EtherCAT compatible
16ch STEPPING MOTOR CONTROLLER

PM16C-16EC2
USER’S MANUAL
No. 4108(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-mailinfo2@tsuji-denshi.co.jp

CONTENTS

CONTENTSCONTENTS ....................................................................................................................... 1
1 Abstract .......................................................................................................................... 3
1-1 Introduction .............................................................................................................................. 3
1-2 Architecture .............................................................................................................................. 4
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 RS-232C and GP-IB communication.......................................................... 10
3-3 About delimiter character ....................................................................................................... 10
3-4 Ether communication.............................................................................................................. 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 ........................................................................................... 15
4-5 Home Position Set and Search drive ...................................................................................... 16
 At the beginning ............................................................................................... 16
 Selection of detecting ways .............................................................................. 16
4-6 Hand box (Optional) ............................................................................................................... 18
 04TYPE Hand box controller (PM16-HDX 4 axis control) ............................... 19
 02TYPE Hand box controller (PM16-HDX2 2 axis simultaneous control) ....... 19 16TYPE Hand box controller（PM16-HDX16 16 axis selected control） .......... 20
5 SETUP MODE .............................................................................................................. 21
5-1 Page1 Speed setting ................................................................................................................ 21
5-2 Page2 Motor operation, Hold-off function setting.................................................................. 22
5-3 Page3 Limit switch setting ..................................................................................................... 23
5-4 Page4 Digital limit switch setting ........................................................................................... 24
 For digital limit switch ....................................................................................... 24
5-5 Page5 REL/ABS/SCAN PRESET data setting....................................................................... 25
5-6 Page6 Home position setting ............................................................................................... 26
5-7 Page7 TIMING OUT setting .................................................................................................. 27
5-8 Page8 TIMING OUT channel setting ..................................................................................... 28
5-9 Page9 Parameters of remote mode setting ........................................................................... 28
5-10 Page10: Program version change, return time from mode set screen, and LCD brightness
adjustment ..................................................................................................................................... 29
6 Operation of Motor ........................................................................................................ 30
6-1 Local mode operation ............................................................................................................. 30
1

CONTENTS

6-2 Remote/Local switching command ........................................................................................ 30
6-3 Command to read out of motor status..................................................................................... 31
 Limit switch(LS) status read command .............................................................. 32
 Commands for current positon read or set ........................................................ 33
6-4 Motor control command ......................................................................................................... 34
 JOG step drive command ................................................................................. 34
 Speed select command..................................................................................... 34
 Continuous move commands ............................................................................ 35
 Absolute drive command(ABS) ......................................................................... 36
 Relative drive command (REL) ......................................................................... 36
 Home position return commands ...................................................................... 38
6-5 STOP commands .................................................................................................................... 38
6-6 Speed change command while driving ................................................................................... 38
6-7 Command for Synchronous start for action pending .............................................................. 39
6-8 Command of SRQ output function ......................................................................................... 39
 SRQ for GPIB communication........................................................................... 39
 SRQ for RS-232C communication .................................................................... 40
7 Commands for parameter set up ................................................................................... 41
7-1 Basic configuration of motor .................................................................................................. 41
7-2 Moving speed setting .............................................................................................................. 43
7-3 Acceleration and deceleration Rate Setting ............................................................................ 44
7-4 Acceleration and Deceleration Rate ........................................................................................ 45
7-5 Setting of the limit switch-related........................................................................................... 46
7-6 Setting of the home position related ....................................................................................... 47
7-7 Setting of the local mode data ................................................................................................ 48
7-8 Display setting ........................................................................................................................ 49
8 Timing out signal output ................................................................................................. 51
 GATE signal ...................................................................................................... 51
 Pulse signal ...................................................................................................... 51
 Output method .................................................................................................. 52
 Timing signal manual output mode.................................................................... 54
 Timing output channel fixed mode..................................................................... 54
9 Other Operation............................................................................................................. 56
9-1 Channel comment setting ....................................................................................................... 56
 How to set the channel comments (local mode) ................................................ 57
 How to set the channel comments (remote mode) ............................................ 58
9-2 All reply mode ........................................................................................................................ 59
9-3 Maintenance command ........................................................................................................... 60
10 EtherCAT slave function .............................................................................................. 62
10-1 Communication specifications with EtherCAT master ......................................................... 62
10-2 PDO communication data list ............................................................................................... 62
10-3 Data content for constant communication in PDO communication ........................... 63
11 Firmware version up .................................................................................................... 64
12 Appendix ..................................................................................................................... 67
12-1 Command List ...................................................................................................................... 67
12-2 Battery backup battery replacement ..................................................................................... 69
13 Revision History .......................................................................................................... 70
14 Performance and Specifications .................................................................................. 71

2

1 Abstract

1 Abstract
1-1 Introduction
PM16C-16EC2 is a stepping motor controller equipped with EtherCAT Slave function andis an upward compatible product of PM16C-16EC2. The basic functions are based on
PM16C-16, so those who use PM16C-04XDL and PM16C-16 can use it with the same feeling.
The difference with PM16C-04XDL is described below.
1. PM16C-16EC2 controls 16 motors at the same time by EtherCAT, RS-232C, and GP-IB
communication.
2. The command which reads the state of all channel was added.
3. “Answer all mode” which adds an answer to all the commands was added.
4. Two axis interpolation commands which starts with “C0” or “C1” and Oscillation drivecommand which starts with “Y” are not mounted now
The differences from PM16C-16 are listed below.
1. Removed the Ethernet port and added the EtherCAT port. This works as EtherCAT Slave.
The differences from PM16C-16EC2 are listed below.
1. The PDO data update cycle has been sped up.
Take over the following functions of PM16C-04XDL.
1. Count pulse step bit is 32bits. Numerical range is -2,147,483,647 to +2,147,483,647.
2. Each characteristics （HSPD, MSPD, LSPD, RATE, LMSW, DGLS） is available foreach channel.
3. 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.
4. The output of trigger pulse or gate signal (TTL) is available at the arbitrary sections andintervals.
5. 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 published
6. Firmware ROM update via communication line is available.

3

1

Abstract

1-2 Architecture
Front panel
Control switch

CPU

FLSH ROMfor firmware
version up x 2

Data Memory

GP-IB

RS-232C

4

LCD Display

FPGA

Pulse
controller
2ch x 8
EtherCAT
slave

Pulse output
connector
Limit switch
input
connector

1 Abstract

1-3 Connection Diagram(RS-232C / GP-IB connection)

RS-232C Cable
GP-IB CablePC

LS Cable (Dsub 9pin)
Pulse Cable(Dsub 9pin)
DriverSensor
Pulse
Motor

PM16C-16EC2

Up to 16 set
connectable.

SensorDriver(EtherCAT connection)

LS Cable (Dsub 9pin)
Pulse Cable(Dsub 9pin)
DriverLAN cable
EtherCAT
Master

Pulse
Motor

Sensor
Pulse
Motor

PM16C-16EC2

Up to 16 set
connectable.

EtherCAT
Slave
SensorEtherCAT
Slave

Driver

Pulse
Motor

5

2 Parts names and function

2 Parts names and function
2-1 Front Panel
1

2

6

7

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

8 9 10

11 12

13

15 16

17

14

18

Function
This is the power switch of PM16C-16EC2.
Connect the Hand Box here (option).
See page 18.
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 page 7.
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 mode with “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” (page 51) 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 page 24 was turned on.

7

2 Parts names and function

2-2 Rear Panel
1

2

5

3 4

No.

Name
Pulse out connector(PULSE)
Limit switch connector(LS IN)
GP-IB connector
RS-232 connector

1
2
3

6

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.
When controlling with EtherCAT communication,
EtherCAT LAN connector connect the LAN cable from the upper level to IN and
the LAN cable to the lower level to OUT.
Fuse holder (250 V 3A) 250V, 3A fuse is equipped here.
Insert attached AC cable here.
Power cable connector
100 ~ 220V AC power is available.

45
6

 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

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

Pin-7 is set to +5V at the time of shipment, but it ispossible to output +12V from pin-7 of the samechannel by switching SW0~15 (corresponding to thech number) to the +12V side.
For pin-8, +5V can be supplied by opening the top lid
and turning on / off the red slide switch (SW16) on theboard behind the connector.
It is set to OFF at the time of shipment.

8+− 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-16EC2 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 PM16C16EC2 side is shown right. Use cross cable between
PM16C-16EC2 and your 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-16EC2 is be equipped communication control by RS-232C, and GP-IB. And In
addition, PM16C-16EC2 is equipped with EtherCAT slave function. The initial settingsrequired for each communication are described. Both initial settings can be done 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 RS-232C and GP-IB communication
JOG switch is moved to the CW position several
times, and page 9 (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 ispushed, 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.

3-3 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.

3-4 Ether communication
There is no particular initial setting for EtherCAT slave communication. Have theconnected master read the ESI file for PM16C-16EC2.

10

4 The outline of motor control

4 The outline of motor control
4-1 Remote mode and Local mode
PM16C-16EC2 have two ways of control mode, remote mode and local mode. In local
mode, PM16C-16EC2 controls motor with switches attached front panel and hand box.
Commands from communication line which drives motor and overwrite the motor setting areinvalid, but which 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 is indicatedby LED above MODE . In remote mode, you can select drive mode with command directly.
･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 chap5.6 “Home position setting”.

All motor drive are stopped withstop command.

STOP

or limit switch or HP switch signal, or enter motor

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 “Page1 Speed setting (Page 21)”.
Acceleration and deceleration method have the three modes, “Const”, “Trape”, and “Schar”.
These setting are modified by remote commands or SETUP mode “5-2 Page2 Motor
operation, Hold-off function setting (Page 22)”. Refer to the page 34 for the setting commandof 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 45) 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

E

C

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

2

*

*

*

*

*

r

<

1

.

0

0

>

C

o

.

L

T

D

,

This screen is displayed immediately after the power is turned on.
It shows which version of firmware you are booting from.
(Firmware version 1.02 or later does not display the version on the upper screen, but
automatically switches to the following page and the firmware and hardware
versions are displayed.)
*

*

*

*

P

M

1

6

F

I

R

M

W

A

R

H

A

R

D

W

A

C

-

1

6

E

E

V

e

r

R

E

V

e

T

P

0

C

2

*

*

*

*

*

.

<

1

.

0

2

>

r

.

:

2

0

1

2

3

4

5

6

7

8

9

 Motor drive screen
A Pos.

00

H

B Pos.

0

1

H

#

T

P

1

-

0

1

2

3

4

5

6

7

8

9

C Pos.

0

2

M #

T

P

2

-

0

1

2

3

4

5

6

7

8

9

D Pos.

1

5

L

T

P

3

0

1

2

3

4

5

6

7

8

9

1

2

3

4

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.
Motor drive screen

13

4 The outline of motor control

No.

Data

1

Channel No.

2

Drive speed

3

Timing signal

Timing signal output port
4
Channel comment

5

14

Current pulse position

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 (page 21) 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 51) in detail.
The display of from which port a timing signal is
outputted. “---” is displayed when the output port is not
assigned to all the port. You can select display 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 “9-1 Channel comment setting” (Page 56) in detail.
(V1.02 ~) Battery When the backup battery (CR2032)
becomes empty and various settings cannot be saved,"BATT EMPTY" is displayed at regular intervals in thiscolumn. If this symptom does not improve after turning
the power off and then on again, replace the battery.
Displays current pulse position for each position.

4 The outline of motor controlMode setup screen
0

0

M

R

E

L

0

1

M

R

E

L

0

2

M

R

E

L

1

5

L

R

E

L

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

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

1

On this screen, various parameter setup at the timeof 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.

Display value for each motor active mode are
3
2
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.

15

4 The outline of motor control

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

B

C

DETECT WAY

MANUALPROCEDURES

ACCURACYTIME

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
16LS)

4 The outline of motor control

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 26))(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)

17

origin sensor (H.P LS)

4 The outline of motor control

If a starting point sensor is detected, it will pass at first. And it will stop, if it passes
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 26) 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 (soldseparately).
Connect the Hand box to HAND BOX connector.
And select the type of the Hand box in the item "HAND
BOX CONT" in the page 9 of the SETUP mode from the
below types.

18

4 The outline of motor control

 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 cancontrol 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 thespecified channel from HSPD, MSPD and
LSPD.
In remote mode, it becomes the STOP button.
(see below)

1

3

3

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-16EC2 front panel.
 02TYPE Hand box controller (PM16-HDX2 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 thechannel A, B from HSPD, MSPD and LSPD.
In remote mode, it becomes the STOP button.
(see below)
1

2. CH A JOG switch
It is the same function as the JOG switch of thefront panel of PM16C-16EC2, and it operates
the channel 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.

23

3. CH B JOG switch
It is the same function as the JOG switch of the front panel of PM16C-16EC2, andit 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.

19

4 The outline of motor control

 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 by thisswitch.

1

3.

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

2

4

3

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.

20

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 Speed setting
1

C

H

:

0

3

S

P

H

:

5

0

0

0

0

0

M

:

1

0

0

0

0

L

:

0

1

0

0

0

E

E

D

(

P

P

S

)

0

J

O

G

:

9

9

0

0

R

A

T

E

:

0

0

1

0

.

5

0

m

P

1

9

9

9

3

0

3

2

4

s

/

k

2

1.

2.

3.
4.

: 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.
: Driving speed setting
Setting range: 5 ~ 9,999,999(Can be set in increments of 5; rounded up if there is a remainder)
Initial Value: HSPD/3,700
MSPD/650
LSPD/10You 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 4-3 Drive speed setting on page 11.
: JOG STEP value
Setting range: 1 ~ 99,999 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.
At the bottom, the real value of the set acceleration code is displayed in the timerequired to accelerate 1000pps.
For more information, please refer to the rate table "7-4 Acceleration and
Deceleration Rate”. (Page 45)

21

5 SETUP MODE

5-2 Page2 Motor operation, Hold-off function setting
1

2

C

H

:

0

0

M

O

3

P

.

M

O

D

:

P

-

4

A

C

C

:

T

r

a

7

O

N

:

0

1

0

0

T

O

R

:

E

N

A

P

H

.

O

F

F

:

p

e

H

.

I

N

V

m

s

O

F

F

:

0

5

P

2

E

N

A

5

:

D

I

S

6

0

0

m

s

1. : SETUP channel selection
Same as Page 1.
2. : Motor control ENA/DIS default: ENA
ENA: Motor control is enable.
DIS: Motor control is disable. CW/CCW LS light.
3. : 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.
4. : Selection of acceleration and deceleration format
Const / Trape / Schardefault: 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 5-1 Page1 Speed settingon (page 21) for more information.
5. : 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.
6. : Hold off polarity ENA/DIS default: DIS
Inverts the polarity of the holdoff signal and enables or sets the function that can beused as the signal output during motor operation.
ENA: Inverts the polarity of the holdoff signal and uses it as a motor energization
signal.
DIS: Output as a holdoff signal.
7. : Hold off release, output time setting Initial value: ON: 80ms OFF: 500ms
Turn on the time from the release of the hold-off signal to the start of operation
before the motor operates.
Set OFF to set the time until the hold-off signal is output after the motor is stopped.
Both ON and OFF can be set in 10 ms increments within the range of 50 to 3000 ms.

22

5 SETUP MODE

5-3 Page3 Limit switch setting
1

C

H

C

W

:

0

0

.

L

S

:

L

I

M

E

N

A

I

T
N

S
.

W

C

3

3

2

4

P

C

C

W

.

S

T

O

P

L

S

:

E

N

A

L

S

:

F

A

N
S

T

.

□

C
P

B

:

F

A

S

T

5

1. : SETUP channel selection
Same as Page 1.
2. : Limit Switch
ENA/DISdefault: 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.
3. : Contact setting of the limit switch
N.O/N.C
default: N.O
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).
4. : 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.
5. : 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.

23

5 SETUP MODE

5-4 Page4 Digital limit switch setting
1

C

H

C

W

C

C

B

A

:

0

0

D

:

D

I

S

W

:

D

I

S

C

K

L

A

S

I

G

I

T

A

L

L

S

0

1

2

3

4

0

1

2

3
:

P

4

5

6

7

8

9

-

4

5

6

7

8

9

□

-

9

9

9

9

9

2

1.
2.

3.

4.



24

H

: SETUP channel selection
Same as Page 1.
: Digital limit switch
ENA/DISdefault: 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: -99999 ~ +99999 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.

34

5 SETUP MODE

5-5 Page5 REL/ABS/SCAN PRESET data setting
1

C

H

:

R

E

L

A

B

S

P

R

E

0

S

0

E

M

T

D

E

_

D

A

T

A

:

-

0

1

2

3

4

5

6

:

-

0

1

2

3

4

5

0

1

2

3

4

5

:

O

P

5

7

8

9

2

6

7

8

9

3

6

7

8

9

4

Also in the “mode display screen”, settings on this page is available.
1.
2.

3.

4.

: 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.

25

5 SETUP MODE

5-6 Page6 Home position setting
1

C

H

:

0

0

O

R

G

.

S

O

F

F

S

M

E

M

.

4

2

A

H

P

L

S

:

E

N

T

A

R

T

:

C

C

W

E

T

.

P

U

L

S

E

:

P

O

S

:

N

O

_

H

3

M

O

M

N

O

_

P

6

(

C

C

W

)

5

9

9

9

9

9

6

E

.

P

O

S

7

1.

: SETUP channel selection
Same as Page 1.

2.

: 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.

3.

: 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).

4.

: 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

5.

: 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.

6.

: Origin detection offset pulse:
Setting range: 0 ~ 99999
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.

7.

: 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.

26

5 SETUP MODE

5-7 Page7 TIMING OUT setting
For more information about the TIMING OUT signal, see page 50.
1

2

C

H

:

0

0

T

S

T

A

R

T

S

T

O

P

P

.

I

N

T

V

.

O

U

T

:

P

.

1

m

s

P

7

:

-

0

1

2

3

4

5

6

7

8

9

3

:

-

0

1

2

3

4

5

6

7

8

9

4

:

-

0

1

2

3

4

5

6

7

8

9

5

1.

: SETUP channel selection
Same as Page 1.

2.

: TIMING OUT mode set
DIS/GATE/P.200ns/P.10us/P.100us/P.1ms
Manual/M.1us/M.10us/M.100us/M.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~1ms : Pulse output of 200ns, 10us, 100us, 1ms.
Manual: Manual output.
M.1us~1ms : Outputs a pulse with a manually set width once.

3.

: 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.

4.

: 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.

5.

: 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.

27

5 SETUP MODE

5-8 Page8 TIMING OUT channel setting
It displays which channels are assigned to TIMING OUT four output ports
TIMING OUT In fixed channel mode, set which channel to assign on this screen.
T

I

M

I

N

G

O

U

T

C

H

A

N

N

E

L

M

O

D

E

:

D

S

P

T

P

0

:

C

H

0

0

T

P

1

:

C

H

0

1

T

P

2

:

C

H

0

2

T

P

3

:

C

H

0

3

1

1.

2.

P

8

2

: TIMING OUT mode setting DSP/FIX
default:
NOM
Select the TIMING OUT output channel setting mode.
DSP: Output from the channel being displayed.
(This is the same as 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
R

E

M

O

T

E

C

R

S

-

2

3

2

C

G

P

I

B

A

D

D

H

A

N

D

B

O

X

O

N

T

R

O

L

B

.

R

A

T

E

:

3

8

R

:

3

1

R

E

P

C

O

N

:

0

4

T

P

9

4

0

0

1

:

D

I

S

4

T

Y

P

E

3

2

1.

2.
3.

4.

28

: 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 "4-6 Hand box (Optional)" (page 18) for details of the hand box.
: Settings for all response mode
ENA/DIS/L--/-R-/--G other default: DIS
In remote communication, there are commands that do not response (like "OK" or"NG"). In PM16C-16EC2, mode of adding the response to all commands have been
added. You can enable / disable the mode. For more information, please refer to "92 All reply mode" (page 59)

5 SETUP MODE

5-10 Page10: Program version change, return time from mode set screen,and LCD brightness adjustment
1

P

R

O

G

R

A

M
N

D

S

P

/

C

H

G

L

C

D

.

B

R

I

C
E

G

H

W

A

N

G

V

e

r

E
<

R

E

T

U

R

N

H

T

N

E

S

S

:

1

P

1

1

.

0

0

>

:

6

0

s

2

1

0

0

%

3

1.

: To change software version
NEW/OLD
Select the firmware version.
See "11 Firmware version up" (Page 64) for more information.

2.

: 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.

3.

: LCD brightness adjustment
Setting range: 1 ~ 100
Set the brightness of LCD with numeric keypad.

Initial value: 100

29

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 21)･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 upperside of button.
Motor that is indicated by LED, will move when you operate the JOG switch or press
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 lamp at start button keep blighting, and start moving for the directionof jog switch you pushed.
(HP)
See 4-5 Home Position Set and Search drive (Page 16) in detail.
5: Motor stops moving if you press the STOP button or limit switch is activated 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
Remarks30

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>

Displaying current position with signed 7 digit decimal.
Digit is increased if data is more than 10 million.

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

Remarks

This command is not supported for EtherCAT command communication.
It responds with “Unsupported at EtherCAT”.
The information of this command is always in the communication data table, so
refer to that.

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

Remarks31

6 Operation of Motor

Command

STS_16?

Read all 16ch motor status.

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

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

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.

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.
this 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

ExampleRemarks32

LS?

Reply:

0123888B

The order of6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel.
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: 0(fixed value)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>

ExampleHold 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.

LS_16?

Reply:

888B888888888888

Remarks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
ExamplePS?4(Signed Integer 7-digit and more)

Reply:-0000135

Remarks33

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

This command is not supported for EtherCAT command communication.
It responds with “Unsupported at EtherCAT”.
The information of this command is always in the communication data table, so
refer to that.

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
ExampleSPDHA

Motor move speed of CH10 set to HSPD

Remarks

Only remote mode. And the motor is stopped.

Command

SPD?<ch>Check the motor speed setting.

Reply LSPD/MSPD/HSPD
ExampleRemarks

34

SPD?1
Reply: HSPD
Motor move speed of CH1 is HSPD.

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel.
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 16).

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.

35

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

36

ExampleRELC+10000
REL0S-5000

Start CW 10000 pulse move at CH12.
Start CCW 5000 pulse move with auto adjust backlash at CH0.

Remarks

Only remote mode. And the motor is stopped.
Please see below topics about backlash move.

6 Operation of Motor*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 the below.
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 Page2 on SETUP mode or thiscommand.
<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.

37

6 Operation of Motor<ch>: 0 ~ F(Hexadecimal) for channel.
Home position return commands
If you have not found home position, start home position
search move. It is a move that corresponds to the method
2 of the Home Position Set and Search drive (page 16.

Command FDHP<ch>Reply Nothing
ExampleFDHP2Start home position search move at CH2.

Remarks Only remote mode. And the motor is stopped.

CommandIf 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 16)

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

38

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-16EC2 reserves all motor moving commands.
If release standby status 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) command on
RS-232C communication.


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.

39

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 RS-232C communication
Command

RS_SRQ<ch><md>

Set or reset SRQ output flag.

Argument<md>

0/SRQ reset

Mode

1/SRQ set

Reply Nothing
ExampleRS_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.

RS_SRQ?<ch>Check SRQ output flag on RS-232C.
RS_SRQ?GIn the case of “RS_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 RS_SRQ?G is sent.)
Bit has been set as "1", and SRQ output flag has been set to this bit.
Example RS_SRQ?0
Reply:1
SRQ output flag has been set to CH0.

CommandRemarks40

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
methodArgumentSet 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)

Reply Nothing
ExampleSETMT01110

Selected ch0, enable motor operation, no output hold off signal,
trapezoidal mode, pulse-pulse output.

Remarks

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

Command

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.

41

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.

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 H_ONTM<ch><t>Argument<t>

Set the time from excitation to the motor to actual movement.

Excitation
time

Setting range: 50 ~ 3000msec, in 10ms increments
Initial value 80msec

Reply Nothing
ExampleH_ONTM7500

CH7 will operate 500ms after the holdoff is released.

Remarks Only remote mode.

Command H_ONTM?<ch>Check the time from exciting the motor to the actual movement.

Reply DDDmsec.
H_ONTM?A reply: 100msec.
ExampleCH-A will start operating 100ms after the holdoff is released.
Remarks

Command

H_OFTM<ch><t>
HOLDTM<ch><t>Argument<t>

Excitationtime

Set the time to output the hold-off signal after the motor has stopped.
Both commands have the same behavior.
Setting range: 50 ~ 3000msec, in 10ms increments
Initial value 500msec

Reply Nothing
ExampleH_OFTMC1200

CH-C outputs a hold-off signal 1200ms after it has stopped.

Remarks Only remote mode.

Command

H_OFTM?<ch>
HOLDTM?<ch>Check the time to output the hold-off signal after the motor has
stopped.
Both commands have the same behavior.

Reply DDDmsec.
H_OFTM?5
reply: 1000msec.
使用例
CH5 starts operating 1000ms after the holdoff is released.
Remarks42

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.
Command

STOPMD<ch><pb><ls>

Set the way to stop motor.

<pb> Stop by STOP botton

0/ deceleration stop
1/ emergency stop

Argument<ls>
Initial value

Stop by limit switch<pb>:0<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
CommandSPD<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.
Set the speed at 5~10,000,000 pps units, in 5pps increments.
(pps: pulses per second)

MSPD/650pps

HSPD/3,700pps

Reply Nothing
ExampleSPDH02000
SPDLF50

Remarks

Only remote mode. And the motor is stopped.

Command

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

SPD<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.

Remarks43

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.
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
Command RTE<ch><cd>
Argument<cd>

Initial value013

Set the code in the acceleration and deceleration rate.

acceleration anddeceleration code

Enter the code a number between 0 ~ 115.
Refer to page 45 about the relationship of accelerationand deceleration of the actual code.

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.

Remarks

Command RRATE<ch><rrt>

Set the acceleration / deceleration rate as a real number.

Argument<rrt>

1000～0.00125

Initial value

300.000

Rate value

Reply Nthing
ExampleRTE02.5

Set the acceleration / deceleration rate for channel 0 to 2.5ms / 1000pps.

Remarks Valid only when the motor is stopped and when remote, see the next page for details.

44

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.
CommandRRATE?<ch>Check the acceleration / deceleration rate with a real number.

Reply DDD.ddd(Real number with 3 decimal places)
RRATE?0
Reply:2.500
ExampleCH-0 has an acceleration / deceleration rate of 2.5ms / 1000pps.
Remarks

7-4 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 10001910
2820

NO RATE
20
150
21
130
22
120

NO RATE
40
22
41
20
42
18

NO RATE
60
3.3
61
3
62
2.7

NO RATE
80
0.47
81
0.43
82
0.39

NO RATE
100 0.068
101 0.062
102 0.056

3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19

23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39

43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59

63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79

83
0.36
84
0.33
85
0.3
86
0.27
87
0.24
88
0.22
89
0.2
90
0.18
91
0.16
92
0.15
93
0.13
94
0.12
95
0.11
96
0.1
97 0.091
98 0.082
99 0.075

103
104
105
106
107
108
109
110
111
112
113
114
115

750
680
620
560
510
470
430
390
360
330
300
270
240
220
200
180
160

110
100
91
82
75
68
62
56
51
47
43
39
36
33
30
27
24

16
15
13
12
11
10
9.1
8.2
7.5
6.8
6.2
5.6
5.1
4.7
4.3
3.9
3.6

2.4
2.2
2
1.8
1.6
1.5
1.3
1.2
1.1
1
0.91
0.82
0.75
0.68
0.62
0.56
0.51

0.051
0.047
0.043
0.039
0.036
0.033
0.030
0.027
0.024
0.022
0.020
0.018
0.016

Real fate settingWith PM16C-16EC2, it is possible to set with real values only when setting remotely. The
settable range varies depending on the maximum speed (HSPD, MSPD value) of each axis.
If it is set outside the configurable range, it will be set to the upper and lower limits that canbe set.
Max speed is 150,000 or less:1000 ~ 0.1 (ms/1000pps, 0.1steps)
Max speed is 1,500,000 or less:
100 ~ 0.01 (ms/1000pps, 0.01steps)
Max speed is faster than 1,500,000: 20 ~ 0.00125 (ms/1000pps, 0.00125steps)45

7 Commands for parameter set up

7-5 Setting of the limit switch-related<ch>: 0 ~ F(Hexadecimal) for channel.
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

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

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

B/ CCW side

Reply ±ddddddd (Signed Integer 7-digit and more)
ExampleRemarks46

FL?2

reply: +1000000

7 Commands for parameter set up

7-6 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

Remarks47

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.

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 ~ 99,999

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

7-7 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

Remarks

Only remote mode.

CommandS<mode>?<ch>Set +10000 to the preset value of CH11 for when PRESET button will
be pressed.

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)
ExampleRemarks48

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

7-8Display setting
Command SETCH<ch><ch><ch><ch>
Argument<ch>channelSelect 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.

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

Remarks49

7 Commands for parameter set up<ch>: 0 ~ F(Hexadecimal) for channel.

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

50

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.

51

8 Timing out signal output

Output method
1. Set the timing signal
In LOCAL mode, please refer to “Page7 TIMING OUT setting” (page 27) 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>

3/ 10us pulse
4/ 100us pulse
5/ 1ms pulse
6/ Manual level output
7/ manual 1us pulse
8/ manual 10us pulse
9/ Manual 100usA/ Manual 1ms pulse

Type of signal

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

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

Argument<md>

S/ start point

Reply±ddddddd (Signed 7-digit integer)

ExampleTMGE?2mode

E/ end point

reply: +0050000

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

52

TMGIF1000
CH-F's the interval of timing pilse will be set to 1000.
Only remote mode

8 Timing out signal output<ch>: 0 ~ F(Hexadecimal) for channel.
Command

TMGI?<ch>Confirm the interval of the timing pulse output.

Reply dddddddd (8-digit integer)
ExampleTMGI?F

reply: 00001000

Remarks

Command
Argument
Initial value

TMG<md><ch><data>

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

Remarks

Only remote mode

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

2. 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.
3. Prepare the timing signal output.
In local mode, please add "#" to the appropriate channel on Motor drive screen (page13). In remote mode, please enter the following command.
Confirm the timing signal output preparation mode.
At the time of manual output, the current output is
answered.
YES/ The timing signal output preparation mode is ready.
Reply
NO/
The timing signal output preparation mode is not ready.

Command

TMGR?<ch>

ExampleTMGR?F

reply: NO

Remarks53

8 Timing out signal output<ch>: 0 ~ F(Hexadecimal) for channel.
Command TMG<md><ch>
Argument<md>

Initial value

Clear

state

Set / clear the timing signal output preparation mode.
At the time of manual output, the current output is answered.
R/ Ready
H level, pulse output (manual)
C/ Clear
L level output (manual)

Reply Nothing
Example

TMGR0
Make the timing signal output preparation of ch0.
In manual mode, if it is a level output, TMGR outputs an H level signal. Output
L level with TMGC.
If it is a pulse output, a pulse with the width set by TMGR is output once.

Remarks Only remote mode

4. 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.
Timing out output
CCW

start point

End
CW

point

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 signal manual output modeIf you set <type> to 6 with the command "TMGM <ch> <type>", you can output
the timing signal to the level output arbitrarily, and if you set 7 to A, you can output
1 pulse. In case of 6, H level is output by TMGR <ch> and L level is output by
TMGC <ch>.
For 7 to A, a pulse with the set width is output once each time TMGR <ch> is input.

Timing output channel fixed mode
In addition to the conventional mode (the timing signal output channels are linked
to the display position on the LCD), mode to fix the output channel is 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 28). In remote mode operation, make the setting with the following
command.

54

8 Timing out signal output<ch>: 0 ~ F(Hexadecimal) for channel.
Set the output channel mode of the timing
signal.

Command TMGFX <md>Argument<md>

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.

Confirm the output channel mode of the timing signal.

Command TMGFX?

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

reply: EN

Remarks

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

TMGCH?

Confirm the channel of the timing signal.

Reply <ch><ch><ch><ch>order: TP0,TP1,TP2,TP3 (hexadecimal)

ExampleTMGCH?

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.
55

9 Other Operation

9 Other Operation
9-1 Channel comment setting
You can leave 3 characters for each channel. Channel comment is not displayed at theinitial state. 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

T/ Timing signal output port display
C/ Channel comment display

Timing signal output port display

Reply Nothing56

Switch the display of the LCD.

ExampleLCD_DISP C

Remarks

Remote mode only

9 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.

57

9 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.
<ch>: 0 ~ F(Hexadecimal) for channel.
Command CHCMNT<ch> <cmt>
Argument<cmt>

Initial value

CH<ch>

comment

Set the comment to channel.
Please entercharacters.

alphanumeric

up

to

three

Reply Nothing
ExampleSet the comment “A-3” to CH10.

CHCMNTA A-3

Remarks Only remote mode.

Command CHCMNT?<ch>

Reply

ExampleRemarks

58

ccc
ccc ccc ccc ... ccc

CHCMNT?A

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.

reply:A-3

9 Other Operation

9-2 All reply mode
In PM16C-16EC2, All reply mode have been added to add a response to the command withno response. 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 5-9 Page9 Parameters of remote mode setting on SETUP mode (page28) for local mode. And you can set this by the following command for remote mode.

Command

ALL_REP <md>Argument<md>

Initial valueDS

Set All reply modesetting

EN/ Enable all reply mode

DS/ Disable

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

Remarks

Only remote mode, set only the communication port when sending
commands

Command

ALL_REP?

Confirm All reply mode or not

Reply EN/ Enable All reply mode

DS/ Disable

ExampleALL_REP?

Reply: DS

Remarks

The settings on the communication port when the command is sent are read59

9 Other Operation

9-3 Maintenance command
Command VER?

Read out firmware version.

Reply Example) V1.00 17-07-20 PM16C-16EC2Remarks

Command VERH?

Read out hardware version.

Reply Example) HD-VER 211111
Remarks (V1.02 ~) The first character is displayed on the startup screen.
Command VERE?
Reply Example)

Read out EtherCAT Slave board version.
EtherCAT SLAVE V1.00

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?

ERRF?
Reply

ERR?

ExampleRemarks

60

ERR?
ERRF?

Read out error status.
Hexadecimal two-digit.
b7/BATTERY EMPTY
b3/OTHER ERROR
HH
b2/PARAMETER ERROR
b1/MCC06 BUSY ERROR
b0/COMMAND ERROR
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

9 Other Operation

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

Remarks

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
Please note that when you restart the equipment after you run this command,
Remarks various parameters will be initialized.
(V1.02 ~) Parameters are no longer initialized.

Command REST

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

Reply Nothing
Remarks61

9 Other Operation

10 EtherCAT slave function
10-1 Communication specifications with EtherCAT master
PM16C-16EC2 has a built-in EtherCAT slave function and only performs PDO
communication with the EtherCAT master. The default communication cycle is 1ms.
PDO data consists of two areas, “Constantly updated data area" and "Command
communication data area". The “Constantly updated data area" is an area where the position
data and status data of each CH are constantly updated. The "data area for command
communication" is used as an area for sending and receiving PM16C-16EC2 standard
commands. By communicating the position data and status data of each CH in the "always
updated data area", data can be acquired faster than before.

10-2PDO communication data list
Below is a list of PDO data.
Table. PDO communication data list (206 Byte)
data
Classification

EtherCATmastermasteraccessEtherCAT
slave
access

PDO
data item

data
size
[Byte]

AlwaysForcommunication
data

Read

Write
Write

s tatus,position,
Remote mode
Such

100

Definition

See the attached sheet.

slave has received a command request from the EtherCAT master and that the ECAT slave is readyto return a command response.

Read

Write
Write

answerstandby1a) If the slave has not received a command request from the master, set "answer standby = 0 ".
b) When the slave receives the command request from the master, "answer standby = 1 " is set.
c) When the command response from PM16C can be returned to the master, return to "answer
standby = 0 ".
* The slave accepts the command request from the master only when the command length changes
from "0 to *".
Read the command statement at that time and recognize the command.
Even if only the command length changes from "5 to 8", the command request is ignored.

Read

Write
Write

commandFor
communication
data
Write
Write

busy

Commandlength

1

Four

Read

A status signal that PM16C is processing for command response.
(* This signal is used only between the Slave IF board and PM16C, and the EtherCAT master does
not need to be aware of it.)

When the master wants to request a command from the slave, it stores a number according to thelength of the command statement.
slave receives the command ( answer standby = 0 → 1 ) and confirms the response from the slave( answer standby = 1 → 0 ), the command length is returned to 0.
Even if the master wants to send consecutive commands, it is not possible to issue the next command
after performing PDO communication with "command length = 0".

Commandstatement

32

Only command statements are written in ASCII. Fixed length. Fill the remainder with Null.

When the slave wants to send a command response, it stores a numerical value according to thelength of the command response statement.

Read

62

Write
Write

command
Response
lengthFourcommand
Response
statement

64a) Unless the command response is sent, the command response length is set to 0.
b) time when the command response is sent to the master is the time when answer standby = 0 →1.
c) When the command length from the master becomes "* → 0" and it is determined that the masterhas recognized the command response, the command response length is returned to 0.

Only command statements are written in ASCII. Fixed length. Fill the remainder with Null.

9 Other Operation

10-3 Data content
communication

forconstant

communication

in

PDO

The constant communication data in the PDO communication message are described
below.
“No” indicates the byte data address.
Table. Data content for constant communication (100 Byte)

63

11

11 Firmware version up
PM16C-16EC2 can be done using the firmware version RS232C communication line.
When updating the firmware, for safety, disconnect the connection between the main unit
and the driver, or turn off the power of the driver.
Also, if you upgrade the version with FW V1.01 or earlier, various settings including thecurrent pulse value will be initialized. If necessary, write down the setting values, or save theparameters with the trial software for PM16C-04XDL.
If the two ROMs contain V1.02 or later FW, various settings will no longer be reset byswitching between version UP and FW. When upgrading to V1.02 or later FW for the firsttime, please perform the version upgrade work twice to write to two ROMs.
If you upgrade the version from V1.01 or earlier, or return to the FW of V1.01 or earlier, thesettings will be reset as before.
http://www.tsuji-denshi.co.jp/manual_pdf/pm16c_04xd_vup_soft.pdf (PDF file)
Instruction manual for file transmission software,
http://www.tsuji-denshi.co.jp/download_file/lan_rs_file_send.EXE (EXE file)
File transmission software has been uploaded.
In this section, we will explain that the version is upgraded using the free software Tera Term.
Note:
When switching the FW used in "FIRMWARE CHANGE", if you change the ROM used
for the next boot after downloading the latest FW, all the position data will be reset to 0
and the various setting values will be reset to the initial values.
(V1.02 or later) When both FWs are V1.02 or later, both the position and the set value
are no longer reset.
1.
2.
3.
4.

Prepare the text-file for version upgrade to your PC.
Launch the program "Tera Term".
Operation is File -> New connection, then select “Serial communication”.
Operation is SETUP ->, then set 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-16EC2 to REMOTE MODE. Also, disable all response modes.
(In Local mode, version up is not recognized, even if version up file has been sent.
File transmission may fail if all response modes are enabled.)
If you set the REPLY: item on page 9 of the SETUP screen to DIS, all response modes
will be disabled.
6. Operation is Tera Term’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 (.S). Upload
will begin.
7. REM lamp on the PM16C-16EC2 is blinking on and off slowly that indicate receiving
the file by PM16C-16EC2.
After received 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.
64

11

8. Please disconnect the Tera Term and exit.
PM16-16EC2 will start with the new firmware, if restart the PM16C-16EC2 whilepressing the REM/LOC button.
Also, PM16C-16EC2 will start with the new firmware, if the command "REST" is sent.
You can use the "PROGRAM CHANGE" on Page10 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.
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.
NEW / OLD display changes after V1.02.
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 print circuit board"TEP743" Set the dip switch 2 to side "ON". (Dip switch
1 is still side "OFF".)
2. Put on the power line pushing ten-key switch "5". The"RED" led lamp that indicate "REMOTE" is flashing on
and off for 15 seconds, 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 the65

11position 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.

66

12 Appendix

12 Appendix
12-1 Command List
A

G

ABSx .............................................. 36
AESTP ........................................... 38
ALL_REP DS ................................ 59
ALL_REP EN ................................ 59
ALL_REP? ..................................... 59
ASSTP ........................................... 38

GTHPx .......................................... 38

B
B?x ................................................. 37
BL?x............................................... 46
BLxddddddd .................................. 46
Bxdddd .......................................... 37

C
CHCMNT?x ................................... 58
CHCMNTx ccc............................... 58
CSCANNx ..................................... 35
CSCANPx ...................................... 35

E
ERR? .............................................. 60
ERRF? ........................................... 60
ESTPx............................................ 38

F
FDHPx........................................... 38
FL?x ............................................... 46
FLxddddddd .................................. 46
FROM? .......................................... 61
FROM0 .......................................... 61
FROM1 .......................................... 61

H
H_OFTM?x .................................... 42
H_OFTMxttt ................................. 42
H_ONTM?x ................................... 42
H_ONTMxttt................................. 42
HDSTLS? ...................................... 33
HOLD?x ........................................ 42
HOLDTM?x ................................... 42
HOLDTMxttt ................................ 42
HOLDxOFF .................................. 41
HOLDxON .................................... 41

J
JOGNx........................................... 34
JOGPx ........................................... 34

L
LCD_DISP C ................................. 56
LCD_DISP T ................................. 57
LCDB? ........................................... 50
LN_SRQ?G .................................... 40
LN_SRQ?x ..................................... 40
LN_SRQx0 .................................... 40
LN_SRQx1 .................................... 40
LOC ............................................... 30
LS? ................................................. 32
LS_16? ........................................... 33

P
PAUSE OFF .................................. 39
PAUSE ON .................................... 39
PAUSE? ......................................... 39
67

12 Appendix

PS?x ............................................... 33
PS_16? ........................................... 33
PSxddd･･･ ...................................... 33

R
RELx .............................................. 36
REM ............................................... 30
REST .............................................. 61
RRATE?x ....................................... 45
RRATExddd.dd .............................. 44
RS_SRQ?G ..................................... 40
RS_SRQ?x ...................................... 40
RS_SRQx0 ..................................... 40
RS_SRQx1 ..................................... 40
RTE?x ............................................ 44
RTExddd ........................................ 44

S
SABS?x .......................................... 48
SABSx±dddd .................................. 48
SCANHNx ..................................... 35
SCANHPx ...................................... 35
SCANNx ........................................ 35
SCANPx ......................................... 35
SETCH xABCD ............................. 49
SETCH? ......................................... 49
SETHP?x ....................................... 47
SETHPx0XYZ ................................ 47
SETJG x±dddd .............................. 49
SETJG?x ........................................ 49
SETLS?x ........................................ 46
SETLSxYYY0yyy .......................... 46
SETMT?x ....................................... 41
SETMTxabcd ................................. 41
SHP?x ............................................ 47
SHPF?x .......................................... 48
SHPFxdddd ................................... 48
SHPx+dddd.................................... 47
SPCxdddd ...................................... 38
SPD?x ............................................ 35
SPDAL? ......................................... 44
SPDH?x.......................................... 44

68

SPDHx ........................................... 34
SPDHxdddddd ............................... 43
SPDL?x .......................................... 44
SPDLx............................................ 34
SPDLxdddddd ............................... 43
SPDM?x ......................................... 44
SPDMx........................................... 34
SPDMxdddddd .............................. 43
SPRS?x .......................................... 48
SPRSx±dddd .................................. 48
SREL?x .......................................... 48
SRELx±dddd ................................. 48
SRQ?G ........................................... 40
SRQ?x ............................................ 40
SRQ_OUT? .................................... 39
SRQx0 ............................................ 40
SRQx1 ............................................ 40
SSTPx ............................................ 38
STOPMD?x .................................... 43
STOPMDxAB ................................ 43
STS? ............................................... 31
STS_16? ......................................... 32
STSM? ........................................... 60
STSx? ............................................. 31

T
TMGCH?........................................ 55
TMGCHabcd.................................. 55
TMGCx .......................................... 53
TMGFX DS .................................... 55
TMGFX EN ................................... 55
TMGFX? ........................................ 55
TMGI?x .......................................... 53
TMGIxddddddd ............................. 53
TMGR?x ......................................... 53
TMGRx .......................................... 53

V
VER? .............................................. 60
VERE? ........................................... 60
VERH? ........................................... 60

13 Revision History

12-2 Battery backup battery replacement
PM16C-16EC2 uses a button battery for battery backup, even if the power is turned off.
It holds the settings of each axis and the current position.
It has a life of 5 years or more, but if the battery runs out, it will not be possible to set andretain location information when the power is turned off. If you turn on the power in thatstate, " BATT EMPTY" will be displayed on the LCD at regular intervals, and the "ERR? "Command will respond with "BATTERY EMPTY".
Please have one CR2032 ready when you replace thebackup battery.
When you open the top lid of the main body, thebattery is stored in BAT1 at the lower left of the board
in the center.
Push the battery in the opposite side of the claws on
the battery (the part surrounded by the circle in the
figure on the right), remove the battery, and replace itwith a new one. When the replacement is complete,
push the battery in so that the claws catch on thebattery.
After replacing the battery, turn on the power of the main unit. "BATT EMPTY" is displayedwhen the power is turned on for the first time, but after that, the power is turned on again,
and when the previous display disappears after the second time, the battery replacement iscomplete.

69

13 Revision History

13 Revision History

70

Revision

Date2

2022/07/19

Revision history
Initial version release.
English version1 is matched with Japanese version 2.

13 Revision History

14 Performance and Specifications
Power

AC 85V ~ 264V,
Control motor

47 ~ 440Hz,
50VA
16 motors can be controlled
Local mode: controls 4 motor units at the same time.
Capability
Remote mode: controls 16 motor units at the sametime.
CW, CCW, HOLE OFF (5V, 8mA: line driven) for
Out put
each 16 motor driver
Pulse rate
1 ~ 5MPPS
Pulse control number
0 ~ ±2,147,483,647
Acceleration and1048.56 ~ 0.0125 ms/kHz
IN/OUT
deceleration rate
Acceleration andConstant speed, S-character form,
deceleration form
trapezoidal form
Pulse-Pulse, Pulse direction (Polarity of direction
Output format
can be switched.)
Pulse out connector
Dsub9S
CW-LS, CCW-LS, HOME-LS 12V 5mA (minus
Limit switch input
common) and power supply +12V for censer for each
motor (total 1A).
Limit switch connector Dsub9P
Characters and lines of
20charactors × 4 lines (Size : 9.2H ×4.8W)
display device
channel number, current position of ±10 digit
number, speed display, contents of limit switch,
Display contents inrelative moving value, preset count value, home
control mode
position information, panel operation ready/not
ready
LCD display
Limit switch setting information, pulse output
mode, value of speed HSPD/MSPD/LSPD,
acceleration and deceleration rate value, Push
Display contents inbutton stop mode, origin detect function, timing
data set mode
pulse generate function, RS232C settings, GP-IB
settings, HAND BOX selection, FIRMWARE
version selection
Remote control Communication way
EtherCAT, GP-IB, RS232C port
Physical layer
100BASE-TX (IEEE802.3) 100Mbps
connector
RJ 45 x2
Process data
Fixed PDO size
EtherCATSDO information service,
MailboxSlave
SDO upload, SDO download
Synchronous mode
FreerunCommunication cycle 1ms or moreCase
EIA 2 UNIT rack mount t type (88H×482W×325D)

71

14 Performance and Specifications

For the further information, feel free to ask us.
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, Japan72