16CH STEPPING MOTOR CONTROLLER
ＰＭ１６Ｃ−０４，０４Ｓ

USER'S MANUAL(2449,2519

APPLICATIONOF

VER.3)ELECTRONIC

DEVICESTSUJI ELECTRONICS CO.,LTD3739 Kandatsu-machi Tsuchiura-city
Ibaraki-Pref 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

ＣＯＭＭＡＮＤＬＩＳＴ（ＧＰ−ＩＢ， ＲＳ２３２Ｃ）
COMPLETELY COMPATIBLE TO PM16C-02N,-02Z COMMAND EXCEPT "＊" MARKED COMMAND
MODE
R/L
R/L
R/L
R

R/L
R
R/L

R

COMMAND
Ｓ１Ｒ
Ｓ１Ｌ
Ｓ１０
Ｓ１１□
Ｓ１２□
Ｓ１３０１
Ｓ１３０２
Ｓ１３０４
Ｓ１３０８
Ｓ１３０Ｆ
Ｓ１３８０
Ｓ１４
Ｓ１５□
Ｓ１６□
Ｓ２０
Ｓ２０Ｄ
Ｓ２１
Ｓ２２
Ｓ２２Ｄ
Ｓ２３
Ｓ２４
Ｓ２４Ｄ
Ｓ２５
Ｓ２６
Ｓ２６Ｄ
Ｓ２７
Ｓ３０□□

Ｓ３１□□

Ｓ３２ＸＸＸ
ＸＸＸ□□
OR
Ｓ３２ＸＸＸ
ＸＸＸ□□Ｂ
Ｓ３２□±DDDDDDD or
Ｓ３２□±DDDDDDDB
Ｓ３３ＸＸＸ
ＸＸＸ□□
OR
Ｓ３３ＸＸＸ
ＸＸＸ□□Ｂ
Ｓ３３□±DDDDDDD or
Ｓ３３□±DDDDDDDBREPLY ETC.
remote mode change
local mode changeＲ□□□□motor channel No. reply of "A, B, C, D"
figure ＊set motor channel □ to A
set motor channel □ to B
SRQ set when A motor stopped
SRQ set when B motor stopped
SRQ set when C motor stopped＊
SRQ set when D motor stopped＊
SRQ when A,B,C,D motor stopped (combination available)a part ＊SRQ cancel (also with GP-IB COMMAND "IFC")SRQ flag read
Ｒ□□
(HEX)
set motor channel □ to C＊
set motor channel □ to D＊
A position data read
reply:Ｒ□□□□□□ (HEX)
A position data read
reply:±ＤＤＤＤＤＤＤ(DEC)＊A position status read reply:Ｒ□□(HEX)
B position data read
reply:Ｒ□□□□□□ (HEX)
B position data read
reply:±ＤＤＤＤＤＤＤ(DEC)＊B position status read reply:Ｒ□□(HEX)
C position data read
reply:Ｒ□□□□□□ (HEX)＊
C position data read
reply:±ＤＤＤＤＤＤＤ(DEC)＊C position status read reply:Ｒ□□(HEX)＊
D position data read
reply:Ｒ□□□□□□ (HEX)＊
D position data read
reply:±ＤＤＤＤＤＤＤ(DEC)＊D position status read reply:Ｒ□□(HEX)＊
A position 2 byte command□□：command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan0F:-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
B position 2 byte command□□：command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan0F:-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
A position 8 byte command
ＸＸＸＸＸＸ:HEX position data□□:command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX
auto backlash correction with "B"
A position DEC index command＊□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data
auto backlash correction with "B"
B position 8 byte command
ＸＸＸＸＸＸ:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX
auto backlash correction with "B"
B position DEC index command＊□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data
auto backlash correction with "B"

MODE
R

COMMAND
Ｓ３□
Ｓ３８□□

Ｓ３９□□

R/L

Ｓ３ＡＸＸＸ
ＸＸＸ□□
OR
Ｓ３ＡＸＸＸ
ＸＸＸ□□Ｂ
Ｓ３Ａ□±DDDDDDD or
Ｓ３Ａ□±DDDDDDDBＳ３ＢＸＸＸ
ＸＸＸ□□
OR
Ｓ３ＢＸＸＸ
ＸＸＸ□□Ｂ
Ｓ３Ｂ□±DDDDDDD or
Ｓ３Ｂ□±DDDDDDDB
Ｓ４ＸＹ
Ｓ４ＸＰＳ
Ｓ４ＸＦＬ
Ｓ４ＸＢＬ

R

Ｓ５ＸＹ□□R/L

Ｓ５ＸＰＳ±DDDDDDD
Ｓ５ＸＦＬ±DDDDDDD
Ｓ５ＸＢＬ±DDDDDDD
Ｓ６

R/L

BXhhhhＢＸＨ？
BX±DDDD
ＢＸ？
ＰＩＯ？
ＰＩＯ
ＣＯＭ
ＲＤ
ＷＸＸＹＹ
ＶＥＲ？

REPLY ETC.
speed change S34:L SPEED S35:M SPEED S36:H SPEED
C position 2 byte command□□：command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan0F:-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
D position 2 byte command□□：command
08:+jog,
09:-jog
0C:+CSPD scan
0D:-CSPD scan
0E:+scan0F:-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
C position 8 byte command
ＸＸＸＸＸＸ:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX
auto backlash correction with "B"
C position DEC index command＊□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data
auto backlash correction with "B"
D position 8 byte command
ＸＸＸＸＸＸ:HEX position data□□: command
10:CSPD REL.IDX 11:CSPD ABS.IDX
12:REL.IDX
13:ABS.IDX
auto backlash correction with "B"
D position DEC index command＊□: A: absolute index scan, R: relative index scan
±DDDDDDD:DEC position data
auto backlash correction with "B"data read command
X: channel No.(0-F) Y: data No.(0-F)
reply:Ｒ□□□□□□ (HEX) 3 byte data from read data address
position data read X: channel No.(0-F) PS: position data read＊
reply:±ＤＤＤＤＤＤＤ (DEC)forward DGLS read
X: channel No.(0-F) FL: forward DGLS read＊
reply:±ＤＤＤＤＤＤＤ (DEC)backward DGLS read X: channel No.(0-F) BL: backward DGLS read＊
reply:±ＤＤＤＤＤＤＤ (DEC)data write command
X: channel No. Y: data No. □□: write data (HEX)
position data write X: channel No.(0-F) PS: position data write ＊±DDDDDDD : write data (DEC)forward DGLS write X: channel No.(0-F) FL: forward DGLS read＊
±DDDDDDD: write data (DEC)backward DGLS write X: channel No.(0-F) BL: backward DGLS read ＊±DDDDDDD: write data (DEC)status & LS read (a row of data is B,A,D,C for "-02N" compatible）
reply:Ｒ□□□□ □：HEX CODE REM/LOC, LIMIT SW＊
backlash correction data(for CH X) set(h:HEX,D8F1〜270F)＊
backlash correction data(for CH X) read
reply: Ｒｈｈｈｈ(HEX) ＊backlash correction data(for CH X) set 0〜±9999（decimal）
backlash correction data(for CH X) read
reply: ±ＤＤＤＤ(DEC)PIO port status read＊
reply:ＰＩＯ :PIO port ＣＯＭ :PIO communication port
set PIO port as a normal PIO port＊
set PIO port as a PIO communication port＊
data read from PIO port＊
reply:ＲＸＸＹＹ
XX: port 1 data YY: port 0 data(HEX)
data write to PIO port
XX: port 1 data YY: port 0 data(HEX)＊
read version information reply:
１．０５ ００−０７−２０Added command
MODE
R

R/L

COMMAND
FHPA
FHPB
FHPC
FHPD
RTHPA
RTHPB
RTHPC
RTHPD
DPX
DNX
GFXDDDD
SPHXDDDDD
SPMXDDDDDSPLXDDDDDSPCXDDDDD
G?X
GF?X
HP?X
SPH?X
SPM?X
SPL?X

March 3, 2001

REPLY ETC.
Find Home Position of channel A
Find Home Position of channel B
Find Home Position of channel C
Find Home Position of channel D
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
page1) Characteristics ・・・・・・・・・・・・・・・・・・・・・・・・・・ １
2) Concept of PM16C control・・・・・・・・・・・・・・・・・・・・・・ ２
２．Panel layout
1) Front panel layout ・・・・・・・・・・・・・・・・・・・・・・・・ ３
2) Function SW (in detail) ・・・・・・・・・・・・・・・・・・・・・・ ３
3) Rear panel layout
・・・・・・・・・・・・・・・・・・・・・・・・ ４
4) Connectors on the rear panel・・・・・・・・・・・・・・・・・・・・ ４
３．Setting the motor characteristics
1) Power on・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ ５
2) Set data・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ ５
3) Prepare the data setting・・・・・・・・・・・・・・・・・・・・・・ ６
4) Procedure of data setting ・・・・・・・・・・・・・・・・・・・・・ ６
A. Digital CW LS ・・・・・・・・・・・・・・・・・・・・・・・・・ ６
B. digital CCW LS ・・・・・・・・・・・・・・・・・・・・・・・・・ ６
C. HSPD （Highest Speed） ・・・・・・・・・・・・・・・・・・・・・ ７
D. MSPD （Mid Speed) ・・・・・・・・・・・・・・・・・・・・・・・ ８
E. LSPD （Low Speed） ・・・・・・・・・・・・・・・・・・・・・・・ ８
F. RATE （speed up/down rate）・・・・・・・・・・・・・・・・・・・ ８
G. LMSW （Limit SW etc.） ・・・・・・・・・・・・・・・・・・・・・ ８
H. Jogging count ・・・・・・・・・・・・・・・・・・・・・・・・・ ９
I. Home position data ・・・・・・・・・・・・・・・・・・・・・・・ ９5) Finish to set data・・・・・・・・・・・・・・・・・・・・・・・・・１０
４．Local mode driving
1) Speed selection ・・・・・・・・・・・・・・・・・・・・・・・・・・１０
2) Changing the driving mode ・・・・・・・・・・・・・・・・・・・・・１０
HP stop mode
REL and ABS indexed SCAN
Continuous SCAN
3) Channel selection ・・・・・・・・・・・・・・・・・・・・・・・・・１２
4) Jog driving ・・・・・・・・・・・・・・・・・・・・・・・・・・・・１２
5) Position data preset・・・・・・・・・・・・・・・・・・・・・・・・１２
6) Synchronous driving ・・・・・・・・・・・・・・・・・・・・・・・・１３
7) Auto hold-off
・・・・・・・・・・・・・・・・・・・・・・・・・・１４
8) Inhibiting Jog・・・・・・・・・・・・・・・・・・・・・・・・・・・１４9) Hand box operation ・・・・・・・・・・・・・・・・・・・・・・・・１４
５．Remote mode driving
1) External communication over PIO port(omitted) ・・・・・・・・・・・１４
2) RS232C, GP-IB data communication・・・・・・・・・・・・・・・・・・１４2-1) Command in detail・・・・・・・・・・・・・・・・・・・・・・・・１６a) Channel select, channel read and remote/local・・・・・・・・１６change commandＳ１□□
・・・・・・・・・・１６b) Data & status read commandＳ２□・・・・・・・・・・１６c) Motor control commandＳ３□□□ ・・・・・・・・・・１７d) Data read out commandＳ４□□・・・・・・・・・・２１2-2) Procedure of data communication over GP-IB, RS232C or LAN
communication ports・・・・・・・・・・・・・・・・・・・・・・２４2-3) Sample program of data communication ・・・・・・・・・・・・・・２４
６．Auto backlash elimination
1) What is the auto backlash elimination
・・・・・・・・・・・・・・２４
2) Command reference ・・・・・・・・・・・・・・・・・・・・・・・・・２４
3) When you use backlash elimination ・・・・・・・・・・・・・・・・・２５
７．Home position detection in remote mode (omitted) ・・・・・・・・・・・・・２５
８．16 bit digital data IN/OUT (omitted) ・・・・・・・・・・・・・・・・・・・２５

９．Version information ・・・・・・・・・・・・・・・・・・・・・・・・・・・２５
10. Another added command (omitted)・・・・・・・・・・・・・・・・・・・・・・２５
11. Additional function
Pulse output style change
・・・・・・・・・・・・・・・・・・・・・・２６
12. Connection with outer equipment・・・・・・・・・・・・・・・・・・・・・・２７
13. Specification ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・２８

PM16C-04, PM16C-04S User's Manual
１．Abstract
PM16C-04,PM16C-04S, designed as an upper version of PM16C-02Z (or PM16C-02N),
has same communication command and similar operation as PM16C-02Z (or PM16C-02N).
PM16C-04, PM16C-04S can control 4 motors at a time, although PM16C-02Z (or PM16C-02N)
can control 2 motors at a time.PM16C-04 has a 10BASE-T Ethernet interface for LAN use.
PM16C-04S is a low cost type without LAN inter face.
1) Characteristics①
One PM16C can control less than 16 stepping motors.
* Characteristics（HSPD,MSPD,LSPD,RATE,LMSW）of each motors can be set as you
like.
* Any channel can be inhibited to operate.
②

Four motors can be driven synchronously.
* The four motors can be started at the same time.
* Limit SW status, Pulse out status and Position of the four motors are shownon the front panel.

③ Driving Mode
REMT

LOCL

SET UP

HP

ABS

DRIVING

REL(all LEDs are turned off)
REMT:Controlled by other equipment over communication line
LOCL:Controlled by Switches on the front panel
SET UP :Setting of the motor driving procedure
DRIVING :Motor driving is possible in this mode(set up lump turn off)
SCAN
:Simple driving（can be stopped only by Limit SW or Stop SW on front
panel）
ABS:Absolute Position Set Driving
REL:Relative Position Set Driving
HP:Home Position Stop Driving* Present driving mode is shown on the front panel by LED* Modes, and position are memorized as back up data by battery for five years.
* The data can be set in REMT mode, as above shown.
* Use the data communication forms as below.
1 PIO
2 GP-IB
3 RS232C
4 Handy console (PM16-HD1:option)
5 Ethernet (LAN)④ Motor is stopped, whena. Limit Switch is detected.
b. Home Position Switch is detected.
c. Software Limit Switch is detected.
d. stop switch is pushed.

- 1 -

SCAN

* Enable/disable can be set for each motor. (a,b,c)* Contact type can be set for each motor. (a,b,c)* (d) function is enable in both remote/local.
* (c) is a function in which the motor is stopped at the point set by front panel
or by remote operation.
* In the case of a〜d, the motor is stopped through slow stopping process toprevent detuning.
⑤ Hand box operation* Only 4 channel can be operated, which are displayed on the front panel.
* CW/CCW jog operation is possible.
* By use of the Hand box, you can operate PM16C, while you watch the machine
moving.
If you need more multi-function, handy console :PM16-HD1 is useful.
Please contact us, and order please.
⑥ Hold off :When motor is stopped, power is automatically turned off.
* Each channel can be set to take the hold-off function, or not.
* The hold-off can be set externally by command through communication line.
⑦Jog switch is used for:a. Any numbers of steps (1〜9999) driving.
b. Inching driving; Only when you keep to push the jog SW,
Jogging continues.
2) Concept of PM16C control
Stepping motor controller ;PM16C-04(-04S) has ① a CPU which controls the hole ofthe system, ② four CPU which control the stepping motors. The connections between
the four CPU and 16 of stepping motors are changed properly. Present positions, present velocities, differential velocities in starting and stopping phase, etc. are stored in the memories as battery back up, which are read out and renewed any ti
me you need.
Push-Button SW
LED Lamp
IN/OUT port
total
controlCPUcommunication port
PIO
GP-IB
RS232C

display
memory*１LAN*1) LAN is for only PM16C-04

CPU forA chpulse out
connectors

displayfor 16 of Motors

CPU forB chdisplay
CPU forC chdisplay

C
H
A
N
G
E
R

・
・
・
・
・
・
・
・
・

C
H
N
G

・
・

CPU for
D ch

- 2 -

input connectors
for Limit SW

２．Panel layout
1) Front panel layout
Fig.1

Front panel layout

2) Function SW (in detail)
REMT: External control mode
REMT LOCL
LOCL: Manual driving mode. (operated by panel SW)
If you keep the SW to be pushed, and turn the power on,
MODE MODE
then Motor Speed is set to be default data.
Default：HSPD=3700PPS,MSPD=650PPS,LSPD=10PPS,
RATE=300mS/1000PPS,hold off mode, LS/N.O
jog pulse counts=1,CWLS=+1000000,CCWLS=-1000000* Each pushing changes the remote/local alternately.
It can be also operated externally.

SET UPSET UP : If you push this SW when motor remains stationary in LOCL,
then the mode is changed into set up mode.
Please set the data for motor driving in this mode.

MODE

Ａ

PRESET

INC

Ｂ

Ｃ

Ｄ

By these SWs you can select which motor is driven.
Available only in local mode.
Each pushing changes lamp on/off alternately.
Lamp on CH can be driven at the same time.
In SET UP mode you can choose display window.

PRESET : a. In DRIVING mode: data of digital SWs are set as present data.
By A/B/C/D SW, you can select the CH to which data are preset.
b. In set up mode: The values of data are increased.
(Large value data such as the Soft ware LS is set by digital SW.)- 3 -START; a. In DRIVING mode: Function is changed in accordance withmode display lamp
mode lmp mode movement when START sw is on
all off
scan prepare scan. waiting to set direction *1
ABS onABSscan start to ABS. pos. set by digital SW.
REL onREL
scan start to REL counts set by digit. SW.
HP on
HPhome position moving *1,*2*1 In scan and HP, scanning is prepared by pushing this SW.
However, the scanning can not start without setting CW/CCW
decision by jog SW.
*2 see page 9 about details for HP mode.
b. In set up mode: Showing data are changed by this SW.
Right after entering into set up mode, CW LS data is shown.
And, CCW LS,HSPD,MSPD,RATE,LS status･･･ are shown next to next.

START

DATA

STOP
STOP

; a. In DRIVING mode: Motor is stopped in both REMT and LOCL modes.
b. In set up mode: The value of the data are decreased.
(Large value data such as the Soft ware LS is set by digital SW.)DEC
caution* mode change SW : ABS→REL→HP→SCAN are circular changed.
* speed change SW : L→M→H are circular changed.
Changes unit (code / pps) in setup mode.
3) Rear panel layout
Fig.2

Rear panel layout*1) LAN connector and LAN MODE set SW are only for PM16C-04 (not PM16C-04S)
4) Connectors on the rear panel
1. PULSE (DE9S)
Stepping pulse out for Motor Drivers.
2. LS IN (DE9P)
Limit sw signal input for limit sw or photo sensor.
3. PIO (57-40500)
PIO communication.

- 4 -Available for parallel In/Out port over GP-IB,RS232C communication.
4. GP-IB
GP-IB communication.
5. RS232C (DB25S)
RS232C communication.
6. DIP SW
Status setting for GP-IB,RS232C communication.
7. LAN MODE (only for PM16C-04）
Setting for Ethernet (LAN) mode.
8. LAN (only for PM16C-04）
10base-T connector for Ethernet.
9. F3A
Fuse holder for power supply. use 3A fuse.
10. AC100V
AC power supply. AC85V 〜 AC264V 47〜440Hz 50VA
３．Setting the motor characteristics
In PM16C-04,-04S, each data of 16 stepping motors can be set and stored, which is kept
as battery back up. The data are kept to be memorized until reset. Then, accurate
control is realized for any system. In setting mode, pulse out is stopped.
Data can not be set during motor moving.
1) Power on
When Power SW is turned on, status become to be default mode within 1 second.

default

operationmode

drivingmode

driving
positionspeedsettingmemorized

REL

memorized

MID

Other data are set as the value which are the one last time turned off the power,
because the all of these data are kept by battery back up.
2)

Set data
All channel data can be set individually.
set No.

datameaning

７

CW soft ware LS

stop whenpulse count > data

８

CCWsoft ware LS

stop whenpulse count < data

９

HSPD

Ａ

MSPD

ｂ

LSPD

Ｃ

RATE

speed up/down rate (see table 2 on page 11)ｄ

Limit SW statuslimit sw (N.O, N.C), moving EN/DA, hold off, etc.

Ｅ

JOG step pulse

JOG step pulse in local modeb0:start dir. b1:sens.dir. b2:getdisplay:Ｆdata forhome position
movingoffset pulse (near hp)

mode change

memorized home position

PB

high speed data (code)

unit select:high speed data (pps unit)

speed

mid speed data (code)

select PB

mid speed data (pps unit)

value in pps:

low speed data (code)

set bylow speed data (pps unit)

Digital SW

- 5 -

3)

Prepare the data setting
In LOCL mode, set up mode is selected by set up SW.
Then, A position display shows the data.
By B,C,D select sw, you can change data display window.
If the channel No. (which you want to set the data) appears one of 4 display
windows, select that window and set the data.
If it doesn't, you can select the channel by using INC/DEC SW under channel No.
display window.
Caution）The display shows the number as HEX (0〜F), then ６and ｂ might be complex.
Please take care this point.
Display９

in detail０

set No.

０

０

CH
０

0000

Ｆ

Ｆ

５

set. data

set chThe channel you want to set data is shown in A(B,C,D) position display. The channel
can be changed by INC/DEC SW under the display.
4) Procedure of data setting
A. Digital CW LS
setting No. ７ * Right after entering the set up modea) Push the data SW (START SW), and select the setting No.７.
(7 is not shown, but it is after F.)b) Set data by use of digital SW under the display window.
Write the data into the memory by INC SW (PRESET SW) or DEC SW (STOP SW).
The data's mean the absolute position where you want to stop the motor during CW
driving.
c) Channel can be changed by the SW under the display.
Display
±

１

CH
２

３

４

５

６

７

data

５

channelB. digital CCW LS
setting No.８
a) Push the data SW (START SW), and select the setting No.８.
(8 is not shown, but it is after 7.)b) Set data by use of digital SW under the display window.
Write the data into the memory by INC SW (PRESET SW) or DEC SW (STOP SW).
The data mean the absolute position where you want to stop the motor during CCW
driving.
c) Channel can be changed by the SW under the display.
Display
±

１

CH
２

３

data

４

５

６

７

５

channel- 6 -C. HSPD （Highest Speed）
Setting No.９
Can choose code/pps unit by speed change PB. Once chosen it remains in MSPD, LSPD
setting. (also after power on/off).
Even if you choose the code data, the pps unit data is set to new data automatically.
But if you choose the pps data, the code data is not changed to new data.
(Setting code data)a) Push the data SW (START SW), and select setting No.9.
b) Set data by use of INC SW (PRESET SW) or DEC SW (STOP SW).
A relationship between data and speed can be known by use of table 1.
5pps to 40,000pps data are available.
c) Channel can be changed by the SW under the display.
Display９CH０

set No.

０

０

０

000

Ｆ

Ｆ

data

５
channel（Setting PPS unit data) PPS: pulse per second (P/S)a) Push the data SW (START SW), and select setting No.9.
b) Set data by use of digital SW under the display window.
Write the data into the memory by INC SW (PRESET SW) or DEC SW (STOP SW).
1pps to 100,000pps can be set.
c) Channel can be changed by the SW under the display.
Display９CH
１０

set No.

０

０

０

０

data

５

channelD. MSPD （Mid Speed)
Setting No. Ａa) Push the data SW (START SW), and select setting No.Ａ.
How to set the data is the same as the HSPD.
E. LSPD （Low Speed）
Setting No. Ｂa) Push the data SW (START SW), and select setting No.ｂ.
How to set the data is the same as the HSPD.
F. RATE （speed up/down rate） Setting No. Ｃa) Push the data SW (START SW), and select setting No.Ｃ.
b) Set the data by INC SW (PRESET SW) and DEC SW (STOP SW).
A relationship between data and rate can be known by use of table 2.
c) Channel can be changed by the SW under the display.
DisplayＣCH
０

set No.

０

000

０

０

０

Ｆ

data

５

channel- 7 -G. LMSW （Limit SW etc.）
Setting No. Ｄa) Push the data SW (AB SW), and select setting No.Ｄ.
b) Set data by use of INC SW (PRESET SW) or DEC SW (STOP SW).
c) LS status can be set, while you see the LED to know the present status.
(turned on: LS on, turned off: LS off) (details are shown in "LS data structure")d) If highest bit is set to zero (<7FH), which means motor off, then CW and CCW LS
lamps are switched to show that the motor can not be driven.
e) Channel can be changed by the SW under the display.
DisplayｄCH０

set No.

０

０

000

０

０

1／0

1／0

５

data

* LS data structure
Higher bit of Hex
1／0

ＦchannelLower bit of Hex
1／0

1／0

1／0

1／0

1／0

① CW LS contact (1:B,0:A)② CCW LS contact (1:B,0:A)③ ZERO LS contact (1:B,0:A)④ CW LS (1:enable,0:disable)⑤ CCW LS (1:enable,0:disable)⑥ DIGITAL LS (1:enable,0:disable)⑦ hold off (1:normal,0:hold off)
⑧ motor enable (1:motor on,0:motor off)①,② CW/CCW LS A/B contact type setting
When these bits are 1, they are B contacts. when they are 0, A contacts.
A contacts : when LS is struck, the contact becomes electrically to be CLOSE.
It is normally open. (so it is also called as N.O contact)
Drawing:.

B contacts : When LS is struck, the contact becomes electrically to be open.
It is normally CLOSE. (so it is also called as N.C contact)
Drawing:③〜⑤ ZERO, CW and CCW LS enable
Each LS can be set to be enable or disable.
When this bit is 1, the LS is enable. When this bit is 0, the LS is disable.
Please care that motor can not stop when LS is kept to be disable.
⑥ Digital LS enabledigital LS can be also set to be disable or enable.
When this bit is 1, it is enable. When this bit is 0, it is disable.
If digital LS is enable, motor can stop at the absolute position where isinternally set by digital SW (CW/CCW) as same as hardware LS.
⑦ hold off
IF some torque is required to keep the motor remaining stationary,
power should be kept to be turned on.
But, if there is not such a requirement, some motor drivers can be hold off toprevent the heating up and to save the power.
When you use these types of drivers, motor can be more effectively driven by- 8 -this bit operation. When this bit is 1, hold off signal is disable so that poweris kept to be turned on all time. When this bit is 0 in manual mode, the power isturned on 0.1s before jog starting, and turned off 0.1S after jog finishing.
* The motor, whose power is required to be hold off in remote mode,
should be controlled by the sequence, in which the "hold off" is set to bedisable before jog starting, and reset to be enable after jog finishing.
⑧Motor enable
You can set some motors impossible to drive by use of this bit setting.
When this bit is 1, it is normal driving mode that motor can be driven as you
like.
When this bit is 0, motor can not be driven by any manual SW operation.
* If you set the motor impossible to drive by this way, the motor becomes thatcan not be driven by any remote operation.

H. Jogging count
Setting No. Ｅa) Push the data SW (START SW), and select setting No.Ｅ.
b) Set data by use of INC SW (PRESET SW) or DEC SW (STOP SW).
The possible dates' range is 1〜9999.
c) You can change the channel by the SW under the display.
DisplayＥ

CH
０

set No.

０

９

00

９

９

９

data

５

channelI. Home position data
Setting No. Ｆa) Push the data SW (START SW), and select setting No.Ｆ.
There are three data.
Just after selecting No.F, home position status of the channel are displayed.
By the mode change PB, you can change the contents of the display.
(contents: home position status, offset pulse, home position value)（Home position status）
Only the start direction of auto home position searching is changeable.
If it is changed, home position found flag will be cleared.
a) Change data by use of INC SW (PRESET SW) or DEC SW (STOP SW).
b) You can change the channel by the SW under the display.
DisplayＦ

set No.

CH
０

０

000

０

１

１

１

５

channeldirection of auto HP searching (CW:1, CCW:0)
memory of HP found direction (CW:1, CCW:0)
HP found memory (found:1, not found:0)- 9 -（Home position offset pulse）
Can change home position offset pulse data.
b) Set data by use of digital SW under the display window.
Write the data into the memory by INC SW (PRESET SW) or DEC SW (STOP SW).
Data 0〜9999 can be set.
c) Channel can be changed by the SW under the display.
DisplayCHＦ０

set No.

０

00

９

９

９

９

offset pulse

５channel（Home position value）
Read only data.
a) You can change the channel by the SW under the display.
Display
CH
±

5)

１

２

３

４

５

６

７

５

home position value
channelFinish to set data
Turn off the set up SW, and get back to driving mode.

４．LOCAL mode driving
Only when remote/local SW is set to be local, the motor can be driven in local mode.
If this SW is remote, you need to push the SW once, and reenter into local mode.
1) Speed selection
By use of speed selecting PB, any speed can be selected from the three speed that arepreset in each channel, which are HSPD, MSPD and LSPD.
Starting speed of acceleration and final speed of deceleration is LSPD.
2) Changing the driving mode
By use of driving mode selecting PB, you can select the mode as you like: HP,REL,ABS
and scan（scan mode is the case that all LED which show driving mode are turned off).
Just after power on, REL mode is selected.
a. HP stop mode (HP mode lamp is flickering)
In this mode motor will stop when HP sensor on.
When sensor is on the moving direction and the value of home position are memorized.
It is necessary that the scan speed is slower than the sensor reply speed.
You can choose the way to find home position as follows.
Statusnot found yet(select ch. lamp
is flickering)found already(select ch. lamp
is on)

methodprocedure

accur

time

expl

manualch. select→JOG or START+JOG

△

short

①

semi auto

ch. select→START PB > 1Sec.

◎

long

②

semi auto

ch. select→START PB

◎

short

③

- 10 -

Find home position.
① Manual detection.
1.Choose the channel which you wont to find home position.
In the HP STOP mode, can see if the channel already has home position by
the selected channel lamp.
flickering : not found yet.
lamp on: already found.
lamp off: not selected as a moving channel.
2.Move to the one side near home position from which you want to approach.
If you pass the home position in this process you must pass without HP STOP mode.
You can't pass through the home position in the HP STOP mode.
3.Next move toward the home position in HP STOP mode (in slow speed if possible).
2 ways are available.
One is by using only JOG sw and the other is start PB + JOG sw.
Start ready status, which is prepared by start PB, can be cleared by STOP sw.
4.Detecting the up edge of home position sensor, motor will stop quickly andhome position detecting procedure will finish.
After the finishing of home position detection the selected channel lamp statuswill change from flickering to continuous lamp on.
Direction from which it approached and the value of home position are memorized.
The data about home position detection are stored as battery back up.
If the detection is done in high speed moving, notice the influence to themechanic or detuning.
If overrun through the sensor occurred when stopped, the detection is failed.
You should try the process once more.
②

Semi auto detection when no HP memory.
In this method the detection is done automatically by using CW, CCW limit sw.
So the limit sw must work securely.
1.Select and move enable the channel you want to find home position.
In HP STOP mode selected channel lamp that has no home position memory will
flicker.
2.Press the START PB and the lamp will turn on.
（If you decide the moving direction with JOG SW, the method of home position
detection is as the same above ①)
3.Pressing the PB more than 1 second, the motor will start to move toward somedirection. Some direction means CCW direction as a default direction.
Can change the default direction as you want. (The start direction is opposite
one that is the approaching side of home position.)
If changed, CW, CCW should be CCW, CW below.
4.When CCW limit sw is turned on, the motor will slow down and stop, then returnto the CW direction. If home position sensor turned on before CCW limit sw,
go to 6th sentence.
5.When HP sensor turns on, the motor will slow down and stop, then return to the
CCW direction.
6.When HP sensor turns off (or turns on then turns off), the motor will slow down
and stop, then return to the CW direction and when HP sensor turns on, the motor
will stop and finish the HP detection.
After HP detection flickering selected channel lamp will change to continuous
turn on status. And also home position informations are memorized.
7.If CW limit sw turns on instead of HP sensor turns on, the detection process
will be failed and finish.

- 11 -

It can also be forced to stop by stop PB.
③

Semi auto HP detection with HP memory
1.In HP STOP mode, selected channel lamp is continuously lighting when it has
HP memory.
2.By pressing START PB, the motor starts to move automatically to the place thatis home position plus (or minus) offset pulse.
Plus or minus is determined by the direction when last HP detection finished.
Offset pulse can be set in advance between 0 to 9999.
The offset pulse can be set for each motor as the home position offset data.
The default value of offset pulse is 100.
3.Next it move to HP slowly, when HP sensor turns on it stops.
The home position informations are re-memorized, so ③ process is reliable after① process.
In this process if the HP sensor doesn't turn on, while moving to HP even
if it pass through out of HP +/- offset pulse, the HP detection process will befailed.
The HP memory will be cleared and selected channel lamp will be changed toflickering status.
If CW or CCW limit sw works, or STOP PB is pressed, HP detection process will
also be stopped. But in this case the HP memory will be conserved.

b. REL and ABS indexed SCAN
In REL mode when START PB pressed the motor steps relatively by the digital sw data.
In ABS mode it steps to the absolute data that the digital sw indicate.
Can stop by limit switches or STOP PB.
c. Continuous SCAN（all mode LED lamps are off）
By pressing START PB, START PB lamp will turn on that indicate start ready status.
Next by JOG SW, decide the direction, the motor will scan.
It can be stopped by STOP PB or limit switches.
The start ready status can be cleared by STOP PB.
3) Channel selection
While pulse is not being sent, the channel you like to control can be changed by
CH select SW in local mode. In the display, the position of the last selected motor
is shown. If the SW is operated during pulse-sending, the operation will be ignored.
Four display (A,B,C,D) can not control same channel at the same time.
The system are programmed that same CH can not be selected at the same time.
4) Jog driving
In the direction which is set by jog SW, pulses are sent and motor is driven.
If you keep the SW to be pushed more than 0.5 seconds, continuous scan is started.
5) Position data preset
Index data can be shown and set in the display by use of PR PB and A,B,C,D PB.

- 12 -

Table 1 speed data
No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F

PPS
5
10
25
50
75
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
900
1,000
1,100
1,200
1,300
1,400
1,500
1,600
1,700
1,800
1,900
2,000
2,100
2,200
2,300
2,400
2,500
2,600
2,700
2,800
2,900
3,000
3,100
3,200
3,300
3,400
3,500
3,600

No.
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
40
41
42
43
44
45
46
47
48
49
4A
4B
4C
4D
4E
4F
50
51
52
53
54
55
56
57
58
59
5A
5B
5C
5D
5E
5F

PPS
3,700
3,800
3,900
4,000
4,100
4,200
4,300
4,400
4,500
4,600
4,700
4,800
4,900
5,000
5,100
5,200
5,300
5,400
5,500
5,600
5,700
5,800
5,900
6,000
6,100
6,200
6,300
6,400
6,500
6,600
6,700
6,800
6,900
7,000
7,100
7,200
7,300
7,400
7,500
7,600
7,700
7,800
7,900
8,000
8,200
8,400
8,600
8,800

No.
60
61
62
63
64
65
66
67
68
69
6A
6B
6C
6D
6E
6F
70
71
72
73
74
75
76
77
78
79
7A
7B
7C
7D
7E
7F
80
81
82
83
84
85
86
87
88
89
8A
8B
8C
8D
8E
8F

Table 2 rate data

PPS
9,000
9,200
9,400
9,600
9,800
10,000
10,20010,40010,60010,80011,01011,21011,41011,60011,80011,99012,20012,40012,60012,79012,99013,20013,40013,62013,81014,00014,20014,40014,62014,83015,01015,20015,39015,58015,77015,97016,18016,40016,61016,83017,06017,24017,42017,60017,80017,99018,18018,380

No.
90
91
92
93
94
95
96
97
98
99
9A
9B
9C
9D
9E
9F
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
AA
AB
AC
AD
AE
AF
B0
B1
B2
B3
B4
B5
B6
B7
B8
B9
BA
BB

PPS
18,66018,94019,23019,53019,84020,16020,50020,83021,19021,55021,93022,32022,73023,15023,59024,04024,51025,00025,51026,04026,60027,17027,62028,09028,57029,07029,59030,12030,68031,25031,85032,47033,11033,78034,48035,21035,97036,50037,04037,60038,17038,76039,37040,000

No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
10
11
12
13
14
15

mS/1000PPS
1,000.0
800.0
600.0
500.0
400.0
300.0
200.0
150.0
125.0
100.0
75.0
50.0
30.0
20.0
15.0
10.0
7.5
5.0
4.0
2.0
1.5
1.0

Can be set in this range
ＨＳＰＤ＝０〜ＢＢ
ＭＳＰＤ＝０〜ＢＢ
ＬＳＰＤ＝０〜Ａ１
ＲＡＴＥ＝０〜１２

6) Synchronous driving
A,B,C,D can be driven individually. When more than 2 motors are selected, they canbe started synchronously at the same time by JOG, START switches.

- 13 -

7) Auto hold-off
If you set the motor hold off, the power of the motor is turned on only whenthe motor is being driven in local mode.
8) Inhibiting Jog
If you set the motor off, any operations shown above can't drive motors.
（refer page 7 ３-4)-G. LMSW ）9) Hand box operation
By use of hand box, you can drive motors while you watch the mechanical moving.
Then, four CH displayed front panel can be operated as CW/CCW jog driving.
You can change control CH on the front panel.
In the HP mode, you can also operate by the hand box.
５．Remote mode driving
This mode is possible when remote/local SW shows to be REMT.
If the remote/local SW shows LOCL, push the SW again or send the commandexternally to change the mode to be REMT. And, after that, continue to operate
as below.
Remote mode driving can be operated by;
1 Parallel I/O
2 GP-IB
3 RS232C
Above 3 are common in PM16C-04 and PM16C-04S.
About the communication over Ethernet (LAN:10base-T, only for PM16C-04),
see a separate volume.
These communication mode can be selected by setting SW of rear panel. (as shown below)
The setting SW should be changed before power turned on if necessary.
1) External Communication over PIO port (omitted)
Fig.3 external communication sw
１

２

３

４

５

６

７

８

ON
↑
↓
OFF

１：ON→RS232C port enable
２：ON→GP-IB port enable（*１）
３：４：５：GP-IB my address or
６：
RS232C baud rate７：
setting８：↑ ↑ ↑ ↑ ↑↑ ↑ ↑ ↑ ↑When GP-IB is selected → 2４ 2３ 2２ 2１ 2０ (my address)↑ ↑ ↑ ↑ ↑When RS232C is selected →(N.C)Ａ Ｂ Ｃ Ｄ→→→→

Ａ：9600 baud If more than
Ｂ：4800 baud two SWs are
Ｃ：2400 baud on, higher
Ｄ：1200 baud is selected.
* When both RS232C and GP-IB are ordered at the same time, only RS232C
is selected.
*１） By use of the optional handy console (PM16-HD1) connected to RS232C
port in GP-IB mode, less than additional 6 motors can be controlled(position monitoring, jog, scan, REL. IDX, ABS IDX and preset)
during GP-IB control.

2) RS232C,GP-IB data communicationa) Introduction- 14 -

A PM16C-04 (or -04S) has a GP-IB control IC;TMS9914A. and has a RS232C control
IC;HD64941. In this system, nonsense command or impossible command（EX. reverse
drive during normal drive）are ignored so that almost all time you can access fromthese communication lines (protect from hung up).
Receive form should be Ｓ□・・・・□CR+LF*.

□:ASCII* de-limitter is fixed to CR+LF.

When CR(0DH)+LF(0AH)is detected during receiving, the command is rapidly analyzed
and done by PM16C-04 (or -04S). However, if it can't be analyzed, no operation isdone. When PM16C receives information that some data should be returned back,the data are rapidly prepared and sent back. These operations are done for about
less than 1mS.
Drive command form is;Ｒ□・・・・□CR+LF.
Remote controls such as receiving, analyzing and doing from RS232C/GPIB line areoperated by interrupting in PM16C-04 (or -04S). Therefore, these operations need nothave waiting time.
Then, three types of commands are possible.
TYPE 1:rapid done・・・data reading/motor stop
TYPE 2:waiting for some status done・・・CH selectTYPE 3:some status requiring done・・・motor control
In the case of that the data are read out after sending the command of TYPE 2/3,
it is important as above shown.
b) Baud rate /address set SＷ：as above mentionedc) character structure
1.RS232C data are 1 START bit ＋8 bit data ＋1stop bit no parity (fixed）
2.De-limitter is fixed to be CR+LF.
3.Send/receive command code is ASCII.
d) In RS232C communication, software hand shake (XON,XOFF）is not supported.
e) Connection between PM16C and other controller (in the case of RS232C.
GP-IB is omitted here.)
1.PANEL：DB25S
CABLE:DB25P
2.PIN ASSIGN （→shows the flow of data）
PM16C-04, -04S
other controller
1 SHIELD
can be omitted
1 SHIELD
2 TXD
3 RXD
3 RXD
2 TXD
5 CTS
4 RTS
7 SIG.GND
7 SIG.GND
6 DSR
8 DCD
20 DTR
RS23C2C debug tool
If RS232C line can not work well, the cause of that is hard to be found. Therefore,
we prepared the tool for helping to solve these problems. Please keep the stop PB on while
power is turned on, then received character is displayed echo back. You can refer thecharacter and get some information about the problem you meet. If echo back is not welldisplayed, the RS232C line is possible to be badly wired. Or, if you get curious
characters, baud rate and parity should be examined.

- 15 -

2-1) Command in detail（for both RS232C and GP-IB）a) Channel select, channel read and remote/local change command
If these commands are received during pulse sending,any operations are not started before finishing the pulse out.
It is enable only in REMT mode.
CH reading out and REM/LOCL changing can be operated both in remote/local. Data areread out as the receive form below.
command form
Ｓ

１

□

□
channel data(0〜F)(In Ch reading and remote/local changing, it can be ignored.)
R:Remote mode change(TYPE 3)
L:LOCL mode change(TYPE 3)0: position channel read (TYPE 1)
1:A position channel select(TYPE 2)
2:B position channel select(TYPE 2)
3:SRQ (next 2characters are 8 bit pattern )4:SRQ status read out (automatically cleared after
SRQ status reading out)
B0:A pos.stop SRQ
B7
B0
B1:B pos.stop SRQ
B7:ignore SRQ(reset)
5:C position channel select(TYPE 2)
6:D position channel select(TYPE 2)

commandEX) S1301 : A pos.stop SRQ
S1302 : B pos.stop SRQ
S138F : One of A,B,C,D stop then SRQ
S1380 : SRQ reset,SRQ clear
Receive form for "S10" command
Ｒ

□

□

□

□

channel of A, B, C, D position (0-F)

Receive form for "S14" commandＲ□□

SRQ request status lower bites"0"* When ch is selected, old data are saved and new data are set.
These process takes a few times.(about 30mS) Therefore, you should
send the command after completing the ch selection .
The completing can be known by Ch reading out command.
b) Data & status read command
At any time, position data and status are usually read out by this command.
This is enable in whichever modes remote/local.
command formＳ

２□

0:A position data read (TYPE 1)
1:A position status read( 〃 )2:B position data read ( 〃 )- 16 -

3:B position status read( 〃 )4:C position data read ( 〃 )5:C position status read( 〃 )6:D position data read ( 〃 )7:D position status read( 〃 )* Can get decimal data by adding "D" to the command when you send theposition read out command. ex) S20D
Receive form

D7

Ｒ

□

□

□

□

□

□

Ｒ

□

□

Status REG.
D6 D5 D4 D3

D2

D1

D0

position data (2's compliment of 6 hex code)
HEX CODE ASCII
Status data(2 hex code)
HEX CODE ASCII*) Firmware version "V1.30"
BUSY
etc. can be read out by
DRIVE"VER?" command.
DREND(V1.30〜)
COMERR(V1.30〜)
COMERR(〜V1.29, "0":V1.30〜)
LDEND
SSEND
ESEND
BUSY: shows Pulse controller is being operated now. During the moving, speed change
and pulse out command are ignored, though slow stop and EM stop command are
effective. BUSY status of OD17 shows CPU status which controls hole of thesystem. On the other hand, the BUSY here shows four CPU's status (A,B,C,D)
which control A, B, C, D motors.
DRIVE :Pulse out is being continued.
COMERR :The command is nonsense.
DREND :Pulse out drive finished.
LDEND :Pulse out is stopped by CWLS and CCWLS.
SSEND :Pulse out is slowly stopped by slow stop command.
ESEND :Pulse out is rapidly stopped by EM stop command.
caution）COMERR,LSEND,SSEND and ESEND are enable, only if BUSY=0.
These bits are cleared by rewriting the next command.
LSEND,SSEND and ESEND bit are nonsense, when pulse are not sent out by the command.
c) Motor control command
Data and command are written for A, B, C, D position control
２ bytes command form
Ｓ

３

□

□

□
2 byte command
0:A position 2 byte command(TYPE 3)*
1:B position 2 byte command(TYPE 3)*
4:LSPD set(TYPE 3)
5:MSPD set(TYPE 3)
6:HSPD set(TYPE 3)
8:C position 2 byte command(TYPE 3)*
9:D position 2 byte command(TYPE 3)**slow stop and EM.stop command are TYPE 1.

- 17 -

①+,- jog command
command
08 :+(CW) jog drive
09 :-(CCW) jog drivecommand for jog drive②+,- constant speed scan command
By this command, motor speed is set to be constant value which ispreset (*) as you like.
command
0C :+(CW) constant scan drive
0D :-(CCW) constant scan drive* The speed is set at the value which is last selected by push
SW (H,M and L) in LOCL mode, or which is last selected by speed
select command ⑧ in REMT mode.
This procedure is same in other controls shown below.

③+,- scan command
Motor speed is increased from LSPD to set value as trapezoidal driving.
command
0E :+(CW) scan drive
0F :-(CCW) scan drive④⑤

speed selection command
By this command, the motor speed is selected from HSPD,MSPD or LSPD.
All A, B, C, D POS are set as same range.
This command is effective for the channel whose motor remains
stationary. The channel of the moving motor is kept to the old range.
commandEX) S34 : LSPD selectS35 : MSPD selectS36 : HSPD selectCommands for synchronous starting of more than one motor
The pause command should be sent to PM16C before starting of more than
one motor at the same time.(*) If jog command is sent after pause
command, motors can not be driven until pause off command.
command
16 : pause
17 : pause offEX) S3X16 : pause
S3X17 : pause off* The sequence of Synchronous start is that; 16H(pause) is given
to the each controller, and after that, 17H(pause off) is given
to start more than one motor synchronously.
The third character(X) shows channel, and then 0, 1, 8 and 9 areeffective for all A, B, C, D.
These commands don't give any effects to the motors that are
already moving.

- 18 -

⑥

hold off set/rest command
command
18 : hold off set
19 : hold off resetEX) S3018 : A pos.hold off set
S3019 : A pos.hold off reset
S3118 : B pos.hold off set* When you need to start the motor from the state of hold off,you should cancel the hold off state enough time before sending
the control pulse in accordance with motor's character.
Of course, when you set hold off again, you should send thecommand enough time after finishing to send the control pulse.

⑦

scan & HP stop command
By this command, scan and home position LS detection are done.
After stopping, if HP sensor works home position data (position,
HP sensing direction, HP detection) are memorized.
command
1E : +scan & HP stop
1F : -scan & HP stopEX) S301E : A pos. +scan & HP stop⑧

slow stop command
Velocity is decreased by the rate whose value is preset.
command
40 : slow stopEX) S3040 : A pos.slow stop⑨

EM stop commandby this command, pulse out is rapidly stopped.
Care for motor speed, because motor is possible to be detuned.
command
80 : EM stopEX) S3180 : B pos. EM stop

８ bytes command form
Ｓ

３

□

□

□

2:A position 8 byte command
3:B position 8 byte command
A:C position 8 byte command
B:D position 8 byte command⑩(TYPE 3)
□

□

□

□

□

□ （Ｂ）

auto backlash
elimination with "B"
2 byte command
6 byte data(6 HEX CODE in ASCII style)constant speed relative index scan
Motor is driven at the preset constant speed.
Adding "B" after the last character, the motor will move in backlash
elimination mode.

- 19 -

command□□ □□ □□ 10 : constant speed REL.IX drive
２２
２ 〜２１６２７〜２０(data3)
１５(data1) ２ 〜２８(data2)
Sample(Out put pulse is 2's complement)
PULSE OUT
0
(CW)
+10
(CW)+8,388,607
(CCW)
-10
(CCW)-8,388,608⑪

data 1
00H
00H
7FH
FFH
80H

data 2
00H
00H
FFH
FFH
00H

data 3
00H
0AH
FFH
F6H
00H

constant speed absolute index command
By this command, motor is driven at preset constant speed.
Adding "B" after the last character, the motor will move in backlash
elimination mode.

command□□ □□ □□ 11 : constant speed ABS.IX drive
２２２〜２１６
２７〜２０(data3)
１５(data1) ２ 〜２８(data2)

Setting sample
Destination address isshown as 2's complement

destination
0+10+8,388,607-10-8,388,608

data 1
00H
00H
7FH
FFH
80H

data 2
00H
00H
FFH
FFH
00H

data 3
00H
0AH
FFH
F6H
00H

＊caution ：When absolute command is done, it is doubtful that display
counter and control counter are different from each other. Then, the values
are not coincident. In such cases, please select the channel again.
That case might be happened when the nonsense command is used.
⑫

incremental index command
Relative setting index drive is done by this command.
The speed is increased and decreased between LSPD and MSPD.
Adding "B" after the last character, the motor will move in backlash
elimination mode.
command□□ □□ □□ 12 : incremental IDX. drive
２２
２ 〜２１６２７〜２０(data3)(data1) ２１５〜２８(data2)
pulse counts
are shownas 2's complement
setting sample

pulse out
0
(CW)
+10
(CW)+8,388,607
(CCW)
-10
(CCW)-8,388,608

data 1
00H
00H
7FH
FFH
80H

- 20 -

data 2
00H
00H
FFH
FFH
00H

data 3
00H
0AH
FFH
F6H
00H

⑬

absolute index command
Absolute setting index drive is done by this command.

The motor speed is increased and decreased between LSPD and MSPD.
command□□ □□ □□ 13 : incremental IDX. drive
２２２〜２１６
２７〜２０(data3)
Destinationis shown as
2's complement.
sampledestination
0+10+8,388,607-10-8,388,608

data 1
00H
00H
7FH
FFH
80H

data 2
00H
00H
FFH
FFH
00H

data 3
00H
0AH
FFH
F6H
00H

＊caution ：When absolute command is done, it is doubtful that display
counter and control counter are different from each other. Then, the values
are not coincident. In such cases, please select the channel again.
That case might be happened when the nonsense command is used.

⑭

Other commands
In scan drive moving or index drive moving, the moving speed can bechanged between 10 pps to setting speed in pps unit.
It is possible only over external communication line.
command form
ＳＰＣＸＤＤＤＤＤ

X:position A, B, C, D
D:5 digit decimal data

After receiving the command the speed increases or decreases
tarpezoidally.
d) Data read out command
Each channel is read out by this command, which is enable both in REMT and LOCL
modes.
command form
Ｓ ４ □ □(TYPE 1)
read data address(0-F)
read channel address(0-F)
receive form
Ｒ □ □

□

□

□

□

data (HEX CODE ASCII)

3 bytes are returned from read data address.

- 21 -

data addresscontents
0
position data(16５,16４)
1〃(16３,16２)

2〃(16１,16０)

3

digital CWLS (16５,16４)

4〃(16３,16２)

5〃(16１,16０)

6

digital CCWLS(16５,16４)

7〃(16３,16２)

8〃(16１,16０)

9

HSPD

$A

MSPD

$B

LSPD

$C

RATE

$D

LMSW etc.

$E$F

jog pulse counts

b0:CW LS A/B
b1:CCWLS A/B
b2:Z LS A/B
b3:CW LS enable
b4:CCWLS enableb5:digital LS enableb6:hold (1:ON 0:OFF)b7:motor off
jog pulse counts
MDA+$E〃

MDA+$Fpps unit speed data read out
HSPD read out
command form
ＳＰＨ？Ｘread channel address(0-F)
receive form
ＲＤＤＤＤＤＤ
Ｄ：ASCII 5 digit decimal data
MSPD read out
command form
ＳＰＭ？Ｘread channel address(0-F)
receive form
ＲＤＤＤＤＤＤ

Ｄ：ASCII 5 digit decimal data

LSPD read out
command form
ＳＰＬ？Ｘread channel address(0-F)
receive form
ＲＤＤＤＤＤＤ

Ｄ：ASCII 5 digit decimal data

- 22 -e) Data write on command
By this command, basic data stored in each ch can be rewritten. This is enable in
REMT mode. However, speed data cannot be rewritten while motor is driving, and thedata are rewritten automatically after stopping the motor.
command form
Ｓ

５

□

□

□

□

(TYPE 1)
write data(2 HEX CODE in ASCII style)write data address(0-F)
write channel address(0-F)

pps unit speed data write on
HSPD write oncommand form
ＳＰＨＸＤＤＤＤＤ
D:ASCII 5 digit decimal data
write channel address(0-F)
MSPD write oncommand form
ＳＰＭＸＤＤＤＤＤ
D:ASCII 5 digit decimal data
write channel address(0-F)
LSPD write oncommand form
ＳＰＬＸＤＤＤＤＤ
D:ASCII 5 digit decimal data
write channel address(0-F)
f) Limit SW & remote/local mode read
By this command, LS status and remote/local mode status are read out in any time.
However, it is required for approximately 30ms that the ch is changed by thecommand. In LS status read, more 10mS is required.
command form
Ｓ ６

(TYPE 1)

receive formＲ □ □ □ □data (HEX CODE in ASCII style)
BF:
BE:B POS H.P
ON ：０
upper HEX CODE
BD:B POS CCW LS ON ：０
BC:B POS CW LS ON ：０
BB:CPU/MANU STATUS(1:CPU)
BA:A POS H.P
ON ：０
B9:A POS CCW LS ON ：０caution)
B8:A POS CW LS ON ：０
For compatibility to the
B7:
PM16C-02Z(or N), the order
B6:D POS H.P
ON ：０of the data are B, A, D, C.
B5:D POS CCW LS ON ：０
B4:D POS CW LS ON ：０
B3:
B2:C POS H.P
ON ：０lower HEX CODE
B1:C POS CCW LS ON ：０
B0:C POS CW LS ON ：０- 23 -

2-2) Procedure of data communication over GP-IB, RS232C or LAN communication ports.
Ⅰ）External controller gives the command to GP-IB, RS232C, LAN ports.
Ⅱ）When all command is received by PM16C-04(or 04S), analyzed and driven rapidly.
Time for doing the command is varied for status of system, for command types, etc.
Ⅲ）In command with receiving operation, data prepared by the command is returnedback to the external controller when PM16C-04(or 04S) is set as a talker.
Ⅳ）All command can be sent as the form which is divided by comma(","). In receiving
data, comma is recognized as the pause between two commands. Then, eachcommand is rapidly recognized and done. If there are non-sense commands,
they are ignored.(EX. scan command during moving) There are some commands which
requires some time for operating.
EX.）When you want to set 3ch to A position, and A ch to B position:
Ｓ１１３，Ｓ１２Ａ RETURN+LF
2-3) Sample Program of data communication(address of PM16C02Z:7,delimiter:CR+LF）a)select A position as 8 CH
PRINT@ 7;"S118"b)select B position as C CH
PRINT@ 7;"S12C"c)＋scan is operated in A position
PRINT@ 7;"S300E"d)write 80H to 5 ch address 9 data(HSPD)
PRINT@ 7;"S55980"e)read out the present A position pulse count
PRINT@ 7;"S20":data read out command
INPUT@ 7,1;A$:data input
PRINT A$
:data print
６．Auto Backlash Elimination
It can be operated over GP-IB , RS232C or LAN communication lines.
1) What is the Auto Backlash Elimination
By this function, you can preset the value of elimination step, then motor is driven
to position where you want to stop the motor after the elimination step driving.
For example; If you set -５０００ as the elimination step, at first the motor isdriven to the position where the count is X-５０００. And after that, the motor isdriven back to the position for +５０００ steps, then driving is finished to reachthe position of X.
If the elimination step is +, the motor approaches to the final point from + site.(ifthe elimination step is -,the motor approaches to the final point from - site.)
By this function, backlash of the mechanics is eliminated.
2) Command Reference2-1) elimination step count set(kept by battery back up)
set command
BX±DDDDB:elimination step countX:channel(0〜F):+ or ±
(direction from which motor is driven to approach the final position)
DDDD:decimal counts(0000〜9999)
exampleB0+5000,BF-3000- 24 -

2-2) read out the elimination step counts(it's read out any time you can.)read out command
BX?
reply
±DDDD
±
:+ or -(approach direction)
DDDD:decimal count(0000〜9999)
example
B0?
BF?
reply
+5000
-3000
2-3) auto backlash eliminative driving move command
Auto backlash eliminative driving can be operated by adding "B" to A/B position 8 byte
command.
ex) S32XXXXXX□□B
S32 :A position 8 byte-command XXXXXX:driving data(HEX)□□ :command(relative driving, absolute driving)
B :auto backlash elimination is operated.
ex) S33XXXXXX□□B
S33 :B position 8 byte-command XXXXXX:driving data(HEX)□□ :command(relative driving, absolute driving)
B :auto backlash elimination is operated.
3) When you use backlash elimination;
1. If the stop command is sent to PM16C externally, or front panel stop SW,the motor
is slowly stopped at the point.
After that,the backlash elimination sequence is normally cancelled.
2.If you have set the stopping SRQ, the SRQ is expressed after motor stopping.
3.During the sequence of backlash elimination, if LS in driving direction is struck,the motor is slowly stopped and after that the sequences cancelled.
4.By addition of this function, the direction of motor driving become to be more com
plex, therefore limit SW setting should be required to be care.
７．Home position detection in remote mode.
omitted８．16 bit digital data IN/OUT
omitted９．Version information
Can read out the version information for the firmware.
read out command
VER?
reply
"1.10 01-03-08"
It means Ver.1.10 and registered on the date, 2001-03-08.
10．Another added command
omitted- 25 -

11. Additional function
Pulse output change
PM16C-04, -04S has two pulse output styles for the Driver's requirement.
One is CW pulse + CCW pulse style (P-P style) and the other is pulse + direction(P-D style).
PM16C-04, -04S is set P-P style as a default setting when shipping.
This function can change the pulse output style if necessary.
The pulse output style is set to A, B, C and D position control IC in the PM16C
individually.
So you can set P-P style to A, B position and P-D style to C, D position, for example.
The motor control using one control window (ex. A position) is the same style pulse
output instead of selected channels.
A, B, C and D position control can also be set to P-D style all.
Setting check and change
1. Press SETUP button in local mode and go into setup mode.
2. When pressing the REM/LOC button, A, B, C and D control button lamp indicate
the pulse output style.
If the lamp off, the button indicate P-P style and if the lamp on, the button
indicate P-D style. (Confirmation pulse output style)
3. While pressing the REM/LOC button, pressing A, B, C or D button cause the changeof lamp on/off status alternately. (Change of pulse output style)
4. If the setting is changed, new setting will be valid after next power on.
The pulse output style will be memorized by the backup battery.

- 26 -

12.connection with outer equipment
1) connection with drivers
connector PIN assign
DE9S(TO DRIVER)

Driver+5V
CWP(PULSE)
CCWP(DIRECTION)

1 ○
2 ○
3 ○
4 ○
5 ○
6 ○
7 ○
8 ○
9 ○

H.OFF
+12V→
0V→

300Ω

signal which informs to thedriver that PM16C power on.
１ＫΩ
CW LS

DE9P(TO LS)

CCWLS

H.P

FG

1 ○
2 ○
3 ○
4 ○
5 ○
6 ○
7 ○
8 ○
9 ○

proximity SW connection
LS type: both N.O and N.C ok
12V
CW LS
1P
SIG
2P
0V
CCWLS
12VTotal
Max.0.8A
12V
H.P
3P
SIG
4P
0V

6P
7P

PM16C

12V
SIG
0V

caution）Connector shell size of DE9P and 9S is varied from each maker's.
Outward form <35W can be used for PM16C.
DE-C1-J6(JAE), XM2S-0911(OMRON) and HDE-CTF(HIROSE) are possible to be used.

- 27 -

13. Specifications.
Power

AC 85V 〜 264V

47 - 440Hz

control

１６ motors can be controlled.

capability

IN/OUT

display

digital sw

50VA

４ motors can be controlled synchronously.

out put

CW, CCW, HOLD OFF(5V 8mA:plus common)for each 16 motor
driver.

pulse rate

１〜１００ＫＰＰＳ

pulse con.

Ｄ sub ９Ｓ（female）

limit sw input

CW-LS, CCW-LS, HOME-LS 12V 5mA(minus common) and power
supply +12V for sensor (total 1A) for each motor

limit sw con.

Ｄ sub ９Ｐ（male）

position

7 digit position display

For each 4ch(A,B,C,D)

channel1 digit channel display

For each 4ch(A,B,C,D)±7 digit
digital sw

counter preset, relative data for REL and ABS index
moving digital limit data set, PPS unit speed set,offset
data for HP detection
For each 4ch(A,B,C,D)

ch.sel.sw

call channel to the four control windows(A,B,C,D)

ctl.sel.sw

decide control enable/disable for A,B,C,D control

control

step mode

PRESET

preset digital sw data to the selected display

START

moving start for selected channel according to the mode

STOP

stop moving for selected channel

JOG

jog stepping for selected channel

SCAN MODE

continuous scan for selected channel. directed by JOG sw

ABS IDX MODE

moving to the indicated position by the digital sw

REL IDX MODE

moving indicated value by the digital sw

HP STOP MODE

stop by Home Position Limit Sw
total 3 moving style. 1 is for with HP detection memory,aand 2 is for without HP detection memory

speed sel.

select L, M, H speed. can set freely for each channel

rem.control

remote control over PIO, GP-IB, RS232C port(further Ethernet for PM16C-04)

cace

EIA 3 UNIT rack mount type (132H×482W×420D)

For the other 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.tsuji-denshi.co.jp
3739, Kandatsu-machi, Tsuchiura-city, Ibaraki 300-0013, Japan- 28 -