Autonics Pmc-hs series User manual

1 • 2-Axis High Speed

Motion Controller

(PMC-1HS/PMC-2HS)

INSTRUCTION MANUAL

The invisible hand for more convenient world

sensors & controllers

Thank you very much for selecting Autonics products.

For your Safety, please read the following before using.

1 • 2-Axis High Speed Motion Controller

i

Table Of Contents

Table Of Contents��i

Cautions for Safety��iii

Cautions during Use��iv

1� Introduce�� 5

1�1 Product Overview�� 5

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

1�3 Start the Drive �� 6

2� Program Installation and Delete �� 7

2�1 Installation of Operation Program�� 7

2�2 Delete of Operation Program �� 8

2�3 Installation of USB Drive �� 9

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

2�4 Connection of RS-232C �� 10

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

3�1 Execution of Operation Program��11

3.1.1 Mode ��11

3�1�2 Parameter �� 15

3.1.3 Home Search Mode �� 19

4. Conguration of Operation Program�� 29

4�1 Starting the operation program�� 29

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

4�1�2 I/O port numbers �� 33

4�2 Drive by Parallel I/F �� 34

4�2�1 Home Search �� 34

4�2�2 Index �� 35

4�2�3 JOG�� 36

4�2�4 Continuous�� 37

4�2�5 Program �� 37

5� Drive by PC �� 39

5�1 Start of operation program �� 39

5.2 Main Screen �� 40

5.3 Parameter/Mode Screen �� 44

5.3.1 Mode Tab �� 44

5�3�2 Parameter Tab�� 45

5.3.3 Home Search Mode Tab �� 46

5�4 Program Edit Screen�� 47

Table Of Contents

ii © Copyright Reserved Autonics Co., Ltd.

Table Of Contents

5�4�1 Input and edit a program�� 47

5�5 I/O Signal Screen �� 49

5�6 Error code�� 50

6� Drive by Teaching Unit�� 51

6�1 Operation of the data edit�� 52

6�1�1 Register Selection�� 52

6�1�2 Register Composition�� 53

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

6.1.4 Input of Operation Mode and Parameters�� 56

6�1�5 Index Drive�� 58

6�2 Drive operation�� 58

6�2�1 Home Search �� 58

6�2�2 JOG operation�� 59

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

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

7. Product Specications �� 61

7�1 Dimensions�� 61

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

7.2 Specications �� 62

8� Connector�� 63

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

8�1�1 CN1: Power Connector �� 63

8�1�2 CN2: RS-232C Connector�� 63

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

8�1�4 CN4, CN5: I/O Connector �� 67

9� Serial Communication Commands�� 69

9�1 Communication condition�� 69

9�2 Command Cycle�� 69

9�3 Command�� 69

Table Of Contents

iii

※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

Cautions for Safety

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.

Cautions for Safety

iv © 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 recommended, and use AWG 24 (0�2mm2) cable or over.

11� This unit may be used in the following environments�

①Indoors (in the environment condition rated in 'Specications')

②Altitude max� 2,000m

③Pollution degree 2

④Installation category II

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

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

(catalog, homepage).

Cautions during Use

1. Introduce

5

1. Introduce

1.1 Product Overview

PMC-HS series is a unit to determine the position or control the speed of a pulse input servo motor or

a stepper motor. The built-in EEPROM can store operation parameters and maximum 64-program data

per each axis. PMC-1HS is a 1-axis motion controller and divided into PMC-1HS-232 and PMC-1HS-USB

models, PMC-2HS is a 2-axis motion controller and divided into PMC-2HS-232 and PMC-2HS-USB.

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

USB interfaces�

Type (PMC-HS) Control axis Serial communication port

PMC-1HS-232 1 RS-232C

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

PMC-2HS-232 2 RS-232C

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, sold separately)

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

In addition, a user can directly write a program using serial commands to control�

For more information, refer to "9� Serial Communication Commands"

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

sequencers and switches�

1.2 Basic Composition of I/O Signal

Connect the drive pulse signal of motion controller to motor driver and input from sensor to limit or home

search terminal of each direction� It is possible to input the inposition signal or the alarm signal for a servo

motor�

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

Stepper motor (A4K-M564)

/Servo motor

Home search sensor

xLMT+

PMC-1HS/

PMC-2HS

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

6© Copyright Reserved Autonics Co., Ltd.

1.3 Start the Drive

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

●Start with a Parallel I/F

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

Drive by Parallel I/F"

●Start with PC

Connect a PC and the motion controller body via a communication cable, starts the operation program�

For more information, refer to "5� Drive by PC"

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

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

JOG output, home output and programs by drive operation of teaching unit�

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

●Control by serial communication

The PMC-1HS/2HS Series provides serial communication commands.

The PMC-1HS/2HS is connected to a PC or a sequence controller via an USB cable or RS-232C

communication cable and it can control axes by means of user's independent program�

For more information, refer to "9� Serial Communication Commands"

2. Program Installation and Delete

7

2. Program Installation and Delete

2.1 Installation of Operation Program

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

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

2nd For installation at Windows 98, ME and 2000

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

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

● Windows XP: additional installation is not required.

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

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

button�

6th The progress of the installation is

displayed�

7th The Installation Complete screen is displayed

Click the [Close] button�

2. Program Installation and Delete

8© Copyright Reserved Autonics Co., Ltd.

2.2 Delete of Operation Program

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

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

2. Program Installation and Delete

9

2.3 Installation of USB Drive

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

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

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

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

● Windows 98 and ME: specify the folder "PMC-HS/driver/98me".

After installation, check the Device Manager as below.

(example: Windows XP)

Execute the "My computer → Properties (Click right mouse button) → Hardware → Device Manager".

If "PMC-HS-USB Driver (Autonics Corp)" exists in "Universal Serial BUS controller" and

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

2.3.1 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 and Delete

10 © Copyright Reserved Autonics Co., Ltd.

2.4 Connection of RS-232C

1st Connect the motion controller and a PC using RS-232C communication cable�

2nd Turn on the motion controller and the PC�

3rd Start the operation program by selecting the [Start] button�

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

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

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�

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

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

11

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

In order to operate PMC-1HS/PMC-2HS correctly, it is required to set operation mode/operation parameter

of PMC-1HS/PMC-2HS suited with user system.

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

operation program and then set them up on the Mode/Parameter screen.

By connecting a teaching unit (PMC-2TU-232, sold separately) to RS232C port of the motion controller is

also available to set�

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

3.1 Execution of Operation Program

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

Click Parameter/Mode in left of the middle on the main screen after executing the program.

Then, Parameter/Mode screen will be displayed.

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

each tab to meet the system requirement�

3.1.1 Mode

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

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

12 © Copyright Reserved Autonics Co., Ltd.

(1) Limit Stop Mode, Limit Active Level

When the Limit signal is activated, select the drive as Instant or Slow stop�

In addition, specify the Limit Active level�

Display Selection Factory default

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

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

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

connector�

For more information, refer to "8� Connector"

When the Limit input signal is activated, the Limit Stop Mode selects Instant or Slow stop of drive.

In addition, the Limit Active Level species Low for GEX or High for open.

(2) Servo Inposition Enable , Servo Inposition Level

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

Display Selection Factory default

Servo Inposition Enable Disable / Enable Disable

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

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

For more information, refer to "8� Connector"

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

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

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

the next register�

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

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

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

(3) Servo Alarm Enable, Servo Alarm Level

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

Display Selection Factory default

Servo Alarm Enable Disable / Enable Disable

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

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

For more information, refer to "8� Connector"

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

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

The Servo Alarm Level congures whether nALARM is activated in OPEN or GEX connection.

It selects High if the nALARM is activated in Open, and it selects Low in GEX.

To cancel an error after error is occurred, it deactivates the nALARM and resets the controller.

If the nALARM is not used, the level is congured as the Factory default.

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

13

(4) End Pulse

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

Display Selection Factory default

End Pulse Disable / Enable Disable

The nDRIVE/END output signal on each axis comes from pin #14 and #15 of the parallel I/F CN3.

When the End Pulse is congured as Disable, the nDRIVE/END signal outputs the ON pulse in driving or

operating the program on each axis and returns to the Off state when the program is closed�

If selecting Enable, nDRIVE/END signal will be OFF in the middle of driving� When driving is OFF, ON pulse

will be provided as much as drive END pulse width which is specied as a parameter. Refer to the related

clause for End Pulse selection for drive commands in program mode (ABS, INC, HOM).

(5) Deceleration Value

Select the acceleration value (symmetry adjustable speed) or individual deceleration value (asymmetry

adjustable speed) for the deceleration value of the trapezoid adjustable speed drive.

Display Selection Factory default

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

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

is the same with the deceleration value but also the asymmetry adjustable speed drive that the acceleration

is different from the deceleration value� The selection of the acceleration value makes the parameter

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

drive or vice versa�

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

(1)Accel > Decel

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

Deceleration > Acceleration× 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

decelerated 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

14 © Copyright Reserved Autonics Co., Ltd.

(6) Soft Ware Limit

Select Enable or Disable for the Soft Ware Limit�

Display Selection Factory default

Soft Ware Limit Disable / Enable Disable

The Soft Ware Limit is the overrun limit function that can be congured by internal position data apart from

the mechanical limit signal input by means of external sensor. The Soft Ware Limit is selectively congured

as the parameter values at the both of + and - directions. When it is enabled and exceeds the range of soft

limit + or -, the controller is decelerated to stop. To cancel the software limit, drive the controller toward the

reverse direction of the error�

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

search command�

(7) Power On Home Search

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

Display Selection Factory default

Power On Home Search Start Disable / Enable Disable

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

main body is reset�

(8) Power On Program Start

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

Display Selection Factory default

Power On Program Start Disable / Enable Disable

The Power On Program Start is the function to execute the program congured as the start of the program

register 00 (REG00) when the power is turned on or the main body is reset. If the Power On Program Start

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

Caution

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

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

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

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

Disable after stopping the operation by pressing the [Stop] button on the main screen�

Do not change the mode in operating�

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

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

Warning

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

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

15

3.1.2 Parameter

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

1HS�

(1) Speed Multiplier

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

speed and acceleration/deceleration values�

Display Setting range Factory default

Speed Multiplier 1 to 500 10

The speed parameters such as drive speed and acceleration/deceleration values are congurable between

1 to 8,000. To use the value over the range, congure the Speed Multiplier appropriately.

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

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

(2) Acceleration Rate

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

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

deceleration�

Display Setting range Factory default

Acceleration Rate 1 to 8,000 400

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

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

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

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

the adjustable speed drive�

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

the speed parameter as follows:

Acceleration Rate (pps) = (20,000 － 500) / 0.3 = 65,000 (pps)

If the Speed Multiplier is set to 10 then,

Acceleration value congured: A = 65,000 / (125×10) = 52

Start Speed value congured: SV = 500 / 10 = 50

Drive Speed value congured: V = 20,000 / 10 = 2,000

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

(3) Deceleration Rate

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

accelerates�

Display Setting range Factory default

Deceleration Rate 1 to 8,000 400

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

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

In Mode tab, the Deceleration Value is Accel as default, the acceleration value is used in deceleration and

symmetry adjustable speed drive is operated. To operate asymmetry adjustable speed drive, congure the

Deceleration Value as Decel in Mode tab.

(4) Start Speed

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

Display Setting range Factory default

Start Speed 1 to 8,000 50

The actual start speed congured as below formula.

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�

(5) Drive Speed 1 to 4

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

Display Setting range Factory default

Driver Speed 1 1 to 8,000 10

Driver Speed 2 1 to 8,000 100

Driver Speed 3 1 to 8,000 1,000

Driver Speed 4 1 to 8,000 8,000

Four-type drive speed for each axis is congured. For driving, one of four speeds is selected. The actual

drive speed is the value that drive speed setting value (SV) and Speed Multiplier are multiplied.

Drive Speed (pps) = SV × 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�

(6) Post Timer 1 to 3

The post timer is the waiting time to start next command after the execution of a drive command such as

ABS or INC for program operation�

Display Setting range Factory default

Post Timer 1 1 to 65,535 10

Post Timer 2 1 to 65,535 100

Post Timer 3 1 to 65,535 1,000

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

17

(7) Home Search Low Speed

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

Display Setting range Factory default

Home Search Low Speed 1 to 8,000 20

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

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

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

(8) Home Search High Speed

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

Display Setting range Factory default

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

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

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

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

(9) Home Search Offset

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

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

Display Setting range Factory default

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

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

(10) Soft Ware Limit +

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

Display Setting range Factory default

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

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

The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.

(11) Soft Ware Limit -

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

Display Setting range Factory default

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

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

The software limit can be congurable by setting "Soft Ware Limit" to Enable in Mode tab.

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

(12) End Pulse Width (msec)

When the drive ends, the end pulse width congures the pulse width of the end pulse coming form nDrive/

END signal in Mode tab.

Display Setting range Factory default

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

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

(13) Pulse Scale Numerator

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

Display Setting range Factory default

Pulse Scale Numerator 1 to 65,535 1,000

The pulse scale numerator function converts the position data which is entered or displayed into a pulse

value� This function enables the position data to be handled as a value in mm or inch�

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

Pulse value = Input value × Numerator of pulse value

Denominator of pulse value

Displaying value=Pulse value× Denominator of pulse value

Numerator of pulse value

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

denominator) is congured as 1/100 to execute the position display by mm.

If input value is 1 (mm), 100 pulse will be provided and 1.00 will be displayed. If the resulting values

are below the decimal point, round-off value to signicant digit of 1 pulse will be output and display

value will be determined according to this value�

The scaling position data is as follows:

Screen Position data scaling

Main screen Position, Preset value

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

Program edit screen Position data of ABS, INC commands

Caution

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

using the step angle of motor rotation or ball screw pitch� Change the setting value only after stopping your

system� Since the Factory default of nominator/denominator of the pulse scale is 1000/1000, input and

display is the same as pulse values�

(14) Pulse Scale Denominator

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

Display Setting range Factory default

Pulse Scale Denominator 1 to 65,535 1,000

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

19

3.1.3 Home Search Mode

3.1.3.1 Descriptions

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

when the Home Search command is to be an Enable�

It congures enable/disable, search direction and input signal level for each step. The step 1 and 4 start

the search in Home search high speed congured in Parameter tab. In addition, the step 2 and 3 start the

search in Home Search Low Speed�

Step Operation Search speed Detection signal

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

Step 2 Low speed home search Home Search Low Speed nSTOP1

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

Step 4 High speed offset movement Home search high speed

-

(1) Step 1. High Speed Near Home Search

The step 1 outputs the drive pulse until near home signal (nSTOP0) becomes active with high speed near

home search speed set in Parameter tab and specied direction.

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

higher value than the start speed�

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

speed drive, the drive stops immediately�

Caution

Irregular operation

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

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

③ Limit signal of the detected direction is activated in operating. → Stop the drive and runt the step 2.

(2) Step 2. Low Speed Home Search

The step 2 outputs the drive pulse to the Home Search Low Speed set in Parameter tab and the specied

direction until the home signal (nSTOP1) is activated.

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

the start speed�

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

Caution

Irregular operation

① The home signal (nSTOP1) 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 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 step 2 starts.

③ The limit signal of the detected direction is activated in use. → Stop the drive and perform the same

operation with ②�

Autonics PMC-HS Series User manual

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