16CH STEPPING MOTOR CONTROLLER
ＰＭ１６Ｃ－０４ＸＤ(Ｌ)USER'S MANUAL（FOR REMOTE CONTROL）
2658,2735（V2/090928=V10JP）APPLICATIONOFELECTRONICTSUJI ELECTRONICS

DEVICES

CO.,LTD

Head office/3739 Kandatsu-machi Tsuchiura-city
Ibaraki-Pre. 300-0013 Japan
Phone +81-(0)29-832-3031
Fax+81-(0)29-832-2662
URL

http://www.tsujicon.jp/

E-mail info2@tsuji-denshi.co.jp

ＣＯＭＭＡＮＤ ＬＩＳＴ （LAN,RS232C,GP-IB)
x:0～F(motor)

dd･･･d:decimal data

MODE
R
R
R
R
R
R/L

COMMAND
ABSx±dddddddddd
ABSxB±dddddddddd
ABSxS±dddddddddd
ASSTP,AESTP
BLx±ddddddd
BL?x

R
R
R
R/L

CSCANPx,CSCANNx
FDHPx
FLx±ddddddd
FL?x

R
R
R
R/L
R
R
R/L

GTHPx
JOGPx,JOGNx
LOC
LS?
PAUSE ON, PAUSE OFF, PAUSE?
PSx±ddddddd
PS?x

R
R
R
L
R
R/L
R
R/L
R
R/L
R

RELx±dddddddddd
RELxB±dddddddddd
RELxS±dddddddddd
REM
RTExddd
RTE?x
SABSx±ddddddd
SABS?xSACTxY
SACT?xSCANHPx,SCANHNx

RR

SCANPx,SCANNxSETHPx0XYZ

R/L
R
R/L
R

SETHP?xSETJGxdddd
SETJG?x
SETLSxDYYY0Yyyy

R/LR

SETLS?x
SETMTxABCD

NOTE
absolute index scanabsolute index scan, both dir. backlash rejectabsolute index scan, single dir. backlash reject
all moving motor slow stop or fast stop
set backward digital limit
read backward digital limit
reply: ±ddddddd(decimal)
constant speed scan to cw or ccw direction
find home position(start auto find sequence)
set forward digital limit position
read forward digital limit
reply: ±ddddddd(decimal)
go to home position if it exists
Jog command(one step to cw or ccw direction)
Local mode change
LS read
reply: abcdHJKL
set pause, clear pause, read out/reply: ON or OFF
preset position dataread position data
reply: ±ddddddd(decimal)
relative index scanrelative index scan,both dir.backlash remove
relative index scan,single dir.backlash remove
Remote mode changeacc. rate set
ddd: 0～115(see rate table p)
read acc. RATE
reply: ddd
set abs pos data for local mode
read abs pos data for local mode reply:±ddd･･･dd
set active for local Y: 0/non active 1/active
read active for local reply: 0 or 1
accelerative scan to cw or ccw direction
if HP switch then stop
accelerative scan to cw or ccw direction
HP find information set
X: found/1,not found/0
Y: found dir. 0/cw,1/ccw
Z: auto start dir. 0/cw,1/ccw
read HP find information reply: 0XYZ
set Jog pulse for manual PB
read JOG pulse for manual PB
reply: DDDD
se LS characteristics
D: digital limit enable/1, disable/0
Y: LS enable/1, disable/0
y: LS N.C/1, N.O/0
read LS setting
reply: DYYY0YYY(see SETLSx)
motor drive set
A: 1/drive enable 0/disable
B: 1/hold on
0/hold off
C: 0/const
1/trapezoidal 2/S character
D: 0/Pulse-Pulse 1/Pulse-Direction
2/PDR

MODE
R/L
R
R/L
R
R/L
R
R
R/L
R/L

COMMANDSETMT?x
SHPx±ddddddd
SHP?x
SHPFxdddd
SHPF?xSPCxdddd･･･
SPDHx,SPDMx,SPDLx
SPD?x
SPDAL?

R
R/L
R
R/L
R
R/L
R
R/L

R
R

SPDHxdddd･･･
SPDH?xSPDLxdddd･･･
SPDL?xSPDMxdddd･･･
SPDM?xSPRSx±ddddddd
SPRS?xSRELx±ddddddd
SREL?x
SRQx1
SRQx0
SRQ?x
SSTPx,ESTPx
STOPMDxAB

R/L
R/L

STOPMDx?
STQ?

R/L

STS?

R
R/L
R
R/L
R

TMGEx±ddddddd
TMGE?xTMGIxddddddd
TMGI?xTMGMxY

R/L
R
R/L
R
R/L

TMGM?xTMGRx
TMGCx
TMGR?xTMGSx±ddddddd
TMGS?x

R/L
R/L

NOTE
read motor set
reply: ABCD
set home position dataread home position reply: ±ddddddd or NO H.P
set home position offset
read home position offset reply: dddd
change speed while moving(１～5,000,000)
change speed
read speed
reply: HSPD or MSPD or LSPD
active axis and their set speed read
reply:
abcd/Hxxxxxxx/Mxxxxxxx/Lxxxxxxx/Hxxxxxxx(busy axis will reply "000000")
set HSPD to ddd･･･ in pps unit(１～5,000,000)
read HSPD
reply: dddddd
set LSPD to ddd･･･ in pps unit(１～5,000,000)
read LSPD
reply: dddddd
set MSPD to ddd･･･ in pps unit(１～5,000,000)
read MSPD
reply: dddddd
set preset data for local mode
read preset data for local mode reply:±DDD･･･DD
set rel pos data for local mode
read rel pos data for local mode reply:±DDD･･･DD
SRQ flag set
auto reset after SRQ out
SRQ flag reset
SRQ flag read
reply: 1 or 0
slow stop or fast stop
set PB and LS stop mde
A: 0/LS slow stop 1/LS fast stop
B: 0/PB slow stop 1/PB fast stop
read PB & LS stop mode reply: AB
A,B: 0,1
Remote/Local mode and moving motor information
reply: Rn or Ln n: 0 ～ 4 moving motor number(if n = 4 then you can't start another motor)
Status read out
reply:
R(L)abcd/PNNS/VVVV/HHJJKKLL/±uu･･･/±vv･･･/±ww･･･/±xx･･･/
PNNS: P: cw moving N: ccw moving S: stopped
VVVV:LS status & hold off status
HH,JJ,KK,LL: mcc statusuu･･･,vv･･･,ww･･･,xx･･･ : current position
timing out end point set
read timing out end point
reply: ±DDD･･･DD
timing out interval step set
read timing out interval step reply: DDD･･･DD
timing out mode set
Y: 0/disable 1/gate 2/200ns 3/10us 4/100us
5/1ms pulse out
read timing out mode reply: 0 ～ 5timing out ready set or ready clear
read timing ready
reply: YES or NO
timing out start point set
read timing out start point reply: ±DDD･･･DD

MODE
R

R

R

R

R

R

R

R

R

R

R

COMMANDNOTE(Continuous) interpolation function command
A pair of position controller A,B or position controller C,D is available"C0･･･" command is to use controller A,B pair"C1･･･" command is to use controller C,D pair
Speed of synthesis depend on the motor that is set to A,C controller
C0ALNab±xx･･･/±yy･･･
absolute address a,b axis straight line
C1ALNab±xx･･･/±yy･･･interpolation to the destination.
a,b: 0～F xx･･･,yy･･･: decimal under 9 digit
C0RLNab±xx･･･/±yy･･･
relative address a,b axis straight line
C1RLNab±xx･･･/±yy･･･interpolation to the destinationa,b: 0～F xx･･･,yy･･･: decimal under 9 digit
C0ACPab±xx･･･/±yy･･･/±uu･･･ absolute address a,b axis cw direction circular/±vv･･･
interpolation with center position data.
C1ACPab±xx･･･/±yy･･･/±uu･･･
a,b: 0～F x,y: destination u,v:center position/±vv･･･
x･･･,y･･･,u･･･,vv･･･: decimal under 9 digit
perfect circle interpolation will be done bysetting the destination to current position.
C0ACNab±xx･･･/±yy･･･/±uu･･･ absolute address a,b axis ccw direction circular/±vv･･･
interpolation with center position data.
C1ACNab±xx･･･/±yy･･･/±uu･･･
another data are same as above.
/±vv･･･
C0RCPab±xx･･･/±yy･･･/±uu･･･ relative address a,b axis cw direction circular/±vv･･･
interpolation with center position data.
C1RCPab±xx･･･/±yy･･･/±uu･･･
a,b: 0～F x,y: destination u,v:center position/±vv･･･
x･･･,y･･･,u･･･,vv･･･: decimal under 7 digit
perfect circle interpolation will be done bysetting the destination to (0,0) position.
C0RCNab±xx･･･/±yy･･･/±uu･･･ relative address a,b axis ccw direction circular/±vv･･･
interpolation with center position data.
C1RCNab±xx･･･/±yy･･･/±uu･･･
another data are same as above.
/±vv･･･
C0AACab±xx･･･/±yy･･･/±uu･･･ absolute address a,b axis circular interpolation/±vv･･･
with bypass point data.
C1AACab±xx･･･/±yy･･･/±uu･･･
a,b: 0～F x,y: destination u,v: bypass point/±vv･･･
x･･･,y･･･,u･･･,vv･･･: decimal under 9 digit
C0RACab±xx･･･/±yy･･･/±uu･･･ relative address a,b axis circular interpolation/±vv･･･
with bypass point data.
C1RACab±xx･･･/±yy･･･/±uu･･･
a,b: 0～F x,y: destination u,v: bypass point/±vv･･･
x･･･,y･･･,u･･･,vv･･･: decimal under 7 digit
C0ACCab±xx･･･/±yy･･･/±uu･･･ absolute address a,b axis perfect circle/±vv･･･
interpolation with two bypass point data.
C1ACCab±xx･･･/±yy･･･/±uu･･･
a,b:0～F x,y:bypass point 1 u,v:bypass point 2/±vv･･
x･･･,y･･･,u･･･,vv･･･: decimal under 9 digit
C0RCCab±xx･･･/±yy･･･/±uu･･･ relative address a,b axis perfect circule/±vv･･･
interpolation with two bypass point data.
C1RCCab±xx･･･/±yy･･･/±uu･･･
a,b:0～F x,y:bypass point 1 u,v:bypass point 2/±vv･･･
x･･･,y･･･,u･･･,vv･･･：decimal under 7 digitNew added command.
V1.13～
MODE

COMMAND(Auto change scan command)R
ACSxyyy/PNT/JJJ･･J/FNC/LLL･･L

R

ACS?xyyy

R
R/L

ACSPx
ACSP?xR
R

ACSCx
PAUSE ON
PAUSE?
ABSx(B)±dddddddd
RELx(B)±dddddddd
SCANPxSCANNxPAUSE OFF

R

R
V1.14～MODE
R/L

HDSTLS?

R

SETCHabcd

R/L

SETCH?

V1.17～MODE
R/L
R

HOLD?x
HOLDxON
HOLDxOFFNOTE
set data commandx : channel 0,1,2,･･･,9,A,B,C,D,E,F
yyy: sequence number 0 to 127max
PNT: END should be written at next to end seq.
: ADD relative address from start point: TIM relative time from previous point: ACC speed data while acceleration: DEC speed data while deceleration
JJJ: relative address ±2,147,483,647max: time 0 to 65,535ms
FNC: SPD LLL･･･L means speed data in pps: RTE LLL･･･L means rat data
: SLW slow stop
: FST fast stop
: NOP no operation(skip this seq. number)
LLL: speed 1 to 5,000,000pps: rate rate data number in the same range
data read commandx : channel 0,1,2,･･･,9,A,B,C,D,E,F
yyy: sequence number 0 to 127max
reply: xyyy/PNT/JJJ･･･J/FNC/LLL･･･L
auto change scan ready set command
auto change scan ready read command
reply: ready, not readyauto change scan ready clear command
send before scan start command
reply ON or OFF
auto change scan start command when the axis is
auto change scan readysend after scan start command for synchronousscan start of multi channels

COMMAND

NOTE
hard and soft limit sw read
reply: abcdHHHHSSSS abcd/ch, HHHH/hard SSSS/softset ch a,b,c,d to control window A,B,C,D positiona,b,c,d: 0～9,A,B,C,D,E,F(HEX) "-" not changed.
read channel setting to current control A,B,C,D

COMMAND

NOTE
hold on/off state read x:ch(0,1,･･･9,A,B,C,D,E,F)
reply: ON or OFF
hold on set to ch x
hold off set to ch x

FOR MAINTENANCE
MODE
COMMANDR/L
ACSK?xAuto change scan data read

R/L

ACSH?xAuto change scan data read

R/L
R/L
R
R/L
R/L
R/L

FROM0, FROM1
FROM?
REST
STSM?
VER?
VERH?

NOTE
reply
aabb,hhhh,hhhh
aa: code(00:END,01:ADD,02:TIM,80:ACC,81:DEC)bb: sequence number(0 to 7F)
hh･･･hh: data
reply
aabb,hhhh,hhhh
aa: code(00:SPD,01:RTE,02:SLW,03:FST,0F:NOP)
bb: sequence number(0 to 7F)
hh･･･hh: data
FROM selectcurrent FROM read reply: FROM0,FROM1
restart without power off-on
read status port1 of MCC06 aaaa/bbbb/cccc/dddd
read version reply: 1.00 06-10-14 PM16C-04X
hardware version read reply: HD-VER0,1,2,5,6

Existing commands below are available to PM16C-04XD and PM16C-04XDL.

OLD COMMAND LISTCOMPATIBLE TO PM16C-02N,-02Z,-04,-04S
MODE
R/L
R/L
R/L
R

R/L
R
R/L

R

COMMAND
Ｓ１Ｒ
Ｓ１Ｌ
Ｓ１０

NOTE
remote mode change
local mode changeＲ□□□□motor channel No. reply of "A, B, C, D" for -04 typeＲ□□
motor channel No. reply of "A, B"
for -02 typeＳ１１□
set motor channel □ to A
Ｓ１２□
set motor channel □ to B
Ｓ１３０１
SRQ set when A motor stopped
Ｓ１３０２
SRQ set when B motor stopped
Ｓ１３０４
SRQ set when C motor stopped
Ｓ１３０８
SRQ set when D motor stopped
Ｓ１３０Ｆ
SRQ when A,B,C,D motor stopped (combination available)
Ｓ１３８０
SRQ cancel (also with GP-IB COMMAND "IFC")
Ｓ１４
SRQ flag read
Ｒ□□
(HEX)
Ｓ１５□
set motor channel □ to C
Ｓ１６□
set motor channel □ to D
Ｓ２０
A position data read
reply: Ｒ□□□□□□ (HEX)
Ｓ２０Ｄ
A position data read
reply: ±ＤＤＤＤＤＤＤ(DEC)Ｓ２１
A position status read reply: Ｒ□□
(HEX)
Ｓ２２
B position data read
reply: Ｒ□□□□□□ (HEX)
Ｓ２２Ｄ
B position data read
reply: ±ＤＤＤＤＤＤＤ(DEC)Ｓ２３
B position status read reply: Ｒ□□
(HEX)
Ｓ２４
C position data read
reply: Ｒ□□□□□□ (HEX)
Ｓ２４Ｄ
C position data read
reply: ±ＤＤＤＤＤＤＤ(DEC)Ｓ２５
C position status read reply: Ｒ□□
(HEX)
Ｓ２６
D position data read
reply: Ｒ□□□□□□ (HEX)
Ｓ２６Ｄ
D position data read
reply: ±ＤＤＤＤＤＤＤ(DEC)Ｓ２７
D position status read reply: Ｒ□□
(HEX)
Ｓ３０□□
A position 2 byte command□□：command
08: +jog,
09: -jog
0C: +CSPD scan
0D: -CSPD scan
0E: +scan
0F: -scan
16: pause on
17: pause off
18: hold off
19: hold on 1E: +scan & HP stop 1F: -scan HP stop
40: slow stop 80: EM.stop
Ｓ３１□□
B position 2 byte command□□：command
08: +jog,
09: -jog
0C: +CSPD scan
0D: -CSPD scan
0E: +scan
0F: -scan
16: pause on
17: pause off
18: hold off
19: hold on 1E: +scan & HP stop 1F: -scan HP stop
40: slow stop 80: EM.stop
Ｓ３２ＸＸＸ A position 8 byte command
ＸＸＸ□□
ＸＸＸＸＸＸ: HEX position dataOR□□: command
Ｓ３２ＸＸＸ 10: CSPD REL.IDX 11: CSPD ABS.IDX
ＸＸＸ□□Ｂ 12: REL.IDX
13: ABS.IDX
auto backlash correction with "B"
Ｓ３２□
A position DEC index command＊±DDDDDDD or □: A: absolute index scan, R: relative index scan
Ｓ３２□
±DDDDDDD: DEC position data
±DDDDDDDB
auto backlash correction with "B"
Ｓ３３ＸＸＸ B position 8 byte command
ＸＸＸ□□
ＸＸＸＸＸＸ: HEX position dataOR□□: command
Ｓ３３ＸＸＸ 10: CSPD REL.IDX 11: CSPD ABS.IDX
ＸＸＸ□□Ｂ 12: REL.IDX
13: ABS.IDX
auto backlash correction with "B"

ﾓｰﾄﾞ

R

R/L

R

R/L

R

コマンド
応 答 内 容Ｓ３３□
B position DEC index command±DDDDDDD or □: A: absolute index scan, R: relative index scan
Ｓ３３□
±DDDDDDD: DEC position data
±DDDDDDDB
auto backlash correction with "B"
Ｓ３□
speed change S34: L SPEED S35: M SPEED S36: H SPEED
Ｓ３８□□
C position 2 byte command□□: command
08: +jog,
09: -jog
0C: +CSPD scan
0D: -CSPD scan
0E: +scan
0F: -scan
16: pause on
17: pause off
18: hold off
19: hold on 1E: +scan & HP stop 1F: -scan HP stop
40: slow stop 80: EM.stop
Ｓ３９□□
D position 2 byte command□□: command
08: +jog,
09: -jog
0C: +CSPD scan
0D: -CSPD scan
0E: +scan
0F: -scan
16: pause on
17: pause off
18: hold off
19: hold on 1E: +scan & HP stop 1F: -scan HP stop
40: slow stop 80: EM.stop
Ｓ３ＡＸＸＸ C position 8 byte command
ＸＸＸ□□
ＸＸＸＸＸＸ: HEX position dataOR□□: command
Ｓ３ＡＸＸＸ 10: CSPD REL.IDX 11: CSPD ABS.IDX
ＸＸＸ□□Ｂ 12: REL.IDX
13: ABS.IDX
auto backlash correction with "B"
Ｓ３Ａ□
C position DEC index command±DDDDDDD or □: A: absolute index scan, R: relative index scan
Ｓ３Ａ□
±DDDDDDD: DEC position data
±DDDDDDDB
auto backlash correction with "B"
Ｓ３ＢＸＸＸ D position 8 byte command
ＸＸＸ□□
ＸＸＸＸＸＸ: HEX position dataOR□□: command
Ｓ３ＢＸＸＸ 10: CSPD REL.IDX 11: CSPD ABS.IDX
ＸＸＸ□□Ｂ 12: REL.IDX
13: ABS.IDX
auto backlash correction with "B"
Ｓ３Ｂ□
D position DEC index command±DDDDDDD or □: A: absolute index scan, R: relative index scan
Ｓ３Ｂ□
±DDDDDDD: DEC position data
±DDDDDDDB
auto backlash correction with "B"
Ｓ４ＸＹ
data read command
X: channel No.(0-F) Y: data No.(0-F)
reply: Ｒ□□□□□□ (HEX) 3 byte data from read data address
Ｓ４ＸＰＳ
position data read X: channel No.(0-F) PS: position data read
reply: ±ＤＤＤＤＤＤＤ (DEC)
Ｓ４ＸＦＬ
forward DGLS read
X: channel No.(0-F) FL: forward DGLS read
reply: ±ＤＤＤＤＤＤＤ (DEC)Ｓ４ＸＢＬ
backward DGLS read X: channel No.(0-F) BL: backward DGLS read
reply: ±ＤＤＤＤＤＤＤ (DEC)Ｓ５ＸＹ□□ data write command
X: channel No. Y: data No. □□: write data (HEX)Ｓ５ＸＰＳ
position data write X: channel No.(0-F) PS: position data write±DDDDDDD±DDDDDDD : write data (DEC)
Ｓ５ＸＦＬ
forward DGLS write X: channel No.(0-F) FL: forward DGLS read
±DDDDDDD±DDDDDDD: write data (DEC)Ｓ５ＸＢＬ
backward DGLS write X: channel No.(0-F) BL: backward DGLS read
±DDDDDDD±DDDDDDD: write data (DEC)Ｓ６
status & LS read (a row of data is B,A,D,C for "-02N" compatible）
reply:Ｒ□□□□ □：HEX CODE REM/LOC, LIMIT SW
BXhhhhbacklash correction data(for CH X) set(h:HEX,D8F1～270F)
ＢＸＨ？
backlash correction data(for CH X) read
reply: Ｒｈｈｈｈ(HEX)BX±DDDDbacklash correction data(for CH X) set 0～±9999（decimal）
ＢＸ？
backlash correction data(for CH X) read
reply: ±ＤＤＤＤ(DEC)
FHPA
Find Home Position of channel A
FHPB
Find Home Position of channel B
FHPC
Find Home Position of channel C
FHPD
Find Home Position of channel D

ﾓｰﾄﾞ
R

R/L

コマンド
RTHPA
RTHPB
RTHPC
RTHPD
DPX
DNX
GFXDDDD
SPHXDDDDD
SPMXDDDDDSPLXDDDDDSPCXDDDDD
G?X
GF?X
HP?X
SPH?X
SPM?X
SPL?X

応 答 内 容Return Home Position of channel A
Return Home Position of channel B
Return Home Position of channel C
Return Home Position of channel Dchange start direction of channel X to positivechange start direction of channel X to negative
write offset data
X: channel
D: decimal
write HSPD X: channel DDDDD: PPS unit speed data
write MSPD X: channel DDDDD: PPS unit speed data
write LSPD X: channel DDDDD: PPS unit speed datachange speed while scanning X: channel DDDDD: PPS unit speed dataread home position status X:0 - F(channel) reply RHH :H ASCII hex
read offset data
X: channel
reply RDDDD :d ASCII dec.
read home position X: channel
reply ±DDDDDDD ASCII 7 dec.
read HSPD of channel X
reply RDDDDD
D: ASCII 5 dec.
read MSPD of channel X
reply RDDDDD
D: ASCII 5 dec.
read LSPD of channel X
reply RDDDDD
D: ASCII 5 dec.

CONTENTS
１．Abstract ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・１
２．Preparation for command communication ・・・・・・・・・・・・・・・・・・・・・・・・・１
１）Setting for ＬＡＮ(Ethernet TCP/IP) communication ・・・・・・・・・・・・・・・・・・１
Easy setting using front panel button ・・・・・・・・・・・・・・・・・・・・・・・・・１
Existing way for setteing
・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・１
A. Preparation ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・２
B. Connect to network ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・２
C. Connection change to network ・・・・・・・・・・・・・・・・・・・・・・・・・・・・２
D. Get back the setting data of PC ・・・・・・・・・・・・・・・・・・・・・・・・・・４
E. Connction test ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・４
F. The way of setting when IP address of controller is unknown ・・・・・・・・・・・・４
２）Setting for GP-IB communication ・・・・・・・・・・・・・・・・・・・・・・・・・・・５
３）Setting for RS232C communication ・・・・・・・・・・・・・・・・・・・・・・・・・・・６
３．The detail of communicaion command ・・・・・・・・・・・・・・・・・・・・・・・・・・・７
１）REMOTE/LOCAL command ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・７
REM, LOC
２）SRQ command ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・７
SRQx1, SRQx0, SRQ?x３）Status read out command ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・７
STQ?, STS?
４）Motor control command ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・８① JOG command
JOGPx, JOGNx ・・・・・・・・・・・・・・・・・・・・・・・７② SPeeD Select command
SPDHx, SPDMx, SPDLx, SPD?x ・・・・・・・・・・・・・・・・７③ SCAN command
SCANPx, SCANNx ・・・・・・・・・・・・・・・・・・・・・・８④ ABSsolute position set SCAN command（including backlash data） ・・・・・・・・・・・８ABSx±dd･･･dd, ABSxB±dd･･･dd, ABSxS±dd･･･dd⑤ RELative position set SCANコマンド command（including backlash data） ・・・・・・・９
RELx±dd･･･dd, RELxB±dd･･･dd, RELxS±dd･･･dd⑥ SPeed Change command while driving
SPCxddd･･･ ・・・・・・・・・・・・・・・・・９⑦ SLOW STOP,FAST STOP command
SSTPx, ESTPx, ASSTP, AESTP ・・・・・・・・・・・・１０⑧ PAUSE ON/OFF command
PAUSE ON, PAUSE OFF, PAUSE? (S3016, S3017) ・・・・１０⑨ Constant speed SCAN command
CSCANPx, CSCANNx ・・・・・・・・・・・１０⑩ Detecting orign point move command
FDHPx, GTHPx, SCANHPx, SCANHNx ・・・・１０５）Commands for set and read out parameters ・・・・・・・・・・・・・・・・・・・・・・１０① Set and read out motor parameters ・・・・・・・・・・・・・・・・・・・・・・・・１１
SETMTxABCD, SETMT?x, STOPMDxAB, STOPMD?x② Set and read out speed data
SPDHxddd･･･, SPDH?x, SPDMxddd･･･, SPDM?x ・・・・・・・・・・・・・１２
SPDLxddd･･･,SPDL?x, SPDAL?
③ Set and read out aceralaton and decelaration rate data RTExddd, RTE?x ・・・・・・１３④ Set and read out current position
PSx±ddd･･･, PS?x ・・・・・・・・・・・・・・１３⑤ Set and read out digital limit position ・・・・・・・・・・・・・・・・・・・・・１３
FLx±ddd･･･, FL?x, BLx±ddd･･･, BL?x
⑥ Set and read out home position data ・・・・・・・・・・・・・・・・・・・・・・・１４
SETHPx0XYZ, SETHP?x, SHPx±ddd･･･, SHP?x
SHPFxdddd, SHPF?x⑦ Set and read out data for local mode ・・・・・・・・・・・・・・・・・・・・・・・１５
６）Command for set and read out limit switch data ・・・・・・・・・・・・・・・・・・１６
SETLSxDYYY0yyy, SETLS?x, LS?
７）Interpolation drive command for two axises ・・・・・・・・・・・・・・・・・・・・・１６８）Timing pulse out commands ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・１８９）Auto change drive function while moving(V1.13～) ・・・・・・・・・・・・・・・・・２０10）Other command(VER?, FROM?, VERH?, ect.) ・・・・・・・・・・・・・・・・・・・・・・２４
11) Added commands and functions・・・・・・・・・・・・・・・・・・・・・・・・・・・・２５
４．The firm-ware version-up ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・２５
５．Manual and Firmware History ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ ２７
６．Specifications ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・２８

ＰＭ１６Ｃ－０４ＸＤ(Ｌ)REMOTE

MODE

USER'SMANUAL

１．Abstract
This manual shows the remote operation via RS232C,GP-IB and LAN(Ethernet TCP/IP).
About the local operatin, please see the other manual called "PM16C-04XD(L) LOCAL
MODE USER'S MANUAL".
In addition to manual operation by front panel and hand box controller, you canoperate PM16C-04XD(L) via communication line by your PC.
Existing commands for PM16C-02Z series, PM16C-04 and PM16C-04S are available to this one.
New commands for this one are available to select the access motor number directly (0～9,
A,B,C,D,E,F) without considering the exchange of control channel number.
２．Preparation for command communication
Control commands are acceptable when REMOTE/LOCAL switch is in REMOTE side.
But inquiry commands are acceptable at any time.
When REMOTE/LOCAL mode is in LOCAL side, press REMOTE/LOCAL button or givethe command "REM" via communication line before using in "REMOTE" mode.
Remote mode operation can be used in three ways.
(1) LAN(2) GP-IB(3) RS232C
These are details regarding to each REMOTE control method.
１）Setting for ＬＡＮ(Ethernet TCP/IP) communication
Easy setting using front panel switches in LOCAL mode(V 1.09 ～ )・Power on
・Goto LOCAL mode by REM/LOC switch.
・Goto SETUP mode by SETUP switch.
・Goto P9 by CW switch in SETUP mode(PM16C-04XD).
(In case of PM16C-04XDL, go to P10 in SETUP mode by CW lever type switch)
・Move cursor to the data that is to be changed.
・By using ten-key the data can be changed.
・Default IP address data is [192.168.1.55], port number is [7777].
・You can change these data according to your LAN.
・If you need to change port number, 10001 to 10999 are recommended.
・After setting you must power off the unit to enable the new setting.
・To confirm the new setting, you may try if command ("VER?" for example) is received
and reply is sent out by the unit, using client PC after connecting by telnet tothe unit.
・About another details, please see next "Existing way of setting".
Existing connection method
A. Preparation
・To build up network system safe, you should use a network environment withno relation to outside,
Prepare PC which connects to this network and basic software (telnet, ping).
・These are the explanations of setup procedure using 10BaseT Cross cable,
PC with Windows and optional software "telnet" and "ping" in Windows.

- 1 -B. Connect to network
・Power on the unit by power switch.
・Set the IP address, subnet mask to PC.
(Example: IP address is 192.168.1.10, sub-net-mask is 255.255.255.0 )・Factory installed IP address of PM16C-04XD(L) is 192.168.1.55, no gateway,
subnetmask is 255.255.255.0 and Port NO is 7777.
・Connect controller and PC with 10BaseT Cross cable.
(Otherwise using HUB module, it's available to use straight cable.)It's also available 100BaseT cable.
<Footnote>
・Next explanation is in case of factory installed settings.
(IP address is 192.168.1.55, and Port No. is 7777.)
When you use another IP address, put in that IP address number.
・Once you lose IP address number, you can't set the connection.
So don't forget the IP address when you change it.
・If you lose IP address, see the note item F.
To ensure right connection test below by ping command in MS-DOS prompt.
C:\Windows>ping 192.168.1.55
Pinging 192.168.1.55 with 32 bytes of data:
Reply from 192.168.1.55: bytes=32 time=2ms TTL=255
Reply from 192.168.1.55: bytes=32 time=1ms TTL=255
Reply from 192.168.1.55: bytes=32 time=1ms TTL=255
Reply from 192.168.1.55: bytes=32 time=1ms TTL=255
C:\Windows>
If replies are listed above, physical connection is correct.
If physical connection is not correct, communication replies are below.
C:\Windows>ping 192.168.1.55
Pinging 192.168.1.55 with 32 bytes of data:
Request timed out.
Request timed out.
Request timed out.
Request timed out.
C:\Windows>
In this case please retry the connection again after confirming the cable connection.
C. Connection change to network
Once you check the connection is correct, you can enter new IP address and new telnet
port No of the unit.
(If default No is OK, you don't have to do this operation.)
The IP address is set to 192.168.1.55, and default port No is 7777 as factory default.
IP address must be changed according to your network system.
If there is no need to change port No, you may use No 7777.
If you need to change port No, the recommended port is 10000 to 10999.
In Windows screen display- 2 -START -> Specify the file name and run, file name istelnet 192.168.1.55 9999
No 9999 is port set number of the unit.
Click OK button and screen changed to telnet mode immediately.
MAC address 00204A80F1B6
Software version 01.5 (031003) XPTE<- Depend on the type of unit.
<- Depend on the type of unit.

Press Enter to go into Setup Mode
Press return button within 5 sec.
If the button is not pressed in 5 sec, the connection is automatically cut off.
Then try again from the beginning.
Next display･･････
Change Setup:
0 Server configuration
1 Channel 1 configuration
3 E-mail settings
5 Expert settings
6 Security
7 Factory defaults
8 Exit without save
9 Save and exit
Your choice ?
Then select 0.
Set the data as below
IP Address: (192) 192.(168) 168.(001) 1.(55) 50
Set Gateway IP Address (N) N
Net-mask: Number of Bits for Host Part (0=default) (0)Change telnet configuration password (N) N
Write in the new IP address. ( In this case new IP address is 192.168.1.50 )If you need to set Gateway IP Address, write in the address number.
Net-mask is like this. In case of 255.0.0.0, number is 24,
in case of 255.255.0.0 number is 16, in case of 255.255.255.0 number is 8.
When you see double displayed character on telnet command screen,
try to check out "Local echo" by click "terminal" -> "Basic setting".
Again･･････
Change Setup:
0 Server configuration
1 Channel 1 configuration
3 E-mail settings
5 Expert settings
6 Security
7 Factory defaults- 3 -8 Exit without save
9 Save and exit

Your choice ?

Then select 1.
Baud rate(38400)? ･････ push return.
I/F Mode(4C)?
･････ push return.
Flow(00)?
･････ push return.
Port No(7777)?
･････ enter port address of telnet,then push return(Default port NO is 7777, if you need to change this number,recommended port number is 10000 to 10999.)
ConnectMode(C0)?
･････ push return.
Remote IP Address:(000).(000).(000).(000)･････ push return three times.
Remote Port (0)?
･････ push return.
DisConnMode(00)?
･････ push return.
FlushuMode (80)?
･････ push return.
Pack Control(10)? ･････ push return.
DisConnTime(00:00)?･････ push return(set data is **:++ means **minutes and ++seconds)(default data 00:00 means 5999s = 99min 59sec )SendChar 1 (0D)･････ push return.
SendChar 2 (0A)･････ push return.
Select 9, then finished setting works in the screen below.
Change Setup:
0 Server configuration
1 Channel 1 configuration
3 E-mail settings
5 Expert settings
6 Security
7 Factory defaults
8 Exit without save
9 Save and exit
Your choice ?
In these setting items, only IP address must be set.
Other items may not be changed.
If you enter wrong number by mistake, you'd better to restore above data.
D. Get back the setting data of PC
If you change setting data of PC, turn back PC data to initial condition.
E. Connection test
Let's try connecting test by optional Windows software such as "telnet".
Example test data is "telnet 192.168.1.55 7777" in MS-DOS prompt screen.
Or open the command "START" >> "Select the filename and Run",
Then write in the command"telnet 192.168.1.50 7777".
(IP address number must be one that is changed. )When in telnet operation, send data "VER?" which are expected reply data.
If reply data is like "1.00 05-07-07", then communication line is right.
F. The way of setting when IP address of controller is unknown
When IP address is unknown, it's impossible to connect the unit by the wayof manual 2-1-Existing connection method(p1).
In this case, the setting can be done by the following way using- 4 -MAC Address (Hardware Address).
Hardware Address is printed under the LAN module.
(Ver 1.09～ MAC address and IP address are displayed on LCD screen.
See setup mode p10 on the LCD , so you don't need these process)
Example: Assume that MAC Address is [00-20-4a-80-e4-c6].
And target setting IP address will be 192.168.1.50.
Start Windows and set DOS prompt. (Note 1)
Key in the command "arp (address resolution protocol) command".
C:\Windows>arp -s 192.168.1.50 00-20-4a-80-e4-c6
Next key in
C:\Windows>telnet 192.168.1.50 1
Then connection error will appear on the screen.
Close the telnet screen, again key in next command.
C:\Windows>telnet 192.168.1.50 9999
Run this command and soon telnet screen appears.
MAC address 00204A80F1B6<- depend on the type of unit
Software version 01.5 (031003) XRTE <- depend on the type of unit
Press Enter to go into Setup Mode
Above content appears, then put on "RETURN" key within 5s.
Otherwise the connection will be cut off automatically. In this case try again.
Next operation is as same as the previous explanation of telnet command.
At this stage IP address 192.168.1.50 is a temporary address.
IP address must be set to a new address number.
(Note 1)
In case of "Windows 95", next procedures are necessary.
This procedure will be done by using existing network or byconfirming a local network.
In case of "Windows 95", more than one ENTRY must to be set on ARP table.
To check it, launch this command.
C:\Windows>arp -a
If reply is
No ARP Entries FoundIn this case, launch ping command to existing IP Address in the network.
C:\Windows>ping ***.***.***.***
By this command you can add the one Entry number, then you can go on
next process.
If there is one or more Entry number, you can go on next process.
２）Setting for GP-IB communication
The only way of setting GP-IB is put in GP-IB address from front panel.
The delimiter for the data is fixed to CR + LF + (EOI).
PM16C-04DX can receive data whether (EOI) exists or not.
When sending data, (EOI) is always added to data end.

- 5 -The procedure of GP-IB address setting from front panel is as follows.
Put on power switch of the unit. Set into "LOC" mode by "REN/LOC" button.
Then set into setup mode by "SETUP" button.
In case of PM16C-04XD, open the setup screen P7 of LCD by "CW" button.
When over the page you can set back page by "CCW" button.
In case of PM16C-04XDL, open the setup screen P9 of LCD by "CW/CCW" lever switch.
Set the cursor of LCD display to GP-IB address. Set into the numeric by ten-key.
GP-IB address must be 2 to 31. When the setting number is incorrect,
you'll see the number is blinking.
After changing the address, push the "SETUP" button, then the mode has changed
and setting will be finished.
There is no need to power on again. You can check the communication is OK or NOT by
the command "VER?" for example.
３）Setting for RS232C communication
The pin assignment of connector is as follows.
PM16C-04XD(L) side
Pin No

RXD
TXD
GND

PC sideConnector of panel side: DE9P
Connector of cable side: DE9S

１
２
３
４
５
６
７
８
９

１
２
３
４
５
６
７
８
９

RXD
TXD
GND

The way of setting RS232C is only put in BAUD RATE data from front panel.
Another parameters of RS232C communication is fixed as follows.
DATA BIT: 8

STOP BIT: 1

NO FLOW CONTROLNO PARITY

The delimiter for the data is CR + LF.
The procedure of setting BAUD RATE from front panel is as follows.
Put on power switch of the unit. Set into "LOC" mode by "REN/LOC" button.
Then set into setup mode by "SETUP" button.
In case of PM16C-04XD, open the setup screen P6 of LCD by "CW" button.
When over the page you can set back page by "CCW" button.
In case of PM16C-04XDL, open the setup screen P9 of LCD by "CW/CCW" lever switch.
Set the cursor of LCD display to BAUD RATE. Press the CHG button.
BAUD RATE value is changing 1200, 2400, 4800, 9600, 19200, 38400 in rotation.
After changing BAUD RATE, push the "SETUP" button, then the mode will be changed
and setting will be finished.
There is no need to power on again. You can check the communication is OK or NOT by
the command "VER?" for example.

- 6 -３．The detail of communication commands
The format of command is ASCII data, and the delimiter is CR + LF ( 0DH + 0AH ).
After receiving CR + LF, command interpretation begins.
When the unit receives the command without delimiter, the receiving data will beconsidered to be a front part command characters. In this case, followed commands will belost, and command interpretation will be impossible.
When sending commands, "CR + LF" must be added at the end of the command,though the "CR + LF" are omitted in the command explained below.
１）REMOTE/LOCAL command
These commands are acceptable in Remote and Local mode.
These commands are acceptable when all channel motors are stopped.
LOC
REM

Set into the Local mode
Set into the Remote mode

２）SRQ command (SRQ signal is one of GP-IB signal lines.)
These commands are acceptable in REMOTE and LOCAL mode.
SRQx1

SRQx0
SRQ?x

Set SRQ flag to channel x : x means motor channel 0 ～ F.
When channel x motor stopped at this state, SRQ line of this unit goes"H" to inform the state to PC and the SRQ status flag of this unit is
set to "1". Once SRQ status flag read out from PC, SRQ status flag iscleared automatically and the SRQ line goes "L".
SRQ flag is cleared automatically just after SRQ line of this unit
goes "H". If you use SRQ signal when motor stopped, you may set thisflag every time.
Clear the SRQ flag of channel x.
Read out the status of SRQ flag of channel x.
The reply is "1" or "0".

３）Status read out commands
These commands are acceptable in REMOTE and LOCAL mode.
STQ?

Read out the Local/Remote mode and the number of stopped motors.
The reply iswhen in REMOTE MODE: Rn
when in LOCAL MODE: Ln
The maximum number of driving motor simultaneously is 4.
When the numbers of stopped motors is 0, there is no left motor
to activate. In this case, access command is ignored.
Before activating motors, you can check whether activate motor isleft or not by this command if you need.

STS?

Read out the Local/Remote mode and the details of each motor state.
The format of reply data is like this.
R(L)abcd/PNNS/VVVV/HHJJKKLL/±uu･････/±vv･････/±ww･････/±xx･････/
R or L
R: Remote mode
L: Local mode
a,b,c,dThe selected motor channel number for each display
channel 0 ～ F in hexadecimal number.
PNNS
The state of motor action for each channel.
P: Driving to CW direction
N: Driving to CCW direction
S: stopped
VVVV
The states of limit switch and motor hold off function- 7 -for each channel in hexadecimal.
Each data bit isb3: Motor hold off statusb2: The limit switch status of home position
b1: The limit switch status of CCW direction
b0: The limit switch status of CW direction
HHJJKKLLThis value shows the status of motor driving
for each channel in 2 digit hexadecimal data.
b7: ESEND
received emergency stop commandb6: SSEND
received deceleration stop commandb5: LSEND
stopped by limit switch
b4: COMERR
occurs error
b3: ACCN
deceleratingb2: ACCPD
acceleratingb1: DRIVE
stepping
b0: BUSY
data processing or stepping(= busy)
uu･･･,vv･･･,ww･･･,xx・・・
These are the latest pulse position data for each channel.
If the number is less than ±7 digit number,the reply data ±７ digit number.
In case of more than ±７ digit number, the digit will be
expanded according to the number.
４）Motor control commands① JOG Command
This command is acceptable only for REMOTE mode.
JOGPx
JOGNx
②

Moves one pulse of motor channel x to CW direction.
Moves one pulse of motor channel x to CCW direction.

Seed Select Command
These commands are acceptable only for REMOTE mode.
SPDHx
SPDMx
SPDLx

Motor speed selection of channel x is "H"
Motor speed selection of channel x is "M"
Motor speed selection of channel x is "L"

Next command is acceptable for REMOTE and LOCAL mode.
SPD?x:
Read out the set speed of channel x
The replay is HSPD, MSPD or LSPD.
③

SCAN Command
These commands are acceptable only for REMOTE mode.
SCANPxContinuous movement of motor channel x to CW direction.

SCANNxContinuous movement of motor channel x to CCW direction.
The speed of this movement is determined by speed select command ②.

④

SCAN command set with absolute position data（including backlash remove scan）
These commands are acceptable only for REMOTE mode.
ABSx±dddddddddd
The motor of channel x goes to the set position absolutely.

- 8 -The range of dddd･････ is -2,147,483,647 ～ +2,147,483,647.
(Digit number is arbitrarily specified.)

ABSxB±dddddddddd
The motor of channel x goes to the set position absolutely.
The range of dddd･････ is -2,147,483,674 ～ +2,147,483,647.
(Digit number is arbitrarily specified)First the motor goes to a specified backlash compensation position,then goes to a target position at slow speed.
(Backlash compensation at every moving)If the specified backlash compensation position is over the range
command will be ignored. At this occasion by using the status readcommand "ERR?", you'll get "BAD ABS COMMAND" as a reply.
ABSxS±ddddddddd
The motor of channel x goes to the set position absolutely.
The range of dddd･････ is -2,147,483,647 ～ +2,147,483,647.
(Digit number is arbitrarily specified)
When the direction of backlash compensation and the direction
to target position are same, motor goes to target position
directly. Otherwise once motor goes to specified backlash
compensation position, then goes to a target position at slow speed.
(Backlash compensation if needed)
If the specified backlash compensation position is over the range
command will be ignored. At this occasion by using the status readcommand "ERR?", you'll get "BAD ABS COMMAND" as a reply.
⑤

SCAN command set by relative position data （including backlash data）
These commands are acceptable only for REMOTE mode.
RELx±dddddddddd
The motor of channel x moves at specified relative data.
The range of dddd･････ is -2,147,483,647 ～ +2,147,483,647.
(Digit number is arbitrarily specified.)
RELxB±dddddddddd
The motor of channel x moves at specified relative data.
The range of dddd･････ is -2,147,483,647 ～ +2,147,483,647.
(Digit number is arbitrarily specified.)First motor goes to a specified backlash compensation position
then goes to a target position at slow speed.
(Backlash compensation at every moving)
RELxS±dddddddddd
The motor of channel x moves at specified relative data.
The range of dddd･････ is -2,147,483,647 ～ +2,147,483,647.
(Digit number is arbitrarily specified.)
When the direction of backlash compensation and the direction
to target position are same, motor goes to target position
directly. Otherwise once motor goes to specified backlash
compensation position, then goes to a target position at slow speed.
(Backlash compensation if needed)⑥

Speed change command while driving- 9 -This command is acceptable only for REMOTE mode.
SPCxddd･･･⑦

The motor speed of channel x can be changed while moving.
The unit of speed is PPS.
The range of dddd･････ is 1 ～ 5,000,000.

SLOW STOP,FAST STOP command
These commands are acceptable both in REMOTE and LOCAL mode.
SSTPx

Stop the driving motor channel x with deceleration.

ESTPx

Stop the driving motor channel x without deceleration.

ASSTP

Stop all the driving motors with deceleration.

AESTP

Stop all the driving motors without deceleration.

Another commands concerning motor moving⑧ PAUSE ON/OFF command
These commands are acceptable only for REMOTE mode.
PAUSE ON
(S3016)

PAUSE ON command. This command means the motion hold.
Once received this command, further commands are in suspended.
Those commands are in waiting state.
This suspended mode is released by the command "PASE OFF".
This command is useful when you activate some motors simultaneously.
This command doesn't affect any motor that is already moving.

PAUSE OFF(S3017)

PAUSE OFF command. This command release the suspended mode.
Motors that are in suspended mode by command "PASE ON" are released.
Those motors start simultaneously after this command.

PAUSE?

⑨⑩

Read out pause status
reply: ON or OFF

Constant speed SCAN command
These commands are acceptable only for REMOTE mode.
CSCANPx

Activate the motor channel x to CW direction at constant speed.

CSCANNx

Activate the motor channel x to CCW direction at constant speed.

Detect home position drive command
These commands are acceptable only for REMOTE mode.
These commands are related to Local Mode Operation.
See the instruction manual "Local Mode Operation".
4.4 Setting of home position, 5.5 Setting of home position original point(PM16C-04XD)
4.6 Setting of home position, 5.3 Setting of home position original point(PM16C-04XDL)
FDHPx

Auto home position search sequence for channel x starts.
First start home position sensor search moving to one directionthat is set in advance by "SETHPx" etc., as a start direction(A).

- 10 -

If the sensor find the home position along this direction(A) and go
through the sensor, motor stops slowly.
Then back to opposite side slowly and find the home position and stops.
(finished)
Otherwise motor begins to start to direction(A), then find limit
switch along this direction, motor stops slowly and move to opposite
direction(B).
In this case motor find the home position rising edge then stops.
Next motor begins start for direction(A) again.
Then find the home position and go through the sensor and stops slowly.
Then starts for direction(B) slowly, finally find the home positionand stops. (finished)Thus start moving direction(A) and detecting home position direction(B) is always opposite for each other by this command.
The home position value is memorized as home position data and set
the status flag that means home position was memorized.
And the direction for detecting is also memorized because the otherway to detect home position may alter detecting direction.
These information can be read out by "SHP?x" and "SETHP?x".
(NOTES)
If there is no home position in moving by this command,
motor will go and return between CW LS and CCW LS.
(Including digital limit switch)
In this case, "STOP" command and "STOP" button is available.
If digital limit switch position is set near the limited range(near ±2,147,483,647), during the deceleration moving the sign ofposition will be changed.
The home position detect process won't be finished correctly.
GTHPx

This command is useful when repeat the home position detect processagain. If the home position is already saved to the unit, motor canmove to certain area and goes to the home position slowly.
The home position detect direction is as same as the memorized one.

SCANHPx

To detect the home position of motor channel x along CW direction.
When detect the home position, motor stops suddenly.
So you need to move slowly to avoid step-out of motor.
When there is no home position, motor will be stops at CW or CCW limit
switch. If you know the home position roughly, you can check the home
position in a short time. After detecting home position by thiscommand, using "GTHPx" command, you can detect the home position in ashort time totally.

SCANHNx

This command is as same as "SCANHPx" without the direction CW.
The starting direction is CCW.

５）Commands for set and read out parameters① Commands for set and read out motor parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETMTxABCD

Set the fundamental characteristics of motor channel x
A: 1/drive enable, 0/drive disable
If you set the motor disable, you won't activated it and you can- 11 -

avoid unexpected moving by the operation error．
Unless you set enable, you can't move the motor.
B: 1/hold on, 0/hold off
When you set the motor hold off, this unit outputs the hold off
signal to external devices. Before you send motor active commands,
you have to set "hold on". After motor stopping you have to set"hold off" again if you need to set the motor hold off state. *1)
In LOCAL mode these "hold on" action are done automatically.
C: 0/constant, 1/trapezoidal, 2/ S character
The acceleration and deceleration mode of moving motor isselectable.
That is constant form, trapezoidal form or S character form.
D: 0/Pulse-Pulse, 1/Pulse-Direction 2/Pulse-Direction-Reverse *2)
Output signal to motor driver that is set outside of this unit isselectable.
They are P-P way, P-D way or PDR way. *2)*1) V1.15～*2) V1.30～②

Automatic hold on/off moving in REMOTE mode supported.
PDR can be chosen for hard ware type "HD-VERn" n>4
replied by the command "VERH?".

SETMT?x

This command is readout command above motor characteristics.
The reply data is in order ABCD. The default data is "1010".

STOPMDxAB

This command is set to stop motor channel x, slowly or fast.
A: 0/PB slow stop, 1/PB fast stop
It means slow stop or fast stop by STOP switch on front panel.
B: 0/LS slow stop, 1/LS fast stop
It means slow stop or fast stop by limit switch.

STOPMD?x

This command is readout command above motor stop way.
The reply data is in order AB. The default data is "00".

Commands for set and read out speed parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SPDHxdddd････

The high speed of motor channel x is dddd････．

SPDH?ｘThis command is readout command above SPDHｘ.
The reply is dddd････． Unit is PPS.

SPDMxdddd････

The middle speed of motor channel x is dddd････．

SPDM?ｘThis command is readout command above SPDMｘ.
The reply is dddd････． Unit is PPS.

SPDLxdddd････

The low speed of motor channel x is dddd････．

SPDL?ｘThis command is readout command above SPDLｘ.
The reply is dddd････． Unit is PPS.

SPDAL?

This command is readout preset speed values for 4 channel motors.
The reply is like these. Abcd/Hddddddd/Mddddddd/Lddddddd/Hddddddd
a,b,c,d: 0～F means motor channel- 12 -

Unit is PPS.

Unit is PPS.

Unit is PPS.

ddddddd: preset speed value. (1～5,000,000) Unit is PPS.
While at least one motor is moving, the reply of it is "0000000".
③

Commands for set and read out acceralaton and deceleration parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
RTExddd

The acceleration and deceleration of motor channel x is set by thiscommand.
ddd: 0～115
This is a code number. See "RATE DATA TABLE"

RTE?ｘThis command is readout ｔhe acceleration and deceleration value ofmotor channel x.
The reply is ddd.

RATE DATA TABLE(unit: ms/1000pps)
No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19

④

⑤

RATE
1000
910
820
750
680
620
560
510
470
430
390
360
330
300
270
240
220
200
180
160

No.
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39

RATE
150
130
120
110
100
91
82
75
68
62
56
51
47
43
39
36
33
30
27
24

No.
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59

RATE
22
20
18
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

No.
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79

RATE
3.3
3.0
2.7
2.4
2.2
2.0
1.8
1.6
1.5
1.3
1.2
1.1
1.0
0.91
0.82
0.75
0.68
0.62
0.56
0.51

No.
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99

RATE
0.47
0.43
0.39
0.36
0.33
0.30
0.27
0.24
0.22
0.20
0.18
0.16
0.15
0.13
0.12
0.11
0.10
0.091
0.082
0.075

No.
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115

RATE
0.068
0.062
0.056
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

Commands for set and read out latest pulse position parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
PSx±dddddd

Set the current position data of motor channel x.
The range of dddd･････ is -2,147,483,674 ～ +2,147,483,647.
(the number of digit is arbitrary.)

PS?x

Read out the current data of motor channel x.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

Commands for set and read out digital limit position parameters
The setting commands are acceptable only for REMOTE mode.

- 13 -

The read out commands are acceptable for REMOTE and LOCAL mode.

⑥

FLx±ddddddd

Set the digital limit data to CW side of motor channel x.
When you set the digital limit switch available, the motor doesn't
move over the preset position.
(When limit switch stop mode is deceleration stop mode, motor overrun
at some range.)
If you set digital limit switch available and present position is outof moving area, motor could move to the moving area direction.

FL?x

Read out the digital limit data to CW side of motor channel x.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

BLx±ddddddd

Set the digital limit data to CCW side of motor channel x.
When you set the digital limit switch available,
the motor doesn't move over the preset position.
(When limit switch stop mode is deceleration stop mode,
motor overrun at some range.)
If you set digital limit switch available and present position is outof moving area, motor could move to the moving area direction.

FL?x

Read out the digital limit data to CCW side of motor channel x.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

Commands for set and read out home position status flag parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETHPx0XYZ

Set the parameters of home position setting for motor channel x.
X: 0/not found, 1/LS already found
Home position data is already found or not.
Y: 0/CW direction, 1/CCW direction
The direction when detecting the home position.
Z: 0/CW direction, 1/CCW direction
The start moving direction of motor channel x when detecting
the home position in automatic detecting mode.

SETHP?x

Read out the state of home position setting for motor channel x.
The meaning of reply data is above command.
The reply data format is :0XYZ. Example is "0100".

SHPx±ddddddd

Set the home position data of motor channel x.
Normally the home position data is automatically set by HP mode,
but this command changes the data by force.

SHP?x

Read out home position data. The reply is ±ddddddd (decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.
When the home position was not found, the reply data is "NO H.P".
(The origin detect flag that is in the reply for the command "SETHP?x"
X is 0.)- 14 -

⑦

SHPFxdddd

Set the home position offset for motor channel x.
When you detect home position by command "GTHPx", home position
searching starts from the distance of offset value from current home
position. When there is no home position even if motor moves two timesof distance of this offset value, then this detection is failure andmemorized original point data were lost.
The range of dddd is 0 ～ 9999.
When you set this value over 9999, set data will be 9999.

SHPF?xRead out the original point offset position data of motor channel x.
The reply is ±dddd (4 digit decimal number).

Commands for set and read out data in local mode
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
These data are useful only for LOCAL MODE.
SABSx±ddddddd

Set the absolute position data of motor channel x by LOCAL mode.
This value is shown on LCD in ABS scan motion by LOCAL mode .
(shown on the second screen for the type XDL)SABS?xRead out the absolute position data of motor channel x by LOCAL mode.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

SRELx±ddddddd

Set the relative moving data of motor channel x by LOCAL mode.
This value is shown on LCD in REL scan motion by LOCAL mode .
(shown on the second screen for the type XDL)SREL?xRead out the relative moving data of motor channel x by LOCAL mode.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

SPRSx±ddddddd

Set the preset position of motor channel x by LOCAL mode.
This value is shown on LCD in SCAN motion by LOCAL mode .
(shown on the second screen for the type XDL)SPRS?xRead out the preset position of motor channel x by LOCAL mode.
The reply is ±ddddddd(decimal number).
When the digit of reply data is over 7 digit, the digit of reply data
will increase.

SETJGxdddd

Set the JOG steps of motor channel x by LOCAL mode.
When you put on JOG switch, motor moves by JOG steps at one timein LOCAL mode.
The range of dddd is 0 ～ 9999.
This value is shown on LCD in SETUO screen by LOCAL mode .

SETJG?x

Read out the JOG steps of motor channel x by LOCAL mode.
The reply is ±dddd(4 digits decimal number).
When the digit of reply data is over 4 digit, the digit of reply data
will increase.

- 15 -

SACTxY
SACT?xNot used.
Not used.

６）Command for set and read out limit switch data parameters
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
SETLSxDYYY0yyy

Set the states of limit switch of motor channel x.
D:
0/Digital limit switch disable, 1/Enable
YYY: 0/Limit switch disable, 1/Enable
yyy: 0/Limit switch set is N.O, 1/N.C
YYY,yyy Order is H.P LS, CCW LS, CW LS.

SETLS?x

Read out the states of limit switch of motor channel x.
The reply is DYYY0yyy. (Meaning is shown above.)LS?

Read out the motor channel and the states of limit switch for eachdrive channels.
The reply data is abcdHJKL.
a,b,c.d: It means the motor channel for A,B,C,D drive channel.
It's a hexadecimal number.(One character)
H,J,K,L: It means the state of limit switch for each drive channel.
Also detail meaning of H isb3(hold off)b2(HP LS)b1(CCW LS)

b0(CW LS)

1:hold off

1: LS on1: LS on1: LS on0:hold on

0: LS off

0: LS off

0: LS off７）Interpolation drive command for two axes
By two axis interpolation drive command, you can move 2 motors as straight line move,
circular move and perfect circle move on a X-Y flat plane.
The setting commands are acceptable only for REMOTE mode.
There are 4 motor channels (A,B,C,D) those can be driven independently each other.
Two axis interpolation driving command is applicable to a combination of A and B or
C and D.
Interpolation driving command using channel A-B begins "C0････".
Interpolation driving command using channel C-D begins "C1････".
The speed of interpolation move is preset value of channel A and C.
command
C0ALNab±xx･･･/±yy･･･
C1ALNab±xx･･･/±yy･･･
C0RLNab±xx･･･/±yy･･･
C1RLNab±xx･･･/±yy･･･
C0ACPab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1ACPab±xx･･･/±yy･･･/±uu･･･/±vv･･･

details of command
absolute address a,b axis straight line
interpolatin to the destination.
a,b:0～F xx･･･,yy･･･:decimal under 9 digit
relative address a,b axis straight line
interpolation to the destinationa,b:0～F xx･･･,yy･･･:decimal under 9 digit
absolute address a,b axis cw direction circularinterpolation with center position data.
a,b:0～F x,y: destination u,v: center position
x･･･,y･･･,u･･･,vv･･･：decimal under 9 digit
perfect circle interpolation will be done bysetting the destination to current position.

- 16 -

FIG
A

B

C

commandC0ACNab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1ACNab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C0RCPab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1RCPab±xx･･･/±yy･･･/±uu･･･/±vv･･･

C0RCNab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1RCNab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C0AACab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1AACab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C0RACab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1RACab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C0ACCab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1ACCab±xx･･･/±yy･･･/±uu･･･/±vv･･
C0RCCab±xx･･･/±yy･･･/±uu･･･/±vv･･･
C1RCCab±xx･･･/±yy･･･/±uu･･･/±vv･･･

A. Absolute data
Destination(x,y)

details of command
absolute address a,b axis ccw direction circularinterpolation with center position data.
another data are same as above.
relative address a,b axis cw direction circularinterpolation with center position data.
a,b:0～F x,y: destination u,v: center position
x･･･,y･･･,u･･･,vv･･･：decimal under 7 digit
perfect circle interpolation will be done bysetting the destination to (0,0) position.
relative address a,b axis ccw direction circularinterpolation with center position data.
another data are same as above.
absolute address a,b axis circular interpolation
with bypass point data.(Destination setting tocurrent position aren't allowed, use "C0ACC"
command)a,b:0～F x,y:destination u,v:bypass point
x･･･,y･･･,u･･･,vv･･･：decimal under 9 digit
relative address a,b axis circular interpolation
with bypass point data.(Destination setting tocurrent position aren't allowed, use "C0RCC"
command)a,b:0～F x,y:destination u,v:bypass point
x･･･,y･･･,u･･･,vv･･･：decimal under 7 digit
absolute address a,b axis perfect circle
interpolation with two bypass point data.
a,b:0～F x,y:bypass point 1 u,v:bypass point 2
x･･･,y･･･,u･･･,vv･･･：decimal under 9 digit
relative address a,b axis perfect circle
interpolation with two bypass point data.
a,b:0～F x,y:bypass point 1 u,v:bypass point 2
x･･･,y･･･,u･･･,vv･･･：decimal under 7 digit

B. Relative data

FIG
D

E

F

G

H

I

J

C. Absolute data CW
Destination(x,y)

Destination(x,y)

Center(u,v)
Current position

Current position
Current position- 17 -

D.

Absolute data

CCW

E.

Relative data
Destination(x,y)

F.

Relative data
Destination(x,y)

Destination(x,y)

Center(u,v)

Center(u,v)

Current position

Current position

G. Absolute
Destination(x,y)

H. Relative
Destination(x,y)

Center(u,v)

Current position

I. Absolute
Bypass point2(u,v)

Bypass point(u,v)

Current position

Bypass point(u,v)

Current position

Bypass point1(x,y)

Current position

J. Relative
Bypass point2(u,v)
Bypass point1(x,y)

Current position

８）Timing pulse out commands(A) This unit outputs the TTL level signal in these two modes.
One is gate mode, gate signal outputs between start point and stop point.
Those setting must be done inadvance.
Another is interval output mode, pulse outputs from pulse start point every interval p
reset pulse.
The pulse width of this mode is selectable 200 ns, 10μs, 100μs and 1 ms.
These mode and parameters are configurable for each motor channel.
The setting commands are acceptable only for REMOTE mode.
The read out commands are acceptable for REMOTE and LOCAL mode.
(B) Command Explanations① TMGMxY
Preset the timing mode of motor channel x
Y: 0
Disable output of timing pulse.
Y: 1
Gate mode. Gate signal outputs between start point and stop point.
Y: 2
Interval mode. Output pulse width is 200 ns.
Y: 3Interval mode. Output pulse width is 10 μs.
Y: 4Interval mode. Output pulse width is 100 μs.
Y: 5Interval mode. Output pulse width is 1 ms.
In interval mode, timing pulse output every interval preset pulse
between start and stop pulse area.

- 18 -

②

TMGM?xRead out the mode of timing pulse o motor channel x.
The Reply data is 0～5, above content.

③

TMGRx

Timing out mode of motor channel x becomes "ready".
This command is acceptable only for the motor x stopped.
For interval mode (timing out mode is 2～5), this command works
correctly only in the position that is before the start pulse position.
Mode "ready" means the preparation of pulse out has finished.
When in ready mode, timing pulse outputs after motor passed
the start position.
In case of interval mode, once the motor has passed the start point,"ready" condition is cleared. But the output action continues until
the stop position.
When motor stopped in the midstream, even if the ready flag is cleared,
timing pulse outputs until the stop position.
But once pulse are output, pulses never output in the same area again.
If you want to stop output pulse signal in midstream, you need to send
the command "TMGCx", then "ready" flag is cleared and pulse out iscancelled.
Another case of gate mode (timing out mode is 1), the "ready" flag is
not cancelled after motor passed the start point.
Gate signal continues output "H" within the limited area despite of
the motor direction.
If you want to stop output signal in midstream, you need to send
the command "TMGCx", then "ready" flag is cleared and gate out iscancelled (goes to "L").

④

TMGCx

The "ready" flag of motor channel x is cleared.
This command is acceptable only for motor stopped period.

⑤

TMGR?xRead out the "ready" flag state of motor channel x.
The reply is that when in "ready" mode reply is "YES",
otherwise reply is "NO".
You can also check the "ready" flag to see the LCD display offront panel.
For PM16C-04XD
non active(can no control in LOCAL mode)_CH05_
active(can control in LOCAL mode)*CH05*
active and timing pulse ready#CH05#For PM16C-04XDL
non active(can no control in LOCAL mode)
active(can control in LOCAL mode)
active and timing pulse readyorange LED lamp onorange LED lamp off"#" display on LCD⑥

TMGSx±ddddddd

Set the start position of motor x timing out mode⑦

TMGS?ｘRead out the start position of motor x timing out mode⑧

TMGSx±ddddddd

Set the stop position of motor x timing out mode⑨

TMGS?ｘRead out the stop position of motor x timing out mode⑩

TMGSx±ddddddd

Set the interval pulse count of motor x timing out mode

- 19 -

⑪

TMGS?ｘRead out the interval pulse count of motor x timing out mode(C) The procedure of setting timing out mode
① Set the activate motor channel to control display channel(A-D, TP0-TP3) bychannel set command "SETCHabcd".
The output timing pulse for window A is gotten from TP0 and B, C, D for TP1, 2, 3.
To confirm the setting "SETCH?" is convenient.
These setting can be done by old command below too.
S11x
Motor channel x to display channel A
S12x
Motor channel x to display channel B
S15x
Motor channel x to display channel C
S16x
Motor channel x to display channel D
To check the preset motor channel, "S10","STS?" and "LS?" commands are useful. .
②

You need to set these parameters to motor channel x.
To set timing out mode
"TMGMxY"
To set timing out start position"TMGSx±ddddddd"
To set timing out stop position"TMGEx±ddddddd"
To set timing out interval pulse count"TMGIx±ddddddd"
Once you have set these parameters, these data are stored in this unit andnever changed until your next data change operation.
In factory shipment default data are installed.

③

Move the timing out motor channel to outside the range of timing start position.
If the motor position is outside the range of timing start position,
you don't need to move it.
In case of gate mode (timing out mode is 1), you don't need above operation.
But when the motor position is within start and stop position, output signal goes"High" when this motor channel becomes "ready".

④

Set timing out mode "ready" (Command "TMGRx")(Preparation of signal out is finished)⑤

Move the motor position toward to stop position
You can use absolute position move command, relative data move command andcontinuous move command.
If you set timing out parameters to several channels (2-4), start themsimultaneously, you can use this unit as a timing generator that has four kinds ofsignal output.
(Note)
When in interval out mode (timing out mode is 2,3,4 and 5), if output pulse width >=interval pulse period output signal goes "High" and remain the status
instead of pulse shape.

９）Auto change drive function while moving
While trapezoidal drive moving, speed, acceleration/deceleration rate can be changed by
the data scheduled in advance. This function can be started by S-character drive command,but the result moving become trapezoidal.
The timing and the contents of the change data can be set to maximum 128 data.
The timing of the change can be set by relative position data from the start point,
the time (ms) from change point before or drive pulse speed (pps).
The contents of change data are speed, acceleration/deceleration rate (*1) and stop command.

- 20 -

１．Data write command
This command are acceptable only in REMOTE mode.
Scheduled data can be written by this command.
Synchronous start driving by two or more motors, the data must be written for eachaxes. You don't need to rewrite the data again if the data have no change.
ACSxyyy/PNT/JJJ･･･J/FNC/LLL･･･L
ACS:Auto Change Speed command(fixed)
x: channel(0 - F)yyy: data number(0 - 127)
PNT:END(no more data)
After the end of data, "ACSxyyy/END/" must be sent.
ADD(relative address from start point)
TIM(relative time from previous point)
ACC(speed data while acceleration)
DEC(speed data while deceleration)
JJJ･･･J:relative address(±2,147,483,647) or time(0-65,535ms) or
speed data(1 - 5,000,000pps)
FNC:SPD(speed in pps)
means LLL･･･L is speed data
RTE(rate number)means LLL･･･L is rate data
SLW(slow stop)
SLOW STOP(LLL･･･L:not used)
FST(fast stop)
FAST STOP(LLL･･･L:not used)
NOP(no operation)
no operation, skip this data
LLL･･･L:speed data(1 - 5,000,000pps) or RATE(rate data number in the range)(*1)
Rate can be changed only in the same range where current rate belongs.
The range that can be changed are below.
The group where current rate number belongs is the upper range in the list
below. Then, for example, if you need to change rate in group M2 you must set
the rate number 31 to 91 in advance.
Rate group
L1 TYPE
L2 TYPE
M1 TYPE
M2 TYPE
H1 TYPE
H2 TYPERATE No.
0 - 6017 - 76
24 - 84
31 - 91
41 - 100
55 - 115

Sample: Speed change at same position of CH0 and CH1 with synchronous start.
ACS0000/ADD/5000/SPD/3000:speed change to 3000pps at position 5000
ACS0001/ADD/10000/SPD/6000:speed change to 6000pps at position 10000
ACS0002/ADD/20000/SPD/10000:speed change to 10000pps at position 20000
ACS0003/ADD/30000/SLW:slow stop at position 300000
ACS0004/END:program end(must be written)
ACS1000/ADD/5000/SPD/3000
ACS1001/ADD/10000/SPD/6000
ACS1002/ADD/20000/SPD/10000
ACS1003/ADD/30000/SLW
ACS1004/END:speed change to 3000pps at position 5000
:speed change to 6000pps at position 10000:speed change to 30000pps at position 20000:slow stop at position 30000:program end(must be written)- 21 -

Sample: Speed change at same timing of CH2 and CH3 with synchronous start.
ACS2000/TIM/0/SPD/1000 (dummy) :speed change to 1000pps at 0 ms
ACS2001/TIM/1000/SPD/3000:speed change to 6000pps at 1000ms
ACS2002/TIM/1500/SPD/6000:speed change to 10000pps at 1500ms
ACS2003/TIM/2000/SLW:slow stop at 2000ms
ACS2004/END:program end(must be written)
ACS3000/TIM/0/SPD/1000 (dummy) :speed change to 1000pps at 0 ms
ACS3001/TIM/1000/SPD/3000:speed change to 6000pps at 1000ms
ACS3002/TIM/1500/SPD/6000:speed change to 10000pps at 1500ms
ACS3003/TIM/2000/SLW:slow stop at 2000ms
ACS3004/END:program end(must be written)
You must prepare dummy data,
If you intend to change first data by time more than one motor synchronously,
you must prepare dummy data at the top of the list.
２．Data read command
This command are acceptable both in REMOTE and LOCAL mode.
Can read out the data prepared by "ACSxyyy/PNT/JJJ･･･/FNC/LLL･･･L"
ACS?xyyy
reply:xyyy/PNT/JJJ･･･J/FNC/LLL･･･L
Read out sample(assume data set as previous clause)
Send command
reply
ACS?0000
0000/ADD/005000/SPD/003000
6 digit at least replied,
ACS?0001
0001/ADD/010000/SPD/006000
ACS?2000
2000/TIM/000000/SPD/001000
ACS?2001
2001/TIM/001000/SPD/003000
３．Ready set command for auto chagne scanThis command are acceptable only in REMOTE mode.
This command must be send to every motors if more than one motor are to startsynchronously.
Must be send before auto change scan moving.
ACSPx
set ready auto change scan data
Can confirm ready status by the command next clause.
Can't set ready if the "END" is not written at the end of the list.
４．Ready set confirmation for auto change scanThis command are acceptable both in REMOTE and LOCAL mode.
Can know if the status is ready or not.
ACSP?x
reply: ready, not ready
After starting auto change scan, the reply of this command become "not ready".
After sending data write command "ACSxyyy/PNT/JJJ･･･ ", the reply of thiscommand become "not ready".
At "not ready" status, auto change scan drive can't work.
５．Clear ready flag for auto change scanThis command are acceptable only in REMOTE mode.
Clear ready flag for auto change scan.

- 22 -ACSCxOnly channel x become "not ready" by this command.
By this command you can stop the auto chagne scan drive already prepared
before.
At "not ready" status the moving does not become auto change scan drive.
６．"PAUSE ON" or "S3016" command for auto change scanThis command are acceptable only in REMOTE mode.
Use when synchronous start for more than one motor is needed.
PAUSE ON or S3016
７．Auto change scan command
This command are acceptable only in REMOTE mode.
Send this command to every motors when synchronous start for more than one motor
is needed.
Four commands below work as auto change scan command when ready for auto change
scan are set.
ABSx(B)±dddddddd
RELx(B)±dddddddd
SCANPxSCANNxabsolute position moving
relative position moving
scan to positive direction
scan to negative direction

８．"PAUSE OFF" of "S3017" for synchronous startThis command are acceptable only in REMOTE mode.
Use when synchronous start for more than one motor is needed as a pare with
"PAUSE ON" or "S3016" command described in term 6. above.
PAUSE OFF or S3017
The moving motors by auto change scan command always can be stopped by normal stop
command for example "SSTPx", "ESTPx","ASSTP" or "AESTP".
９．About timing error when using auto change scan command
The change start time after detection of the change condition when moving in
auto change scan drive are below and they are different when moving in constant
speed or moving in acceleration or deceleration.
in constant speed： < 320μs
in acceleration ： < 160μs + period of accelerationin deceleration ： < 160μs + period of deceleration
Further if the condition of auto change scan are detected simultaneously for A pos,
B pos, C pos and D pos then the timing of B, D pos are delayed 80 μs than those ofA, B pos. So be careful to use these function synchronously to four motors.

- 23 -

Period data for speed change（extract） unit：ms
RATE No
ms/KHz
L1 typeL2 teyp
M1 type01,000.000
50.0007510.000
25.50017200.000
10.00050.00024
100.000
5.000
25.00050.00031
51.0002.550
12.75025.50041
20.0001.000
5.000
10.000
55
5.100
0.255
1.275
2.550
60
3.300
0.165
0.825
1.650
67
1.600
0.400
0.800
74
0.820
0.205
0.410
76
0.680
0.170
0.340
82
0.390
0.195
84
0.330
0.165
89
0.200
91
0.160
98
0.082
100
0.068
106
0.039
113
0.020
115
0.016
10）Other commands
VER?

ACSK?x
reply

ACSH?xreply

ERR?

M2 type51.00020.000
5.100
3.300
1.600
0.820
0.680
0.390
0.330
0.200
0.160

H1 typeH2 type50.00012.750
8.250
4.000
2.050
1.700
0.975
0.825
0.500
0.400
0.205
0.170

51.00033.00016.000
8.200
6.800
3.900
3.300
2.000
1.600
0.820
0.680
0.390
0.200
0.160

Read out version information of inside firmware program.
The reply will be like "1.00 06-10-14 PM16C04X".
The same firmware is installed to PM16C-05XD and PM16C-04XDL.
Read out auto change scan data written inner IC MCC06.
The data indicate the point where change occurs.
aabb,hhhh,hhhh
aa:code(00:END,01:ADD,02:TIM,80:ACC,81:DEC)
bb:sequence number(0 to 7F)
hh･･･hh:data
Read out auto change scan data written inner IC MCC06.
The data indicate the contents of change.
aabb,hhhh,hhhh
aa:code(00:SPD,01:RTE,02:SLW,03:FST,0F:NOP)
bb:sequence number(0 to 7F)
hh･･･hh:data
Error status read out ommand.
If there are more than one error, the reply will be the informationthat is stored to lower bit of error flag.

ERRF?
reply

Read out error flag.(can be read in two digits of hexadecimal)
HH
B0:COMMAND ERROR, B1:MCC06 BUSY ERROR, B2:BAD ABS COMMANDERRC

All error flag clear

ERRCx

Indexed error flag clear
x:0 COMMAND ERROR clear
x:1 MCC06 BUSY ERROR clear
x:2 BAD ABS COMMAND clear- 24 -

FROM?

For maintenance command.
There are two flash ROM for program memory inside.
You can check which one is active for flash ROM.
The reply is FROM0 or FROM1.

FROM1,FROM2

For maintenance command. You can select the active flash ROM.
NOTICE: When you set this command and power on this unit or sendcommand "REST", program starts again by specified ROM and allparameters are initialized.

STEM?

For maintenance command.
Can be read out status port 1 of inner IC MCC06.
aaaa/bbbb/cccc/dddd
The status of control IC A,B,C,D are read out in hexadecimal style.

reply

VERH?

REST

For maintenance command. Read out the hardware version of this unit.
The reply is like this "HD-VER0", "HD-VER1" ･･･ and "HD-VER6".
It means the hardware version of PM16C-04XD and PM16C-04XDL.
For maintenance command. You can restart the program without powerswitch operation.

11）Added command and function(V1.14～)
SETCHabcd
Set channel(0～9,A,B,C,D,E,F) to the control window A,B,C,D position.
By using "-" like "SETCH01--", the "-" channel won't be changed.

This command is acceptable only in REMOTE mode.
If the channel is busy while moving etc., the command is ignored.
SETCH?

Read out current setting channel.
reply : "34AB" in order A,B,C,D position.

(V1.14～)Motor stop function by speed change button on hand box(PM16C-HDX, -HDX2)This function can be used only in REMOTE mode.
Press the speed change button on the hand box while REMOTE mode more than 3 second,
H, M, L LED on it all lighten and the speed change button become stop button.
At this status, moving motor by the remote command can be stopped by this button.
Also by 3 seconds pressing this button, this button return back to normal speed
change button.
４．The firm-ware version-up
１）Upgrade the firmware
You can perform firmware upgrade of PM16C-04XD(L) via communication line.
To keep safety you had better cut off the connection from unit to motor driver,or put off the power line of motor drivers.
It's convenient to use RS232C or LAN connection.
These are the procedures of upgrade via LAN communication using "Tera Term"
free software.
①②

Download the text-file for version upgrade from TSUJI-ELECTRIC HP, and unzip it
to your PC.
Launch the program "TeraTerm".
Select TCP/IP and enter IP address and port No of PM16C-04XD(L).
Operation is SETUP -> Terminal then setting of New-Line is to be CR+LF in Receive- 25 -

③
④

⑤

⑥

⑦

and Transmit set.
Mark on Local echo and "OK". Send the command VER?, and reply is like
"1.00 06-10-14 PM16C04X" then the connection will be good.
Set PM16C-04XD(L) to REMOTE MODE by local operation or remote operation.
To change in remote operation send the command "REM".
Operation is File -> Send file then click the file name.
Specify the file name and "OPEN".
It begins the download procedure.
You can see the process of transferring the file data to PM16C-04XD(L) on your PC.
The "REMOTE" lamp on the PM16C-04XD(L) is blinking on and off slowly that indicate
receiving the file by PM16C-04XD(L).
For about 90 seconds download procedures continues, then "REMOTE" lamp turns on
quick blinking mode. Then the data write procedure begins to start for about
20 seconds. After finishing data write procedure to flash ROM, "REMOTE" lamp
turns off then "LOCAL" lamp turn on. Program upgrade procedure is finished.
Set TCP/IP line off, then finish the TeraTerm program.
Put off the power line of PM16C-05XD(L), then put on this unit again.
If you don't want to put off the unit, send command "REST"(V1.09～).
Thus the unit runs again from new version program.

２）If troubles occurred,
If trouble occurred in download process, when put on the unit again, sometimes programruns out of control.
Initial display character isn't correct. In this case once put off the unit and put on
it again pushing ten-key "0" switch. (Type XD: ten-key "0", type XDL: ten-key "8")The unit runs from previous ROM version again. And you can try again upgrade procedure.
(NOTE)
This method is useful at any time, but the display "NEW","OLD" those are shown
in LCD display in SETUP mode will not be changed.
Even if by the above operation, program runs out of control you can start again
next procedure.
There is a communication program inside CPU-ROM.
When you use this mode you have to pay attention to following procedures.
CAUTION: When you open the cover of this unit, be careful to get shock.
First take out power cable of it.
If you have some troubles to do next procedure please contact us.
1.

2.

3.
4.

Put off the power switch of this unit and open the top cover.
Set the dip switch 2 to side "ON". (Dip switch 1 is still side "OFF".)Dip switch is beside the button battery on print circuit board "TEP036" (XD).
In case of XDL, the print circuit board is "TEP063".
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.
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".)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, but don't care of it. It's OK
if you can change remote-local mode by REM/LOC button.)
Next procedure is above describes ①～⑦.

- 26 -

In local mode you can change NEW/OLD program by button control.
(In setup mode XD: p8 or XDL: p11) If you try to use by previous version program,
this function is useful.
When you change firmware program all preset data are cleared, and setting data
will become default state.
５．Manual and Firmware History
2007.09.13(manual rev.1)"PAUSE ON", "PAUSE OFF" command added(Firmware V1.13～)
Auto change drive function added(V1.13～）
While moving speed change etc. can be done by previous setting.
2008.07.17(manual rev.9)
Altered the order of "A", "B" data in the sentence of "STOPMDxAB" explanation.
Add command "SETCHabcd", "SETCH?", "HDSTLS?" (Firmware V1.14～)
Auto hold on/off function added for REMOTE mode(Firmware V1.15～)
2009.09.16(manual rev.10)"HOLDxON", "HOLDxOFF", "HOLD?x"/reply:"ON" or "OFF" added(Firmware V1.17～)
V1.20 ～ V1.29 : skipped
Direction logic change available when Direction - Pulse output mode for those that has
hardware type "VERH?"/"HD-VERn" n > 4.(V1.30～)
Motor stop while REMOTE mode contorl by speed change button on the hand box.(V1.31～)
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, Japan- 27 -

６．Specifications
Power

IN/OUT

LCD
display

panel pushbuttonand lamp

Voltage and Freq

AC 85V ～ 264V

Control

16 motors can be controlled

Capability
Out put

4 motors can be controlled synchronously or simultaneously
CW, CCW, HOLE OFF (5V, 8mA: line driven) for each 16 motor

Pulse rate

１～５ＭＰＰＳ

Pulse control
Acc/dec rate

０～±２，１４７，４８３，６４７
1048.56～0.0125 ms/KHz

Acc/dec form

Constant speed, S-character form, Trapezoidal form

Output format
Pulse out

２pulse／１pulse and direction
DE9S(F)/PM16C-04XD(L), RJ-4/PM16C-04XR(L)LS signal in

CW-LS, CCW-LS, HOME-LS 12V 5mA(GND - common)
Power supply +12V(MAX 1A) for sensor

LS in
LCD display
specification

DE9P(M)/PM16C-04XD(L), RJ-4/PM16C-04XR(L)PM16C-04XD : 40 characters×4 lines(Size: 4.9H*2.8W)
PM16C-04XDL: 20 characters×4 lines(Size: 9.2H*4.8W)

Contents incontrol modechannel number, current position of ±10 digit number,speed display, contents of limit switch, relative moving
value, preset count value, home position information,
paneloperation ready/not readyContents indata set mode

limit switch setting information, pulse output mode, valueof speed HSPD/MSPD/LSPD, acceleration and deceleration ra
te value, Push button stop mode, origin detect function,
timing pulse generate function, RS232C settings, GP-IB
settings, HAND BOX selection, FIRMWARE version selection

PM16C-04XD

switch/button：JOG CW/CCW, PRESET,START,STOP,REM/LOC,SETUP
REM/LOC,CURSOR,CHG,MODE,TEN-KEY
lamp：REM/LOC,START,STOP,SETUP,HP/REL/ABS/SCAN

PM16C-04XDL

switch/button: CH-SEL, JOG CW/CCW, channel act,REM/LOC,
SETUP, PRESET, START, STOP, CURSOR, CHG,
MODE,TEN-KEY
lamp: limit switch, home position, hold off, motor select,
PRESET, START, STOP, REM/LOC, SETUP, MODE

ten-key
andcursor key
control

47 - 440Hz

50VA

channel selection by ten-key and cursor key. Selection ofcontrol ready/not ready for each channel, and changepreset values. selectable speed of H, M, L for eachchannel. and preset speed value of H,M,L for each channel.
PRESET
START
STOP
JOG
SCAN MODE

preset specified data to the selected display
moving start for selected channel according to the modestop moving for selected channel
jog stepping for selected channel
continuous stepping of ready ch. Stepping direction isaccording to JOG switch

ABS IDX MODE

move ready ch to absolute position

REL IDX MODE
HP STOP MODE

move ready ch specified steps relatively
Stop by HOME POSITION LS
total 3 moving style. One is for with HP detection memory,another two are for no HP detection memory.

remotecommunication

LAN, GP-IB, RS232C port

case

size

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

steppingmode- 28 -