PM16C-02Z Manual
Contents
1. 16 17 e Data wite on conmand By this conmand basic data stored in each ch can be rewitten This is enable in RENT node However speed data cannot be rewitten while notor is driving and the data are rewi tten autonati cal ly after stopping the notor conmand form Hoood O TYPE 1 wite data 2 HEX CLE in ASC style wite data address 0 F wite channel address 0 F f Linnt SW amp renote ocal node read By this conmand LS status and renote l ocal node status are read out in any ti ne However it is required for approxi nately 30ns that the chis changed by the conmand In LS status read nore 10nS is required conmand form iiS TYPE 1 recei ve form iog data HEX COLE in ASC style B7 B6 B P Z LSon upper HEX CODE B5 B P OWLS on gt B4 B P GV LSon gt J B3 REM LOC status 1 REM BR2 AP Z LSon gt ower HEX COLE B1 A P OWLS on gt BO A P W LS on gt 2 2 Procedure of data conmuni cati on by 1 B RS232C Q External controller gives the conmand to 1 B RS232C i nes Il When all conmand is recei ved by PM6002Z anal yzed and dri ven rapi dl y Tine for doi ng the conmand is vary for status of system for conmand types etc lll Q n comand wth recei vi ng operation data prepared by the conmand is returned back to the external controller when PM602Z is set as a talker IVO All conmand can be sent as the formwhich is divi ded by conma In recei2. 2222 0 O0 2400 baud on higher O0 O0 1200 baud is selected Vhen both RS232C and P IB are ordered at the sane tine RS232Cis sel ected O0 By use of the optional handy console PML6 HDL is connected to RS232C port in CP I B node less than additional 6 notors can be control ed position nonitoring j 09 scan REL DX ABS DX and preset during IB control 1 Parallel I O data conmuni cati on onntt ed 2 RS232G 1B data conmuni cati on a Introducti on A PMC 02Z has a IB control G TM59914A and has a RS232C control IG H64941 In this system nonsense comand or i npossi bl e comand EX reverse dri ve duri ng nornal drive are ignored so that al nost all tine you can access fromthese conmani cati on i nes protect fromhung up Recei ve formshoul d be O0 0 0 0 DCR F When CR ODA 4 LF OAH is detected during recei ving the conmand is rapidly anal yzed and done by PM6C 02Z Hovever top character is not no operation is done When PMLEC recei ves infornati on that sone data shoul d be returned back the data are rapi dl y prepared and sent back These operations are done for about ess than Ins Drive conmand formi s 0 OO 0 0 0 OCHF Renate controls such as recei vi ng anal yzi ng and doi ng from RS232Q CI B li ne are ope rated by interrupting in PMl6G02Z Therefore these operations need not have wai ti ng ti ne Then three types of conmands are possi bl e TYPE 1 rapid done O data readi ng notor stop TYPE
3. a db GA GB at OD CGE GF PULSE PULSE PULSE PULSE PULSE PULSE PULSE PULSE LS INLSIN aaa ae ee AC85 264V 47 440Hz Fig 2 Rear panel ayout are avai able 2 Functi on SW in detai REM External control node LOL Manual driving node PM6Cis operated by Panel SW If you keep the SWto be pushed and turn the pover on then Motor Speed is set to be default data Def aul t HSPD 3700PPS MSPD 650PPS LSPD LOPPS RATE 300nS 1O00PPS hol d off node LY N O jog pulse count s L QWS 1000000 COWLS 1000000 Each pushi ng changes the renote ocal alternately It can be al so operated external y SET UP SET UP If you push this SWwhen notor renai ns stati onary in LOG then the node is changed into set up node Pl ease set the data for notor driving in this node f By these Vg you can select which notor is dri ven E 00 O If you sel ect SWAB two notors are driven at the sane ti ne PRESET a In DX UNG node data of digital SV are set as present data By A ABA SW you can sel ect the CH to mi ch data are preset PRESET b In set up node The val ues of data are i ncreased The val ue of Soft ware LS is set by digital SW JET START a In DRIV NG node Functi on is changed in accordance wth node di spl ay anp node np node novenent when ST swis on prepare scan waiting to set direction scan start to ABS pos set by digital SW START Data L prepare scan till HP
4. 3 1 B posi tion 2 byte conmand TYPE 3 4 LSPD set TYPE 3 5 MPD set TYPE 3 6 HSPD set TYPE 3 sl ow stop and EM stop conmand are TYPE 1 jog conmand comand for j og dri ve conmand 08 4OY jog drive 09 CW jog dri ve constant speed scan conmand By this conmand notor speed is set to be constant value which is preset as you li ke connand OC QY constant scan dri ve OD CCW constant scan dri ve The speed is set at the value which is last sel ected by push SW H Mand L in LOL node or which is last selected by speed sel ect conmand in REM node This procedure is sane in other controls shown bel ow scan conmand Motor speed is increased fromLSPD to set val ue as trapezoi dal dri vi ng conmand OE OY scan drive OF CCW scan drive speed sel ecti on conmand By this conmand the notor speed is sel ected fromH5PD MPD or LSPD Both A P and B PG are set as sane val ue This conmand is effective for the channel whose notor renains stati onary The channel of the noving notor is kept to store the old value connand EX 534 LSPD sel ect S35 MPD sel ect S36 HSPD sel ect The conmand used to stop the notors wich are started at the sane tine and the conmand used to reset the stop conmand The bel ow conmands shoul d be sent to PM6C before starting the two notors at the sane tine If jog comand is sent after stop connand notors can not be driven until cancellation of the stop c
5. LS stopping n scan and HP scanning is prepared by pushing this SW Hovever the scanning can not start Wthout setting WOW deci si on by j og SW b In set up node Show ng data are changed by this SW Right after entering into set up node OWLS data is show And OWLS H5PD MPD RATE LS status are shown next to next STP a In RM NG node Motor is stopped in both REM and LO nodes b In set up node The val ue of the data are decreased STOP Software LS value is set by digital SW DEC 4 cauti on node change SW ABS REL HP scan are circul ar changed speed change SW L gt M gt H are circular changed O O Setting the notor characteri sti cs In PML6G 02Z each data of 16 steppi ng notors can be set and stored which is kept as battery back up The data are kept to be nenorized until reset Then accurate control is realized for any system In setti ng node pulse out is stopped data can not be set during J OGG NG 1 Pover on When Power SWis turned on status becone to be default node wthin Is cae on ma vi ng dri vi ng speed posi ti on setti ng foo fw e e Gher data are set as the val ue mich are the one ast tine turned off the power because the all of these data are kept by battery back up 2 Prepare the data setti ng In LOT node set up node is selected by set up SW Then A position displ ay shows the data Cauti on The displ ay shows the nunber as X 00 F then and might be conp ex P
6. OA position data read TYPE 1 LA position status read 2 B position data read O0 3 B position status read Recei ve form gt AE AE XX posi tion data 2 s conpli nent of 6 hex code HEX COLE ASC Bi GIF Status data 2 hex code HEX COLE ASC Status REG D Do D B P7 DI O BUSY 4 Fj rnare ersi o ove a DRI VE Veo tana TREND V1 30 COMERR V1 300 COMERR V1 29 0 V1 30 LOEND SSEND SS Be BUSY shovs Pulse controller is bei ng operated now During the novi ng speed change and pulse out conmand are ignored though sl ow stop and EM stop conmand are effective BUSY status of CDL7 shows CPU status which controls hole of the system Mm the other hand the BUSY here shows two U s status AB wich control A and B nators DR VE Pulse out is bei ng conti nued TREND Pul se out dri ve fi ni shed COMERR The conmand is nonsense LDEND Pulse out is stopped by OWS and CWS SSEND Pulse out is sl ow y stopped by sl ow stop conmand ESEND Pulse out is rapidly stopped by EM stop conmand cauti on GOMERR LSEND SSEND and ESEND are enable only if BUSY These bits are cleared by rewi ting the next conmand LSEND SSEND and ESEND bit are nonsense when pulse are not sent out by the conmand c Motor control conmand Data and conmand are witten for A position and B position control 12 O bytes conmand form Ge TER Gb NG 2 byte conmand 0 A posi tion 2 byte conmand TYPE
7. SW A SW or LEC SW B SW A rel ati onshi p between data and speed can be known by use of table 1 c Channel can be changed by the SWunder the di spl ay E LSPD Lowest Speed setti ng Setti ng No B a Push the data SW AB SW and sel ect setti ng No B b Set data by use of INC SW A SW or LEC SW B SW A rel ati onshi p between data and speed can be known by use of table 1 This is the speed mich is the pri nary value in accelerati onal driving or the final value of decel erati onal dri vi ng c Channel can be changed by the SWunder the di spl ay F RATE accel erati onal decel erati onal rate setting setting No a Push the data SW AB SW and select setting M D b Set data by use of INC SW A SW or LEC SW B SY A rel ati onshi p between data and speed can be known by use of table 2 c Channel can be changed by the SWunder the di spl ay G LWO Li mt SWetc setting setting Nb a Push the data SW AB SW and select setting No b Set data by use of INC SW A SW or LEC SW B SW c LS status can be set while you see the LED to know the present status turned on LS on turned off LS off details are shown in next page LS data structure d If highest bit is set to zero lt FH which neans notor off then Wand CAWLS lanps are swtched to showthat the notor can not be dri ven e Channel can be changed by the SWunder the di spl ay LS data structure H gher bit of Hex Lower bit of Hex 170 170 19 0 1470 1
8. use these types of drivers notor can be nore effectively dri ven by this bit operation Vien this bit is 1 hold off signal is disable so that power is kept to be turned on all tine Vhen this bit is O in nanual node the power is turned on O 1s before jog starting and turned off 0 1s after og fi ni shi ng The notor whose power is required to be hold off in renote node shoul d be control ed by the sequence in which the hold off is set to be di sabl e before j og starting and reset to be enable after jog fi ni shi ng Motor enable You can set sone notors i npossi ble to drive by use of this bit setting Vhen this bit is 1 it is nornal driving node that notor can be dri ven as you li ke When this bit is O notor can not be dri ven by any nanual SWoperati on f you set the notor i npossi ble to dri ve by this way the notor becones that can not be dri ven by any renote operati on H Jogging count setting setting No a Setting No E is sel ected by pushing the data SW AB W b Set the data by INC SW A SW and LEC SW B SY The possi be dates range is 1 9999 c You can change the channel by the SWunder the di spl ay 4 Finish to set data Turn off the set up SW and get back to dri vi ng node 0 0 LOCAL node dri vi ng Qi y when renote l ocal SWis set to be local the notor can be driven in local node If this SWis renote you need to push the SWonce and reenter into local node 1 Speed sel ecti on By use of spee
9. vi ng data conma is recognized as the pause between two conmands Then each conmand is rapidly recognized and done If there are non sense conmands they are ignored EX speed change during j ogG NG There are sone conmands whi ch requires sone tine for operati ng EX Vhen you want to set 3ch to A position and Ach to B posi ti on 000000000 RETURN F 2 3 Sanple Programof data conmuni cati on address of PML6CO02Z 7 del i mt er CR4LF a sel ect A position as 8 H PR NT 7 S118 b sel ect B position as C CH PR NT 7 SLC c scan is operated in A position PRI NT 7 S300E d wite 80H to 5 ch address 9 data HSPD PR NT 7 S55980 18 e read out the present A position pul se count PR NT 7 S20 data read out conmand NPUT 7 1 AS data i nput PR NT A data pri nt 0 0 Addi ti onal Functi ons 96 10 01g 0 Auto Backl ash eli nhnati on It can be operated only by 00 00 or G0000 conmoni cati on li nes What is the Auto Backl ash El i ninati on By this function you can preset the value of elinnnation step then notor is driven to position where you want to stop the notor after the eli nnnati on step dri vi ng For exanple If you set 0000 as the elimination step at first the notor is dri ven to the position where the count is X J And after that the notor is dri ven back to the position for f 0 steps then driving is finished to reach the position of X If the elimmnation step is the notor a
10. 09 0 CJ 09 09 0 A pos 8 byte conmand O A position 8 byte conmand O0000 0 HEX position data 10 CSPD REL DX 11 CSPD ABS X 12 REL DX 13 ABS DX character B for back ash correct B posi ti on 8 byte conmand O0000 0 HEX position data 10 CSPD REL DX 11 CSPD ABS DX 12 REL DX 13 ABS DX character B for back ash correct B pos 8 byte conmand a ON a KO apo popo on ooa oona on oga Haha gga HE apa te CJ RL Data read conmand data read conmand X channel No Y data No receive form OOOOOO HX 3byte fromread data address Data write conmand 1000 00 data wite conmand X channel No Y data Nb O0 data HEX i recei ve form OOF ash correct se BE CED data set 0 9999 Deci nal read out ogoogo recei ve form 0 0 0 CEO O 0 I ntroducti on 1 Characteristics DOAN OOUOO0O000000000000000 2 Concept of PMLEC contro 0 0 Panel ayout 1 Front panel layout Rear Panel 2 Functi on SW in detail OOO O 0 Setting the notor characteristics 3 Prepare the LERRA HH 3 Procedure of data setting U 4 Finish to set data Jl Hees ee O tion DOOOOUN paa sel ecti on 2 ngi ng the dri vi ng JO K niti og dri vi 5 Posi tion eta preset JO 6 Synchronous dri vi ng OO 7 Auto hold off JO 3 et Sac UN AHH X G ion O O Renote node driv 1 Parallel 1 0 data conmuni cat i on onnt t ed 2 ace 1 B data conmuni cati on a l ntroduction b B
11. 16CH STEPPI NG MOTOR CONTROLLER PMLEC 027Z USER S MANUAL SHEET No 2462 ee APPLICATION OF ELECTRONIC DEVICES TSUJICON TSU ELECTRON CS CO LTD 3739 Kandatsu machi Tsuchiura city Ibaraki pref 300 0013 J apan Telephone 481 29 832 3031 Fax 81 29 832 2662 e mail info2 tsuji denshi co jp url http wwwitsyjicon jp 00000 000 mand Li st for 000000000 000 node nmand RL renote l ocal sel ect t R A channel select A servi ce request RL B pos data read B pos status read A pos 2 byte conmand renarks SIR renote change SIL I ocal change recei ve form OOF OU 0 00 og 000 SRQ for A channel stop SRQ for B channel stop SRQ for A B channel or CP IB command FC recei ve form OOF receive formRINOOOD X recei ve form OOF receive form 000000 HX recei ve form OOF A position 2 byte conmand 08 09 09 j og OG 4 S5PD scan OD CSPD scan OE 4 Scan OF scan 16 pause on 17 pause of f 18 hol d of f 19 hol d on 1E scan amp P stop 1F scan 4H stop 40 sl ow stop 80 EM stop B pos 2 byte conmand B position 2 byte conmand 08 09 09 j og OG 4 S5PD scan OD CSPD scan OE 4 Scan OF scan 16 pause on 17 pause of f 18 hol d of f 19 hol d on 1E scan amp HP SIP 1F scan 4H stop 40 sl ow stop 80 EM stop ja S34 L speed S35 M speed S36 H speed ooeope oao a aoa a mamn mm oan A oan Aa a aas mam mamn on a A a a o Myr My 09 g CJ 09
12. 17 420 39 370 B 3 200 5B 8 000 17 600 40 000 2C 3 300 5C 8 200 x 17 800 2D 3 400 5D 8 400 8D 17 990 2E 3 500 5E 8600 s 18 180 2F 3 600 5 8800 8F 18380 O O Renote node dri vi ng Tablle rate data No n5 1000PPS O 1 000 0 800 0 600 0 500 0 300 5 300 0 6 2000 150 0 o Bo 100 0 75 0 B 50 0 30 0 o 20 0 15 0 10 0 LS 12 3 0 The setting Range QOOUUGUUOUO QOOUUGUUOUO GEE ER El AEE Ey QOOUGUUCOUO Gre OOUOU0U0UO or DHOOUOUU0U If you set as above no accel erati on decel erati on is operated However si npl y HPD or MPD dri ve are done This node is possi bl e when renote ocal SWshovs to be REM 9 If the renote l ocal SWshovs LOT push the SWagain or send the conmand ext er nal ly to change the node to be REM And after that continue to operate as bel ow Renote node dri vi ng can be operated by 1 Parallel 1 O 2 IB 3 RS232C These conmuni cation node can be sel ected by setting SWof rear panel as shown bel ow The setting SWshoul d be pushed before power turned on 0 O0 O RS232C port enable fay Sa Ahab lt I Es 0 0 Qk 1B port enabl e 4 0O on O 0 T OU L 00 1B ny address or of f 00 RS232C baud rate 00 setti ng OO T T T T T T T T 4 Vien IBis selected gt 2 X 2 BD P ny address 9600 baud If nore than hot Dl 1 0 0 4800 baud two SV are Vhen RS232C is selected gt NO0 0 0
13. 2 wai ti ng for sone status done O O H sel ect TYPE 3 sone status requiring doneg O O notor control In the case of that the data are read out after sendi ng the conmand of TYPE 2 3 it is important as above shown De linhtter is fixed to be HF b Baud rate address set 9 as above nenti oned c character structure 10 1 RS232C data are 1START bit 8 bit data Istop bit no parity fi xed 2 Delimtter is fixed to be CRF 3 Send recei ve conmand code is ASA 1 d I n RS232C conmuni cation software hand shake XON XCFF is not support ed e Connecti on between PM6C and other control ler in the case of RS232C IBis omtted here 1 PANEL DB25S CABLE DB25P 2 PIN ASSIGN shovs the flowof data PML6G 027 other control er 1 SHELD can be omtted 1 SH ELD 2 DD 3 RXD 3 RO 2 TXD 5 cs 4 RIS 7 SG D SG D 6 DR ig 20 DIR If RS232C li ne can not work well the cause of that is hard to be found Therefore ve prepared the tool for hel pi ng to sol ve these probl ens Pl ease keep the stop PB on wile pover is turned on then recei ved character is displayed echo back You can refer the character and get sone infornation about the probl emyou neet If echo back is not vel di spl ayed the RS232C line is possible to be badly wred Q if you get curi ous characters baud rate and parity should be exam ned 2 1 Conmand in detai l for both RS232C and B a Channel sel ec
14. 9 0 19 0 190 10 0 Lo OWLS contact 1 B 0 A CWLS contact 1 B 0 A ZEROLS contact 1 B 0 A OWLS 1 enable 0 di sabl e OWLS 1 enabl e 0 di sabl e OGTAL LS 1 enable O di sabl e hold off 1 nornal O hold off notor enabl e 1 notor on O notor off WOMWLS AB contact type setting When these bits are 1 they are B contacts when they are O A contacts A contacts wnen LS is struck the contact becones electri cal ly to be AGE It is nornally open soit is also called as NO contact Daw ng a B contacts Ven LS is struck the contact becones electrically to be open BANG It is nornall y CLOSE so it is also called as NC contact Draw ng e ZERO OW and OWLS enable Each LS can be set to be enable or disable When this bit is 1 the LS is enable Vhen this bit is O the LS is disable Pl ease care that notor can not stop when LS is kept to be disable Dgital LS enable di gital LS can be also set to be disable or enable Vhen this bit is 1 it is enable Vhen this bit is O it is disable If digital LS is enable notor can stop at the absol ute position were is internally set by digital SWOWCW as sane as hardware LS hold off IF sone torque is requi red to keep the notor renai ni ng stati onary pover shoul d be kept to be turned on But if there is not such a requi renent sone notor dri vers can be hold off to prevent the heati ng up and to save the pover Vhen you
15. a 6 HEX CLE in ASC style 3 B position 8 byte conmand constant speed rel ati ve i ndex scan Motor is dri ven at the preset constant speed conmand OO OO NO 10 constant speed REL IX dri ve Aia UN Oa 0 O 0 data3 datal NA data2 14 Sanpl e Qut put pulse is 2 s conpl enent constant speed absol ute i ndex conmand By this conmand notor is driven at preset constant speed connand OO 00 MO 11 constant speed ABS IX dri ve Bae BINA aag O O 0 data3 data TO dat a2 obj ecti ve address data 1 data 2 0 00H 00H 00H Setti ng sanpl e HO Gi 001 j ecti ve address is 48 388 607 7FH Ba shom as 2 s conpl enent 10 FFH FFH F6H oe 8 388 608 80H 00H OOH O cauti on Wien the nunber is not coinci dent in absol ute conmand operati on Counter is possible to be different between di spl ay and control Then you shoul d sel ect channel again Ven you use the conmand other than expl ai ned in this nanual these troubles are possi bl e to happen O0 increnental index conmand Rel ati ve setting index drive is done by this conmand The speed is increased and decreased bet ween LSPD and MPD conmand OO OOF OFF 12 increnental IDX drive Aa OO O O O data3 datal N0 data2 pul se counts pul se out data 1 data 2 data 3 are show 0 as 2 s conpl enent ON HO OW 8 388 607 setting sanpl e CW 10 COW 8 388 608 O0 absolute i ndex conmand Absol ute s
16. aud ae La S c Character rur Og d Soft ware Hand Sha e000 00 e Connecti on between PMLEC a cls 2 1 Comand in detail for both RS232C a Channel sel ect channel gad and re b Data amp status read HOoOogdd c Motor control conmand i 0 0 OU o ate conmand f orn S30XX S3 j og conmand Fa constant speed scan Scan conmand speed sel ect conmand pase restart for synchrono ld off set reset scan amp HP stop conmand sl ow stop conmand EM stop conmand nan a naa aa na R o5 DOO OS OU OU OU OU OU OU coo cg OID Dog s OOOO Dog 0 NANA Ammo Dog 0 NANA Ammo Dog 0 NANAMN Ammo Doo OID Dog ses OID Dog OID Doo 0 NAN Am Ammo Dog OID Dog ses OID Dog 0 DODO Dog 0 OID Dog OOOO Dog s OOOO Dog 0 NANO momo Doo 0 Ai H oc O Q S oota B a na OOOO OOOO ay ook ie 8 an nan nn na nn nan an na nan nan a aa a nan na E an na nn na E an nan na na E an na aa nn OO SHO OOOO Css s acco O Ol Q Ol Ol u BSSs so rted WU ct O ZSkB5T Ban OO TO O OBIOOBO0DO0 constant speed rel ati ve i nde
17. ct SWin local node In the display the position of the last sel ected notor is show If the SWis operated during pulse sending the channel is not changed until finishing the pulse out Two display A B can not control sane channel at the sane tine The systemare progranmed that sane CH can not be sel ected at the sane tine 4 Jog driving In the direction which is set by j og SW pulses are sent and notor is dri ven If you keep the SWto be pushed nore than 0 5 seconds this scan is started 5 Posi ti on data preset ndex data can be shown and set in the displ ay by use of PR PB and AYAB B PB 6 Synchronous dri vi ng Both A and B can be synchronousl y driven Then two notors are started at the sane ti ne Push AB PB 7 Auto hol off If you set the notor hold off the power of the notor is turned on only when the notor is bei ng dri ven 8 Inhi bi ti ng J og If you set the notor off any operations shown above can t dri ve notors refer P 6 O 3 G 9 Hand box operati on By use of hand box you can dri ve notors wile you watch the nechani cal novi ng Then two CH displ ayed front panel can be operated as OMOWJj og dri vi ng You can change control CH on the front panel Table speed data No PPS No PPS 3000 0 18 660 18 940 19 530 19 840 Laan o 19 230 PPS a HAO 2 3 50 75 aor 2 10 150 KENEN 20 500 200 M Pg 2 3 700 co EG 31 3800 61 a sp a2 3 s
18. d sel ecti ng PB any speed can be sel ected fromthe three speed that are preset in each channel which are H5PD MPD and LSPD Starting speed of accel eration and final speed of decel eration is LSPD 2 Changi ng the dri vi ng node By use of dri vi ng node sel ecti ng PB you can sel ect the node as you i ke HP REL ABS and scar scan node is the case that all LED which show dri vi ng node are turned off a HP j oggi ng sJ When Start PB is pushed notor is prepared to start and then start lanpis turned on And after that when the driving direction is gi ven by jog SWoperation the notor is started to search the HP in the gi ven direction and stop at the H LS You can stop the notor at any position by use of stop SW These preparati on can be reset by stop PB b REL ABS i ndex j oggi ng In REL node when you push the start SW notor is relatively dri ven by pulse counts whi ch is preset wth digital SW N ABS node when you push the start SW notor is dri ven to the ABS position where is set by digital SW The notor is also stopped by LS and stop SW c Scan j oggi ng When you push the START SW START anp is turned on to show stand by CK Nat you gi ve the di recti on by jog SW then scan is started in the direction you set The notor is stopped at LS and also stopped by stop PB These preparation can be reset by stop PB 3 Channel sel ecti on While pulse is not being sent the channel you li ke to control can be changed by CH sel e
19. etting index drive is done by this conmand The notor speed is increased and decreased between LSPD and MPD connand OO OOF NG 13 increnental IDX drive BN gAs O O O data3 datal 9 Q g data2 obj ect i ve obj ecti ve address is shom as 00H 2 s conpl enent sanpl e 15 10 FFH FFH F6H T8 388 608 8H 0H OH O cauti on Wien absol ute conmand is done it is doubtful that di spl ay counter and control counter are different fromeach other Then the val ues are not coi nci dent In such cases pl ease sel ect the channel again That case nhght be happened when the nonsense conmand is used d Data read out conmand Each channel is read out by this conmand which is enable both in REM and LOL nodes connand form HAN 10 TYPE 1 read data address 0 F read channel addr ess 0 F recei ve form Ab G EC At SE g0 data HEX C ASC 3 bytes are returned fromread data address data address contents posi ti on dat a 16 16 0 1 oO 16 16 HIN 2 0 16 16 EE 3 digital OWS 16 16 St ENE 5 0 16 16 ER 6 digital CWS 16 16 EERE 7 0 16 16 EE 8 O 16 16 EE See Sele eta SA MPD 7 i CT x ME ECEE D LNWetc b0 OWLS NB bl CS AB b2 Z LS AB b3 OWLS enabl e b4 CWS enabl e b5 di gi tal LS enable b6 hold 1 ON 0 GFF b7 notor off j og pulse counts SE jog pul se counts Saad MAHE A Beki R
20. l ease take care this point Dspay in detail 0 fofofofo fo fo lo ees pe set Nb 0000 set data set ch The channel you want to set data is show in A position display The channel can be changed by NJ DEC SWunder the display You can not set the channel show in B posi ti on di spl ay Then you should change the channel of B positi on 3 Procedure of data setti ng A Dgital OWLS setting No Right after entering the set up node a Push the data SW AB SW and sel ect the setting No 7is not show but it is after E b Set the data by INC SW A SW and LEC SW B SY The data s nean the absol ute position Where you want to stop the notor during CW dri vi ng c Channel can be changed by the SWunder the di spl ay B digital COWLS setting setti ng No a Push the data SW AB SW and sel ect the setting No b Set the data by use of INC SW A SW or LEC SW B SW The data nean the absol ute position where you want to stop the notor during COW dri vi ng c Channel can be changed by the SWunder the di spl ay C HSPD Hghest Speed setti ng Setti ng No iba a Push the data SW AB SW and select setting No 9 b Set data by use of INC SW A SW or LEC SW B SW A rel ati onshi p between data and speed can be known by use of table 1 c Channel can be changed by the SWunder the di spl ay D MPD Mdd e Speed setti ng Setti ng No A a Push the data SW AB SW and select setting No 9 b Set data by use of INC
21. ng A button or B button cause the change of lanp on off status alternately Change of pulse output style 4 If the setting is changed new setti ng wll be valid after next power on The pulse output style wll be nenori zed by the backup battery 20 O O connection wth outer equi pnent 1 connection wth dri vers connector PIN assi gn Kuk signal wiichinforns to the amp driver that PM6C power on 23 T proxi mty O O connecti on DE9P TO LS LS type both NO and NC ok Bf lt DH D l ee aaa gt hh o8 10 O 1P os y A H20 A 2P Jw Aise Max 0 8A ZERO VA 50 a IN mo 460 A O Z RQ HP 3P s6 70 LS 4P OV 80 90 1 FG IN 6P SI G 7P OV PML6C cauti on Connector shell size of DE9P and 9S is vari ed fromeach maker s Qut ward form 3bWcan be used for PM6C CE Cl J 6 J AE XMS 0911 GVRON and HE CIF H ROSE are possi bl e to be used La O Speci fi cati ons Poer AC 85V 264V 47 440H2 50VA OO notors can be control ed capabi i ty O notors can be control ed synchronousl y out put ay CW HAD GF 5V 8NA pl us conmon for each 16 notor driver can choose PULSE OR output si gnal IN OJ 00000000 miseen o sO 00 read limt swinput OWLS COWLS HOM LS 12V 5nA nnnus conmon and power supply H2V for sensor total 1A for each notor J 000 nd di sp 7 digit position di spl ay For each 2ch A B i spl ay 1 digit channel displ ay For each 2ch A B 7 digit counter
22. o 2 3 33 4000 63 9 600 4 4 1 is at e to 6 36 4300 6 gl 137 440 67 10 400 97 20 830 21 550 A 350 3A 4 700 6A 11 010 9A 21 930 B 40 38 4800 6B 11 210 98 22 320 22 730 D 500 3D 5 000 6D 11 600 9D 23 150 E 550 3E 5 100 6E 11 800 9E 23 590 F 600 3F 5 200 6 11 990 9F 24 040 10 650 40 5 300 70 12 200 AO 24 510 15 7 2 DE nE ne Ne 300 39 4 600 69 10 800 99 H 700 41 5 400 5 12 400 A 25 000 42 5 500 12 600 25 510 3 5 600 12 790 5 700 A 12 990 26 040 26 600 15 ab nao a sels oa 27 170 16 1 100 46 5 900 76 13400 Ao 27 620 28 090 18 1300 48 6100 78 13 810 A8 28 570 19 1 400 49 6200 79 14 000 A9 29 070 1A 1 500 4A 6300 7A 14 200 AA 29 590 1B 1 600 4B 6 400 7B 14 400 AB 30 120 1c 1 700 4C 6500 7C 14 620 AC 30 680 1D Kao 1 800 aD 6 600 7D 14880 AD 31 250 1E 1 900 4E 6 700 15 010 31 850 1F 2 000 4F 6 800 15 200 32 470 ar a n 21 2 200 51 7 000 81 15 580 BI 33 780 122 2300 52 7 100 82 15 770 B2 34 480 23 2400 53 7 200 83 15 970 B3 35 210 124 2500 54 7 300 84 16180 Ba 35 970 25 2 600 55 7 400 85 16 400 B5 36 500 26 2700 56 7 500 86 16 610 bo 37 040 T 28 2 900 58 7 700 17 060 2 38 170 3 100 5A 7 900
23. ol d off can be set external ly by conmand through conmuni cati on i ne Jog swtch is used for a Any nunbers of steps 10 9999 dri vi ng b Inching driving Ql y when you keep to push the j og SW J oggi ng conti nues 2 Concept of PML6C cont rol Pul se notor controller PM6C 02Z has Da CPU wich controls the hole of the system two CPU wich control the stepping notors The connecti ons between the two CPU and 16 of steppi ng notors are changed properly Present positions present vel ocities differential velocities in starting and stopping phase etc are stored in the nenori es as battery back up mich are read out and reneved any ti ne you need Push Button SW LED Lunp in out port pul se out total connectors control for 16 of PM CPU ITAMNDZTIDND ag conmuni cati on port PIO CP IB RS232C i nout connectors for LS INMMQMZTIDN ae ae 0 0 Panel ayout 1 Front panel ayout Fig 1 Rear panel ayout Fi g 2 Divi ng direction status of pulse out anp LS status anp Posi ti on O spl ay sel ected CH di spl ay channel select SW Functi on SLAP Step node SWLAMP Hand box connector Fig 1 Front panel ayout CH O pul se out Parallel Oconnector 1B connector CHO LSin RS232C connect or ad ail dak GB GH dab ab di PULSE PULSE PULSE PULSE PULSE PULSE PULSE PUSE PIO IB RS232C DO PSW ot LSIMLSINLSINLSINLSINLSINLSINLSIN a a cea
24. onmand conmand 16 pause 17 pause off EX S3016 pause S3017 pause off a oe The sequence of Synchronous start is that 16H pause is gi ven to the each control er and after that 17H pause off is given to start two notors synchronousl y The third character shovs channel and then both 1 and O are effective for both A and B channel hold off set rest conmand connand 18 hold off set 19 hold off reset EX 53018 A pos hold off set S3019 A pos hold off reset S3118 B pos hold off set Viten you need to start the notor fromthe state of hold off you should cancel the hold off state enough tine before sending the control pulse in accordance wth notor s character CG course when you set hold off again you should send the conmand enough tine after fi ni shi ng to send the control pulse scan 4H stop conmand By this conmand scan and hone position LS detection are done connand 1E scan 4H stop 1F scan 4H stop EX S301E A pos scan amp HP stop sl ow stop conmand Vel oci ty is decreased by the rate whose val ue is preset connand 40 sl ow stop EX S3040 A pos sl ow stop EMstop conmand by this conmand pulse out is rapidly stopped Care for notor speed because notor is possi bl e to be detuned connand 80 EMstop EX 53180 B pos EM stop O bytes conmand form TYPE 3 O GI GT EN O GG O g U CJ oT T if 2 byte conmand 2 A position 8 byte conmand 6 byte dat
25. pproaches to the final point from site if the elimnnation step is the notor approaches to the final point from site By this function backlash of the nechani cs is eli ninat ed C onmand Reference eli nination step count set kept by battery back up set conmand 0020000 0 O eli mnati on step count OO channel OOOO 00 9 or di recti on fromwhi ch notor is driven to approach the final position 00000 dec nal counts NO OOODDDOO exanpl e DN D0 000 000 read out the eli mnati on step counts it s read out any ti ne you can read out conmand 000 recei ve form 0000 0 0 or approach direction 0000 deci nal counts 0o0O0O0OOOODOOODO exanpl e D000000 0000 auto backl ash eli nnnati ve dri vi ng nove conmand Auto backlash el i nnnati ve dri vi ng can be operated by adding B to NB position 8 byte conmand 00000000000 DOO 000 NO position byte command 0 000000 dri vi ng data HEX o0 0 conmand rel ati ve dri vi ng absol ute dri vi ng O 0 auto backl ash eli ninati on is operated 000000000 DOO 000 NO position byte command O00 00 dri vi ng data HEX OO 0 conmand rel ati ve dri vi ng absol ute dri vi ng 0 O auto backl ash eli nnnati on is operated Vhen you use backlash el i nhnati on 1 1f the stop conmand is sent to PML6C externally or front panel stop SWthe notor is slow y stopped at the point After that the backl ash eli ninati on sequence is nornal ly cancel ed 2 1f you have
26. preset relative data for REL and ABS i ndex digital sw digital sw novi ng digital limht data set For each 2ch A B ch sel sw call channel to the two control w ndovs A B SCAN MIDE conti nuous scan for sel ected channel di rected by J GG sw ABS DX ME novi ng to the indi cated position by the digital sw step node REL DX MLE novi ng i ndi cated val ue by the digital sw H STOP M stop by Hone Posi tion Li mat Sw speed sel select L M Hspeed can set freely for each channel remcontrol renote control over PIQ IB RS232C port Ethernet for 02Z NT instead of RS232Q cace AA 3 INT rack nount type 132Hx 482k 420D For the other infornation feel free to ask us Tsu i Electronics Co Ltd Tel 81 0 29 832 3031 Fax 81 0 29 832 2662 E nail i nfo suyj i con jp URL http www tsyji con jp 3739 Kandatsu nachi Tsuchi ura city Ibaraki 300 0013 J apan ype
27. set the stopping SRQ the SRQis expressed after notor stoppi ng 3 During the sequence of backlash eli ninati on if LS in driving direction is struck 19 the notor is sl owy stopped and after that the sequences cancel ed 4 By addi tion of this function the direction of notor driving becone to be nore conp ex therefore li nnt SWsetti ng shoul d be requi red to be care 0 0 Additional Functions Pulse output style change PML6G 02Z has two pulse output styles for the Diver s requi renent Qe is OWpul se COW pul se style P P style and the other is pulse di recti on P D style PML6G 02Z is set P P style as a default setting when shi ppi ng This function can change the pulse output style if necessary The pul se output style is set to A position and B position control 1C in the PM6C 02Z i ndi vi dual y So you can set P P style to A position and P Dstyle to B position for exanple The notor control using one control wndow ex A position is the sane style pulse outp ut instead of sel ected channel s A position control and B position control can also be set to P Dstyle Setti ng check and change 1 Press STUP button in local node and go into setup node 2 When pressing the REM LOC button A B control button anp indicate the pulse output style If the lanp off the button indicate P P style and if the anp on the button indi cate P D style Confirnati on pulse output styl e 3 While pressing the REMLC button pressi
28. t channel read and renote l ocal change conmand If these conmands are recei ved duri ng pul se sendi ng any operations are not started before fi ni shi ng the pulse out It is enable only in REM node CH reading out and REM LOG changi ng can be operated both in renote l ocal Dates are read out as the recei ve formbel ow conmand form Es Seb Eb el channel data 0 F In Ch readi ng and renote ocal changi ng it can be i gnored R Renote node change TYPE 3 L LOUL node change TYPE 3 QO position channel read TYPE 1 1 A position channel sel ect TYPE 2 2 B position channel sel ect TYPE 2 3 SRQ next 2characters are 8 bit pattern 4 SRQ status read out autonati cal ly cl eared after SRQ status readi ng out HAAN Hita B7 BO BI B pos stop SRQ B7 i gnore SR reset conmand EX 51301 A pos stop SRQ 11 S1302 B pos stop SRQ S1380 SRQ reset SRQ cl ear Recei ve form Oo OF OF BQO data 00 F SRQstatus ower bites i A ch data 00 F SRQ status hi gher bites Vien ch is selected old data are saved and new data are set These process takes a fewti nes about 30nS Therefore you should send the comand after conpl eti ng the ch selection The conpl eti ng can be known by Ch readi ng out conmand b Data amp status read connand At any tine position data and status are usually read out by this conmand This is enable in whichever nodes renote ocal conmand form 0 0 Oo
29. t SWor Stop SWon front panel ABS Absol ute Position Set Diving REL Rel ati ve Position Set Diving HP Hone Posi tion Stop Dri vi ng Present driving node is shown on the front panel by LED Mbdes and position are nenori zed as back up data by battery for five years The data can be set in REM node as above shown Use the data conmuni cati on forns as bel ow TTT 1 1B EX NEC PO9801 29N 2 RS232C 3 Handy consol e PML6 HOL opti on Motor is stopped when a Linht Swtch is detected b Hone Posi tion Swtch is detected c Software Li nnt Swtch is detected d stop swtch is pushed Enabl e di sabl e can be set for each notor a b c Contact type can be set for each notor a b c MAG NG d function is enable in both renote ocal c is a function in which the notor is stopped at the point set by front panel or by renote operati on n the case of af d the notor is stopped through si ow stoppi ng process to prevent det uni ng Hand box operati on tQly 2 channel can be operated which are displ ayed on the front panel AN COW og operation is possi bl e By use of the Hand box you can operate PM6C while you watch the nachi ne novi ng If you need nore nol ti functi on handy consol e PM6 HDL is useful Pl ease contact us and order pl ease Hold off Wfen notor is stopped power is autonati cal ly turned off Each channel can be set to take the hol d off function or not The h
30. x scan 10H constant s absol ute i ndex conmand 11H O increnental index conmand 12H Q absol ute Prax conmand 13H d Data read out commend HH HARA AR HHA HAAG e Data wite on conmand rode URHHHRHHHHH f Linnt SW amp renote oca rea UU D 2 2 Procedure of data conmuni cati on by 1 B RS232d 2 3 Sanple Programof data conmuni cation 0 OO 0 O O Addi ti onal Functi ons Auto Backl ash eli manati on OO O LL Agar EI onal Functions Pulse output style change OUUU O O connection with outer equi net JO OOOOO0O00U0UUUU O Specifications VOOOUOGO0O0UUUUUUUUUUUUUUU HS T OOOO Dog 0 PM16C 02Z User s Manual O 0 I ntroducti on 1 Characteri sti cs Qe PM C can control les than 16 steppi ng notors Char act eri sti cs HSPD MPD LSPD RATE LMSW of each notors can be set as you Li ke Any channel can be i nhi bi ted to operate Tvo nators can be dri ven synchronousl y The two notors can be started at the sane ti ne Li nht SWstatus Pulse out status and Position of the two notors are shown on the front panel Diving Mde m m RENT LOT sere Run AS REL all LED are turned off RENT Gontrol led by other equi pnent through conmuni cati on i ne LOL Controlled by Swtches on the front panel SET UP Setti ng of the notor dri vi ng procedure DR V NG Mtor dri vi ng is possible in this node set up unp turn off SCAN Si npl e dri vi ng can be stopped only by Li nn
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