Thank you very much for selecting Autonics products.
For your Safety, please read the following before using.
Table Of Contents
Table Of Contents
Table Of Contents ����������������������������������������������������������������������������������������������������������������������������������������i
Cautions for Safety ������������������������������������������������������������������������������������������������������������������������������������ iii
Cautions during Use ����������������������������������������������������������������������������������������������������������������������������������iv
4�2�5 Program ������������������������������������������������������������������������������������������������������������������ 37
5� Drive by PC ����������������������������������������������������������������������������������������������������������������������������������������� 39
5�1 Start of operation program ������������������������������������������������������������������������������������������������������ 39
5.2 Main Screen ���������������������������������������������������������������������������������������������������������������������������� 40
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�
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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 specications.
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 certied 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�
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 'Specications')
②Altitude max� 2,000m
③Pollution degree 2
④Installation category II
※
The above specications are subject to change and some models may be discontinued without notice.
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Be sure to follow cautions written in the instruction manual and the technical descriptions
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-2321RS-232C
PMC-1HS-USB1RS-232C, USB Multiple use
PMC-2HS-2322RS-232C
PMC-2HS-USB2RS-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 congure 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
<Basic composition method of the motion controller (Conguration only for X-axis)>
For information about input/output signal, refer to "7.2 Specications"
● 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"
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 Ofine 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 "Prolic USB-to-Serial
Comm Port" in "Port (COM and LPT)".
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�
3. Conguration of the Operating Mode and System Parameters
3. Conguration 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.
Limit Active LevelLow (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 species Low for GEX or High for open.
Select the operation for the Inposition signal from a servo motor driver�
DisplaySelectionFactory default
Servo Inposition Enable Disable / EnableDisable
Servo Inposition LevelLow (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 congured 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 congures 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 congured as the Factory default.
(3) Servo Alarm Enable, Servo Alarm Level
Select an operation of alarm signal from a servo motor driver�
DisplaySelectionFactory default
Servo Alarm EnableDisable / EnableDisable
Servo Alarm LevelLow (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 congured 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 congures 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 congured as the Factory default.
3. Conguration 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�
DisplaySelectionFactory default
End PulseDisable / EnableDisable
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 congured 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 specied 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.
PMC-1HS/PMC-2HS can congure 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 congure the symmetry adjustable
drive or vice versa�
Caution To congure 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
3. Conguration of the Operating Mode and System Parameters
(6) Soft Ware Limit
Select Enable or Disable for the Soft Ware Limit�
DisplaySelectionFactory default
Soft Ware LimitDisable / EnableDisable
The Soft Ware Limit is the overrun limit function that can be congured by internal position data apart from
the mechanical limit signal input by means of external sensor. The Soft Ware Limit is selectively congured
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�
DisplaySelectionFactory default
Power On Home Search StartDisable / EnableDisable
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�
DisplaySelectionFactory default
Power On Program StartDisable / EnableDisable
The Power On Program Start is the function to execute the program congured 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 specied time by
using the timer command (TIM) to REG00. In addition, it is recommended to congure 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 congured as Enable, note that the personnel injury may be resulted.
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�
DisplaySetting rangeFactory default
Speed Multiplier1 to 50010
The speed parameters such as drive speed and acceleration/deceleration values are congurable between
1 to 8,000. To use the value over the range, congure the Speed Multiplier appropriately.
When it makes the multiplication more bigger, enables to drive at high speed but the speed resolving power
is decreasing. Congure to the minimum value to receive the range of the drive speed.
3. Conguration 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�
DisplaySetting rangeFactory default
Acceleration Rate1 to 8,000400
A is the Acceleration value congured 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 congured. However, the deceleration rate does not need to be congured 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, congure
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 congured: A = 65,000 / (125×10) = 52
Start Speed value congured: SV = 500 / 10 = 50
Drive Speed value congured: V = 20,000 / 10 = 2,000
3. Conguration 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�
DisplaySetting rangeFactory default
Deceleration Rate1 to 8,000400
D is the Deceleration Value congured 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, congure 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�
DisplaySetting rangeFactory default
Start Speed1 to 8,00050
The actual start speed congured 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 congured. 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�
DisplaySetting rangeFactory default
Driver Speed 11 to 8,00010
Driver Speed 21 to 8,000100
Driver Speed 31 to 8,0001,000
Driver Speed 41 to 8,0008,000
Four-type drive speed for each axis is congured. 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 congured. 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�
The home search low speed congures the search speed for step 2 and step 3 of Home Search.
DisplaySetting rangeFactory default
Home Search Low Speed1 to 8,00020
The actual home search low speed congured as below formula.
Home Search Low Speed (pps) = SV × Speed Multiplier
Caution The Home Search Low Speed is congured as the value lower than the start speed.
(8) Home Search High Speed
The home search high speed congures the search speed for step 1 and step 4 of Home Search.
DisplaySetting rangeFactory default
Home Search High Speed1 to 8,0001,000
The actual home search high speed congured as below formula.
Home Search High Speed (pps) = setting value × Speed Multiplier
Generally, The Home Search High Speed is congured as the value higher than the start speed.
(9) Home Search Offset
The home search offset congures the amount of home search offset movement.
When the value is zero, the offset is not moves�
DisplaySetting rangeFactory default
Home Search Offset-8,388,608 to +8,388,607+100
The above conguration range is the value when numerator/denominator of pulse scale=1000/1000.
(10) Soft Ware Limit +
It congures the value of the software limit + direction.
DisplaySetting rangeFactory default
Soft Ware Limit +-8,388,608 to +8,388,607+8,388,607
The above conguration range is the value when numerator/denominator of pulse scale=1000/1000.
The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.
3. Conguration of the Operating Mode and System Parameters
(11) Soft Ware Limit -
It congures the value of the software limit + direction.
DisplaySetting rangeFactory default
Soft Ware Limit --8,388,608 to +8,388,607-8,388,608
The above conguration range is the value when numerator/denominator of pulse scale=1000/1000.
The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.
3. Conguration of the Operating Mode and System Parameters
(12) End Pulse Width (msec)
When the drive ends, the end pulse width congures the pulse width of the end pulse coming form nDrive/
END signal in Mode tab.
DisplaySetting rangeFactory default
End Pulse Width (msec)1 to 65,535 (msec)100
The drive end pulse width function is congured 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�
DisplaySetting rangeFactory default
Pulse Scale Numerator1 to 65,5351,000
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 congured 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 signicant digit of 1 pulse will be output and display
value will be determined according to this value�
The scaling position data is as follows:
ScreenPosition data scaling
Main screenPosition, Preset value
Parameter screenHome search offset, Soft Ware Limit +/-
Program edit screenPosition data of ABS, INC commands
Caution
Nominator and denominator of pulse scale affects to all position data. Congure 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
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�
3. Conguration 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 congures enable/disable, search direction and input signal level for each step. The step 1 and 4 start
the search in Home search high speed congured in Parameter tab. In addition, the step 2 and 3 start the
search in Home Search Low Speed�
StepOperationSearch speedDetection signal
Step 1High speed near home searchHome search high speednSTOP0
Step 2Low speed home searchHome Search Low Speed nSTOP1
Step 4High speed offset movementHome 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 specied direction.
To execute the high speed near home search operation, the home search in high speed is congured 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 specied
direction until the home signal (nSTOP1) is activated.
To execute the low speed search operation, the home search in low speed is congured 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
specied 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 specied 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 specied 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. Conguration 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 specied
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 congured
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 specied 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 Congurations
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 congures the active level of the near home signal (nSTOP0).
DisplaySelectionFactory 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�
With the step 2, this mode congures the active level of the home signal (nSTOP1).
DisplaySelectionFactory 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 congures the active level of the Encoder Z-phase signal (nSTOP2).
DisplaySelectionFactory 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 congures the Enable/Disable for each step.
DisplaySelectionFactory default
Step 1 Enable to Step 4 EnableDisable / EnableDisable
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 specied direction.
3. Conguration of the Operating Mode and System Parameters
(5) Step 1 to Step 4 Direction
This mode congures the direction of each mode.
DisplaySelectionFactory default
Step 1 Direction to Step 4 Direction+/-
If + is congured, the drive pulse comes out to the + direction of the detection direction.
If - is congured, 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�
3. Conguration 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�
DisplaySelectionFactory default
Using Limit SignalDisable / EnableDisable
(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�
DisplaySelectionFactory default
DCC EnableDisable / EnableDisable
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 species the level of the deviation counter clear pulse signal.
DisplaySelectionFactory default
DCC Level0 (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 congures the width of the deviation counter clear pulse output.
3. Conguration of the Operating Mode and System Parameters
3.1.3.3 Example of Conguration
(1) Home Search Conguration 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 1STOP0 signal, Low (GEX connection)- direction20,000pps
Step 2STOP1 signal, Low (GEX connection)- direction200pps
Step 3Not operated
Step 4Offset movement of 3500 pulses in + direction+ direction20,000pps
STOP0=STOP1
Active
block
Limit of
detection direction
Active
block
Step 1
Step 2
Step 3
Detection
direction
AB
< 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 specied direction (+) as setting value (3500 pulse).
3. Conguration of the Operating Mode and System Parameters
(2) Home Search Conguration 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.
● Congure 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 levelDetection direction Detection speed
Step 1STOP0 signal, Low (GEX connection)- direction10,000pps
Step 2STOP1 signal, Low (GEX connection)- direction200pps
Step 3No-operation
Step 4Offset movement of 500 pulses in + direction+ direction10,000pps
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�
3. Conguration 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]
ItemConguration value Note
Limit Stop ModeSlowDeceleration stop
Limit Active LevelLow
[Parameter]
ItemConguration value Note
Speed Multiplier10
Able to decelerate to stop within the active block
Acceleration Rate400
of limit signal (In case Deceleration Value is set to
Accel in Mode tab.)
Start Speed50Start Speed of trapezoid drive
Home Search Low Speed20Slower than the start speed of 200 pps
Home Search High Speed1,00010,000pps
Home Search Offset500Required distance to escape the limit range
PMC-1HS can congure the program with maximum 64 steps (REG0 to 63) on X-axis, while PMC-2HS can
congure 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�
Congure 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 congure 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 conguration 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. Conguration 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�
The operation program has 12 commands as shown below�
Command typeCodeDescription
ABSMove absolute position
Drive commands
I/O commands
Program control commands
Others
INCMove relative position
HOMHome search
IJPJump input condition
OUTOn/Off of Output port
OTPON pulse from output port (certain time)
JMPJump
REPStart repetition
RPEEnd repetition
ENDEnd program
TIMTimer
NOPNo operation
(1) ABS (move absolute position)
CMDDataSTDTIMEND�PBoth
ABSAbsolute position (-8,388,608 to +8,388,607)1 to 40 to 30/10/1
Move the specied distance on the basis of the home to absolute position.
● Data: Input the movement position to absolute value. This value can be congured in mm or inch if pulse
nominator/denominator is congured. The Factory default is the pulse value since the nominator
and denominator of pulse scale are equal�
The range of data conguration 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 species the waiting time until the next register is executed after the movement is
completer. If 1, 2 and 3 are specied at TIM, the time of the post timer 1 to 3 is set in Parameter tab.
If the waiting time is not congured, zero is set to TIM.
● END.P: If 1 is specied, 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 congured in Parameter tab.
● Both: When ABS only operates on X-axis, 0 is congured. When the ABS operates on X-axis and Y-axis
and waits to be stopped, 1 is congured.
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.
INCRelative position (-8,388,608 to +8,388,607)1 to 40 to 30/10/1
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 congured in mm or inch if pulse nominator/denominator is congured. The
Factory default is the pulse value since the nominator and denominator of pulse scale are equal�
The range of data conguration 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 species the waiting time until the next register is executed after the movement is
completed. If 1, 2 and 3 are specied at TIM, the time of the post timer 1 to 3 is set in Parameter
tab. If the waiting time is not congured, zero is set to TIM.
● END.P: If 1 is specied, 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 congured in Parameter tab.
● Both: When INC only operates on X-axis, 0 is congured. When the INC operates on X-axis and Y-axis
and both axis wait to be stopped, 1 is congured. 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)
CMDDataSTDTIMEND�PBoth
---
HOM
Start the home search according to the sequence congured in the home search mode.
● END.P: If 1 is congured, 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 congured in Parameter tab.
● Both: When HOM only operates on X-axis, 0 is congured. When the HOM operates on X-axis and Y-axis
and both axis waits to be stopped, 1 is congured. 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. Conguration of Operation Program
0/10/1
(4) IJP (jump input condition)
CMDData1Data2
IJPInput port numberRegister number to jump
If the input port specied is low (GEX connection status), jump to the specied register (Data2).
If it is high (open), execute the next register.
● Data1: Species input port number. Refer to "4.1.2 I/O port numbers" for input port number.
● Data2: Species the register number to jump. The range is 0 to 63.
Congure the output port specied as ON or OFF (for Open collector transistor output).
● Data1: Species output port number. Refer to "4.1.2 I/O port numbers" for output port number.
● Data2: OFF when zero is congured. If 1, then it is congured as the ON state.
(6) OTP (ON pulse of output port)
CMDData1Data2
OTPOutput port numberON time (msec)
Make certain output port ON (open collector transistor output ON) for specied time and move to next
register�
● Data1: Species output port number. Refer to "4.1.2 I/O port numbers" for output port number.
● Data2: Species the ON time in msec. the range is 0 to 65,535 msec.
(7) JMP (Jump)
CMDData
JMPRegister number to jump
Jump to the register specied.
● Data: Species the register number to jump. The range is 0 to 63.
(8) REP (start repetition)
CMDData1
REPRepetition count
Repeat the execution from the next register of this command to the repetition end command (RPE) as many
as the specied count.
● Data: Species the repetition count. The range is 1 to 255. The repetition end command (RPE) must be
congured in the lower position (its register number is bigger) than this repetition start command. The
repetition loop can be congured 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)
CMDData
-
RPE
Repeat the execution from the repeat start command (REP) to this command.
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.
DriveOperationMODE1 MODE0
Home SearchSearch home according to the home search mode congured. --
Index
Execute the ABS and INC commands registered
by specifying register number�
JOGDrive axes while input signal is On�OFFON
Continuous Drive Drive axes continuously�ONOFF
Program DriveExecute the operation program registered�ONON
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 specication 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 specication signal is disabled.
● OFF signals of X and Y DRIVE/END are executed after OFF signal of the Home is conrmed.
The index mode is the operation to execute ABS and INC commands�
If the following three items are congured as the input signal for the Parallel I/F connector (CN3), the drive
start command and STROBE (3) are activated, the drive starts.
Item speciedInput signal conguration of CN3
Operation mode: Index mode MODE0 (12)=OFF, MODE1 (13)=OFF
AxisX (4), Y (5)=ON of the axis to execute
Register number
<Register number specication table>
RGB number
0OFFOFFOFFOFFOFFOFF
1ONOFFOFFOFFOFFOFF
2OFFONOFFOFFOFFOFF
: : : : : : :
16OFFOFFOFFOFFONOFF
: : : : : : :
63ONONONONONON
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. Conguration of Operation Program
Refer to the register number specication table for REGSL0 (6) to REGSL5
(11)
The STROBE signal is activated in ON status and the Index mode operation on the specied 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�
The JOG mode outputs drive pulses in + or - direction while its input signal is in ON status.
The drive speed is congured as one of four drive speeds by the input signal SPD0, 1 (8, 9).
JOG mode can be classied 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 specication 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, conguring the following
four items as the input signal. It outputs the drive pulses in - direction while RUN- (7) is in ON status.
Items speciedInput signal conguration of CN3
Operation mode specication: JOG modeMODE0 (12) = ON, MODE1 (13) = OFF
JOG mode 1 specicationJOG (10) = OFF
Axis specicationX (4), Y (5) = On state of the axis to execute
Drive Speed specicationRefer to drive speed conguration for SPD0 (8) to SPD1 (9)
<Drive Speed conguration>
Drive SpeedSPD1 (9)SPD0 (8)
Drive Speed1OFFOFF
Drive Speed2OFFON
Drive Speed3ONOFF
Drive Speed4ONON
(2) JOG mode 2
JOG mode 2 is to make 2 axis operate in different directions�
Its input signal is congured as the following three items.
Items speciedInput signal conguration of CN3
Operation mode: JOG modeMODE0 (12) = ON, MODE1 (13) = OFF
JOG mode1 specicationJOG (10) = ON
Drive Speed specicationRefer to drive speed conguration 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 speciedInput signal in ON status
+ direction of X- axisJOGX+ (6)
- direction of X- axisJOGX- (7)
+ direction of Y- axisJOGY+ (4)
- direction of Y- axisJOGY- (5)
Caution
When the jog mode 2 is running, do not execute the Home Search by the Home (2) signal.
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 congured as one of four drive speeds (from drive speed1 to 4) by the input signal SPD0
and 1 (8, 9). If the conguration of the drive speed is changed in driving, the speed is changed into the
Axis specicationX (4), Y (5) = On state of the axis to execute
Drive Speed specication
4.2.5 Program
The program drive executes the operation program registered. The program drive is started by conguring
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 speciedInput signal conguration to CN3
Operation mode: Index modeMODE0 (12) = ON, MODE1 (13) = ON
Axis specicationX (4), Y (5) = ON state of the axis to execute
Register number specication
4. Conguration of Operation Program
SPD0 (8) to SPD1 (9)
Refer to "4.2.3 JOG" <Drive Speed conguration>.
REGSL (6) to REGSL5 (11)
Refer to "4.2.2 Index" <Register number specication table> .
If the communication with the main body is normal, all data congured 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 "Prolic USB-to-Serial Comm Port" in Port (COM and LPT). (based on Windows XP)
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.
DisplayOperation Operations
JOGJOGOnly drives while you press the direction button�
Continuous Continuous
PresetPreset
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 congured
on the Parameter tab. Speed 5 means the speed congured as speed5 on the screen.
To run a program, the program must be written on the program edit screen and the required items must
be congured on the parameter/mode screen.
DisplayOperations
REGCongures the starting register number.
X, YSelects the axis to execute�
Caution
Do not change program, parameter or mode when the program is running�
Display drive status
⑦
DisplayOperations
n-RUNLights LED when the relevant axis is driving or running a program�
n-ERR
Start of the Sub screen
⑧
DisplayOperations
Parameter/ModeStarts the parameter/mode screen�
Program EditStarts the program edit screen�
Input/OutputStarts the I/O signal screen�
RUN
Step
Stop
Starts the program from the register number congured.
Executes only the register numbers congured.
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 congured to the REG of 'Running program (⑥)' as the format
of the ABS command. The conguration only corresponds to the axis selected in 'Running program (⑥)'.
● The drive speed is congured as the value selected in 'Selecting drive speed (③)'.
However, if Speed 5 was selected, Speed 4 is congured.
● TIM and END.P are congured as zero.
● Both is congured as 1 if both of X and Y are selected or zero for others.
If the current position is congured, the REG number in 'Running program (⑥)' is increased by one.
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 menuFunctionOperations
Data is read from a le on a disk.
OpenRead a le
The data opened is, also, written to the main body in On-line�
The extension name of the data le is *.nvd.
SaveSave 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 "Prolic 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
inuence 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.
The parameter/mode screen of the Sub screen is used to congure 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 congure 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�
Congure operation parameter and required parameter for X or Y-axis.
The congurable 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"
DisplayInput rangeFactory default
Speed Multiplier1 to 50010
Acceleration Rate1 to 8,000400
Deceleration Rate1 to 8,000400
Start Speed1 to 8,00050
Drive Speed 11 to 8,00010
Drive Speed 21 to 8,000100
Drive Speed 31 to 8,0001,000
Drive Speed 41 to 8,0008,000
Post Timer 11 to 65,535 (msec)10
Post Timer 21 to 65,535 (msec)100
Post Timer 31 to 65,535 (msec)1,000
Home Search Low Speed1 to 8,00020
Home Search High Speed1 to 8,0001,000
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 Numerator1 to 65,5351,000
Pulse Scale Denominator1 to 65,5351,000
1: When the numerator and the denominator of pulse scale are equal�
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 itemCommandDescription
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)
ABSAbsolute position
INCRelative position
OUTOutput post number - 0 (Off)/1 (On)
OTPOutput post number - ON time (0 to 65,535 msec)
IJPInput port number - register number to jump
JMPRegister number to jump
REPRepetition count (1 to 255)
TIMWaiting time (0 to 65,535 msec)
Other commandsNot required to congure
ABS, INCSelection of drive speed 1 to 4
Other commandsNot required to congure
ABS, INC
Other commandsNot required to congure
Parameter
display part
Selection of post timer 1 to 3
If it is unnecessary, select zero�
● 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.
ItemFunctionDescription
CutClear of the selected area
CopyCopy of the selected area Copy the selected area to the clipboard�
PastePaste
Delete Deletion of lines
InsertInsertion of lines
1: Output the end pulse after running the command
0: No-output after running the command
ABS, INC, HOM
Other commandRelative position
ABS, INC and HOM on X-axisOutput port number: 0(OFF) / 1(ON)
Other commandOutput 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
I/O Signal screen displays the current status of the input signal in driving and used to congure 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�
Errors listed in the table below are displayed at the bottom of the main screen�
CodeError messageDescription
208SOFTWARE LIMIT + ERRORSoftware LMT+ occurred.
209SOFTWARE LIMIT - ERRORSoftware LMT- occurred.
210HARDWARE LIMIT + ERRORnLMT+ signal is active level.
211HARDWARE LIMIT - ERRORnLMT- signal is active level.
212ALARM ERRORnALARM signal is activated by the Enable conguration.
213EMG ERROREMG is low level (GEX connection).
214PROGRAM ERRORProgram error
215HOME ERRORHome Search error of the main body
401Break signal was receivedThe stop signal is received�
402Frame errorFrame error
403Port Overrun errorPort overrun
404Recive buffer OverowReceive buffer overow
405Parity errorParity error
406Send buffer FullSend buffer is full
407
408There is no responseNo response for the command
501X Axis is already driving nowX-axis was driven during the operation of X-axis
502Y Axis is already driving nowY-axis was driven during the operation of Y-axis
503Please select Axis
504
505Please input numberNot specied value was input.
506
The online state can be changed into the ofine 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�
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�
ModeOperationREG display
Data edit
Drive handling
• Adding operation mode parameter and operation program
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 congured 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�
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 congured 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 P1 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 buttonOperation
X HOME5Home search on the X-axis
Y HOME0Home 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 congured before executing the home
search� It may cause that the home search is not performed correctly�
The JOG operation in the teaching unit is the operation to drive in the specied direction only when a button
is pressed� In addition, the drive speed can be changed�
Yellow letter markInput buttonOperation
X +6JOG shift in the + direction on X-axis
X -7JOG shift in the - direction on X-axis
Y +1JOG shift in the + direction on Y-axis
Y -2JOG shift in the - direction on Y-axis
X SPD8
Y SPD3
6.2.3 Execution of Operation Program
The registered operation program is carried out from the specied 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 ProcedureOperation
1Press the [EXC] button.Executing a program
Select an axis by pressing
2
the [X/Y] button.
3Input register numbers�Input the number of the start register between 0 to 63�
4Press 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 congured 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
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 ProcedureDescription
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�
3Input 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�
6Press the [WRT] button�
Change the mode
In the current position addition mode, ABS and drive speed are auto-congured as 1, and post timer, End P
and Both are auto-congured as 0. If necessary, the mode conguration can be reset.
If you press the [↑] button, when the mode is displayed, you may change each mode of the congured 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.
Motor for controlPulse train input stepper motor or servo motor
Power supply24VDCᜡ ±10%
Power consumptionMax. 6W
Operation modeJOG/CONTINUOUS/INDEX/PROGRAM mode
Inposition settingABSOLUTE/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 Speed1 pps to 4 Mpps (1 to 8,000×magnication 1 to 500)
Pulse output method2-pulse output method(line driver output)
Home search mode
SaveEEPROM
Steps64-step
Program
Control
function
command
StartAvailable power ON program auto start setting
Home search Available power ON home search setting
General output1-point2-point
Control interfaceParallel I/F
Ambient
temperature
Environment
Ambient
humidity
CommonUser 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).
Conguring the detection direction and Enable/Disable in each step.
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
124VDC
2GND (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/ODescription
1TXDOutputReceiving data
2RXDInputTransmitting data
3GND
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
CN1Power connector
CN2
CN3Parallel connector
CN4X-axis I/O connector
CN5Y-axis I/O connector
CN6USB connector
PMC-1HS-232C does not have CN5 and CN6,
and PMC-1HS-USB does not have CN5.
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 specication 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.
● 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 species an axis in the Index mode and the Program mode. If the specied axis goes to the
ON state, the relevant axis is selected. Before the STROBE signal is in the ON state, the axis specication
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 congured as SPD0, 1.
<Drive Speed setting>
Drive SpeedSPD1SPD0
Drive Speed 1OFFOFF
Drive Speed 2OFFON
Drive Speed 3ONOFF
Drive Speed 4ONON
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, 2Disable
Continuous drive Stops the continuous drive�
Stops the program drive�
Program drive
※1
Stops the drive, if a drive command is running�
Home searchStops during the executing of home search�
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.
These signals specify the operation mode in Parallel I/F�
MODE1 (13) MODE0 (12) Operation mode
OFFOFFIndex mode
OFFON
ONOFFContinuous drive
ONONProgram 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
congured 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 congured 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�
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 congured 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 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�
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.
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 congure 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 congure 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 congurable.
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.
Congure the current at less than 100mA. The VEX power is transferred to CN3, CN4 and CN5. Congure
Communication conditionsDescriptions
Communication speed 9600 to 115200bps
Data bit8 bit
Stop bit1 bit
Flow controlNone
Parity bitNone
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 specication "X" in PMC-1HS.
[Example] To operate X/Y-axis from REG00
JOG
Start the continuous drive on the specied axis.
Put the axis specication "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
JOG
X-Y [CR]
The + direction can be omitted in the axis specication.
Response: No-response
[Axis specication] [REG number specication] [CR]
X [CR]
Y REG number (decimal)
[Axis specication] [REG number specication] [CR]
+ X [CR]
It returns input signal and connector signal (CN3) in hexadecimal.
Format
Command
[Axis specication] [CR]
INR
X [CR]
Y
Put the axis specication "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)
Control the output signal. The OUT controls the output signal by congures 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 modies the condition of a communication port.
If the port condition is modied, reset of main body or power is required.
(1)For reading