Autonics PMC-HS, PMC-2HS, PMC-1HS, PMC-1HS-USB, PMC-2HS-USB Instruction Manual

The invisible hand for more convenient world

sensors & controllers

(PMC-1HS/PMC-2HS)

1 • 2-Axis High Speed

Motion Controller

INSTRUCTION MANUAL

1 • 2-Axis High Speed Motion Controller

Thank you very much for selecting Autonics products.

For your Safety, please read the following before using.

Table Of Contents

Table Of Contents ��i

Cautions for Safety �� iii

Cautions during Use ��iv

1� Introduce�� 5

1�1 Product Overview �� 5

1�2 Basic Composition of I/O Signal �� 5

1�3 Start the Drive �� 6

2� Program Installation and Delete �� 7

2�1 Installation of Operation Program�� 7

2�2 Delete of Operation Program �� 8

2�3 Installation of USB Drive �� 9

2�3�1 Check the starting of the operation Program �� 9

2�4 Connection of RS-232C �� 10

3. Conguration of the Operating Mode and System Parameters ��11

3�1 Execution of Operation Program ��11

3.1.1 Mode ��11

3�1�2 Parameter �� 15

3.1.3 Home Search Mode �� 19

4. Conguration of Operation Program�� 29

4�1 Starting the operation program�� 29

4�1�1 Commands in the Operation Program �� 30

4�1�2 I/O port numbers �� 33

4�2 Drive by Parallel I/F �� 34

4�2�1 Home Search �� 34

4�2�2 Index �� 35

4�2�3 JOG �� 36

4�2�4 Continuous �� 37

4�2�5 Program �� 37

5� Drive by PC �� 39

5�1 Start of operation program �� 39

5.2 Main Screen �� 40

5.3 Parameter/Mode Screen �� 44

5.3.1 Mode Tab �� 44

5�3�2 Parameter Tab �� 45

5.3.3 Home Search Mode Tab �� 46

5�4 Program Edit Screen �� 47

i

Table Of Contents

5�4�1 Input and edit a program �� 47

5�5 I/O Signal Screen �� 49

5�6 Error code�� 50

6� Drive by Teaching Unit �� 51

6�1 Operation of the data edit �� 52

6�1�1 Register Selection �� 52

6�1�2 Register Composition �� 53

6�1�3 Input of the Operation Program�� 54

6.1.4 Input of Operation Mode and Parameters �� 56

6�1�5 Index Drive �� 58

6�2 Drive operation �� 58

6�2�1 Home Search �� 58

6�2�2 JOG operation �� 59

6�2�3 Execution of Operation Program �� 59

6�2�4 Record of the Current Position �� 60

7. Product Specications �� 61

7�1 Dimensions�� 61

7.1.1 Sold separately (teaching unit, PMC-2TU)�� 61

7.2 Specications �� 62

8� Connector �� 63

8�1 Connector Types and I/O Signal Connection �� 63

8�1�1 CN1: Power Connector �� 63

8�1�2 CN2: RS-232C Connector�� 63

8�1�3 CN3: Parallel I/F Connector �� 64

8�1�4 CN4, CN5: I/O Connector �� 67

9� Serial Communication Commands �� 69

9�1 Communication condition �� 69

9�2 Command Cycle �� 69

9�3 Command �� 69

ii

Cautions for Safety

Please observe all safety considerations for safe and proper product operation to avoid hazards�

※

symbol represents caution due to special circumstances in which hazards may occur�

※

Warning

Caution

Warning

1. Fail-safe device must be installed when using the unit with machinery that may cause serious injury or substantial economic loss. (e.g. nuclear power control, medical equipment, ships, vehicles, railways, aircraft, combustion apparatus, safety equipment, crime/disaster prevention devices, etc.)

Failure to follow this instruction may result in fire, personal injury, or economic loss�

2. Install on a device panel or DIN rail to use.

Failure to follow this instruction may result in fire�

3. Do not connect, repair, or inspect the unit while connected to a power source.

Failure to follow this instruction may result in fire�

4. Check 'Connections' before wiring.

Failure to follow this instruction may result in re.

5. Do not disassemble or modify the unit.

Failure to follow this instruction may result in re.

6. Do not cut off power or disconnect connectors while operating the unit. Failure to follow this instruction may result in personal injury, economic loss, or malfunction�

7. Install the safety device at the out of the controller for stable system operation against external power error, controller malfunction, etc.

Failure to follow this instruction may result in re, personal injury, or economic loss.

Caution

1. When connecting the power input, use AWG 28-16 (0.081 to 1.31mm

2. Must use the insulated trans at the power input.

Failure to follow this instruction may result in fire, or personal injury�

3. Use the unit within the rated specications.

Failure to follow this instruction may result in re or product damage.

4. Use dry cloth to clean the unit, and do not use water or organic solvent.

Failure to follow this instruction may result in re.

5. Do not use the unit in the place where ammable/explosive/corrosive gas, humidity, direct sunlight,

radiant heat, vibration, impact, or salinity may be present.

Failure to follow this instruction may result in re or explosion.

6. Keep metal chip, dust, and wire residue from owing into the unit.

Failure to follow this instruction may result in re or product damage.

7. If a ribbon cable is used as the I/O line, connect the cable correctly and prevent from poor contact.

Failure to follow this instruction may result in malfunction�

8. Note that this device is KCC certied for commercial use.

Make proper applications for the product.

Failure to follow these instructions may result in serious injury or death�

Failure to follow these instructions may result in personal injury or product damage�

2

) cable or over.

iii

Cautions during Use

1� Follow instructions in 'Cautions during Use'� Otherwise, It may cause unexpected accidents� 2� 24VDC power supply should be insulated and limited voltage/current or Class 2, SELV power supply device� 3� Install a power switch or circuit breaker in the easily accessible place for supplying or disconnecting the power� 4� Wire as short as possible and keep away from high voltage lines or power lines, to prevent inductive noise� 5� Run the unit after proper parameter settings depending on the load and environment�

6. Make sure that Power On function is set to ON in atMotion program before supplying the power to the unit.

7� Keep the distance between power cable and signal cable more than 10cm� 8� It is recommended to use twisted pair shield wire when connecting cables to CN3, 4, 5 connectors� Ground the shield wires depending on the installation environment�

9. It is recommended to use the communication cables provided with the product. (RS232C, USB)

10� When wiring the RS485 cable, twist pair wire is recommended, and use AWG 24 (0�2mm2) cable or over. 11� This unit may be used in the following environments� ①Indoors (in the environment condition rated in 'Specications') ②Altitude max� 2,000m ③Pollution degree 2 ④Installation category II

※

The above specications are subject to change and some models may be discontinued without notice.

※

Be sure to follow cautions written in the instruction manual and the technical descriptions

(catalog, homepage).

iv

1. Introduce

1.1 Product Overview

PMC-HS series is a unit to determine the position or control the speed of a pulse input servo motor or a stepper motor. The built-in EEPROM can store operation parameters and maximum 64-program data per each axis. PMC-1HS is a 1-axis motion controller and divided into PMC-1HS-232 and PMC-1HS-USB models, PMC-2HS is a 2-axis motion controller and divided into PMC-2HS-232 and PMC-2HS-USB.

The 232 model is equipped with RS-232C interface and the USB model is equipped with RS-232C and USB interfaces�

Type (PMC-HS) Control axis Serial communication port

PMC-1HS-232 1 RS-232C

PMC-1HS-USB 1 RS-232C, USB Multiple use

PMC-2HS-232 2 RS-232C

PMC-2HS-USB 2 RS-232C, USB Multiple use

This motion controller has maximum 4 MHz of adjustable speed drive pulse oscillator and a position counter.

The drive pulse output comes from a motor driver is line driver output� It is available to connect to both photo-coupler input type drivers and to line receiver input type drivers� The sensor input is fully insulated by a photo-coupler and can [Input limit, Home search input, Servo inposition and Servo alarm]�

The serial communication port has RS-232C and USB interface (in case of 232 types, RS-232C is only). The serial communication port can be connected to a PC or teaching unit (PMC-2TU-232, sold separately)

to congure operation parameter, mode, position data and program data.

In addition, a user can directly write a program using serial commands to control� For more information, refer to "9� Serial Communication Commands"

The parallel interface can be used to start the drive, select a position and a program and connect sequencers and switches�

1.2 Basic Composition of I/O Signal

Connect the drive pulse signal of motion controller to motor driver and input from sensor to limit or home search terminal of each direction� It is possible to input the inposition signal or the alarm signal for a servo motor�

Stepper motor (A4K-M564)

/Servo motor

Encoder

CW+

CW-

CCW+

CCW-

LMT-

sensor

5-phase

micro stepping

motor driver

(MD5-HF14)

Home search sensor

xSTOP1 xLMT-

xLMT+

xP+P xP+N

xP-P xP-N xEC-Z

1. Introduce

LMT+

sensor

PMC-1HS/

PMC-2HS

For information about input/output signal, refer to "7.2 Specications"

5

1. Introduce

1.3 Start the Drive

There are four ways to operate PMC-1HS/PMC-2HS.

● Start with a Parallel I/F Connect a sequence controller or a switch to the Parallel I/F� For more information, refer to "4�2

Drive by Parallel I/F"

● Start with PC Connect a PC and the motion controller body via a communication cable, starts the operation program� For more information, refer to "5� Drive by PC"

● Start with teaching unit (PMC-2TU-232, sold separately)

Connect a communication cable annexed to a teaching unit (PMC-2TU-232). It is available to execute

JOG output, home output and programs by drive operation of teaching unit� For more information, refer to "6� Drive by Teaching Unit"

● Control by serial communication

The PMC-1HS/2HS Series provides serial communication commands. The PMC-1HS/2HS is connected to a PC or a sequence controller via an USB cable or RS-232C

communication cable and it can control axes by means of user's independent program� For more information, refer to "9� Serial Communication Commands"

6

2. Program Installation and Delete

2.1 Installation of Operation Program

1st Insert the CD given to a CD drive of a PC�

Caution

Do not connect the PMC-HS body to the PC at this time.

2nd For installation at Windows 98, ME and 2000

3rd Double-click PMC.msi le on the Install folder and it starts installations.

4th Select the [Next] button� 5th Select the desired folder and click the [Next]

● Windows 98 and ME: Run InstMsiA.exe in the InstMS folder.

● Windows 2000: Run InstMsiW.exe in the InstMS folder.

● Windows XP: additional installation is not required.

2. Program Installation and Delete

button�

6th The progress of the installation is

displayed�

7th The Installation Complete screen is displayed

Click the [Close] button�

7

2. Program Installation and Delete

2.2 Delete of Operation Program

1st Delete this program with "Add/remove programs" in your Control Panel�

2nd Click the "Remove" button after selecting "PMC" on the list of the screen.

8

2.3 Installation of USB Drive

Connect the motion controller to a PC via an USB communication cable and turn on the power supply�

When the USB cable is connected rst, new H/W is detected. Install the USB driver with the CD given.

● Window Vista: specify the folder "PMC-HS/driver/vista".

● Windows XP and 2000: specify the folder "PMC-HS/driver/xp2k".

● Windows 98 and ME: specify the folder "PMC-HS/driver/98me". After installation, check the Device Manager as below. (example: Windows XP) Execute the "My computer → Properties (Click right mouse button) → Hardware → Device Manager". If "PMC-HS-USB Driver (Autonics Corp)" exists in "Universal Serial BUS controller" and

"Autonics Serial port" exists in "Port (COM and LPT)", the USB driver was installed normally.

2. Program Installation and Delete

2.3.1 Check the starting of the operation Program

When you connect the motion controller, check the operation program is run correctly�

Caution

When you start the operation program initially after installation, the program displays Ofine even if the communication cable is connected. In this case, select the option menu on the main screen, mark the COM

port is connected to the controller body and start the program again�

In USB communication, if you select "My Computer → Properties (click your right mouse button) → Hardware → Device Manager", you can check the COM port to be allocated next to "Prolic USB-to-Serial Comm Port" in "Port (COM and LPT)".

9

2. Program Installation and Delete

2.4 Connection of RS-232C

1st Connect the motion controller and a PC using RS-232C communication cable� 2nd Turn on the motion controller and the PC� 3rd Start the operation program by selecting the [Start] button�

Click the Start → Program → Autonics → Motion Controller → PMC → PMC.

4th For initial access, the communication error message is popped up�

Check the [OK] button to display the communication error message�

Click the [OK] button�

5th Select your product type, PMC-2HS or PMC-1HS.

6th Start the operation program as off-line�

Select Option and mark the COM port, the RS-232C communication cable is connected.

7th Restart the operation program� It will normally start in on-line mode�

10

3. Conguration of the Operating Mode and System Parameters

In order to operate PMC-1HS/PMC-2HS correctly, it is required to set operation mode/operation parameter of PMC-1HS/PMC-2HS suited with user system.

Connect the controller to the PC with RS232C communication cable or USB cable start the Windows

operation program and then set them up on the Mode/Parameter screen. By connecting a teaching unit (PMC-2TU-232, sold separately) to RS232C port of the motion controller is

also available to set� For more information, refer to "6� Drive by Teaching Unit"

3.1 Execution of Operation Program

With a communication cable, connect the controller to your PC and start the operation program�

Click Parameter/Mode in left of the middle on the main screen after executing the program. Then, Parameter/Mode screen will be displayed.

There are Mode, Parameter and Home Search Mode tabs on the Parameter/Mode screen. Set up value for

each tab to meet the system requirement�

3.1.1 Mode

Mode tab is available to set Limit Stop Mode, End Pulse, etc. Only X-axis is displayed for PMC-1HS.

11

3. Conguration of the Operating Mode and System Parameters

(1) Limit Stop Mode, Limit Active Level

When the Limit signal is activated, select the drive as Instant or Slow stop� In addition, specify the Limit Active level�

Display Selection Factory default

Limit Stop Mode Instant (Instant stop) / Slow (Slow stop) Instant

Limit Active Level Low (GEX connection) / High (Open) Low

The +/- direction over run limit input signal (nLMT+/-) of each axis enters to pin #12/#13 of CN4 and 5

connector� For more information, refer to "8� Connector"

When the Limit input signal is activated, the Limit Stop Mode selects Instant or Slow stop of drive. In addition, the Limit Active Level species Low for GEX or High for open.

(2) Servo Inposition Enable , Servo Inposition Level

Select the operation for the Inposition signal from a servo motor driver�

Display Selection Factory default

Servo Inposition Enable Disable / Enable Disable

Servo Inposition Level Low (GEX connection) / High (Open) Low

The Inposition input signal (nINPOS) of each axis is pin #6 of CN4 and 5 connector.

For more information, refer to "8� Connector"

When the Servo Inposition Enable is congured as Enable, after the drive comes out and the controller

checks if nINPOS reaches to the active level and end, the drive� When the program is executed, after it

executes drive commands (ABC and INC) and checks if nINPOS reaches to the active level and operates

the next register�

The Servo Inposition Level congures whether nINPOS is activated in open or GEX connection. It selects

High if the nINPOS is activated in open, otherwise it selects Low�

If a stepper motor is used or nINPOS is not used, the level is congured as the Factory default.

(3) Servo Alarm Enable, Servo Alarm Level

Select an operation of alarm signal from a servo motor driver�

Display Selection Factory default

Servo Alarm Enable Disable / Enable Disable

Servo Alarm Level Low (GEX connection) / High (Open) Low

The Servo Alarm signal (nALARM) of each axis is pin #7 of CN4 and 5 connector.

For more information, refer to "8� Connector"

When the Servo Alarm is congured as Enable and the Servo Alarm signal (nALARM) of the drive is

activated, the controller stops the drive output of the axis and makes the nERROR output signal ON�

The Servo Alarm Level congures whether nALARM is activated in OPEN or GEX connection. It selects High if the nALARM is activated in Open, and it selects Low in GEX. To cancel an error after error is occurred, it deactivates the nALARM and resets the controller. If the nALARM is not used, the level is congured as the Factory default.

12

3. Conguration of the Operating Mode and System Parameters

(4) End Pulse

When the drive ends, output the End Pulse from nDRIVE/END signal of the Parallel I/F connector�

Display Selection Factory default

End Pulse Disable / Enable Disable

The nDRIVE/END output signal on each axis comes from pin #14 and #15 of the parallel I/F CN3. When the End Pulse is congured as Disable, the nDRIVE/END signal outputs the ON pulse in driving or

operating the program on each axis and returns to the Off state when the program is closed� If selecting Enable, nDRIVE/END signal will be OFF in the middle of driving� When driving is OFF, ON pulse

will be provided as much as drive END pulse width which is specied as a parameter. Refer to the related clause for End Pulse selection for drive commands in program mode (ABS, INC, HOM).

(5) Deceleration Value

Select the acceleration value (symmetry adjustable speed) or individual deceleration value (asymmetry adjustable speed) for the deceleration value of the trapezoid adjustable speed drive.

Display Selection Factory default

Deceleration Value Accel (Acceleration value)/Decel (Deceleration Value) Accel

Acceleration AccelerationDeceleration Deceleration

Speed Speed

Acceleration value

Same with

Acceleration value

< Symmetry adjustable speed > < Asymmetry adjustable speed >

PMC-1HS/PMC-2HS can congure not only the symmetry adjustable speed drive that the acceleration value

is the same with the deceleration value but also the asymmetry adjustable speed drive that the acceleration is different from the deceleration value� The selection of the acceleration value makes the parameter

acceleration value as the deceleration value in deceleration so as to congure the symmetry adjustable

drive or vice versa�

Caution To congure the asymmetry adjustable speed drive, note the following cautions:

(1)Accel > Decel

E.g.) If the drive speed, V is equal to 100kpps, the Decel (D) must be bigger than 1/40 of the Accel (A).

Deceleration > Acceleration× 4×10

(2)As the rate of Accel and Decel is increased, PMC-1HS/PMC-2HS is accelerated so that it may be

decelerated due to the shortage of pulse numbers�

Acceleration value

Time Time

Drive Speed

6

Deceleration Value

13

3. Conguration of the Operating Mode and System Parameters

(6) Soft Ware Limit

Select Enable or Disable for the Soft Ware Limit�

Display Selection Factory default

Soft Ware Limit Disable / Enable Disable

The Soft Ware Limit is the overrun limit function that can be congured by internal position data apart from the mechanical limit signal input by means of external sensor. The Soft Ware Limit is selectively congured as the parameter values at the both of + and - directions. When it is enabled and exceeds the range of soft limit + or -, the controller is decelerated to stop. To cancel the software limit, drive the controller toward the

reverse direction of the error�

Reference Even if the Soft Ware Limit is enabled, the controller is not worked in operating the Home

search command�

(7) Power On Home Search

When the power is turned on, select Enable/Disable for the auto-start of home search�

Display Selection Factory default

Power On Home Search Start Disable / Enable Disable

The Power On Home Search is the function to search home automatically when the power is turn on or the main body is reset�

(8) Power On Program Start

When the power is turned on, select Enable/Disable for the auto-start of the program�

Display Selection Factory default

Power On Program Start Disable / Enable Disable

The Power On Program Start is the function to execute the program congured as the start of the program register 00 (REG00) when the power is turned on or the main body is reset. If the Power On Program Start

is enabled, the program is automatically started after the completion of Home Search�

Caution

(1)For the use of the Power On Program Start, let the next command is execute after the specied time by

using the timer command (TIM) to REG00. In addition, it is recommended to congure the Home Search

command for return-to-the origin to the program�

(2)To cancel the Power On Program Start or the Power On Home Search, change the mode setup to

Disable after stopping the operation by pressing the [Stop] button on the main screen� Do not change the mode in operating�

(3)Do not edit the program or change modes or parameters while the program is operated by the Power On

Program Start� Change after the program is closed on the main screen by pressing the [Stop] button�

Warning

When the Power On Home Search is congured as Enable, note that the personnel injury may be resulted.

14

3.1.2 Parameter

Parameter tab is available to set Speed Multiplier, Acceleration Rate, etc. Only X-axis is displayed for PMC-

1HS�

(1) Speed Multiplier

The Speed Multiplier is a parameter to determine the multiplication of speed parameters such as drive

speed and acceleration/deceleration values�

Display Setting range Factory default

Speed Multiplier 1 to 500 10

The speed parameters such as drive speed and acceleration/deceleration values are congurable between 1 to 8,000. To use the value over the range, congure the Speed Multiplier appropriately.

When it makes the multiplication more bigger, enables to drive at high speed but the speed resolving power

is decreasing. Congure to the minimum value to receive the range of the drive speed.

3. Conguration of the Operating Mode and System Parameters

(2) Acceleration Rate

The acceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive

accelerates. In Mode tab, set the Deceleration Value to Accel use this Acceleration Rate in drive

deceleration�

Display Setting range Factory default

Acceleration Rate 1 to 8,000 400

A is the Acceleration value congured as below formula.

Acceleration Rate (pps) = A × 125 × Speed Multiplier

To execute the adjustable speed drive, four speed parameters of start speed, drive speed, acceleration rate

and deceleration rate must be congured. However, the deceleration rate does not need to be congured for

the adjustable speed drive�

E.g.) If you want to start it at 0.3 seconds from the start speed 500pps to drive speed 20,000pps, congure

the speed parameter as follows:

Acceleration Rate (pps) = (20,000 － 500) / 0.3 = 65,000 (pps) If the Speed Multiplier is set to 10 then, Acceleration value congured: A = 65,000 / (125×10) = 52 Start Speed value congured: SV = 500 / 10 = 50 Drive Speed value congured: V = 20,000 / 10 = 2,000

15

3. Conguration of the Operating Mode and System Parameters

(3) Deceleration Rate

The deceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive accelerates�

Display Setting range Factory default

Deceleration Rate 1 to 8,000 400

D is the Deceleration Value congured as below formula.

In Mode tab, the Deceleration Value is Accel as default, the acceleration value is used in deceleration and symmetry adjustable speed drive is operated. To operate asymmetry adjustable speed drive, congure the Deceleration Value as Decel in Mode tab.

Deceleration Rate (pps) = D × 125 × Speed Multiplier

(4) Start Speed

The start speed means the speed when the adjustable speed drive starts or the end speed�

Display Setting range Factory default Start Speed 1 to 8,000 50

The actual start speed congured as below formula.

If the drive speed is bigger than the start speed, the adjustable speed drive is operated�

In this case, the parameter for the adjustable speed must be congured. If the drive speed is smaller than the start speed, the drive does not operate at adjustable speed but at constant speed from the rst. Home

Search High Speed is, also, operates in the same way�

Start Speed (pps) = SV × Speed Multiplier

(5) Drive Speed 1 to 4

The drive speed is the speed for an adjustable speed drive�

Display Setting range Factory default

Driver Speed 1 1 to 8,000 10

Driver Speed 2 1 to 8,000 100

Driver Speed 3 1 to 8,000 1,000

Driver Speed 4 1 to 8,000 8,000

Four-type drive speed for each axis is congured. For driving, one of four speeds is selected. The actual drive speed is the value that drive speed setting value (SV) and Speed Multiplier are multiplied.

If the drive speed value is bigger than the start speed value, the drive operates at adjustable speed�

In this case, the parameter for the adjustable speed must be congured. If the drive speed is smaller than

the start speed, the drive does not operate at adjustable speed but at constant speed from the start�

Drive Speed (pps) = SV × Speed Multiplier

(6) Post Timer 1 to 3

The post timer is the waiting time to start next command after the execution of a drive command such as ABS or INC for program operation�

Display Setting range Factory default

Post Timer 1 1 to 65,535 10

Post Timer 2 1 to 65,535 100

Post Timer 3 1 to 65,535 1,000

16

(7) Home Search Low Speed

The home search low speed congures the search speed for step 2 and step 3 of Home Search.

Display Setting range Factory default

Home Search Low Speed 1 to 8,000 20

The actual home search low speed congured as below formula.

Home Search Low Speed (pps) = SV × Speed Multiplier

Caution The Home Search Low Speed is congured as the value lower than the start speed.

(8) Home Search High Speed

The home search high speed congures the search speed for step 1 and step 4 of Home Search.

Display Setting range Factory default

Home Search High Speed 1 to 8,000 1,000

The actual home search high speed congured as below formula.

Home Search High Speed (pps) = setting value × Speed Multiplier

Generally, The Home Search High Speed is congured as the value higher than the start speed.

(9) Home Search Offset

The home search offset congures the amount of home search offset movement.

When the value is zero, the offset is not moves�

Display Setting range Factory default

Home Search Offset -8,388,608 to +8,388,607 +100

The above conguration range is the value when numerator/denominator of pulse scale=1000/1000.

(10) Soft Ware Limit +

It congures the value of the software limit + direction.

Display Setting range Factory default

Soft Ware Limit + -8,388,608 to +8,388,607 +8,388,607

The above conguration range is the value when numerator/denominator of pulse scale=1000/1000. The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.

3. Conguration of the Operating Mode and System Parameters

(11) Soft Ware Limit -

It congures the value of the software limit + direction.

Display Setting range Factory default

Soft Ware Limit - -8,388,608 to +8,388,607 -8,388,608

The above conguration range is the value when numerator/denominator of pulse scale=1000/1000. The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.

17

3. Conguration of the Operating Mode and System Parameters

(12) End Pulse Width (msec)

When the drive ends, the end pulse width congures the pulse width of the end pulse coming form nDrive/ END signal in Mode tab.

Display Setting range Factory default

End Pulse Width (msec) 1 to 65,535 (msec) 100

The drive end pulse width function is congured by setting "Drive End Pulse" to Enable in Mode tab.

(13) Pulse Scale Numerator

It is the numerator value to execute actual pulse scaling provided for input position data�

Display Setting range Factory default

Pulse Scale Numerator 1 to 65,535 1,000

The pulse scale numerator function converts the position data which is entered or displayed into a pulse value� This function enables the position data to be handled as a value in mm or inch�

PMC-1HS/PMC-2HS converts the position data into a value by the following expression.

Pulse value = Input value ×

Denominator of pulse value

Displaying value=Pulse value×

E.g.) If one pulse of the drive pulse is about 0.01 mm of the moving amount, (Scale numerator) / (Scale

denominator) is congured as 1/100 to execute the position display by mm. If input value is 1 (mm), 100 pulse will be provided and 1.00 will be displayed. If the resulting values are below the decimal point, round-off value to signicant digit of 1 pulse will be output and display

value will be determined according to this value�

The scaling position data is as follows:

Screen Position data scaling

Main screen Position, Preset value

Parameter screen Home search offset, Soft Ware Limit +/-

Program edit screen Position data of ABS, INC commands

Caution

Nominator and denominator of pulse scale affects to all position data. Congure under the environment

using the step angle of motor rotation or ball screw pitch� Change the setting value only after stopping your system� Since the Factory default of nominator/denominator of the pulse scale is 1000/1000, input and display is the same as pulse values�

Numerator of pulse value

Denominator of pulse value

(14) Pulse Scale Denominator

It is the denominator value to execute actual pulse scaling provided for input position data�

Display Setting range Factory default

Pulse Scale Denominator 1 to 65,535 1,000

18

3. Conguration of the Operating Mode and System Parameters

3.1.3 Home Search Mode

3.1.3.1 Descriptions

The Home Search of PMC-1HS/PMC-2HS operates sequentially the step 1 to step 4 of the following table

when the Home Search command is to be an Enable�

It congures enable/disable, search direction and input signal level for each step. The step 1 and 4 start the search in Home search high speed congured in Parameter tab. In addition, the step 2 and 3 start the

search in Home Search Low Speed�

Step Operation Search speed Detection signal

Step 1 High speed near home search Home search high speed nSTOP0

Step 2 Low speed home search Home Search Low Speed nSTOP1

Step 3 Low speed encoder Z-phase search Home Search Low Speed nSTOP2

Step 4 High speed offset movement Home search high speed

(1) Step 1. High Speed Near Home Search

The step 1 outputs the drive pulse until near home signal (nSTOP0) becomes active with high speed near home search speed set in Parameter tab and specied direction.

To execute the high speed near home search operation, the home search in high speed is congured as

higher value than the start speed�

If the near home signal (nSTOP0) is activated during high speed near home search with the accel/decel

speed drive, the drive stops immediately�

Caution

Irregular operation

Near Home Signal (nSTOP0) is activated before starting the step 1. → Run the step 2.

①

Limit signal of the detected direction is activated before starting the step 1. → Run the step 2.

②

Limit signal of the detected direction is activated in operating. → Stop the drive and runt the step 2.

③

-

(2) Step 2. Low Speed Home Search

The step 2 outputs the drive pulse to the Home Search Low Speed set in Parameter tab and the specied direction until the home signal (nSTOP1) is activated.

To execute the low speed search operation, the home search in low speed is congured as lower value than

the start speed�

If the home signal (nSTOP1) is activated to the constant speed drive, the drive stops immediately.

Caution

Irregular operation

The home signal (nSTOP1) is activated before starting the step 2 → Move in the opposite direction of the

①

specied detection searching home in low speed until the home signal (nSTOP1) is deactivated. When the home signal (nSTOP1) is deactivated, the step 2 starts.

The limit signal of the detected direction is activated before starting the step 2 → Move in the opposite

②

direction of the specied detection searching home in low speed until the home signal (nSTOP1) is activated. If the home signal (nSTOP1) is activated, PMC-1HS/PMC-2HS moves in the opposite direction of the specied detection searching home in low speed until the home signal (nSTOP1) is deactivated. When the home signal (nSTOP1) is deactivated, the step 2 starts.

The limit signal of the detected direction is activated in use. → Stop the drive and perform the same

③

operation with ②�

19

3. Conguration of the Operating Mode and System Parameters

(3) Step 3. Low Speed Encoder Z-phase Search

The step 3 outputs the drive pulse to the home search low speed is set in Parameter tab and the specied direction until the encoder Z-phase signal (nSTOP2) is activated.

To execute the low speed encoder Z-phase search operation, the home search in low speed is congured

as lower value than the start speed�

If the encoder Z-phase signal (nSTOP2) is activated to the constant speed drive, the drive stops immediately. If the encoder Z-phase signal (nSTOP2) is activated in Mode tab, the deviation counter clear signal (also, as nOUT0 signal) can come out for a servo motor.

Caution

If the encoder Z-phase signal (nSTOP2) has been already activated before the step 3 starts, an error

①

occurs and the home search ends� Adjust your system to start the step 3 only when the encoder Z-

phase signal (nSTOP2) is deactivated.

If the limit signal of the detected direction has been already activated before the step 3 starts, an error is

②

occurred and the home search is ended�

If the limit signal of the detected direction is activated in use, the detecting operation is stopped and the

③

home search is ended�

(4) Step 4. High Speed Offset

The step 4 outputs the drive pulses as many as the home search offset to the home search high speed is

set in Parameter tab and the specied direction.

This is used to move from the mechanical home to working home� If the step 4 ends, the position counter is

reset as zero and return to home. The Servo Inposition Enable is set as disable in Mod tab.

3.1.3.2 Congurations

Home Search Mode tab is available to set Near Home Signal, etc. Only X-axis is displayed for PMC-1HS.

(1) Near Home Signal

With the step 1, this mode congures the active level of the near home signal (nSTOP0).

Display Selection Factory default

Near Home Signal Low (GEX connection)/High (Open) Low

Near Home Signal on each axis is pin #11 of connector CN4 and 5.

For the active level, in case of selecting Low, the detecting operation of the step 1 is started�

If the signal is connected to the GEX, the drive stops evaluating that the signal is active.

In case of High, the drive goes slow and stops evaluating that the opened signal is active�

20

(2) Home Signal Level (nSTOP1)

With the step 2, this mode congures the active level of the home signal (nSTOP1).

Display Selection Factory default

Home Signal Level (nSTOP1) Low (GEX connection)/High (Open) Low

Home signal on each axis is pin #10 of connector CN4 and 5.

For the active level, in case of selecting Low, the detecting operation of the step 2 started�

If the signal is connected to the GEX, the drive stops evaluating that the signal is active.

In case of High, the drive goes slow and stops evaluating that the opened signal is active�

(3) Z Signal Level (nSTOP2)

With the step 3, this mode congures the active level of the Encoder Z-phase signal (nSTOP2).

Display Selection Factory default

Z Signal Level (nSTOP2) Low (GEX connection)/High (Open) Low

The encoder Z-phase signal (nSTOP2) of each axis is pin #9 of connector CN4 and 5.

For the active level, in case of selecting Low, the detecting operation of the step 3 starts�

If the signal is connected to the GEX, the drive stops evaluating that the signal is active. When high, the

drive stops evaluating that the opened signal is active�

(4) Step 1 to Step 4 Enable

This mode congures the Enable/Disable for each step.

Display Selection Factory default

Step 1 Enable to Step 4 Enable Disable / Enable Disable

If Disable is selected, the step is disabled and move to the next step�

If Enable is selected, the search operation of each step is carried in the specied direction.

3. Conguration of the Operating Mode and System Parameters

(5) Step 1 to Step 4 Direction

This mode congures the direction of each mode.

Display Selection Factory default

Step 1 Direction to Step 4 Direction +/-

If + is congured, the drive pulse comes out to the + direction of the detection direction. If - is congured, the drive pulse comes out tn the - direction of the detection direction.

(6) Position Clear

When the home search ends, this mode clears the position counter�

Display Selection Factory default

Position Clear Disable / Enable Enable

Step 1, 2 Step 3, 4

：－：＋

21

3. Conguration of the Operating Mode and System Parameters

(7) Using Limit Signal

It will be enabled when operates the home search with + direction of the limit signal or direction of the limit

signal�

Display Selection Factory default

Using Limit Signal Disable / Enable Disable

(8) DCC Enable

In the operation of Auto Home Search step 3, if the encoder Z-phase is activated, deviation counter clear pulse is comes out�

Display Selection Factory default

DCC Enable Disable / Enable Disable

The deviation counter clear pulse comes out from the output signal (pin #5) OUT0 of the connector CN4 or 5.

If this mode is enabled, the OUT0 signal cannot be used as output for common output� The DCC output is simultaneously activated with the Z-phase detection of the step 3 and the step 4 starts

after the pulse output�

(9) DCC Level

This mode species the level of the deviation counter clear pulse signal.

Display Selection Factory default

DCC Level 0 (ON) / 1 (OFF) 0

0: Since the output signal OUT0 is OFF in normal, the DCC pulse of ON comes out� 1: Since the output signal OUT0 is ON in normal, the DCC pulse of OFF comes out�

Caution

The On state of the output signal OUT0 means that the output transistor of open collector becomes high�

①

Its active level is opposite with the OUT command of the operation program�

②

(10) DCC Width (μsec)

This mode congures the width of the deviation counter clear pulse output.

Display Selection (μsec) Factory default

DCC Width (μsec) 10/20/100/200/1,000/2,000/10,000/20,000 10

Select one of 10/20/100/200/1,000/2,000/10,000/20,000 μsec.

22

3. Conguration of the Operating Mode and System Parameters

3.1.3.3 Example of Conguration

(1) Home Search Conguration by Home Signal

High speed home search can be available by means of a home signal using both terminal of STOP0 and STOP1�

E.g.)

Input signal and active level Detection direction Detection speed Step 1 STOP0 signal, Low (GEX connection) - direction 20,000pps Step 2 STOP1 signal, Low (GEX connection) - direction 200pps Step 3 Not operated Step 4 Offset movement of 3500 pulses in + direction + direction 20,000pps

STOP0=STOP1

Active

block

Limit of

detection direction

Active

block

Step 1

Step 2

Step 3

Detection

direction

A B

< Fig 1. Home search using the home signal >

Like <Fig. 1>, the step 1 and the step 2 have the same active level and the same detection direction. After the home search by step 1 with high speed (20,000pps), when the home signal is activated, it starts

to deceleration stop� The stop position is in an active block of the home signal, it escapes from the block in reverse by the irregular operation ① of the step 2 and enters, the operation of the step 2, detect the home� If the stop position of step 1 exceeds the active block of the home signal, the limit of the detection direction goes into the step 2, it will be the irregular operation of ③�

If the start position of the home search is on A point, the step 1 is not operated and the irregular operation

of the step 2 started� If it is on B point, the limit of the detection direction goes into the step 1, it starts the

②

irregular operation ② of the step 2�

Complete the process by moving to step 4 in specied direction (+) as setting value (3500 pulse).

23

3. Conguration of the Operating Mode and System Parameters

Caution

1� Build the overrun limit at the end of the detection direction to connect the signal to the limit input

(LMT +/-).

2. Parameters conguration step 1 and step 2 at the same active level and the same detection direction

since they use the same signal�

[Parameter]

Item Conguration value Note

Speed Multiplier 10

Deceleration stop within the active

Acceleration Rate 400

block of the home signal�

In case Deceleration Value is set to Accel in Mode tab.

Start Speed 50 Start Speed with trapezoid driving

Home Search Low Speed 20 Slower then the start speed of 200 pps

Home Search High Speed 2,000 20,000pps

Home Search Offset 3,500

[Home Search Mode]

Item Conguration value Note

Near Home Signal Low Active by connecting GEX

Home Signal Level (nSTOP1) Low

Identied signal with STOP0,

so the level is the same with STOP0�

Z Signal Level (nSTOP2) Low Non-used

Step 1 Enable Enable Operation

Step 1 Direction - - direction

Step 2 Enable Enable Operation

Step 2 Direction - - direction

Step 3 Enable Disable No-operation

Step 3 Direction - - direction

Step 4 Enable Enable Operation

Step 4 Direction + + direction

Position Clear Enable Clear the position counter after searching home

Using Limit Signal Disable No-operation

DCC Enable Disable No-operation

DCC Level 0

DCC Width (μsec) 0

24

3. Conguration of the Operating Mode and System Parameters

(2) Home Search Conguration by Limit Signal

This is simple home search and the way the other side of the limit signal will serve as the home signal� There are two conditions as the following:

● In case of high speed detection operation, the limit signal can be decelerated enough to stop within the distance to mechanical limit from the position that the signal is activated�

● The start position for the home search is within the active block of the limit signal�

E.g.) The limit signal of the - direction ins served as the home signal is as follows:

● Connect LMT- input to the input terminals of STOP0 and STOP1.

● Since the high speed home search of step 1 is carried out, set the Limit Stop Mode to the deceleration

stop in Mode tab.

● Congure LMT-, STOP0, STOP1 signal levels identically.

● Enable the Using Limit Signal in Home Search Mode tab.

● Start the step 4 (high speed offset movement), and end it after escaping the limit.

[Operation]

Input signal and active level Detection direction Detection speed Step 1 STOP0 signal, Low (GEX connection) - direction 10,000pps Step 2 STOP1 signal, Low (GEX connection) - direction 200pps Step 3 No-operation Step 4 Offset movement of 500 pulses in + direction + direction 10,000pps

Limit of detection direction

STOP0=STOP1=LMT-

Step 1

Step 2

Detection

direction

Active Status

Mechanical

Limit

Step 1 is moved to the limit in - direction in high speed. If LMT- signal is activated, the step 1 decelerates

to stop and changes into step 2� It escapes the limit in reverse and stops after detecting the limit signal activated in low speed by the irregular operation ② of the step 2�

If the start position of the home search is in the limit (Fig. 1, A point), step 1 is not operated and step 2 starts.

It reversely moves a certain position in step 4 and ends escaping the limit�

Step 4

A

< Fig 2. Home Search using limit signal >

25

3. Conguration of the Operating Mode and System Parameters

Caution

1� Step 1 and Step 2 have the same direction� 2� Step 4 must be enabled and step 1 and step 2 are ended after escaping the limit in reverse� 3� Step 3 is entered in the opposite direction of step 1 and step 2�

4. Limit Stop Mode is set as Slow in Mode tab.

[Mode]

Item Conguration value Note

Limit Stop Mode Slow Deceleration stop

Limit Active Level Low

[Parameter]

Item Conguration value Note

Speed Multiplier 10

Able to decelerate to stop within the active block

Acceleration Rate 400

of limit signal (In case Deceleration Value is set to

Accel in Mode tab.)

Start Speed 50 Start Speed of trapezoid drive

Home Search Low Speed 20 Slower than the start speed of 200 pps

Home Search High Speed 1,000 10,000pps

Home Search Offset 500 Required distance to escape the limit range

26

3. Conguration of the Operating Mode and System Parameters

[Home Search Mode]

Item Conguration value Note

Near Home Signal Low

Home Signal Level (nSTOP1) Low

Since the limit signal is used, the level is same with the limit signal

Z Signal Level (nSTOP2) Low Not used

Step 1 Enable Enable Operation

Step 1 Direction - - direction

Step 2 Enable Enable Operation

Step 2 Direction - - direction

Step 3 Enable Disable No-operation

Step 3 Direction - - direction

Step 4 Enable Enable Operation (escaping the limit)

Step 4 Direction + + direction

Position Clear Enable

Clear position counter after completing home search

Using Limit Signal Enable Use

DCC Enable Disable Not used

DCC Level 0

DCC Width (μsec) 10

27

3. Conguration of the Operating Mode and System Parameters

28

4. Conguration of Operation Program

PMC-1HS can congure the program with maximum 64 steps (REG0 to 63) on X-axis, while PMC-2HS can congure the program on X-axis or Y-axis. Since the program can execute from a random register number, it

can write multiple programs in 64-register�

Congure the operation program after you connect PMC-1HS/PMC-2HS to your PC using a RS232C communication cable or an USB cable, start the windows operation program and congure on the program edit screen. In addition, you can execute the teaching unit (PMC-2TU-232) of extra-cost option after

connecting to RS232C port in the main body�

For the conguration of the teaching unit, refer to "6. Drive by Teaching Unit"

The operation program can be available as the following three ways:

Using the the operation program/the main screen on your PC

①

Using a Parallel I/F

②

Using a teaching unit (PMC-2TU-232, sold separately)

③

4.1 Starting the operation program

You can start the operation program after connecting PMC-1HS/PMC-2HS to your PC using a

communication cable� Click the [ProgramEdit] button on the main screen� The Program edit screen is displayed�

4. Conguration of Operation Program

For the detailed handling of the program edit screen, refer to "5�4 Program Edit Screen" This paragraph only describes each command of the program�

29

4. Conguration of Operation Program

4.1.1 Commands in the Operation Program

The operation program has 12 commands as shown below�

Command type Code Description

ABS Move absolute position

Drive commands

I/O commands

Program control commands

Others

INC Move relative position

HOM Home search

IJP Jump input condition

OUT On/Off of Output port

OTP ON pulse from output port (certain time)

JMP Jump

REP Start repetition

RPE End repetition

END End program

TIM Timer

NOP No operation

(1) ABS (move absolute position)

CMD Data STD TIM END�P Both

ABS Absolute position (-8,388,608 to +8,388,607) 1 to 4 0 to 3 0/1 0/1

Move the specied distance on the basis of the home to absolute position.

● Data: Input the movement position to absolute value. This value can be congured in mm or inch if pulse

nominator/denominator is congured. The Factory default is the pulse value since the nominator

and denominator of pulse scale are equal�

The range of data conguration for pulse value is between -8,388,608 and +8,388,607.

● SPD: This value selects the drive speed in moving� Drive Speed 1 to 4 are the speeds set in Parameters tab�

● TIM: This value species the waiting time until the next register is executed after the movement is

completer. If 1, 2 and 3 are specied at TIM, the time of the post timer 1 to 3 is set in Parameter tab. If the waiting time is not congured, zero is set to TIM.

● END.P: If 1 is specied, the end pulse comes out FROM the nDRIVE/END output signal of Parallel I/F

after the movement is completed�

The end pulse must be enabled in Mode tab and the drive end pulse width must be, also, previously congured in Parameter tab.

● Both: When ABS only operates on X-axis, 0 is congured. When the ABS operates on X-axis and Y-axis and waits to be stopped, 1 is congured.

This Both function is only applied to ABS, INC and HOM commands on X-axis. If Both=1, Y-axis with the same register number must have the same commands (ABS, INC and

HOM commands) to move the X/Y-axis at the same time.

If commands are different from each other, Error occurs�

Caution

In case executing the program with Both function, make sure that only X-axis should be executed only. When Both register reaches after program is executed, both X and Y-axis for the register will be executed together. If executing both axis programs together after making each X and Y-axis separate program, Error will occur. In other words, Y-axis will be used as an auxiliary axis for X-axis.

30

(2) INC (relative position movement)

CMD Data STD TIM END�P Both

INC Relative position (-8,388,608 to +8,388,607) 1 to 4 0 to 3 0/1 0/1

Specify the relative position as the distance based on the current position�

● Data: Input the movement distance as the relative value�

This value can be congured in mm or inch if pulse nominator/denominator is congured. The

Factory default is the pulse value since the nominator and denominator of pulse scale are equal�

The range of data conguration for pulse value is between -8,388,608 and +8,388,607.

● SPD: This value selects the drive speed for movement� Drive Speed 1 to 4 are the speeds registered set in Parameters tab�

● TIM: This value species the waiting time until the next register is executed after the movement is

completed. If 1, 2 and 3 are specied at TIM, the time of the post timer 1 to 3 is set in Parameter tab. If the waiting time is not congured, zero is set to TIM.

● END.P: If 1 is specied, the drive end pulse comes out as the nDRIVE/END output signal of Parallel I/F

after the movement is completed�

The drive end pulse must be enabled in Mode tab and the drive end pulse width must be, also, previously congured in Parameter tab.

● Both: When INC only operates on X-axis, 0 is congured. When the INC operates on X-axis and Y-axis and both axis wait to be stopped, 1 is congured. This Both function is only applied to ABS, INC and HOM commands on X-axis. If Both=1, Y-axis with the same register number must have the same commands (ABS, INC and HOM commands) to move the Y-axis at the same time. If commands are

different from each other, Error occurs�

(3) HOM (home search)

CMD Data STD TIM END�P Both

- - -

HOM

Start the home search according to the sequence congured in the home search mode.

● END.P: If 1 is congured, the drive end pulse is sent out as the nDRIVE/END output signal of Parallel I/F

after home search is completed. However, the drive end pulse must be enabled in Mode tab and the drive end pulse width must be, also, previously congured in Parameter tab.

● Both: When HOM only operates on X-axis, 0 is congured. When the HOM operates on X-axis and Y-axis and both axis waits to be stopped, 1 is congured. This Both function is only applied to ABS, INC and HOM commands on X-axis. If Both=1, Y-axis with the same register number must have the same commands (ABS, INC and HOM commands) to move the Y-axis at the same time. If

commands are different from each other, Error occurs�

4. Conguration of Operation Program

0/1 0/1

(4) IJP (jump input condition)

CMD Data1 Data2

IJP Input port number Register number to jump

If the input port specied is low (GEX connection status), jump to the specied register (Data2). If it is high (open), execute the next register.

● Data1: Species input port number. Refer to "4.1.2 I/O port numbers" for input port number.

● Data2: Species the register number to jump. The range is 0 to 63.

31

4. Conguration of Operation Program

(5) OUT (ON/OFF of output port)

CMD Data1 Data2

OUT Output port number 0 (OFF) / 1 (ON)

Congure the output port specied as ON or OFF (for Open collector transistor output).

● Data1: Species output port number. Refer to "4.1.2 I/O port numbers" for output port number.

● Data2: OFF when zero is congured. If 1, then it is congured as the ON state.

(6) OTP (ON pulse of output port)

CMD Data1 Data2

OTP Output port number ON time (msec)

Make certain output port ON (open collector transistor output ON) for specied time and move to next

register�

● Data1: Species output port number. Refer to "4.1.2 I/O port numbers" for output port number.

● Data2: Species the ON time in msec. the range is 0 to 65,535 msec.

(7) JMP (Jump)

CMD Data

JMP Register number to jump

Jump to the register specied.

● Data: Species the register number to jump. The range is 0 to 63.

(8) REP (start repetition)

CMD Data1

REP Repetition count

Repeat the execution from the next register of this command to the repetition end command (RPE) as many as the specied count.

● Data: Species the repetition count. The range is 1 to 255. The repetition end command (RPE) must be

congured in the lower position (its register number is bigger) than this repetition start command. The repetition loop can be congured up to three times.

05 REP 5

:

10 REP 10

:

15 REP 3

:

20 RPE

:

25 RPE

:

30 RPE

Repeat 3 times Repeat 10 times Repeat 5 times

(9) RPE (end repetition)

CMD Data

-

RPE

Repeat the execution from the repeat start command (REP) to this command.

32

(10) END (end program)

CMD Data

-

END

End the program� This command must be written the end of the program�

(11) TIM (timer)

CMD Data

TIM Waiting time (msec)

Be on standby until specied time. lData: Species time in msec unit. The range is 0 to 65,535 msec.

(12) NOP (no operation)

CMD Data

-

NOP

Not operated�

4.1.2 I/O port numbers

(1) Input port numbers

Input port No Connector Pin No Signal name Signal description Signal type

0 CN4 11 XSTOP0 Near home 1 CN4 10 XSTOP1 Home 2 CN4 9 XSTOP2 Encoder Z-phase 3 CN4 6 XINPOS Servo inposition 10 CN5 11 YSTOP0 Near home 11 CN5 10 YSTOP1 Home 12 CN5 9 YSTOP2 Encoder Z-phase 13 CN5 6 YINPOS Servo inposition 20 CN3 6 REGSL0 21 CN3 7 REGSL1 22 CN3 8 REGSL2 23 CN3 9 REGSL3 24 CN3 10 REGSL4

PHC-1HS can not use input port 10 to 13�

4. Conguration of Operation Program

X-axis signal

REGSL signal Parallel I/F signal

(2) Output numbers

Output port No Connector Pin No Signal name Signal description Signal type

0 CN4 5 XOUP0 General output X-axis 0 X-axis signal 10 CN5 5 YOUT0 General output Y-axis 0 Y-axis signal

PHC-1HS can not use input port 10�

33

4. Conguration of Operation Program

4.2 Drive by Parallel I/F

Parallel I/F connector is CN3 on front panel of the body� Refer to "8� Connector" for detailed description of I/O circuit or pin allocation for I/O signal�

This parallel interface is connected to a sequencer or mechanical junction to operate PMC-1HS/PMC- 2HS. Each drive other than home search is selected by MODE0 and 1 (12 to 13) signals.

Drive Operation MODE1 MODE0

Home Search Search home according to the home search mode congured. - -

Index

Execute the ABS and INC commands registered by specifying register number�

JOG Drive axes while input signal is On� OFF ON

Continuous Drive Drive axes continuously� ON OFF

Program Drive Execute the operation program registered� ON ON

The ON state means the connection of input signal and GEX and the OFF state means the connected

signal is open� In addition, the ON/OFF state of output signal means that the transistor output of open collector becomes ON/OFF and the number in parenthesis in the back of signal name means the relevant pin number�

4.2.1 Home Search

After activating the axis specication signal (X: 4, Y: 5) of the axis to execute, the home search is executed by activating the Home (2) input signal of more than 10 msec.

If the Home Search starts, nDRIVE/END (14 to 15) output signal of the running axis becomes ON. If the Home Search ends, the signal goes to the OFF state. However, if the drive end pulse is enabled in Mode

tab, the nDRIVE/END output signal in the OFF state sends out ON pulse as much as the time of the drive

end pulse width (msec) set in Parameter tab at the end of the signal while the axis is searching Home. Home search for only X-axis is as shown below.

HOME (CN3/2) input

X (CN3/4) input

Y (CN3/5) input

XDRIVE/END (CN3/14) output

YDRIVE/END (CN3/15) output

Caution

● During Auto Home Search, the soft limit is ignored even if it is enabled�

● For PMC-1HS, the axis specication signal is disabled.

● OFF signals of X and Y DRIVE/END are executed after OFF signal of the Home is conrmed.

OFF

OFF OFF

Min. 10 msec

ON

ON (Drive starts)

34

4.2.2 Index

The index mode is the operation to execute ABS and INC commands�

If the following three items are congured as the input signal for the Parallel I/F connector (CN3), the drive start command and STROBE (3) are activated, the drive starts.

Item specied Input signal conguration of CN3

Operation mode: Index mode MODE0 (12)=OFF, MODE1 (13)=OFF

Axis X (4), Y (5)=ON of the axis to execute

Register number

RGB number

0 OFF OFF OFF OFF OFF OFF

1 ON OFF OFF OFF OFF OFF

2 OFF ON OFF OFF OFF OFF

: : : : : : :

16 OFF OFF OFF OFF ON OFF

: : : : : : :

63 ON ON ON ON ON ON

The following gure shows an example to execute X-axis as Index mode.

STROBE (CN3/3) input

MODE0 (CN3/12) input

MODE1 (CN3/13) input

REGSL0 to 5 (CN3/6 to 11) output

XDRIVE/END (CN3/14) output

YDRIVE/END (CN3/15) output

4. Conguration of Operation Program

Refer to the register number specication table for REGSL0 (6) to REGSL5 (11)

Input signal conguration from REGS0 to REGS5

REGSL0 (6) REGSL1 (7) REGSL2 (8) REGSL3 (9) REGSL4 (10) REGSL5 (11)

Min. 10 msec

ON

Conguration value

ON (Drive starts)

X (CN3/4) input

Y (CN3/5) input

OFF

The STROBE signal is activated in ON status and the Index mode operation on the specied axis starts 10

msec later� The STROBE signal must be in on status of more than 10msec� In driving, the nDRIVE output signal on the running axis must be in the ON state� When nDRIVE signal is ON, drive will be remained even if other input signal is OFF� The nDRIVE signal goes to the OFF status if the STROBE signal is checked in OFF status�

For PMC-1HS, X and Y-axis signals are disabled.

35

4. Conguration of Operation Program

4.2.3 JOG

The JOG mode outputs drive pulses in + or - direction while its input signal is in ON status. The drive speed is congured as one of four drive speeds by the input signal SPD0, 1 (8, 9). JOG mode can be classied into JOG mode 1 which makes 2 axis operate in the same direction and JOG

mode 2 which makes 2 axis operate in different directions�

(1) JOG mode 1

The JOG mode 1 drives in +/- direction by specifying the axis specication signal (X: 4, Y: 5) only when the RUN+/- (6, 7) input signal is in ON status. Therefore, 2 axis will be operated in the same direction.

The JOG mode outputs drive pulses in + direction while RUN+ (6) in is ON status, conguring the following four items as the input signal. It outputs the drive pulses in - direction while RUN- (7) is in ON status.

Items specied Input signal conguration of CN3

Operation mode specication: JOG mode MODE0 (12) = ON, MODE1 (13) = OFF

JOG mode 1 specication JOG (10) = OFF

Axis specication X (4), Y (5) = On state of the axis to execute

Drive Speed specication Refer to drive speed conguration for SPD0 (8) to SPD1 (9)

Drive Speed SPD1 (9) SPD0 (8)

Drive Speed1 OFF OFF

Drive Speed2 OFF ON

Drive Speed3 ON OFF

Drive Speed4 ON ON

(2) JOG mode 2

JOG mode 2 is to make 2 axis operate in different directions�

Its input signal is congured as the following three items.

Items specied Input signal conguration of CN3

Operation mode: JOG mode MODE0 (12) = ON, MODE1 (13) = OFF

JOG mode1 specication JOG (10) = ON

Drive Speed specication Refer to drive speed conguration for SPD0 (8) to SPD1 (9)

While the input signals in the table below is in the ON state, drive pulse is outputted to each axis direction�

Items specied Input signal in ON status

+ direction of X- axis JOGX+ (6)

- direction of X- axis JOGX- (7)

+ direction of Y- axis JOGY+ (4)

- direction of Y- axis JOGY- (5)

Caution

When the jog mode 2 is running, do not execute the Home Search by the Home (2) signal.

36

4.2.4 Continuous

The continuous mode outputs drive pulses in + direction when the input signal RUN+ (6) is in ON state or in

- direction when the input signal RUN- (7) is in ON state. It outputs the drive pulse until the stop signal STOP (11) goes to the ON state, in other words, the RUN signal of the drive is changed into the Stop signal (If the Limit input in the proceeding direction is activated, the output stops).

The drive speed is congured as one of four drive speeds (from drive speed1 to 4) by the input signal SPD0 and 1 (8, 9). If the conguration of the drive speed is changed in driving, the speed is changed into the

changed speed at once�

Item specied Input signal of CN3

Operation mode specication: Continuous mode MODE0 (12) = OFF, MODE1 (13) = ON

Axis specication X (4), Y (5) = On state of the axis to execute

Drive Speed specication

4.2.5 Program

The program drive executes the operation program registered. The program drive is started by conguring the following items as the input signal of Parallel I/F connector (CN3) when the drive start command, STOBE (3) is in ON state.

Item specied Input signal conguration to CN3

Operation mode: Index mode MODE0 (12) = ON, MODE1 (13) = ON

Axis specication X (4), Y (5) = ON state of the axis to execute

Register number specication

4. Conguration of Operation Program

SPD0 (8) to SPD1 (9) Refer to "4.2.3 JOG" <Drive Speed conguration>.

REGSL (6) to REGSL5 (11) Refer to "4.2.2 Index" <Register number specication table> .

37

4. Conguration of Operation Program

38

5. Drive by PC

Connect PMC-1HS/PMC-2HS to PC using a communication cable. Start the operation program to congure

as shown below�

Screen to handle Handling item

Main screen

Parameter/Mode screen

ProgramEdit screen Edit of operation program

Input/Output screen Display of input signal status, output signal conguration

Hereinafter, this chapter describes each conguration according to the sequence of Windows screen.

5.1 Start of operation program

Start the operation program on PC as the following procedure�

(1)Connect PMC-1HS/PMC-2HS to a PC using a RS232C communication cable or an USB communication

cable�

(2)Turn on the main body and the PC. If the USB cable is connected initially, new hardware is detected.

Install the driver using the provided CD�

(3)Start the operation program by clicking the [Start] button.

Click Start → Program → Autonics → Motion Controller → PMC → PMC.

If the communication with the main body is normal, all data congured to the main body (Operation mode, parameters and operation program) is uploaded on the PC and the main screen is displayed.

If the communication with the main body is abnormal, the following message is popped up�

5. Drive by PC

RS-232C/USB cable

JOG operation on each axis (JOG, continuous, preset)

Execution of Home Search, Index drive and program

SAVE and OPEN of operation mode, parameters and program les

Mode

Parameter

Home Search Mode

Click the screen to execute the program on off-line. Select PMC-1HS or PMC-2HS to display the main

screen�

Caution

When you start the operation program after installing, the program may be displayed in off-line even though a communication cable is connected� To solve this program, click the option menu on the main screen, mark

the COM port connected to the main body and restart the operation program. In case of the USB communication, In USB communication, if you select "My computer → Properties (Click

your right mouse button) → Hardware → Device Manager", you can check the COM port to be allocated next to "Prolic USB-to-Serial Comm Port" in Port (COM and LPT). (based on Windows XP)

39

5. Drive by PC

5.2 Main Screen

Run the operation program to display the main screen� On this screen, you can execute;

● JOG operation on each axis (JOG, continuous and preset)

● Execution of Home Search, Index drive and program

● SAVE and OPEN of operation mode, parameters and program les

⑩

①

④

⑦

⑪

Main body connection status

①

If the program is being connected to the main body and serial communication, the screen displays online�

If it is not connected to the main body, the screen displays off-line�

In off-line, you can write the operation program, read les from the hard disk by means of Open or Save

from the [File] menu and save the written program�

Selecting JOG mode

②

You can operate JOG in three ways on the main screen.

Display Operation Operations

JOG JOG Only drives while you press the direction button�

Continuous Continuous

Preset Preset

Start to drive if you press the direction button and continue to drive until you press the [Stop] button�

Drives as many as the Preset Value movement if you press the direction button�

②

③

⑧

⑨

⑥

⑤

Selecting drive speed

③

This function selects the drive speed of JOG operation. Speed 1 to 4 means the drive 1 to 4 congured on the Parameter tab. Speed 5 means the speed congured as speed5 on the screen.

The speed can be changed in driving�

40

5. Drive by PC

JOG operation

④

Display Operations

+ button

- button

button

Preset value

Outputs drive pulses in + direction.

Outputs drive pulses in - direction

Stops the drive�

Congures the movement amount in preset operation. This value applies the scale

function� Refer to "3�1�2 Parameter"

Congures the value of speed 5. The range is 1 to 8,000. If you click the increment/decrement button (▼ ▲), the setting value is increase or

Speed 5

decrease depending on the selection of the increment� The actual drive pulse speed is the setting value multiplied by the speed multiplied

(see parameter conguration). If the speed 5 is selected, the speed can be changed in driving according to the change of the congured value.

Determines the speed increment of Speed 5�

Speed 5 Rate

If 10 is selected, the value of the Speed 5 is increased/decreased as many as 10

once you click the increment/decrement button (▼ ▲).

Displays the current position� It ignores the power ON mark� If the Home Search is executed, zero is displayed� If you click the position clear

Position

button (C button), you can clear the current position at any position. This value

applies the scale function� Refer to the item of pulse scale numerator in Parameter tab�

Speed Displays the current speed in driving�

C button

Makes the Position value (current position) as zero.

[JOY Stick]

If you click the joy stick button on the main screen, the following screen pops up�

The joy stick can freely congure the position of X+, X-, Y+ and Y- buttons and can drive X and Y axes at

the same time�

Home Search execution

⑤

This function executes the Home Search of each axis�

The selection of Home Search mode or Home Search speed is congured on the parameter/mode

screen�

Display Operations

X, Y Selects the axis to carry out the Home Search�

Run Starts the Home Search�

Stop Stops the Home Search�

41

5. Drive by PC

Program execution

⑥

To run a program, the program must be written on the program edit screen and the required items must

be congured on the parameter/mode screen.

Display Operations

REG Congures the starting register number.

X, Y Selects the axis to execute�

Caution

Do not change program, parameter or mode when the program is running�

Display drive status

⑦

Display Operations

n-RUN Lights LED when the relevant axis is driving or running a program�

n-ERR

Start of the Sub screen

⑧

Display Operations

Parameter/Mode Starts the parameter/mode screen�

Program Edit Starts the program edit screen�

Input/Output Starts the I/O signal screen�

RUN

Step

Stop

Starts the program from the register number congured.

Executes only the register numbers congured. However, only ABC, INC, HOM, OUT and OTP commands are available.

If you click this [Stop] button after pressing the [Run] button, the current command in use pauses� After then, click the [Stop] button again to close your program� However, if you click the [Run] button, the current REG program is operated�

Lights when limit over or servo alarm occurs and displays an error message at the bottom of the screen when an error occurs�

Register of the current position

⑨

The current position indicated in position is congured to the REG of 'Running program (⑥)' as the format of the ABS command. The conguration only corresponds to the axis selected in 'Running program (⑥)'.

● The drive speed is congured as the value selected in 'Selecting drive speed (③)'.

However, if Speed 5 was selected, Speed 4 is congured.

● TIM and END.P are congured as zero.

● Both is congured as 1 if both of X and Y are selected or zero for others.

If the current position is congured, the REG number in 'Running program (⑥)' is increased by one.

42

5. Drive by PC

Conguration of le management and communication

⑩

The le menu has the functions as listed in the table below. The data to be transmitted are the setting

value of the parameter/mode screen and the program of the program edit screen� The data transmission from the main body can be sent all data together or some data�

File menu Function Operations

Data is read from a le on a disk.

Open Read a le

The data opened is, also, written to the main body in On-line�

The extension name of the data le is *.nvd.

Save Save a le

Data is stored in a disk along with its le name. The extension name of the data le is *.nvd.

Data is read from the main body� All All data Program-All All programs

Program-X-axis Program data on X-axis

Upload

Read from

PMC-1HS/PMC-2HS

Program-Y-axis Program data on Y-axis

Parameter-All All parameter/mode

Parameter-X-axis Parameter/mode on X-axis Parameter-Y-axis Parameter/mode on Y-axis

Caution When starting operation program by online, it is uploaded automatically�

Data is added to the main body� All All data Program-All All programs

Program-X-axis Program data on X-axis Program-Y-axis Program data on Y-axis

Download

Add to

PMC-1HS/PMC-2HS

Parameter-All All parameter/mode

Parameter-X-axis Parameter/mode on X-axis Parameter-Y-axis Parameter/mode on Y-axis

Caution If data is added or changed on the parameter/mode screen or the program edit screen in on-line, the data is automatically added to the main body�

In the Option menu, you can mark serial communication port and select communication speed�

The serial communication port that your PC can use is displayed in COM port numbers. For communication, the COM port must be marked. In USB communication, if you select "My Computer → Properties (click your right mouse button) →

Hardware → Device Manager", you can check the COM port to be allocated next to "Prolic USB-toSerial Comm Port" in Port (COM and LPT).

The communication speed has the range from 9,600 to 115,200 bps� The Factory default is 9,600bps� Faster communication speed makes faster response of the main body but is subject to receive the

inuence of noise.

The Help menu indicates the version of the main body or the operation program� The top end and the bottom end indicate the versions of the main body and the operation program respectively (Version:

******* and Version of app: *******).

Main body reset

⑪

This function is used to reset PMC-1HS/PMC-2HS main body.

43

5. Drive by PC

5.3 Parameter/Mode Screen

The parameter/mode screen of the Sub screen is used to congure modes, parameters and home search mode. This screen has Mode, Parameter and Home Search Mode tab.

5.3.1 Mode Tab

The Mode tab is used to congure operation modes. Each mode is selected in the list by clicking (▼).

In online status, if each value is added or changed, the value is automatically added to the main body�

The mode tab is as listed in the table below�

For more information, refer to '3.1.1 Mode'.

Display Selection Factory default

Limit Stop Mode Instant/Slow Instant

Limit Active Level Low/High Low

Servo Inposition Enable Disable/Enable Disable

Servo Inposition Level Low/High Low

Servo Alarm Enable Disable/Enable Disable

Servo Alarm Level Low/High Low

End Pulse Disable/Enable Disable

Deceleration Value Accel/Decel Accel

Soft Ware Limit Disable/Enable Disable

Power On Home Search Start Disable/Enable Disable

Power On Program Start Disable/Enable Disable

44

5.3.2 Parameter Tab

Congure operation parameter and required parameter for X or Y-axis. The congurable range of each item is displayed in Range of Value. In online status, if each value is

changed, the value is automatically added to the main body�

The Parameter tab is listed in the following table� For more information, refer to"3�1�2 Parameter"

Display Input range Factory default

Speed Multiplier 1 to 500 10

Acceleration Rate 1 to 8,000 400

Deceleration Rate 1 to 8,000 400

Start Speed 1 to 8,000 50

Drive Speed 1 1 to 8,000 10

Drive Speed 2 1 to 8,000 100

Drive Speed 3 1 to 8,000 1,000

Drive Speed 4 1 to 8,000 8,000

Post Timer 1 1 to 65,535 (msec) 10

Post Timer 2 1 to 65,535 (msec) 100

Post Timer 3 1 to 65,535 (msec) 1,000

Home Search Low Speed 1 to 8,000 20

Home Search High Speed 1 to 8,000 1,000

Home Search Offset -8,388,608 to +8,388,607

Soft Ware Limit + -8,388,608 to +8,388,607

Soft Ware Limit - -8,388,608 to +8,388,607

End Pulse Width (msec) 1 to 65,535 (msec) 100

Pulse Scale Numerator 1 to 65,535 1,000

Pulse Scale Denominator 1 to 65,535 1,000

1: When the numerator and the denominator of pulse scale are equal�

※

5. Drive by PC

1

※

1

※

1

※

+100

+8,388,607

-8,388,608

45

5. Drive by PC

5.3.3 Home Search Mode Tab

Congure home search mode. Each mode is selected in the list by clicking (▼).

In online status, if each value is changed, the value is automatically added to the main body�

Home Search Mode tab is listed in the following table. For more information, refer to "3.1.3 Home Search Mode"

Display Selection Factory default

Near Home Signal Low/High Low

Home Signal Level (nSTOP1) Low/High Low

Z Signal Level (nSTOP2) Low/High Low

Step 1 Enable Disable/Enable Disable

Step 1 Direction + / - -

Step 2 Enable Disable/Enable Disable

Step 2 Direction + / - -

Step 3 Enable Disable/Enable Disable

Step 3 Direction + / - +

Step 4 Enable Disable/Enable Disable

Step 4 Direction + / - +

Position Clear Disable/Enable Enable

Using Limit Signal Disable/Enable Disable

DCC Enable Disable/Enable Disable

DCC Level 0 / 1 0

DCC Width (μsec)

10, 20, 100, 200, 1,000, 2,000, 10,000, 20,000

10

46

5.4 Program Edit Screen

The program edit screen is used to display/edit the operation program of X or Y-axis.

The program is registered to registers from 0 to 63�

5. Drive by PC

Program display part

Program

input part

The program edit screen is consists of the program display part, the program input part and the parameter display part� The input or edit of the program is carried out in the program input part� If you click a certain

register in the program display part, the selected register number is displayed in the REG eld of the

program input part�

5.4.1 Input and edit a program

For the displayed register, input each item as shown below� Whenever you click the [Enter] button, data is displayed at the corresponding REG of the program display part and the register number is increased by one� In online state, the data is automatically added in the main body�

Input item Command Description

Click (▼) to select the following commands.

Command

Data

Speed

Timer

ABS (move absolute position), OUT (ON/OFF of output port), IJP (jump input condition), INC (relative position movement), NOP (no operation), OTP (ON pulse of output port), JMP (jump), HOM (home search), REP (start repetition), TIM (timer), RPE (end repetition), END (end program)

ABS Absolute position

INC Relative position

OUT Output post number - 0 (Off)/1 (On)

OTP Output post number - ON time (0 to 65,535 msec)

IJP Input port number - register number to jump

JMP Register number to jump

REP Repetition count (1 to 255)

TIM Waiting time (0 to 65,535 msec)

Other commands Not required to congure

ABS, INC Selection of drive speed 1 to 4

Other commands Not required to congure

ABS, INC

Other commands Not required to congure

Parameter display part

Selection of post timer 1 to 3 If it is unnecessary, select zero�

47

5. Drive by PC

Input item Command Description

End P

Both

● Reset: If the [Reset] button is pressed before the [Enter] button is pressed, the input data is reset and the previous data is displayed�

Caution After entering data, press the [Enter] button to update the program�

(1) File menu

The File (F) menu on the Program Edit screen has Save, Open commands for the operation program.

This menu has the same function with the File menu of the main screen�

(2) Edit menu

The Edit (E) menu of the Program Edit screen is listed as shown the table below.

Item Function Description

Cut Clear of the selected area

Copy Copy of the selected area Copy the selected area to the clipboard�

Paste Paste

Delete Deletion of lines

Insert Insertion of lines

1: Output the end pulse after running the command 0: No-output after running the command

ABS, INC, HOM

Other command Relative position

ABS, INC and HOM on X-axis Output port number: 0(OFF) / 1(ON)

Other command Output port number: ON time (0 to 65,535 msec)

Move the selected area to the clipboard. In online state, the program

data of the changed register is added to the main body�

Paste the selected area to the current register� In online state, the program data of the changed register is added to the main body�

Delete the selected register in line unit� The register number after the deletion can be advanced� In online state, the program data after the deleted line is added to the main body�

Insert blanks to the selected line� If the last line number of the program after inserting blanks is over 63 with the numbers or more than 63 are deleted� In online state, the inserted program data is added to the main body�

Caution

For 1, the drive end pulse must be enabled in mode

conguration.

48

5.5 I/O Signal Screen

I/O Signal screen displays the current status of the input signal in driving and used to congure the manual

of the output signal� The I/O Signal screen is only operated in online state�

Input signal status of CN4 and 5 lights when the signal is active�

E.g.) The limit signal (nLMT+/-) lights when the Limit Active Level is low, which is the signal is connected to GND,

by the Mode tab. The input signal of Parallel I/F (CN3) lights when the input signal is connected to GEX and

its output signal lights when the signal is ON, which is the output transistor is ON� If you double-click the signal name, the ON/OFF output is reversed�

5. Drive by PC

49

5. Drive by PC

5.6 Error code

Errors listed in the table below are displayed at the bottom of the main screen�

Code Error message Description

208 SOFTWARE LIMIT + ERROR Software LMT+ occurred.

209 SOFTWARE LIMIT - ERROR Software LMT- occurred.

210 HARDWARE LIMIT + ERROR nLMT+ signal is active level.

211 HARDWARE LIMIT - ERROR nLMT- signal is active level.

212 ALARM ERROR nALARM signal is activated by the Enable conguration.

213 EMG ERROR EMG is low level (GEX connection).

214 PROGRAM ERROR Program error

215 HOME ERROR Home Search error of the main body

401 Break signal was received The stop signal is received�

402 Frame error Frame error

403 Port Overrun error Port overrun

404 Recive buffer Overow Receive buffer overow

405 Parity error Parity error

406 Send buffer Full Send buffer is full

407

408 There is no response No response for the command

501 X Axis is already driving now X-axis was driven during the operation of X-axis

502 Y Axis is already driving now Y-axis was driven during the operation of Y-axis

503 Please select Axis

504

505 Please input number Not specied value was input.

506

The online state can be changed into the ofine state. To recover the online state, select the File (F) and retry the communication such as Upload → Parameter →

X-axis.

Device control block of Port was received

Please input number from 0 to 63 for REG

Please input number within the limits

Unexpected error acquiring the device control block

(DCB) of a port

Home Search and Index/Program was selected without selecting any axis on the main screen�

A number other than 0 to 63 was inputted in REG

A value other than input range was input�

50

6. Drive by Teaching Unit

The teaching unit (PMC-2TU-232) is a device that builds the operation mode parameter and operation

program for the main body without a PC� In addition, it can carry out the start of the operation program, the home search and JOG operation�

The teaching unit is used by connection the private cable (1.5m) to the RS-232C connector (CN2) of the

main body� It is recommended to select 9,600bps for more stable communication�

The teaching unit consists of data edit mode and drive handling mode� The data edit mode displays a

register number to the REG of the display part, and the drive handling mode displays dp (drive operation). When turned on, it starts as the drive handling mode (dp display).

The [DP] button is used to convert the status of the data edit mode and the drive handling mode�

Mode Operation REG display

Data edit

Drive handling

• Adding operation mode parameter and operation program

• Index drive operation

• Displaying the current position

• JOG operation

• Home search

• Program execution

6. Drive by Teaching Unit

PMC-2TU-232

connection cable

Register number

DP

(drive operation)

51

6. Drive by Teaching Unit

The front of the teaching unit is as shown below;

②

③

①

⑥

Reset: Resets the main body and the teaching unit�

①

X/Y display: Displays the currently selected axis�

②

Register number display/dp: Displays the currently selected register number when data is editing and

③

Data display: Displays the data of each register when data is editing and the current position of the

④

Input buttons

⑤

● X/Y: Converts the selecting axis. It is used to convert the sign of an input value when the value is

● REG: It is used to input the register number to display� If this button is pressed on the data input, the

● ↑↓: Increases/decreases the displayed register number.

● EXC: Runs the displayed command. However, this command is only valid for ABS, INC, OUT, OTP and

● DP: Converts the drive handling status and the data edit status�

● WRT: Adds a value when data is editing�

Button display for drive operation

⑥

: Displays button function as yellow letters to the left or the top of the input button in drive handling status�

The top end and the bottom end of the button handle X-axis and Y-axis respectively.

selected axis when drive is handling�

entered and a mode data that the mode data is entered�

data input is cancelled and returns to the state before the data input�

HOM 1 to 4 commands.

6.1 Operation of the data edit

The data edit includes input, display and change the operation mode/parameter or the operation program� In data edit mode, a register number between 00 and 95 is displayed� In the drive handling mode, the REG

displays dp� Therefore, change into the drive edit mode by pressing the [DP] button�

Make sure that data edit should be done with communication speed 9,600 bps.

④

⑤

dp when drive handling�

6.1.1 Register Selection

There are 00 to 95 registers on each axis .(except 64 to 70)

There are two ways to display registers�

Press [REG] button to input a register number as two digits�

①

Example: REG 04 ---- REG → 0 → 4 Press [↑] or [↓] button to change a register number.

②

If you give the button a short press, the number increases by one� Otherwise, the number increases continuously�

If ABS and INC commands were congured in the register, the short press displays a position data and

the operation mode� If you press the button again, the next register is displayed�

52

6.1.2 Register Composition

The register conguration is displayed by a teaching unit as listed in the table below.

REG No� Description

00 to 63 Operation program

64 to 70 Empty

71 Operation mode 1

72 Operation mode 2

73 Axis input signal lter is not changeable

74 Speed Multiplier (1 to 500)

75

76 Acceleration Rate (1 to 8,000)

77 Deceleration Rate (1 to 8,000)

78 Start Speed (1 to 8,000)

79 Drive Speed 1 (1 to 8,000)

80 Drive Speed 2 (1 to 8,000)

81 Drive Speed 3 (1 to 8,000)

82 Drive Speed 4 (1 to 8,000)

83 Home search high speed (1 to 8,000)

84 Home Search Low Speed (1 to 8,000)

85 Home search mode 1

86 Home search mode 2

87 Home search offset (-8,388,608 to +8,388,607)

88 Soft Ware Limit + (-8,388,608 to +8,388,607)

89 Soft Ware Limit - (-8,388,608 to +8,388,607)

90 Post Timer 1 (1 to 65,535)

91 Post Timer 2 (1 to 65,535)

92 Post Timer 3 (1 to 65,535)

93 Drive and Pulse width (1 to 65,535)

94 Pulse Scale Numerator

95 Pulse scale denominator

Caution

The teaching unit (PMC-2TU-232, sold separately) does not have the pulse scale function.

All of the position data of REF00 to 63 and the parameters of REG 87, 88 and 89 become pulse values�

- - - -

6. Drive by Teaching Unit

Data type

Value data Mode data

- - -

- -

-

Note

-

Not changeable

53

6. Drive by Teaching Unit

6.1.3 Input of the Operation Program

The operation program is registered at registers number 00 to 63� Each command and input method in the teaching unit are listed in the table below�

Comm

Display

-and

ABS

A 1 8 0 0

ABS display

INC

INC display

Mode

ABS INC

The selected mode is lighted in mode display

The HOM command selects HOM1 to HOM4 depending on Enable/Disable conguration of

End P and Both�

HOM1

HOM

HOM2

HOM1

JMP

J M P 0 9

JMP

REP

TIM

54

R E P 1 2 3

` M 3 0 0

TIM

Absolute position

- 7 3 0 0

Relative position

) ) ! ! )

End P 0: OFF, 1: ON

Both 0: OFF, 1: ON

Display End P Both

H O M 1

H O M 2

H O M 3

H O M 4

REG to jump

Repetition count

Time conguration

ABS/INC

conguration

0: INC, 1: ABS

Drive Speed 1, 2, 3, 4

Post Timer 0, 1, 2, 3

Disable Disable

Enable Disable

Disable Enable

Enable Enable

Input method

Input operation Description

Press the [WRT]

1

button�

Select a command

2

using the [↑] or [↓]

button� Press the [WRT]

3

button�

Input position data

4

(Input in pulse unit)

Press the [WRT]

5

button�

Congure each

mode by means of

6

the [+/-] button and

] button�

the [

Press the [WRT]

7

button�

Press the [WRT]

1

button�

Select a command

2

using the[↑] or [↓ ]

button�

Press the [WRT]

3

button�

Caution

HOM 3 and 4 cannot be selected for Y-axis.

Press the [WRT]

1

button�

Select a command

2

using the [↑] or [↓]

button� Press the [WRT]

3

button�

4 Input a value�

Press the [WRT]

5

button�

The ABS display

is ickered in the

command input state�

ABS display: ABS INC display: INC

The command is

conrmed.

A sign is entered by

pressing the [+/-]

button� Its position data is

conrmed and its mode

is displayed�

[+/-] button: The ickering value is

changed� [ ] button: The selected item is moved�

The position data

ickers twice to inform

the completion of the registration�

The ABS display

is ickered in the

command input state�

Select HOM1 to HOM4.

The display ickers

twice to inform the completion of the registration�

The ABS display

is ickered in the

command input state�

The command is

conrmed.

Input numbers are displayed from the right of the DATA

The position data

ickers twice to inform

the completion of the registration�

6. Drive by Teaching Unit

Comm

Display

-and

OUT

O V ` 1 0 _ 1

Output port

Output status

0 (OFF)/1 (ON)

IJP

J P 0 2 _ 1 7

OUT IJP OTP

Input port

OTP

O ` P 1 0 _ 5 0

Output port

Caution

REG to jump

ON time

In the teaching unit, the pulse width of the OPT

command is congured within the range of 0 to 99

Input method Input operation Description

Press the [WRT]

1

button�

Select a command

using the [↑] or [↓]

2

button� Press the [WRT]

3

button�

Input the rst value

4

(Left side)

Press the [ ] button�

5

Input the second

6

value (right side).

(msec).

If the value registered by a PC exceeds the range, the pulse width is not displayed�

Press the [WRT]

7

button�

(The width is displayed as --.)

Press the [WRT]

1

button�

Select a command

using the [↑] or [↓]

2

button�

Press the [WRT]

3

button�

RPE NOP END

RPE

NOP

END

R P E

N O P

E N D

Press the [REG] button to cancel the input and return to the previous data�

Caution

Input position data in pulse unit�

The teaching unit (PMC-2TU-232) does not have the pulse scaling function.

The ABS display is

ickered in the command

input state�

The command is

conrmed.

Wait for the input of the

second (right) value.

The display ickers twice

to inform the completion of the registration�

The ABS display is

ickered in the command

input state�

The display ickers twice

to inform the completion of the registration�

55

6. Drive by Teaching Unit

6.1.4 Input of Operation Mode and Parameters

The operation mode and the parameters are registered in REG71 to REG95� The display and input methods in the teaching units are as follows:

Parameter

/Mode

REG Display

74

:

The value of each parameter is

Parameter

84

displayed in Data�

87

:

95

Data display part

1 2 3 4 5 6 7 8

) ) ) ) ) ) ) )

71 72

Mode

For the items displayed as 8-digit

85

at the data display part for each

86

register, refer to "6�1�4 Input of

Operation Mode and Parameters" (1) Mode display'.

Input method

Input Description

Press the [WRT]

1

button�

Input a value

2

Press the [WRT]

3

button�

Press the [WRT]

1

button

Congure each mode by means of the [+/-

2

] button and the [ button�

Press the [WRT]

3

button�

Input mode

Use of the number buttons

The display ickers twice

to inform the completion of the registration�

In input mode, the mode of 1 in the Data display part is selected�

[+/-] button: The ickering

value is changed�

]

] button: The selected

[ item is moved�

The display ickers twice

to inform the completion of the registration�

56

(1) Mode display

REG71 Operation Mode 1 -----------------------------------------------------Description of each digit in the Data part

REG D ATA

1 Limit Stop 2 Limit Signal Active 3 Inposition Enable 4 Inposition Enable Signal Active 5 Alarm 6 Alarm Active

REG72 Operation Mode 2------------------------------------------------------Description of each digit in the Data part

REG D ATA

1 Near Home Signal Level (STOP0) 2 Home Signal Level (STOP1)

3 Encoder Z-phase Signal Level 4 Drive end pulse 5 Deceleration Rate 6 Soft Limit

7 Power On Home Search 8 Power Program Start

REG85 Home Search 1---------------------------------------------------------Description of each digit in the Data part

REG D ATA

1 Step 1 Enable 2 Step 2 Direction 3 Step 3 Enable 4 Step 4 Direction 5 Step 5 Enable 6 Step 6 Direction 7 Step 7 Enable 8 Step 8 Direction

REG86 Home Search 2---------------------------------------------------------Description of each digit in the Data part

REG D ATA

1 Position Counter Clear

2 - (xed to zero)

3 Use of Limit Signal 4 DCC 5 DCC Active

8 7 6 5 4 3 2 1

7 1 0 0 0 0 0 0

8 7 6 5 4 3 2 1

7 2 0 0 1 0 0 0 0 0

8 7 6 5 4 3 2 1

8 5 0 0 0 0 1 0 1 0

8 7 6 5 4 3 2 1

8 6 0 0 0 0 1 0 1 0

6. Drive by Teaching Unit

0: Immediate Stop

0: GEX Connection

0: Disable

0: GEX Connection

0: Disable

0: GEX Connection

0: GEX Connection 0: GEX Connection 0: GEX Connection

0: Disable 0: Acceleration Rate Value 0: Enable

1: Deceleration Stop 1: Open 1: Enable 1: Open 1: Enable 1: Open

1: Open 1: Open 1: Open 1: Enable 1: Deceleration Rate Value 1: Disable

[Caution] The conguration logic is reversed.

0: Disable 0: Disable

0: Disable

0: + Direction

0: Disable

0: + Direction

0: Disable

0: + Direction

0: Disable

0: + Direction

0: Disable

- 0: Disable 0: Disable 0: ON Pulse

DATA digit 8 7 6

1: Enable 1: Enable

1: Enable 1: - Direction 1: Enable 1: - Direction 1: Enable 1: - Direction 1: Enable 1: - Direction

1: Enable

1: Enable 1: Enable 1: OFF Pulse

DCC pulse width (μsec)

0 0 0 10 0 0 1 20 0 1 0 100 0 1 1 200 1 0 0 1,000 1 0 1 2,000 1 1 0 10,000 1 1 1 20,000

57

6. Drive by Teaching Unit

6.1.5 Index Drive

Execute the command of the register displayed in the data mode is executed once�

If you press the [EXC] button after selecting an axis via the [X/Y] button, the command of the register

currently displayed is executed� However, the executable commands are limited as ABS, INC, OUT, OTP

and HOM1 to 4. Other commands are not executed by pressing the [EXC] button. This function is normally executed for only one axis. However, if ABS, INC and HOM1 to 4 commands are congured as Both for X-axis, the commands are simultaneously executed for X/Y-axis by the input of the [EXC] button on X-axis.

6.2 Drive operation

In drive handling mode, you can carry out JOG movement, Home Search and program execution� REG displays dp in the drive handling mode� When a register number is displayed, press the [DP] button to

convert into the mode� In the mode, Data displays the current position of the selected axis�

The button to handle is displayed in yellow letters on the left or the top of the input buttons and the higher

end and the lower end of the buttons are used to handle X-axis and Y-axis respectively. The yellow letters

above the input button describes each function� However, the [DP] button only has the data edit/drive handling change function�

X ●

D P 1 2 5 0 3

Y ●

Position data of the selected axis

Button display to

operate the drive

6.2.1 Home Search

The buttons to carry out the home search are listed in the table below�

Yellow Letter Displayed Input button Operation

X HOME 5 Home search on the X-axis

Y HOME 0 Home search on the Y-axis

Both of X and Y axes can be simultaneously handled.

If you stop the operation, press the [STOP] button of each axis�

Caution

If the operation mode, parameter and home search mode should be congured before executing the home

search� It may cause that the home search is not performed correctly�

58

Input buttons

6.2.2 JOG operation

The JOG operation in the teaching unit is the operation to drive in the specied direction only when a button

is pressed� In addition, the drive speed can be changed�

Yellow letter mark Input button Operation

X + 6 JOG shift in the + direction on X-axis

X - 7 JOG shift in the - direction on X-axis

Y + 1 JOG shift in the + direction on Y-axis

Y - 2 JOG shift in the - direction on Y-axis

X SPD 8

Y SPD 3

6.2.3 Execution of Operation Program

The registered operation program is carried out from the specied register number. The program can operate only X-axis, Y-axis or both of X and Y simultaneously. It is not allowed to execute Y-axis on operating X-axis, or vice versa. The procedure to execute the program is listed in the table below.

Order Input Procedure Operation

1 Press the [EXC] button. Executing a program

Select an axis by pressing

2

the [X/Y] button.

3 Input register numbers� Input the number of the start register between 0 to 63�

4 Press the [EXC] button. The program is executed from the inputted start register�

E.g.)To execute X-axis from REG10.

[EXC] → [X/Y] → [1] → [0] → [EXC]

To stop the program execution in operating, press the [STOP] button on each axis� In running, the

current position on the selected axis is displayed. In other words, if X-axis or Y-axis is operating, the current position on X-axis or Y-axis is displayed respectively.

If X/Y-axis is operating, the current on X-axis is displayed. Once the program is running, you can monitor the current position by selecting an axis by means of the [X/Y] button.

6. Drive by Teaching Unit

Whenever these buttons are pressed, the drive speed is changed among 0 to 4�

The drive speed 1 to 4 output the values congured by REG

79 to 82 and the drive speed 0 outputs the single pulse� If

you press rst, the currently registered speed is displayed. If

you press continuously, the speed is changed�

If the [X/Y] button is pressed, X-axis, Y-axis and X/Y-axis is selected

in turn�

59

6. Drive by Teaching Unit

6.2.4 Record of the Current Position

Record (teaching) of the current position is the function to register the current position as the absolute position (ABS) to registers. Before entering to the drive operation (dp mark) mode, the current position as

the absolute position is recorded to the register with the number displayed by the data edit mode� Therefore, select the register to register in the Data edit mode in advance� The procedure to record the current position is listed in the table below�

Order Procedure Description

Selectively display the register to add the

1

current position in the data edit mode� Press the [DP] button to change into the

2

drive operation mode�

3 Input register numbers� The drive speed can be changed�

Move an axis to the position to record by

4

means of the [+, -] button for each axis.

Press the [X/Y] button to select an axis to

5

record�

6 Press the [WRT] button�

Change the mode

In the current position addition mode, ABS and drive speed are auto-congured as 1, and post timer, End P and Both are auto-congured as 0. If necessary, the mode conguration can be reset.

If you press the [↑] button, when the mode is displayed, you may change each mode of the congured mode

by pressing the [WRT] button�

Display

The current position is recorded to the displayed register�

The lamp for the selected axis is turned on� The current position is recorded one axis by one axis�

X/Y-axis can not be recorded at the same time. When the current position data ickers, you can cancel

the recorded data by pressing the [DP] button� The mode returns to the data edit mode (register

display).

The data lights twice to inform that the current position

is recorded as the absolute position (ABS). To add again, repeat from #2 to #6.

) ) ) ! !

ABS/INC conguration 0: INC, 1: ABS

Drive Speed 1, 2, 3, 4

Post Timer 0, 1, 2, 3

End P 0: OFF, 1: ON

Both 0: OFF, 1: ON

60

7. Product Specications

7.1 Dimensions

2-Ø5

90

35�5

7.1.1 Sold separately (teaching unit, PMC-2TU)

(unit: mm)

35mm Din Rail

connectable

95

60

64

61�7

150 23

61

7. Product Specications

7.2 Specications

Model PMC-1HS-232 PMC-1HS-USB PMC-2HS-232 PMC-2HS-USB

Control axes 1-axis

Motor for control Pulse train input stepper motor or servo motor Power supply 24VDCᜡ ±10% Power consumption Max. 6W Operation mode JOG/CONTINUOUS/INDEX/PROGRAM mode Inposition setting ABSOLUTE/INCREMENTAL method Number of index steps 64 indexes per axis Inposition range -8,388,608 to +8,388,607 (supports pulse scaling function) Number of drive speed 4 Drive Speed 1 pps to 4 Mpps (1 to 8,000×magnication 1 to 500) Pulse output method 2-pulse output method(line driver output)

Home search mode

Save EEPROM Steps 64-step

Program

Control

function

command Start Available power ON program auto start setting

Home search Available power ON home search setting General output 1-point 2-point

Control interface Parallel I/F

Ambient

temperature

Environment

Ambient

humidity

Common User manual, CD

Power

connector

RS-232C

connector

P I/F Access-

connector ory

X-axis I/O

connector

Y-axis I/O

connector

USB

connector

Approval

※1

Weight

1: The weight includes packing� The weight in parenthesis is for only unit�

※

The temperature or humidity mentioned in Environment indicates a non freezing or condensation�

※

2-axis (Each axis can be independently

programmed)

High speed near home search (Step 1) → Low speed near home search (Step 2) → Encoder Z-phase search (Step 3) → Offset movement (Step 4). Conguring the detection direction and Enable/Disable in each step.

ABS, INC, HOM, IJP, OUT, OTP, JMP, REP, RPE, END, TIM, NOP (12 types)

0 to 45℃

35 to 85%RH

[CN1] MC1, 5/2-ST-3.5(PHOENIX): 1

[CN2] RS-232C communication cable (1.5m): 1

[CN3] 20P MIL standard, 2.54mm connector: 1

[CN4] 16P MIL standard, 2.54mm connector: 1 (In case of 2HS, using 2)

-

Approx� 386g

(approx. 96.8g)

USB communication

cable (1m): 1

Approx� 421�6g

(approx. 96.9g)

[CN5]16P MIL standard, 2.54mm

connector: 1

USB

-

communication

cable (1m): 1

Approx� 393�6g

(approx. 100.2g)

Approx� 432�2g

(approx. 100.4g)

62

8. Connector

8.1 Connector Types and I/O Signal Connection

Connector positions and pin numbers of PMC-HS Series is shown in the gure below. Note that you connect wires following pin number correctly. If the power connector (CN1) is connected in

reverse or any current/voltage in excess of the rated current/voltage are entered to each signal, internal circuit may be broken�

Connector

CN2

CN1

CN3

8.1.1 CN1: Power Connector

Connect the power of 24VDC to it. Connect the power tting to the polarity.

Pin No� Signal Name 1 24VDC 2 GND (0V)

8.1.2 CN2: RS-232C Connector

It is the RS-232C serial communication connector� It connects to a communication port in a PC or a teaching unit by means of the serial communication cable for the program edit mode or the manual operation mode

by the PC or the teaching unit (PMC-2TU-232).

Pin No� Signal name I/O Description 1 TXD Output Receiving data 2 RXD Input Transmitting data 3 GND 4 5 6

The internal wiring diagram of RS-232C communication cable is as shown below�

※

CN2 RS-232C Connector

TXD RXD

GND

- -

PMC-HS

1 2 3 4 5 6

6P modular

connector

CN6

CN4

CN5

-

1

6

Connector

CN1 Power connector

CN2

CN3 Parallel connector

CN4 X-axis I/O connector

CN5 Y-axis I/O connector

CN6 USB connector

PMC-1HS-232C does not have CN5 and CN6, and PMC-1HS-USB does not have CN5.

Ground No-connection No-connection No-connection

Cable Length 1�5m

6P

Cable

RS-232C connector

(connects with PMC-2TU-232)

PC connection connector

DCD

1

RXD

2

TXD

3

DTR

4

GND

5

DSR

6

RTS

7

CTS

8

RI

9

DE-9S

8. Connector

63

8. Connector

8.1.3 CN3: Parallel I/F Connector

Motion controller is controlled via Parallel I/F connected with a sequencer or mechanical junction as the

dedicated program�

'The input signal is in the ON state' means that the input signal and GEX terminal is connected via a

mechanical junction or an open collector� 'The output is in the ON state' means that an open collector output transistor becomes high�

Pin # Signal name I/O Description 1 RESET Input Reset 2 HOME Input Home search start 3 STROBE Input Drive start 4 X/JOG Y + Input X-axis setting/JOG 2 mode Y+ 5 Y/JOG Y - Input Y-axis setting/JOG 2 mode Y- 6 REGSL0/RUN+/JOG X+ Input Register setting 0/Run+/JOG 2 mode X+ 7 REGSL1/RUN-/JOG X- Input Register setting 1/Run-/JOG 2 mode X- 8 REGSL2/SPD0 Input Register setting 2/Drive Speed setting 0 9 REGSL3/SPD1 Input Register setting 3/Drive Speed setting 1 10 REGSL4/JOG Input Register setting 4/JOG setting 11 REGSL5/STOP Input Register setting 5/Drive stop 12 MODE0 Input Operation mode setting 0 13 MODE1 Input Operation mode setting 1 14 X DRIVE/END Output X-axis drive/Drive end pulse 15 Y DRIVE/END Output Y-axis drive/Drive end pulse 16 X ERROR Output X-axis error 17 Y ERROR Output Y-axis error 18 GEX 0V GND 19 GEX 0V GND

20 VEX +24V

8.1.3.1 Input/Output Connections

VEX(+24VDC)

10k

Input

(1 to 13)

(18, 19)

3�3k

GEX

(1) Input

● RESET (reset)

Make the ON state more 20 msec and all internal operations are reset. It can be used as the emergency

stop signal�

● HOME (home search start)

When the X/Y-axis specication signal is in the ON state, X/Y-axis starts the home search operation

simultaneously� When only the selected axis is in the ON state, only the axis starts the home search operation� If the nDRIVE/END signal is used as the drive end pulse, make the Home signal in the ON state of more than 10 msec�

Caution

Do not make the HOME in the ON state during the JOG drive.

64

Power output for sensor

(Less than 24VDC, 100mA)

+5V

Internal

circuit

2�7k

7�2k

Internal circuit

20

19

17

18

15

16

13

14

11

12

9

10

7

8

5

6

3

4

◀

1

2

+24V

Output

(14 to 17)

3k

GEX (18, 19)

8. Connector

● STROBE (drive start) The STROBE is the start command signal in Index mode and Program mode�

If you make this signal in ON state after specifying a step number and X/Y-axis, the drive starts. Make the

STROBE signal in the ON state of more than 10 msec or check if the nDRIVE/END signal is in the ON state� After then, return the signal in the OFF state�

However, if the nDrive/END signal is used as the drive end pulse, make the STROBE signal in the ON state of 10 msec�

● X/JOG Y+ (X-axis setting/JOG 2 mode Y+)

Y/JOG Y- (Input, Y-axis setting/JOG 2 mode Y-) This signal species an axis in the Index mode and the Program mode. If the specied axis goes to the

ON state, the relevant axis is selected. Before the STROBE signal is in the ON state, the axis specication

signal must be in the ON state�

In the JOG 2 mode, if JOG Y+ and JOG Y- are changed to the ON state, the drive pulse comes out in the Y+ and Y- directions respectively.

● REGSL0/RUN+/JOG X+ (Register setting 0/RUN+/JOG 2 mode X+) REGSL1/RUN-/JOG X- (Register setting 1/RUN-/JOG 2 mode X-) REGSL2/SPD0 (Register setting 2/Drive Speed setting 0) REGSL3/SPD1 (Register setting 3/ Drive Speed setting 1) REGSL4/JOG (Register setting 4/JOG setting) REGSL5/STOP (Register setting 5/ Drive stop) These signals specify register numbers in the Index mode and the Program mode� REGSL0 is the lowest bit and REGSL5 is the highest bit and set the register numbers 0 to 63�

RUN+ and RUN- are separately used in the JOG mode 1 and Continuous mode respectively. Set the axis to drive and RUN+ is in the ON state, the drive pulse comes out in the +direction. When RUN-

is in the ON state, the drive pulse comes out in the -direction�

At this time, the drive speed is congured as SPD0, 1. <Drive Speed setting>

Drive Speed SPD1 SPD0

Drive Speed 1 OFF OFF

Drive Speed 2 OFF ON

Drive Speed 3 ON OFF

Drive Speed 4 ON ON

If JOG X+ and JOG X- are in the ON state in the JOG 2 mode, the drive pulse comes out in the X+, Y-

direction respectively� The STOP signal is the drive stop signal, if the signal enters to the ON state, the drive stops� The signal

has different functions depending on the operational mode as listed in the table below� In addition, the signal operates in the ON state of 10 msec to operate�

Operation mode Operation of the Stop Signal in the ON state�

※1

Index drive

Stops the running drive of the ABS or the INC command�

JOG mode 1, 2 Disable

Continuous drive Stops the continuous drive�

Stops the program drive�

Program drive

※1

Stops the drive, if a drive command is running�

Home search Stops during the executing of home search�

65

8. Connector

※1.

Caution

Note that STOP signal uses the same function with register specifying signal (REGSL5). Be careful for signal input timing in case of INDEX drive or program drive.

● MODE0 (operation mode setting 0) MODE1 (operation mode setting 1)

These signals specify the operation mode in Parallel I/F�

MODE1 (13) MODE0 (12) Operation mode

OFF OFF Index mode

OFF ON

ON OFF Continuous drive

ON ON Program drive

(2) Output

● X DRIVE/END (X-axis drive/Drive end pulse) Y DRIVE/END (Y-axis drive/Drive end pulse)

These output signals are in the ON state when the drive pulse comes out� However, it is applied in different ways depending on the operation mode in Parallel I/F and the mode

congured in main body. <Operation of DRIVE/END (14, 15) output signal>

Operation mode in Parallel I/F

Home search

Index mode

JOG mode

Continuous mode

Program mode

STOP: Operated by REGSL5 signal (Drive shall be remained the same when STROBE signal is input

and becomes OFF.) During drive: Operated by STOP signal (It will be operated when REGSL5 signal is OFF and ON)

Set STOP signal as OFF when a drive stops� If drive keeps ON, drive can not be executed�

Refer to the gure below.

REGSL0 to 4 (6 to 10) Input

REGSL5/STOP (11) Input

XDRIVE/END (14) Output

X (4) Input

STROBE (3) Input

JOG mode JOG mode 1： JOG(10) = OFF JOG mode 2： JOG(10) = ON

When the drive end pulse is disabled

according to the mode congured in

the main body� The signal is ON in searching the

Home and OFF after ending� The signal is ON in the drive pulse

output and OFF after ending� The signal is ON in searching the

Home and OFF after ending� The signal is ON in searching the

Home and OFF after ending�

ON

OFF

ON

OFF

REGSL5 OperationONSTOP Operation

OFF

Start ON driver

When the drive end pulse is enabled according

to the mode congured in the main body,

The signal is OFF in searching the Home and the drive end pulse comes out after ending�

The drive end pulse comes out if the command that the end pulsed is enabled is completed�

The signal is OFF in driving and the drive end pulse comes out after ending�

The drive end pulse comes out if the command that the end pulse is enabled is completed�

ON

OFF

● X ERROR (X-axis error output) Y ERROR (Y-axis error output) For the control on each axis, the signal is ON if an error occur�

66

8.1.4 CN4, CN5: I/O Connector

CN4 and CN5 are the I/O signal connector for X-axis and Y-axis respectively. The pin arrangement of CN4 and CN5 are equal. PMC-1HS does not have CN5.

'n' in the below table means X for CN4 and Y for CN5.

Pin # Signal name I/O Description

1 nP+P Output CW +direction drive pulse 2 nP+N Output CW -direction drive pulse 3 nP-P Output CCW+direction drive pulse 4 nP-N Output CCW -direction drive pulse 5 n OUT0 Output General output 0/DCC 6 n INPOS Input Servo inposition complete 7 n ALARM Input Servo alarm 8 GEX 0V GND 9 n STOP2 Input Encoder Z-phase 10 n STOP1 Input Home 11 n STOP0 Input Near Home 12 n LMT+ Input LMT+ 13 n LMT- Input LMT- 14 EMG Input Emergency stop 15 GEX 0V GND

16 VEX +24V

CN 4, 5 I/O circuit except drive pulse is same as CN3 I/O circuit�

※

Drive pulse output of motion controller which input by motor driver is line driver output�

(1) Output

● nP+P (CW+ direction drive pulse) (n=X, Y) nP+N (CW- direction drive pulse) nP-P (CCW+ direction drive pulse) nP-N (CCW- direction drive pulse)

The drive pulse output signal comes out from the line drive (AM26C31C) of the differential output. nP+N and nP-N are inverted outputs of nP+P and nP-P, respectively.

When reset, nP+P, nP-P become Low and nP+N, nP-N become High.

The example for the connection with a motor driver is as shown below:

nP+P

nP+N

● nOUT0 (Common output0/DCC output (n=X, Y)) This signal is a common output signal to control ON/OFF state by program operation�

OUT command (ON/OFF of output port) and OTP command (ON pulse from output port) is used for this signal. If selecting Enable for DCC output with Home Search Mode tab, it is output depending on preset logic level and pulse width after Home Search Step 3 (Z-phase search) ends.

nP-P

nP-N

CN4

1

2

3

4

Power output for sensor

(less than 24VDC, 100mA)

Motor driver

<CN4, CN5

pin number>

1

▶

3

5

7

9

11

13

15

8. Connector

2

4

6

8

10

12

14

16

67

8. Connector

(2) Input

● nINPOS (Servo inposition (n=X, Y))

This is an input signal to connect the inposition output of a servo motor drive�

To use the inposition signal, enable the inposition in the operation mode and congure its active level.

For more information of its operation, refer to the Servo Inposition Enable and the active level of refer to

"3.1.1 Mode"

● nALARM (Servo alarm (n=X, Y))

The signal is an input to connect the alarm (Alarm) output of a servo driver. To use this signal, enable the servo alarm in the operation mode and congure its active level. For more

information of its operation, refer to the Servo Inposition Enable and the active level of refer to "3�1�1

Mode"

● nSTOP2 (Encoder Z-phase (n=X, Y))

nSTOP1 (Home) nSTOP0 (Near Home)

This is the input signal for the home search� For more information of the home search operation, refer to

"3.1.3 Home Search Mode"

● nLMT+ (LMT+ (n=X, Y))

nLMT- (LMT-) nLMT+ input signal is the Overrun limit signal with the + direction. If the nLMT+ input signal is active while the drive pulse comes out in the + direction, the drive decelerates

to stop or stops immediately. Meanwhile, nLMT- input signal is Limit signal with the - direction. If the nLMT-

input signal is active while the drive pulse comes out in the - direction, the drive decelerates to stop or

stops immediately. Even if nLMT+/- input signal is in active status after stop, drive is still possible in the

opposite direction of each limit sensor� Deceleration to stop/Instant stop of Limit stop and its active level

are congurable.

The example to connect of Limit and Home signal is as shown below�

VEX (+24V)

nLMT+

nLMT-

CN4 16

12

13

LMT+

LMT-

● EMG (Emergency stop)

If the EMG input signal is in the ON state, you can immediately stop all driving axes. The signal can not select the active level. The signal is typically in the OFF state (Open). However, if the signal is changed into the ON state (GEX connection), axes are immediately stopped.

● VEX (Power output for sensor)

This is the output power (+24VDC) to supply the power to the limit, home sensor. Congure the current at less than 100mA. The VEX power is transferred to CN3, CN4 and CN5. Congure

the current at less than 300mA�

68

nSTOP1

GEX

10

15

Home

9. Serial Communication Commands

9.1 Communication condition

Communication conditions Descriptions Communication speed 9600 to 115200bps Data bit 8 bit Stop bit 1 bit Flow control None Parity bit None Control character 0-9, A-Z,

9.2 Command Cycle

(1) means a space� (2) [CR] means 0x0d carriage return. (3) [LF] means 0x0a line feed.

9.3 Command

PRG

It executes a program in the PMC-1HS/PMC-2HS from an assigned address.

Format Command

PRG

Put the axis specication "X" in PMC-1HS. [Example] To operate X/Y-axis from REG00

JOG

Start the continuous drive on the specied axis.

Put the axis specication "X" in case of PMC-1HS. [Example] To drive X-axis and Y-axis in the + and - directions respectively.

PRG

XY00 [CR]

Response: No-response

Format Command

JOG

X－Y [CR]

The + direction can be omitted in the axis specication.

Response: No-response

[Axis specication] [REG number specication] [CR] X [CR]

Y REG number (decimal)

[Axis specication] [REG number specication] [CR] + X [CR]

- Y

(Space), [CR] (Carriage return)

9. Serial Communication Commands

69

9. Serial Communication Commands

PAB

It drives a specied axis to an absolute position.

Format Command

[Absolute position coordinate on X-axis] [Absolute position coordinate on Y-axis] [CR]

PAB

, [CR]

Y-axis coordinate (Pulse) X-axis coordinate (Pulse)

[Example] • To move to the absolute position coordinate 1500 pulse on Y-axis, for 2-axis

PAB

, 1500 [CR]

• To move to the absolute position coordinate 2000 pulse for 1-axis� PAB

, 2000 [CR]

• To move to the 10 pulse on X-axis, -1 pulse on Y-axis for 2-axis. PAB

10, -1 [CR]

Response: No-response

PIC

It drives the specied axis to a relative position.

Format Command

[Relative position coordinate on X-axis] [Relative position coordinate on Y-axis] [CR]

PIC

, [CR]

Y-axis coordinate (Pulse)

X-axis coordinate (Pulse)

[Example] • To move only Y-axis to a relative position -1500 pulse for 2-axis

PIC

, -1500 [CR]

In case of CCW rotation, mark - sign�

• To move to a relation position -3000 pulse for a-axis PIC

-3000 [CR]

Response: No-response

CLL

The CLL clears the active position counter of the specied axis.

Format Command

[Axis specication] [CR]

CLL

X [CR]

Y

Put the axis specication "X" in case of PMC-1HS.

[Example] • To clear X/Y-axis for 2-axis

CLL

XY[CR]

• To clear for 1-axis CLL

X[CR]

Response: No-response

70

9. Serial Communication Commands

CLR

The CLR clears the actual position counter�

Format Command

[Axis specication][CR]

CLR

X [CR]

Y

Put the axis specication "X" in case of PMC-1HS.

[Example] • To clear X and Y-axis for 2-axis

CLR

XY[CR]

• To clear for 1-axis CLR

X [CR]

Response: No-response

SPD

It changes the speed of the current drive and reads the speed value of each axis operation�

• To congure the speed Format Command

[Speed indication of X-axis][Speed indication of Y-axis] [CR]

PIC

, [CR]

Y-axis speed

X-axis speed

The actual drive speed is the value that the setting value is multiplied by Speed Multiplier.

Drive Speed = Axis speed × Speed Multiplier

To congure the speed individually, ignore unnecessary axes and add comma.

[Example] • To only change the Y-axis speed as 1500pps

SPD

, 1500[CR]�

• To change the speed as 2000pps for 1-axis SPD

2000[CR]

Response: No-response

• To acquire the speed Format

Command [CR] SPD [CR]

Response

：

• For 2-axis SPD

, [LF] [CR]

Current speed of Y-axis

Current speed of X-axis

• For 1-axis SPD

[LF] [CR]

Current speed of Y-axis

The actual drive speed is the value that the setting value is multiplied by Speed Multiplier.

Drive Speed = Axis speed × Speed Multiplier

71

9. Serial Communication Commands

POS

It returns a position coordinate point�

Format

Command [CR] POS[CR]

Response:

• For 2-axis POS

, [CR]

Current position of Y-axis (pulse)

Current position of X-axis (pulse)

The response for the current position pulse count is composed of hexadecimal�

• For 1-axis POS

[CR]

Current position of X-axis (pulse)

The response for the current position pulse count is composed of hexadecimal�

HOM

It carries out the Home Search of the specied axis.

Format Command

[Axis specication] [CR]

HOM

X [CR]

Y

Put the axis specication "X" in case of PMC-1HS. [Example] • To carry out Home Search of X and Y axes at the same time, for 2-axis

HOM

[XY [CR]

• To carry out Home Search for 1-axis

HOM

[X[CR]

Response: No-response

STO

It decelerates to stop the drive of the specied axis.

However, when the drive speed is lower than the start speed, the drive stops immediately�

Format Command

[Axis specication] [CR]

STO

X [CR]

Y Setting an axis operates with arrangement.

Put the axis specication "X" in PMC-1HS.

[Example] • To decelerate for stop of X and Y axes in 2-axis

STO

XY [CR]

• To accelerate for stop for 1-axis STO

X [CR]

Response: No-response

72

9. Serial Communication Commands

VER

It displays the version information of PMC-1HS/PMC-2HS.

Format

Command[CR] VER[CR]

Response: VER

XXXXXXX - XXXXXXX - X - X [LF] [CR]

USB: 0-No-existence, 1-existence

Control axis numbers PMC-1HS: 1, PMC-2HS: 2

Revision number Version number

IDC

It returns the current program number [0 to 63] when it operates the program�

Format Command

[Axis specication] [CR]

IDC

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

Response：IDC X

[CR]

Y

Program number

SSM

It selects the speed (1 to 4).

Format Command

[Axis specication] [Speed selection] [CR]

SSM

X [CR]

Y

Put the axis specication "X" in PMC-1HS.

Response: None

73

9. Serial Communication Commands

INR

It returns input signal and connector signal (CN3) in hexadecimal.

Format Command

[Axis specication] [CR]

INR

X [CR]

Y

Put the axis specication "X" for 1-axis (PMC-1HS).

Response：INR

X , [CR]

Y Hexadecimal from the bit composition of the

Hexadecimal from the bit composition of the X and Y I/O signal

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit composition of connector (CN3) signal

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

connector (CN3) signal

Hexadecimal from the bit composing of the X and Y I/O signal

Input signal STOP0 STOP1 STOP2 INPOS

LMT+ LMTALARM EMG DRV: Drive status (1: ON driving, 0: End) ERR: Error occurrence status (1: Error) HOM: Home search status (1: Operating) RUN: Drive, Home output (1: ON) PAUSE: Pause (1: Pausing) OUT0: nOUT0 signal (CN4, CN5) (1: ON) DRIVE: nDRIVE signal (CN3) (1: ON) ERROR: nERROR signal (CN3) (1: ON)

(XIN0) HOME (XIN1) STROBE (XIN2)X (XIN3)Y (XIN4) MODE0 (XIN5) MODE1

Not used Not used

(YIN0) REGSL0 (YIN1) REGSL1 (YIN2) REGSL2 (YIN3) REGSL3 (YIN4) REGSL4 (YIN5) REGSL5 Power ON home search (0: Not operated 1: Operation) Power ON program (0: Not operated, 1: Operation)

74

9. Serial Communication Commands

OUT

Control the output signal. The OUT controls the output signal by congures as hexadecimal.

Format Command

OUT

[Data] [CR]

[CR]

Bit composition

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

0: OFF / 1: ON

(XOUT0) XOUT0 (XOUT1) XDRIVE (XOUT2) XERROR (XOUT3) Not used (XOUT4) Not used (XOUT5) Not used (XOUT6) Not used (XOUT7) Not used (YOUT0) YOUT0 (YOUT1) YDRIVE (YOUT2) YERROR (YOUT3) Not used (YOUT4) Not used (YOUT5) Not used (YOUT6) Not used (YOUT7) Not used

RST

It resets the motion control IC� The RST only resets the motion control IC�

Format Command[CR] RST[CR] Response: No-response

SCI

It reads or modies the condition of a communication port. If the port condition is modied, reset of main body or power is required. (1)For reading

Format Command [CR] SCI [CR]

75

9. Serial Communication Commands

(2)For writing

Format Command SCI

[Baud Rate], [Data Bit] [Stop Bit] [Parity] [CR]

19200, 8, 1, 0 [CR]

Writing data types

Baud rate ：

１９２００３８４００５７６００

１１５２００

９６００

[9600bps]

[19200bps] [38400bps] [57600bps] [115200bps]

Data bit ： 8 [8bit]

7 [7bit]

Stop bit ： 1 [1bit]

2 [2bit]

Parity ： 0 [No-parity]

1 [Odd parity] 2 [Even parity]

Response: (1) In reading

The data for reading has the same format as the data for writing�

(2) In writing

The data for writing is applied�

OGE

It ends Home Search by force�

Format Command

[Axis specication] [CR]

OGE

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Example] • To end Home Search of X and Y-axis by force, for 2-axis.

OGE

XY [CR]

• To end Home Search, for 1-axis� OGE

X [CR]

Response: No-response

PSP

It stops a program or a drive step temporarily� Format Command

[Axis specication] [CR]

PSP

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Example] • To pause the program or drive step on X/Y-axis for 2-axis.

PSP

XY [CR]

• To pause the program or drive step for 1-axis� PSP

X [CR]

Response: No-response

76

EDP

It ends a program by force

Format Command

[Axis specication] [CR]

EDP

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Example] • To end a program on X/Y-axis for 2-axis by force.

EDP

XY [CR]

• To end a program for 1-axis by force� EDP

X [CR]

Response: No-response

PRS

It restarts a program

Format Commad PRS

[Axis specication] [CR]

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Example] • To restart a program on X/Y-axis.

PRS

XY [CR]

• To restart a program for 1-axis� PRS

X[CR]

Response: No-response

PST

It runs program step by step�

Format Command PST

[Axis specication] [Register specication] [CR]

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Example] • To run a X and Y-axis program step by step for 2-axis

PST

XY 00[CR]

• To run a program step by step PST

X 00[CR]

Response: No-response

9. Serial Communication Commands

77

9. Serial Communication Commands

ERD

It reads the error status of the main body�

Format Command ERD

[Axis specication] [CR]

X [CR]

Y

Put the axis specication "X" in 1-axis (PMC-1HS).

[Response]

ERD

X [CR]

Y Error code of the main body

Bit composition of the Error status

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Error code 1 to 255

No-error: 0

Step number 0 to 63

Always zero

Step number information

0: No-step information, 1: Step information

Error code (BIT15-08)=0 means the error free status. BIT15 HOME ERROR BIT14 PROGRAM ERROR　 (PROGRAM OVERRUN ERROR　STEP>=Include 64) BIT13 EMG ERROR BIT12 ALARM ERROR BIT11 HARDWARE LIMIT - ERROR BIT10 HARDWARE LIMIT + ERROR BIT09 SOFTWARE LIMIT - ERROR BIT08 SOFTWARE LIMIT + ERROR

IHS

It edits 2Byte EEPROM data. Data should be transmitted after converted to hexademical 4-digit.

Format

Command

[Axis specication] [CR]

X EEPROM address , Data (hexademical 4-digit) [CR]

IHS

Y

[Example] To set Speed Multiplier of X-axis=100

IHS

XE6,0064

[Example] To set Step 1 Enable of X-axis home search mode to Enable

IHS

XF1,0001

[Response] Same with the written data

[Example] To set Speed Multiplier of X-axis=100

IHS

XE6,0064

78

9. Serial Communication Commands

IHR

It reads 2Byte EEPROM data. Data is hexademical 4-digit.

Format Command

[Axis specication] [CR]

X EEPROM address [CR]

IHR

Y

[Example] To reads Speed Multiplier of X-axis

IHR

XE6

[Response]

X EEPROM address , Data (hexademical 4-digit) [CR]

IHR

Y

[Example] To set Speed Multiplier of X-axis=100

IHR

XE6,0064

IXS

It edits 4Byte EEPROM data. Data should be transmitted after converted to hexademical 8-digit.

Format Command

[Axis specication] [CR]

X EEPROM address , Data (hexademical 8-digit) [CR]

IXS

Y

[Example] To set home search offset of X-axis=100

IXS

X79,00000064

[Response] Same with the written data

[Example] To set Speed Multiplier of X-axis=100

IXS

X79,00000064

IXR

It reads 4Byte EEPROM data. Data is hexademical 8-digit.

Format Command

[Axis specication] [CR]

X EEPROM address [CR]

IXR

Y

[Example] To read home search offset of X-axis

IXR

X79

[Response]

X EEPROM address , Data (hexademical 8-digit) [CR]

IXR

Y

[Example] To set Speed Multiplier of X-axis=100

IXR

X79,00000064

79

9. Serial Communication Commands

[Data] Reading and Writing of Parameter/Mode Values

No Item Name REG

Byte numbers

(byte)

IXS IXR IHS IHR

position_data 0 Position0 Data 01/00 01/00 00 00 01/00 01/00

position_data　63 Position63 data 7F/7E 7F/7E 3F 3F 7F/7E 7F/7E

reserved　0 Reservation

program_mode Program mode E3 E3 71-H 71-H E3 E3

Operatint_Mode Operation mode E4 E4 72-L 72-L E4 E4

Input_lter Input signal lter E5 E5 72-H 72-H E5 E5

Speed_Multiplier Speed Multiplier E6 E6 73-L 73-L E6 E6

Acceleration_Acceleration_Rate

Accelerationacceleration rate

E7 E7 73-H 73-H E7 E7

Acceleration_Rate Acceleration rate E8 E8 74-L 74-L E8 E8

Deceleration_Rate Deceleration Rate E9 E9 74-H 74-H E9 E9

Start_Speed Start Speed EA EA 75-L 75-L EA EA

Drive_Speed1 Drive Speed1 EB EB 75-H 75-H EB EB

Drive_Speed2 Drive Speed2 EC EC 76-L 76-L EC EC

Drive_Speed3 Drive Speed3 ED ED 76-H 76-H ED ED

Drive_Speed4 Drive Speed4 EE EE 77-L 77-L EE EE

Home_Search_High_Speed Home search high speed EF EF 77-H 77-H EF EF

Home_Search_Low_Speed Home Search Low Speed F0 F0 78-L 78-L F0 F0

Home_Search_Mode Home search mode F1 F1 78-H 78-H F1 F1

Home_Search_Offset Home search offset F3/F2 F3/F2 79 79 F3/F2 F3/F2

Soft_Ware_Limit+ Soft limit+ F5/F4 F5/F4 7A 7A F5/F4 F5/F4

Soft_Ware_Limit- Soft limit- F7/F6 F7/F6 7B 7B F7/F6 F7/F6

Post_Timer1 Timer 1 F8 F8 7C-L 7C-L F8 F8

Post_Timer2 Timer 2 F9 F9 7C-H 7C-H F9 F9

Post_Timer3 Timer 3 FA FA 7D-L 7D-L FA FA

End_Pulse_Width End Pulse width FB FB 7D-H 7D-H FB FB

Pulse_Scale_Numerator Pulse Scale Numerator FC FC 7E-L 7E-L FC FC

Pulse_Scale_Denominator Pulse scale denominator FE FE 7F-L 7F-L FE FE

The Factory default of position data X00-63 and Y00-Y63 is "FFFFFFFF."

※

: Basic command

80

MCC-CXU1-V1.2-1712US

DRW170814AC

Autonics PMC-HS, PMC-2HS, PMC-1HS, PMC-1HS-USB, PMC-2HS-USB Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Introduce

1.1 Product Overview

1.2 Basic Composition of I/O Signal

1.3 Start the Drive

2. Program Installation and Delete

2.1 Installation of Operation Program

2.2 Delete of Operation Program

2.3 Installation of USB Drive

2.3.1 Check the starting of the operation Program

2.4 Connection of RS-232C

3.1 Execution of Operation Program

3.1.1 Mode

3.1.2 Parameter

3.1.3 Home Search Mode

4.1 Starting the operation program

4.1.1 Commands in the Operation Program

4.1.2 I/O port numbers

4.2 Drive by Parallel I/F

4.2.1 Home Search

4.2.2 Index

4.2.3 JOG

4.2.4 Continuous

4.2.5 Program

5. Drive by PC

5.1 Start of operation program

5.2 Main Screen

5.3 Parameter/Mode Screen

5.3.1 Mode Tab

5.3.2 Parameter Tab

5.3.3 Home Search Mode Tab

5.4 Program Edit Screen

5.4.1 Input and edit a program

5.5 I/O Signal Screen

5.6 Error code

6. Drive by Teaching Unit

6.1 Operation of the data edit

6.1.1 Register Selection

6.1.2 Register Composition

6.1.3 Input of the Operation Program

6.1.4 Input of Operation Mode and Parameters

6.1.5 Index Drive

6.2 Drive operation

6.2.1 Home Search

6.2.2 JOG operation

6.2.3 Execution of Operation Program

6.2.4 Record of the Current Position

7.1 Dimensions

7.1.1 Sold separately (teaching unit, PMC-2TU)

8. Connector

8.1 Connector Types and I/O Signal Connection

8.1.1 CN1: Power Connector

8.1.2 CN2: RS-232C Connector

8.1.3 CN3: Parallel I/F Connector

8.1.4 CN4, CN5: I/O Connector

9. Serial Communication Commands

9.1 Communication condition

9.2 Command Cycle

9.3 Command