Autonics PMC-1 HS User manual

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Table of Content
© Copyright Reserved Autonics Co., Ltd.
1. Introduction................................................................................................................................................................ 3
1.1 Product Overview................................................................................................................................................ 3
1.2 Basic Composition of I/O Signal.......................................................................................................................... 3
1.3 Start the Drive..................................................................................................................................................... 4
?
2. Program Installation.................................................................................................................................................. 5
2.1 Installation of Operation Program........................................................................................................................ 5
2.2 Uninstallation of Operation Program................................................................................................................... 6
2.3 Installation of USB Drive...................................................................................................................................... 7
2.3.1 Check the start of Operation Program........................................................................................................ 7
2.4 Connection of RS-232C....................................................................................................................................... 8
3. Conguration of the Operation Mode and System Parameters.................................................................................. 9
3.1 Execution of Operation Program.......................................................................................................................... 9
3.2 Mode conguration.............................................................................................................................................. 9
3.2.1 Limit Stop Mode and Limit Active Mode..................................................................................................... 10
3.2.2 Servo Inposition Enable and Servo Inposition level.................................................................................... 10
3.2.3 Servo Alarm Enable and Servo Alarm Level............................................................................................... 10
3.2.4 End Pulse................................................................................................................................................... 11
3.2.5 Selection of Deceleration Value.................................................................................................................. 11
3.2.6 Software Limit............................................................................................................................................. 12
3.2.7 Power on Home Search Start...................................................................................................................... 12
3.2.8 Power on Program Start............................................................................................................................. 12
3.3 Conguration of Parameters................................................................................................................................ 13
3.3.1 Speed Multiplier.......................................................................................................................................... 13
3.3.2 Acceleration Rate....................................................................................................................................... 13
3.3.3 Deceleration Rate....................................................................................................................................... 14
3.3.4 Start Speed................................................................................................................................................ 14
3.3.5 Drive Speed 1~4........................................................................................................................................ 14
3.3.6 Post Timer 1~31......................................................................................................................................... 14
3.3.7 Home Search Low Speed.......................................................................................................................... 15
3.3.8 Home Search High Speed.......................................................................................................................... 15
3.3.9 Home Search Offset.................................................................................................................................... 15
3.3.10 Software Limit +....................................................................................................................................... 15
3.3.11 Software Limit - ........................................................................................................................................ 15
3.3.12 End Pulse Width....................................................................................................................................... 16
3.3.13 Pulse Scale Numerator............................................................................................................................. 16
3.3.14 Pulse Scale Denominator.......................................................................................................................... 16
3.4 Conguration of Home Search Mode.................................................................................................................. 17
3.4.1 Description of Home Search Operation...................................................................................................... 17
3.4.2 Step1: High Speed Near Home Search....................................................................................................... 17
3.4.3 Step2: Low Speed Home Search................................................................................................................ 17
3.4.4 Step3: Low Speed Z-phase Search............................................................................................................ 18
3.4.5 Step4: High Speed Offset............................................................................................................................ 18
3.4.6 Conguration of Home Search Mode......................................................................................................... 18
3.4.7 Near Home Signal Level (STOP0)............................................................................................................. 18
3.4.8 Home Signal Level (STOP1)...................................................................................................................... 19
3.4.9 Z Signal level (STOP2)............................................................................................................................... 19
3.4.10 Enable / Disable of Step 1~4.................................................................................................................... 19
3.4.11 Direction of Step 1~4................................................................................................................................ 19
3.4.12 Position Clear............................................................................................................................................ 19
3.4.13 Using Limit Signal..................................................................................................................................... 20
3.4.14 Enabling DCC........................................................................................................................................... 20

Table of Content
© Copyright Reserved Autonics Co., Ltd.
3.4.15 DCC Level................................................................................................................................................ 20
3.4.16 DCC Width............................................................................................................................................... 20
3.4.17 Example of the Home Search Mode Conguration.................................................................................. 21
4. Conguration of Operation Program.......................................................................................................................... 27
4.1 Start of operation program.................................................................................................................................. 27
4.1.1 Commands of the Operation Program....................................................................................................... 28
4.1.2 I/O port numbers....................................................................................................................................... 31
4.2 Drive by Parallel P I/F(Parallel Interface)............................................................................................................. 32
4.2.1 Execution of Home Search........................................................................................................................ 32
4.3 Index Drive......................................................................................................................................................... 33
4.4 Scan Drive.......................................................................................................................................................... 34
4.5 Continuous drive................................................................................................................................................ 35
4.6 Program Drive.................................................................................................................................................... 35
5. Drive by PC................................................................................................................................................................ 37
5.1 Start of operation program................................................................................................................................... 37
5.2 Main Screen......................................................................................................................................................... 38
5.3 Parameter/Mode Screen...................................................................................................................................... 42
5.3.1 Mode Tabs.................................................................................................................................................. 42
5.3.2 Parameter Tabs.......................................................................................................................................... 43
5.3.3 Home Search Mode Tabs........................................................................................................................... 44
5.4 Program Edit Screen............................................................................................................................................ 45
5.5 I/O Signal Screen................................................................................................................................................ 47
5.6 Errors................................................................................................................................................................... 48
6. Drive by a Teaching Unit........................................................................................................................................... 49
6.1 Operation of data edit.......................................................................................................................................... 50
6.1.1 Register Selection....................................................................................................................................... 50
6.1.2 Register Composition................................................................................................................................. 51
6.1.3 Input of Operation Program......................................................................................................................... 52
6.1.4 Input of Operation Mode and Parameters.................................................................................................. 53
6.1.5 Index Drive.................................................................................................................................................. 55
6.2 Operation of drive................................................................................................................................................ 55
6.2.1 Home Search.............................................................................................................................................. 55
6.2.2 JOG Operation............................................................................................................................................ 56
6.2.3 Execution of Operation Program................................................................................................................. 56
6.2.4 Record of Current Position.......................................................................................................................... 57
7. Product Specications and I/O Signal Connection..................................................................................................... 59
7.1 Product Specications........................................................................................................................................ 59
7.2 Connector Types and I/O Signal Connection...................................................................................................... 61
7.2.1 CN1 : Power Connector............................................................................................................................. 61
7.2.2 CN2 : RS-232C Serial I/F Connector.......................................................................................................... 61
7.2.3 CN3 : Parallel P I/F Connector.................................................................................................................... 62
7.2.4 CN4, CN5 : I/O Connector......................................................................................................................... 65
8. Serial Communication Commands............................................................................................................................ 67
8.1 Communication Condition.................................................................................................................................... 67
8.2 Command Cycle.................................................................................................................................................. 67
8.3 Command............................................................................................................................................................ 67
[Data] Reading and Writing of Parameter/Mode Values................................................................................................ 78

※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
1
© Copyright Reserved Autonics Co., Ltd.
Cautions for Safety
※This manual offers important information, read carefully and follows the instructions.
After reading this guide, please keep in the place that you can reach easily.
Warning
Caution
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. 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.
1. When connecting the power input, use AWG 28-16(0.081 to 1.31mm2) cable or over.
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.

2© Copyright Reserved Autonics Co., Ltd.
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 recommanded, 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).

1. Introduce
3
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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 stepping 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-USB models.
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 and USB
PMC-2HS- USB 2RS-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, it is optional.) to
congure operation parameter, mode, position data and program data.
In addition, a user can directly write a program using serial commands(Refer to 8).
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.
Stepping motor(A4K-M564)
/Servo motor
Home search sensor
xLMT+
PMC-1HS/
PMC-2HS
<Basic composition method of the motion controller(Conguration only for X-axis)>
xSTOP1 xLMT-
Encoder
CW+
CW-
CCW+
CCW-
xP+P
xP+N
xP-P
xP-N
xEC-Z
LMT+
sensor
LMT-
sensor
5-phase
micro stepping
motor driver
(MD5-HF14)

1. Introduce
4© Copyright Reserved Autonics Co., Ltd.
1.3 Start the Drive
There are four ways to operate PMC-1HS/PMC-2HS.
● Start with a Parallel P I/F
Connect a sequence controller or a switch to the parallel P I/F. Refer to 4.2.
●Start with PC
Connect a PC and the controller body via a communication cable, starts the operation program and ex-
ecutes manual operation such as JOG output at each axis and home search output program.
Refer to chapter 5.
● Start with teaching unit(PMC-2TU-232)
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. Refer
to chapter 6.
● Control by serial communication
The PMC-HS series provides serial communication commands(Refer to 8).
It 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.

2. Program Installation
5
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2. Program Installation
2.1 Installation of Operation Program
(1)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.
(2)For Windows 98, ME and 2000
Windows 98 and ME ---- Run InstMsiA.exe in the InstMS folder.
Windows 2000----------Run InstMsiW.exe in the InstMS folder.
For Windows XP, additional installation is not required.
(3)Double-click PMC.msi le on the Install folder.
(4)Select the Next button to go to the following screen.
(6)The progress of the installation is displayed.
(5)Select the desired folder and click the Next but-
ton to go to the following screen.
(7)The Installation Complete screen is displayed
Click the Close button to close the installer.

2. Program Installation
6© Copyright Reserved Autonics Co., Ltd.
2.2 Uninstallation of Operation Program
The operation program needs to be removed to upgrade new version or to be deleted from a PC.
(1)Uninstall this program with "Add/remove programs" in your Control Panel.
(2)Click the "Remove" button after selecting "PMC" on the list of the screen.
(3)The operation program is uninstalled from the system.

2. Program Installation
7
© Copyright Reserved Autonics Co., Ltd.
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.
In case of Window Vista, specify the folder 'PMC-HS/driver/vista.'
For Windows XP and 2000, the "PMC-HS/driver/xp2k" is specied.
For Windows 98 and ME, the "PMC-HS/driver/98me" is specied.
After installation, check the Device Manager as below.
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. (In case of Windows XP).
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)

2. Program Installation
8© Copyright Reserved Autonics Co., Ltd.
2.4 Connection of RS-232C
(1)Connect the motion controller and a PC using RS-232C communication cable.
(2)Turn on the motion controller and the PC.
(3)Start the operation program by selecting the start button.
Click the Start → Program → Autonics → Motion Controller → PMC → PMC
(4)For initial access, the communication error message is popped up.
Click the OK button.
(5)Select your product type, PMC-2HS or PMC-1HS.
(6)Start the operation program as off-line.
Select Option and mark the COM port, the RS-232C communication cable is connected.
(7)Restart the operation program. It will normally start in on-line mode.
Check the OK button to display the communication error message.

3. Conguration of the Operating Mode and System Parameters
9
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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 modeUoperation parameter
of PMC-1HS/PMC-2HS suited with user system. For the conguration of the Operation Mode and System
Parameters, connect PMC-1HS/2HS 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.
The operating mode and the system parameters can be set by connecting a teaching unit to RS232C port of
the motion controller. Refer to chapter 6 for the setup method with a teaching unit.
3.1 Execution of Operation Program
With a communication cable, connect PMC-1HS/PMC-2HS 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.
3.2 Conguration Mode
Click the mode tab to display the Mode screen. Only X axis is displayed for PMC-1HS.

3. Conguration of the Operating Mode and System Parameters
10 © Copyright Reserved Autonics Co., Ltd.
3.2.1 Limit Stop Mode and Limit Active Mode
When the Limit signal is activated, select the drive as Instant or Slow stop.
In addition, specify the Limit Active level.
Display Selection Default value
Limit Stop Mode Instant(Instant stop) / Slow(Slow stop) Instant
Limit Active Level Low(GEX connection) / High(Open) Low
The Limit input signal(LMT+/-) in +/- direction of each axis enters to pin #12/#13 of CN4 and 5
connector(Refer 7.2.4).
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.
3.2.2 Servo Inposition Enable and Servo Inposition level
Select the operation for the Inposition signal from a servo motor driver.
Display Selection Default value
Servo Inposition Enable Disable / Enable Disable
Servo Inposition Level Low(GEX connection) / High(Open) Low
The Inposition input signal(nINPOS) on each axis is pin #6 of CN4 and 5 connector(Refer 7.2.4).
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 step motor is used or nINPOS is not used, the level is congured as the default value.
3.2.3 Servo Alarm Enable and Servo Alarm Level
Select an operation of alarm signal from a servo motor driver.
Display Selection Default value
Servo Alarm Enable Disable/ Enable Disable
Servo Alarm Level Low (GEX connection) / High (Open) Low
The Servo Alarm input signal(nALARM) on each axis is pin #7 of CN4 and 5 connector(Refer 7.2.4).
When the Servo Alarm is congured as Enable and the Servo Alarm signal(nALARM) of the drive is acti-
vated, 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 default value.

3. Conguration of the Operating Mode and System Parameters
11
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3.2.4 End Pulse
When the drive ends, output the End Pulse from nDRIVE/END signal of the parallel P I/F connector.
Display Selection Default value
End Pulse Disable / Enable Disable
The DRIVE/END output signal on each axis comes from pin #14 and 15 of the parallel P/IF 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).
3.2.5 Selection of Deceleration Value
Select the acceleration value(symmetry adjustable speed) or individual deceleration value(asymmetry ad-
justable speed) for the deceleration value of the trapezoid adjustable speed drive.
Display Selection Default value
Deceleration Value Accel(Acceleration value)/Decel(Deceleration value) Accel
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 ac-
celeration 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 : The rate of the Accel and Decel must meet the following requirement.
For instance, if the drive speed, V is equal to 100kpps, the Decel (D) must be bigger than 1/40 of the Ac-
cel (A). Less than 1/40 of A for D is not allowed.
Deceleration > Acceleration× Drive Speed
4×106
(2)As the rate of Accel and Decel is increased, PMC-1HS/PMC-2HS is accelerated so that it may be decel-
erated due to the shortage of pulse numbers.
Acceleration AccelerationDeceleration Deceleration
Acceleration value Acceleration value
Deceleration value
Time Time
Speed Speed
< Symmetry adjustable speed > < Asymmetry adjustable speed >
Same with
Acceleration value

3. Conguration of the Operating Mode and System Parameters
12 © Copyright Reserved Autonics Co., Ltd.
3.2.6 Software Limit
Select Enable or Disable for the Software Limit.
Display Selection Default value
Software Limit Disable/ Enable Disable
The Software 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 Software 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 Software Limit is enabled, the controller is not worked in operating the Home
search command.
3.2.7 Power on Home Search Start
When the power is turned on, select Enable/Disable for the auto-start of home search.
Display Selection Default value
Power On Home Search Start Disable / Enable Disable
The Power on Home Search Start is the function to search home automatically when the power is turn on or
the main body is reset.
3.2.8 Power on Program Start
When the power is turned on, select Enable/Disable for the auto-start of the program.
Display Selection Default value
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 Start, change the mode setup to
Disable after stopping the operation(press the Stop key 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(press the Stop key).
Warning
When the Power on Home Search Start is congured, note that the personnel injury may be resulted.

3. Conguration of the Operating Mode and System Parameters
13
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3.3. Conguration of Parameters
Click the Parameter tab to activate the Parameter screen. However, PMC-1HS only displays X axis.
3.3.1 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 Default value
Speed multiplier 1 ~ 500 10
The speed parameters such as drive speed and acceleration/deceleration values are congurable between
1~8000. 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.
3.3.2 Acceleration Rate
The acceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive acceler-
ates. In mode setup, set the Deceleration Value to Accel(default value)use this Acceleration rate in drive
deceleration.
Display Setting range Default value
Acceleration Rate 1 ~ 8000 400
Acceleration Rate(pps) = A × 125 × Speed multiplier
A is the Acceleration value congured.
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. For instance, 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

3. Conguration of the Operating Mode and System Parameters
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3.3.3 Deceleration Rate
The deceleration rate is a parameter is to be an acceleration speed when an adjustable speed drive acceler-
ates.
Display Setting range Default value
Deceleration Rate 1 ~ 8000 400
Deceleration Rate(pps) = D × 125 × Speed multiplier,
D is the Deceleration value congured.
Since the default mode of the Deceleration Value is Accel, the acceleration value is used in deceleration and
symmetry adjustable speed drive is operated. To operate asymmetry adjustable speed drive, congure the
mode of the Deceleration Value as Decel.
3.3.4 Start Speed
The start speed means the speed when the adjustable speed drive starts or the end speed.
Display Setting range Default value
Start Speed 1 ~ 8000 50
The actual start speed is the value that is the start speed conguration value (SV) and the speed multiplier
is multiplied.
Start speed(pps) = SV × Speed multiplier
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.
3.3.5 Drive Speed 1~4
The drive speed is the speed for an adjustable speed drive.
Display Setting range Default value
Driver Speed 1 1 ~ 8000 10
Driver Speed 2 1 ~ 8000 100
Driver Speed 3 1 ~ 8000 1000
Driver Speed 4 1 ~ 8000 8000
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 conguration value(V) and speed multiplier are multiplied.
Drive speed(pps) = V × Speed multiplier
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.
3.3.6 Post Timer 1~3
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 Default value
Post Timer 1 1 ~ 65535 10
Post Timer 2 1 ~ 65535 100
Post Timer 3 1 ~ 65535 1000

3. Conguration of the Operating Mode and System Parameters
15
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3.3.7 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 Default value
Home Search Low Speed 1 ~ 8000 20
The actual drive speed is the value that the conguration value and speed multiplier are multiplied.
Home Search Low Speed(pps) = conguration value × Speed multiplier
【Caution】The Home Search Low Speed is congured as the value lower than the start speed.
3.3.8 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 Default value
Home Search High Speed 1 ~ 8000 1000
The actual drive speed is the value that the conguration value and speed multiplier are multiplied.
Home Search High Speed (pps) = conguration value × speed multiplier
Generally, The Home Search High Speed is congured as the value higher than the start speed.
3.3.9 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 Default value
Home Search Offset -8388608 ~ +8388607 +100
The congured value is related to numerator/denominator of pulse scale.
The above conguration range is the value when numerator/denominator of pulse scale=1000/1000.
3.3.10 Software Limit +
It congures the value of the software limit + direction.
Display Setting range Default value
Software Limit + -8388608 ~ +8388607 +8388607
The congured value is related to numerator/denominator of pulse scale.
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 "Software Limit" in mode conguration to Enable. For more
information, refer to "Software Limit"(Refer to 3.2.6).
3.3.11 Software Limit -
It congures the value of the software limit + direction.
Display Setting range Default value
Software Limit - -8388608 ~ [phone]
The congured value is related to numerator/denominator of pulse scale.
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 "Software Limit" in mode conguration to Enable. For more
information, refer to "Software Limit"(Refer to 3.2.6).

3. Conguration of the Operating Mode and System Parameters
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3.3.12 End Pulse Width
When the drive ends, the end pulse width congures the pulse width of the end pulse coming form nDrive/
END signal in mode conguration.
Display Setting range Default value
End Pulse Width(msec) 1~65535(msec) 100
The drive end pulse width function is congured by setting "Drive End Pulse" in mode conguration to En-
able. For more information, refer to "Drive End Pulse" (Refer to 3.2.4).
3.3.13 Pulse Scale numerator
It is the numerator value to execute actual pulse scaling provided for input position data.
Display Setting range Default value
Pulse Scale numerator 1 ~ 65535 1000
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 × Numerator of pulse value
Denominator of pulse value
Displaying value=Pulse value× Denominator of pulse value
Numerator of pulse value
For example, if one pulse of the drive pulse is corresponding to 0.1 mm of the moving amount, (Scale nu-
merator) / (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, Software 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 envi-
ronment using the step angle of motor rotation or ball screw pitch. Change the conguration value only after
stopping your system. Since the default value of nominator/denominator of the pulse scale is 1000/1000,
input and display is the same as pulse values.
3.3.14 Pulse Scale Denominator
It is the denominator value to execute actual pulse scaling provided for input position data.
Display Setting range Default value
Pulse Scale denominator 1~65535 1000

3. Conguration of the Operating Mode and System Parameters
17
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3.4 Conguration of Home Search Mode
3.4.1 Description of Home Search Operation
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 as
a parameter. 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 -
3.4.2 Step 1 High Speed Near Home Search
The step 1 outputs the drive pulse until near home signal (nSTOOP0) becomes active with high speed near
home search speed set in parameter and specied direction.
Irregular operation
① Near home signal(nSTOP0) is activated before starting the step1. → Go to the step2.
② Limit signal of the detected direction is activated before starting the step1. → Go to the step2.
③ Limit signal of the detected direction is activated in operating. → Stop the drive and go to the step2.
3.4.3 Step 2 Low Speed Home Search
The step 2 outputs the drive pulse to the Home search low speed in congured to the parameter 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.
Irregular operation
① The home signal(nSTOP1) is activated before starting the step2 → Move 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.
② The limit signal of the detected direction is activated before starting the step 2 → Move in the opposite
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 step2 starts.
③ The limit signal of the detected direction is activated in use. → Stop the drive and perform the same
operation with ②.