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Autonics PMC-2HSP Series Communications Manual
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Autonics PMC-2HSP Series Communications Manual

Autonics PMC-2HSP Series Communications Manual

Motion controller
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Communication
Manual
Motion Controller
PMC-2HSP Series
MMD-PMCC1-V1.1-2109US
Thank you for purchasing an Autonics product.
This user manual contains information about the product and its proper use,
and should be kept in a place where it will be easy to access.
www.autonics.com

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Summary of Contents for Autonics PMC-2HSP Series

  • Page 1 Manual Motion Controller PMC-2HSP Series MMD-PMCC1-V1.1-2109US Thank you for purchasing an Autonics product. This user manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access. www.autonics.com...

  • Page 3: Preface

    Preface Preface Thank you for purchasing an Autonics product. Please familiarize yourself with the information contained in the Safety Considerations section before using this product. This communication manual contains information about the product and its proper use, and should be kept in a place where it will be easy to access.

  • Page 4: Communication Manual Guide

    Visit our website (www.autonics.com) to download a copy. ▪ The manual's content may vary depending on changes to the product's software and other unforeseen developments within Autonics, and is subject to change without prior notice. Upgrade notice is provided through out website. ▪...

  • Page 5: Communication Manual Symbols

    Failure to follow instructions can result in serious injury or death. Failure to follow instructions can lead to a minor injury or product damage. An example of the concerned feature's use. ※1 Annotation mark. © Copyright Reserved Autonics Co., Ltd.

  • Page 6: Safety Considerations

    Install the safety device at the out of the controller for stable system operation against external power error, controller malfunction, etc. Failure to follow this instruction may result in personal injury, economic loss or fire. © Copyright Reserved Autonics Co., Ltd.
  • Page 7 Failure to follow this instruction may result in malfunction. ▪ Note that this device is KCC certified for commercial use. Make proper applications for the product. ※ The specifications and dimensions of this manual are subject to change without any notice. © Copyright Reserved Autonics Co., Ltd.

  • Page 8: Table Of Contents

    Read Input Status (Func 02)..............25 2.7.11 Read Input Registers (Func 04) ..............26 2.7.12 Read Holding Registers (Func 03) / Preset Single Registers (Func 06) / Preset Multiple Registers (Func 16) ................30 viii © Copyright Reserved Autonics Co., Ltd.

  • Page 9: Communication Specification

    USB Communication To use USB communication, connect USB connector (CN6) and PC's USB port with a designated cable. RS232C Communication To use RS232C communication, connect RS232C connector (CN2) and PC's serial port with designated cable. © Copyright Reserved Autonics Co., Ltd.

  • Page 10: Rs485 Communication

    In order to communicate PC with RS485, you need 232 to 485 converter. (1) Connecting PC and Nodes Terminating resistance (The connected communication converter is SCM-38I of Autonics.) (2) Wiring RS232C and SCM-38I cable Refer to the following diagram to learn how to connect 232 to 485 converter and PC. ▪...
  • Page 11 PMC-2HSP-USB model does not have ID select switch but it has ID 1 by default. It may cause malfunction and product damage if you enter a duplicate node ID. Make sure to check the ID before use. © Copyright Reserved Autonics Co., Ltd.

  • Page 12: Communication Protocol

    (※Device factory default: 9,600bps) Response waiting time 5 ms to 99 ms Start bit 1 bit (fixed) Data bit 8 bit (fixed) Parity bit None (fixed) Stop bit 1 bit (fixed) Protocol Modbus RTU © Copyright Reserved Autonics Co., Ltd.

  • Page 13: Communication Sequence

    Setting Slave Address Slave addresses (IDs) must be set for Modbus Protocol communication frame. PMC-2HSP series uses RS232C communication or RS485 communication according to the model. But RS232C communication is not a standard serial communication supporting single master-multi slave. Therefore, in order to perform RS232C communication using Modbus Protocol you need to set slave addresses as below.

  • Page 14: Other Communication Rules

    When writing broadcast command preset multiple registers, you cannot use more than two commands. Slave address Description 1 to 124 Unicast Slave address Broadcast PMC series A list of PMC-2HSP series broadcast commands is as below. Item Function No. (Address) Reset 00011(000A) Force Single Coil...

  • Page 15: Exception Response-Error Code

    E8 H 00 H 01 H ## H ## H Response (Slave) Error Check(CRC16) Function(Command)+ Slave Address Exception Code Lo(Low Hi(High 80 H level) level) 01 H 81 H 02 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 16: Communication Command Frame Composition

    FRID Continuous circular interpolation Jump input condition Waiting input Input/output command ON/OFF output port Output port ON pulse Jump Program control Start repetition command End repetition End the program Timer Other command No operation © Copyright Reserved Autonics Co., Ltd.

  • Page 17: Read Coil Status (Func 01 - 01 H)

    Error Check(CRC16) Byte Count Function (00008 (00010 Slave Address (Number of data Lo(Low Hi(High (Command) byte) level) level) 00001) 00009) 01 H 01 H 02 H CD H 01 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 18: Read Input Status (Func 02 - 02 H)

    Error Check(CRC16) Byte Count Function (00008 (00010 Slave Address (Number of data Lo(Low Hi(High (Command) byte) level) level) 00001) 00009) 01 H 02 H 02 H CD H 01 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 19: Read Holding Registers (Func 03 - 03 H)

    Lo(Low Hi(High Lo(Low Lo(Low Hi(High Address (Command) of data level) level) level) level) level) level) byte) 01 H 03 H 04 H 02 H 2B H 00 H 64 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 20: Read Input Registers (Func 04 - 04 H)

    Lo(Low Hi(High Lo(Low Lo(Low Hi(High Address (Command) of data level) level) level) level) level) level) byte) 01 H 04 H 04 H 00 H 0A H 00 H 14 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 21: Force Single Coil (Func 05 - 05 H)

    Error Check(CRC16) Function Address(address) Slave Address (Command) Hi(High Lo(Low Hi(High Lo(Low Lo(Low Hi(High level) level) level) level) level) level) 01 H 05 H 00 H 00 H FF H 00 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 22: Preset Single Registers (Func 06 - 06 H)

    Error Check(CRC16) Function Address(address) Slave Address (Command) Hi(High Lo(Low Hi(High Lo(Low Lo(Low Hi(High level) level) level) level) level) level) 01 H 06 H 00 H 00 H 00 H 0A H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 23: Preset Multiple Registers (Func 16 - 10 H)

    Error Check(CRC16) Function Slave Address Hi(High Lo(Low Hi(High Lo(Low Lo(Low Hi(High (Command) level) level) level) level) level) level) 01 H 10 H 00 H 00 H 00 H 02 H ## H ## H © Copyright Reserved Autonics Co., Ltd.

  • Page 24: Read Coil Status (Func 01) / Force Single Coil (Func 05)

    0: OFF / 1: ON 00010 (0009) 01/05 Y axis ERROR 0: OFF / 1: ON Broadcast 00011 (000A) 1: Reset Reset command Broadcast Broadcast 1: Emergency 00012 (000B) Emergency stop Stop command 00013 to 00050 01/05 Reserved © Copyright Reserved Autonics Co., Ltd.

  • Page 25: Read Input Status (Func 02)

    STEPSL2 0: OFF / 1: ON 10026 (0019) STEPSL3 0: OFF / 1: ON 10027 (001A) STEPSL4 0: OFF / 1: ON 10028 (001B) STEPSL5 0: OFF / 1: ON 10029 to 10100 Reserved © Copyright Reserved Autonics Co., Ltd.

  • Page 26: Read Input Registers (Func 04)

    Holding Register 30123 (007A) Quantity Input Register Start 30124 (007B) Address Input Register 30125 (007C) Quantity 30126 to 31000 Reserved Present position High 1 byte within 31001 (03E8) coordinate H -8,388,608 to (X axis) +8,388,607 © Copyright Reserved Autonics Co., Ltd.
  • Page 27 0: OFF / 1: ON Z-phase 31012 (03F3) Bit B Y axis limit+ 0: OFF / 1: ON Bit C Y axis limit- 0: OFF / 1: ON Bit D Y axis EMG 0: OFF / 1: ON © Copyright Reserved Autonics Co., Ltd.
  • Page 28 0: OFF / 1: ON Bit A Limit+ error Y axis hardware 0: OFF / 1: ON Bit B Limit- error Error at Y axis 0: OFF / 1: ON Bit C emergency stop © Copyright Reserved Autonics Co., Ltd.
  • Page 29 31016 to 31050 Reserved ※1. No data is provided for a command to check whether the device is connected to the main system or not when master transmits the command, slave responds with ON only. © Copyright Reserved Autonics Co., Ltd.

  • Page 30: Read Holding Registers (Func 03) / Preset Single Registers (Func 06) / Preset Multiple Registers (Func 16)

    Communication commands that have PG0 and PG1 parameter values use memory sharing, which uses a parameter at high 1 byte of data to separate commands. Refer to P0, P1 command tables. © Copyright Reserved Autonics Co., Ltd.
  • Page 31 0001 H to 1F40 H 0001 H to 1F40 H 61 H: Set speed 02 H: Y axis X axis speed: 1 to 8,000 Y axis speed: 1 to 8,000 03 H: X, Y axes © Copyright Reserved Autonics Co., Ltd.
  • Page 32 -8,388,608 to -8,388,608 to OFF, -8,388,608 to -8,388,608 to point: 0 to 268,435,455 ation +8,388,607 +8,388,607 01 H: ON +8,388,607 +8,388,607 Between -8,388,608 and +8,388,607, use 2's complement for negative hex number expression. © Copyright Reserved Autonics Co., Ltd.
  • Page 33 X axis STEP50 Low 2 bytes 03/06/16 Program mode X axis STEP74 40199 (00C6) 03/06/16 X axis STEP74 High 2 byte Program mode X axis STEP74 40200 (00C7) 03/06/16 X axis STEP74 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 34 X axis STEP125 Low 2 bytes 03/06/16 Program mode X axis STEP149 40349 (015C) 03/06/16 X axis STEP149 High 2 byte Program mode X axis STEP149 40350 (015D) 03/06/16 X axis STEP149 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 35 X axis STEP175 Low 2 bytes 03/06/16 Program mode X axis STEP199 40449 (01C0) 03/06/16 X axis STEP199 High 2 byte Program mode X axis STEP199 40450 (01C1) 03/06/16 X axis STEP199 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 36 Y axis STEP25 Low 2 bytes 03/06/16 Program mode Y axis STEP49 40549 (0224) 03/06/16 Y axis STEP49 High 2 byte Program mode Y axis STEP49 40550 (0225) 03/06/16 Y axis STEP49 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 37 Y axis STEP75 Low 2 bytes 03/06/16 Program mode Y axis STEP99 40649 (0288) 03/06/16 Y axis STEP99 High 2 byte Program mode Y axis STEP99 40650 (0289) 03/06/16 Y axis STEP99 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 38 Y axis STEP125 Low 2 bytes 03/06/16 Program mode Y axis STEP149 40749 (02EC) 03/06/16 Y axis STEP149 High 2 byte Program mode Y axis STEP149 40750 (02ED) 03/06/16 Y axis STEP149 Low 2 bytes © Copyright Reserved Autonics Co., Ltd.
  • Page 39 03/06/16 Program mode Y axis STEP199 40849 (0350) 03/06/16 Y axis STEP199 High 2 byte Program mode Y axis STEP199 40850 (0351) 03/06/16 Y axis STEP199 Low 2 bytes 40851 ~ 41000 03/06/16 Reserved © Copyright Reserved Autonics Co., Ltd.
  • Page 40 0: Disable / 1: Enable Bit 7 Auto start Y axis general input 0: Low / 1: High Bit 8 Y axis general input 0: Low / 1: High Bit 9 41003 to 41050 03/06/16 Reserved © Copyright Reserved Autonics Co., Ltd.
  • Page 41 03/06/16 -8,388,608 to amount L +8,388,607 Enable/disable Y 0: Disable / 1: Enable Bit 0 axis step 1 41058 (0421) 03/06/16 Y axis step 1 search 0: + / 1: - Bit 1 direction © Copyright Reserved Autonics Co., Ltd.
  • Page 42 High 1 byte within Y axis home offset 41061 (0424) 03/06/16 -8,388,608 to amount H +8,388,607 Low 2 bytes within Y axis home offset 41062 (0425) 03/06/16 -8,388,608 to amount L +8,388,607 41063 to 41100 03/06/16 Reserved © Copyright Reserved Autonics Co., Ltd.
  • Page 43 1 to 8,000 speed: Y axis initial speed 41124 (0463) 03/06/16 1 to 8,000 Y axis drive speed 1 41125 (0464) 03/06/16 1 to 8,000 Y axis drive speed 2 41126 (0465) 03/06/16 1 to 8,000 © Copyright Reserved Autonics Co., Ltd.
  • Page 44 1 to 65,535 Y axis jerk speed: 41140 (0473) 03/06/16 1 to 65,535 41141 (0474) 03/06/16 Not used- 1: 1 pulse mode 41142(0475) 03/06/16 1/2 pulse mode 2: 2 pulse mode 41143 to 41150 03/06/16 Reserved © Copyright Reserved Autonics Co., Ltd.
  • Page 45 2 Communication Protocol © Copyright Reserved Autonics Co., Ltd.
  • Page 46 * Dimensions or specifications on this manual are subject to change and some models may be discontinued without notice.

This manual is also suitable for:

Pmc-2hsp-usbPmc-2hsp-485