CNC CAT ST-PMC1 Operating Manual - User Manual

Full Text Searchable PDF User Manual

ST-PMC1 single-axis motion controller operating manual

Ⅰ

.Features .............................................................................................................................. 3

Ⅱ

.Front panel diagram............................................................................................................ 3

Ⅲ

. Back panel diagram and signal descriptions ....................................................................... 4

Ⅳ

. The controller connection diagram: ................................................................................... 5

Ⅴ

. The operation flow chart ................................................................................................... 5

Ⅵ

parameter setting: ............................................................................................................ 7

Ⅶ

program editing and Detailed instructions: ...................................................................... 8

Ⅷ

.The manual operation mode: ........................................................................................... 10

Ⅸ

Automatic operation mode ............................................................................................. 10

Ⅹ

. Installation dimensions .................................................................................................... 11

Ⅺ

. Editing and application examples: ................................................................................... 12

Ⅻ

. directive search form ....................................................................................................... 14

ⅩⅢ

. Parameters search form ............................................................................................... 15

ⅩⅣ

. Button search form ...................................................................................................... 16

Ⅰ

.Features

•

Number of controlled axis: Single axis; can achieve a variety of complex operation: positioning

control and non-positioning control;

•

The maximum output frequency: 40KHZ;

•

Output frequency resolution: 1Hz;

•

Programmable maximum number of rows: 99;

•

Signal input: 6 (optical isolation);

•

Signal output: 3 (optical isolation);

•

A continuous displacement range: -7,999,999 ~ 7,999,999;

•

Operating state: Autorun mode, manual operation, the program edit mode, parameter setting

status;

•

Lifting speed curve: 2 (optimization);

•

Display digits: 8 digital display, manual / automatic status display, run / stop status display, the
number of steps / counts / procedures display, edit the program, parameter display, input /
output status display, pulse and direction display ;

•

Autorun feature: You can edit, you can control the start and stop automatically run through the

panel buttons and processing and other operations at the terminal level;

•

Manual operation functions: position adjustments (manual jog speed and jog the number of

steps can be set);

•

Parameter setting function: Starting frequency, acceleration and deceleration curve, reverse

clearance, manually run length, manual speed, back to zero speed and interrupt jump the line
all can be set;

•

Program editing functions: You can insert, delete, modify the program. The controller can

identify the error Instruction;

•

Return to Zero features: It can be from the positive and negative directions, automatic return

to zero

•

The number of programming instructions: 14 instruction;

•

Outside the operating functions: interrupt operation through parameter setting and switch

connected to the terminals A and B;

•

Power supply:DC24V;

Ⅱ

.Front panel diagram

1. 8 digital led Segment displays;
2. 6 input status indicator;
3. 3 output status indicator;
4. CP pulse signal indicator;
5. CW direction signal indicator;
6 Keys: 10 keys total, and most of the composite keys,
they represent different functions in different states,
in
the following description, we just take one of the
functions represents a key.

Figure I: operation panel

Ⅲ

. Back panel diagram and signal descriptions

CP, CW, OPTO

for stepper motor drive signal ;

CP:

pulse signal

CW:

direction signal

0PT0:

Public male end before the two signals

RUN:

Start running the program, The same function as

“

Run

”

of the operation panel;

STOP:

Pause program is run automatically, The same

function as

“

Pause

”

of the operation panel, After starting

again, the program continues to run;
4.

A operation

B operation

“

A operation

”

and

“

B operation

”

this is a major feature of the controller:

For stepper motors, we generally quantitative positioning control, such as controlling the
displacement of the motor must be running at a constant speed

，

In this way it is easy to solve,

just put the amount and speed of displacement of the programming can be.

But there are quite a lot of control is not positioning in advance, such as controlling the

stepper motor in one direction from the starting point to start running until he hit a switch after
stroke  stop,  then  reverse  direction  back  to  the  starting  point.  Another  example  requires  the
stepper motor running back and forth between the two limit switch several times, and so on. In
these  operations,  we  do  not  know  in  advance  the  specific  value  of  the  stepper  motor
displacement,  and  how  they  should  be  programmed  it?  The  controller  uses:  to  interrupt  the
operation, which we call "A Operation" and "B operation

”

,for example," A operations", workers

workflow is: when the program is running. If "A operation" signal input, motor decelerates to
stop, Program interruption, the controller remembers interrupted coordinate values, the program
jumps to the "A operation" entry address specified programs run the program;
5.

IN1

and

IN2

Switching signal input terminal

OUT1

OUT2

and

OUT3

Switching signal output terminal,

COM +

COM-

: the power supply of external input and output devices, this power supply is

DC24V,

COM +

is the positive terminal of the power supply,

COM-

negative side;

+24V:

The positive power supply ,

GND:

Negative power supply;

The signal

RUN

STOP

IN1

IN2

called the input signal, they have the same input interface

circuit.

OUT1

OUT2

0UT3

called the output signal. They have the same output interface circuit.

Both input and output optical isolation circuit to ensure that the internal and external controllers
do not interfere with each other;
The state of the input signal and output signal, corresponding indicator on the panel. For input,
input low (switch is closed) Indicator light; For output signal, the output 0 is low, the light is off,
the opposite will light.

Figure II: Back panel diagram

Figure

Ⅲ

switch input circuit

When the switch is turned on, Input level is low, on the front panel indicator lights, the program
is defined as 0.

Figure

Ⅳ

switch output circuit

Output of low output, load conduction, front panel indicator lights, the program is defined as 1.

Ⅳ

. The controller connection diagram:

Figure

Ⅴ

controller connection diagram

Ⅴ

. The operation flow chart

Controller always operate in one of four states: automatic mode, manual mode, the program edit
mode, parameter setting state. Power or press the

Reset

, Controller to be run in automatic mode,

the cursor coordinates 0, then you can start the program to run automatically or switch to
manual mode, program editing state and parameter setting status can only switch in manual
mode. Editing completed or parameter setting procedure is completed, press the

Quit

to return

to manual mode (the program will be saved) ,in manual mode, if you switch to program edit
mode, simply press the

Edit

button, if you switch to the parameter setting state, press

Set

than 2 seconds.

(Note: The above mentioned

Edit, Set, Quit

, is the same button, we introduce a feature, the

button's name only choose one, the same below)

OUT1-3

CP CW OPTO

Input devices: External
Start button

、

Limit switch

、

Photoelectric switch

Output signal control relay

、

indicator light

Power supply

：

DC24V

ST-PMC1

Stepper Motor Controller

stepper motor drive
r

stepper motor

Press

Enter

enter data

editing

00400

Press

RUN

Automatically run the program
and displays the current status:
the coordinate values, count or
program lines

Press

STOP

Program pauses

Press

Home

Motor back to zero
in accordance with
a pre-set speed

operation or

operation

Motor  interrupt  the  current  operation,
for  deceleration  stop,  remember  the
current  coordinate  value,  then  the
program pointer operations into A or B
operation specified by the entrance to
the program.

Power on or

Rest

After power on or

Rest,

Coordinates

to reset, As the coordinate zero, In
standby mode;

Memory is not cleared, the data

transferred

the

last

stored

memory(Please refer to the "Program
Edit")

Auto Mode

L 000000

This step is step number
display, You can switch
the display mode for the
count or program

Motor  run  in  accordance
with the appropriate amount
of  displacement  in  the
direction  and  speed  of
preset

Press

Program edit state

00 speed

Press

﹥

Move the cursor

00 speed

press

∧∨

edit number

10400

Press

Enter

Go to the next

line editing

01 end

Press

Insert

the

new

program line

01 PRUSE

Until all programs are modified
or completed entry

Press

Edit/Quit

more than 2 seconds

Press

Enter

edit

parameter

00400

Press

Enter

save parameter

Return to previous menu

press

∧ ∨

to set another

parameter

CP ------

Parameter setting status

------

Press

﹤

﹥

Select the

number

00400

press

∧ ∨

edit

number

01400

Press

Edit/Quit

more than 2 seconds

Press

Edit/Quit

Manual mode

-11-

000000

Press

Auto/Jog

Press

STOP

Pause manually run

Press

RUN

Press Home

Motor back to zero in accordance
with a pre-set speed

Ⅵ

parameter setting:

Out of the way of parameter setting status is: In manual mode, press

Edit

and hold the

button for 2 seconds or more , enter the parameter setting state. After parameter setting is
complete, press the

Quit

button to return to manual mode (parameters will be saved).

Parameters displayed in two rows, the first row shows the name of the parameter, the second
line shows the parameter data.
Parameter changes: After entering the parameter setting state, the first line of the display:

jf------

Former two parameter name in flashing: press

∧∨

, Will display the next or previous

parameter name, press Enter, Will enter the edit state (next row) parameter data, when the first
bit of data flashing display, press

∧∨

, data will be changed. press

＜＞

, Will move to the next

one to be modified, after the data modification, press

Enter

Save changes, press

Cancel

discard

changes and exit.

In short, the set parameters through

∧∨＜＞

"Enter", "Cancel"

six buttons to complete the six:

by moving left and right keys to move the cursor to the appropriate position, then the digital
display will beat, and then through the upper and lower keys to change the value: use the Enter
key to enter the data modification status, after the data modification is completed, confirm with
the Enter key to exit or discard the changes with Cancel button. Please refer to the "List of
operational processes."

N
O

Name

parameter

display form

Data range

(unit)

Parameter Description

Off frequency

JF- - - - - -

JF X X X X X X

400-3999

(Hz)

If the set value is less than 400Hz, the system will alarm;
Users can set different off frequencies according to their actual situation

Rising

and

falling curve

rS- - - - - -

rS X

、

(stripe

）

The controller has two internal optimization rising and falling speed curve,L is
a slow curve; H to a faster curve, to select a different rate of rise and fall curve
based on the actual load situation.

Backlash
compensation

CC- - - - - -

CC XXXX

0-9999

(pulses
number

）

Mainly used to

ompensate the rotation mechanism(such as a

screw, gear, etc.) The amount of displacement caused by the backlash
error
compensation is not displayed on the controller.

Manual
increment

- - - - - -

HL X X X X
X X

1-999999
(pulses
number

）

In manual mode, the manual operation is a displacement of the
stepper motor; If the set value is equal to 0, the system will alarm.

Manual speed

HF- - - - - -

HF X X X X X
X

1-39999

(Hz)

In manual mode, manual operation is running speed stepper motor; If the set
value is equal to 0, the system will alarm.

Back

zero

speed

bF- - - - - -

bF X X X X X X

1-39999

(Hz)

When zeroing operation, stepper motor speed; If the set value is equal to 0, the
system will alarm

Operation"

entry address

Na- - - - - -

NA XX

00-99
(Line number

）

When the program is running, if the "A Operation" signal input port, the motor
for  the  deceleration  stop  the  program  at  this  interruption,  the  application
remembers  interrupted  coordinate  values,  the  program  will  jump  to  this  line
number specified
by the program at run the program.

Operation"

entry address

nB- - - - - -

nB XX

00-99
(Line number

）

When the program is running, such as Gao "B Operation" end signal input, the
motor will slow down to stop the program at this interruption, the application
remembers interrupted coordinate values, the program will jump to this line
number specified by the program run the program.

Pulse mode

CP- - - - - -

CP X

、

CP  =  O  represented  as  a  single  pulse  output,  CP-side  rear  panel  output  step
pulse,  CW-ended  output  direction  level;  CP  =  I  expressed  as  a  single  pulse
output,  CP-ended  output  on  the  rear  panel  forward  step  pulse,  CW-ended
output inversion step pulse.

Ⅶ

program editing and Detailed instructions:

Out of the way the program editor is: In manual mode, press the

"Edit"

button. To enter the

program edit state. After the program editing is complete, press the

"Quit"

button back to

manual mode (parameters are automatically saved)
Program  area  of  the  controller  can  edit  up  to  99  instructions,  each  instruction  in  the  program
there is a line number, line number for automatic numbering starts from OO arranged in order,
you can insert or delete a row in the program, but the line number will be reassigned.
The  program  format  is:  Each  program  is  divided  into  two-line  display  (except  no  parameter
program), the first line displays the line number and command name, and the second line shows
the instruction data. The last instruction of the program is fixed to "END",
In  short,  modify  the  program  by

∧

”

“

V" "<

”

“

insert

”

“

delete

”

"Enter" "Cancel"

eight

buttons to complete: by moving left and right keys to move the cursor to the appropriate position,
then beat the digital display will then change the value via the arrow keys: Use the Enter key
enter data modification status, after the data modification is completed, confirm with the Enter
key to exit or discard the changes with Cancel button. Please refer to the operation flow chart.

Program editing instructions

P rogram edit

Operate procedure

Enter edit mode

In manual mode, press the

“

Edit

”

button

Exit edit mode

Under the state program editing line numbers flashing state, press the

“

Quit

”

key

to return to the manual mode, the program will automatically save

Clear the
program

When the program editing line numbers flashing, press and hold "

Clear

"button

for 2 seconds or more, until the first 00-line instructions for END time.

entry

new

program

First clear the program area, then only one program, 00 row END command,
and then press the "

Insert

" button, Directive 00 line program into a PAUSE, and

flashing display; press the "

∧

" "

∨

"command name was changed; until you find

the desired command, and then press the"

Enter

"to enter the command data

area (no parameters for command, enter the program after the completion of this
section entry), press

∧∨＜＞

to modify, After the changes are complete press

the "Enter" button, enter this line program is completed, you can see the next line
becomes END command, then press the "

Insert

" key entry program with the

same way until all program entry is completed.

Special Note:

When you enter a new program obviously is the correct procedure,

but the alarm controller error, this happens in a branch instruction: like

JUMP

instruction,

J-BIT

directive,

J -CNT

if these three directive Skip the line number

where  this  instruction  is  greater  than  the  current  line  number,  due  to  the  jump
target  has  not  been  entered,  the  controller  will  misjudge  entry  line  number  is
wrong, in order to avoid this, we require a new program at the time of entry, these
three instructions Jump in the line number that appears temporarily replaced with
00,  after  the  program  is  completed  entry,  Change  the  line  number  00  to  the
correct line number.

Modify program

Reference above, " entry a new program " approach, modify the current program

Insert program

When the program edit state line number is flashing, press the "

Insert

" button to

insert a new row above the current program, the program modification operations.

Delete program

When the flashing line number in the program editor, press the "

Delete

" key, the

program is deleted, the following program automatically move up.

Detailed instructions for directive(HH- line number, XXXXXX-- data)

Browse
program

When the program editor line numbers flashing, press "

∧

" "

∨

", you can browse

command name of each line of the program, but you want a quick look at the
instruction parameters, how to do it, you just click the "

＜

" key, the parameters will

flashing a second.

No.

Directive
Name

Directive to display
the form

Description

Pause
directive

一

PAUSE

No arguments

Program pause and wait for the panel start button or terminal
operation start signal or A, B operation signal.

Displacement

directive

HH_G-LEN

XXXXXX

When executing this directive, the controller will be conferred the
latest  SPEED  assignment,  displacement  volume  parameter
settings specified in this directive set off frequency, acceleration
and deceleration curve, backlash compensation, and control the
motor running; If this instruction is not SPEED assignment, place
start frequency for running speed; Parameters of the first one is
the  sign  bit,  0  for  positive  displacement,  -  for  negative
displacement;  Parameters:  -7999999  -  +7999999  Unit:  pulse
number if the argument is 0, it will alarm

Speed
assignment
directive

HH_SPEED
XXXXX

All run this program following this directive will set the speed to
run until the next occurrence rate assignment directive;
Range of parameters: I a 39,999 unit: pulses / sec (Hz)
If the parameter is 0, it will alarm.

Delay
directive

HH_DELAY
XXXXXXX

Delay time; parameters: I a 7,999,999 Unit: milliseconds; such as
Gao parameter set to 0, the system will alarm.

Uncondition
jump directive

一

JUMP

Unconditional jump directive, parameter XX represents the
program to jump to the line number; XX line numbers when more
than END directive line numbers, alert prompts.

Cycle

directive

一

LOOP

XXXXXXX

From the current line to the specified line through the loop; first
two digits of the line number (requires less than the current line),
after five of cycles (0 defined as infinite). When the line number
than the current line number, the system will alarm.

Move to
a position

HH_G0T0

xxxxxxx

Run  to  the  specified  location,  in  practical  applications,  this
general  location  as  a  reference  point  in  the  system;  first
parameter  is  the  sign  bit,  a  positive  number  indicates  that  the
zero  point  lies  in  the  positive  direction,  negative,  negative
direction indicates that this point is zero;
If the parameter value = 0, which returns zero;
Parameter Range: -7,999,999 + 7999999 Unit: pulse number

Output
directive

一

OUT

XXXX

The  first  three  parameters  from  left  to  right  correspond  to  the
output terminals 0UT1-0UT3; while the corresponding front panel
LEDs 1-3 every three output has three options: O, I, N:.
0-  corresponding  output  terminal  is  high,  the  load  is  not
conducting, panel lights off.
I- corresponding output terminal is low, the load is turned on, the
panel lights.
N- Maintain previous working state
The last one parameter, control buzzer
When 0- execute this command, a short buzzer sound; (Note: in
order to execute the program after the end of the next sound)
When  1-  execute  this  command,  a  long  buzzer  sound;  Note:  in
order to execute the program after the end of the next sound)
When N- execute this command, the buzzer does not sound.

Ⅷ

.The manual operation mode:

In automatic mode, press

"Auto / Manual"

will enter the manual mode, the former two-bit

digital tube will be displayed as to

indicate that the manual states. Press

“

”

“

”

, the

motor will run manually in different directions, Speed and displacement of the running, as
determined by HF and HL of the parameters set, please refer to "Figure 6: Controller operation
flow chart

“

Ⅸ

Automatic operation mode

Power on the controller or press the reset button, automatically makes the coordinates cleared,
and redefines this coordinates of the new coordinate zero, reads the counter value, the controller
is in standby mode, press

"Run "

button or enter a start signal from the terminal, the controller

from  the  first  row  00  program  starts  to  run  until  the  run  to  the  last  program  END,  then
automatically  run  ended,  the  controller  returns  to  standby  mode.  Please  refer  to  "Figure  6:
Controller Operation Flowchart"

In automatic mode, there are three kinds of different sub-states:

1. Standby mode: indicates that the controller is ready to run the program, simply press the

Run

button or the input signal to start the program

，

after the run, also in this state.

Positioning
Jump

HH_J-BIT
XX XX

The first two jumps for the line number indicating the position, the
fifth bit input port IN1-IN2 is one of them; eighth to jump condition
(0 or 1); measured when the input port is set Jump to the
directive line when the state number, otherwise, the order of
execution. END command line number line number is exceeded,
will alarm.

Counting
Jump

HH_J-CNT
XX XXXXX

counter directive, The first two digits is the line number, specify
the location of the jump program; after five of the set value. When
the counter counts to or greater than the set value, then jump to
a specific line number, otherwise the order of execution. END
command line number line number is exceeded, it will clarm.

Variable
displacement

HH_60-AB

This directive is the displacement instruction, run mode like
HH-G-LEN

X XX XXX X , different is running displacement can't

know ahead of time, this is a variable displacement, generated
by the interrupt operation, the controller receives an interrupt
signal, the motor slows down to stop, at this point coordinates, is
the variable

Counter
is
incremented 1
directive

一

CNT-1

No arguments

This  directive  counter  instruction,  the  internal  controller  has  a
counter  unit  with  a  capacity  of  999,999,  the  counter  value  can
display  real-time  status  display  counter;  counter  values  are  not
automatically saved when power is off, unless you manually click
counter storage key

“

﹥

”

. After power on, it will automatically be

transferred to the stored value of the latest counter, this counter
incremented1 by this directive.

counter clear
directive

HH_CNT-0
No arguments

This instruction to counter reset; This directive can also be
invoked with the button (in automatic mode),press:

“

”

to clear

counter.

Coordinate
cleared

HH-CLR

Execute this directive, the current coordinates and display are
cleared, The controller redefines this coordinates of the new
coordinate zero ..

End
of directive

一

END

No arguments

End the program , When the program is running this directive,
the controller automatically run ends
The directive, can

’

t be edited, and always at the last line of the

program.

2. Autorun program status: indicating that the controller is running the program.
3. The automatic operation stop state: the controller is running the program is the stop button or
input from the terminal stop signal interruption .Run the program will wait to be started again at
the breakpoint.
In autorun program status

：

there are three different ways :( display by pressing the same key

“

step

”

“

count

”

“

∧

”

to shift)

1. Step number display: controller displays the current coordinate values, unit: pulse number:
2.  Count  display  mode:  The  controller  displays  the  counter  value  of  the  counter  unit:a  single
current number:
3. Program display: controller displays the current program line and in which the program name.
To  be  able  to  distinguish  between  a  good  three  sub-state  automaton  states  and  three  display
mode on the display, we use a different display mode to display the difference between the first
two :( see table below)

Ⅹ

. Installation dimensions

The controller uses the embedded instrument shell, small size and light weight (500g), recite the
front panel is 71mm*71mm, length of 105mm, specific dimensions shown below:

Display

Corresponding state

Description

Step

number

(coordinates)

display,
To be run in automatic mode

When the actual coordinate values

displayed over six digits (including the

sign bit), only Show the last six
digits

Counter display,
To be run in automatic mode

When the value of the counter more
than six digits, only
Show the last six digits

Program display,
To be run in automatic mode

The  last  six  digits  of  the  display,  in
order  to  express  simple  current
program with six-figure line, we used
3,4-bit  display  the  current  line
number:  Bit  5  Empty:  The  first
instruction  is  referred  to  as  6,7,8-bit
display  (refer  to  "

directive search

form

" directive abbreviation)

Steps

number,

counting,

program three display mode
automatic operation

When the three display mode in the
automatic operation display the first

two are the same, scilicet

means the program under way.

Steps

number,

counting,

program three display mode
Automatic stop state

When the current two digits flashing,

it means that the program is

interrupted,

the

breakpoint

waiting.

Figure

Ⅶ：

installation dimensions

Ⅺ

. Editing and application examples:

Example 1

：

Parameter requirements: off frequency 2. 5KHz, lifting speed faster, backlash compensation is 0;
Operational  requirements:  to  speed  2.  9KHz  run  98,765  steps,  then  run  8765  steps  in  the
opposite direction at a speed of 15KHz, stop.
Parameter list:( Enter the parameter list parameter setting status changes) JF = 02500, rS = H, CC
= OOOO.
Program Listing:00    SPEED 02900        ;    assignment to run below the speed 2. 9KHz
                            01    G-LEN 0009876    ;    motor running 98,765 steps forward
                            02    SPEED 15000        ;    assignment to run below the speed of 15KHz
                            03    G-LEN -0008765    ;    8765 step motor is running in the opposite direction

04 END ; End of program;

Example 2

：

Parameter requirements:

When the starting frequency is 2.5KHz,the Lifting speed is Slow and

Backlash compensation is 12;

Operating Requirements:

When running,Require for that after the buzzer tweet for a short

time,run 1234567 step as the speed of 39KHZ, Making three outputs for 101 state, after delaying
the time for 55.9 seconds, let the last two outputs state is 11, Program pause here, Until run
again, let the motor return to the starting point at the same rate on the other side that is
the 888 step positions, After reaching a predetermined position, the buzzer will tweet for a long
time, then the program ends!

Parameter List:

(Enter the parameter setting mode to modify) JF = 02500, rS = L, CC = 0012.

Program Listing :

( enter the program edit state)

00 OUT nnn0 ;    Let the buzzer tweet for a short time
01 SPEED 39000 ;    Assign the speed as 39KHz
02 G-LEN 01234567 ;    Motor runs forward 1234567 step
03 OUT 101n ;    Making three outputs for 101 state
04 DELAY 0055900 ;    delaying the time for 55.9 seconds
05 OUT n11n ;    let the last two outputs state is 11
06 PAUSE ;      Program pause here
07 GOTO -0000888 ;    let the motor return to the starting point on the other side that is the 888
step positions
08 OUT nnn1 ;    Let the buzzer tweet for a long time
09 END ;      the program ends!

Example 3

：

Operating Requirements:

(Ignore the parameter setting) One object, from zero that run for

2.9KHz speed to run forward 100 step (this point as the reference point of the object); After the
reference point stopped, the output is 010; Detect the input, if INI = 0, the motor will return to
zero at the same speed. If INI

≠

0, the motor will run forward 10,000 steps at a speed of 15KHz

and let buzzer alarm for a short time; And then will return to the reference point at a speed of
35KHz. If INI = 0, then return to zero, Otherwise, continue to follow the way of the first to
run.After return to zero ,The buzzer will alarm for a long time.

Program Listing :

( enter the program edit state)

00 SPEED 02900

；

Assign the speed as 2.9KHz

01 G-LEN 00000100

；

Motor runs forward 100 steps

02 OUT 010n

；

Let output state is 010

03 J-BIT 11 1 0 ;
04 SPEED 15000 ; IN1

≠

0, then assign the new speed as 15KHz

05 G-LEN 00010000 ;    Motor runs forward 10000 steps again
06 OUT nnn0 ;    Let buzzer alarm for a short time
07  SPEED  35000  ;    Assign  the  speed  as  35KHz,  For  setting  the  speed  of  returning  to  the
reference point
08 GOTO 00000100 ;    Motor return to the reference point at the speed of 15KHz
09 LOOP 03 00000 ; Motor will run for an infinite loop ,until IN1 = 0, it will return to zero
10 SPEED 02900 ;    Assign the speed of returning to zero as 2.9KHz
11 GOTO 00000000 ;    Motor returns to zero at the of speed 2.9KHz
12 OUT nnn1 ;    After return to zero ,The buzzer will alarm for a long time
13 END ;    the program ends!

Example 4

：

Operating Requirements:

(Ignore the parameter setting) One object, from zero that run for a

high speed to run forward Until it came to the front of the limit switch, Then return to zero at the
same rate, the program ends. (Assume the system beginning frequency is 500Hz, the distance

from the zero to proximity switch is greater than 100 000 steps, less than 100010 steps). Design
analysis: the variable displacement of this movement does not know its precise value, but only
know it's a general range (belong to a unknown variable). We use a method for interrupting
operation to solve this problem. We connect the limit switch to the A operating port, Due the
interrupt operation,the motor will slow down to stop, If run to the limit switch as a high-speed
directly,will produce overshoot, In order to avoid the overshoot, we use this method that the first
run as a high-speed ,then run as a low-speed (low-speed is below the starting frequency).

Parameter List:

(Enter the parameter setting mode to modify) Setting A Operator address nA = 04,

other parameters are ignored.

Program Listing :

( enter the program edit state)

00 SPEED 39000 ; assign the speed as 39KHz

01 G-LEN 0099000 ; First, high-speed close to, but can

’

t hit the limit switch

02 SPEED 00400 ;    low-speed frequency must below the starting frequency
03 G-LEN 07999999 ;    The amount of displacement is set to the maximum, to reach the limit
switch
04 SPEED 39000 ;    A Operator, assign the return to zero speed as 39KHz
05 GO-AB -A ;    In the opposite direction, running the same amount of displacement,back to zero
06 END;    the program ends!

Ⅻ

. directive search form

N
O.

Directive
Name

Example

Instructions, data range, unit

Directive
full name

Directive
abbreviati
on

pause

directive

00 PAUSE

Program pauses, waiting for the start signal

PAUSE

PAU

displacemen

t directive

G-LEN

-1234567

According to the latest SPEED assignment speed, reverse
mobile 1234567 step; pulses number

G-LEN

G-L

Speed

assignment
directive

SPEED

12345

Run this directive following assignment speed; 12345Hz
1-39999, pulses / sec (Hz)

SPEED

SPD

Delay

directive

DELAY

1234567

Delay time: 1234567 ms 1-7999999, ms

DELAY

OLY

Uncondition

jump

directive

04 JUMP
12

Unconditional jump to the line XII program runs
00-99, line number

JUMP

JMP

Cycle

directive

05 LOOP
03 12345

Jump from the current line to the (05) to 03 lines
for 12,345 cycles 1-99999 (0 defined as infinite),
Times (only forward loop)

LOOP

LOP

Move to

a position

GOTO

-1234567

Control the motor running to coordinate the
position of -7999999- + is -1,234,567 7,999,999,
the number of pulses (0 equivalent return to zero)

GOTO

GOT

Output

directive

07 OUT
03 01 N 0

Switch output is: 0UT = (K 0UT2 = 1,0UT3
unchanged internal buzzer a short sound (a =
long beep, N = no sound)

OUT

ⅩⅢ

. Parameters search form

Positioning

Jump

08 J-BiT
19 2 0

If IN2 = 0, then 1.2 = Line number which jumps
to line 19 execution data,
5 = input port, 8 = Jump status

J-BIT

J-B

Counting

Jump

09 J-CNT 20
12345

If the counter value> 12345, then jump to 20-line
program execution 0-59999, natural number

J-CNT

J-C

Variable

displacemen
t

09 GO-AB
-A

If the motor is running: the absolute value of the
displacement amount of A, A opposite to the
direction and the soil A,

B, the number of

pulses (Note: A, B itself as a symbol number)

Go-rb

GRB

Counter

Is
incremented

11 GNT-1

Value of the counter is incremented by 1 (Max
count up to 999999)

CNE-I

CNI

Counter

is cleared

12 GNT-O

Counter is cleared

CNE-O

CNO

Coordinate

cleared

13 CLR

Current coordinates and displays are cleared, the
motor this location as a new zero

CLR

End

directive

13 END

End of program lines, the directive can

’

t be

edited, it always located at the last line.

END

N
O.

Name

example

Data
range

unit

Parameter Description

Off
frequency

JF12345

400-3999
9

According to motor size and load
inertia, etc. to choose parameters

Rising

and

falling curve

rS H

L,H

Strip

L slower; H faster (optimized design)

Backlash
compensatio

CC1234

0 -9999

Pluse
number

Backlash compensation transmission
mechanism

Manual
increment

HH 23456

1-999999

Pluse
number

When the manual mode, the amount of
displacement of the stepper motor

Manual
speed

HF12345

1-39999

When the manual mode, the stepper
motor speed

Back to zero
speed

bF12345

1-39999

When

return

zero

operation ,running speed of the
stepping motor

"A
Operation"

entry

nA 18

00-99

Line
number

A operation is interrupted, the program's
entry address

"B
Operation"

entry

nB 18

00-99

Line
number

B operation is interrupted, the program's
entry address

Pulse mode

CP 0

、

CP = O single pulse, CP = I double pulse

ⅩⅣ

. Button search form

Button

Function

Instruction

Use of state

Use

method

run

Start the program runs;

startup program continues
to run

Auto waiting to run status

;

run automatically stopped state;
When executing directive

pause

Click

enter

Confirm the modification of

the parameters are valid;
Confirm the changes or

enter the program effective

Parameter setting state;

program edit state

Click

Pause

Pause program is run

automatically; pause the
program is being run

Automatic

operation;

manual

operation status

Click

cancel

Cancel

modified

parameters; Cancel modify
or entry process

Parameter setting state; program edit

status

Click

home

let motor return to zero
(position when power is
on)

Auto waiting to run status

; The

automatic operation stop status;

Click

Clear

all

entered

program;

Program edit status;

Click for 2

seconds or

delete

Delete the current line

program

Program edit status;

Click

Auto

Converted to automatic

status:

manual

status;

Click

Jog

Converted

manual

status:

automatic status;

Click

Insert

Position in the program
above the current row
insert a new row program

Program edit status;

Click

Step

Displays

the

status

switches

coordinate

(steps) display

Auto waiting to run status

Click

count

Displays the status switch
to count display mode

Auto waiting to run status

Click

Program

Displays the status switch
to program display mode

Auto waiting to run status

Click

edit

Enter the program edit

status

manual

status;

Click

set

Enter the parameter setting

status

manual

status;

Click for 2

seconds or

quit

From  the  program  edit
state  or  parameter  setting
state  return  to  manual
mode, and save the file to
save the modified program
or parameters

Program edit status; parameter
setting status

Click

Move

cursor
to left

Current position move to the

left

Program edit status; parameter
setting status

Click

Quick
View

Return

after

browsing

program, only the line
number

and

program

name, as this program to
see the data, click this

Program edit status

Click

Move

cursor to
down

Current position move down

one line

Program edit status; parameter
setting status

Click

Counter

is cleared

The current counter value is

cleared

Auto waiting to run status

Move

cursor to
right

Current position move to the

right

Program edit status; parameter
setting status

Click

Counter
save

Save the current counter

value

Auto waiting to run status

Click

reset

Reset Controller

Click

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