 i found is switched off Set data is not Because you exit the detail setting window using Cancel setting data written in the has not saved in register M0017 M0019 register Click the Write button to save data When register data is written to serial EEPROM in standalone mode 34 bytes of data will be written 32 byte data is written to EEPROM at once process according to EEPROM s specification Therefore data write is processed two times with separating 32 bytes write and 2 bytes write 56 FMC32 Control Software User s Manual YA7175 0 0 The descriptions in this manual may be changed without prior notice to CAUTION improve performance or quality NPM Nippon Pulse Motor Co Ltd Head Office No 16 13 2 chome Hongo Bunkyo ku Tokyo 113 0033 Japan TEL 81 3 3813 8841 FAX 81 3 3813 8665 Web http www pulsemotor com E mail int l npm co
8. User s Manual YA7175 0 0 3 14 Select characteristics of acceleration and deceleration You can select from continuous speed operation without acceleration and operation with acceleration deceleration When you select acceleration and deceleration operation you can select from linear acceleration and S curve acceleration 3 14 1 Select constant speed When you check the Constant speed check box the following window appears Dean the hala ol paliern File E Sede S Tool D E 2100 pulse 2000 pulse x1 Cle fe MH F Constant speed pps 2000 pulse 400000 ma Maenilication of one STYLE RM ODOOTDO h AFL OlF4h AFHI GG h AUR Oh ROR Oh RM 4AFh In this window you cannot input the maximum speed acceleration time and deceleration time In this operation the motor operates at the initial speed 3 14 2 Select linear acceleration When you uncheck the Constant speed and S curve accel decel checkbox the following window appears Droge ihe dhala wl peal bern File E Setting CQ Toal CT 2000 puse 2000 pulse x1 Ck EEM Mee i Constant speed amp curve acce decal Maenilication of one or leis b patent tend 749 pul 749 pul ous E RH 0000700 h APL OlF4 h AFHI GoGo h FUR 2005 h ROR 25h RM s 4AF h ROP s JED h MODE bi pestle pter dort The motor operates with linear acceleration or deceleration 14 FMC32 Control Software User s Manual
9. YA7175 0 0 3 14 3 Select S curve acceleration When you uncheck the Constant speed checkbox and check the S curve accel decel checkbox the following window appears IET SB il ol paler File E Ser GG Tol I 2000 pulse 2000 x1 CLK EEM Mee Constant speed FP Secure accel decal Mesenilication ed one ir kk rk ermal ied Rev O0007DO h APL DIFA h AFHI Ei h AUA 1332 h z Vth z 4AF h z ZEDh The motor operates with S curve acceleration deceleration 3 15 Adjustment of magnification To actualize the operation speed specified in the maximum speed or the initial speed the maximum rate will be calculated automatically and a magnification rate that is more than 1 is used normally If you want to use the magnification rate that is less than 1 please check the Magnification of one or less is permitted checkbox However even if you check this checkbox the magnification rate does not become less than 1 if the calculated magnification rate should be more than one x 05 GLE 8 8304 MHz Constant speed a S rurve accel decel or less iz MER 15 FMC32 Control Software User s Manual YA7175 0 0 3 16 Switch the operation direction Click the following button to switch the operation direction CW or CCW The display of the button shows the current operation direction CIF direction E CCW direction 3 17 Switch excitation Click the following button to switch the excitation condition
10. becomes low 3 23 15 The positioning counter is stopped If you check this checkbox the positioning counter RDWC does not operate zo FMC32 Control Software User s Manual YA7175 0 0 3 24 STA input in PC control mode If the FMC32 is used in standalone mode the operation pattern specified by the execution sequence program starts when external input terminal STA is high when the photocoupler is ON On the other hand when the FMC32 is used in PC control mode the STA input is ignored and operation starts PC control mode is often used to confirm operation as you like and write operation data to FMC 32 If you want to use signals from the STA terminal while you confirm operation click the Auto button and turn off the auto start mode Dispiay The STA input is ignored and operation starts Operation starts when STA input is turned on However operation does not starts until STA input become Low to High the photocoupler becomes OFF to ON When STA input is high at the start of operation STA input should become low once and then become high again This is the specification of this product Please note that mechanism of operation start in standalone mode is different from one in PC control mode In the PC control mode with automatic start mode off operation by command 1 Pn with a specified operation number is the same as operation by Command 2 Sn with the specified operation number MT FMC32 Control Software Use
11. buttons By clicking the up or down buttons you can change the number The background of number that the operation pattern is not registered is grey The background of number that the operation pattern is registered is pink Pattern Number up E down hua After selecting the number click the Register this data button Register this data The next window appears If there is no problem click the Set button If you want to change the number that you want to register select Mode or Direction in the line number you want and click the Set button to be confirmed It can also be confirmed by double click 5elect a number you want to register and click the column of the number Select the save number of EEP OM no file Origin return Ahe input of the comment is recommended Comment E D 5 e e s Load deta from file Save data to file Cancel If you select the number that operation pattern is already registered the data is overwritten and the data registered before is deleted Confirmation message does not appear In the comment field the character strings that are input in the Comment field in the lower of the Design the data of pattern window If no comment is input a comment input window appears after you clicking the Set button 3 20 2 Confirmation operation 1 If you click the up or down button to change a pattern number the value registered with the number is reflect
12. input Decrement the variable register D LOOP A Selection of Jump processing 1 HALT tH Cancel OK Label L Break On Off E close CG PU Origin return 50 Origin return WAIT 100 WAIT 1000 mzec EX QN REGO 20 DECO JNZ REGO LOOP LOOGP amp 4 3 Save a program Save a designed program before you assemble it Select Save Program from the File menu or click the following button to save a program to a project 4 4 Import a program You can load and reuse the program designed in the past Select Import Program from the File menu or click the following button The window to select a file appears Select a program file and load it After you import a program do not forget to save it 24 s FMC32 Control Software User s Manual YA7175 0 0 4 5 Check description content and assemble 4 5 1 Assemble and check description content Select Assemble from the Project menu or click the following button The designed program is checked to see if it meets the FMC command system grammar rules If the program is grammatically correct it is assembled If there is no violation of the grammar rules i e errors the described line is highlighted in yellow and the first line of the program is displayed inverted as follows Any lines with comments and label are not highlighted test sde Sl File F Operation 22 Tool T lal Sle Aim ino we ai i DENEN amp FMC32 Pr
13. jp Issued in September 2011 57
14. to specify an operation number is the same with operation by Command 2 Sn to specify an operation number 40 FMC32 Control Software User s Manual YA7175 0 0 5 Inching operation Click Inching Operation from the Tool menu on the menu bar FMGC32 program development File E me EEPROM E Others v RSTS window 57 RIST window iD Command select 7 Inching operation M The following window appears Inchinssrstion Operation speed Position Operation selection Feeding amount Next to Position the value of feeding amount in inching operation appears The value is cleared by clicking the Position clear button 5 1 Continuous operation Select Continuous operation from the pull down menu Next input an operation speed in the Passing speed field Then select operation direction By clicking the button the display is switched to Click the start button to start operation at the speed input ahead This operation continues until the stop button is clicked 5 2 Positioning operation Select In positioning operation from the pull down menu Next input the operation speed in the Passing speed field and input feeding amount the total number of pulses Then select operation direction By clicking the button the display is switched to Click the start button The number of pulses input in the Feeding amount field is output at the speed input ahead Th
15. you insert at the head of the line the whole line is treated as comments If you makes the last part as commands separate command from with more than one character space Comment line REGO 20 20 is substituted to Register O 257 FMC32 Control Software User s Manual YA7175 0 0 4 1 14 Command specification Abbreviatio Command byte Command name length 7161514 3121410 Command 1 to specify operation number Command 2 to specify operation number Wait for specified time of of On nininin INT jump Caution When the FMC32 is used in PC control mode there are the following limits on operation Please bear in mind that controlling FMC32 by this software does not extend beyond confirmation of the execution sequence program 1 Using PN or SN the motor ignores the STA input and operates You can cancel to ignore the STA input In details see 4 7 5 STA input in PC control mode 2 Because FMC32 control software is controlled by windows it takes some times to process the next command after one command is processed The length of this time depends on the PC s performance 28 FMC32 Control Software User s Manual YA7175 0 0 4 2 Command input to editor The FMC32 has a feature to support command input Click the line that you want to input commands to move a cursor and click the following button Or right click the line that you want to input commands on the editor window Th
16. 0 255 20 Cancel OK lrogr am File D Project Tool D a m E m ml I I r Select the pater number Po Wiad lore ilira en Chus excitation TL Ga The warble reenter UF Cerca the varinbie regisier SD Pegiter riser 7 cates bur id dume pe etary Gl Pexriber reece o HALT XH Pewter ramber 3 laba LI Paii ruabar d F Paegqutes names 5 R Break CeCe Ep Pepita rusher amp a bi Leer Fenprsher ruir q Parita number D Rexizher rember 8 OX Pl Register rusher 10 Ab eL amp Origin return amp Origin return Pasgether rami 11 LED Fagit riaember 17 5 Reqiiter rumba 123 TU Paegqiter ruber 14 IE WAIT 100 ER UM REGO 20 WAIT 1000 mzec Pexriber Pace 175 p 4 2 5 Select a decrement the variable register Click to Decrement the variable register and Register number O to 15 from the pop up menu The setting command specified is described in the editor Program File F Propecia OPI Teal D oaoa PU amp Origin return Select the pattem nuesber P AUTO n Wait time utra 84 a Origin return Change excitation E WAIT 100 WAIT 1000 msec Set the variable register 2 E ETT EIE yar rember LU EX ON Selection of Jump process img i Register rime 1 REGO I HALT Hi Register mumbar 2 2 Lakes L Fus ber rumie 3 DEG Register mumbar d 4 Bresk ru i BO Rasiater numit E Register riumber 15 Register mumbar 7 9 Faser rumie B p Register riumber 1 105 Register reumber 10 ta Fog ber
17. AGES SCIOCIION eem 43 sm AGIUSUMEN TIO OO me 44 9 Control PCD2112 dIFeclly orte iode dete bsucticeatteds coa ne en e aS 46 9 1 Function description of the main window ee leeeeee ee eeeee nnne nennen enn n hann 46 9 1 1 1 Set value to FO OISION ue toti ete iret a Eaa ei cue ages buted sich alise ule aikasi 46 9 1 1 2 Select radix of register Value eo a cet toto pert Fus n t Me Ep bod re Far do LO donc a S ue ui pene ad Eee ea ud 46 9 2 Advanceu Setting of TegIS te S eiie e tenda ue a irure abuse docet aie 48 9 3 Select operation directive to FMC32 1 111 llleeeeeee eee Leeeeeeee nnne nenne nana n nnn anna a anna 52 9 4 Confirm the deltail oF regis el Sasiia ie eu Dude becob eer eae o vu Cade ded ul ceu eoe e aa er ouai 53 10 Meaning of messages and solution 11111 eeeeeeieeeee ec eeeeeeen eese nennen enhn nnne n anna sean nnns 55 Bo FMC32 Control Software User s Manual YA7175 0 0 1 Preface Thank you for considering our FMC32 a compact controller with integrated driver Before you read this manual please install required software and hardware according to the PUSB3503 user s manual The product that you purchased contains the PCD2112 a pulse control LSI for serial bus control With it you can design execution sequence programs and write designed execution sequence progra
18. CD2112 FMC32 Control Software User s Manual YA7175 0 0 2 2 Create a project Please create a project before you design operation patterns 1 Select New project from the File menu FMG3 2 program developmen See Tool I EEPROM te New Project Mi Load Project t Save Project tK Project used recently U7 The following window appears Hew project making Project Name Project Location 5525 PRFMO32 POD2112 MyDLL_FMGs MakeD ATA Browse cancel OK 2 Click the Browse button and select the folder where you want to save the project A new folder that has the same name as the Project Name specified is made under the folder you select The operation data etc is saved in this new folder ELS UE Select a falder E commands H For_Actuator H 0 language 3 Input a project name After you input a project name click the OK button Hew project making Browse cancel OK FMC32 Control Software User s Manual YA7175 0 0 2 3 Load project Load a project you created before 1 Select Load Project from the File menu FMCG program developmen Simi Tool T7 EEPROM E Mew Project UND Load Project 5 Save Project Ke Project used recently tL The window to select a project appears Aagcieiar cad fila calace Pet IHL Ee D race E emm A BEEP FADH T4 Fasc H Ita zd y 2 Select a project hein o Cee GEEL mas di iC Deb F
19. FMC32 is in PC control mode Even if the PUSB 3503 is removed while operating in PC control mode the mode does not change to Standalone mode In PC control mode the FMC32 will not run a program written in the FMC32 To get the FMC32 to work in this mode operational directions from a PC are required 1 1 2 Standalone mode If the FMC is powered on without the PUSB 3503 the FMC 32 is in stand alone mode The FMC32 in stand alone mode will automatically run a written program If the PUSB3503 is connected to the FMC32 while the FMC32 is running in standalone mode the mode does not change to the PC control mode FMC32 Control Software User s Manual YA7175 0 0 2 Basic operation procedure of this software 2 1 Start software First of all confirm that FMC32 is connected with your PC Then double click the following software icon The software starts and the following main window appears Register name Register value FMC32 program development EJ File Tool D EEPROM E Others LEE EN RENV2 OOOOO000 h ef2fobogd REN OOOO0000 h OOOO h RDS OOOO h OOO h RUS OOOO h DOO k RDR ogai h OOOOO000 k RUF DOO h OO00 h RMG OO00 h ROP OOOO00 h RFL 0000 h pol h h Dan h Ooh OO Bh h DH bh OO bh Register value display 0000 h QOO00000 h Nh DD OO00 h OO h Main window PCD2112 is mounted on FMC32 and this PCD2112 controls a motor This windows allows you to set the register information of P
20. MV register value Feeding amount is too large M0010 cannot be set Procedure is interrupted Make feeding amount smaller RUR register value Time for acceleration is too small or too large M0011 cannot be set Procedure is interrupted Make this value appropriate RDR register value Time for deceleration is too small or too large M0012 cannot be set Procedure is interrupted Make this value appropriate 20MHz or more Procedure is interrupted M0013 cannot be set Do not change reference clock frequency basically However PCD2112 can operate normally up to 2OMHz RMV register is too Feeding amount set is too small compared to the number of pulses small generated during acceleration deceleration There may be cases that the pulse cycle cannot be reached to the setting value because of triangle drive or FH correction You can select to stop or continue operation Please adjust RDR In the case that slowdown point is set automatically an acceleration and RUR to the rate should be the same as a deceleration rate same value If manual setting is selected for slowdown point this message can be ignored You can select to stop or continue operation M0014 M0015 Search of USB FMC32 is searching for PUSB3503 connected to PC device wait a Just after PUSB3503 is connected to PC the PC s OS may take some M0016 moment time to finish recognizing the USB device In this case this message appears USB device is not
21. Restarts varied speed FL gt FH1 CNTUD2 Restarts varied speed FL gt FHz FCHGL Immediately changes to the FL speed FGHGHl Immediately changez to the FHI speed FGHGH2 Immediately changes to the FH speed FSGHL Decelerates to FL speed FSCHHI Aecelerates to FH speed FSGHH2 Accelerates to FH speed EMGSP Emergencv stop STOF Immediately stop SDs TP Decelerates to stop GLINR Reset counter TRST Reset direction change timer SRST Software reset SRDS SRST command disable aREN SRST command enable ERGO Outputs ERG signal ERGR Resets ERG output oT AQ Outputs STA signal This window shows buttons of all operation directives to be specified to the PCD2112 If you click each button the corresponding directive is processed 51 FMC32 Control Software User s Manual YA7175 0 0 9 2 6 Advanced setting of RPIO register If you double click General purpose port register RPIO field and click the Detail button the following window appears set RIOP Output value aE mE GRP mi Cancel Set This window is composed of the pull down menu and setting data to operate each general purpose port can be automatically generated After setting click the set button to set automatically generated data in the data entry field of the main window and written in a register at the same time If you click the Cancel button the automatically generated data is input in the data entry field of the ma
22. Ue esu 8 3 6 Select acceleration deceleration characteristics e ees 9 3 7 Magnification ratio ODLIOTI edi nete eei oe E EH Pee oo eve c aeui e Opa eot guv e eua a een esu av Ue eU E CEP UUR V REEUUE 9 3 60 Sota CONSTANT Spei NEED RET a 9 3 9 SEU FETCFENGCE CLOCK quer 9 3 10 Set operational dIF e CU OM doo n 2usceu cs caiiioc Eus uiievectediesGuauves aaa Aaaa aaa iaaa Eaa AAE NAOR 9 SITE SOU ODM aLlO lil OCG mecnm ctn e dc DN D vases 10 3 12 Gonifirmati n of SETTING Value iue Ecco Keen UE pO ERR EN x RUN Sora VE EN URS A 11 3 13 Select operation mode o iara a aaa EE Na DER VK e ddr ipea Susa REF E a Desa aa EANAN 13 3 14 Select characteristics of acceleration and deceleration 14 3 15 Adjustment or Magnea UON cca e cocta Mace etico us ea Saco tov deo das ue advert aati des uoc usaron tuia 15 3 16 Switch the operation dIFrectlolh oni oou cheese dere o Yu ceto voa coda coo cen e coe oco Eo ns Creech oreet 16 S172 SWITCH OX CITATION sci etic M 16 3 8 Sta ODETA UOI cs ov poii qaa aA aa SR S MUS A RW RR ich i e R 16 B 19 SLOP OPEL AtlO Mitra nec ae chi cence Sestnd T qM DES 16 3 20 Register and confirm operation pattern cccccesesseeesseeeeseeeseeensseeeseeeesseeseoesseeesseoesseeessooeass 17 3 21 Save the registered pattern dala eite erue c aote cca oed e ew ec E
23. are User s Manual YA7175 0 0 4 2 7 Input commands of unconditional jump and INT jump Click Selection the Jump processing Unconditional jump or Jumps if the interrupt is generated The following entry window appears If you input the jump address label Line head colon should be omitted conditional jump command is described in the editor test sde File F Operation 0 Tool T l El al al l zi nmm Select the pattern number Pi 3 Auto Bia l Wait time setting yy Line Insert Change excitation tE Set the variable register Ro Decrement the variable register D I Selection af Jump processing J Jumps if the register value is not zero Z HALT tH Unconditional jump tH label L Jumps if the interrupt is generated I Break On Off E close c Input data Jump paint Label input LOOP_B Cancel JK PU Origin return S0 Origin return WAIT 100 WATT 1000 msec EX ON REGO 20 DEG JM REGO LOOP JMP LOOP B zd us FMC32 Control Software User s Manual YA7175 0 0 4 2 8 Label Click Label from the pop up menu The following entry window appears When you input the jump address label Line head Colon should be omitted the label is described in the editor Up to 256 labels can be used in one project Select the pattern number P Wait time setting MT Input data Change excitation E Set the variable register Re Jump point Label
24. ation Tool D Wait time input GT ms tl Aa sl zx i l 1 HEP EE i Select the pattern number 1PJ M AUTE fi LU Wait time setting AU Set time amp 1Ome i meme OK Change excitation E _ Cancel Set the variable register Ri Decrement the variable register D Selection of Jump processing J HALT tH label 1L Break OnOff BY EEROM data file name iz close C3 test dpe FO Origin return O Origin return WAIT 100 4 2 3 Select Change excitation Click Change excitation and Excitation ON or Excitation OFF from the pop up menu the specified setting command is described to the setting editor EEROM data file name is Program CH testzdpe File F Project P Tool T Select the pattern number p C s Wait time setting wb PU Origin return Change excitation 1E Excitation ON d al Origin return Set the variable register FJ Excitation OFF Fs WAIT 100 Decrement the variable register iD EX OM Selection af Jump processing tI HALT HI label L Break On Off E close W FMC32 Control Software User s Manual YA7175 0 0 4 2 4 Select a value setting command to variables Click Set the variable register and Register number O to 15 of the pop up menu The following entry window appears If you Input a value that you want to set to a variable in decimal a REGx command is described in the editor Input data Setting of register initial value
25. described as follows 9 2 1 Advanced setting of RENV1 register Double click the register value display of environmental setting 1 register RENV1 and click the detail button to show the following window Select map pulse delete Set the STR aie Mout type Pages anres Magila dric a OUT onmi LLLLUUT mima UIR aum y LELE 7 7 5 AA Soke Per gapti ei Ger FEL HEL eq m turri i Emmelie cupo M i oreet tha pulti vechh d the EFC aiu Tali the mta zaras ier DEA TRE pn Seb nha wh ne ered the 5 ng Select EI rama ma log is aa ae Pom ie BE le esu a Bal eun nio ae Faime Kec elect ihe off dimer fma to the ERL mmp Tender the mapa nigral for REAGE pin Select AG mial mgA ke Porsilrem kiss Select the procezz when the STI input ar tumed acl ST trimal nga logic The axciiation zequence m ture cil Select FOU HD rama rpt logic D The entr wpe dx burr dl Fa m im q accnedawp 5o Hus CAM ilmi Select S zumal inout beic Tat a dling paie emais Zea the neun ihe io PEL MEL EDORSSTERIE D The mak al the psc curiae i LL i This window is composed of the pull down menu and checkboxes If you select each item of environmental setting 1 register and check the checkbox the corresponding bit structure can be automatically generated The items that you cannot select cannot be changed because the FMC32 does not use them After setting c
26. e data entry field If you input data in the data entry field and click write button data is written in the register specified Written data is read immediately and is reflected on the window 9 1 1 2 Select radix of register value If h is attached to the last of register value shown the value is displayed in hexadecimal notation When you right click this value radix of register shown is switched from decimal to hexadecimal 46 FMC32 Control Software User s Manual YA7175 0 0 9 1 2 Address display It shows the head address of the register that data is written to You cannot input in this field using the keyboard 9 1 3 Data entry field Data confirmation field According the types of registers length of data to be written varies When you double click register display to generate address automatically the necessary number of data bytes is also automatically determined and FMC32 makes you input the number of bytes The radix of data input is the same as the radix of the register value 04 hh h 16 hh h 4 h h h 25 hh h 00h O00 odh t 00h Dh Mh 00 Mh Ov Uh OO 02h 00 D2h 00 03h 00 Detail Write Wir ite Detail Write Detail Write Example of Example of Example of Example of 1 byte 4 byte write 3 byte write 2 byte write write RENV2 register RDP register RMG register RCOM register If the radix is hexadecimal h you cannot input data more than the necessa
27. e details of each operation please refer to PCD2112 User s manual Document Nol DA70115 10 FMC32 Control Software User s Manual YAT175 0 0 3 12 Confirmation of setting value Using the setting values the PCD 2112 register values appears Based on these setting values actual operation speed and operation time will be calculated and be shown There are instances when the set values cannot be operation be achieved due to operation specifications Number of pulses at the maximum speed Number of pulses when accelerating agnification rate Design the data of pattern File F Setting S Tool D x1 GLK 88304 MHz oog Constant speed pps p02 pulse decel 1000 pps 502 00 ms DPA dicc Magnification of one or less is permitted 749 pulse 749 pulse OOO DO h O1F4 h OSES h 2665 h 2665 h a Pes Moog ms 4AF h Bb pps 996 me O05 me ZED h E cm eu em mo 4 Obmment Jeet REN RENVI TEA RENV2 Set RMD Pap Close M Maximum speed Acceleration Number of pulses Deceleration time while Deceleraing ime Register setting value Initial speed of PCD2112 Operation time at the maximum speed 3 12 1 Confirm the register setting value Register setting value to be set for PCD2112 is shown in hex notation When you click the Execute button these values are written to each register of PCD2112 and operation starts 3 12 2 Confir
28. e en ates 19 C4 FMC32 Control Software User s Manual YA7175 0 0 3 22 Import pattern Cla lal sccancces tnd ccnsedivecieviocssasscescnieveasacssessuciesbscanedscdasacesaotanecscandwsasscedeaasvecdsadstatesnsaeeds 19 3 23 ENVIFONMENT SCUUING eem 20 9 24 STA IMPUTI PC CONTEOL IMO GG oie ixs odes aE a sx Metieua ovantes Ea 23 4 Design the data of pattern WindoOw lere eee li eeeeeeeeieee nennen nenne nnn nhan nnn annua anna 24 geraden 25 4 2 Command Input 1o CANOT iris cec edes Lon epu ER a ee OE DL ES Tee dE CRUS 29 4 3 Save a Programo s oii rave eds TE deese eae E vr w aioe raa E cR HV Gis ee svD due dee vices cesi irae ari 34 AoA Mpo ra DEO Weal pe 34 4 5 Check description content and ASSEMDIE sccseeeeceeesseeeeeeeesseeeseeeeseeeseoesseeesseoenseeessooenss 35 AO FG SPU OMA ia e EEA nsewaenceesuseena views sxnedsasanvessavenpedelesvenadsSeuehuweanencde 36 4 7 EXECUUON R al opetaltion cede tacob eee lesen cce ae eeu y oe e cubos a Eaa Eaa Eaa aaa 38 5 MICNING ODEN AllOM saicccscseiivetccdcedscch cede apuaan iaaea Saarai aeara Siaina ENSA iaa Epa 41 5 1 CONMNUOUS OPEratiO Masna aaa aaa aaa aaa Aad 41 5 2 POSIUONINO OPEratiO iconen RR 41 6 Access To Serlal EEPROM oori a Dee ce ce oe dacuc one cues Patek ce cec Dose cuc sie eui eene EE EUe 42 6 1 Write to BER RO Mev cS 42 5 2 Read data I EEPROM vissii a a 43 res WANGU
29. e following pop up menu appears Select a command you want to use from the menu Select the pattern number KPI Wait time setting QM Change excitation tE Set the variable register FJ Decrement the variable register D Selection af Jump processing J HALT HI label tL Break On Off E close W 4 2 1 Select operation pattern Select Select the pattern number from the pop up menu The following selection window appears Select the pattern number test2 edt pe pem peee O Origin return Origin return cw 50 200pps cw 1000 T pps gt 500pps cow 2000 50 gt 500ppe STA edge Cancel j Selecting an operation pattern you want to use adds the operation pattern in the line with cursor on the editor as follows Comments are also described at once EEROM data file name iz amp test2dpe Origin return 250 FMC32 Control Software User s Manual YA7175 0 0 Check the STA_edge checkbox to specify a command waiting for falling of STA input EEROM data file name iz 3 test2 dpe Origin return Origin return The following button allows to operate the same 4 2 2 Input a command for the specified time If you click WAIT time setting and Set time from the pop up menu the following input window appears Remember that the input time is multiplied by 10 when actually executed i e and entry of 10 yields a WAIT time of 100ms Input data File E Oper
30. e start to accelerate Only whole numbers can be used Set the number of output pulses in positioning operation Only whole numbers can be used Set the acceleration time for acceleration operation in msec Only whole numbers can be used Set the deceleration time for deceleration operation in msec Only whole numbers can be used FMC32 Control Software User s Manual YA7175 0 0 3 6 Select acceleration deceleration characteristics Select characteristics for acceleration deceleration operation Uncheck linear acceleration operation Check S curve acceleration deceleration Uncheck Magnification ratio that is smaller than 1 becomes 1 even if the magnification ratio is appropriate Check Magnification ration that is smaller than 1 is effective Check to operate at constant speed without acceleration and deceleration Specify a speed in the initial speed field Set a clock frequency to be provided to PCD2112 FMC32 uses 9 8304MHz clock frequency Do not change this default value To click this button you can specify operation direction L means CW direction and means CCW direction FMC32 Control Software User s Manual YA7175 0 0 3 11 Set operation mode You can select among the following six operations 1 Continuous operation Origin return operation Origin escape operation EL escape operation Positioning operation Timer operation Oo AC NY Regarding th
31. ed on the Design the data of pattern window If you select a number from the pull down menu it produces the same result 17 FMC32 Control Software User s Manual YA7175 0 0 3 20 3 Confirmation operation 2 If you click the select button the following window appears and you can check the registration of operation pattern n select M Pattern data qmm preen pome OOS O yO O i Origin return Origin return 1 m positioning cw 50 200pps 2 jh positioning cw 1000 10pps gt 500ppe 3 h positioning cw 1000 10pps gt B pps In this window all registered operation patterns are not shown we recommend you to input a brief comment to describe each pattern number To input and modify a comment in this window double click the modified comment box In the window shown newly you can input and modify them Save data to file Ea 4 aif edi Wde Direction eomme O OSS Origin return Minus i1 m positioning Minus ES In positioning Puls 3 In positioning Minus h positioning Puls I5 Th positioning Minus When you click the set button the modified comments are reflected in the window 18 FMC32 Control Software User s Manual YA7175 0 0 3 21 Save the registered pattern data Save the registered data to a project as an operation pattern To save operation pattern select Save Pattern data from the File menu Design the data of pattern wise Register
32. ely 2 Decelerate and stop Input logic of the end limit signal is specified using switch 5 SW1 5 of the dip switch 3 23 7 Select ORG signal input logic Select signal level to be recognized that ORG signals is ON 3 23 8 Set the noise filter to PEL MEL SD ORG If you check this checkbox filters are set to End limit signal both plus and minus slow down signal origin signal According to filters a pulse whose width is less than four micro sec is ignored 3 23 9 The excitation sequence is turned off If you check this checkbox output of excitation sequence is turned off 3 23 10 The excitation sequence is turned off according to the CDW timing If you check this checkbox output of excitation sequence is turned off while current down signal is output 3 23 11 Set the idling pulse counts Before starting acceleration you can select a number of pulse counts to operate at the initial speed 3 23 12 The mask of the pulse output The pulse output is masked The output of excitation sequence is not changed 3 23 13 Completion of origin return resets counter If you check this checkbox the current position counter RCUN is reset to O when origin return is complete When the motor decelerates and stops the counter counts pulse number to be output until the motor stops 3 23 14 When beginning to decelerate INT is output If you check this checkbox interrupt occurs when deceleration starts and the INT output of PCD 2112
33. gic CW OUT is ahead Eee Eau CCW OUT is ahead OUT CW pulse positive logic DIR CCW pulse positive logic 3 23 2 The SD input is effective If you check this checkbox the slow down signal input is enable Without check the slow down signal is ignored 3 23 3 Select the process when the SD input is turned You can select one from the following operations when the SD signal is input 1 Decelerate to the initial speed Does not stop 2 Decelerate to the initial speed and stop However there are the following limits 1 The SD input is effective checkbox is checked If itis not checked the SD input is ignored 2 When the motor is operating at constant speed it does not decelerate 3 23 4 Set the latch function of the SD input If you check this checkbox the condition when the slow down signal turns ON is memorized According to this the motor ensures to slow down even though the width of slow down signal is narrow The memorized slow down signal will be cleared at the start of next operation 3 23 5 Select SD signal input logic Select a signal level to be recognized that slowdown signal is ON When Positive logic is selected with FMC32 turning input photocoupler ON makes the SD input ON 4 04 FMC32 Control Software User s Manual YA7175 0 0 3 23 6 Select the process when the PEL MEL input is turned You can select one of the following operations when the end limit signal is input 1 Stop immediat
34. has each meanings by bit Regarding RSTS and RIST the window to refer the information by bit is prepared 9 4 1 Confirm the detail of RSTS register Select RSTS window from the Tool menu the following windows appears Here the bit information of status information register RSTS appears visually The bit of RSTS register that has meaning by bit when the corresponding bits are 1 or O the bit status changes as follows Bitstatus CBE When the multiple bits have one meaning the numeral value that the multiple bits shows will be shown by characters MC FMC32 Control Software User s Manual YA7175 0 0 9 4 2 Confirm the detail of RIST register Select RIST window from the Tool menu The following windows will be shown The bit information of the RIST register appears visually You can confirm the condition of each bits of the RIST register The style of the display is the same as one of the RSTS register 54 FMC32 Control Software User s Manual YA7175 0 0 10 Meaning of messages and solution While using the software message may appears when trouble occurs The followings show causes and countermeasures of each message Cause Countermeasure Failure of EEPROM Though FMC32 issues a transition command to EEPROM access access mode mode to PCD2112 See 5 1 Bus control command of PCD2112 User s Manual and check a connected serial EEPROM this serial EEPROM M0001 is not ready T
35. he data of pattern 42 FMC32 Control Software User s Manual YA7175 0 0 6 2 Read data in EEPROM Read data written in EEPROM on FMC32 Click Read data in EEPROM from the EEPROM menu on the main window development Em x 24ih F Sees Others Op Write ta EEPROM tE ams ETE Nam Sai ie SEs GEN otk 0004 Sd Ds Data files EDT SD0 IReadBack F I I Input a file name without extension The following two files with this file name are generated Generated files Operation pattern data read Read program data after assembling You can use an edt file in other projects by importing Comments cannot be used 7 Language selection Select language select from the Others display You can select language used such as Japanese or English etc To select Japanese The characters may be garbled if you do use an OS that does not supports Japanese Others W asec nee Japanese iD English 4 Version OW 2d 3s FMC32 Control Software User s Manual YA7175 0 0 8 Adjustment mode You can use the adjustment mode to adjust current to stepping motors It allows to forcibly cancel current down function that is always available It also allows you to change all items that you cannot select on RENV1 RENV2 RMD and each register setting windows Open a project by selecting New project or Load project etc and open design the data of pattern window Selec
36. hen STA input is low photocoupler is off the motor waits for STA input and starts after the STA input becomes high After operation is complete the next command is processed immediately opecify the operation pattern number that is already created and follow the number after P Operation description PO Operation pattern 0 is executed 4 1 2 Command 2 to specify an operation number Operate the specified numbered operation pattern Operation starts when STA input become high When STA input is low the motor waits for STA input and starts after the STA input becomes high After operation is complete the motor waits until the STA input to becomes low Operation shifts to the next command after STA input becomes low When STA input is already low at the completion of operation the next command is operated immediately opecify the operation pattern number that is already created and follow the number after S Operation description 15 Operation pattern 15 is executed 4 1 3 Wait for specified time The unit of waiting time is msec Specify a numerical value with one or more spaces following WAIT The motor waits for 10 times the input value and operation shifts to the next command after waiting The range of value is 0 to 255 Specify values in decimal or hexadecimal Operation description WAIT 10 Wait for 100 msec Example in decimal WAIT 0x20 Wait for 320 msec Example in hexadecimal 4 1 4 Excitation OFF E
37. herefore data is not written to the serial EEPROM Wiring to serial EEPROM may be disconnected Serial EEPROM may be broken The device may need to be repaired Not ready for Though FMC32 issues a transition command to EEPROM access EEPROM mode to PCD2112 See 5 1 Bus control command of PCD2112 User s access 1 Manual and issues Write enable command to a connected serial M0002 EEPROM this serial EEPROM is not ready for this command Therefore data is not written to the serial EEPROM Wiring to serial EEPROM may be disconnected Serial EEPROM may be broken The device may need to be repaired Not ready for After writing data of 32 bytes to connected serial EEPROM serial EEPROM EEPROM does not become ready M0003 access 2 It is unclear Whether or not data is written to the serial EEPROM Wiring to serial EEPROM may be disconnected serial EEPROM may be broken The device may need to be repaired Not ready for After writing data of 32 bytes to connected serial EEPROM and EEPROM sending Write enable command to serial EEPROM to write the next access 3 data the status does not become ready after receiving this command M0004 first 32 bytes of data is written to serial EEPROM but the next data is not written Serial EEPROM may be broken The device may need to be repaired Not ready for After writing data of 32 bytes and 2 bytes continuously to a connected EEPROM serial EEPROM the status does not become ready It is unclea
38. in window but data setting to register does not be made Click the Write button to write this data to a register 9 3 Select operation directive to FMC32 Select Selection of instruction to FMC32 from the Tool menu The following window appears Command select ST AFL Start FL constant speed STAFH1 Starts FH constant speed STAFH2 Starts FH constant speed STALD1 Starts varied speed FL gt FHV STAUD2 Starts varied speed FL gt FHA CNTFL Restarts FL constant speed GMTFHI Restarts FHI constant speed GMTFH2 Restarts FH constant speed CNTUDI Restarts varied speed FL gt FH1 CNTUD2 Restarts varied speed FL gt FHz FGCHGL Immediately changes to the FL speed FGHGHl Immediately changez to the FHI speed FGHGH2 Immediately changes to the FH speed FSGHL Decelerates to FL speed FSCHHI Aecelerates to FH speed FSGHH2 Accelerates to FH speed EMGSP Emergency stop STOP Immediately stop SDSTF Decelerates to stop GLINR Reset counter TRST Reset direction change timer SRST Software reset SRDS SRST command disable aREMN SRST command enable ERGO Outputs ERG signal ERGR Resets ERG output oT AQ Outputs STA signal This window shows buttons of all operation directives to be specified to the PCD2112 If you click each button the corresponding directive is processed FMC32 Control Software User s Manual YA7175 0 0 9 4 Confirm the detail of registers The register RSTS RIST and RIOP
39. invalid it returns to valid automatically 45 FMC32 Control Software User s Manual YA7175 0 0 9 Control PCD2112 directly This software can control PCD2112 mounted on FMC32 directly Using this method you can write value to the registers of PCD2112 directly but the data etc does not have any influence on designing operation patterns Register values set here are discarded at the time to create operation pattern This function is designed to understand PCD2112 functions 9 1 Function description of the main window Each function description follows illustration of the main window again Register name Register value FMC32 program development EJ File F Tool EEPROM E Others SEEN RENV2 OOOOO000 h 2255582 REN OOOOOO00 h OOOO h RDS OOOO h OOO h RUS OO00 h DOO k ROR OOOO h DOO k OO00 h OOOO h OO00 h OOOO00 h OOOO h 000 h Ooh 00h Mh Ok 02h OOh Data check area Register value display Address entry Data entry 0000 h O0000000 h 1h DDh O00 h 00h Write register button Detail setting button Main window 9 1 1 Register value entry PCD2112 has 20 kinds of registers PCD2112 reads these registers each specified cycle through USB and shows the values In this window you can check the condition that FMC32 is operating 9 1 1 1 Set value to register If you double click each register write address of the register appears in the address entry field by double click and the cursor moves th
40. io der ex CON OFF Dahat HARE CENT test Canine C3 REG CHT Cree test C3 774 1400 FALDA DRagicter cat filsci HPF The extension of the project is npf 2 4 Save a project When you create an operation pattern and execution sequence program save them in a project 1 Select Save project in the File menu The project is saved FMC3 program developmen Tool T Mew Project Ni Load Project C0 Save Project i Project used recently Ll EEPROM tE FMC32 Control Software User s Manual YA7175 0 0 2 5 Load a project used recently Among the projects edited by this software the five most recent projects are listed for quick access From these projects you can select one project you want to use 1 Select Project used recently from the File menu FMC32 program development IMT test J642 Tool EEPROM E Others 2 Demo New Praject IN eee RSTS 10C10042h rin nina 1 AX Weather Opp F MCZIMT test 4 Weather TCpp F Mose ex Weather r Opp F Mose ce Ax Weather OopeF Mose de ma Bo Weather Y4 Cpp F MOSZXEX ON OFF Project used recently Ll 2 In the sub menu up to five projects that are used recently appear Select one project Then the project opens 2 6 Exit software Select Exit from the File menu to exit FRCS program developmen Tool EEPROM E Mew Project Hi Load Project Y
41. is operation stops automatically without clicking the stop button FMC32 Control Software User s Manual YA7175 0 0 6 Access to Serial EEPROM The FMC32 operates in standalone mode by writing designed operation patterns and execution subsequence program using operation patterns program to EEPROM on the FMC32 6 1 Write to EEPROM Write the designed operation pattern and the program using the operation pattern to EEPROM on FMC32 Click Write to EEPROM from the EEPROM menu on the Main window development Em 2 AAF MaJaa OESE Others 7 While operation pattern is being written the following message appears Operation patterns are not written to the operation numbers that an operation pattern is not registered Comments are also not written Message Data number 8 iz written ta EEROM If writing operation patter is completed normally writing program starts All writing is completed the following message appears Message Writing in EEPROM was completed Caution To Write created program assemble it before writing program Check whether the program has any errors by assembling it If you write an unassembled program the following error message appears and the program is not written Operation pattern is written Unsaved programs are not written Please save it ahead of time Message example Please assemble the program The program has been changed Please assemble it Please save the program Please save t
42. ject P Tool T ww ie A FMCO32 i Program file to control FMCG Made by taudok J After a command is processed the ORG ORG operation hai oer line will be highlighted so E ede ee sa ee ase ae eee aes 51 move to START paint LOOF A 4 7 2 Continuous execution Real operation Click Execution of the Project menu or the following Continuous Execution button The highlighted line moves as execution sequence program It shifts at a speed that you can follow with your eyes Continuous execution button 4 7 3 Temporary stop of continuous execution You can stop continuous execution by clicking the following button When the motor is operating in real operation it stops after command operation is complete If an operation pattern that takes some time until the motor stops is processing please wait until the operation is complete If you click the Step execution button or Continuous execution button the FMC32 starts to process the next command to the processed command If you want to restart the program from the beginning click the Assemble button s30 FMC32 Control Software User s Manual YA7175 0 0 4 7 4 Forcible stop of continuous execution Click the following button to stop operation forcibly at the moment you click You can use this button only in real operation mode If you click the STEP execution butto
43. lick the set button to set automatically generated data in the data entry field of the main window and write in a register at the same time If you click the Cancel button the automatically generated data is input in the data entry field of the main window but data setting to the register is not made Click the Write button in the main window to write this data to a register FMC32 Control Software User s Manual YA7175 0 0 9 2 2 Advanced setting of RENV2 Double click the register value display of environmental setting 2 register RENV2 and click the detail button to show the following window Set RENV Origin return operation Select counter input signal Select EZ signal input logic Set the EZ counting value Select the type af input signal to the E4 EB pins Select the type af input signal ta the P4 PB pins When beginning to decelerate INT ig output mu E E nod RR RE RR Cancel This window is composed of the pull down menu and checkboxes If you select each item of environmenta2 setting 1 register and check the checkbox the corresponding bit structure can be automatically generated The items that you cannot select cannot be changed because the FMC32 does not use them After setting click the set button to set automatically generated data in the data entry field of the main window and write in a register at the same time If you click the Cancel button the automatically generated data is inp
44. m to the FMC32 using PUSB 3503 Before writing them to FMC32 you can also inspect and confirm the program on your PC By using this software you can monitor the contents of all register of PCD 2112 in real time You can use this function to understand PCD2112 thoughtfully The FMC32 is equipped with a CPU which allows you to repeat the execution sequence program that is written to FMC32 automatically If you use a motor and a driver additionally you can confirm operation in more detail This manual describes how to use the software to operate the PUSB 3503 and the FMC32 together Please read this manual thoroughly to use this product s functions This manual does not describe the followings FMC32 hardware function PUSB 3503 s function and handling method The contents of PCD2112 s register Additionally please use the following user s manual Compact controller with integrated driver FMC32 Hardware User s manual Document No YA7174 USB to 4 wire serial conversion unit PUSB 3503 User s manual Document No YA7176 Pulse Control LSI PCD2112 for serial bus controls User s manual Document No DA70115 FMC32 Control Software User s Manual YA7175 0 0 1 1 FMC32 s function FMC32 has two modes PC control mode that is controlled by a PC and Standalone mode that is used for standalone This manual describes the software used on a PC 1 1 1 PC control mode When the FMC32 connects with PUSB 3503 and is powered on the
45. mation of the maximum speed If the value shown in the Register setting value of PCD2112 field is set the actual maximum speed will be calculated and shown as a decimal 3 12 3 Confirmation of the initial speed When the value shown in the Register setting value of PCD2112 field is set the actual initial speed will be calculated and shown as a decimal 411 FMC32 Control Software User s Manual YA7175 0 0 3 12 4 Confirmation of acceleration time When the value shown in the Register setting value of PCD2112 field is set the actual acceleration time will be calculated and shown as a decimal 3 12 5 Confirmation of deceleration time When the value shown in the Register setting value of PCD2112 field is set the actual deceleration time will be calculated and shown as a decimal 3 12 6 Confirmation of time at the maximum speed When the value shown in the Register setting value of PCD2112 field is set the actual time at the maximum speed will be calculated and shown as a decimal 3 12 7 Confirmation of number of pulse when decelerating When the value shown in the Register setting value of PCD2112 field is set the actual number of pulse for accelerating will be calculated and shown as a decimal 3 12 8 Confirmation of number of pulse when accelerating When the value shown in the Register setting value of PCD2112 field is set the actual number of pulse for decelerating will be calculated and shown as a decimal
46. n or Continuous execution button after a forcible stop FMC32 restarts to process the next command to the processed command However the operation may not be as you want to because the stepper motor may not perform predictably during a forcible stop If you want to restart the program from the beginning click the Assemble button 4 7 5 STA input in PC control mode If the FMC32 is used in standalone mode the programmed operation pattern starts when external input terminal STA turns High On the other hand when the FMC32 is used in PC control mode operation starts and ignores STA input The purpose of using the PC control mode is assumed to be for confirmation that the created programmed operates as you like and to write operation data to the FMC 32 If you want to use signals from the STA terminal while you are confirming operation click the Auto button and turn off the auto start mode Display Operation starts and ignores an STA input Operation starts when an STA input is turned on However operation does not start until the STA input becomes from Low to High When the STA input is high at the start of operation STA input should become low once and then become high to start operation This is the specification of this product Please note that mechanism of operation start in standalone mode is different from the one in PC control mode In the PC control mode with automatic start mode off operation by command_1 Pn
47. number 11 CEP Register riumber 12 05 Fasgrc ber rumiar 13 tL Register rarities 14 CE Register riumber 15 OF I EHE E U hoes d 234 lt FMC32 Control Software User s Manual YA7175 0 0 4 2 6 Selection of jump processing Click Selection the Jump processing Jumps if the register value is not zero and Register number 0 to 15 from the pop up menu The following entry window appears If you input the jump address label Line head colon should be omitted conditional jump command is described in the editor File F Operation W Tool T al meal Se eel J Select the pattern number KP Wait time setting QW Change excitation Es Set the variable register EJ Decrement the variable register D Selection af Jump processing J Jumps if the register value is not zero t Register number 0 Di HALT tH Unconditional jump th Register number 1 label L Jumps if the interrupt is generated I Register number 2 2 Register number 3 Break On Off E e mb dd close iC Register number 6 5 Register number 6 Register number 7 Register number 8 8 Register number 9 8 Register number 10 t Register number 11 15 Register number 12 C Register number 13 D Register number 14 E Register number 15 1E Input data Jump point Label input LOO P A Cancel OK Origin return Origin return WAIT 100 WAIT 1000 mzec EX ON REGO 20 DEGO JMz REGO LOOP_A 239 2 FMC32 Control Softw
48. ogram file to control F MCZ Made by kkk EEROM data file name iz There is an error the following message appears Messace This mnemonic does nat exist 35 FMC32 Control Software User s Manual YAT175 0 0 Click the Close button to exit the error message The lines with error points are highlighted To click the editor window deletes the highlight Made by xk EEROM data file name is testdpe LOOP 1 WAIT 10 Origin return cw 50 200pps In this example P99 becomes an error because operation pattern can only be specified from PO to P31 Caution Save a designed program before you assemble If there are no errors caused by assembling it sdc file can be generated This file is used when it is written to EEPROM 4 6 Run Simulation 4 6 1 Step execution Simulation If there is no violation of the grammar rules and the operation description is checked normally you can simulate the program Click Step Execution from the Project menu or the following Step Execution button The highlighted first command line is processed and the next command line will be highlighted Step Execution button 2 1J 4 BhESGO Yp CD Line 10 CHEA FCG 3 i Program file to control FMa Made by XXe i EEROM data file name is By repeating Step Execution confirm that the program is processed in the order that you wan
49. put Sek Ehe latch lursclion ol Hes SD inpol Complelion af origin reburn news coanter bm yal rut og When beginning bo decelerate INT bi odiput The pociticrang Counter i dropped ENC imk signals Seek Ehe proces rien Ls PELHEL inpol i borane Tinted og ation E ORG gral ing nut heap irdrer kam Selecting any of the checkboxes alters the environmental parameters These values are only applied after clicking the Set button in the bottom right of the window If you want to make the setting valid at the next program start click the Set as Default button 9 lt FMC32 Control Software User s Manual YA7175 0 0 3 23 1 Select output pulse details The FMC32 has a driver for stepper motors However there may be cases when you want to use other driver In this case the direction signals and driver command pulses output from FMC32 can be used Turn Switch 3 ON Otherwise this selected setting is ignored and excitation sequence is output as pulses to drive a motor Selection item direction direction Pulse specifications OUT Drive pulse negative logic DIR Direction signal High direction OUT Drive pulse positive logic DIR Direction signal High direction OUT Drive pulse negative logic DIR Direction signal Low direction ee ee aan E OUT Drive pulse positive logic DIR Direction signal Low direction uus U OUT CW pulse negative logic DIRO CCW pulse negative lo
50. r M0005 access 4 whether or not the 2 bytes data of second time writing data is written to serial EEPROM Serial EEPROM may be broken The device may need to be repaired PCD2112 capacity Procedure is interrupted Step down the value of pulse cycle at high speed RFH register value This means that pulse cycle setting value at the high speed exceeds M0007 cannot be set PCD2112 capacity RMV becomes less RMV reaches to a lowest limit you can set as a magnification setting than three register M0006 This means that pulse cycle setting value at the high speed exceeds Procedure is interrupted Step down the value of pulse cycle at high speed RFL register value 1 The value set for pulse cycle setting value at low speed exceeds the cannot be set capacity of PCD2112 Procedure is interrupted Step down the value of pulse cycle at low speed M0008 2 Though magnification for pulse cycle setting at high speed is automatically calculated smaller than this magnification cannot be set for pulse cycle at low speed Procedure is interrupted Step down the value of pulse cycle at low speed 55 FMC32 Control Software User s Manual YA7175 0 0 Please larger RFH than RFL Setting value for pulse cycle at high speed is smaller than one at low speed Procedure is interrupted eee Make setting value for pulse cycle at high speed larger than one at low speed Actually PCD2112 operates in spite of the setting like this R
51. r s Manual YA7175 0 0 4 Design the data of pattern Window This shows how to design FMC32 execution sequence program It is designed by arranging several operation patterns designed in the Design the data of pattern window In the standalone mode operation patterns are executed in order they are assigned Execution sequence program is simply called program here Select Design the program from the Tool menu in the main window FMC32 program development ZIR r z JE ieee EEPROM E Others 2 RSTS window OS RET window D Command select 0 Design the data of pattern iD Design the program E Manual operation tM The following editor window simple text editor appears Input program using keys directly EE test sde File F Operation C Tool T vja Se A 1 W o mes Ling 8 Insert amp FMCO32 Program file ta control FMC32 Made by kk EEROM data file name iz test dpe Comment that shows a program file is described by default Do not delete or change FMC32 on the first line 24 FMC32 Control Software User s Manual YA7175 0 0 4 1 FMC32 command In programming here FMC32 specific program commands are used to design execution sequence program Up to 255 bytes can be used for command and data 4 1 1 Command 1to specify an operation number Operate the specified numbered operation pattern The start of operation is when STA input become high W
52. ry bytes Using decimal you can input data more than the necessary bytes However the parts of other than the necessary bytes are deleted The content of data confirmation field is as follows Radix 04 hh 12345679 d 04 h h 12345678 Ooh nt i h BC 2h l Offset values The head is address input in the address entry field Oih 4E Detail Wit me You can confirm to which Detail ite e i Detail 5s Mite e li part of specified address the data input in the data entry field is written In decimal data is input in the data entry field in decimal but is shown in hexadecimal notation in the data confirmation field 47 FMC32 Control Software User s Manual YA7175 0 0 9 1 4 Register write button Data input in the data entry field is written to address input in the address entry 9 1 5 Detail setting button Each register of RENV1 RENV2 RMG RMD RCOM and RIOP has its meaning by bit User s manual describes these registers in details To save the need of seeing user s manual you can use the detail button when you create data of these registers If you click this button the detail setting window of each register appears 9 2 Advanced setting of registers In each register of RENV1 RENV2 RMG RMD RCOM and RIOP there is a detailed setting window If you click the Detail button the window to support data design appears The setting window of each register is
53. ser s Manual YA7175 0 0 4 7 Execution Real operation 4 7 1 Step execution Simulation After you confirm that the program is processed in the order you want to you can confirm that the motor actually operates At first turn external input signal MON of this product ON photocoupler ON or click the following button to set excitation to ON When an EX ON command is used you do not have to follow the procedure to turn excitation ON i Excitation off Then select Selection of simulation operation and Real simulation from the Tool menu By doing this the mode becomes the actual operation mode Excitation on test 01 Enelish sde File FE Project P ae View variable register Qj b Ez Selection af simulation operation t v Mirtual simulation KY amp FMG Real simulation R Program file to contr Excitation OM HI Made by 4 Excitation OFF Fe ORG ORG operation 51 move to START paint owitching to real operation mode can be done by the following button The condition of this button allows you to confirm whether or not the real operation mode Real operation mode zB FMC32 Control Software User s Manual YA7175 0 0 Then click the STEP execution button The highlighted first command line is processed and the next command line will be highlighted f test_01_Enelish sde File F Project FP Tool T F test_01_Enelish sde File F Pro
54. t Adjustment mode from the Setting menu in this window Desien the data of pattern File F QRS Z Setting of function Se Adjustment mode 4 The current down switching button appears in the window Design the data of pattern File EN Setting t Tool T 2000 pulse 2000 pulse ASS pps 50 pulse 1000 pps S200 ms At the same time the following inching operation window appears In this window the current down switch button is added Inching operation Position Passing speed i pps start stop fi pulse Continuous operation E Adjustment made exit 44 FMC32 Control Software User s Manual YA7175 0 0 By click the current down switching button you can switch condition of current down signals Condition of Current down Note button Normally current down is controlled automatically During Valid stopping current down is always valid During stopping you can make current down feature Invalid invalid After operation start it returns to invalid automatically at the operation stop In adjustment mode you do not use the following features 1 You cannot register operation patterns 2 You cannot change environmental settings If you click the execute button with current down invalid current down feature returns to valid forcibly To quit adjustment mode select Adjustment mode from the Setting menu again If you quit adjustment mode with current down
55. t It is especially important to confirm that jump commands are processed in the order as you intended FMC32 Control Software User s Manual YA7175 0 0 4 6 2 Continuous execution Simulation Click Execution of the Project menu or the following Continuous Execution button The highlighted line moves as execution sequence program It shifts at the speed that you can follow with your eyes Continuous execution button 4 6 3 Simulation of interrupt Click the following Variable value display button and INT on Pseudo interrupt occurs l Variable value display button 4 6 4 Break function During continuous execution you can interrupt continuous execution at any line you want Click the line where you want to interrupt continuous execution Next right click to show the pop up menu If you select Break ON Off from the pop up menu the line is highlighted as follows Program f test 01 Enelish sde WAIT File F Project P Tool D SET REG gt a DEG JMP Program file to control FMO32 Made by xxr Break On Off ORG ORG operation 3 START point To cancel a break click the line and right click and do the same operation If the line is highlighted in yellow the break function is canceled You cannot set a break in anything other than command lines You cannot set a break in label line A label is not a command to be executed lt 37 FMC32 Control Software U
56. tion description Label name is LOOP A 4 1 9 Conditional jump When referred variable value is other than 0 the program process jumps to a specified label When referred variable value is 0 the program process shifts to the next line command Describe a referred variable number following JNZ add more than one characters space and specify a label Operation description JNZ REG3 LOOP A When REG3 variable is other than 0 jump to LOOP A label olm FMC32 Control Software User s Manual YA7175 0 0 4 1 10 Unconditional jump Jump to a specified label Specify a label following after JMP and more than one character space Operation description JMP LOOP B Jump to LOOP B 4 1 11 INT Jump Jump to the specified label while PCD2112 generates an interrupt cause When an interrupt cause does not occur the process shifts to the next line command The interrupt is cleared only after an INT jump is executed opecify label following after JP1 and more than one character space Operation description JPI LABEL When an interrupt cause occurs jump to the specified label 4 1 12 Stop This command stops program execution Even if other commands are written after this command the program does not shift to the next process Operation description HALT This command stops FMC32 s operation 4 1 13 Comment When you describe one byte crosshatch the character strings from to line feed character is treated as comments If
57. ut in the data entry field of the main window but data setting to register is not made Click the Write button in the main window to write this data to a register FMC32 Control Software User s Manual YA7175 0 0 9 2 3 Advanced setting of RMG register If you double click multiplication field of setting register RMG and click the Detail button The following window appears set RMG EEN etting reference clock Multiplication Ls etting multiplication 1X RMG 4AF h Value to be set to RMG register TE Actual multiplication used when set value to RMG register is applied For setting reference clock set the clock frequency that will be provided to the PCD2112 The value for FMC32 is 9 8304MHz After setting click the set button to set the automatically generated data in the data entry field of the main window and write it to the register at the same time If you click the Cancel button the automatically generated data is input in the data entry field of the main window but data setting to register is not made Click the Write button in the main window to write this data to a register 9 2 4 Advanced setting of RMD register If you double click Operation mode select setting register RMD field and click the Detail button The following window appears If you open the RMD setting window using the window to design the data of pattern the Set as Default button is added Set RMD Operation mode select
58. xcitation of the stepping motor driver that is mounted on the FMC32 is turned OFF Operation description EX OFF Excitation OFF LE FMC32 Control Software User s Manual YA7175 0 0 4 1 5 Excitation ON Excitation of the stepping motor driver that is mounted on the FMC32 is turned ON Example EX ON Operation description Excitation ON Note When excitation ON command EX_ON is processed in program Excitation OFF by external input MON Photocoupler OFF cannot be process on the program Priority to commands 4 1 6 Setting value to variable The FMC 32 has variables that are distinguished by the number 0 to 15 Any number from 0 to 255 can be set to these 16 variables To specify values select the variable number following REG and add more than one characters space and a value you want to set Example Operation description REG1 10 Set 10 to REG1 4 1 7 Decrement variable value Decrement 1 from the specified variable value Specify a variable number and follow after DEC Example DEC2 Operation description Decrement the REG2 value 4 1 8 Set label You can set a label at any place in program The label is used as a jump address of jump command To specify labels describe any character strings alphanumeric characters and underscore following colon Alphabetical capital letters and small ones are discriminated Up to 256 label can be set Labels are not commands to operate Example LOOP A Opera
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