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PM16C-04, -04S Manual
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1. d wite 80H to 5 ch address 9 dat a FEPD PRI NT 7 555980 e read out the present A posi ti on pul se count PRI NT 7 S20 data read out conmand PUT 7 1 A data i nput PRI A data pri nt 0 O Auto Backl ash Eli ninati on It can be operated over IB RS232C or LAN conmani cati on i nes 1 What is the Auto Backl ash El i nhnati on By this function you can preset the value of elinanati on step then notor is dri ven to posi ti on where you want to stop the nator after the eli ninati on step dri vi ng For exanpl e If you set 0000 as the eli mnation step at first the nator is dri ven to the positi on were the count is X And after that the nator is dri ven back to the position for O steps then driving is finished to reach the positi on X If the eli ninati on step is the notor approaches to the final point from site if the eli mnati on step is the notor approaches to the final point from site By this functi on backl ash of the nechani cs is i minat ed 2 Gonmand Reference 2 1 eli nnnati on step count set kept by battery back up set conmand DODD B eli mination step count X channel 0 F or direction fromwhich notor is driven to approach the final position DDDD deci nal counts 0000 9999 exanpl e B0 5000 BF 3000 s DA 2 2 read out the eli mination step counts it s read out any ti ne you can read out conmand BX repl y OD or approa
2. read out conmand VER repl y 1 10 01 03 08 It means Ver 1 10 and registered on the date 2001 03 08 10 Another added conmand omitted 25 11 Additional functi on Pul se out put change PML6G 04 04S has two pulse output styles for the Diver s requi renent Me is OWpul se GOWpulse style P P style and the other is pulse di recti on P Dstyle PML6G 04 04S is set P P style as a default setti ng when shi ppi ng This functi on can change the pul se output style if necessary The pul se output style is set to A B C and D position control IC in the PM6C i ndi vi dual y So you can set P P style to A B position and P Dstyle to C D position for exanple The notor control usi ng one control window ex A position is the sane style pulse output instead of sel ected channel s A B Cand D positi on control can also be set to P D style all Setti ng check and change 1 Press SETUP button in ocal node and go into setup node 2 Vhen pressi ng the REM LOC button A B Cand D control button anp i ndi cate the pul se output style If the lanp off the button i ndi cate P P style and if the anp on the button i ndi cate P D style Confi rnati on pul se output styl e 3 While pressi ng the REM LOC button pressi ng A B Cor D button cause the change of lanp on off status alternatel y Change of pulse output styl e 4 If the setti ng is changed new setti ng wll be valid after next
3. in the case of RS232C IBis omtted here 1 PANEL DB25S CABLE DB25P 2 PIN ASS N shovs the flow of data PML6G 04 MS other controller 1 SHED can be omtted 1 SH ELD 2 TD 3 RD 3 RO 2 5 CIS 4 5 7 SIGGD 7 S G AD 6 CER ED 20 DIR RS23C2C debug t ool If RS232C li ne can not work vell the cause of that is hard to be found Therefore we prepared the tool for hel pi ng to sol ve these probl ens Pl ease keep the stop PB while power is turned on then recei ved character is di spl ayed echo back You can refer the character and get sone infornati on about the probl emyou neet If echo back is not vell displayed the RS232C line is possi bl e to be badly wred Or if you get curi ous characters baud rate and pari ty should be exanh ned 15 2 1 Gonmand in detail for both 52326 and CP IH a Channel select channel read and renote local change conmand If these conmands are recei ved duri ng pul se sendi ng any operati ons are not started before finishing the pulse out It is enable only in REM node CH readi ng out and REM LOC changi ng can be operated both in renate local Data are read out as the receive form bel ow conmand form Oo o0 I channel data 0 F In Ch reading and renate local changing it can be ignored R Renote node change TYPE 3 L LOU node change TYPE 3 0 position channel read TYPE 1 1 A posi ti on chann
4. 2 byte conmand TYPE 3 4 LSPD set TYPE 3 5 MPD set TYPE 3 6 HSPD set TYPE 3 8 C positi on 2 byte conmand TYPE 3 9 D positi on 2 byte conmand TYPE 3 s ow stop and EM stop conmand are TYPE 1 17 jog conmand conmand for jog dri ve conmand 08 40 jog drive 09 GW jog dri ve constant speed scan conmand By this conmand nator speed is set to be constant val ue which is preset as you like conmand OC XQW constant scan dri ve OD CCW constant scan dri ve The speed is set at the val ue whichis last selected by push SW H Mand L in LOC node or which is last selected by speed sel ect conmand in REM node Thi s procedure is sane in other control s shown bel ow scan conmand Mtor speed is increased fromLSPD to set val ue as trapezoi dal dri vi ng conmand OE CY scan dri ve OF CCW scan dri ve speed sel ecti on conmand By this conmand the nator speed is sel ected fromHSPD MPD or LSPD Al A B G DPG are set as sane range Thi s conmand is effecti ve for the channel whose nator renai ns stati onary The channel of the noving nator is kept to the ol d range conmand EX S34 LSPD sel ect S35 MPD sel ect S36 HSPD sel ect Conmands for synchronous starting of nore than one notor The pause comand shoul d be sent to PMI6C before starting of nare than one notor at the sane tine If jog conmand is sent after pause conmand notors can not be dri ven
5. 25 2600 55 7 400 85 16400 B5 36 500 27 2800 57 7 600 87 16830 B7 37 600 29 3000 59 7 800 89 17 240 EO 0 2A 3100 5A 7 900 8A 17 420 BA 39 370 2B 3 200 5B 8 000 8B 17 600 BB 40 000 26 3300 5C 8200 8 1780 2D 3400 5D 8400 80 17990 2E 3500 5E 8600 8 18180 2F 3600 5 8800 8 18380 6 Synchronous dri vi ng ABCD can be dri ven i ndi vi dual y Vien nore than 2 notors are sel ected they can be started synchronously at the sane ti ne by JOG START sw tches a 7 Auto hol d of f If you set the nator hold off the pover of the nator is turned on onl y when the notor is being dri ven in local node 8 Inhi bi ti ng J og If you set the nator off any operati ons shown above can t dri ve notors O refer page 7 4 G LMSW 9 Hand box operati on By use of hand box you can dri ve notors while you watch the nechani cal novi ng Then four CH di spl ayed front panel can be operated as OYCOWj og dri vi ng You can change control CH on the front panel In the HP node you can also operate by the hand box O Renate node dri vi ng Thi s node is possi bl e when renate local SWshovs to be RENT If the renate l ocal SWshovs LOC push the SWagai n or send the conmand externally to change the node to be REM And after that conti nue to operate as bel ow Renate node dri vi ng can be operated
6. 4j og 09 j og OC 4CSPD scan OD CSPD scan OE 4scan OF scan 16 pause on 17 pause off 18 hold off 19 hol d on 1E 4scan amp H stop IF scan amp FP stop 40 sl ow stop 80 EM stop D position 2 byte conmand OO conmand 08 4j og 09 j og OC 4CSPD scan OD CSPD scan OE 4scan OF scan 16 pause on 17 pause off 18 hold off 19 hold on 1E 4scan amp FP stop IF scan amp FP stop 40 sl ow stop 80 EM stop C posi ti on 8 byte conmand OX position data D l conma 10 CSPD REL DX 11 CSPD ABS DX 12 REL DX 13 ABS DK auto backl ash correcti on wth B C posi ti on DEC i ndex conmand O A absolute index scan relati ve index scan OD DEC posi ti on data H E31 E33 QH LL 3 Ci DI auto backl ash correcti on wth B D positi 8 byte conmand QQ FEX posi ti on data OO conma 10 CSPD REL DX 11 CSPD ABS DK 12 REL DX 13 ABS DX auto backl ash correcti on wth B D posi ti on DEC i ndex conmand A absolute index scan relati ve index scan OD DEC posi ti on data 2 auto backl ash correction wth B data read comand X channel N 0 F Y data Nb OF rep y 000001 X 3 byte data fromread data address posi ti on data read X channel Nb O F PS position data read rely N 000000 DEO forward DAS read X channel N 0 F FL forward DGS read rely N 000000 D
7. OE 4scan OF scan 18 hol d off 40 sl ow stop 80 EM stop B position 2 byte conmand conmand 09 j og OC 4CSPD scan OD CSPD scan 08 4j OF scan 16 pause on 17 pause off OE 4scan 19 hol d on 1E 4scan amp H stop IF scan amp FP stop 1 B B B B auto backl ash correcti on w th O A absolute index scan R relati ve index scan auto backl ash correcti on w th auto backl ash correcti on w th A absolute index scan R relati ve index scan auto backl ash correcti on w th 18 hol d off 40 sl ow stop 80 EM stop O00 A position 8 byte conmand O0000 0 position data Q conmand CO 10 CSPD REL DX 11 CSPD ABS DX 12 REL DX 13 ABS DX A posi ti on DEC i ndex conmand OD DEC posi ti on data B position 8 byte conmand uult Hes posi tion data D l conma 10 CSPD REL DX 11 CSPD ABS DX 12 REL DX 13 ABS DK B posi ti on DEC i ndex conmand DDDDDDD DEC posi ti on data ODO QH Q O HEC OO REPLY ETC speed change S34 L SPEED S35 M SPEED S36 H SPEED C posi ti on es conmand conma 08
8. Then the val ues are not coi nci dent In such cases please sel ect the channel again That case night be happened when the nonsense conmand is used O increnental index conmand Rel ati ve setti ng i ndex drive is done by this conmand The speed is increased and decreased bet ween LSPD and MPD Addi ng B after the last character the nator wll nove in backlash el i mination node conmand DI DI OO 12 increnental IDX drive gr OOO dat a3 datal D data2 pul se counts pul se out are shown 0 as Z s conplenent QW 10 QW 48 388 607 setti ng sanpl e COW 10 COW 8 388 608 20 absolute i ndex conmand Absol ute setti ng i ndex drive is done by this conmand The notor speed is increased and decreased between LSPD and MPD conmand DI OO 13 increnental IDX drive Ere EE Hes data3 Desti nati on desti nati on data 1 data 2 data 3 is shown as 0 OOH OOH OOH 2 s conpl enent 10 00H OOH OAH sanpl e 8 388 607 7FH FFH FFH 10 FFH FFH F6H 8 388 608 80H OOH OOH 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 please sel ect the channel again That case night be happened when the nonsense conmand is used her conmands n scan dri ve navi ng or in
9. and 2 is for wthout FP detection nenory speed sel select L M H speed can set freely for each channel remcontrol renote control over PIO CP IB RS232C port further Ethernet for PML6C 04 cace EIA 3 UNT rack nount type 132Hx 482 420D For the other infornation feel free to ask us Tsuj i El ectroni cs Co Ltd Tel 481 0 2 832 3031 Fax 81 0 29 832 2662 E nail i nfo2 suji denshi co j p URL http www tsuj i denshi co jp 3739 Kandatsu nachi Tsuchi ura city Ibaraki 300 0013 Japan 28
10. by Parallel I O 1 IB 2 RS232C 3 Above 3 are conmon in PML6C 04 and PMLEC 04S About the conmuni cati on over Ethernet LAN 10base T only for PML6C 04 see a separate vol une These conmuni cati on node can be sel ected by setti ng SWof rear panel as shown below The setti ng SWshoul d be changed before power turned on if necessary 1 External Conmani cati on over PI O port onntted Fig 3 external conmauni cati on sw DO CN RS232C port enable 0 0 OOO G IB port enable ON u L uu CP I B ny address or CFF 52326 baud rate uu setti ng u T 1 1 1 1 T 1 1 1 1 Wien IB 15 selected 2 2 2 2 2 ny address O 9600 baud If nore than T 1 1 1 1 O O 4800 baud two SV are Wien RS232C is selected gt NOQ 0 D QQ 2400 baud on hi gher 0 0 1200 baud is selected When both RS232C and CP IB are ordered at the sane ti ne onl y RS232C is sel ected DO By use of the optional handy console PML6 HDI connect ed to RS232C port in IB node less than additional 6 notors can be control ed posi ti on noni tori ng jog scan REL IDX ABS I DX and preset duri ng IB control 2 RS232C GP IB data conmuni cati on a Introducti on s TAs A PML6C 04 or 04S has a IB control G TME9914A and has a RS232C control IG H 4941 In this system nonsense conmand or i npossi bl e conmand EX reverse dri ve duri ng nornal dri ve are ignored so that al nost al
11. data X channel reply ROD d ASTI dec read hone posi tion X channel reply OOD ASAI 7 dec read HSPD of channel X repl y ROOD D ASAI 5 dec read MPD of channel X repl y RDCDDD D ASAI 5 dec read LSPD of channel X repl y RDCDDD D ASAI 5 dec read hone position status X0 F channel reply RHH H ASAI hex conmuni cati on ports 2 3 Sanpl e programof data conmuni cati on 1 Wat is the auto backlash el i minati on O O Auto backlash el i nnnati on 2 Gonmand reference C DH 3 When you use backlash eliminati on 16 bit digital data I N OJT omtted Hone posi ti on detection i n renate node OU OU OOOO NNI Book Dees Fs DE SoogOnoD t oOo B O 6 g Eo t E Soe OO OvT Lee DI 5 Wh 5 FES c 0 6 5 5 6 O 00 85 8 5 gt ISS coon 2539 E m cl Bi o D 257 1 M 5 6 8 gt 0 42 lt a Bo 58 snoda gom oUt 5 5 2 v q Ju e Synchronous dri vi REL and ABS i ndexed SCAN 1 Speed selection OOO 2 Changi ng the dri vi ng no HP stop node Conti nuous SCAN Channel sel ecti on Jog dri vi ng OOO Posi ti on data pres Auto hol d
12. m Pu ie SET REI 2 inc gem d BEC c ugo ipse Ej Guam H Hai E DEC DEC DEC O FUNCTION CHANNEL CONTROL De dee ASE HAND e Es c o TETO i O O as ote ta DENSHI CO Power SW amp Lamp channel select SW contral SW i speed select NES Functian 5W amp Lampe Step mode SW amp Lamp hand box connectar 2 Function SW in detail REM External control node Manual driving node 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 MEPD 650PPS LSPD LOPPS RATE 300n 1000PPS hol d off node LS N O jog pul se count szl QWS 1000000 CAWS 1000000 Each pushi ng changes the renate local alternatel y It can be al so operated exter nal y SET UP SET LP If you push thi s SWwhen nator renai ns stationary i n LOG then the node is changed i nto set up node MODE Pl ease set the data for notor driving in this node By these SV you can sel ect whi ch nator is dri ven Available only in local node Each pushi ng changes anp on off al ternatel y Lanp on CH can be dri ven at the sane ti ne n SET LP node you can choose di spl ay w ndow L PRESET PRESET a In DRIV NG node data of digital SV are set as present data By A 0 D SW you can select the CH to which data are preset NC b In set up node The val ues of data are i ncreased Large val ue data such as the Soft vare LS is set by dig
13. off I nhi bi ti ng J og O Hand box operati on QO Local node dri vi ng 2m 3 4 5 6 7 9 L1 L3 C3 L3 LE Ez3 Ez Ez EE EST EZ IAA Ez Ez Ez E33 E EE ESI EEE L1 L3 C3 L3 a Cierre E71 ET ET EYE CICERONE EES EY E53 O ET ES EC BE ric rn opono 5 n Emm OOZES gorro rici ern 55 28 ooa uo Sn n 0 2 AIH WH CO HPO BRIS 0952 ESS o Ao od 3 5 DO 3 E Cbs ooo 5 Toe M OD uw Bons BR BAY ess Ses 9 CR gt 8 5 SEs O RRR Qu gp gsi sp gt dama n O O Setting the notor characteristics CI EC OU OU Front panel layout Functi on SW in detai DO Panel ayout Rear panel ayout 4 Connectors on the rear panel 1 2 3 page 2 Concept of PMLEC control 1 Qaracteristics 000 O O Abstract LL Oo Oo Oo Oo Ooo OOo Ea EE ee T O O Versi on i nfornati on D7 O00000 10 Another added conmand onntted O 11 Additional functi on Pul se out put styl e change 12 Connection wth outer equi pnent O 13 Specification 00000000 PML6C 04 PML
14. on off Even if you choose the code data the pps unit data is set to new data autonati cal y But if you choose the pps data the code data is not changed to new data Setti ng code data a Push the data SW START SW and select setti ng No 9 b Set data by use of INC SW PRESET SW or DEC SW STCP SW A rel ati onshi p between data and speed can be known by use of table 1 5pps to 40 000pps data are avai abl e c Channel can be changed by the SWunder the di spl ay Di spl ay CH O iO 0 O JO JO 0 n Lo L I set No 000 data channel Setti ng PPS uni t data PPS pulse per second P S a Push the data SW START SW and select setti ng No 9 b Set data by use of digital SWunder the di spl ay w ndow Wite the data i nto the nenory by NC SW PRESET SW or DEC SW STCP SW lpps to 100 000005 can be set C Channel can be changed by the SWunder the di spl ay spl ay CH fo jojo jo set No data channel D MPD Md Speed a Push the data SW START SW and select setti ng No 0 Howto set the data is the sane as the HSPD E LSPD Low Speed Setting No ff a Push the data SW START SW and select setti ng No D Howto set the data is the sane as the HSPD F RATE speed up down rat e a Push the data SW START SW and select setti ng No D b Set the data by NC SW PRESET SW and LEC SW STCP SW A rel ati onshi p between data and rate can be known by use of
15. power on The pulse output style wll be nenori zed by the backup battery 26 12 connecti on with outer equi pnent 1 connection wth dri vers connector PI N assi gn DE9S TO DRI VER Dri ver 2 proxi nity SW connecti on LS type both NO and NC ok O OWLS 1P 2P O COWS 12VTotal Max 0 BA HP 3P 0 4P cauti on Connector shell size of LE9P and 9S is vari ed fromeach naker s Out vard f orm 35Wcan be used for PML6C C1 J 6 J AE XMS 0911 OMRON and HLE CIF H ROSE are possi bl e to be used dra 13 Speci fi cati ons AC 85V 264V 47 A40Hz 50VA OW COW HOLD CFF 5V 8n amp pl us conman for each 16 notor cn dri ver suppl y 12V for sensor total IA for each notor 7 digit position di spl ay For each 4ch A BCD 1 digit channel display For each 4ch A BCD 7 digit counter preset relative data for REL and ABS index digital sw digital sw noving digital limt data set PPS unit speed set offset data for HP detection For each 4ch A B CD Ichsd sw call channel to the four control w ndovs A B CD START novi ng start for selected channel accordi ng to the node continuous scan for sel ected channel directed by J OG sw ABS DX MODE novi ng to the i ndi cated posi ti on by the digital sw step node REL DX MOLE novi ng i ndi cated val ue by the digital sw HP STOP MIE stop by Hone Position Li nit Sw total 3 novi ng style lis for wth FP detection nenory a
16. table 2 C Channel can be changed by the SWunder the di spl ay spl ay CH GS FEE E EIS DE JO J0 o ba b set No 000 data channel m G LWO Li mt SWetc a Push the data SW AB SW and select setti ng No b Set data by use of INC SW PRESET SW or DEC SW STCP SW C LS status can be set while you see the LEDto knowthe present status turned on LS on turned off LS off details are shown in LS data structure d If highest bit is set to zero lt 7FH which neans nator off then OWand GOWLS anps are swtched to showthat the notor can not be dri ven e Channel can be changed by the SWunder the di spl ay D spl ay E L L set No 000 data channel S data structure H gher bit of Hex Lower bit of Hex OWLS contact 1 B 0 A OWLS contact 1 B 0 A ZERO LS contact 1 B 0 A 6 OWLS 1 enable 0 di sabl e OWLS 1 enabl e 0 di sabl e OGTAL LS 1 enable 0 di sabl e G hold off 1 nornal 0 hol d off notor enable 1 notor on 0 nator off QCWGONLS AB contact type setti ng When these bits are 1 they are B contacts when they are 0 A contacts A contacts when LS is struck the contact becones electrically to be It is nornally open so it is also call ed as NO contact Draw ng D S B contacts Wien LS is struck the contact becones electrically to be open It is nornally CLOSE soit is also called as NC cont
17. until pause off conmand conmand 16 pause 17 pause off EX S3X16 pause S3X17 pause off The sequence of Synchronous start is that 16H pause is gi ven to the each controller and after that 17H pause off is gi ven to start nore than one nator synchronousl y The thi rd character X shows channel and then 0 1 8 and 9 are effective for all A B G D These conmands don t gi ve any effects to the notors that are al ready novi ng 18 hol d off set rest conmand conmand 18 hold off set 19 hol d off reset EX S3018 A pos hol d off set S3019 A pos hol d off reset 53118 B pos hol d off set When you need to start the nator fromthe state of hold off you shoul d cancel the hol d off state enough ti ne bef ore sendi ng the control pulse in accordance wth notor s character Cf course when you set hold off again you shoul d send the conmand enough ti ne after fini shi ng to send the control pulse scan amp FP stop conmand By this conmand scan and hone posi ti on LS detecti on are done After stopping if HP sensor works hone positi on data positi on HP sensi ng di recti on FP detection are nenori zed conmand IE 4scan amp FP stop IF scan amp FP stop EX 53015 A pos scan amp FP stop s ow stop conmand Vel oci ty is decreased by the rate whose val ue is preset conmand 40 slowstop EX 53040 A pos sl ow stop EM stop conmand by this conmand pulse out is rapi dl y stopped Car
18. 16CH STEPPI NG MOTOR CONTROLLER UO w UU ws USER S MANUAL 2449 2519 VER 3 es APPLI CATI ON OF ELECTRONIC DEVI CES TSUJICON TSU I ELECTRON CS CO LID 3739 Kandatsu nachi Tsuchi ura ci ty baraki Pref 300 0013 J apan Phone 81 0 29 832 3031 fax 481 0 29 832 2662 URL http www tsuj i con j p E nai i nfo2 suj i denshi co j p 00 000 OOOOOOO EXCEPT MARKED COMVAND renote node change local node change OO nator channel No reply of set nator channel to A set nator channel to B SRQ set when A nator stopped SRQ set when B nator stopped SRQ set when C nator stopped SRQ set when D nator stopped SRQ when A B C D notor stopped conti nati on avai abl e G D fi gure e LL L al so wth G 1B COMAND Il FC SRQ cancel D position data read reply D position data read reply E I 000000 0 1F scan amp FP stop FEQ to C to D repl y 0 SROflag read D set nator channel set nator channel A positi on data read BS OOO OOOO Ra GE SER O Rg HEX OD CSPD scan 17 pause off OC 4CSPD scan 16 pause on 19 hol d on IE 4scan amp HP stop A position data read reply D positi on status read reply A posi ti on 2 byte conmand conmand 08 4j og 09 j og
19. 5 digit decinal data LSPD read out conmand form OOO read channel address O F recei ve form 000000 OO ASG 5 digit deci nal data DR e Data wite on conmand By this conmand basic data stored in each ch can be rewitten This is enable in REMI node However speed data cannot be rewitten while nator is dri vi ng and the data are rewitten autonati call y after stopping the nator conmand form TYPE 1 E wite data 2 FEX CLE in ASTI style wite data address 0 F write channel address O F pps uni speed data wite on HSPD wite on conmand form 000000000 DASOI 5 digit deci nal data wite channel address 0 F MPD wi te conmand form DASOI 5 digit deci nal data wite channel address 0 F wite on conmand form update DASOI 5 digit deci nal data wite channel address O F f Li nnt SW amp renate l ocal node read By this conmand LS status and renate local node status are read out in any ti ne However it is required for approxi natel y 30ns that the ch is changed by the conmand n LS status read nore 1005 is requi red conmand form TYPE 1 recei ve form O data HEX COLE in ASCII style BF BE B P HP ON O upper HEX CODE BD B P CONLS A 0 0 BC B PO OW IS A 00O BB CPU MANU STATUS 1 CPU BA A POS HP NOD B9 A P COWLS NG EH cauti on B8 A PO5 OW LS N 00 For conpati bi
20. 60 9000 90 0 1 10 31 3800 61 9200 91 18 940 2 25 32 390 62 9400 92 0 3 50 33 4 000 63 9 600 93 530 4 75 34 4100 64 9800 94 0 5 100 35 4200 65 10000 95 20 160 6 150 36 4300 66 10200 96 0 I Rg am or joa ow 080 Sp done ona 4 600 69 10 800 99 0 0 amo ox a 21 990 B 40 38 4800 68 1 210 9B 320 c 450 3c 4900 6c 11410 9C 22 730 D 500 3D 5000 6D 11600 9D 23 150 550 3E 5100 6E 11 800 9E 0 F 60 3 5200 6F 11990 9F 24 040 10 650 40 5 300 70 12200 AO 0 11 700 41 5400 71 12400 AL 25 000 12 750 42 5500 72 12600 510 14 900 44 5 700 74 12 990 AM 0 15 1000 45 5800 75 13200 70 16 1 100 46 5 900 76 13 400 6 27 620 17 1200 47 6000 77 13 620 7 28 090 18 1300 48 6100 78 13810 8 28 570 19 L400 49 6200 79 14000 9 29 070 1A 1500 4A 6300 7A 14200 AA 29 590 16 1 700 4C 6 500 7C 14 620 AC 30 680 piso ae fe iso x seo 1E 1 900 4E 6 700 7E 0 31 850 1F 2000 4F 6800 7F 15200 AF 32 470 20 2100 50 6900 80 15 390 BO 33 110 21 2200 51 7 000 81 15580 Bl 33 780 22 2300 52 7 100 82 15 770 34 480 23 2400 53 7 200 83 15970 B3 35 210 24 2 500 54 7 300 84 16 180 BA 35 970
21. 6G 045 User s Manual O O Abstract 6 04 PML6G 04S desi gned as an upper versi on of PML6C 022 or PML6C 02N has sane conmuni cati on conmand and si nhl ar operati on as PML6C 022 or PML6C O2N PML6C 04 PML6C 04S can control 4 notors at a ti ne al though PML6C 022 or PML6C 02N can control 2 notors at a ti ne PML6G 04 has a 10BASE T Ethernet interface for LAN use PMI6C 045 is a lowcost type without LAN inter face 1 Characteri sti cs Me PMC can control less than 16 stepping notors Characteri sti cs HSPD MPD LSPD RATE LMSW of each notors can be set as you li ke Any channel can be i nhibited to operate Q Four notors can be dri ven synchronousl y The four nators can be started at the sane ti ne Lint SWstatus Pulse out status and Position of the four notors are shown on the front panel Driving Mode I 1 REM LOL sre ms all LEDs are turned of REM Control ed by other equi pnent over conmuni cati on i ne LOCL Control ed by Switches on the front panel SET LP Setti ng of the nator dri vi ng procedure DRM NG Motor driving is possible in this node set up unp turn off SCAN Si npl e dri ving can be stopped only by Li nit SWor Stop SWon front panel ABS Absol ute Position Set Dri vi ng REL Rel ati ve Position Set ri vi ng HP Hone Posi ti on Stop Dri vi ng Present dri vi ng node is shown on the front panel by LED Modes and positi on are nenori ze
22. EO backward DAS read X channel Nb O F BL backward DGS read reply 0000000 oO data wite conmand X channel No Y data No wite data FEX positi data wite X channel No O F PS position data wite D DODDDDD wite data LEQ forward DAS wite X channel Nb O F FL forward DGS read DODCDCD write data LEO backward DAS wite X channel No O F BL backward DGS read OO write data LEO status amp LS read a rowof data is B AD 6 for 02N conpati bl e rep y OOO OQ HEX REMLOG LIMT SW backl ash correcti on data for CH X set h FEX F10 270F 0 backl ash correction data for H X read reply 7G 000 HEY D backl ash correction data for CH X set Of 9999 deci nal backl ash correction data for CH X read reply 0 CEQ PIO port status read rep y 0 00 PlOport QUO PlO conmoni cati on port set PIO port as a nornal PIO port 0 set PIO port as a PIO conmni cati on port 0 data read fromPI O port repl y 1 0000 XX port 1 data YY port O data FEX data wite to PIO port XX port 1 data YY port O data X read version i nfornati reply 0000 00 00 00 E3 H4 C3 E303 4 Added conmand nrch 3 2001 Find Hone Posi ti on of channel A read offset
23. J oggi ng cont i nues 2 Concept of PMLEC control Steppi ng nator controller PML6G 04 04S has a CPU whi ch control s the hol e of the system four CPU whi ch control the stepping notors The connecti ons bet ween the four CPU and 16 of steppi ng notors are changed properly Present positi ons p resent velocities differential velocities in starti ng and stoppi ng phase etc ar e stored in the nenori es as battery back up which are read out and renewed any ti ne you need Push Button SW LED Lanp IN OUT port total pul se out control connectors CEU _ for 16 of Mtors c B conmuni cati on port 1 i PIO 1B_ RS232C LAN di spl ay N g 1 LANis for only PM6C 04 CPU for G C ch E di spl ay R i CPU for D ch C C input connectors H for Li nit SW N G EE ey ae DO Panel ayout Front panel layout 1 Fig 1 Front panel layout Driving dirrection pulse out status LS status lamp Position Display selected CH display channel select SW PM16C 0 1600 STEPPIMG MOTOR CONTROLLE A O APOSITION CH CPOSIIION CH position of O Q o HP H P 8 oe PI ba 2 DATA pru m ms
24. LSE GP IB 09 2326000 QE e S Edo eje eo otio ede edo ode X o gd L LS IN LS IN LS IN LS IN LS IN Ls IN LS IN Rp eX O eC Je eC Do eC je eC Je eC Je eC Je eC Je 6 Je CH8 CH9 CH10 CH11 CH12 CH13 CH14 CH15 F3A PULSE PULSE PULSE PULSE ULSE PULSE PULSE PULSE 69 ORO ete ee ogo offro oko 060 e 1 LAN AC100V 220V LS IN Ls IN LS IN LS IN LS IN Ls IN Ls IN LS IN DM e Je eC of Je eC Je of Le 6 6 6 Jee Jo E ul 6 9 e e x1 9 1 LAN connector and LAN MIE set SWare only for PML6G 04 not PML6C 04S 4 Connectors on the rear panel 1 PULSE DE9S Steppi ng pul se out for Motor Dri vers 2 ISIN DE9P Li mt sw signal input for limt swor photo sensor 3 PIO 57 40500 PI O conmuni cat i on 4 9 Avail able for parallel In Qut port over CP IB RS232C conmuni cat i on CP IB I B conmuni cati on RS232C CB25S RS232C conmuni cati on OP SW Status setti ng for CP I B RS232C conmuni cati on LAN MODE only for PML6C 04 Setting for Ethernet LAN node LAN onl y for PML6C 04 10base T connector for Ethernet F3A Fuse hol der for power supply use 3A fuse ACLOOV AC power supply AC85V AC264V 47 440H 50VA 10 O O Setting the notor characteristics I n PMEC 04 04S each data of 16 stepping notors can be set and stored which is kept as battery back up The data are kept to be nenori zed until reset Then accurate control is realized for any system In setting no
25. act Draw ng ee ZERO OW and CONLS enable Each LS can be set to be enable or disable Wien this bit is 1 the LS is enable Wien this bit is 0 the LS is disable Pl ease care that notor can not stop when LS is kept to be disable Dgital LS enable digital LS can be also set to be disable or enable Wien this bit is 1 it is enable Wen this bit is O it is disable If digital LS is enable notor can stop at the absol ute positi on were is internally set by digital SW OWMCOW as sane as hardware LS hold off IF sone torque is requi red to keep the nator renai ni ng stati onary power shoul d be kept to be turned on But if thereis not such a requirenent sone nator dri vers can be hol d off to prevent the heati ng up and to save the pover When you use these types of drivers nator can be nore effecti vel y dri ven by 8 this bit operation When this bit is 1 hold off signal is disable so that pover is kept to be turned on all ti ne Wien this bit is O in nanual node the power is turned 0 15 before jog starting and turned off 0 15 after jog finishing The nator whose power is required to be hol d off in renote node shoul d be control ed by the sequence i n which the hold off is set to be di sabl e before j og starting and reset to be enable after jog fini shi ng Motor enable You can set sone notors i npossi bl e to dri ve by use of this bit setti ng Wien this bit is 1 it is nornal dri vi ng node
26. be conpl ex Pl ease take care this poi nt Display in detail Li L set No 0000 set data set ch The channel you want to set data is shown in A B 6 D positi on di spl ay The channel can be changed by NV DEC SWunder the di spl ay 4 Procedure of data setti ng A Digital CWLS betting No Right after entering the set up node a Push the data SW START SW and sel ect the setting No 7 15 not show but it is after F b Set data by use of digital SWunder the displ ay wndow Wite the data into the nenory by NC SW PRESET SW or DEC SW STCP SW The data s nean the absol ute positi on where you want to stop the nator duri ng QV dri vi ng C Channel can be changed by the SWunder the di spl ay spl ay CH jO IDO ere po DEI LB o lo te _ o data channel B digital CONLS a Push the data SW START SW and select the setti ng No 8 is not shown but it is after 7 b Set data by use of digital SWunder the di spl ay w ndow Wite the data i nto the nenory by INC SW PRESET SW or DEC SW STCP SW The data nean the absol ute position where you want to stop the nator duri ng COW dri vi ng C Channel can be changed by the SWunder the di spl ay spl ay CH o fo fo o o Jo n E oe data channel C HPD H ghest Speed Can choose code pps unit by speed change PB Once chosen it renai ns in MPD LSPD setting also after power
27. ch direction OD decinal count 0000 9999 exanpl e BO BF reply 45000 3000 2 3 auto backl ash el i nhnati ve dri vi ng nove conmand Auto backlash el i nhnative dri vi ng can be operated by addi ng B to AB positi on 8 byte conmand ex 53220000 58 S32 A positi on 8 byte conmand 00006 dri vi ng data HEX conmand rel ati ve dri vi ng absol ute dri vi ng B auto backlash el i ninati on i s operated ex S33X09009 DB 533 B positi on 8 byte conmand XXXXXX dri vi ng data HEX conmand rel ati ve dri vi ng absol ute dri vi ng B auto backlash el i mination i s operated 3 When you use backlash el i nh nati on 1 If the stop conmand is sent to PML6C externally or front panel stop SWthe nator is slow y stopped at the poi nt After that the backl ash el i nhnati on sequence is nornal y cancel ed 2 1f you have set the stopping SRQ the SRQis expressed after notor stoppi ng 3 Duri ng the sequence of backl ash eli ninati on if LS in driving direction is struck the nator is sl oW y stopped and after that the sequences cancel ed 4 By addi ti on of this function the directi on of nator dri vi ng becone to be nore com plex therefore li SWsetti ng should be requi red to be care O O Hone posi ti on detection i n rente node omtted OO 16 bit digital data I N CUT omtted O Versi on i nf ornati on Can read out the versi on i nf ornati on for the firnware
28. d 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 1 PIO 2 8 3 RS232C 4 Handy console PML6 HDL opti on 5 Ethernet LAN tor is stopped when Li nnt Swtch is detected Hone Posi ti on Swtch is detected Software Li nnt Swtch is detected stop swtch is pushed 5 9 0 col Enabl di sabl e can be set for each notor a b c Contact type can be set for each notor a b c d function is enable in both renote l 068 C is a functionin whi ch the nator is stopped at the poi nt set by front panel or by renote operati on n the case of aj d the notor is stopped through sl ow stoppi ng process to prevent det uni ng amp Hand box operati on Qly 4 channel can be operated which are di spl ayed on the front panel CWGOWj og operati on i s possi bl e By use of the Hand box you can operate PML6G while you watch the nachi ne novi ng If you need nore multi function handy consol e PM6 HDL i s useful Pl ease contact us and order please Hold off When notor is stopped power is autonati call y turned off Each channel can be set to take the hol d off function or not The hol d off can be set externally by conmand through conmani cati on li ne 6 00 switch is used for a Any nunbers of steps 1 9999 dri vi ng b Inching driving Ql y when you keep to push the jog SW
29. de pulse out is stopped Data can not be set during notor novi ng 1 Power on When Power SWis turned on status becone to be default node wthin 1 second Cther data are set as the val ue whi ch are the one last ti ne turned off the power because the all of these data are kept by battery back up 2 Set data Al channel data can be set i ndi vi dual y neani ng QWsoft ware LS stop when pulse count gt data hi gh speed data code unit sel ect hi gh speed data pps unit speed nid speed data code select PB md speed data pps unit value in pps ow speed data code set by ow speed data pps uni t Digital SW speed up down rate see table 2 on page 11 limt sw NO NO noving END hold off etc nenori zed hone posi ti on PB I Uil 1 data for bO start dir bl sens dir b2 get di spl ay hone posi ti on O novi ng offset pulse near hp node change Set No D JOGstep pulse JOG step pulse in local node 3 Prepare the data setti ng In LOC node set up node is selected by set up SW Then A positi on di spl ay shows the data By B G D select sw you can change data di spl ay w ndow If the channel No which you want to set the data appears one of 4 di spl ay w ndovs select that w ndow and set the data If it doesn t you can sel ect the channel by usi ng DEC SWunder channel Nb di spl ay w ndow Cauti ong The di spl ay shows the nunber as HEX 00 F then and night
30. dex dri ve novi ng the novi ng speed can be changed between 10 pps to setting speed in pps unit It is possi bl e only over external conmuni cati on i ne conmand form X position B C D D 5 digit deci nal data After recei vi ng the conmand the speed i ncreases or decreases tar pezoi dal y d Data read out conmand Each channel is read out by this conmand which is enable both in REM and nades conmand form 0 Di TYPE 1 L read data address O F read channel address O F recei ve form O data HEX GEE AST I 3 bytes are returned fromread data address E data address cont ent s 0 posi ti on data 16 16 digital OWS di gi tal CONS 16 16 16 16 16 16 16 16 16 ON OURA U N e HSPD BES BABE EEE ASAE LMWetc b0 OWLS A B b1 OWS A B b2 Z LS 8 b3 OWLS enabl e b4 COWS enabl e b5 di gi tal LS enable b6 hol d 1 CN 0 CFF b7 nator off 0 jog pul se counts E jog pul se counts TRIES TER MAHE F ll pps unit speed data read out HSPD read out conmand form O0000 lL read channel address 0 F recei ve form ASG 5 digit decinal data MPD read out conmand form 00000 read channel address 0 F recei ve form ASG
31. e for notor speed because nator is possi bl e to be detuned conmand 80 EM stop EX S3180 B pos EMstop bytes conmand form TYPE 3 0 5 l L auto backl ash eli mnation wth B L byte conmand umm conmand 6 byte data 6 FEX COLE in ASA I style 3 B posi ti on 8 byte conmand K C posi ti on 8 byte conmand B D posi ti on 8 byte conmand constant speed rel ati ve i ndex scan Mxor is dri ven at the preset constant speed Addi ng B after the last character the nator wll nove in backlash eliminati on node 19 9 conmand LII DI OO 10 constant speed REL I X dri ve pop gs data3 datal Q O0 dat a2 Sanpl e Out put pulse is 2 s conpl enent data 1 data 2 00H 00H FFH constant speed absolute i ndex conmand By this conmand notor is dri ven at preset constant speed Addi ng B after the last character the nator wll nove in backlash eliminati on node conmand LII DI 11 constant speed ABS X dri ve g g gr U 0 data3 datal pp dat a2 desti nati on data 1 data 2 data 3 0 OOH OOH OOH Setting sanpl e 10 OOH OOH OAH Desti nati on address is 10 909 ox an ane a SNOW 2 S COMM ENTE gor 608 80H 00H 00H cauti on Wien absol ute conmand is done it is doubtful that di spl ay counter and control counter are different fromeach other
32. el 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 call y cl eared after SRQ status readi ng out BO A pos stop SRQ B7 BO BLB pos stop SRQ B7 i gnore SRQ reset position channel sel ect TYPE 2 6 5 D posi tion channel sel ect TYPE 2 6 conmand EX 51301 A pos stop SRQ B pos stop SRQ 51302 S138F Me of AB 6 D stop then SRQ SRQ reset SRQ cl ear 51380 Recei ve formfor S10 conmand channel of A B G D position 0 F 0 Recei ve formfor S14 conmand O0 I O SRQ request status ower bites ps When ch is selected old data are saved and new data are set These process takes a fewtines about 30n Therefore you shoul d send the conmand after conpl eti ng the ch selection The conpl eti ng can be known by Ch reading out conmand b Data amp status read conmand A any tine positi on data and status are usually read out by this conmand This is enable i n whi chever nodes renote l ocal conmand form 1 A positi on status read 2 B position data read 16 BH O A position data read TYPE 1 0 3 B position status read 4 C positi on data read 5 C position status read 6 D positi on data read 7 D positi on status read Can get deci nal data by addi ng D to the conmand when you send the pos
33. essed FP detection process wl also be stopped But in this case the FP nenory wll be conserved b REL and ABS i ndexed SCAN n REL node when START PB pressed the nator steps relati vel y by the digital sw data In ABS node it steps to the absol ute data that the digital sw i ndi cate Can stop by limt swtches or STO PB c Continuous SCAN all node LED anps are of f By pressi ng START PB START PB lanp wll turn on that indicate start ready status Next by J GG SW deci de the di recti on the notor wll scan It can be stopped by STOP PB or limit swtches The start ready status can be cl eared by STCP PB Channel sel ecti on pulse is not bei ng sent the channel you li ke to control can be changed by 6 CH sel ect SWin local node In the di spl ay the positi on of the last sel ected notor is show If the SWis operated duri ng pul se sendi ng the operati on wll be ignored Four di spl ay AB CD can not control sane channel at the sane ti ne The systemare progranmed that sane CH can not be sel ected at the sane ti ne Jog dri vi ng In the directi on wii ch is set by jog SW pulses are sent and nator is dri ven If you keep the SWto be pushed nore than 0 5 seconds continuous scan is started Posi ti on data preset Index data can be shown and set in the di spl ay by use of PR PB and A B G D PB CE eae 3 4 Tabl e 1 speed data Tabl e 2 rate data No PS No PS PS PS 0 5f 30 3700
34. i ti on read out conmand ex S20D o o T CH 7 we WH Recei ve form Oo posi tion data 2 s conpli nent of 6 hex code HEX CODE ASC Oo I Status data 2 hex code HEX CODE ASC Status REG D7 De 5 DI BB DI bo sla OPES a BEY Homes version ol po DRI VE VER conmand DRENX V1 30 COMERRI VI 300 COMERR VI 29 0 VI 300 LDEND SSEND ESEND BUSY shows Pulse controller is bei ng operated now Duri ng the novi ng speed change and pulse out conmand are i gnored though sl ow stop and EM stop conmand are effecti ve BUSY status of CDI7 shows CPU status which control s hol e of the system h the other hand the BUSY here shows four CPUs status ABCD which control A B G Dnotors CRI VE Pulse out is bei ng conti nued COMERR The conmand is nonsense DREND Pulse out dri ve fi ni shed LDEND Pulse out is stopped by OWS and CCWS 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 COVERR LSEND SSEND and ESEND are enable only if BUSY 0 These bi ts are cleared by rewiti ng the next conmand LSEND SSEND and ESEND bi t are nonsense when pul se are not sent out by the conmand C Motor control conmand Data and conmand are witten for A B C D positi on control bytes conmand form Hs ipe E uL 2 byte conmand 0 A positi on 2 byte conmand TYPE 3 1 B positi on
35. ital SW 3 START a In DRIV NG node Function is changed i n accordance wth node di spl ay anp novenent when START swis on all off prepare scan waiting to set direction 1 TN ABS on ABS scan start to ABS pos set by digital SW scan start to REL counts set by digit SW HP hone positi on novi ng 1 2 DATA 1 In scan and FP scanni ng is prepared by pushi ng this SW However the scanning can not start wthout setti ng CUGOW deci si on by j og SW 2 see page 9 about details for HP node b In set up node Show ng data are changed by thi s SW Right after entering into set up node OWLS data is shown And GOWLS HSPD MEPD RATE LS status T are shown next to next STP a In RVING node Mtor is stopped in both REM and LOL nodes b In set up node The val ue of the data are decreased STCP Large val ue data such as the Soft vare LS is set by digital SW DEC cauti on node change SW ABS REL HP SCAN are circular changed speed change SW L gt M gt H are circular changed Changes unit code pps in setup node 3 Rear panel ayout Fig 2 Rear panel layout CH O pulse aut GP IB connector CH 0 LS in RS232C connectar Parallel 1 0 cannector CHI CH2 CH3 CH4 cHs cHe PULSE PULSE PULSE PULSE PULSE PULSE PU
36. ital SWunder the di spl ay wi ndow Wite the data i nto the nenory by I NC SW PRESET SW or DEC SW STCP SW Data OQ 9999 can be set C Channel can be changed by the SWunder the di spl ay D spl ay E Lod set No 00 offset pulse channel O Hone posi ti on val ue Read only dat a a You can change the channel by the SWunder the di spl ay Di spl ay CH ojo jo ojo jojo a L hone posi tion val ue channel 5 Finish to set data Turn off the set up SW and get back to dri vi ng node O LOCAL node dri vi ng QI y when renate local SWis set to be local the nator can be driven in local node If this SWis renote you need to push the SWonce and reenter into local node 1 Speed selection By use of speed sel ecti ng PB any speed can be selected fromthe three speed that are preset in each channel which are HSPD MEPD 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 li ke FP REL ABS and scan scan nade is the case that all LED whi ch show dri vi ng node are turned off Just after power on REL node is selected a FP stop node FP node lanp is flickeri ng In this node nator wl stop when FP sensor on When sensor is on the novi ng di recti on and the val ue of hone posi ti on are nenori zed It is necessary that the scan speed is sl ower than the sensor repl y
37. l tine you can access from these conmuni cati on i nes protect fromhung up Recei ve f ormshoul d be O0 C 0 0 EJ CPRLF L1 ASC I de linntter is fixed to CRHF When CR OCH LF 0A4H is detected duri ng receiving the conmand i s rapi dl y anal yzed and done by PML6C 04 or O4S However if it can t be analyzed no operation is done When PML6C recei ves i nf ornati on that sone data shoul d be returned back the data are rapi dl y prepared and sent back These operati ons are done for about ess than 1n Drive comand formi s O00 0 0 OHF Renate controls such as receiving anal yzi ng and doi ng f rom RS232Q GIB li ne are operated by interrupting i n PMI6C 04 or 045 Therefore these operati ons need not have vai ti ng ti ne Then three types of conmands are possi bl e TYPE 1 rapi d dong data readi ng notor stop TYPE 2 wai ti ng f or sone status doneg CH sel ect TYPE 3 sone status requiri ng done O notor control In the case of that the data are read out after sending the conmand of TYPE 2 3 it is inportant as above shown b Baud rate address set S as above nenti oned C character structure 1 52326 data are 1 START bit 8 bit data Istop bit no parity fi xed 2 De li mtter is fixed to be CRF 3 Send recei ve conmand code is ASTI d In RS232C conmuni cati on software hand shake XON XCFF i s not support ed e Connecti on between PMI6C and other controller
38. lity to the B7 PML6G 022 or N the order B6 D POS HP opg of the data are B A D C B5 D POS CONLS ON B4 D PO OW LS NGO GO B3 B2 6 POS HP OND UH B1 C P CONLS NG 0 B0 C P OW IS NG GO ower HEX CODE iE 2 2 Procedure of data conmuni cati on over GP 1B 52326 or LAN conmuni cati on ports External controller gi ves the conmand to CP 1B RS232C LAN ports ll Wien all conmand is received by PML6G 04 or 04S anal yzed and dri ven rapi dl y Ti ne for doi ng the conmand is varied for status of system for conmand types etc Il In conmand w th recei vi ng operati on data prepared by the conmand i s returned back to the external controller when PMI6C 04 or 04S is set as a talker IVO Al conmand can be sent as the formwhi ch is di vi ded by conma In receiving data conma is recogni zed as the pause between two conmands Then each conmand is rapi dl y recognized and done If there are non sense conmands they are ignored EX scan conmand duri ng novi ng There are sone conmands whi ch requi res sone ti ne for operati ng EX Wien you vant to set 3ch to A positi on and A ch to B posi ti on RETURNLF 2 3 Sanpl e Programof data conmuni cati address of 160022 7 del i miter CRaLF a sel ect A posi ti on as 8 CH PRI NT 7 S118 b sel ect B positi on as C CH PRI NT 7 S12C C scan is operated in A positi on PRI NT 7 S300E
39. n then turns off the nator wll slow down and stop then return to the OWdi recti on and when FP sensor turns on the nator wll stop and fi ni sh the FP detection After HP detection flickering sel ected channel anp will change to conti nuous turn on status And al so hone position i nf ornati ons are nenori zed 7 1f OWlimt swturns on instead of FP sensor turns on the detection process wll be failed and finish ES SM Fi 5 Q It can also be forced to stop by stop PB Sem auto FP detection wth FP nenory l n FP STP node selected channel lanp is continuously lighting wen it has FP nenory 2 By pressi ng START PB the nator starts to nove autonati call y to the pl ace that is hone positi on plus or mnus offset pulse Plus or mnus is determnned by the di recti on when ast FP detection fi ni shed Offset pulse can be set i n advance between 0 to 9999 The offset pulse can be set for each notor as the hone positi on offset data The default value of offset pulse is 100 3 Next it nove to FP sl ow y when FP sensor turns on it stops The hone posi ti on i nf ornati ons are re nenori zed so G process is reliable after process In this process if the FP sensor doesn t turn on while novi ng to FP even if it pass through out of FP 4 offset pulse the FP detection process wll be fai ed The FP nenory wll be cl eared and sel ected channel anp wll be changed to flickering status If Wor CONI int swworks or STOP PB is pr
40. speed You can choose the vay to fi nd hone positi on as foll ovs Status net hod procedur e tine expl not found yet nanual ch sel ect2J OG or START OG short sel ect ch lanp is flickering seni auto ch sel ect START PB gt 1Sec ong 9 found al ready sel ect ch lanp semi auto ch sel ect START PB short is on 10 nd hone positi on Manual detecti on 1 Choose the channel whi ch you vont to fi nd hone positi on In the FP STOP node can see if the channel already has hone posi ti on by the sel ected channel anp flickering not found yet anp on al ready found lanp off not sel ected as a novi ng channel 2 Move to the one si de near hone posi ti on f romwhi ch you vant to approach If you pass the hone positi on in this process you nust pass without HP STOP node You can t pass through the hone positi on i n the FP STOP node 3 Next nove toward the hone positi on in FP STOP node in sl ow speed if possi bl e 2 ways are avail abl e Me is by usi ng only J OG sw and the other is start PB J OG sw Start ready status which is prepared by start PB can be cleared by STOP sw 4 Detecting the up edge of hone position sensor nator wll stop quickly and hone posi ti on detecting procedure wl finish After the fini shi ng of hone positi on detection the sel ected channel anp status wll change fromfli ckeri ng to continuous anp on Di recti on f romwhi ch it approached and
41. 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 bl e to dri ve by this vay the nator becones that can not be dri ven by any rente operati on H Joggi ng count a Push the data SW START SW and select setti ng No 0 b Set data by use of INC SW PRESET SW or DEC SW STCP SW The possi bl e dates range is 1 9999 C You can change the channel by the SWunder the di spl ay D spl ay l E set No 00 data channel I Hone posi ti on data Setting No a Push the data SW START SW and select setti ng No 0 There are three data Just after selecti ng No F hone positi on status of the channel are di spl ayed By the node change PB you can change the contents of the di spl ay contents hone position status offset pulse hone positi on val ue O Hone posi ti on status QI y the start directi on of auto hone posi ti on searching i s changeabl e If it is changed hone position found fl ag wll be cl eared a Change data by use of INC SW PRESET SW or DEC SW STCP SW b You can change the channel by the SWunder the di spl ay D spl ay PEE E L set No 000 channel di recti on of auto FP searching QW1 GOWO nenory of HP found di recti on OW1 GOWO HP found nenory found 1 not found 0 9 O Hone posi ti offset pul seg Can change hone posi ti on offset pulse data b Set data by use of dig
42. the val ue of hone positi on are nenori zed The data about hone positi on detecti on are stored as battery back up If the detection is done in hi gh speed novi ng noti ce the i nfl uence to the nechani c or detuni ng If overrun through the sensor occurred when stopped the detection is failed You shoul d try the process once nare Sem auto detection when no FP nenory In this nethod the detection is done autonati cal 1 y by usi ng QV COWlimt sw So the li mt sw must work securely 1 Sel ect and nove enabl e the channel you vant to find hone posi ti on n FP STOP node sel ected channel anp that has no hone posi ti on nenory wl fli cker 2 Press the START PB and the lanp wl turn on O you deci de the novi ng di recti on wth JOG SW the nethod of hone posi ti on det ection is as the sane above 3 Pressing the PB nore than 1 second the notor wl start to nove toward sone di recti on Sone di recti on neans COWdi recti on as a default di recti on Can change the default direction as you vant The start direction is opposite one that is the approaching si de of hone position If changed QW GOWshoul d be GOW ONWbel ow 4 Wen GOWlinnt swis turned on the nator wll slow down and stop then return to the OWdi recti on If hone positi on sensor turned on before CONI i mt sw go to 6th sentence 5 Wien FP sensor turns on the nator wll slow down and stop then return to the GOWdi recti on 6 Wien FP sensor turns off or turns o
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