PMC-328 Programmable Stepping Motor Driver
Contents
1. 1 Step resolution is ministeps per full step XaaK N Program line entry instruction set step resolution 1 Confirmation response Notes Ministep Resolutions are N21 full step 5 five ministeps N 2 half step 6 six ministeps 3 three ministeps N 8 eight ministeps 4 four ministeps Examples 1 Instruction 5 1 Set resolution to five ministeps per step Response STAR 2 Instruction 1 Examine step resolution Response 5 1 3 Instruction A10K 5 Program line 10 of A controller is Response ARW programmed With K 5 instruction 5 19 L Limits Enable Disable Examine Command Description Limit inputs are enabled or disabled or examined When limit inputs are enabled and activated the motor will stop Syntax XLEJ Immediate 33execution instruction Enable limits ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS XLDO Disable limits 1 Confirmation response 1 Immediate execution instruction Limit status is examined XLEW Limits enabled 1 Limits disabled Program line entry enable limits 1 Confirmation response Note 1 Limits are enabled by default Examples 1 Instruction ALEW Controller A limits are enabled Response 1 2 Instruction ALI Examine limits of the controller A Response ALEW 3 Instruction A02LD Program line 02 of the A c2. 123 1 Immediate Execution Instruction 123 1 Confirmation response XaaODabc123 Program entry line entry instruction XRA Response output Note 1 Data is ASCII string of characters max length is 7 characters Examples 1 Instruction ZODDONE 1 Output DONE message Response ZDONE J 2 Instruction Z49ODDONE 1 Controller Z program line 49 is programmed with ODDONE instruction Response ZRA 36 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 5 25 OH Output HI Level I O Port Line Command Description Instruction controls a single I O line HI level is outputted Syntax XOHp Immediate execution instruction 1 Confirmation response Program line entry instruction 1 Confirmation response Note 1 port line 1 to 4 2 Instruction dynamically configures port line for an output Examples 1 Instruction 4ZOH2 1 Controller Z is instructed to output HI level on port line 2 Response ZRA 2 Instruction Z11OH2 Program line 11 of Z controller is programmed with 2 instruction Response ZRA 5 26 OL Output LO Level I O Port Line Command Description Instruction controls a single line LO level is outputted Syntax XOLpW Immediate execution instruction 1 Confirmation response Program line entry instruction 1 Confirmation re
3. 26 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 5 8 EL Examine Program Line s Command Description Internal Program line s is displayed via serial port Syntax XELaa J Immediate execution instruction only display program line aa 2000 Response contents of program line aa is displayed In this case there is an instruction to move 2000 steps in the positive direction XELaa bbI Immediate execution display program lines aa to bb Xaa Instruction Response program lines aa to bb are displayed Xaa 1 Instruction 1 Xbb Instruction Note 1 This is the program support instruction to facilitate program writing Examples 1 Instruction 1 Controller X to display program line 00 Response X00WT100 1 Line programmed with instruction WT100 2 Instruction XELO00 05 Display lines 00 to 05 X00WT100 1 Program lines 00 to 05 are displayed 011 200 1 02 1 031 200 1 04 1 X05JP00 1 5 9 F Finish Soft Stop Command Description Motor ramps down and stops Syntax XF Immediate execution instruction XRA Response XaaF 1 Program line entry instruction XRA Response 27 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS Notes Upon execution of this instruction the motor controlled by the selected controller will Example 1 Instruction Response 2
4. Description Top stepping rate can be set or examined Top rate index controls the top stepping rate when GO or Index motion is executed Default value is 24 Syntax XT ddd J Immediate execution instruction setting of the top rate 1 XaaT ddd Program line entry instruction XRA Response Notes 1 ddd is the top stepping rate index the range is 2 255 2 Actual stepping rate is calculated by formula 42 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS Step Rate 172800 Rate Index 3 See Table 4 1 for some pre calculated values Examples 1 Instruction AT 50 Controller A top rate is set to 50 which is 3456 steps sec Response 1 2 Instruction 50 Program line 03 of A controller is set with 50 instruction Response 1 3 Instruction RAT Controller A is examined for top rate Response 50 1 5 37 V Examine Controller Model and Version Command Description Examine controller model and version instruction facilitates the communication set up of the controller Syntax 1 Immediate execution instruction only XV PMC328 Rn Response message Notes 1 the Version number of the Model PMC 328 Controller 2 The same response message is obtained by pushing the test pushbutton of the controller PMC 328 5 38 W Winding Current ON OFF Control or Examine Command Descrip
5. Example 1 Instruction XM 1 Execute one step in positive direction Response 1 Confirmation response 2 Instruction 15 1 1 Program line 15 in programmed with M 1 instruction Response 1 Confirmation response 5 22 M Motor Status Examine Command Description Motor status is examined for stepping of stopped Syntax 1 Immediate execution instruction only 0 1 Motor is stopped response Or 1 1 Motor is stepping response Note 1 Program line entry is not supported 2 This instruction can be executed at any time for real time information about motor status 35 C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 5 23 NO No Operation Command Description No operation instruction can be used for filling used program lines It can also be used in immediate execution mode to check for the correct communication set up Syntax 1 Immediate execution instruction 1 Confirmation response Program line entry instruction XRA Confirmation response Notes 1 Default value of program line is NO no operation instruction 2 Default values are set by pressing the test pushbutton until test LED turns steady ON also response message XR is outputted 5 24 OD Output Data Command Description Data ASCII string of characters is outputted via serial port at current baud rate Syntax
6. Repeat Loop End Command 41 SC Subroutine Call Command 41 SR Subroutine Return Command 42 T Top Stepping Rate Index Set Examine 42 V Examine Controller Model and Version Command 43 W Winding Current ON OFF Control or Examine Command 43 WM Wait for Motor to Stop Command 44 WH Wait for HI Port Line Command 45 WL Wait for LO Port Line Command 45 WT Wait Specified Time Command 45 XL Program Line Execute Command 46 Y Set or Examine Motor Phase Current when Stepping Command 46 2 Set or Examine Motor Phase Current When Hold Command 47 6 PROGRAMMING EXAMPLES 48 Single PMC 328 Controller Example of repeat loop instruction 48 Single PMC328 Controller Example of subroutine call instruction 48 7 MANUAL REVISION HISTORY 49 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 1 General Information 1 1 Warranty ACS warrants its products to operate within specifications under normal use and services for a period of one year from the date of shipment Component products spares replacement parts and repairs are warranted for 90 days Software is thoroughly tested and thought to be functional but is supplied as is with no warranty of any kind covering detailed performance Accessory products not manufactured by ACS are covered by the original equipment manufacturers warranty only In exercising this warranty ACS will repair or at its option replace any produ
7. Controller communication rate is set The default rate is 9 6 KBaud Syntax 1 Immediate execution instruction No response is generated Following instructions are entered with the new baud rate Notes 1 New baud rate takes effect immediately 2 Baud rates are set using baud rate numeric index N 0 4 8K N 5 38 4K N 1 9 6K N 6 57 6K N 2 14 4K 7 76 8K 3 19 2 8 115 2 4 28 8 9 230 4 Example Instruction XB 6 Current baud rate of the controller with address X is changed 23to 57 6K C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller Response None 5 3 C Constant Stepping Rate Index Set Examine Command Description Constant stepping rate index can be set or examined Constant stepping rate index controls the stepping rate when M Move or H Home motion is executed The default value is 300 which is 576 steps sec Syntax XC ddd Immediate execution instruction setting of constant stepping rate XRA Response 1 Program line entry 1 Response 1 Immediate examine of constant index rate Response Notes 1 ddd is the step rate index range 2 to 57599 2 is the program line number range 00 to 99 3 Actual step rate in steps sec is calculated by the formula Step Rate 172800 rate index 4 See Table 4 1 for some pre calculated values Examples 1 Instruct
8. 230VAC Max MOTOR REQUIREMENTS Type of Motors Number of Leads Max Winding Current Duty Cycle Two phase bi polar stepping motors or four phase motors connected as two phase Four six or eight 3 Amp adjustable down to 10 10096 MODE OF MOTOR OPERATION BiPolar Chopper Drive Full Step Half Step with Torque Compensation two ministeps per full step Three four five six or eight ministeps per full step AC POWER FUSE PHYSICAL DIMENSIONS Width Depth Height 2Amp Slow Blow 2 0 3 8 8 8 COMMUNICATION PARAMETERS Baud Rates Byte Structure ENVIRONMENT Operating Temperature Storage Temperature Humidity ADVANCED CONTROL SYSTEMS CORPORATION 4 8 9 6 19 2 28 8 38 4 57 6 76 8 115 2 230 4 KBaud 10 bit ASCII characters Start bit 8 data bits stop bit no parity 20 C to 50 C 4 F to 140 F 20 C to 70 C 4 F to 160 F lt 95 non condensing PMC 328 Driver Controller 3 INSTALLATION SET UP 3 1 PMC328 CONNECTORS Table 3 1 identifies PMC 328 board controller identification CONNECTOR TYPE DESIGNATION FUNCTION J1 Eight General Purpose I O Lines J2 RS232 Communication Port J3 Limits Home Jog Run Inputs J4 Internal Interconnect Port J5 Motor Windings J6 AC Power Connect 16 Pin spacing dual row 6 Pin RJ11 phone type 16 Pin 1 spacing dual row 6 Pin 1 spacing dual row 4 Pin 2 spacing Phoenix type 3 Pi
9. Instruction Response 5 10 G Go Description Syntax Notes decelerate to low stepping rate and then stop AF A Motor controlled by controller A is instructed to decelerate and stop ARA A07F Program line 07 of the A controller Address A is programmed with the F instruction 1 to Absolute Position Command Motor execute triangular or trapezoidal velocity profile Ramps up to reach top stepping rate continues at the top stepping rate then ramps down and stops at the instructed absolute position Ramping and top rate are defined by R and T indexes XG ddd Immediate execution instruction 1 Response XaaG ddd Program line entry instruction 1 Response ddd is the target position range 8 388 607 steps 24 bit range 2 Direction sign is always required 3 G Instructions is used when rapid motion is required Motor accelerates to high speed executing or triangular velocity profile Motion and T indexes control the shape of velocity profile ACC FINISH DEC STEPS LIMIT OR TARGET QUIT STOP 28 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller Examples 1 Instruction AG 5550 Go to position 5550 Controller A calculates number of steps required to go from current position to position 5550 and execute trapezoid velocity profile move Response 1 2 Instruction A22G 0 Program line 22
10. ORDER 23 A z Address Set Command 23 Baud Rate Set Command 23 C Constant Stepping Rate Index Set Examine Command 24 CD Count Decrement Command 25 Count Increment Command 25 CO Count Output Command 26 CT Count Set Examine Command 26 EL Examine Program Line s Command 27 F Finish Soft Stop Command 27 G Go to Absolute Position Command 28 H Seek Home Position Command 29 Index Number of Steps Command 30 J Jog Rate Stepping Index Command 30 JH Jump to Program Line on HI Port Line Command 31 JL Jump to Program Line of LO Port Line Command 31 JP Jump to Program Line Command 32 JZ Jump on Zero Count Comand 32 K Step Resolution Set Examine Command 33 L Limits Enable Disable Examine Command 33 LH Examine Limits Home Inputs Command 34 Move at Constant Stepping Rate Command 35 M Motor Status Examine Command 35 NO No Operation Command 36 OD Output Data Command 36 OH Output HI Level on I O Port Line Command 37 OL Output LO Level on I O Port Line Command 37 P Position Set or Examine a ommand 38 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 5 28 5 29 5 30 5 31 5 32 5 33 5 34 5 35 5 36 5 37 5 38 5 39 5 40 5 41 5 42 5 43 5 44 5 45 6 1 6 2 PR Program Run 38 PS Program Stop 39 Q Quit Hard Stop Command 39 R Ramp Index Set or Examine Command 39 RS Repeat Loop Set 40 RE
11. Support Agreements ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 1 3 Documentation Discrepancies ACS is committed to providing state of the art products and is continually refining and improving the performance of its products While physical modifications can be implemented quite rapidly the corrected documentation frequently requires more time to produce Consequently this manual may not agree in every detail with the accompanying product There may be small discrepancies in the values of components and occasionally minor logic changes Where any such inconsistencies exist please be assured that the unit is correct and incorporates the most up to date circuitry 1 4 Service Procedure Products requiring maintenance should be returned to the customer service department or authorized service facility If under warranty ACS will repair and replace the part at no charge The purchaser is only responsible for the transportation charges arising from the return of the goods to the service facility For all ACS products in need of repair after the warranty period the customer must provide a Purchase Order Number before any inoperative equipment can be repaired or replaced The customer will be billed for the parts and labor for the repair as well as for shipping ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 2 PMC 328 DESCRIPTION 2 1 PMC 328 CONTROLLER FEATURE
12. XV PCM328 Vn This message identifies the controller address in this case character X It also identifies the controller model ID which is PMC 328 It also identifies the firmware version number Vn where n is the version number When the message is properly displayed it also identifies the correct communication setting 2 When the pushbutton is pressed for a longer time three seconds or more the controller will be preset with the default parameters C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS The Test LED indicates several states of the PMC328 controller 1 Blinking indicates the normal condition of the controller 2 Steady OFF indicates no power or faulty state program not running 3 Steady ON indicates the stepper is running 4 When the pushbutton is pressed in order to load the default parameters the LED will stay OFF until the default parameters are reset for the controller XR response message is generated at the end of the procedure 3 10 PMC328 DEFAULT PARAMETERS Initially the PMC328 controller is preprogrammed with default parameters Through the use of the controller these parameters get changed into operational parameters which are stored in the nonvolatile memory of the PMC328 controller After the controller power up these operational parameters are retained Default parameters can be restored by pressing the test pushbutton for a longer time 5
13. is changed from sequential execution to a specified program line Syntax XaaJPbb Program line entry instruction only 1 Confirmation response Notes 1 1 current program line bb is the program line to jump to 2 aa and bb are in the range 00 to 99 Example 1 Instruction X22JP00 Program line 22 of the X controller is programmed with JPOO instruction Program jumps back to start line 00 Response ZXR J 5 17 JZ Jump on Zero Count Comand Description This is the conditional program flow control instruction Jump of the internal program is executed only on zero count of the internal count Syntax XaaJZbb Program line entry instruction only 1 Confirmation response Notes 1 is the current program line 2 bb is the program line to jump to Example 32 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 1 Instruction Y12JZ25 1 Program will jump from line 12 to line 25 on zero count of the internal counter Otherwise it will continue sequentially line 13 etc 5 18 K Step Resolution Set Examine Command Description Step resolutions are set of examined Step defines number of ministeps within one full step Syntax 1 Immediate execution instruction Step resolution is set to N ministeps per full step XRA Confirmation response XKI Immediate execution instruction Step resolution is examined
14. is set with Y 14 instruction ZXRA XY J Examine run current XY 14 Run current is 1 4 Amp 5 45 Z Set or Examine Motor Phase Current When on Hold Command Description Instruction sets the motor hold phase current in increments of 100 Setting can be also examined Syntax Note 7 1 7 1 Immediate execution instruction Confirmation response Program line entry instruction Confirmation response Immediate execution instruction Response message 1 nn current index in 100mA increments range 00 to 30 0 Amp to 3 0 Amp two digits required Example 1 Instruction Response Instruction Response Instruction Response ADVANCED CONTROL SYSTEMS CORPORATION 2 05 1 1 Motor hold current is set to 5Amp X02Z 00 Program line 02 of X controller is set with Z 00 instruction 1 2 1 Examine hold current 2 00 1 Hold current is 47 PMC 328 Driver Controller ACS 6 PROGRAMMING EXAMPLES 6 1 Single PMC 328 Controller Example of repeat loop instruction X00NOW No operation 01 0 1 Initialize position counter to 0 02 100 1 Wait for one second before restarting motor X03RS5 Set 5 repeats 04 2000 1 Move 2000 steps in positive direction 5 Wait for motor to stop 06 100 1 Wait for 1 Sec X07REW Indicate end of repeat loop X08G 0 Go back to 0
15. sec DEFAULT PARAMETERS ARE 1 Top stepping rate index 24 7200 steps sec 2 Constant stepping rate index C 300 576 steps sec 3 Jog stepping rate index J 300 576 steps sec 4 Ramp index R 100 6923 steps sec sec 5 Baud rate index N 1 9 6 KBaud 6 Limits index L 1 limits enabled 7 Motor phase run current Y 05 0 5Amp phase 8 Motor phase hold current Z 02 0 2Amp phase 9 Step resolution K 2 half step 10 Individual address 11 Program memory lines 00 to 98 are preset with NO operation instruction 12 Program memory line 99 is preset with JPOO instruction i e jump to program line 00 13 Internal counter CT 0 14 Position counter P 0 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 4 INSTRUCTION STRUCTURES 4 1 IMMEDIATE EXECUTION INSTRUCTIONS Immediate Execution Instructions are constructed from ASCII characters Alphabetic characters can be upper or lower case Instructions are entered via the controller s serial communication port Instruction for immediate execution starts with the start character controller address alphabetic character data field alohanumeric characters and terminator character J Instructions are executed immediately Syntax Instruction 1 1 Start Character Hex 23 2 X Controller address character A to Z 3 CC One or two alphabetic command characters upper or lower case 4 ddd Da
16. steps to be completed Range is 8 388 607 steps 24 bit range 2 Direction sign is always required Examples 1 Instruction 71 400 1 Motor 2 is to index 400 steps in negative direction Response ZRA 2 Instruction Z10I 400 Program line 10 of Z controller is programmed with 400 instruction Response ZRA 5 13 J Jog Rate Stepping Index Command Description Jog stepping rate index can be set or examined Jog rate index controls stepping rate of Jog motion The two Jog control lines are used to start Jog motion in positive or negative direction Syntax XJ ddd J Immediate execution instruction 1 Response XaaJ ddd Program line entry instruction 1 XJA Immediate execution instruction XJ ddd J Response 30 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS Notes 1 Examine Jog rate program line entry in not supported 2 ddd is Jog rate index range 2 to 57599 Examples 1 Instruction 2 1000 1 Jog Rate Index is set to 1000 Response ZRA 2 Instruction Z05J 1000 Program Line 05 of the Z controller is set with the J 1000 instruction 3 Instruction 7 1 Jog Rate Index of Z controller is examined Response ZJ 10002 5 14 JH Jump to Program Line on HI Port Line Command Description This is the conditional program flow control instruction Jump of the internal program is executed only if the instruction
17. 328 Driver Controller ACS Controller Set up Examine commands Vo YJ Z KJ LEJ LD L LH Set address Range A to 7 Set baud rate Range 0 to 9 Examine controller model and versions Set running motor phase current Range 1 to 30 Examine phase current Set holding motor phase current Range 0 to 30 Examine holding current Set step resolution Range 1 to 6 and 8 Examine step resolution Set winding current ON OFF Examine winding current status Enable limits Disable limits Examine limits status Examine limits home inputs Input Output and counter commands OD OH OL CT CI CD CO Output data Output HI level on output port line port line 1 to 4 Output LO level on output port line port line 1 to 4 Set counter contents range 0 to 65535 Increment counter Decrement counter Output counter contents via serial port Program flow control commands JP JH Jump to program line range 00 to 99 Jump on HI on output port line port line 1 to 8 19 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS JL JZ WM WH WL WT RS RE SC SR Jump on LO on input port line port line 1 to 8 Jump on counter zero count Wait for motor to stop Wait for HI on input port line port line 1 to 8 Wait for LO on input port line port line 1 to 8 Wait specified time range 0 to 65535 x 10m
18. CORPORATION 328 Driver Controller ACS 5 29 PS Program Stop Description Internal program stop command Syntax XPS Immediate execution only No response 5 30 Q Quit Hard Stop Command Description Motor stop immediately command Syntax XQJ Immediate execution instruction XRA Response XaaQu Program line entry instruction 1 Response Notes 1 Instruction works only when motor is stepping 2 When motor is stopped an error response is generated Examples 1 Instruction YQ Motor controlled by Y Response 1 Controller stops immediately 2 Instruction 120 1 Program line 12 or Y controller is programmed with Q instruction Response 1 5 31 Ramp Index Set or Examine Command Description Ramp index can be set or examined Ramp index controls ramping acceleration and deceleration when executing G GO or I Index or F Finish motion is executed Syntax XR ddd J Immediate setting of ramp index Immediate execution instruction XRA Response 1 Program line entry instruction XRA Response 39 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 1 Immediate examine of ramp index XR ddd Response Notes ddd is ramp index data range is 1 to 255 2 See table 4 2 for calculated values for the acceleration deceleration with respect to the ramp index The higher value of index resul
19. PEED Communication Speed is programmable see Instruction B Available communication baud rates are 4 8 KBaud to 230 4 KBaud 3 5 PMC 328 INPUT OUTPUT LINES There are eight I O lines available for controllers I O control each of the I O lines can be used as an input or output control lines direction are dynamically configured under the program control Connections to I O lines are via 16 pin connector J1 line 1 line 2 line 3 line 4 line 5 line 6 line 7 line 8 TABLE 3 5 LINES CONNECTION ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller 3 6 FUSING The PMC 328 programmable machine control has an on board fuse The fuse is to be rated accordingly to protect the motor 2 Amp slow blow maximum 3 7 STEPPING MODE SELECT There are seven selections for stepping mode Stepping mode is programmable for full step or any of ministep modes See instruction K MODES are FULL STEP 2 PHASES ON HALF STEP TWO MINISTEPS STEP THREE MINISTEPS STEP FOUR MINISTEPS STEP FIVE MINISTEPS STEP SIX MINISTEPS STEP EIGHT MINISTEPS STEP 3 8 MOTOR WINDING CURRENT ADJUSTMENT Motor Run Current and Motor Hold Current are programmable in 1Amp increments in the range of 0 to 3 0Amp Phase See Instructions Z and Y 3 9 TEST PUSHBUTTON TEST LED The Test Pushbutton has two functions 1 When pushed momentary it will generate a test message
20. PRODUCT USER S MANUAL ACS MACHINE CONTROLS PMC 328 Programmable Stepping Motor Driver Controller pMC 328 a POWER ACS CS ADVANCED CONTROL SYSTEMS CORPORATION www ACSMotion com Revision 1 0 ACS 1 1 1 2 1 3 1 4 2 1 2 2 2 3 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 4 1 4 2 4 3 4 4 4 5 1 General Information 5 Warranty 5 Assistance and Maintenance Agreements 5 Documentation Discrepancies 6 Service Procedure 6 2 PMC 328 DESCRIPTION 7 PMC 328 CONTROLLER FEATURES 7 PMC 328 BLOCK DIAGRAM DESCRIPTION 8 SPECIFICATIONS 9 3 INSTALLATION SET UP 10 PMC328 CONNECTORS 10 MOTOR CONNECTION 10 LIMIT HOME JOG CURRENT OFF PROGAM RUN INPUTS 13 COMMUNICATION SPEED 13 PMC 328 INPUT OUTPUT LINES 13 FUSING 14 STEPPING MODE SELECT 14 MOTOR WINDING CURRENT ADJUSTMENT 14 TEST PUSHBUTTON TEST LED 14 PMC328 DEFAULT PARAMETERS 15 4 INSTRUCTION STRUCTURES 16 IMMEDIATE EXECUTION INSTRUCTIONS 16 PROGRAM LINE ENTER INSTRUCTIONS 17 PMC 328 COMMAND SUMMARY 18 ERROR RESPONSES 20 STEPPING RATE INDEXES 21 2 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 4 6 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 5 12 5 13 5 14 5 15 5 16 5 17 5 18 5 19 5 20 5 21 5 22 5 23 5 24 5 25 5 26 5 27 RAMP INDEX 22 5 INSTRUCTION SET ALPHABETICAL
21. S This Advanced Control Systems Corp programmable machine controller contains control and power drive circuitry to operate any two or four phase stepping motor with currents up to 3Amp per phase It controls eight general purpose input output lines There are also six dedicated control input lines The PMC 328 is powered by 115 230VAC The control program can be entered into the PMC 328 s non volatile memory for autonomous operation or it can be controlled by a host computer Several PMC 328 can be interconnected for a larger system The stepping motor driver is two phase bi polar type which is highly efficient and results in cool operation of motors and drivers Motor winding run current is programmable in the range of 10 to 3 00Amps phase Hold winding current is also programmable in the range of 0 to 3 00Amps phase Motors can operate in full step mode two phases on and ministep modes Ministep modes are 2 3 4 5 6 or 8 motor ministeps per full motor step Step mode is programmable The PMC 328 generates constant stepping rates as well as trapezoidal type velocity profiles Acceleration deceleration and top speed are all programmable The dedicated control input lines are two limit inputs home input two jog inputs and program run input All operational variables are retained in the EEPROM nonvolatile memory The PMC 328 understands high level instructions in the form of serial ASCII messages The instruction set covers
22. Sec 0 to 655 35 Sec Repeat loop set range 00 to 99 repeats Repeat loop end Subroutine call Subroutine return Program control commands XL NO EL PR PS Program line execute No operation Examine program lines Program run Program stop 44 ERROR RESPONSES An error response in form XEn is generated for various reasons Instruction itself is ignored 1 2 3 Instruction structure following address X is not recognizable or data is out of range A motion instruction is executed while motor is already stepping A motion instruction is executed but motor current is shut off by W 0 instruction A motion instruction is executed but limit in that particular direction is activated Quit or finish instruction is executed but motor is already stopped 20 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS The following table describes error responses E1 Wrong instruction characters E2 Immediate execution not allowed E3 Not valid data E4 Motor is stopped E5 Wrong instruction structure E6 Program entry not allowed E7 Limits activated motor is stepping or motor current is off E8 Program line number not numeric E9 Motor is stepping 4 5 STEPPING RATE INDEXES Stepping rate indexes define stepping rate for jog move index and go motion control instructions Actual stepping rate in steps sec is calculated by f
23. all aspects of computer controlled motion input output counter control and is not dependent on the type of host computer or operating systems Standard communication driver receiver on board is a of RS 232C type Other types are optional ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller 2 2 PMC 328 BLOCK DIAGRAM DESCRIPTION A functional block diagram of PMC 328 Motor Controller Board is shown in Fig 2 1 INTERCONNECT J4 J1 J3 COMM BUS GENERAL PURPOSE 8 LINES LIMITS HOME JOG RUN INPUTS CONTROL PROCESSOR SUPPLY POWER DRIVERS EJ A1 A2 B1 COMM 45 42 PORT MOTOR CONNECTOR N G L AC LINE CONNECTOR FIG 2 1 PMC 328 BLOCK DIAGRAM The imbedded control processor coordinates operation of the PMC 328 controller It communicates via RS 232 communication interface with the host computer The programs firmware which interprets host instructions are stored in flash memory Operational variables which can be changed are stored in non volatile memory EEPROM Also up to 100 lines of motor and I O control program can be stored in EEPROM for autonomous operation of the PMC 328 The processor generates stepping sequences to the power drivers 8 C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 2 3 SPECIFICATIONS POWER REQUIREMENTS 115
24. ct returned to the customer service department or an authorized service facility within the warranty period provided that the warrantor s examination discloses that the product is defective due to workmanship or materials and has not been caused by misuse neglect accident or abnormal conditions or operations The purchaser is responsible for the transportation and insurance charges arising from the return of products to the servicing facility ACS will return all in warranty products with transportation prepaid This warranty is in lieu of all other warranties expressed or implied including but not limited to any implied warranty of merchantability fitness or adequacy for any particular purpose or use ACS shall not be liable for any special incidental or consequential damages whether in contract or otherwise 1 2 Assistance and Maintenance Agreements Answers to questions concerning installation calibration and use of ACS equipment are available from the customer service department 35 Corporate Park Drive Pembroke MA 02359 781 829 9228 ACS offers a selection of customer support services For example maintenance agreements provide extended warranty and allow the customer to budget maintenance costs after the initial one year warranty has expired Other services requested by the customer such as installation training on site repair and addition of engineering improvements are made available through specific Supplemental
25. e Notes 1 Counter range is 0 to 65535 2 Counter overflows max value to 0 and then stops Increments to 65535 no overflow Examples 1 Instruction FC14 Controller F internal counter is incremented for one count Response FR 25 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 2 Instruction F40ClI Controller F program line 40 is programmed with Cl instruction 5 6 CO Count Output Command Description Syntax Contents of the internal counter is outputted via serial port 1 Immediate execution instruction XC nnn Response message Program line entry XRA Confirmation response 5 7 CT Count Set Examine Command Description Controller internal counter can be set or examined Syntax Notes Examples 1 Instruction Response 2 Instruction Response 3 Instruction Response iXCT2ddd Immediate execution counter set XRA Confirmation message XCTH Immediate examine counter contents XCT ddd Response counter contents is outputted XaaCT ddd Program line entry counter set to ddd 1 Confirmation message 1 Counter range is 0 to 65535 counts 2 Only one counter is supported ZCT 100 Controller Z counter is set to 100 7 1 Controller Z is examined for count 870 2100 Z19CT 2000 Controller Z program line 19 is set to CT 2000 instruction 7 1
26. er Controller ACS 5 40 WH Wait for HI Port Line Command Description Program flow instruction Instruction stops the next program line execution until specified port line goes HI Syntax XaaWHp Program line entry instruction only XRA Confirmation response Notes 1 Immediate execution instruction is not supported 2 is the port line identifier range is 1 to 8 Example 1 Instruction Y20WH2 Program line 20 of Y controller is set with WH 2 instruction Program execution will stop on line 20 until it finds port line 2 to be HI Response 1 5 41 WL Wait for LO Port Line Command Description Program flow control instruction stops the next program line execution until specified port line goes LO Syntax XaaWLp Program line entry instruction only 1 Confirmation response Notes 1 p is port line identifier range 1 to 8 Example 1 Instruction Y20WL1 Program line 20 of Y controller is set with WL1 instruction Program execution will stop on line 20 until it finds port line 1 to be LO 5 42 WT Wait Specified Time Command Description Program flow control instruction stops the next program line execution for the specified time Syntax XaaWTnn Program X sline entry instruction only ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 1 Confirmation response Notes 1 is the time speci
27. fying index in increments of 10mSec Range Example 1 Instruction A15WT100 Program line 15 of A controller is set with the WT100 instruction Program execution will pause on Line 15 for 1 Sec and then continue on line 16 Response 1 5 43 XL Program Line Execute Command Description Instruction starts execution of the specified program line Syntax XXLaa Immediate execution instruction only Notes 1 Response to XL command depends on the instruction of the specified program line 2 aa program line number to be executed Range 00 to 99 3 This instruction facilitates program debugging and testing 5 44 Y Set or Examine Motor Phase Current when Stepping Command Description Instruction sets the motor run phase current in increments of 100 Setting can be also examined Syntax XY nn Immediate execution instruction XRA Confirmation response XaaY nn Program line entry instruction XRA Confirmation response XY J Immediate execution instruction 1 Response message Notes 1 nn current index in 100mA increments range 1 to 30 100mA to 3 00Amp 2 Two digits required 46 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS Example 1 Instruction Response Instruction Response Instruction Response 4XY 28 1 1 Motor phase current is set to 2 8 Amp X02Y 14 Program line 02 of X controller
28. generates an error response Example 512000 1 Incorrect program line number must be two digit Response XE3W Error number indicates type of error The star character is all address Response messages not generated No response by controller also indicates the wrong or non existent controller address 17 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 43 PMC 328 COMMAND SUMMARY Motion related commands M M G G E Fu Qu M J Move number of steps at constant speed in positive direction using C index Same in negative direction Go to absolute position using T and indexes Negative direction Index number of steps using T and indexes Range 8 388 607 steps Negative direction Seek Home position positive direction Negative direction Decelerate and stop motor Soft Stop Immediate stop of motor Hard Stop Motor Status Examine Stepping Stopped Motion parameters Enter Examine commands J Jo C Cu T Tad R RJ P P Jog rage index set Range 2 to 65535 Examine jog rate Constant rate index set Range 2 to 65535 Examine constant rate Top rate hi speed rate set Range 2 to 255 Examine top rate index Ramp index set Range 1 to 255 Examine ramp index Position set Range 8 388 607 Position examine ADVANCED CONTROL SYSTEMS CORPORATION
29. gram segment It is the program flow Control instruction Syntax XaaRE Program line entry instruction only XRA Confirmation response Notes 1 Immediate execution is not supported Example 1 Instruction Z13RE Program line 13 of Z controller is set with RE instruction Response ZRA 5 34 SC Subroutine Call Command Description Program flow control instruction Subroutine is called Syntax XaaSCbb Program line entry instruction only XRA Confirmation response Notes 1 Immediate execution is not supported 2 bb is a subroutine starting line Examples 1 Instruction 10 60 1 Program line 10 of X controller is set with SC60 instruction Response 1 Program Segment 9 4 Online 10 41subroutine starting on line 60 is called ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS After execution of the subroutine which is decreasing count and wait sec program continues on line 11 10 60 1 111 100 1 X60DCH X61WT 100 1 X62SR 5 35 SR Subroutine Return Command Description Subroutine return instruction Syntax XaaSR Program line entry instruction only XRA Confirmation response Note 1 is the last line of the called subroutine Example 1 Instruction X62SR Program line 62 of X controller is set with SR instruction Response 1 5 36 Top Stepping Rate Index Set Examine
30. ion XC 400 For controller the step rate index is set to 400 which sets the motor step rate to 432 steps sec Response 1 2 Instruction Y05C 1000 Controller Y program line 05 is programmed with 1000 instruction Response 1 Instruction 3 0 Controller D is examined for constant rate index Response 0 17280 1 Controller constant step rate index is set to 17280 which use 10 steps sec 24 C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 5 4 CD Count Decrement Command Description Controllers internal counter is decremented for one count Syntax 1 Immediate execution instruction count is decremented XRA Confirmation response XaaCD Program line entry decrement count XRA Confirmation response Notes 1 Counter range is 0 to 65535 counts 1 Counter decrements to 0 No underflow Examples 1 Instruction 1 Controller X interval counter is decremented one count Response XR 2 Instruction Y12CD Controller Y program line 12 is programmed with CD instruction Response 1 5 5 CI Count Increment Command Description Controller internal counter is incremented for one count Syntax Immediate execution instruction count is incremented 1 Confirmation response 1 Program line entry to increment count XRA Confirmation respons
31. meets the conditions i e level on the specified port line Syntax XaaJHp bb Program line entry instruction only 1 Confirmation response Notes 1 aa is current program line bb is program line to jump to is port line evaluated 2 Instruction dynamically configures port line as an input line Example Y12JH8 22 1 Program will jump from line 12 to line 22 if port line 8 is High otherwise the program will continue sequentially line 13 etc 5 15 JL Jump to Program Line of LO Port Line Command Description This is the conditional program flow control instruction Jump of the internal program is executed only if the instruction condition is met i e LO level on the specified port line range is 1 to 8 Syntax XaaJLp bbProgram line entry instruction only 1 Confirmation response Notes 1 aa is the current program line bb is the program line ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS to jump to is the port line evaluated 2 Instruction dynamically configures port line as input line Example 1 Instruction Y12JL8 22 1Program will jump from line 12 to line 22 if port line 8 is LOW otherwise it will continue to execute sequentially line 13 Response 1 5 16 JP Jump to Program Line Command Description This is an absolute program flow control instruction Execution of the internal program
32. n 2 spacing Phoenix type ACS TABLE 3 1 PMC328 CONNECTORS 3 2 MOTOR CONNECTION The stepping motor is connected to PMC 328 controller via J5 connector The connector accepts one four pin screw type plug Two or four phase stepping motor can be operated by the PMC 328 controller board Stepping motors equipped with four six or eight leads can be connected in several ways W1 7 wo FIGURE 3 2 FOUR LEAD MOTOR CONNECTIONS TO PMC 328 UNIT 10 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS W1 w2 J5 W4 FIGURE 3 3 SIX LEAD MOTOR HALF WINDING CONNECTIONS W1 2 J5 W3 W4 FIGURE 3 4 SIX LEAD MOTOR FULL WINDINGS CONNECTIONS 11 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller W1 W2 J5 W3 W4 FIGURE 3 5 EIGHT LEAD MOTOR SERIAL CONNECTIONS w1 S w2 J5 W3 2 w4 FIGURE 3 6 EIGHT LEAD MOTOR PARALLEL CONNECTIONS C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 3 3 LIMIT HOME JOG CURRENT OFF PROGAM RUN INPUTS The inputs are connected to PMC 328 via a 16 pin connector Limit and Home inputs are normally closed Jog and Current Off inputs are normally open Pulling Program Run input LO starts the program at program line 00 PIN INPUT PIN INPUT LIMIT LIMIT HOME JOG JOG PROGRAM RUN TABLE 3 3 CONTROL INPUTS 3 4 COMMUNICATION S
33. o increase the inertia moment if the motor goes in the resonant point with a small load TORQUE _ RESONANT POINT STEPPING RATI Actual ramping rate in step sec sec is calculated by formula Ramp Rate 1080000 256 Ramp Index RAMP INDEX RAMP RATE STEPS SEC SEC 2 4252 10 4340 50 5243 100 6923 150 10188 200 19286 220 30000 240 67500 250 180000 252 270000 253 360000 254 540000 255 1080000 TABLE 4 2 RAMP RATE TABLE 22 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller 5 INSTRUCTION SET ALPHABETICAL ORDER 5 1 Address Set Command Description Controller address is set to an alphabetical character Default address is character X Syntax XA Y 1 The default address X is changed to Y XRA Controller responds with the old address New address is used on the following instruction Immediate execution instruction only Notes Address can be any of 26 alphabetic characters A to Z 2 Address character is not case sensitive 3 Star character Hex 2A is an all controllers address It cannot be used as an individual controller address 4 Address can be checked by pushing the test pushbutton The controller responds with outputting the controller version identification message YV PMC328 Rn Y is the controller address in this case is a version number 5 2 Baud Rate Set Command Description
34. of the A controller is programmed with G 0 instruction Response 1 5 11 Seek Home Position Command Description Motor steps at constant stepping rate in the instructed direction until it Finds the Home position or hits the Limit switch Finding the Home Position the motor will stop Upon hitting the Limit switch the motor starts stepping in the reverse direction seeking the Home position Syntax 1 Immediate execution instruction XRA Response XaaH Program line entry instruction 1 Response Notes 1 Home and Limit inputs are normally LO when triggered the input goes HI 2 When Home position is not found the motor can be stopped by Q command only Examples 1 Instruction 1 Motor seeks Home position in positive direction Response 1 2 Instruction 02 Controller program line 02 is set with H instruction Response CRA 29 C S ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 5 12 I Index Number of Steps Command Description Motor executes the triangular or trapezoidal velocity profile Ramps down and stops completing the instructed number of steps Ramping and top stepping rate are defined by R and indexes Syntax Xl ddd Immediate execution instruction 1 Response Xaal ddd Program line entry instruction 1 Response Notes 1 data is the number of
35. ontroller is set with L 0 Instruction Response STAR 5 20 LH Examine Limits Home Inputs Command Description Two limit inputs and home inputs are examined for HI or LO input voltage level Syntax XLHA Examine Limit Home input level immediate instruction only XLH abc Response limit status is displayed Note 1 a positive limit input 1 for HI for LO b negative limit input 1 for HI 0 for LO home input 1 for HI 0 for LO Example 1 Instruction 1 Examine Limits Home of A controller Response 010 1 Controller A positive limit input is LO negative limit input if HI home input is LO 34 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller 5 21 M Move at Constant Stepping Rate Command Description Motor steps in positive or negative direction for specified number of steps Stepping rate is defined by C stepping rate index The stepping rate can be changed at any time even when motor is stepping Change of the stepping rate takes effect immediately Real time speed control Syntax XM ddd Immediate execution instruction XRA Response XaaM ddd Program line entry instruction XRA Response Notes 1 ddd number of steps to move data field Range 8 388607 steps 2 Stepping is executed at constant stepping rate defined by C index which can be dynamically changed 3 Stepping can be terminated by executing Q command or F Command
36. ormula Step Rate 172800 Rate Index Steps Sec Jog and move are constant rate instructions no acceleration and should be set below start stop rate of the motor load combination Table 4 1 shows some stepping rate calculations Step Rate Index Step Rate Step Rate Index Step Rate Steps Sec Steps Sec 2 86400 60 2880 3 57600 80 2160 4 43200 100 1728 5 34560 150 1152 6 28800 200 864 7 24686 250 691 8 21600 300 576 9 19200 400 432 10 17280 600 288 11 15709 800 216 12 14400 1000 173 13 13292 1152 150 14 12343 1382 125 15 11520 1728 100 17 10165 2160 80 20 8640 2880 60 25 6912 4320 40 30 5760 8640 20 35 4937 17280 10 40 4320 34560 5 50 3456 57600 3 TABLE 4 1 STEP RATE TABLE 21 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 46 RAMP INDEX Ramp Index range is 1 to 255 Ramp index controls acceleration deceleration ramp while executing Go or Index instruction Index 1 sets the slowest ramp index 255 is the fastest ramp It can be changed any time and it takes effect on the next high speed motion instruction Some motors have a resonant point where there is reduced torque at certain frequencies In such cases the motor has to be started at a lower speed than the resonant point in order to fly into a higher speed area To minimize the time to stay on the resonant point higher ramp index for acc dec must be applied It is recommended that a damper should be used t
37. position X09WM Wait for motor to stop X10JP02 Jump to program line 02 6 2 Single PMC328 Controller Example of subroutine call instruction XOOWL1 Wait for low level on port line 1 X01SC10 Call subroutine starting at line 10 X02WH1 Wait for high level on port line 1 X03JP00 Return to start line 101 4000 1 Index 4000 steps in positive direction 11 Wait for motor to stop TX12WT100 1 Wait for 1 second 131 4000 1 Index 4000 steps in negative direction 14 1 Wait for motor to stop 15 1 Return from subroutine to line 02 48 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS 7 MANUAL REVISION HISTORY PMC 328 User s Manual Revision History Revision Date of Issue Section 1 0 All Original Release Revised Formatting ADVANCED CONTROL SYSTEMS CORPORATION 49 PMC 328 Driver Controller
38. sponse Notes 1 is port line 1 to 4 2 Instruction dynamically configures port line for an output Examples 1 Instruction YOL4 Controller Y is instructed to output LO level on port line 4 Response 1 37 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 2 Instruction 44014 1 Program line 44 of Y controller is programmed with OL4 instruction 5 27 P Position Set or Examine Command Description Instruction sets the position counter or examines position counter Syntax XP ddd Immediate execution instruction 1 Confirmation response 1 Program line entry instruction XRA Confirmation response XP Immediate execution instruction XP ddd Response position display Notes 1 ddd range is 0 to 8 388 607 2 Direction sign is required always 3 Position can be examined any time motor stopped or stepping Examples 1 Instruction 0 1 Position counter of A controller is initialized to 0 Response ZAR J 2 Instruction A00P 0 Program line 00 of the A controller is programmed with 0 instruction Response 1 3 Instruction 1 Current position is examined Response 555 1 Current position is outputted 5 28 Program Run Description Internal program run command Syntax 1 Immediate execution instruction only No response 38 ADVANCED CONTROL SYSTEMS
39. ta field alphanumeric characters 5 al Terminator character Hex OD Each immediate execution instruction with correct address generates a response message from the controller Example 1 2000 1 Controller X is instructed to step motor 2000 steps in a positive direction Instruction execution by the controller is confirmed with the response message Example XR I X is the controller address is the execution confirmation character 2 is the response terminator character Example XP J Controller is requested to respond with current motor position Response XP 500 16 ADVANCED CONTROL SYSTEMS CORPORATION PMC 328 Driver Controller ACS 42 PROGRAM LINE ENTER INSTRUCTIONS Program Line Enter Instructions are constructed similarly to the Immediate Execution Instructions but in addition have two numeric characters for the program line number These instructions are executed under internal program controls Syntax Instruction 1 1 Start character 2 X Controller address character A to Z 3 aa Controller program line number 00 99 4 CC One or two alphabetic command characters 5 ddd Data field alphanumeric characters 6 d Termination character Hex OD Example 031 2000 1 Instruction 2000 is entered into the program line 03 for execution under program control Response ZXHR J Wrong command or program instruction
40. tion Instruction operates ON OFF switch of the motor winding current It also examines status On or Off of the motor current Syntax 1 Immediate execution instruction 1 Confirmation response XaaW n Program line entry instruction XRA Confirmation response XWA Immediate execution instruction XWen Response message Notes 1 n is 1 for ON O for OFF 43 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS Examine 1 Instruction 0 1 Turn OFF motor winding current for the motor controlled by controller Response 1 2 Instruction A40W 1 Program line 40 of the A controller is set with W 1 instruction Response 1 3 Instruction FAW 1 Motor current is examined Response 1 1 Current is ON 5 39 WM Wait for Motor to Stop Command Description Instruction stops next program line execution until motor stops stepping Program flow control instruction Syntax XaaWM Program line entry instruction only 1 Confirmation response Notes 1 Immediate execution instruction is not supported Example 1 Instruction X10WM Program line 10 of X controller is set with WM instruction Response XRA Program Segment X09 Motor completes motion GO to position 5000 then outputs HI level on port line 5 X10G 5000 1 X11WM J X120H5 1 44 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driv
41. ts in faster acceleration deceleration of a motor 3 Calculation of the ramp rate acceleration constant Ramp rate 1080000 256 ramp index 4 Default ramp index is 100 Examples 1 Instruction AR 200 Controller A ramp index is set to 200 which is 19 286 steps sec sec Response 1 2 Instruction A05R 200 Program line 05 of the A controller is set with R 200 instruction Response 1 3 Instruction 1 Controller A ramp rate index is examined Response TAR 200 1 5 32 HS Repeat Loop Set Description Program flow control instruction The instruction indicates a start of repeat loop program segment between start and end of repeat loop will be repeated by specified times Nested repeat loops are not supported Syntax XaaRSnnn Program line entry instruction only XRA Confirmation response Notes 1 nnn repeat loop count range 1 to 255 2 Immediate execution is not supported Example 1 Instruction Z10RS100 Program line 10 of Z controller is set with RS100 instruction 40 ADVANCED CONTROL SYSTEMS CORPORATION 328 Driver Controller ACS Response 7 1 Program segment X10RS100 Set loop count to 100 11 50 1 Move 50 steps in positive direction X12WM Wait for motor to stop X13WT100 Wait for 1 second 14 1 Repeat loop end 5 33 RE Repeat Loop End Command Description Instruction sets end of repeat pro
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