16ch STEPPING MOTOR CONTROLLER

PM16C-16
USER’S MANUAL
No. 3288(rev.2)

APPLICATIONOFELECTRONIC

DEVICESTSUJI ELECTRONIC CO. Ltd.
3739 Kandatsu-machi Tsuchiura-city
Ibaraki-Pre 300-0013 JAPAN
PHONE.+81-(0)29-832-3031 FAX. +81-(0)29-832-2662
URL
http://www.tsujicon.jp/
E-mail info2@tsuji-denshi.co.jp

CONTENTS

CONTENTSCONTENTS ............................................................................................................ 1
1 Abstract ................................................................................................................ 4
1-1 Introduction .................................................................................................... 4
1-2 Architecture ................................................................................................... 5
1-3 Connection Diagram ...................................................................................... 5
2 Parts names and function..................................................................................... 6
2-1 Front Panel .................................................................................................... 6
MOTOR STATUS LED................................................................................... 7
2-2 Rear Panel .................................................................................................... 8
Pulse out Dub connector (PULSE) Pin assignment....................................... 8
Limit switch input Dsub connector(LS IN) Pin assignment ............................ 9
RS-232C connector ....................................................................................... 9
3 Preparation of a communication line .................................................................. 10
3-1 The outline of communication control .......................................................... 10
The display method of a SETUP screen ...................................................... 10
3-2 Configuration of LAN communication .......................................................... 10
3-3 Configuration of RS-232C and GP-IB communication ................................. 10
3-4 About delimiter character ............................................................................. 10
4 The outline of motor control ................................................................................. 11
4-1 Remote mode and Local mode .................................................................... 11
4-2 Drive mode ................................................................................................... 11
4-3 Drive speed setting ....................................................................................... 11
Constant drive (Const)................................................................................. 12
Trapezoidal form acceleration drive (Trape) ................................................ 12
S shaped form acceleration drive (Schar) ................................................... 12
4-4 Control screen ............................................................................................. 13
Initial screen ................................................................................................ 13
Motor drive screen ....................................................................................... 13
Mode setup screen ...................................................................................... 14
4-5 Home Position Set and Search drive ........................................................... 15
At the beginning .......................................................................................... 15
Selection of detecting ways ......................................................................... 15
4-6 Hand box (Optional) .................................................................................... 17
04TYPE Hand box controller (PM16-HDX 4 axis control) ........................... 18
02TYPE Hand box controller (PM16-HDX 2 axis simultaneous control) ..... 18
16TYPE Hand box controller（PM16-HDX16 16 axis selected control） ....... 19
5 SETUP MODE.................................................................................................... 20
5-1 Page1 Motor activation, limit switch setting ................................................. 20
5-2 Page2 Digital limit switch setting ................................................................. 21
For digital limit switch .................................................................................. 21
5-3 Page3 Speed setting ................................................................................... 22
5-4 Page4 Acceleration and deceleration setting ............................................... 22
5-5 Page5 REL/ABS/SCAN PRESET data setting ............................................ 23
5-6 Page6 Home position setting ....................................................................... 24
5-7 Page7 TIMING OUT setting......................................................................... 25
5-8 Page8 TIMING OUT channel setting ........................................................... 26
5-9 Page9 Parameters of remote mode setting ................................................. 26
1

CONTENTS

5-10 Page10 LAN setting ................................................................................... 27
5-11 Page11: Program version change, return time from mode set screen, andLCD brightness adjustment ................................................................................ 27
6 Operation of Motor .............................................................................................. 28
6-1 Local mode operation .................................................................................. 28
6-2 Remote/Local switching command .............................................................. 28
6-3 Command to read out of motor status.......................................................... 29
Limit switch(LS) status read command ........................................................ 30
Commands for current positon read or set .................................................. 31
6-4 Motor control command ............................................................................... 32
JOG step drive command ............................................................................ 32
Speed select command ............................................................................... 32
Continuous move commands ...................................................................... 33
Absolute drive command(ABS) .................................................................... 34
Relative drive command (REL) .................................................................... 34
Home position return commands ................................................................. 36
6-5 STOP commands......................................................................................... 36
6-6 Speed change command while driving ........................................................ 36
6-7 Command for Synchronous start for action pending .................................... 37
6-8 Command of SRQ output function ............................................................... 37
SRQ for GPIB communication ..................................................................... 37
SRQ for LAN/RS-232C communication ....................................................... 38
7 Commands for parameter set up ........................................................................ 39
7-1 Basic configuration of motor ........................................................................ 39
7-2 Moving speed setting ................................................................................... 40
7-3 Acceleration and deceleration Rate Setting ................................................. 41
7-4 Setting of the limit switch-related ................................................................. 42
7-5 Setting of the home position related ............................................................ 43
7-6 Setting of the local mode data ..................................................................... 44
7-7 Display setting ............................................................................................. 45
8 Timing out signal output ...................................................................................... 47
GATE signal ................................................................................................. 47
Pulse signal ................................................................................................. 47
Output method ............................................................................................. 48
Timing output channel fixed mode (from V1.01) .......................................... 50
9 Auto-change drive function ................................................................................. 52
1. Data input ................................................................................................ 52
2. Confirm data ............................................................................................ 53
3. Scan preparation ..................................................................................... 54
4. Scan execution ........................................................................................ 54
10 Other Operation ................................................................................................ 55
10-1 Channel comment setting .......................................................................... 55
How to set the channel comments (local mode) .......................................... 56
How to set the channel comments (remote mode) ...................................... 57
10-2 All reply mode ............................................................................................ 58
10-3 Maintenance command.............................................................................. 59
11 Firmware version up ......................................................................................... 62
12 Appendix ........................................................................................................... 64
12-1 Acceleration and Deceleration Rate ........................................................... 64
2

CONTENTS

12-2 Command List ........................................................................................... 65
13 Revision History ............................................................................................... 67
14 Performance and Specifications ....................................................................... 68

3

1

Abstract

1 Abstract
1-1 Introduction
PM16C-16 made based on PM16C-04XDL is pulse motor controller unit which controls
16 motors at the same time by remote operation. An operation system is almost the same as
PM16C-04XDL.
The difference with PM16C-04XDL is described below.
1.
2.
3.
4.

PM16C-16 controls 16 motors at the same time by LAN, RS-232C, and GP-IB
communication.
The command which reads the state of all channel was added.
“Answer all mode” which adds an answer to all the commands was added.
Two axis interpolation commands which starts with “C0” or “C1” and Oscillation drivecommand which starts with “Y” are not mounted now

Take over the following functions of PM16C-04XDL.
1.
2.
3.

4.
5.

6.

4

Count pulse step bit is 32bits. Numerical range is -2,147,483,647 to +2,147,483,647.
Each characteristics （HSPD, MSPD, LSPD, RATE, LMSW, DGLS） is available foreach channel.
Absolute position drive, relative position drive, continuous drive, and find home position
drive is available. These drive have 3 acceleration and deceleration mode, constant,trapezoid, and “S” shaped.
The output of trigger pulse or gate signal (TTL) is available at the arbitrary sections andintervals.
There are five kinds of the way of stopping motor.
 by the limit switch signal
 by the home position limit switch signal
 by the digital limit switch signal
 when the “STOP” button is pushed
 when the stop command is publishedFirmware ROM update via communication line is available.

1 Abstract

1-2Architecture Front panel
 LCD display
 Control switch
FLSH ROMfor firmware
version up × 2

Pulse output
connector × 16ch

main
CPU

Pulse controller
2ch × 8

Data Memory
Limit switch input
connector × 16ch

Communication Line LAN
 RS-232C
 GP-IB

1-3 Connection Diagram
LS Cable (Dsub 9pin)
Pulse Cable(Dsub 9pin)
DriverPC

Sensor
Pulse
Motor

PM16C-16
Up to 16 set connectable.
LAN Cable
RS-232C Cable
GP-IB Cable
SensorDriver

Pulse
Motor

5

2 Parts names and function

2 Parts names and function
2-1 Front Panel1

8 9 10

7

15 16

17

ＰＭ１６Ｃ－１６
１６ＣＨ ＳＴＥＰＰＩＮＧＭＯＴＯＲ ＣＯＮＴＲＯＬＬＥＲ

ＰＯＷＥＲ
ＯＮ

ＣＨ

ＳＰＤ

ＣＵＲＳＯＲＩＮＦＯＰＯＳＩＴＩＯＮ

Ａ ｐｏｓ．
ＯＦ Ｆ
ＨＡＮＤ
ＢＯＸ

Ｂ ｐｏｓ．
Ｃ ｐｏｓ．
Ｄ ｐｏｓ．

０ １ ２ ３ ４ ５ ６ ７ ８ ９ Ａ Ｂ Ｃ Ｄ Ｅ Ｆ

ＣＨ ＳＥＬ
ＤＥＣ
ＩＮＣ

ＣＷ ＬＳ

ＤＥＣ

ＩＮＣ

ＣＷ Ｐ
ＭＦ

ＤＥＣ

ＩＮＣ

ＤＥＣ

ＩＮＣ

ＤＳＰ
ＣＨＧ

ＰＲＥＳＥＴ ＳＴＡＲＴ

ＳＴＯＰ

ＣＨＧ

７

８

９

０

４

５

６

＋
－

３

ＣＬＲ

ＨＰ
ＪＯＧ
ＣＷ

ＣＣＷ Ｐ
ＣＣＷ ＬＳ

１
ＨＰ ＲＥＬ ＡＢＳ ＳＣＡＮ

ＬＣＤ
ＣＯＮＴＲＡＳＴ
Ａ

Ｂ

Ｃ

Ｄ

ＲＥＭ
Ｌ ＯＣ

２

ＴＩＭＩＮＧ ＯＵＴ（ＴＴＬ）
ＴＰ０

ＳＥＴＵＰ

ＴＰ１

ＴＰ２

ＴＰ３

ＭＯＤＥ

ＣＣＷ
ＴＥＬ：０２９－８３２－３０３１ＦＡＸ：０２９－８３２－２６６２
ＵＲＬ ｈｔｔ ｐ：／／ｗｗｗ． ｔｓｕｊｉｃｏｎ． ｊｐ

2

6

3

No.
1

Name
POWER switch2

Hand Box connector

3

LCD display

4

CH select switch

5

LCD contrast volume

6

Motor active button

7

Motor status LED

8

PRESET button

9

START button

10

STOP button

11

REM/LOC button

12

SETUP button

4

5

6

11 12

13

14

18

Function
This is the power switch of PM16C-16.
Connect the Hand Box here (option).
See 17 page.
20 character and 4 line LCD.
Motor drive status and each channel data aredisplayed here.
Any 16 motor channel is allocated to A, B, C, D
position. Select the motors to control with this switch.
In SETUP mode, setup channel No. is changeablewith A pos. ch select switch.
Adjusts LCD contrast with + screw driver.
Set motor drive active or non-active for each position.
Bright position shows active state.
In local mode, motor drives active position only.
These LED shows the motor status.
Details are shown at 7 Page.
When motor drive mode is scan, current pulse positionis set to preset value.
All activated motor start driving according to themotor drive mode.
All activated driving motor stop at local mode. All
driving motor stop at remote mode.
Exchanges local mode and remote. If you push thisbutton when turning on the power, various types ofparameter except the current pulse value are
initialized.
Goes to motor initial data setting mode (SETUP)
when all motors are stop and local mode. If push it
again, exits SETUP mode.

2 Parts names and function



No.

Name

13

JOG switch

14

MODE button

15

cursor button

16

DSPCHG button

17

numeric keys

18

TIMING/OUT connector(LEMO)

FunctionStarts CW or CCW JOG operation. Motor drives just
JOG set pulse with one push. If you hold over
0.4 sec., motor drives while holding.
In SETUP mode, changes the page of setup function.
Select the drive mode when pushing start button.
Bright LED mode is selected mode.
Drive mode changes every pushing.
Move the cursor position with these keys.
Changes set data at SETUP modewith “CHG” button.
Exchanges motor drive screen and mode disp. screen.
Entry the numeric data at SETUP mode.
Sign inversion with “±” button, data input cancel
with “CLR” button.
If you push “CLR” button when turning on the
power, pulse value of all channels are reset to zero.
TTL level pulse signal or gate signal according topulse position data are output. See ”8 Timing out
signal output” (47 Page) in details.

MOTOR STATUS LED

CW LS
CW P
MF
HP
CCW P
CCW LS

0 1 ･･･ E F● ● ･･･ ● ●● ● ･･･ ● ●● ● ･･･ ● ●● ● ･･･ ● ●● ● ･･･ ● ●● ● ･･･ ● ●The channel is shown.
LED lights when CW direction limit switch is activated.
LED lights when CW direction pulse is output.
LED lights when motor hold off signal is output.
LED lights when Home Position limit switch is activated.
LED lights when CCW direction pulse is output.
LED lights when CCW direction limit switch is activated.

LED of limit switch blinks when digital limit switch described at 21 page was turned on.

7

2 Parts names and function

2-2 Rear Panel
1

2

ＣＨ０
ＰＵＬ ＳＥＣＨ１
ＰＵＬ ＳＥＣＨ２
ＰＵＬ ＳＥＣＨ３
ＰＵＬ ＳＥＣＨ４
ＰＵＬ ＳＥＣＨ５
ＰＵＬ ＳＥＣＨ６
ＰＵＬ ＳＥＣＨ７
ＰＵＬ ＳＥ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＣＨ８
ＰＵＬ ＳＥＣＨ９
ＰＵＬ ＳＥ

ＣＨ１０
ＰＵＬ ＳＥＣＨ１１
ＰＵＬ ＳＥＣＨ１２
ＰＵＬ ＳＥＣＨ１３
ＰＵＬ ＳＥＣＨ１４
ＰＵＬ ＳＥ

ＣＨ１５
ＰＵＬ ＳＥ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

ＬＳ ＩＮ

3

4

5

ＬＡＮ

Ｆ３Ａ

ＧＰ－ＩＢ ＲＳ－２３２ Ｃ

ＡＣ１００Ｖ－２２０Ｖ

6

No.

2
3
4
5

Name
Pulse out connector(PULSE)
Limit switch connector(LS IN)
GP-IB connector
RS-232 connector
LAN connector
Fuse holder (250 V 3A)

6

Power cable connector

1

FunctionCH0 to CH15 pulse output Dsub9 female connector
and limit switch input Dsub9 male connector are
attached. Pin assignment are shown below.
Connect the GP-IB cable here.
Connect the RS-232C cross cable here.
Connect the LAN cable here.
250V, 3A fuse is equipped here.
Insert attached AC cable here.
100 ~ 220V AC power is available.

 Pulse out Dub connector （PULSE） Pin assignment
DRIVER

+5V

OFF

ON

Function
CWP (PULSE) −CWP (PULSE) +CCWP (DIRECTION) −CCWP (DIRECTION) +F.G
HOLD OFF −HOLD OFF +
(+5V)
F.G

As pin 8, +5V power supply is available
with red slide switch on the substrate located atbackside of the rear panel.
Factory setting is OFF.

8

Pin No.
1
2
3
4
5
6
7
8
9

+

− 300Ω
+−+−dotted line is for + common driver(in this case,2, 4, 7 Pin are no connection.)2 Parts names and function

 Limit switch input Dsub connector（LS IN） Pin assignment+12V 0V
1KΩ

FunctionCWLS+
CWLSCCWLS+
CCWLSF.G
HPLS+
HPLS+12V(MAX 0.8A)
F.G

CW LS

CCW LS

HP LS

using
proximity switchLS

Pin No.
1
2
3
4
5
6
7
8
9

1
1
2

12V
SIG
0V

3
4

12V
(
SIG
0V-

6
7

12V
SIG
0V

P

)

Both a-contact limit switch and b-contact are available.
Logic inverting is also available at PM16C-16 settings.
Use Dsub connector which shell width is under 35mm, since each Dsub connector
pitch is 37.6mm. DE-C1-J6 (JAE), XM2S-0911 (OMRON), HDE-CTF (HIROSE)
etc. are recommended connectors.
 RS-232C connector
The pin assignment of Dsub 9pin connector at PM16C-16
side is shown right. Use cross cable between PM16C-16 andyour PC.

Function
－
RXD
TXD
－
GND
－
－
－
－

Pin No.
1
2
3
4
5
6
7
8
9

9

3 Preparation of a communication line

3 Preparation of a communication line
3-1 The outline of communication control
PM16C-16 is be equipped communication control by LAN, RS-232C, and GP-IB. Initial
setting is required of each communication. Any initial setting can be performed in SETUP
mode.
 The display method of a SETUP screen
After Power on, the 1.REM/LOC button is pushed
and a green LED is made turn on.
Since a screen will change if the 2.SETUP button
is pushed, please push down 3.JOG switch in the
direction of CW or CCW, and change a page.
1

2

3

3-2 Configuration of LAN communication
JOG switch is moved to the CW position several
times, and page 10 (right picture) are displayed. Right
photograph is the state of initial setting, and MAC
address different for every equipment.
When you change IP address and port number, theblinking cursor is moved by CURSOR button and anumber is inputted by the numerical keypad. As for aport number, 10001 to 10999 is a recommended value.
IF change is completed, the SETUP button will be pushed, and escape from SETUP screen.
The change will be reflected after a while. Please check that communication is establishedby the “VER?” command etc.

3-3 Configuration of RS-232C and GP-IB communication
JOG switch is moved to the CW position several
times, and 9 pages (right screen) are displayed. Right
photograph is the state of initial setting.
The blinking cursor is moved on the figure of
B.RATE by CURSOR button. If the central CHG button
is pushed, baud rate can be chosen from 1200, 2400,
4800, 9600, 19200, and 38400. It is only baud rate that can set up and other values are being
fixed to DATA BIT: 8, STOP BIT: 1, NO FLOW CONTROL, NO PARITY.
A configuration of GP-IB only sets up address. A cursor is moved on the figure of
ADDRESS and address is set up within the limits of 2 to 31.
IF change is completed, the SETUP button will be pushed, and escape from SETUP screen.

3-4 About delimiter character
The format of command is ASCII data, and the delimiter is CR + LF (0x0d + 0x0a).
After receiving CR + LF, command interpretation begins. When sending commands, “CR +LF” must be added at the end of the command, though the “CR + LF” are omitted in thecommand.
10

4 The outline of motor control

4 The outline of motor control
4-1 Remote mode and Local mode
PM16C-16 have two ways of control mode, remote mode and local mode. In local mode,
PM16C-16 controls motor with switches attached front panel and hand box. Commands from
communication line which drives motor and overwrite the motor setting are invalid, butwhich reads the data are available.
In remote, switches attached front panel are unable except STOP and REM
LOC .

4-2 Drive mode
There are 4 drive modes at motor control, ABS, REL, SCAN, and H.P.
In local mode, you can change the drive mode with MODE . Current drive mode isindicated by LED above MODE . In remote mode, you can select drive mode with commanddirectly.
･REL mode … Relative pulse drive mode
LOCAL: Push START , and motor drives toward the destination bypreset value from present position.
REMOTE: Motor drives by entered value.
･ABS mode … Absolute pulse drive mode
LOCAL: Push START , and motor drives to preset destination value.
REMOTE: Motor drives by entered position.
･SCAN mode … Continuous drive mode to CW, CCW direction
LOCAL: Push START , and click “CW or CCW” jog switch, motor drives
to dedicated direction continuously.
A push on the PRESET button will set a pulse to the value set
up beforehand.
･HP mode…

Drive detecting origin point of pulse count for each channel.
Details are in chap5.3 “Setting the origin of home position”.

All motor drive are stopped withmotor stop command.

STOP

or limit switch or HP switch signal, or enter

4-3 Drive speed settingHigh speed (HSPD), middle speed (MSPD), low speed (LSPD) and acceleration rate is set
individually for each channel. These setting are modified by remote commands or SETUP
mode “Page3 Speed setting (Page 22)”.
Acceleration and deceleration method have the three modes, “Const”, “Trape”, and“Schar”. These setting are modified by remote commands or SETUP mode “Page3
Acceleration and deceleration modes setting (Page 22)”. Refer to the 40 page for the settingcommand of speed.

11

4 The outline of motor control

Constant drive (Const)
Speed
MAX SPEED (= HSPD/MSPD/LSPD)
Time

start commandstop command

Motor drives at MAX speed as soon as drive execution, and stops immediately assoon as stop operation. Too fast drive speed causes motor step out.
Low speed drive is always constant drive at all drive mode.
 Trapezoidal form acceleration drive (Trape)
Speed
MAX SPEED (= HSPD/MSPD)
acceleration curve(= RATE)START and END
speed (= LSPD)

Time
start commandstop command

Acceleration operation is carried out until it will reach MSPD or HSPD by making
LSPD into initial velocity, if a motion command is executed.
When a stop command is input, the motor starts deceleration. And the motor stop
when speed reached LSPD. Acceleration and deceleration curve become rapid, andtime to reach maximum speed shortens so that Rate value shown by acceleration anddeceleration code (See page 64) is large.
Large value of "LSPD" may not make smooth start of the motor.
S shaped form acceleration drive (Schar)
Speed

MAX SPEED(= HSPD/MSPD)
B = 3000pps
acceleration curve(= RATE)START and END
speed (= LSPD)

A = 1000pps
Timestart command

12

stop command4 The outline of motor control

Although it is fundamentally the same as trapezoidal form acceleration drive, thevelocity change at the time of acceleration and deceleration start and the time ofacceleration and deceleration stop is performed according to S shaped form
approximated to the parabola.
Large value of "LSPD" may not make smooth start of the motor.
The start region A and the stop region B are fixation. When LSPD is more than orequal LSPD + 4000pps, it calculates automatically so that a curve may becomesmooth.

4-4 Control screen
 Initial screen
*

*

*

*

*

*

P

M

1

6

C

-

1

6

S

T

E

P

P

I

N

G

C

O

N

T

R

O

L

L

E

R

T

S

U

J

I

-

D

E

N

S

M

O

T

O

R

V

e

H

I

*

*

*

*

*

*

r

<

1

.

0

0

>

C

o

.

L

T

D

,

Current firmware version is displayed at screen just after turning on the power.
 Motor drive screen
A Pos.

0

0

H

T

P

0

B Pos.

0

1

H

#

T

P

1

C Pos.

0

2

M #

T

P

2

D Pos.

1

5

L

T

P

3

1

2

3

4

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

0

1

2

3

4

5

6

7

8

9
5

This is default screen when you control the motors. 4 channels which allocated Pos.
A to D pulse position are displayed. Colored area means cursor moveable area at local
mode.
No.

Data

1

Channel No.

2

Drive speed

3

Timing signal

Function
The display of the allocated channel at A to D Position.
You can change these channel with “CH SEL” switch
and numeric keys. The same channel at two position isprohibited.
You can select motor driving speed from “HSPD”,“MSPD”, and “LSPD” with “CHG” button. Pleasecheck the exact speed at SETUP mode Page3 Speedsetting (page 22) or remote commands.
The display of timing out signal status.
If displayed “#” here, timing out signal output status isready. If not, signal is not outputted.
Each time the “CHG” button is pushed, a state changes.
See “8 Timing out signal output” (page 47) in detail.

13

4 The outline of motor control

No.

Data

Timing signal output port
4
Channel comment

5Current pulse position

Function
The display of from which port a timing signal is
outputted. In V1.01 or later, “---” is displayed when the
output port is not assigned to all the port. You can selectdisplay data at this area with “CHG” button.
･Timing signal output port
Timing out port 0 to 3 are allocated at displayed
position A to D.
･Channel comment
Each channel is able to be named 3 letter.
See “10-1 Channel comment setting” (Page 55) indetail.
Displays current pulse position for each position.

Mode setup screen

DSP
Push 1: CHG
at motor drive screen, display changes into mode setup screen.

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On this screen, various parameter setup at thetime of a motor drive is performed.
Push 2: MODE , changes motor active mode
“REL −> ABS −> SCN −> H.P −> REL”.
Setting value differ in each mode.
LED on the 3: SETUP blinks during mode
setup screen.

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Display value for each motor active mode are below.
REL : Enter relative drive pulse value when you push START .
ABS : Enter absolute drive pulse value when you push START .
SCN : Enter preset value when you push PRESET .
H.P : If you have found the home position at this position, displays
its data. If not, displays “NO_HOME POS.”. Home position data
is rewritable if you have found it.
When you change these values, move the cursor where you change with cursor button andenter the new value with numeric keys. Inverts the Sign of value with ± , resets enteringvalue with CLR .
Entering value is displayed with zero suppression. If you move cursor up and down, enteringvalue is fixed and displayed with zero-fill.

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4-5 Home Position Set and Search drive
Home position of the unit is set by home position search drive. If the sensor of the origin
point (H.P switch) is detected, motor will stop automatically and the moving direction andthe origin point at the time of detection are memorized on a main unit.
 At the beginning
A setup of H.P can be set up by connecting with H.P LS switch of LS connector anddetecting the origin point sensor arranged at the mechanical origin point.
To set H.P, you need to decide the direction of detecting origin point.
In the case of the following figure, detect way is CW.
mechanical cam for detect origin point

CCW

CW

origin sensor (H.P LS)

Once detect the origin point, motor stopped automatically and memorize the directionand H.P pulse data. In this case, motor speed must be low within response time of sensor.
You need to check the set speed.
 Selection of detecting ways
There are three ways of detecting origin point.
Some are in case of memorized data had existed and another is in case of no memorized
data.
METHOD

ORIGINAL
STATE

A

NO
MEMORIZED
DATA

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DETECT WAY

PROCEDURES

ACCURACYTIMEMANUAL

Manual operation
JOG CW, CCW or
START
+
JOG
CW,CCWAVERAGE

SHORT

GREAT

LONG

GREAT

SHORT

NO
SEMI
Hold “START” switch
MEMORIZEDAUTOMATICAL more than 1 sec.
DATA
EXISTEDSEMIMEMORIZEDPush “START” switch.
AUTOMATICALDATA[METHOD A]
mechanical cam for detect origin point

CCW

CW

origin sensor (H.P LS)
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When you set H.P to direction CW, you have to set motor position to CCW sideagainst origin sensor, then move motor from CCW to CW side by operation switch
JOG CW or START + JOG CW.
Once detect the origin point, motor stopped suddenly, origin point procedures
finished.
Then the position of pulse data is memorized and the direction approaching a sensor
is also memorized. (In the case of the above figure the CW direction)
This way is applicable also to the detection in the case of using HP sensor as CWLSor CCWLS. (In that case, input CWLS or CCWLS also into HPLS)..................................................................................................................................
[METHOD B]
The following example is the case that the direction of the origin point detection is
CW. The start direction of the origin point detection set in the opposite direction of
the direction of the origin point detection.
(You can set at “ Page6 Home position setting” (Page 24))(a). In case of start position is in CW side against origin point

2. Detect the origin point then back
to CW side at low speed.

1. It starts present speed H, M, L.
Cam

CCW

3. Again detect the origin point at low speed.

CW

origin sensor (H.P LS)(b). In case of start position is in CCW side against origin pointCam

1. It starts present speed H, M, L.

2. Detect the CCW limit switch then back to CW side.
3. Detect the origin point then goes to
CCW side at low speed.

CCW

CCW limit switch

4. Again move to CW side and detect
CW
the origin point and stop.

origin sensor (H.P LS)

If a starting point sensor is detected, it will pass at first. And it will stop, if it passes
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completely, and it goes to the origin point by LSPD. Motor stopped suddenly, if theorigin point sensor is detected from a direction opposite to the direction which started
detection of the origin point. Then the position of pulse data is memorized and the
direction approaching a sensor is also memorized.
While in this procedures, if you stop this operation by “STOP” switch or command,
H.P hadn't been finished.
If in this procedures, CW or CCW limit switch or digital limit switch is activate,detecting procedures continue until “STOP” switch on.
[METHOD C]
1. It starts to the offset pulse range
at present speed H, M, L.

CCW

Cam

Offset pulse(An initial value is 100. It can change forevery channel.)
2. When entering in an offset pulse,
the origin point will be detected CW
at LSPD.

origin sensor (H.P LS)

This way is used when the origin point information is memorized by the way previously
described. The origin point is detected automatically based on the information
memorized.
If you push START button, motor goes to origin point ± offset pulse area by preset
speed. When motor enter the offset area, then goes to origin point at low speed. Motor
stopped suddenly, if the origin point sensor is detected, and H.P procedures finished.
While in this procedures, CW, CCW limit switch activate or push STOP button, thisprocedure stopped. In this case the origin point position information is cleared.
When you want to set up the origin point using old origin point detection data, setting
data can be returned by “ Page6 Home position setting” (Page 24) of SETUP screen.

4-6 Hand box (Optional)
In local mode operation, you can control a motor using the panel directly.
In addition, you can control a motor using Hand box(sold separately).
Connect the Hand box to HAND BOX connector.
And select the type of the Hand box in the item
"HAND BOX CONT" in the 9 page of the SETUP
mode from the below types.

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 04TYPE Hand box controller (PM16-HDX 4 axis control)
You can select one channel from A, B, C, D that are displayed on LCD,
and you can control it.
1. Channel select switch
Select one channel from A, B, C, D that are
displayed on LCD.
2. Speed change switch
In local mode, you can change the speed of
the specified channel from HSPD, MSPD and
LSPD.
In remote mode, it becomes the STOP button.
(see below)

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3. JOG switch
When you press once, it gives the instruction
once in the direction (CW or CCW) in which
you move the JOG switch.
It is same function of the JOG switch of PM16C-16 front panel.
 02TYPE Hand box controller (PM16-HDX 2 axis simultaneous control)
Simultaneous control of channels A and B, which is displayed on the display is possible.
1. Speed change switch
In local mode, you can change the speed of
the channel A,B from HSPD, MSPD and LSPD.
In remote mode, it becomes the STOP button.
(see below)
2. CH A JOG switch
It is the same function as the JOG switch of thefront pannel of PM16C-16, and it operates thechannel A which is displayed on LCD display.
When you press once, it gives the instruction
once in the direction (CW or CCW) in which
you move the JOG switch.
If press and hold, it continues to operate.

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3. CH B JOG switch
It is the same function as the JOG switch of thefront pannel of PM16C-16, and it operates the channel B which is displayed on LCD
display.
When you press once, it gives the instruction once in the direction (CW or CCW) in
which you move the JOG switch. If press and hold, it continues to operate.

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 16TYPE Hand box controller（PM16-HDX16 16 axis selected control）
Control a channel that is selected from 16 channels.
1.

Channel indicated LED
It displays the channel that is controlled, and it
displays a channel as Hexadecimal number (0 ~ F).

2.

Channel select switch (useful in local mode）
Select the channel that want to control bythis switch.

3.

Speed change switch (useful in local mode)
In local mode, you can change the speed of
the channel A,B from HSPD, MSPD and LSPD.
In remote mode, it becomes the STOP button.
(see below)

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4. JOG switch (useful in local mode)
When you press once, it gives the instruction once in the direction (CW or CCW) in
which you move the JOG switch. If press and hold, it continues to operate.

･About Speed change switch
In remote mode, all of LED H/M/L will light, if the button is pressed and held morethan 3 seconds. And Speed change switch will act as STOP button at this time.
This feature will be canceled, if the button is pressed and held more than 3 seconds,
again.

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5 SETUP MODE

5 SETUP MODE
All channel motor initial data and communication line setting operation is available at thismode. Push SETUP button at Local mode, LOCAL drive mode and SETUP mode areexchanged. SETUP mode contains 11 pages. You can increment the page with clicking JOG
switch to CW, and decrement to CCW.
The colored area shows cursor moveable point.
Unless specified otherwise, you can change the parameters by the center of the cursor key"CHG" button.

5-1 Page1 Motor activation, limit switch setting
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1: SETUP channel selection
It shows the channel under setting. You can change the channel by the numeric
keypad. “ ± ” button increments channel number. “CLR” button decrements
channel number. You can use Channel select switch in A.pos to change setting
channel.
2: Motor control ENA/DIS default : ENA
ENA: Motor control is enable.
DIS: Motor control is disable. CW/CCW LS light.
3: Motor hold off ENA/DIS default : ENA
The hold-off function, you can set whether or not to enable you to release the power
supply current to the motor when the motor is stopped.
ENA: hold-off signal is enable.
DIS: hold-off signal is disable.
4: Pulse output mode P_P/P_D/PDR default : P_P
Selection of the motor driving system.
P_P: PULSE-PULSE motor access
P_D: PULSE-DIRECTION motor access
DIRECTION signal becomes H in the CW operation.
PDR: PULSE-DIRECTION REVERSE motor access
DIRECTION signal becomes H in the CCW operation.
5: Limit Switch ENA/DIS default : ENA
Set independently in CW / CCW the enable or disable of the limit switch.
ENA: Motor will stop when it detects a signal limit.
DIS: Motor does not stop even if the detection limit signal.
6: Contact setting of the limit switch N.O/N.C default : N.O
20

5 SETUP MODE

Set independently CW / CCW the contact logic of the limit switch.
The right "_" will change to "□" When the limit switch is active.
N.O: Select when using the limit switch normally open (A contact).
N.C: Select when using the limit switch normally close (B contact).

5-2 Page2 Digital limit switch setting
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: SETUP channel selection
Same as Page 1.
: Digital limit switch ENA/DIS default : ENA
Set enable or disable of digital limit switch.
It will be set simultaneously in CW / CCW direction.
If enabled, when the CCWLS value less than or more than the CWLS value, it does
not work in that direction.
ENA: Digital limit switch is enabled.
DIS: Digital limit switch is disabled.
: Digital limit switch value
Setting range:-2,147,483,647 ~ +2,147,483,647
Initial value: CW/+1,000,000 CCW/-1,000,000,
Set the limit value when digital limit switch is enabled with numeric keypad.
:Backlash data Setting range:-9999 ~ +9999 Initial value:+100
You can set the amount of backlash movement to be performed in remote mode withnumeric keypad.
For digital limit switch
In the case of CWLS, digital limit switch is activated when it exceeds the set value, themotor will not work in that direction. In the case of CCWLS, digital limit switch isactivated when it becomes less than the set value, the motor will not work in that
direction.
Since entering the stop operation at the time the digital limit switch is on, it will overrun
the set value if the speed setting is fast. It does not mean that we are guaranteeing the
motor will not move out of range of the limit switch, set the value to be able to secure asufficient stop interval when setting.

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5 SETUP MODE

5-3 Page3 Speed setting
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: SETUP channel selection
Same as Page 1.
: Driving speed setting
Setting range: 1 ~ 5,000,000
Initial Value: HSPD/3,700 MSPD/650 LSPD/10
You can set the speed when moving HSPD (high speed), MSPD (middle speed),and LSPD (low speed). The setting unit is pps (pulse per second).
Please enter it using the numeric keypad.
These rates will be used in a mobile speed setting on page 11.
:JOG STEP value Setting range: 1 ~ 9,999 initial value:1
Set the number of steps of the JOG switch in local mode by numeric keypad.
: Acceleration and deceleration rate Setting range:0 ~ 115 initial value:13
Set the acceleration when the motor is accelerating or decelerating by numeric
keypad. It becomes sudden stop or sudden acceleration this value is larger. For
more information, please refer to the rate table "12-1 Acceleration and Deceleration
Rate”. (64 pages)

5-4 Page4 Acceleration and deceleration setting
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:SETUP channel selection
Same as Page 1.
: Selection of acceleration and deceleration format
Const / Trape / Schar default: Trape
Select a deceleration mode from Constant-velocity operation (Const) or Trapezoidal
acceleration and deceleration operation (Trape) or S-curve acceleration anddeceleration operation (Schar).
Refer to the movement speed setting on Page 11 for more information.

5 SETUP MODE

3.

: Selection of stop mode: In case of limit switch
SLOW/FAST default: SLOW
Select from the FAST (Sudden stop) or SLOW (Deceleration stop) how to stop when
it detects a limit switch.

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: Selection of stop mode: In case of push button. (Panel operation)
SLOW/FAST default: SLOW
Select from FAST (Sudden stop) or SLOW (Deceleration stop) how to stop when
you push the STOP button in local mode.

5-5 Page5 REL/ABS/SCAN PRESET data setting
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Also in the “mode display screen”, settings on this page is available.
: SETUP channel selection
Same as Page 1.
: REL mode set value
Setting range: -2,147,483,647 ~ +2,147,483,647
Initial value: +10,000
Set the pulse value that relative movement when you press the START button in
local mode.
: ABS mode set value
Setting range: -2,147,483,647 ~ +2,147,483,647
Initial value: 0
Set the absolute movement of the pulse value when you press the START button in
local mode.
: SCAN mode set value
Setting range: -2,147,483,647 ~ +2,147,483,647
Initial value: 0
Set the value to be preset when you press the PRESET button in local mode.

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5-6 Page6 Home position setting
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: SETUP channel selection
Same as Page 1.
:Home position switch setting: ENA/DIS default: ENA
Set the enable or disable of the home position switch.
ENA: It detects the home position signal
DIS: It does not detect the home position signal.
:Home position switch contact setting: N.O/N.C default :N.O
Set the contact logic of the home position switch.
The right "_" will change to "□" when home position switch is active.
N.O: Select when using the home position switch normally open (A contact).
N.C: Select when using the home position switch normally close (B contact).
:Selection of running direction for detect the origin point: CW/CCW default :CW
In carrying out the home position detection in automatic, it is the direction you wantto move to the first by pressing the START button.
CW: Set to CW the origin detection start direction
CCW: Set to CCW the origin detection start direction: Origin detection direction: CW/CCW
When it is stopped by detecting the origin, direction heading for the origin will berecorded . You cannot change this value.
: Origin detection offset pulse: Setting range: 1 ~ 9999 initial value: 100
In carrying out the re-detection of the origin, set the range to be detected at a reduced
speed at the origin around the position.
: Home position of origin point:
Setting range: -2,147,483,647 ~ +2,147,483,647
Initial value :NO_HOME.POS
When origin point had been set, this position data is displayed.
When origin point hadn't been set, display is "NO H.P.".
In the case of undetected origin, the origin that was last set will be set by the "CHG"
button. When the origin has been set, you can change the origin position by entering
a value in the numeric keypad. In addition, it is possible to cancel to the state oforigin undetected in the "CHG" button at this time.

5 SETUP MODE

5-7 Page7 TIMING OUT setting
For more information about the TIMING OUT signal, see page 47.

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:SETUP channel selection
Same as Page 1.
:TIMING OUT mode set
DIS/GATE/P.200ns/P.10us/P.100us/P.1ms
default : P.1ms
Select the type of when outputting TIMING OUT signal.
DIS: Signal output disabled
GATE : GATE mode output. Signal out between START and STOP.
P.200ns : Pulse output of 200ns
P.10us : Pulse output of 10μs
P.100us : Pulse output of 100μs
P.1ms : Pulse output of 1ms: TIMING OUT Start Position
Setting range : -2,147,483,647 ~ +2,147,483,647
Initial value: +1000
Set the starting point of the interval to perform TIMING OUT signal output of theabove.
:TIMING OUT Stop Position
Setting range: -2,147,483,647 ~ +2,147,483,647
Initial value: +10000
Set the end point of the interval to perform TIMING OUT signal output of the above.
:TIMING OUT Interval Pulse
Setting range : 0 ~ +2,147,483,647
Initial value: 200
When TIMING OUT signal is a pulse, you can set the pulse interval in TIMINGOUT output period.

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5 SETUP MODE

5-8 Page8 TIMING OUT channel setting
It displays which channels are assigned to TIMING OUT four output ports
From software version 1.01, channel fixed mode of the output port has been added. You can
use TIMING OUT output of the specified channel, regardless of the display.
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:TIMING OUT mode setting NOM/FIX default: NOM
Select the TIMING OUT output channel setting mode.
NOM: Output from the channel being displayed.
(This is the same as Ver 1.00 and PM16C-04XDL)
FIX: Output from the channel that has been set.
(TIMING OUT channel fixed mode)
Regardless of the display, the signal of the channel that has been set is
output.
: TIMING OUT output channel
When you select the FIX in 1, you can set the channels that will be assigned.
Set by using the CH SEL switch or numeric keypad.
It cannot be set to the same channel as two or more locations.

5-9 Page9 Parameters of remote mode setting

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: RS-232C baud rate set Initial value :38400
Select the baud rate of the RS-232C communication from 2400, 4800, 9600,
19200, 38400:GP-IB address Setting range:2 ~ 31 Initial value:7
Set the address of the GP-IB communication with numeric keypad.
: Hand box type 04TYPE/02TYPE/16TYPE default :04TYPE
Set this parameter to match the type of hand box connected.
See "Hand box (optional)" (page 17) for details of the hand box.

5 SETUP MODE

5-10 Page10 LAN setting
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: MAC address
It's MAC address inside LAN module.
: IP address Initial value:192.168.1.55
Set the IP address of PM16C-16 with the cursor keys and a numeric keypad.
:PORT number Initial vaule:7777
Set the PORT number of PM16C-16 with numeric keypad.
Can be set up to 1-32767, but the recommended value is 10000-10999.
: Settings for all response mode ENA/DIS default :DIS
In remote communication, there are commands that do not response (like "OK" or"NG"). In PM16C-16, mode of adding the response to all commands have been
added. You can enable / disable the mode. For more information,please refer to "10-2 All reply mode" (page 58).

5-11 Page11: Program version change, return time from mode set screen,and LCD brightness adjustment
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:

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:

6

0

s 2

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0

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% 3

: To change software version NEW/OLD
Select the firmware version.
See "11 Firmware version up" (Page 62) for more information.
: Return time from mode set screen Setting range:0 ~ 99 Initial value:60
In the "control screen", it changes to “mode display screen” by pressing the "DSP
CHG" button. If you do not operate during the number of seconds set here, the screen
will return to the "control screen".
It does not return until you press the "DSP CHG" button again if it is set to 00.
: LCD brightness adjustment Setting range:1 ~ 100 Initial value:100
Set the brightness of LCD with numeric keypad.

27

6 Operation of Motor

6 Operation of Motor
Here, you will move the motor actually.
Prior to actually drive, complete the following settings.
･Connecting to an external device driver, limit switches, etc. (Page 8)･Configuring the driving speed. (Page 22)･Configuring the amount of movement (only the absolute value and relative value movement)(Page 13)
Operate the motor, after the setup is complete.

6-1 Local mode operation
1: Display the channel of the motor moving on LCD.
If it does not appear, try changing the channel using the CH SEL switch.
2: Press the A ~ D button that corresponds to move the motor, and light the LED on
upper side of button.
Motor that is indicated by LED, will move when you operate the JOG switch orpress green START button.
3: Press the MODE button, and choose how to move from four types of REL, ABS,
SCAN, and HP.
The moving method that is showed by lit, is currently selected.
4: Start the motor moving, when the START button is pressed.
(REL)
Move relative movement amount that has been set.
(ABS)
Move for absolute point amount that has been set.
(SCAN)
Green lanp at start button keep brighting, and startmoving for the direction of jog switch you pushed.
(HP)
See 4-5 Home Position Set and Search drive (Page 15) in detail.
5.Motor stops moving if you press the STOP button or limit switch isactivated or etc.

6-2 Remote/Local switching command
On REMOTE mode, you can choose the motor for driving by commands.
Commands for motor move and setting are ignored at LOCAL mode.

Command

REM

LOC

Select REMOTE control mode or LOCAL control mode.

Reply Nothing
Remarks28

It is valid only when all motor is stopped.

6 Operation of Motor

6-3 Command to read out of motor status<ch>: 0 ~ F(Hexadecimal) for channel.
CommandSTS?

Read motor status which is displayed on LCD.

<RL><0123>/<DIR>/<LS>/<MT>/<POS>/<POS>/<POS>/<POS><RL>

R/ REMOTE control mode
L/ LOCAL control mode

<0123>Show displayed motor CH No. at 1 digit hex. The order of thisdata is applied on <DIR>, <LS>, <MT>, and <POS>.

<DIR>

P/ Moving for CW direction
S/ Stopping
N/ Moving for CCW direction<LS>

Hold off and LS status (hex)When these signals are activating, its bits stands 1.
b3: HOLD off
b2: HP LS
b1: CCW LS
b0: CW LS

Reply

<MT>

Indicate current motor status by 2 digit hex.
b7:ESEND :Emergency stop command executed.
b6:SSEND :Normal stop command executed.
b5:LSEND :Stopped by LS signal.
b4:COMERR : Command error
b3:ACCN :Decelerating
b2:ACCP :Accelerating
b1:DRIVE :Motor is moving.
b0:BUSY :Driving or dealing with command.

<POS>
ExampleDisplaying current position with signed 7 digit decimal.
Digit is increased if data is more than 10 million.

STS? Reply:
R1234/PSSN/0A80/07300003/+0002784/+0000000/-0001239/-0005009

Remarks

Read the specified CH motor data. Data format is sameof ”STS” command.
<RL><CH><DIR><LS><MT><POS>
Data format is same as “STS?” except <CH>.
Reply
<CH>
Shows read out CH on hex.

CommandSTS<ch>?

ExampleSTS1? Reply:
R1P007+0002784

Remarks29

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel.
Command

STS_16?

Read all 16ch motor status.

<DIR><DIR>･･･<DIR>/<MT><MT><MT><MT>･･･<MT><MT><MT><MT><DIR>

P/ Moving for CW direction
S/ Stopping
N/ Moving for CCW direction
The order of data is from CH0 to CHF, and one character a
motor, and describes 16 characters.
Indicate current motor status by 2 digit hex.
b7:ESEND :Emergency stop command executed.
b6:SSEND :Normal stop command executed.
b5:LSEND :Stopped by LS signal.
b4:COMERR : Command error

Reply

<MT>

b3:ACCN :Decelerating
b2:ACCP :Accelerating
b1:DRIVE :Motor is moving.
b0:BUSY :Driving or dealing with command.
The data is in order from CH0 to CHF.



ExampleSTS_16? Reply:
SSSSPSSSSSSNSSSS/00000080030000000000000300000000

Remarks

New command at PM16C-16.

Limit switch(LS) status read command
CommandLS?

Read displayed 4 CH motor on LCD LS status.

<0123><LS><0123>Show displayed motor CH No. at 1 digit hex.
data is applied on <LS>.

<LS>

Hold off and LS status (hex)When these signals are activating, its bits stands 1.
b3: HOLD off
b2: HP LS
b1: CCW LS
b0: CW LS

Reply

ExampleRemarks

30

LS? Reply:
0123888B

The order of this

6 Operation of Motor

Command

Read displayed 4 CH motor on LCD hardware and software
LS status.

HDSTLS?

<0123><HDLS><STLS>Show displayed motor CH No. at 1 digit hex. The order of this data
is applied on <LS>.

<0123>

Reply<HDLS><STLS>

Hold off and LS status (hex)When these signals are activating, its bits stands 1.
<HDLS> means from connected LS signal.
<STLS> means from software LS signal.
Data bit at b3 and b2 is always 0 on <STLS>.
b3: HOLD off
b2: HP LS
b1: CCW LS
b0: CW LS

ExampleHDSTLS?

Reply: 0123888B0000

Remarks
Command

LS_16?

Read all 16CH motor LS status.

<LS><LS>･･･<LS><LS>

Reply
<LS>



Hold off and LS status (hex)When these signals are activating, its bits stands 1.
b3: HOLD off
b2: HP LS
b1: CCW LS
b0: CW LS
The data is in order from CH0 to CHF.

ExampleLS_16?

Reply: 888B888888888888

Remarks

New command at PM16C-16.

Commands for current positon read or set
Command

PS? <ch>Read current position of specified motor.

Argument<ch>Specify in the Hexadecimal number 0~F to read out the
motor.

Channel

Reply ±ddddddd (Signed Integer 7-digit and more)
ExamplePS?4 Reply:-0000135

Remarks31

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel
Command

PS_16?

Display current position for all channel.

<POS>/<POS>/･･･/<POS>

Reply

Display the current position with the signed Integer 7-digit andmore, in order from ch0. Each channel is separated by "/".

<POS>

ExamplePS_16? Reply:+0000000/-0015000/-0004500/･･･/+0018000/+0001000

Remarks

New command at PM16C-16.

Command

PS<ch><pos>

Preset current position.

Argument<pos>-2,147,483,647 ~ +2,147,483,647

position

Reply Nothing
ExamplePS2+10000

Current position of CH2 set to +10000.

Remarks

Only remote mode. And the motor is stopped.

6-4 Motor control command

JOG step drive command
Command

JOG<d><ch>Move 1 pulse.

Argument

<d>

P/CW

Direction

N/CCW

Reply Nothing

ExampleJOGP1 CH1 moves 1 pulse for CW direction.

Remarks

Only remote mode. And the motor is stopped.

Speed select command
CommandSPD<sp><ch>

Select motor move speed.

Argument<sp>

L/LSPD(Start speed, low speed) M/MSPD H/HSPD

Speed

Reply Nothing

32

ExampleSPDHA

Motor move speed of CH10 set to HSPD

Remarks

Only remote mode. And the motor is stopped.

6 Operation of Motor

Command

SPD?<ch>Check the motor speed setting.

Reply LSPD/MSPD/HSPD
ExampleSPD?1 Reply: HSPD
Motor move speed of CH1 is HSPD.

RemarksContinuous move commands
Command

SCAN<d><ch>Start continuous move.
Same as SCAN move on LOCAL mode.

Argument

<d>

P/CW

Direction

N/CCW

Reply Nothing
ExampleSCANN2Start continuous move for CCW direction at CH2.

Remarks

Only remote mode. And the motor is stopped.

Command

CSCAN<d><ch>Start constant-speed continuous move.
(No acceleration and deceleration)

Argument

<d>

P/CW

Direction

N/CCW

Reply Nothing
ExampleCSCANN2

Start continuous move for CCW direction at CH2.

Remarks

Only remote mode. And the motor is stopped.
Be careful of LSPD value, because too fast LSPD value causes motor step out.

Command

SCANH<d><ch>It is the same as “SCAN” command, except stopmoving if home position sensor activates. It is a movethat corresponds to the method 1 of the Home
Position Set and Search drive (page 15).

Argument

<d>

P/CW

Direction

N/CCW

Reply Nothing
ExampleSCANHN2

Start continuous move for CCW direction at CH2.

Remarks

Only remote mode. And the motor is stopped.

33

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel.
Absolute drive command(ABS)CommandABS<ch><b><deg>Start absolute move.

<b>

Backlash(None)/ Without backlash move
B/ With backlash (no auto adjust)*
S/ With backlash (auto adjust)*<deg>

Destination-2,147,483,647 ~ +2,147,483,647

Argument

Reply Nothing
ExampleRemarksABS3+10000
ABS0S-2500

Start absolute move to 10000 point at CH3.
Start absolute move to -2500 point with auto adjust
backlash at CH0.
Only remote mode. And the motor is stopped.
Please see below topics about backlash move.

Relative drive command (REL)
Command

REL<ch><b><deg>Start relative move.

<b>

Backlash(None)/ Without backlash move
B/ With backlash (no auto adjust)*
S/ With backlash (auto adjust)*

<deg>

Value

-2,147,483,647 ~ +2,147,483,647

Argument

Reply Nothing
ExampleRemarks

RELC+10000 Start CW 10000 pulse move at CH12.
REL0S-5000 Start CCW 5000 pulse move with auto adjust backlash
at CH0.
Only remote mode. And the motor is stopped.
Please see below topics about backlash move.

*Backlash adjustment move
When you execute absolute or relative move, moves extra backlash
adjustment value before reaching the destination point.
For example, adjustment value is +500, moves destination point plus 500 point andmoves relative -500 value. Backlash adjustment move pattern is changed by sign ofadjustment value and motor move direction. Please see the example on next page.

34

6 Operation of Motor

Ex.1) Move direction is CW and adjustment value is positive
Without backlash adjustment move
With backlash adjustment move

CCW

CW
destination

destination +backlash adjustment valueEx.2) Move direction is CW and adjustment value is negative
Without backlash adjustment move
With backlash adjustment move and auto adjust
With backlash adjustment move and no auto adjust

CCW

destination +backlash adjustment value

CW

destination

If move direction is CCW, these two drive routine are exchanged.
Backlash adjustment value is checked and changed at 2page on SETUP mode or
this command.
<ch>: 0 ~ F(Hexadecimal) for channel
Command B?<ch>Check the backlash adjustment value.

Reply ±dddd (signed 4 digit decimal.)ExampleB?3

Reply: +0500

Backlash adjustment value of CH3 is 500.

Remarks

Command B<ch><deg>

Set the backlash adjustment value.

Argument<deg>-9,999 ~ +9,999

Initial value

+100

Value

Reply Nothing
ExampleB0+400

Set backlash adjustment value of CH3 to 500.

Remarks Only remote mode. And the motor is stopped.

35

6 Operation of Motor

Home position return commands
CommandIf you have not found home position, start home
position search move. It is a move that corresponds tothe method 2 of the Home Position Set and Search
drive (page 15).

FDHP<ch>

Reply Nothing
Example

FDHP2

Remarks

Only remote mode. And the motor is stopped.

CommandStart home position search move at CH2.

If you have found home position, move for memorized
home position. It is a move that corresponds to themethod 3 of the Home Position Set and Search
drive (page 15)..

GTHP<ch>

Reply Nothing
ExampleGTHP2Start home position search move at CH2.

Remarks

Only remote mode, and the motor is stopped.

6-5 STOP commands
These commands are available both REMOTE mode and LOCAL.
Command

SSTP<ch>ESTP<ch>Stop the specified motor.

Reply Nothing
Example

SSTP1
ESTP7

Stop the motor at CH 1.
Stop the motor at CH 7 immediately.

Remarks

SSTP is stop with deceleration, and ESTP is stop without it.

Command

ASSTP

AESTP

Stop all motor.

Reply Nothing
Example

ASSTP
AESTP

Stop all motor.
Stop all motor immediately.

Remarks

ASSTP is stop with deceleration, and AESTP is stop without it.

6-6 Speed change command while driving
Command

SPC<ch><deg>Moving motor speed changes on PPS unit.

Argument<deg>

1 ~ 5,000,000

Speed

Reply Nothing

36

ExampleSPC110CH1 motor moving speed changes to 10 pps.

Remarks

Only remote mode and the motor is moving.

6 Operation of Motor

6-7 Command for Synchronous start for action pending
These commands are for synchronous start of motors.
All motor except moving are changed standby status by “PAUSE ON” command.
In this status, PM16C-16 reserves all motor moving commands.
If release standby staus by “PAUSE OFF” command, reserved commands are all
executed.
Command

PAUSE ON
PAUSE OFFSet all motor standby status or release it.

Reply Nothing
Example

PAUSE ONAll stopped motors get standby status.

Remarks

Only remote mode.

Command

PAUSE?

Check the motor standby status.

Reply ON/OFF
Example

PAUSE?

Reply: ON

All motor is standby status.

Remarks

6-8 Command of SRQ output function
This function is to notify the motor stop on GPIB, LAN, and RS-232C communication.
Outputs SRQ signal on GPIB line, sends “STOPx” (x: SRQ output CH) commandon LAN and RS-232C commnunication.


SRQ for GPIB communication
Serial poll register on GPIB is always 0x10 when SRQ signal is outputted.
To check which CH have sent the SRQ signal, send ”SRQ_OUT?” command.
Command
Reply
ExampleRemarks

SRQ_OUT?

Check the CH that SRQ signal have outputted.

HHHH(4 digit hex) b15:CHF ~ b0:CH0
SRQ_OUT? Reply :0201
This reply shows SRQ signal has output on CH 0 and 9.
If you have checked the response, SRQ output flag will be cleared.
Different from PM16C-04XDL, serial pool resister does not show which chhave sent SRQ signal.

37

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel
Command

SRQ<ch><md>

Set or reset SRQ signal output flag.

Argument<md>

0/SRQ flag reset

Mode

1/SRQ flag set

Reply Nothing
ExampleSRQ71

Set SRQ output flag for the channel 7.

Remarks

Command SRQG0 cancels SRQ output flag of all channels.
Flag will be cleared when SRQ signal is outputted.

SRQ?<ch>Check SRQ output flag.
SRQ?GIn the case of “SRQ?G”, check all CH.
0/SRQ output flag off
1/SRQ output flag on
Reply
HHHH(4 digit hex) b15:CHF ~ b0:CH0 (SRQ?G sent)
Bit has been set as "1", and SRQ output flag has been set to this bit.
Example SRQ?0 Reply:1 SRQ output flag at CH 0.

CommandRemarks

SRQ for LAN/RS-232C communication
These commands are for LAN communication.
If you use them on RS-232C communication, replace “LN_” to “RS_”on the commands.
SRQ output flag is independent between LAN and RS-232C.
Command

LN_SRQ<ch><md>

Set or reset SRQ output flag.

Argument<md>

0/SRQ reset

Mode

1/SRQ set

Reply Nothing
ExampleLN_SRQ71

Set SRQ output flag at CH7.

Remarks

All CH SRQ flag are cleared by “LN_SRQG0” command.
SRQ flag is cleared after SRQ signal is outputted.

Comman LN_SRQ?<ch>Check SRQ output flag on LAN or RS-232C.
d LN_SRQ?GIn the case of “LN_SRQ?G”, check all CH.
0/SRQ output flag off
1/SRQ output flag on
Reply
HHHH(4 digit hex) b15:CHF ~ b0:CH0 (when LN_SRQ?G is sent.)
Bit has been set as "1", and SRQ output flag has been set to this bit.
Example LN_SRQ?0
Reply:1
SRQ output flag has been set to CH0.
Remarks38

7 Commands for parameter set up

7 Commands for parameter set up
This section explains the commands for parameter set up when the motor is working.

7-1 Basic configuration of motor<ch>: 0 ~ F(Hexadecimal) for channel
Command

SETMT<ch><en><hd><ac><pl><en>Motor enable<hd>

Hold off<ac>

Acceleration
anddeceleration
method<pl>

Pulse output
methodSet basic configuration of motor

0/ Disable Motor operation
1/ Enable Motor operation
When set to 0, The situation is a state similar as LS (CW and
CCW) activation. And the operation involving the movement
is disabled.
0/ Output hold off signal
1/ No output hold off signal
If Hold off is 0, the hold-off signal is outputted to the external
driver during the motor stops.
0/ Constant
1/ Trapezoidal
2/ S-character
Please refer to Drive speed setting (page 11) for details.
0/ Pulse-Pulse
1/ Pulse-Direction(In CW, direction = H.)
2/ Pulse-Direction-Reverse(In CCW, direction = H)

Argument

Reply Nothing
ExampleRemarks

Command

SETMT01110

Selected ch0, enable motor operation, no output hold off signal,
trapezoidal mode, pulse-pulse output.
Only remote mode.
Item that is shaded is the default settings at parameter reset.

SETMT?<ch>Confirm basic configuration of motor

Reply <en><hd><ac><pl>
ExampleSETMT?3

Please refer to ”SETMTx” for meaning.

reply: 1011

Remarks

Command

HOLD<ch><on>

Set the output of hold off signal.

Argument<on>OFF/ Enable the output of hold off signal.
ON/ Disable the output of hold off signal.

state

Reply Nothing
ExampleHOLD3ON

Disable the output of ch3's hold off signal.

Remarks

Only remote mode.
Item that is shaded is the default settings at parameter reset.
It is the same as the hold off setting of the command SETMT.

39

7 Commands for parameter set up

Command HOLD?<ch>
Reply
ExampleConfirm the output of hold off signal.

OFF/ Enable the output of hold off signal.
ON/ Disable the output of hold off signal.
HOLD?3

reply: ON

CH3’s hold off signal has disabled.

Remarks

Command STOPMD<ch><pb><ls>

Set the way to stop motor.

<pb>

Stop by STOP botton<ls>Stop by limit switch

Argument
Initial value<pb>:00/ deceleration stop
1/ emergency stop<ls>:0

Reply Nothing
STOPMD001
ExampleIn CH0, the STOP botton is set to the deceleration stop, and LS switch is
set to the emergency stop.

Remarks Only remote mode.

Command STOPMD?<ch>Please refer to ”STOPMDx” for meaning.

Reply <pb><ls>
ExampleConfirm the way to stop motor.

STOPMD?3

reply: 01

Remarks

7-2 Moving speed setting
Command SPD<sp><ch><pps>
<sp>

Speed

<pps>

Speed (pps)

Argument

Initial value

LSPD/10pps

Set the speed for LSPD, MSPD, HSPD.
L/ LSPD
M/ MSPD
H/ HSPD
Select the speed at which you want to set.
I set the speed at 1 ~ 5,000,000 pps units.
(pps: pulses per second)

MSPD/650pps

HSPD/3,700pps

Reply Nothing
ExampleSPDH02000
SPDLF50

Set the speed to 2000pps for when ch0's HSPD is selected.
Set the speed to 50pps for when chF's LSPD is selected.

Remarks Only remote mode. And the motor is stopped.

<ch>: 0 ~ F(Hexadecimal) for channel.
40

7 Commands for parameter set up

CommandSPD<sp>?<ch>Confirmed the speed for HSPD, NSPD, HSPD.

H/HSPD M/MSPD L/LSPD
Display the speed of the setting value in the motor.
Reply DDDDDD (Integer of 6 or more digits )Argument

ExampleSPDL?F

reply: 000050

LSPD of chF is 50pps.

Remarks<
Command

SPDAL?

Display the speed that has been set to the motor that displays in LCD.

<0123>/<sp>dddddd/<sp>dddddd/<sp>dddddd/<sp>dddddd

Expressed in hexadecimal notation of four-digit channel which isdisplayed on the display. Display the following parameters in thisorder.
H/HSPD M/MSPD L/LSPD
Display the speed that has been set to the motor.

<0123>
Reply<sp>
ddddddDisplay the speed as pps.

ExampleSPDAL?

Reoky: 0123/M000650/H010000/L000100/M000650

Remarks

If the motor is in operation, display of dddddd part appears in 000000.

7-3 Acceleration and deceleration Rate Setting<ch>: 0 ~ F(Hexadecimal) for channel.
CommandRTE<ch><cd>

Argument<cd>

Set the code in the acceleration and deceleration rate.

acceleration anddeceleration code

Enter the code a number between 0 - 115.
Refer to page 64 about the relationship of acceleration anddeceleration of the actual code.

Initial013
value
Reply Nothing
ExampleRTE040

Set to 40 for the acceleration and deceleration rate of CH0.

Remarks

Only remote mode. And the motor is stopped.

Command

RTE?<ch>Confirm the code in the acceleration and deceleration rate.

Reply DDD (3-digit integer)
ExampleRTE?0

reply: 050

The acceleration and deceleration rate of CH0 is 50.

Remarks41

7 Commands for parameter set up

7-4 Setting of the limit switch-related
Command

Argument

SETLS<ch><D><lsen>0<lsiv><D>

Digital LS
enable<lsen>LS enable<lsiv>LS polarity

Set the basic operation of the limit switch.

0/ Disable digital limit switch
1/ Enaable digital limit switch
0/ LS disable
1/ LS enable
In lsen=0, motor does not stop, even if the limit switch detects
the limit. Expressed in three-digit binary number like 111, it
will be displayed in the order of HPLS, CCWLS, and CWLS.
0/ N.Open (A-contact)
1/ N.Close (B-contact)
Select the polarity of the limit switch. Format similar to<lsen>. Expressed in three-digit binary number.

Reply Nothing
ExampleSETLS201110011

Disable digital LS of CH2, enable all of LS, set N.Open in HPLS,
set N.Close in CCWLS, and set N.Close in CWLS.

Remarks

Only remote mode.
Item that is shaded is the default settings at parameter reset.

Command

SETLS?<ch>Confirm the basic operation of the limit switch.
Refer to ”SETLS” for meaning.

Reply <D><lsen>0<lsiv>
ExampleSETLS?2

reply: 01110000

Remarks

Command<D>L<ch><dls>

Set the threshold of digital LS that is enabled.

<D>

Setting side

F/ CW side

<dls>

Setting value-2,147,483,647 ~ +2,147,483,647

B/ CCW side

Argument
Initial value

CCW side: -1,000,000

CW side: +1,000,000

Reply Nothing
ExampleFL0+10000000
BL0-1000

Set 10,000,000 to CW digital LS value of CH0.
Set -1,000 to CCW digital LS value of CH0.

Remarks

Only remote mode. And the motor is stopped.

Command<D>L?<ch>Confirmed the threshold of digital LS that is enabled.

Argument<D>

F/ CW side

Setting side

B/ CCW side

Reply ±ddddddd (Signed Integer 7-digit and more)
ExampleRemarks

42

FL?2

reply: +1000000

7 Commands for parameter set up

7-5 Setting of the home position related<ch>: 0 ~ F(Hexadecimal) for channel.。
Command SETHP<ch>0<hpf><hpd><atd>

Change How to set the home position, and rewrite
the detection situation.

<hpf>

state of home
position0/ not found<hpd>

direction ofhome position

0/ CW
1/ CCW
Record the direction that had been moved when detects thehome position.

<atd>

direction of startof automatic
home position
detection

0/CW
1/CCW
If the home position is not set, this is the direction to movefirst when the automatic home position is detected.

Argument

1/ found

Reply Nothing
CH0, hpf is “not found”, hpd is CW, atd is CCW

ExampleSETHP00001

Remarks

Only remote mode.
Item that is shaded is the default settings at parameter reset.

Confirm the infomation of the home position, and how to set the home
position.
Reply 0<hpf><hpd><atd>refer to ”SETHP” for meaning.

Command

SETHP?<ch>ExampleSETHP?2

reply: 0110

detected the home position.

Remarks

Normally the home position data is automatically set by HP mode, but
this command changes the data by force.
position -2,147,483,647 ~ +2,147,483,647

Command

SHP<ch><pos>

Argument<pos>

Reply NothingSet 10,000 to CH5’s home position.

ExampleSHP5+10000

Remarks

Only remote mode.

Command

SHP?<ch>

Reply
ExampleRead out the home position data.

The home position was found.
/ ±ddddddd(Signed Integer 7-digit and more)
The home position was not found. / NO H.P
SHP?5

reply: +0010000

Remarks43

7 Commands for parameter set up

Command

SHPF<ch><off>Argument<off>

Initial value

100

Set the home position offset.
When you detect home position by command "GTHPx", home
position searching starts from the distance of offset value fromcurrent home position.
0 ~ 9,999

offsetReply Nothing
ExampleSHPF51000

Set 1,000 to the offset of CH5.

Remarks

Only remote mode.

Command

SHPF?<ch>Confirm the home position offset.

Reply dddd (4-digit)
ExampleSHPF?5

replty: 0100

Remarks

7-6 Setting of the local mode data
Command

Argument

Initial value

S<mode><ch><pos><mode>

Mode

<pos>

Set posotion

REL:+10000

ABS:0

Set the various values to be used in local mode.
REL/ Value of the relative movement by START button in
REL mode.
ABS/ Value of the absolute movement by START button in
ABS mode.
PRS/ Value to be set by PRESET button in SCAN mode.
-2,147,483,647 ~ +2,147,483,647
PRS:0

Reply Nothing
ExampleSPRSB+10000

Set +10000 to the preset value of CH11 for when PRESET button will
be pressed.

Remarks

Only remote mode.

CommandS<mode>?<ch>Confirm the various values to be used in local mode.

REL/ Value of the relative movement by START button in REL
mode.
Argument <mode>
Mode
ABS/ Value of the absolute movement by START button in
ABS mode.
PRS/ Value to be set by PRESET button in SCAN mode.
Reply ±ddddddd (Signed integer 7 digits or more)
ExampleRemarks44

SPRS?1

reply: +0002500
Preset value is +2500, when PRESET button on the CH1 is pressed.

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.。
In locak mode, set the amount of movement of a operationof JOG switch.
0 ~ 9,999

Command SETJG<ch><pos>
Argument
Initial value<pos>

Step number

1

Reply Nothing
ExampleSETJG7200

Outputted 200 pulse when JOG switch for CH7 is operated one time.

Remarks Only remote mode.

Command

SETJG?<ch>Confirm the amount of movement of a operation of JOG switch.

Reply dddd (4-digit integer )ExampleSETJG?1

reply: 0050

Remarks

7-7 Display setting
Command SETCH<ch><ch><ch><ch>
Argument<ch>Select channels to be displayed on LCD.

Set the channel number (Hexadecimal) to display in order as
A, B, C, D. Please enter "-" if the channel doesn't change. It is
not possible to display two or more places at the same time thesame CH.

channel

Reply Nothing
ExampleSETCH0123
SETCH--8A

Display CH0,1,2,3 in order from Pos.A on the LCD.
Display CH8 to Pos.C of LCD. And display CH10 to Pos.D .

Remarks

Only remote mode. And it is effective when the motor that is displayed on the LCD has
stopped all.

Command

SETCH?

Confirm channels to be displayed on LCD.

Reply XXXX (4-digit, hexadecimal)
ExampleSETCH?

Display in order as A, B, C, D .

reply: 0123

Remarks45

7 Commands for parameter set up

CommandLCDB <brt>

Adjust the brightness of the LCD backlight.

Argument<brt>

Please enter an integer of 1 ~ 100.

Initial value

100

brightness

Reply Nothing
ExampleLCDB 50

Remarks

Only remote mode.

Command LCDB?

Confirm the brightness of the LCD backlight.

Reply 001 ~ 100, 3-digit integer
ExampleRemarks

46

LCDB?

reply: 050

8 Timing out signal output

8 Timing out signal output
From the four channels that are displays on the LCD, you can get output signal of TTL levelaccording to the current pulse position from LEMO connector on the front panel. Type ofsignal is available pulse signal and GATE signal.
GATE signal

GATE output
Timing out start point

Timing out end point

When the position is within the range of the end point from the start of the current point,
the output is H level. The output is similar even if a number of start and end points are
replaced.
When you have the same value of the start and end points, it will be output when thesignal of the width of the pulse output speed has passed that point.
(Example) Set START=10000, STOP=10000 and 1000PPS,GATE signal having a pulse width of 1ms is output when it has passed throughthe position 10000.


Pulse signal

GATE output

Pulse output
Motor direction

Timing out
Interval

Motor direction
Pulse output
Timing out start point

Timing out end point

When the motor direction is to the end point from the start point, the pulse signal (width:
200ns ~ 1ms) is outputted if it passes through START. And the pulse signal is outputted
every time the value of the interval only proceed until it passes through STOP fromSTART.
If the motor direction is reversed, the pulse signal doesn't generated.
When the motor direction is CCW, and if you want to output the pulse, please set thevalue of the start point that is larger than the end point.

47

8 Timing out signal output

Command TMG<md>?<ch>Read out the timing signal start point, or the timing signal
end point.

Argument

S/ start point

<md>

mode

E/ end point

Reply ±ddddddd (Signed 7-digit integer)
ExampleTMGE?2

reply: +0050000

Remarks

Output method
1. Set the timing signal
In LOCAL mode, please refer to “Page7 TIMING OUT setting” (page25) for setting.
In REMOTE mode, you can be set by the following commands.
<ch>: 0 ~ F(Hexadecimal) for channel
Command TMGM<ch><type>

Select type of timing signal.
0/ no signal
1/ GATE signal
2/ 200ns pulse

Argument<type>

Type of signal

3/ 10us pulse
4/ 100us pulse
5/ 1ms pulse

Reply nothing
ExampleTMGM15

Remarks

Only remote mode
Item that is shaded is the default parameter settings at reset.

Command TMGM?<ch>Confirm type of timing signal.

Reply 0 ~ 5 (1-digit integer)
Example

TMGM?2

please refer to ”TMGMx” <type> for meaning.

reply: 1

Remarks

Command TMGI<ch><data>

Set the interval of the timing pulse output.

Argument<data>

1 ~ 2,147,483,647

Initial value

200

interval

Reply Nothing
ExampleRemarks
Command

TMGIF1000
CH-F's the interval of timing pilse will be set to 1000.
Only remote mode
TMGI?<ch>Confirm the interval of the timing pulse output.

Reply dddddddd (8-digit integer)
ExampleRemarks48

TMGI?F

reply: 00001000

8 Timing out signal output

Command TMG<md><ch><data>
Argument
Initial value

Set the timing signal start point and end point.

<md>

mode

S/ set start point<data>

start/end point-2,147,483,647 ~ +2,147,483,647

Start point: +1,000

E/ set end point

end point: +10,000

Reply Nothing
ExampleTMGS2+10000
TMGE2+50000

CH2’s timing signal start point will be set to 10,000.
CH2’s timing signal end point will be set to 50,000.

Remarks Only remote mode2.
3. In the case of pulse, the motor is moved on the outside of the start and end points ofthe timing signal.
Please move to the CCW side than the starting point if you want to observe the pulsein the move to the CW. And also, please move to the CW side than the starting point
if you want to observe the pulse in the move to the CCW.
If the gate, you do not need this operation.
4. Prepare the timing signal output.
In local mode, please add "#" to the appropriate channel on motor drive screen(page 13). In remote mode, please enter the following command.
Command

TMG<md><ch>Set / clear the timing signal output preparation mode.

Argument<md>

R/ Ready

Initial value

Clear

state

C/ Clear

Reply Nothing
ExampleTMGR0Remarks

Only remote mode

Command

TMGR?<ch>

Reply
ExampleMake the timing signal output preparation of ch0.

Confirm the timing signal output preparation mode.

YES/ The timing signal output preparation mode is ready.
NO/ The timing signal output preparation mode is not ready.
TMGR?F

reply: NO

Remarks49

8 Timing out signal output

5. Motor is move to the end point direction, and the signal is generated from the timethat has passed through the start point.
In gate mode, the signal is outputted between the start point with the end point until
releasing the output preparation state of the timing signal.
In pulse mode, the output ready status is canceled and the output pulse once. However,the pulse is generated, if the motor has resumed to move in the same direction, until
the motor pass through the end point, even if the motor stops in the middle.e middle.
Timing out output
CCW

start point

End point

CW

In the moving to the CW direction, If you resume the operation from ◆ in theabove figure that is stopped, the pulse is output with the solid line of Timing out
output. The dotted line area is considered that has been already outputted. And,the pulse is not outputted, even if it has moved to the CCW direction.
If you don't want to output the pulse if it is moved to the CW direction after stop at◆, please cancel the output ready by "TMGCx" command. And then, pulse is not
output until the ready state to the next.
Timing output channel fixed mode (from V1.01)
From firmware version 1.01, in addition to the conventional mode (the timing signal
output channels are linked to the display position on the LCD), mode to fix theoutput channel is now available.
An example, If TP0 has been set to CH0, CH0's timing signal is outputted from TP0,even if it has not been displayed on the LCD top line. And this is the feature of theoutput channel fixed mode.
In local mode operation, you can change settings by "Page8 TIMING OUT channel
setting" (page 26). In remote mode operation, make the setting with the following
command.

Command

TMGFX <md>Argument<md>

Set the output channel mode of the timing
signal.

Outputmode

DS/ Output from the channel in the display.
EN/ Output channel fixed mode

Reply Nothing
ExampleTMGFX EN

Remarks

Only remote mode, it’s effective only when the motor of all channels is stopped.
Item that is shaded is the default parameter settings at reset.

Command

TMGFX?

Confirm the output channel mode of the timing signal.

DS/ Output from the channel in the display.
Reply
EN/ Output channel fixed mode
ExampleRemarks

50

TMGFX?

reply: EN8 Timing out signal output

Output channel fixed mode when enabled, Set up the output channel by the command below.
Confirmation is possible at any time, but the settings have not reflected that it is not the fixedmode.
Command TMGCH<ch><ch><ch><ch>Set the channel of the timing signal.

Argument

In order to TP3 from TP0, must be entered inhexadecimal notation the channel to output thesignal. Please enter "-" in place that does not change
the display. Can not be set at the same time two or
more the same ch.

<ch>channel

Reply Nothing
ExampleTMGCH48CFSet TP0: CH4, TP1: CH8, TP2 CH12, TP3: CH15.

It is effective when the timing signal output channel fixed mode.
At remote mode, before setting and after setting, it is effective when both channels are
Remarks stopped.
In remote mode, it is effective when both channels (before setting and after setting)are stopped.

Command

Confirm the channel of the timing signal.

TMGCH?

Reply <ch><ch><ch><ch>
ExampleTMGCH?

order: TP0,TP1,TP2,TP3 (hexadecimal)

Reply: 48CF

Remarks

Supplement: For channel switching of the timing signal output channel fixed mode
In timing signal output channel fixed mode, switching of the LCD display channel
is possible by CH SEL switch "SETCH" command, even if it is the remote mode.

51

9 Auto-change drive function

9 Auto-change drive function
While trapezoidal drive moving, speed, acceleration/deceleration rate can be changed by the data scheduled inadvance. The timing and the contents of the change data can be set to maximum 128 data. The timing of thechange can be set by relative position data from the start point, the time (ms) from change point before or drive
speed.
This is done with the command in remote mode all of the specified series of operations.



1. Data input
Command ACS<ch><dno>/<chg>/<data>/<fnc>/<spd>Argument<dno>

Data No.

<chg>

Speed
changecondition<data>

Condition
value

<fnc>

Execution
behavior<spd>

Changedvalue

Set the auto-change drive
function.

000 ~ 127
Select data that will store the command below.
Data is performed in ascending order from 000.
ADD/ relative address from start point
TIM/ relative time from previous point.
ACC/ speed data while acceleration
DEC/ speed data while deceleration
END/ end of data. Please make sure to put in next tothe last changes.
<chg>=ADD: relative address (±2,147,483,647)<chg>=TIM: relative time (0 ~ 65,535ms)<chg>=ACC,DEC: pulse speed (1 ~ 5,000,000pps)
SPD/ Speed change
RTE/ Rate change
SLW/ SLOW STOP
FST/ FAST STOP
NOP/ no operation. Skip this data.
<fnc>=SPD: pulse speed (1 ~ 5,000,000pps)<fnc>=RTE: rate No.(0 ~ 115) (remark1)
Other case: no need to write.

Reply Nothing
ExamplePlesase see the below.

Remarks Only remote mode(*) Rate settings
Rate number setting is possible from 0 ~ 115. However, there is the limit to thepossible values depending on the current rate number.
A number must be belonged to the same group when theGroup
Rate No.
rate number will be changed.
L1 type0 ~ 60(example: At the rate number is 50, the rate No. belong
L2
type
17
~ 76
to H1 group. If you want to change in a group M1 ratechange command, you must be set to 24-84 the rate No.
M1 type24 ~ 84
beforehand.)M2 type31 ~ 91

52

H1 type41 ~ 100

H2 type55 ~ 115

9 Auto-change drive function

Example1) Speed change at same position of CH1 and CH2 with synchronous start.
CH:1
ACS1000/ADD/5000/SPD/5000
ACS1001/ADD/15000/SPD/8000
ACS1002/ADD/30000/SPD/10000
ACS1003/ADD/50000/SLW
ACS1004/END

speed change to 5000pps at position 5000pulse
speed change to 8000pps at position 15000pulse
speed change to 10000pps at position 30000pulse
slow stop at position 50000pulse
program end (must be written)

CH:2
ACS2000/ADD/5000/SPD/5000
ACS2001/ADD/15000/SPD/8000
ACS2002/ADD/30000/SPD/10000
ACS2003/ADD/50000/SLW
ACS2004/END

speed change to 5000pps at position 5000pulse
speed change to 8000pps at position 15000pulse
speed change to 10000pps at position 30000pulse
slow stop at position 50000pulse
program end (must be written)

Example2) Speed change at same timing of CH0 and CHF with synchronous start.
CH:0
ACS0000/TIM/0/SPD/1000
ACS0001/TIM/3000/SPD/8000
ACS0002/TIM/5000/SPD/2000
ACS0003/TIM/5000/FST
ACS0004/END

speed change to 1000pps at 0ms (dummy data)
speed change to 8000pps at 3000ms
speed change to 2000pps at 5000ms
fast stop at 5000ms
program end (must be written)

CH:F
ACSF000/TIM/0/SPD/1000
ACSF001/TIM/3000/SPD/8000
ACSF002/TIM/5000/SPD/2000
ACSF003/TIM/5000/FST
ACSF004/END

speed change to 1000pps at 0ms (dummy data)
speed change to 8000pps at 3000ms
speed change to 2000pps at 5000ms
fast stop at 5000ms
program end (must be written)

If you intend to change first data by time more than one motor synchronously, you must
prepare dummy data at the top of the list.
This is because, at the preparation of the motor operation has been completed, the firsttimer will start. And it is not syncronized timer between channels.
The second timer and subsequent timer counts at the start of the last change. And thesynchronization will be possible.


2. Confirm data
Command
Reply
ExampleACS?<ch><dno>

Confirm the data entered in the auto change drive function.

<ch><dno>/<chg>/<data>/<fnc>/<spd>
Please refer to ”ACS<ch><dno>...” for meaning.
Plesase see the below.

Remarks53

9 Auto-change drive function

Example) Read the setting of the previous section.
commandreply:
ACS?0000
0000/TIM/000000/SPD/001000
Number of digits will be displayed in more than six orders of magnitude.
ACS?0001 0001/TIM/003000/SPD/008000
ACS?2001
2001/ADD/015000/SPD/008000


3. Scan preparation
Auto-change drive will not executed, even if just turn on a motor by entering the speed
change data. You need to send the preparation command for all motors that will be
executed the auto-change-drive.
Command ACS<md><ch>

Set/Clear auto change scan readyArgument

P/Scan preparation

Initial value<md>statusC/cancelCancel ther p

Reply Nothing
ExampleACSP00Prepare the auto change Drive of ch0.

Remarks Only remote mode
Command ACSP?<ch>Reply ready/ Ready
ExampleACSP?2

Confirm the auto change scan is ready.
not ready/ Not ready

Reply:readych2 auto change drive is ready.

Remarks

4. Scan execution
Please complete the auto-change-drive preparation. And the auto-change-drive is
executed, when you execute the "ABS, REL and SCAN" related commands. When you
execute in synchronization with multiple axes, please executes the "PAUSE ON"
command at first before performing the move-related commands, and then, please enter
the synchronized axis all the moving-related commands. And please start to operate by"PAUSE OFF" command.
(Supplement) For timing error
The change start time after detection of the change condition when moving in autochange scan drive are below and they are different when moving in constant speed
or moving in acceleration or deceleration.
in constant speed： < 320μs
in acceleration ： < 160μs + period of accelerationin deceleration ： < 160μs + period of deceleration
At adjacent even axis and odd-axis (example: ch4,5), if auto-change-scan aredetected simultaneously, timing of the odd-axis is delayed 80μs from the timing of
the even-axis.

54

10 Other Operation

10 Other Operation
10-1 Channel comment setting
You can leave 3 characters for each channel. Channel comment is not displayed at the initialstate. You can use the following methods to view comments.
Timing signal output port display
0

0

H

0

1

H

0

2

M

1

5

L

T

P

0

0

1

2

3

4

5

6

7

8

9

#

T

P

1

-

0

1

2

3

4

5

6

7

8

9

#

T

P

2

-

0

1

2

3

4

5

6

7

8

9

T

P

3

0

1

2

3

4

5

6

7

8

9

C

H

0

0

1

2

3

4

5

6

7

8

9

Channel comment display

0

0

H

0

1

H

#

C

H

1

-

0

1

2

3

4

5

6

7

8

9

0

2

M

#

C

H

2

-

0

1

2

3

4

5

6

7

8

9

1

5

L

C

H

F

0

1

2

3

4

5

6

7

8

9

In the communication command, you can display switching with the following command.
Command

LCD_DISP <md>Argument<md>

Initial value

state

Switch the display of the LCD.
T/ Timing signal output port display
C/ Channel comment display

Timing signal output port display

Reply Nothing
ExampleLCD_DISP C

Remarks

Remote mode only55

10 Other Operation

How to set the channel comments (local mode)
1. Move the cursor to where you want to enter a character.
2. Select a letter kind byZ
the letter kind selection
Ybutton assigned to theXnumeric keypad.
:
3. You can push feed
button and return button
Feed
7 : 8
many times until the
Letter kindtarget letter comes out.
4 M 5
selecting
Retuen
1 : 2
The symbol which can:be inputted with a ten
C
key are the below.
B+,-./:;<=>?[¥]^
A
_

z
y
x
:
:

_
^

9

9
8
7
6

0

<
;

m

6

5

±

:

:
:
c
b
a

3

4
3
2
1
0

CLR

/
.
,
+

Example) If you want to comment as "A-4" to CH1.
0

0

H

0

1

H

0

2

M

1

5

L

C

H

0

#

C

H

1

#

C

H

2

C

H

F

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

0

1

2

3

4

5

6

7

8

9

1．In the channel comment display mode, move the cursor to the location where coloredin the figure below.
2．In order to enter the "A", please press the numeric keypad "4" for select the uppercase
letters.
The "M" will appear in the cursor location. And press the numeric keypad "1"
repeatedly until the uppercase letter “A” is displayed.
After completed to input, the display shows as follows.
0

0

H

0

1

H

0

2

M

1

5

L

C

H

0

#

A

H

1

#

C

H

2

C

H

F

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

0

1

2

3

4

5

6

7

8

9

3．In order to enter “-“, move the cursor to the location where colored in the figure above.
Please press the numeric keypad “±“ for select the symbol.
The “:” will appear in the cursor location. And press the numeric keypad "CLR"
repeatedly until the uppercase letter “-” is displayed.

56

10 Other Operation

0

0

H

0

1

H

0

2

M

1

5

L

C

H

0

#

A

-

1

#

C

H

2

C

H

F

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

-

0

1

2

3

4

5

6

7

8

9

0

1

2

3

4

5

6

7

8

9

4. In order to enter “4”, move the cursor to the location where colored in the figure above.
Please press the numeric keypad “9“ 3 times.
The input was completed, and "A-4" has been set in the comments of CH1.


How to set the channel comments (remote mode)
The configuration and verification command of the channel comment is as follows.

Command

CHCMNT<ch> <cmt>

Argument<cmt>

Initial value

CH<ch>

comment

Set the comment to channel.
Please entercharacters.

alphanumeric

up

to

three

Reply Nothing
ExampleCHCMNTA A-3

Remarks

Only remote mode.

Command

CHCMNT?<ch>

Reply

Exampleccc
ccc ccc ccc ... ccc

Set the comment “A-3” to CH10.

You can confirm the channel comments. You cancheck the comments of all channels, if you enter"a" to <ch>.
Comment is returned.
If you send a "CHCMNT?a",the comments are returned with separation by spacein ascending order from ch0.

CHCMNT?A reply:A-3

Remarks57

10 Other Operation

10-2 All reply mode
In PM16C-16, All reply mode have been added to add a response to the command with noresponse. Response that is added is the following five types. The command will reply withoriginal response.
･OK
Command arrives, and the process has completed successfully.
･MCC06 BUSY ERROR Motor control IC was busy and process did not complete.
･PARAMETER ERROR The input value is not in the configurable range.
・COMMAND ERROR The command that can be executed is not found.
・NG
The command arrived, but the process did not complete.
Even if the reply is OK, it is not guarantee the behavior of as intended. So, please use as atool of communication debugging only.
You can set this by SETUP mode (page 27) for local mode. And you can set this by thefollowing command for remote mode.

Command ALL_REP <md>Argument<md>

Initial valueDS

Set All reply modesetting

EN/ Enable all reply mode

Reply Nothing (the reply is OK when setting is EN.)
ExampleALL_REP EN

Remarks Only remote mode

Command ALL_REP?

Confirm All reply mode or not

Reply EN/ Enable All reply mode
ExampleRemarks

58

ALL_REP?

Reply: DS

DS/ Disable

DS/ Disable

10 Other Operation

10-3 Maintenance command
Command

VER?

Read out firmware version.

Reply Example) V1.00 13-05-17 PM16C-16
Remarks

Command

VERH?

Read out hardware version.

Reply Example) HD-VER 1
Remarks
Command

STSM?

Read contents of control IC (MCC06)’s Status port1.

AAAA/BBBB/CCCC/DDDD
Reply Regarding 4channels that are displayed, MCC06's status is displayed inhexadecimal four-digit.
Example0000/0000/0000/0000

Remarks

Command

ERRF?
ERR?

Read out error status.

ERRF?

HH

Reply

Example) MCC06 BUSY ERROR
Displays the error information of the lower most of the bits thatare happening in error.
"NO ERROR", if there is no error.
Reply: COMMAND ERROR
Replu: 01

ERR?

ExampleHexadecimal two-digit.
b3/OTHER ERROR
b2/PARAMETER ERROR
b1/MCC06 BUSY ERROR
b0/COMMAND ERROR

ERR?
ERRF?

Remarks

Command

Argument

ERRC<e><e>

Clear error flags

Error type

No input/ clear all errors
0/ clear COMMAND ERROR
1/ clear MCC06 BUSY ERROR
2/ clear PARAMETER ERROR
3/ clear OTHER ERROR

Reply Nothing
ExampleERRC

Clear all errors

Remarks59

10 Other Operation

Read out the data in the auto change drive features that havebeen recorded in the MCC06.
The data is showing the operation changes.
Reply <code><dno>,<data>
01/ Distance from the start point
02/ Time elapsed since the last change
Speed
80/ When the speed during acceleration reaches a<code>
changepredetermined speed
condition
81/ When it reaches the speed constant speed during
deceleration
00/ End of data

Command

ACSK?<ch><dno><data>

Data No.

00 ~ 7F

Condition
value<code>=01: Relative distance(±2,147,483,647)<code>=02: Elapsed time
(0 ~ 65,535ms)<code>=80,81: Pulse speed (1 ~ 5,000,000pps)
Show the above data in hexadecimal (i.e.: HHHH,
HHHH).

ExampleACSK?0

reply: 0100,0000,2710

Remarks
Read out the data of the auto change drive features that havebeen recorded in the MCC06.
The data is showing the operation changes.
Reply <code><dno>,<data>
00/ Speed after the change
01/ Rate after the change
Behavior<code>
02/ Deceleration stopchanges
03/ Sudden stop
0F/ No change in behavior

Command

ACSH?<ch><dno><data>

Data No.

Conditionvalue

00 ~ 7F<code>=01: Relative distance(±2,147,483,647)<chg>=02: Elapsed time (0 ~ 65,535ms)<chg>=80,81: Pulse speed (1 ~ 5,000,000pps)
Show the above data in hexadecimal (i.e.: HHHH,
HHHH).

ExampleRemarks

60

ACSH?0

Reply: 0100,0000,1388

10 Other Operation

Command FROM?

Firmwares are saved in two ROMs. Confirm ROM which has beenused for the firmware.

Reply FROM0, FROM1
Remarks

Command

FROM0
FROM1

Select the one of two ROM that are saved the firmware.

Reply Nothing
Remarks

Please note that when you restart the the equipment after you run this command,various parameters will be initialized.

Command REST

Restart the equipment. This is the same as pressing power switch.

Reply Nothing
Remarks61

11 Firmware version up

11 Firmware version up
You can perform firmware upgrade of PM16C-16 via communication line.
To keep safety you had better cut off the connection from unit to motor driver, or put off thepower line of motor drivers.
In addition, the setting including the pulse value is initialized after the firmware version up.
Please save the parameters of the PM16C-16 by using the trial software. Or, please write out
the parameter from setting as necessary.
You can find the the users manual of “the trial software” and execution file in the productweb page.
The below explanation is how to perform firmware version up by using LAN communication
and Tera Term (free software).
1. Download the text-file for version upgrade from TSUJI-ELECTRIC HP, and unzip it toyour PC.
2. Launch the program "TeraTerm".
3. Operation is File -> New connection, then TCP/IP, IP address and port number is entered.
4. Operation is SETUP -> Terminal then setting of New-Line is to be CR+LF in Receive
and Transmit set.
Mark on Local echo and "OK".
Send the command VER?, and the connection will be good if there is reply.
5. Set PM16C-16 to REMOTE MODE
(In Local mode, version up is not recognized, even if version up file has been sent.)
6. Operation is TeraTer’s File -> Send file, and then the window displays a screen to selecta file to send.
Choose the text file of version up that you prepared in the above
section 1 (16-C16_V1.xx.S). Upload will begin.
7. REM lamp on the PM16C-16 is blinking on and off slowly that indicate receiving the fileby PM16C-16.
After recieved all data, REM lamp turns on quick blinking mode. Then the data write
procedure begins.
After finishing data write procedure to ROM, REM lamp turns off. And then LOC lamp
turns on.
Program upgrade procedure is finished.
8. Please disconnect the Tera Term and exit.
PM16-16 will start with the new firmware, if restart the PM16C-16 while pressing the
REM / LOC button.
Also, PM16C-16 will start with the new firmware, if the command "REST" is sent.
You can use the "PROGRAM CHANGE" on Page11 at SETUP mode, to switch thefirmware you want to use.
NEW: Firmware that you downloaded to the last.
OLD: Firmware that you have downloaded to 2 times before.

6211 Firmware version up

Remark:The position data will be set to all zero if the firmware is changed and started. (Switched
the firmware to be used in the "PROGRAM CHANGE". Or, downloaded the latest
firmware.)If trouble occurred in download process, when power on the unit again, sometimes programruns out of control.
Initial display character isn't correct. In this case, please power off and power with pushingten-key "8" switch.
The unit runs from previous ROM version again. And you can try again upgrade procedure.
This method is useful at any time, but the display "NEW","OLD" those are shown in LCD
display in SETUP mode will not be changed.
Even if by the above operation, program runs out of control you can start again next
procedure.
There is an original program in CPU-ROM.
When you use this mode you have to pay attention to following procedures.
Please be careful about an electrical shock, when you have opening the cover of this unit.
First take out power cable of it.
If you have some troubles to do next procedure, please contact us.
1. Put off the power switch of this unit and open
the top cover. Please find dip switch is on printcircuit board "TEP287" Set the dip switch 2 toside "ON". (Dip switch 1 is still side "OFF".)
2. Put on the power line pushing ten-key switchON"5". The "RED" led lamp that indicate
OFF"REMOTE" is flashing on and off for 15
12seconds, then "RED" lamp turn on red
continuously. At this stage LCD display is not correct yet.
3. Put off the power switch of this unit again, then set the dip switch 2 to side "OFF".
(Dip switch 1 is still side "OFF".)
4. Put on the power line pushing REL/LOC button. Program starts by Version 1.00 firmware.
(In this stage if LCD display may not be correct (the display shows “----------“ on theposition area), but don't care of it. It's OK if you can change remote-local mode by
REM/LOC button.)
5. Please upload the latest file again with the normal firmware version up method 1 ~ 8.

63

12 Appendix

12 Appendix
12-1 Acceleration and Deceleration Rate
Acceleration and Deceleration Rate are given by code number 0 - 115 those mean actual rate
data below.
unit: ms/1000pps(It's the requirement time to reach the speed of 1000pps from 0pps.)
NO RATE
0 1000
1
910
2
820
3
750
4
680
5
620
6
560
7
510
8
470
9
430
10
390
11
360
12
330
13
300
14
270
15
240
16
220
17
200
18
180
19
160

64

NO RATE
20
150
21
130
22
120
23
110
24
100
25
91
26
82
27
75
28
68
29
62
30
56
31
51
32
47
33
43
34
39
35
36
36
33
37
30
38
27
39
24

NO RATE
40
22
41
20
42
18
43
16
44
15
45
13
46
12
47
11
48
10
49
9.1
50
8.2
51
7.5
52
6.8
53
6.2
54
5.6
55
5.1
56
4.7
57
4.3
58
3.9
59
3.6

NO RATE
60
3.3
61
3
62
2.7
63
2.4
64
2.2
65
2
66
1.8
67
1.6
68
1.5
69
1.3
70
1.2
71
1.1
72
1
73 0.91
74 0.82
75 0.75
76 0.68
77 0.62
78 0.56
79 0.51

NO RATE
80 0.47
81 0.43
82 0.39
83 0.36
84 0.33850.3
86 0.27
87 0.24
88 0.22890.2
90 0.18
91 0.16
92 0.15
93 0.13
94 0.1295 0.11
960.1
97 0.091
98 0.082
99 0.075

NO RATE
100 0.068
101 0.062
102 0.056
103 0.051
104 0.047
105 0.043
106 0.039
107 0.036
108 0.033
109 0.030
110 0.027
111 0.024
112 0.022
113 0.020
114 0.018
115 0.016

12 Appendix

12-2 Command List
FROM1 .......................................... 61

A
ABSx .............................................. 34
ACS?xYYY..................................... 53
ACSCx ........................................... 54
ACSH?x ......................................... 60
ACSK?x ......................................... 60
ACSP?x .......................................... 54
ACSPx ........................................... 54
ACSxYYY/PNT.............................. 52
AESTP ........................................... 36
ALL_REP DS ................................ 58
ALL_REP EN ................................ 58
ALL_REP? ..................................... 58
ASSTP ........................................... 36

B
B?x ................................................. 35
BL?x............................................... 42
BLxddddddd .................................. 42
Bxdddd .......................................... 35C
CHCMNT?x ................................... 57
CHCMNTx ccc............................... 57
CSCANNx ..................................... 33
CSCANPx ...................................... 33

G
GTHPx .......................................... 36

H
HDSTLS? .................................30, 31
HOLD?x ........................................ 39
HOLDxOFF .................................. 39
HOLDxON .................................... 39

J
JOGNx........................................... 32
JOGPx ........................................... 32

L
LCD_DISP C ................................. 55
LCD_DISP T ................................. 56
LCDB ddd ..................................... 45
LCDB? ........................................... 45
LN_SRQ?G .................................... 38
LN_SRQ?x ..................................... 38
LN_SRQx0 .................................... 38
LN_SRQx1 .................................... 38
LOC ............................................... 28
LS? ................................................. 30
LS_16? ........................................... 30

E
ERR? .............................................. 59
ERRF? ........................................... 59
ESTPx............................................ 36

F
FDHPx........................................... 36
FL?x ............................................... 42
FLxddddddd .................................. 42
FROM? .......................................... 61
FROM0 .......................................... 61

P
PAUSE OFF .................................. 37
PAUSE ON .................................... 37
PAUSE? ......................................... 37
PS?x ............................................... 30
PS_16? ........................................... 31
PSxddd･･･ ..................................... 31

R
RELx ............................................. 3465

12 Appendix

REM ............................................... 28
REST .............................................. 61
RS_SRQ?G ..................................... 38
RS_SRQ?x ...................................... 38
RS_SRQx0 ..................................... 38
RS_SRQx1 ..................................... 38
RTE?x ............................................ 41
RTExddd ........................................ 41

S
SABS?x .......................................... 44
SABSx±dddd .................................. 44
SCANHNx ..................................... 33
SCANHPx ...................................... 33
SCANNx ........................................ 33
SCANPx ......................................... 33
SETCH xABCD ............................. 45
SETCH? ......................................... 45
SETHP?x ....................................... 43
SETHPx0XYZ ................................ 43
SETJG x±dddd .............................. 45
SETJG?x ........................................ 45
SETLS?x ........................................ 42
SETLSxYYY0yyy .......................... 42
SETMT?x ....................................... 39
SETMTxabcd ................................. 39
SHP?x ............................................ 43
SHPF?x .......................................... 44
SHPFxdddd ................................... 44
SHPx+dddd.................................... 43
SPCxdddd ...................................... 36
SPD?x ............................................ 33
SPDAL? ......................................... 41
SPDH?x.......................................... 41
SPDHx ........................................... 32
SPDHxdddddd ............................... 40
SPDL?x .......................................... 41
SPDLx ............................................ 32

66

SPDLxdddddd ............................... 40
SPDM?x ......................................... 41
SPDMx........................................... 32
SPDMxdddddd .............................. 40
SPRS?x .......................................... 44
SPRSx±dddd .................................. 44
SREL?x .......................................... 44
SRELx±dddd ................................. 44
SRQ?G ........................................... 38
SRQ?x ............................................ 38
SRQ_OUT? .................................... 37
SRQx0 ............................................ 38
SRQx1 ............................................ 38
SSTPx ............................................ 36
STOPMD?x .................................... 40
STOPMDxAB ................................ 40
STS? ............................................... 29
STS_16? ......................................... 30
STSM? ........................................... 59
STSx? ............................................. 29

T
TMGCH?........................................ 51
TMGCHabcd.................................. 51
TMGCx .......................................... 49
TMGFX DS .................................... 50
TMGFX EN ................................... 50
TMGFX? ........................................ 50
TMGI?x .......................................... 49
TMGIxddddddd ............................. 49
TMGR?x ......................................... 49
TMGRx .......................................... 49

V
VER? .............................................. 59
VERH? ........................................... 59

13 Revision History

13 Revision History
Revision1

Date
2014/08/07
2015/06/05

2

Revision history
Initial version release.
English version1 is matched with Japanese version 4.
Correction of erroneous description.
2.1 Table No.11 REM/LOC button“all driving initial data are initialized.” changed to “various
types of parameter except the current pulse value are
initialized.”
2.1 Table No.17 numeric keys
“If you push “CLR” button when turning on the power, pulse
value of all channels are reset to zero.” is added.
PM16-16 COMMAND LIST is added to the back of the book.

67

14 Performance and Specifications

14 Performance and Specifications
Power

AC 85V ~ 264V,
Control motor

Remote control

47 ~ 440Hz, 50VA
16 motors can be controlled
Local mode: controls 4 motor units at thesame time.
Capability
Remote mode: controls 16 motor units at thesame time.
CW, CCW, HOLE OFF (5V, 8mA: line
Out put
driven) for each 16 motor driver
Pulse rate
1 ~ 5MPPS
Pulse control number 0 ~ ±2,147,483,647
Acceleration and1048.56 ~ 0.0125 ms/kHz
deceleration rate
Acceleration andConstant speed, S-character form,
deceleration form
trapezoidal form
Pulse-Pulse, Pulse direction (Polarity of
Output format
direction can be switched.)
Pulse out connector
Dsub9S
CW-LS, CCW-LS, HOME-LS 12V 5mA
Limit switch input(minus common) and power supply +12V
for censer for each motor (total 1A).
Limit switch
Dsub9P
connector
Characters and lines
20charactors × 4 lines (Size : 9.2H ×4.8W)
of display device
channel number, current position of ±10
digit number, speed display, contents of limit
Display contents inswitch, relative moving value, preset countcontrol mode
value, home position information, panel
operation ready/not readylimit switch setting information, pulse
output mode, value of speed
HSPD/MSPD/LSPD, acceleration and
Display contents in deceleration rate value, Push button stop
data set mode
mode, origin detect function, timing pulse
generate function, RS232C settings, GP-IB
settings, HAND BOX selection,
FIRMWARE version selection
Communication way LAN, GP-IB, RS232C port

Case

EIA 2 UNIT rack mount t type (88H×482W×325D)

IN/OUT

LCD display

For the further information, feel free to ask us.

68

Tsuji-Electronics Co., Ltd
TEL: +81-(0)29-832-3031 FAX: +81-(0)29-832-2662
E-mail : info2@tsuji-denshi.co.jp
URL : http://www.tsujicon.jp
3739, Kandatsu-machi, Tsuchiura-city, Ibaraki 300-0013, Japan

PM16C-16 COMMAND LIST
x: 0〜F(motor number)
ddd: Decimal data
Marked command means PM16C-16 original commands.
Local
CommandCommand description

○
○

REM

Remote mode change

LOC

Local mode change

SPDHx,SPDMx,SPDLxchange speed

SPD?xread speed

JOGPx,JOGNx

Jog command(one step to cw or ccw direction)

ABSx±ddd...

absolute index scan

ABSxB±ddd...

absolute index scan,both dir.backlash reject

ABSxS±ddd...

absolute index scan,single dir.backlash reject

RELx±ddd...

relative index scan

RELxB±ddd...

relative index scan,both dir.backlash remove

RELxS±ddd...

relative index scan,single dir.backlash remove

SCANPx,SCANNx

accelerative scan to cw or ccw direction

CSCANPx,CSCANNx

FDHPx

constant speed scan to cw or ccw direction
accelerative scan to cw or ccw direction
if HP switch then stop
find home position(start auto find sequence)

GTHPx

go to home position if it exists

SPCxdddd･･･

change speed while moving○○

SSTPx,ESTPx

slow stop or fast stop

ASSTP,AESTP

all moving motor slow stop or fast stop○

PAUSE?

read PAUSE status or not.
reply: ON or OFF○

SCANHPx,SCANHNx

PAUSE OFF
PAUSE ON

○
○

○

SRQ?G
(ONLY FOR GP-IB)
SRQ?x(ONLY FOR GP-IB)
SRQG0(ONLY FOR GP-IB)
SRQx0(ONLY FOR GP-IB)
SRQx1(ONLY FOR GP-IB)[NEW COMMAND]SRQ_OUT?
(ONLY FOR GP-IB)

reply:HSPD or MSPD or LSPD

(１〜5,000,000)

send after scan start command for synchronousscan start of multi channels
send before scan start command for synchronousscan start of multi channels
All channels of SRQ flag via GPIB read.
Reply data is HEX(8000) when channel F active.
SRQ flag read

reply:1 or 0

All channels of SRQ flag via GPIB are reset.
SRQ flag reset
SRQ flag set

auto reset after SRQ out

read channel that have sent SRQ signal.
reply: HHHH ex) Reply data is HEX(8008) when channel 3 andF have sent SRQ signal.

Local○○CommandCommand description

LN_SRQ?x

All channels of SRQ flag via LAN read.
Reply data is HEX(8000) when channel F active.
SRQ flag of channnel x is read. reply:1 or 0

LN_SRQG0

All channels of LN_SRQ flag via LAN are reset.

LN_SRQx0

LN_SRQ?G○RS_SRQ?G○RS_SRQ?x

STOPx reply reset via ethernet when channel x motor stopped.
STOPx reply set via ethernet when channel x motor stopped.
Auto reset after STOPx reply out.
All channels of SRQ flag via RS232C read.
Reply data is HEX(8000) when channel F active.
SRQ flag of channnel x is read reply:1 or 0

RS_SRQG0

All channels of RS_SRQ flag via RS232C are reset.

RS_SRQx0

STOPx reply reset via RS232C when channel x motor stopped.
STOPx reply set via RS232C when channel x motor stopped.
Auto reset after STOPx reply out.

LN_SRQx1

RS_SRQx1

○

PS?x

○

PSx±ddd...
[NEW COMMAND]
PS_16?
STQ?

○

STS?

○

STSx?

○

[NEW COMMAND]
STS_16?

○

HOLD?x○

HOLDxON
HOLDxOFFSETMT?x

SETMTxABCD○

SETLS?x
SETLSxDYYY0yyy

read position data
reply:±ddddddd(decimal)preset position dataread all channel position data at once
reply: ±ddddddd/±ddddddd/.../±ddddddd (sequence is CH0 to CHF)
No use command at PM16C-16.
Status read out
reply:
R(L)abcd/PNNS/VVVV/HHJJKKLL/±uu･･･/±vv･･･/±ww･･･/±xx･･･
PNNS:P:cw moving N:ccw moving S:stopped
VVVV:LS status & hold off status
HH,JJ,KK,LL:mcc statusuu･･･,vv･･･,ww･･･,xx･･･ :current position
Channel x status read out
reply:R(L)aPVHH±uu･･
reply data and sequence are matched with "STS?" command
except "/".
all channel moving and mcc status read
reply: PNNSPNNSPNNSPNNS/001122...EEFF
PNN...S: P:cw moving N:ccw moving S:stopped(sequence is CH0 to CHF)
001122...FF: mcc status
hold on/off state read x:ch(0,1,･･･9,A,B,C,D,E,F)
reply: ON or OFF
hold on set to ch x
hold off set to ch x
read motor set
reply:ABCD
motor drive set
A:1/drive enable 0/disable
B:1/hold on 0/hold off
C:0/const
1/trapezoidal 2/S character
D:0/Pulse-Pulse 1/Pulse-Direction 2/PDR
read LS setting
reply:DYYY0yyy(see SETLSx)
set LS characteristics
D:digital limit enable/1, disable/0
Y:LS enable/1, disable/0
y:LS N.C/1, N.O/0

Local○Command
FL?x
FLx±ddd...

○

BL?x
BLx±ddd...

○
○

LS?
[NEW COMMAND]
LS_16?

○HDSTLS?

○SETHP?x○○○

read forward digital limit
reply:±ddddddd(decimal)
set forward digital limit position
read backward digital limit
reply:±ddddddd(decimal)
set backward digital limit
LS read reply:abcdHJKL
read all channel LS data at once
reply: HHHHHHHHHHHHHHHH (sequence is CH0 to CHF)
hard and soft limit sw read
reply:abcdHHHHSSSS abcd/ch, HHHH/hard SSSS/soft

SHP?x

read HP find information reply:0XYZ
HP find information set
X:found/1,not found/0
Y:found dir. 0/cw,1/ccw
Z:auto start dir. 0/cw,1/ccw
read home position reply:±ddddddd or NO H.P

SHPF?xread home position offset reply:dddd

SHPFxdddd

set home position offset

SHPx±ddd...

set home position data

SACT?xNo use command at PM16C-16.

SACTxYNo use command at PM16C-16.

SPDH?xread HSPD

SPDHxdddd･･･

set HSPD to ddd･･･ in pps unit(１〜5,000,000)

SETHPx0XYZ○○

Command description

reply:dddddd

SPDM?xread MSPD

SPDMxdddd･･･

set MSPD to ddd･･･ in pps unit(１〜5,000,000)

SPDL?xread LSPD

SPDLxdddd･･･

reply:dddddd
reply:dddddd○

SPDAL?

○

RTE?x

set LSPD to ddd･･･ in pps unit(１〜5,000,000)
active axis and their set speed read
reply: abcd/Hxxxxxxx/Mxxxxxxx/Lxxxxxxx/Hxxxxxxx(busy axis will reply "000000")
read acc. RATE reply:ddd

RTExdddacc. rate set ddd:0〜115(see rate table p )STOPMDx?

read PB & LS stop mode reply:AB A,B:0,1
set PB and LS stop mode
A:0/LS slow stop 1/LS fast stop
B:0/PB slow stop 1/PB fast stop○

STOPMDxAB○○○○

SABS?xread abs pos data for local mode reply:±ddd･･･dd

SABSx±ddd...

set abs pos data for local mode

SREL?xread rel pos data for local mode reply:±ddd･･･dd

SRELx±ddd...

set rel pos data for local mode

SPRS?xread preset data for local mode reply:±ddd･･･dd

SPRSx±ddd...

set preset data for local mode

SETJG?x

read JOG pulse for manual PB

SETJGxdddd

set Jog pulse for manual PB

reply:dddd

Local○Command
SETCH?

read channel setting to current control A,B,C,D
set ch a,b,c,d to control window A,B,C,Dposition.
a,b,c,d: 0〜9,A,B,C,D,E,F(HEX) "-" not changed.
LCD disp is comment of each channel

SETCHabcd
LCD_DISP CLCD_DISP TLCDB 100

○

LCDB?

○

CHCMNT?x○

CHCMNT0 AB1[NEW COMMAND]
ALL_REP?
[NEW COMMAND]
ALL_REP EN
ALL_REP DS

TMGM?x
TMGR?x
TMGRx

○
○
○

○

enable or disable all reply mode. When all reply mode, PM16C-16 sends
a responce to no reply command such as "OK", "NG" etc.

read timing ready
TMGCx

reply: YES or NO

timing out ready set or ready clear

TMGS?xread timing out start point reply:±ddd･･･dd

TMGSx±ddd...

timing out start point set

TMGE?xread timing out end point reply:±ddd･･･dd

TMGEx±ddd...

timing out end point set

TMGI?xread timing out interval step reply:ddd･･･dd

TMGIxddddddd

timing out interval step set

TMGFX ENTMGFX DSTMGFX?
TMGCHabcd○

LCD disp is TIMING OUT PORT No.
LCD brightness of back light write. 1〜100
no reply.
LCD brightness of back light read. 1〜100%
reply: LCD BRIGHT 100
Chanel comment read x:ch(0,1,･･･9,A,B,C,D,E,F)
reply cnannelx comment :a (all chanel data)
Channel No 0 comment AB1 write.
read whether all reply mode or not.
reply: EN or DS

timing out mode set
Y:0/disable 1/gate 2/200ns 3/10us 4/100us 5/1ms pulse out
read timing out mode reply: 0 〜 5

TMGMxY○○

Command description

TMGCH?

NEW COMMAND available from firmware version 1.01
enable or disable timing output channel fix mode. When enable, timing
output channel is not changed with display position A, B, C, and D.
read the status of timing output channel fix mode. reply: EN or DS
set timing output channel when timing output channel fix modeis enable. If you set "TMGCH2468" , TP0 outputs timing signal
from ch 2, TP1 from ch 4, TP2 from ch 6, and TP3 from ch 8.
read timing output channel. reply: abcd

Local○CommandCommand description(Auto change scancommand)ACSxyyy/PNT/JJJ･･
J/FNC/LLL･･L

set data command
x :channnel 0,1,2,･･･,9,A,B,C,D,E,F
yyy:sequence number 0 to 127max
PNT:END should be written at next to end seq.
:ADD relative address from start point:TIM relative time from previous point:ACC speed data while accelerration:DEC speed data while deceleration
JJJ:relative address ±2,147,483,647max:time 0 to 65,535ms
FNC:SPD LLL･･･L means speed data in pps:RTE LLL･･･L means rat data
:SLW slow stop
:FST fast stop
:NOP no operation(skip this seq. number)
LLL:speed 1 to 5,000,000pps:rate rate data number in the same range

ABSx(B)±ddd...
RELx(B)±ddd...
SCANPxSCANNx

auto change scan start command when the axis is
auto change scan readyACS?xyyy
ACSCx○

ACSH?x○

ACSP?xACSPxdata read command
x :channnel 0,1,2,･･･,9,A,B,C,D,E,F
yyy:sequence number 0 to 127max
reply: xyyy/PNT/JJJ･･･J/FNC/LLL･･･L
auto change scan ready clear command
reply aabb,hhhh,hhhh
aa:code(00:SPD,01:RTE,02:SLW,03:FST,0F:NOP)
bb:sequence number(0 to 7F)
hh･･･hh:data
auto change scan ready read command
reply:ready, not readyauto change scan ready set command○

ACSK?x

reply aabb,hhhh,hhhh
aa:code(00:END,01:ADD,02:TIM,80:ACC,81:DEC)
bb:sequence number(0 to 7F)
hh･･･hh:data

○
○
○

VER?

read version reply:1.00 13-05-14 PM16C-16

VERH?

hardware version read reply:HD-VER0,1,2,5,6

FROM?

current FROM read reply:FROM0,FROM1

FROM0, FROM1

○

ERR?

○

ERRF?

○

ERRC

○

ERRCx

○

STSM?

FROM selectError status read
reply: NO ERROR/MCC06 BUSY ERROR etc.
Error status flag read
reply: H b3: OTHER ERROR
b2: PARAMETER ERROR
b1: MCC06 BUSY ERROR b0: COMMAND ERROR
all error flag clear.
paticular error flag clear.
x: 3: OTHER ERROR
2: PARAMETER ERROR
1: MCC06 BUSY ERROR 0: COMMAND ERROR
read status port1 of MCC06 aaaa/bbbb/cccc/dddd

REST

restart without power off-on

OLD COMMAND LIST
compatible commands with PM16C-02N,-02Z,-04,-04S
Local

CommandCommand description

○
○

S1R

remote mode change

S1L

local mode change○

S10R□□□□ motor channel No. reply of "A, B, C, D" for -04 typeR□□
motor channel No. reply of "A, B"
for -02 type

○

S11□

set motor channel □ to A

S12□

set motor channel □ to B

S1301

SRQ set when A position motor stopped

S1302

SRQ set when B position motor stopped

S1304

SRQ set when C position motor stopped

S1308

SRQ set when D position motor stopped

S130F

SRQ when A,B,C,D position motor stopped (combination available)

S1380

SRQ cancel (also with GP-IB COMMAND "IFC")

S14

SRQ flag read R□□ (HEX)

S15□

set motor channel □ to C

S16□

set motor channel □ to D

S20

A position data read reply:R□□□□□□ (HEX)S20D

A position data read reply:±DDDDDDD(DEC)S21

A position status read reply:R□□

S22

B position data read reply:R□□□□□□ (HEX)

S22D

B position data read reply:±DDDDDDD(DEC)S23

B position status read reply:R□□

S24

C position data read reply:R□□□□□□ (HEX)S24D

C position data read reply:±DDDDDDD(DEC)S25

C position status read reply:R□□

S26

D position data read reply:R□□□□□□ (HEX)

S26D

D position data read reply:±DDDDDDD(DEC)S27

D position status read reply:R□□

S30□□

A position 2 byte command□□:command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan 0F:-scan 16:pause on
17:pause off
18:hold off 19:hold on 1E:+scan & HP stop 1F:-scan & HP stop
40:slow stop 80:EM.stop

S31□□

B position 2 byte command□□:command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan 0F:-scan 16:pause on
17:pause off
18:hold off 19:hold on 1E:+scan & HP stop 1F:-scan & HP stop
40:slow stop 80:EM.stop

○

○
○
○
○
○
○
○
○
○
○
○
○

(HEX)

(HEX)

(HEX)

(HEX)

Local○CommandCommand description

S32XXXXXX□□ or
S32XXXXXX□□B

A position 8 byte command XXXXXX:HEX position data□□:command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX 13:ABS.IDX
auto backlash correction with "B"

S32□±DDDDDDD or
S32□±DDDDDDDB

A position DEC index command□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data auto backlash correction with "B"

S33XXXXXX□□or
S33XXXXXX□□B

B position 8 byte command
XXXXXX:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX 13:ABS.IDX
auto backlash correction with "B"

S33□±DDDDDDD or
S33□±DDDDDDDB

B position DEC index command□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data
auto backlash correction with "B"

S3□

speed change S34:L SPEED S35:M SPEED S36:H SPEED

S38□□

C position 2 byte command□□:command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan 0F:-scan 16:pause on
17:pause off
18:hold off 19:hold on 1E:+scan & HP stop 1F:-scan & HP stop
40:slow stop 80:EM.stop

S39□□

D position 2 byte command□□:command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan 0F:-scan 16:pause on
17:pause off
18:hold off 19:hold on 1E:+scan & HP stop 1F:-scan & HP stop
40:slow stop 80:EM.stop

S3AXXXXXX□□S3AXXXXXX□□B

C position 8 byte command
XXXXXX:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX
auto backlash correction with "B"

S3A□±DDDDDDD or
S3A□±DDDDDDDB

C position DEC index command□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data auto backlash correction with "B"

S3BXXXXXX□□OR
S3BXXXXXX□□B

D position 8 byte command
XXXXXX:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX auto backlash correction with "B"

S3B□±DDDDDDD or
S3B□±DDDDDDDB

D position DEC index command□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data auto backlash correction with "B"

LocalCommandCommand description

○

S4XY

data read command X: channel No.(0-F) Y: data No.(0-F)
reply:RHHHHHH (HEX) 3 byte data from read data address

○

S4XPS

position data read X: channel No.(0-F) PS: position data read
reply:±DDDDDDD (DEC)

○

S4XFL

forward DGLS read X: channel No.(0-F) FL: forward DGLS read
reply:±DDDDDDD (DEC)

○

S4XBL

backward DGLS read X: channel No.(0-F) BL: backward DGLS read
reply:±DDDDDDD (DEC)S5XY□□

data write command X: channel No. Y: data No.
□□: write data (HEX)S5XPS±DDDDDDD

position data write X: channel No.(0-F) PS: position data write±DDDDDDD : write data (DEC)S5XFL±DDDDDDD

forward DGLS write X: channel No.(0-F) FL: forward DGLS read
±DDDDDDD: write data (DEC)S5XBL±DDDDDDD

backward DGLS write X: channel No.(0-F) BL: backward DGLS read
±DDDDDDD: write data (DEC)S6

status & LS read (a row of data is B,A,D,C for "-02N" compatible)
reply:RHHHHH: HEX CODE REM/LOC, LIMIT SW

BXhhhhbacklash correction data(for CH X) set (h:HEX,D8F1~270F)

BXH?

backlash correction data(for CH X) read
reply: RHHHH(HEX)BX±DDDDbacklash correction data(for CH X) set 0~±9999(decimal)

BX?

backlash correction data(for CH X) read
reply: ±DDDD(DEC)

FHPA

Find Home Position of A position

FHPB

Find Home Position of B position

FHPC

Find Home Position of C position

FHPD

Find Home Position of D position

RTHPA

Return Home Position of A position

RTHPB

Return Home Position of B position

RTHPC

Return Home Position of C position

RTHPD

Return Home Position of D position

DPXchange start direction of channel X to positive

DNX

change start direction of channel X to negative

GFXDDDD

write offset data X: channel D: decimal○○LocalCommandCommand description

SPHXDDDDD

write HSPD X: channel
DDDDD: PPS unit speed data

SPMXDDDDD

write MSPD X: channel
DDDDD: PPS unit speed data

SPLXDDDDD

write LSPD X: channel
DDDDD: PPS unit speed data

SPCXDDDDD

change speed while scanning
X: channel DDDDD: PPS unit speed data○

G?X

read home position status X:0 - F(channel)
reply RHH :H ASCII hex

○

GF?X

read offset data X: channel
reply RDDDD :d ASCII dec.

○

HP?X

read home position X: channel
reply ±DDDDDDD ASCII 7 dec.

○

SPH?X

read HSPD of channel X
reply RDDDDD D: ASCII 5 dec.

○

SPM?X

read MSPD of channel X
reply RDDDDD D: ASCII 5 dec.

○

SPL?X

read LSPD of channel X
reply RDDDDD D: ASCII 5 dec.