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3.3 P Module HM-P100C
3.4 C Module HM-C100C
The P module is for single axis positioning.
The C module, like the P module, is for single axis positioning but it is provided with linear interpolation
function of multiple axes and circular interpolation of two axes.
In the subsequent explanation, functions and use common to P and C modules are described as P/C module.
3.4.1 Specifications
Category
ASIC for Motionnet control
Axis control system
Control method
Position command
Command pulses
Position command range
Command coordinate
Command range for continuous
feed
Basic
specification
Position override
Speed control
Speed range
Speed override
Acceleration/deceleration control
Automatic
acceleration/deceleration system
Homing control
Homing method
Origin search
Origin offset
Counter function
Comparators
Function
Synchronization signal output
specifications
(CMP3 output)
Encoder input/pulsar input
Backlash compensation
Vibration reduction when stopping
Item
P module: G9003
C module: G9103B
P module: 1-axis control
C module: Synchronous control (between C
modules)
Single axis positioning
Linear interpolation of multiple axes and
positioning (C module)
Circular interpolation of two axes and positioning
(C module)
Positioning pulse-train command output
-134,217,728 to +134,217,727 [pulse]
[28-bit long]
Relative coordinate command
Unlimited
Possible
0.1 pps to 6.6 Mpps (x0.1 to x66.6)
[Speed register range: 17 bits,
Setting value range: 1 to 100,000]
As for encoder speed: 4.0 Mcps Max.
(when x4, differential input)
Possible
S-curve acceleration/deceleration, partial
s-curve acceleration/deceleration, and linear
acceleration/deceleration
(All with triangular drive peak prevention
function)
During automatic acceleration/deceleration:
Asymmetrically sloped acceleration/deceleration
possible
13 ways of returning to a sensor's origin, Z-phase origin, or ELS shared origin
Available
Available
Counter 1: command position (command pulse count) [28-bit long]
Counter 2: machine position (encoder count) [28-bit long]
Counter 3: general-purpose/error counter [17-bit long]
Three comparators are available. These can be used for any counter above. CMP3 has its output
at the machine I/F connector.
With CMP3 and counter 3, CMP3 terminal output is possible at regular intervals.
Encoder input and pulsar input are directed to the same connector terminal. It can be selected by
the software.
Encoder output refers to differential output. (For input speed, refer to Basic specifications, Speed
range.)
Compensation pulses are inserted immediately before command operation for every turn of the
movement direction.
Counter during compensation can be enabled or disabled.
Effective to suppress vibrations caused by stepping motor stop
Specifications
46
Remarks
by Nippon Pulse Motor
Output element: Differential driver
Change target position before position
completion
0.1 time mode: 0.1 to 10kbps
1 time mode: 1 to 100kbps
10 times mode: 10 to 1Mbps
50 times mode: 50 to 5Mbps
Acceleration/deceleration range during the
slope of acceleration/deceleration
Example of accelerating from 50pps to
1Mpps:
Linear acceleration: 0.5ms to 261s
S-curve acceleration: 1ms to 522s
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