Autonics PMC-HS Series Bedienungsanleitung

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

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

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

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

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)".

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