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TSUJI ELECTRONICS PM16C-16HW2 User Manual

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16ch STEPPING MOTOR CONTROLLER
PM16C-16HW2
USER'S MANUAL
No. 4071(rev.4)
APPLICATION OF ELECTRONIC DEVICES
TSUJI ELECTRONIC CO., Ltd.
3739 Kandatsu-machi Tsuchiura-city
Ibaraki-Pre 300-0013 JAPAN
PHONE.+81-(0)29-832-3031 FAX. +81-(0)29-832-2662
URL
http://www.tsujicon.jp/
E-mail info2@tsuji-denshi.co.jp

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Summary of Contents for TSUJI ELECTRONICS PM16C-16HW2

  • Page 1 16ch STEPPING MOTOR CONTROLLER PM16C-16HW2 USER’S MANUAL No. 4071(rev.4) APPLICATION OF ELECTRONIC DEVICES TSUJI ELECTRONIC CO., Ltd. 3739 Kandatsu-machi Tsuchiura-city Ibaraki-Pre 300-0013 JAPAN PHONE.+81-(0)29-832-3031 FAX. +81-(0)29-832-2662 http://www.tsujicon.jp/ E-mail info2@tsuji-denshi.co.jp...

  • Page 2: Table Of Contents

    CONTENTS CONTENTS CONTENTS ......................1 1 Abstract ........................ 4 1-1 Introduction ....................4 1-2 Architecture ....................5 1-3 Connection Diagram ..................5 2 Parts names and function ..................6 2-1 Front Panel ....................6  MOTOR STATUS LED ................7 2-2 Rear Panel ....................
  • Page 3 CONTENTS 5-8 Page8 TIMING OUT channel setting ............31 5-9 Page9 Parameters of remote mode setting ..........31 5-10 Page10A, 10B, 11A, 11B LAN setting ............32 5-11 Page12 Firmware version change and other settings ........ 33 6 Operation of Motor ....................34 6-1 Local mode operation ..................
  • Page 4 CONTENTS 13 Performance and Specifications ............... 74...

  • Page 5: Abstract

    PM16C-04XDL and PM16C-16. The difference with PM16C-04XDL is described below. 1. PM16C-16HW2 controls 16 motors at the same time by Ethernet, RS-232C, and GP-IB communication. 2. The command which reads the state of all channel was added.

  • Page 6: Architecture

    1 Abstract 1-2 Architecture Front panel Control switch FLSH ROM LCD Display for firmware version up x 2 Pulse output connector Pulse controller Data Memory FPGA Limit switch 2ch x 8 input connector H LAN L LAN (Hi-speed LAN) RS-232C GP-IB 1-3 Connection Diagram LS Cable (Dsub 9pin)

  • Page 7: Parts Names And Function

    8 9 10 15 16 11 12 Name Function POWER switch This is the power switch of PM16C-16HW2. Connect the Hand Box here (option). Hand Box connector See page 19. 20 character and 4 line LCD. LCD display Motor drive status and each channel data are displayed here.

  • Page 8: Motor Status Led

    2 Parts names and function Name Function Starts CW or CCW JOG operation. Motor drives just JOG set pulse with one push. If you hold over 0.4 JOG switch sec., motor drives while holding. In SETUP mode, changes the page of setup function. Select the drive mode when pushing start button.

  • Page 9: Rear Panel

    2 Parts names and function 2-2 Rear Panel 2 3 4 Name Function Pulse out connector CH0 to CH15 pulse output Dsub9 female connector (PULSE) and limit switch input Dsub9 male connector are Limit switch connector attached. Pin assignment are shown below. (LS IN) GP-IB connector Connect the GP-IB cable here.

  • Page 10: Limit Switch Input Dsub Connector（Ls In） Pin Assignment

    HPLS- +12V(MAX 0.8A) Both a-contact limit switch and b-contact are available. Logic inverting is also available at PM16C-16HW2 settings. Use Dsub connector which shell width is under 35mm, since each Dsub connector pitch is 37.6mm. DE-C1-J6 (JAE), XM2S-0911 (OMRON), HDE-CTF (HIROSE) etc. are recommended connectors.

  • Page 11: Preparation Of A Communication Line

    3 Preparation of a communication line 3-1 The outline of communication control PM16C-16HW2 is equipped communication control by LAN (2 ports), RS-232C, and GP- IB as same as PM16C-16HW. Initial setting is required of each communications. Any initial setting can be performed in SETUP mode.

  • Page 12: Configuration Of Rs-232C And Gp-Ib Communication

    3 Preparation of a communication line 3-4 Configuration of RS-232C and GP-IB communication JOG switch is moved to the CW position several times, and page 9 (right screen) are displayed. Right photograph is the state of initial setting. The blinking cursor is moved on the figure of B.RATE by CURSOR button.

  • Page 13: The Outline Of Motor Control

    4 The outline of motor control 4-1 Remote mode and Local mode PM16C-16HW2 have two ways of control mode, remote mode and local mode. In local mode, PM16C-16HW2 controls motor with switches attached front panel and hand box. Commands from communication line which drives motor and overwrite the motor setting are invalid, but which reads the data are available.

  • Page 14: Constant Drive (Const)

    4 The outline of motor control  Constant drive (Const) Speed MAX SPEED (= HSPD/MSPD/LSPD) Time start command stop command Motor drives at MAX speed as soon as drive execution, and stops immediately as soon as stop operation. Too fast drive speed causes motor step out. Low speed drive is always constant drive at all drive mode.

  • Page 15: Control Screen

    4 The outline of motor control Although it is fundamentally the same as trapezoidal form acceleration drive, the velocity change at the time of acceleration and deceleration start and the time of acceleration and deceleration stop is performed according to S shaped form approximated to the parabola.
  • Page 16 4 The outline of motor control Data Function The display of the allocated channel at A to D Position. You can change these channel with “CH SEL” switch Channel No. and numeric keys. The same channel at two position is prohibited.

  • Page 17: Mode Setup Screen

    4 The outline of motor control  Mode setup screen R E L 0 1 2 3 4 5 6 7 8 9 R E L - 0 1 2 3 4 5 6 7 8 9 R E L - 0 1 2 3 4 5 6 7 8 9 R E L 0 1 2 3 4 5 6 7 8 9...

  • Page 18: Home Position Set And Search Drive

    4 The outline of motor control 4-5 Home Position Set and Search drive Home position of the unit is set by home position search drive. If the sensor of the origin point (H.P switch) is detected, motor will stop automatically and the moving direction and the origin point at the time of detection are memorized on a main unit.
  • Page 19 4 The outline of motor control When you set H.P to direction CW, you have to set motor position to CCW side against origin sensor, then move motor from CCW to CW side by operation switch JOG CW or START + JOG CW. Once detect the origin point, motor stopped suddenly, origin point procedures finished.
  • Page 20 4 The outline of motor control Page6 Home position setting” (Page 29)) (a). In case of start position is in CW side against origin point 1. It starts present speed H, M, L. 2. Detect the origin point then back to CW side at low speed.
  • Page 21 4 The outline of motor control If a starting point sensor is detected, it will pass at first. And it will stop, if it passes completely, and it goes to the origin point by LSPD. Motor stopped suddenly, if the origin point sensor is detected from a direction opposite to the direction which started detection of the origin point.

  • Page 22: Hand Box (Optional)

    4 The outline of motor control Page6 Home position setting” (Page 29) of SETUP screen. 4-6 Hand box (Optional) In local mode operation, you can control a motor using the panel directly. In addition, you can control a motor using Hand box (sold separately).

  • Page 23: 04Type Hand Box Controller (Pm16-Hdx 4 Axis Control)

    If press and hold, it continues to operate. 3. CH B JOG switch It is the same function as the JOG switch of the front panel of PM16C-16HW2, and it operates the channel B which is displayed on LCD display.

  • Page 24: 16Type Hand Box Controller（Pm16-Hdx16 16 Axis Selected Control

    4 The outline of motor control  16TYPE Hand box controller（PM16-HDX16 16 axis selected control） Control a channel that is selected from 16 channels. 1. Channel indicated LED It displays the channel that is controlled, and it displays a channel as Hexadecimal number (0 ~ 2.

  • Page 25: Setup Mode

    5 SETUP MODE 5 SETUP MODE All channel motor initial data and communication line setting operation is available at this mode. Push SETUP button at Local mode, LOCAL drive mode and SETUP mode are exchanged. SETUP mode contains 11 pages. You can increment the page with clicking JOG switch to CW, and decrement to CCW.

  • Page 26: Motor Operation, Hold-Off Function Setting

    5 SETUP MODE 5-2 Page2 Motor operation, hold-off function setting : SETUP channel selection Same as Page 1. : Motor control ENA/DIS default: ENA ENA: Motor control is enable. DIS: Motor control is disable. CW/CCW LS light. : Pulse output mode P_P/P_D/PDR default: P_P Selection of the motor driving system.

  • Page 27: Limit Switch Setting

    5 SETUP MODE 5-3 Page3 Limit switch setting □ 1. : SETUP channel selection Same as Page 1. 2. : Limit Switch ENA/DIS default : ENA independently in CW / CCW the enable or disable of the limit switch. ENA: Motor will stop when it detects a signal limit. DIS: Motor does not stop even if the detection limit signal.

  • Page 28: Digital Limit Switch Setting

    5 SETUP MODE 5-4 Page4 Digital limit switch setting □ 1. : SETUP channel selection Same as Page 1. 2. : Digital limit switch ENA/DIS default: ENA Set enable or disable of digital limit switch. It will be set simultaneously in CW / CCW direction. If enabled, when the CCWLS value less than or more than the CWLS value, it does not work in that direction.

  • Page 29: Rel/Abs/Scan Preset Data Setting

    5 SETUP MODE 5-5 Page5 REL/ABS/SCAN PRESET data setting Also in the “mode display screen”, settings on this page is available. : SETUP channel selection Same as Page 1. : REL mode set value Setting range: -2,147,483,647 ~ +2,147,483,647 Initial value: +10,000 Set the pulse value that relative movement when you press the START button in local mode.

  • Page 30: Home Position Setting

    5 SETUP MODE 5-6 Page6 Home position setting : SETUP channel selection Same as Page 1. : Home position switch setting: ENA/DIS default: ENA Set the enable or disable of the home position switch. ENA: It detects the home position signal DIS: It does not detect the home position signal.

  • Page 31: Timing Out Setting

    5 SETUP MODE 5-7 Page7 TIMING OUT setting For more information about the TIMING OUT signal, see page 54. : SETUP channel selection Same as Page 1. : TIMING OUT mode set DIS/GATE/P.200ns/P.10us/P.100us/P.1ms Manual/M.1us/M.10us/M.100us/M.1ms default: P.1ms Select the type of when outputting TIMING OUT signal.

  • Page 32: Timing Out Channel Setting

    5 SETUP MODE 5-8 Page8 TIMING OUT channel setting It displays which channels are assigned to TIMING OUT four output ports TIMING OUT in channel fixed mode, set which channel to assign on this screen. : TIMING OUT mode setting DSP/FIX default: Select the TIMING OUT output channel setting mode.

  • Page 33: A, 10B, 11A, 11B Lan Setting

    LAN module. : IP address Initial value: 192.168.1.55 (LAN_L: 192.168.1.56) Set the IP address of PM16C-16HW2 with the cursor keys and a numeric keypad. : Port selection (0 ~ 7) With LAN communication module upgrade it is now possible to connect up to 8 ports at the same time.

  • Page 34: Firmware Version Change And Other Settings

    5 SETUP MODE 5-11 Page12 Firmware version change and other settings < > : To change software version NEW/OLD Select the firmware version. See “10 Firmware version up” (Page 67) for more information. : Return time from mode set screen Setting range: 0 ~ 99 Initial value: 60 it changes to “mode display screen”...

  • Page 35: Operation Of Motor

    6 Operation of Motor 6 Operation of Motor Here, you will move the motor actually. Prior to actually drive, complete the following settings. ･Connecting to an external device driver, limit switches, etc. (Page 8) ･Configuring the driving speed. (Page 24) ･Configuring the amount of movement (only the absolute value and relative value movement) (Page 14) Operate the motor, after the setup is complete.

  • Page 36: Command To Read Out Of Motor Status

    6 Operation of Motor 6-3 Command to read out of motor status <ch>: 0 ~ F(Hexadecimal) for channel. Command STS? Read motor status which is displayed on LCD. <RL><0123>/<DIR>/<LS>/<MT>/<POS>/<POS>/<POS>/<POS> R/ REMOTE control mode <RL> L/ LOCAL control mode Show displayed motor CH No. at 1 digit hex. The order of this <0123>...

  • Page 37: Limit Switch(Ls) Status Read Command

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel. Command STS_16? Read all 16ch motor status. <DIR><DIR>･･･<DIR>/<MT><MT><MT><MT>･･･<MT><MT><MT><MT> P/ Moving for CW direction S/ Stopping N/ Moving for CCW direction <DIR> The order of data is from CH0 to CHF, and one character a motor, and describes 16 characters.

  • Page 38: Commands For Current Positon Read Or Set

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel. Read displayed 4 CH motor on LCD hardware and software Command HDSTLS? LS status. <0123><HDLS><STLS> Show displayed motor CH No. at 1 digit hex. The order of this data <0123> is applied on <LS>.

  • Page 39: Motor Control Command

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel Command PS_16? Display current position for all channel. <POS>/<POS>/･･･/<POS> Reply Display the current position with the signed Integer 7-digit and <POS> more, in order from ch0. Each channel is separated by "/". PS_16? Reply: Example...

  • Page 40: Continuous Move Commands

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel  Continuous move commands Start continuous move. Command SCAN<d><ch> Same as SCAN move on LOCAL mode. Argument <d> Direction P/CW N/CCW Reply Nothing Example SCANN2 Start continuous move for CCW direction at CH2. Remarks Only remote mode.

  • Page 41: Absolute Drive Command(Abs)

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel.  Absolute drive command(ABS) Command ABS<ch><b><deg> Start absolute move. (None)/ Without backlash move <b> Backlash B/ With backlash (no auto adjust)* Argument S/ With backlash (auto adjust)* <deg> Destination -2,147,483,647 ~ +2,147,483,647 Reply Nothing ABS3+10000 Start absolute move to 10000 point at CH3.
  • Page 42 6 Operation of Motor *Backlash adjustment move When you execute absolute or relative move, moves extra backlash adjustment value before reaching the destination point. For example, adjustment value is +500, moves destination point plus 500 point and moves relative -500 value. Backlash adjustment move pattern is changed by sign of adjustment value and motor move direction.

  • Page 43: Home Position Return Commands

    6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel.  Home position return commands If you have not found home position, start home position search move. It is a move that corresponds to Command FDHP<ch> the method 2 of the Home Position Set and Search drive (page 17).

  • Page 44: Command For Synchronous Start For Action Pending

    These commands are for synchronous start of motors. All motor except moving are changed standby status by “PAUSE ON” command. In this status, PM16C-16HW2 reserves all motor moving commands. If release standby status by “PAUSE OFF” command, reserved commands are all executed.

  • Page 45: Srq For Lan/Rs-232C Communication

    The SRQ output flag is independent for LAN_H, LAN_L, and RS-232C. In PM16C-16HW2, there are 8 ports for LAN_H and LAN_L respectively, but the port where SRQ is output is the port that sent "LN_SRQx1" (x: 0 to F) at the end.
  • Page 46 6 Operation of Motor <ch>: 0 ~ F(Hexadecimal) for channel. Set or reset SRQ output flag. Command LN_SRQ<ch><md> The SRQ is output to the port that last sent this command. Argument <md> Mode 0/SRQ reset 1/SRQ set Reply Nothing Example LN_SRQ71 Set SRQ output flag at CH7.

  • Page 47: Commands For Parameter Set Up

    7 Commands for parameter set up 7 Commands for parameter set up This section explains the commands for parameter set up when the motor is working. 7-1 Basic configuration of motor <ch>: 0 ~ F(Hexadecimal) for channel Command SETMT<ch><en><hd><ac><pl> Set basic configuration of motor 0/ Disable Motor operation 1/ Enable Motor operation <en>...
  • Page 48 7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel. Command HOLD?<ch> Confirm the output of hold off signal. OFF/ Enable the output of hold off signal. Reply ON/ Disable the output of hold off signal. reply: ON CH3’s hold off signal has disabled. Example HOLD?3 Remarks Command H_ONTM<ch><t>...

  • Page 49: Moving Speed Setting

    7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel. Command STOPMD<ch><pb><ls> Set the way to stop motor. <pb> Stop by STOP botton 0/ deceleration stop Argument 1/ emergency stop <ls> Stop by limit switch Initial value <pb>:0 <ls>:0 Reply Nothing STOPMD001...

  • Page 50: Acceleration And Deceleration Rate Setting

    7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel. < Command SPDAL? Display the speed that has been set to the motor that displays in LCD. <0123>/<sp>dddddd/<sp>dddddd/<sp>dddddd/<sp>dddddd Expressed in hexadecimal notation of four-digit channel which is <0123> displayed on the display.

  • Page 51: Details Of Acceleration / Deceleration Rate

    99 0.075 Real rate setting With PM16C-16HW2, it is possible to set with real values only when setting remotely. The settable range varies depending on the maximum speed (HSPD, MSPD value) of each axis. If it is set outside the settable range, the upper and lower limits will be set according to the maximum speed.

  • Page 52: Setting Of The Limit Switch-Related

    7 Commands for parameter set up 7-5 Setting of the limit switch-related <ch>: 0 ~ F(Hexadecimal) for channel. Command SETLS<ch><D><lsen>0<lsiv> Set the basic operation of the limit switch. Digital LS 0/ Disable digital limit switch <D> enable 1/ Enaable digital limit switch 0/ LS disable 1/ LS enable In lsen=0, motor does not stop, even if the limit switch detects...

  • Page 53: Setting Of The Home Position Related

    7 Commands for parameter set up 7-6 Setting of the home position related <ch>: 0 ~ F(Hexadecimal) for channel. Change How to set the home position, and rewrite Command SETHP<ch>0<hpf><hpd><atd> the detection situation. state of home <hpf> 0/ not found 1/ found position 0/ CW...

  • Page 54: Setting Of The Local Mode Data

    7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel. Set the home position offset. When you detect home position by command "GTHPx", home Command SHPF<ch><off> position searching starts from the distance of offset value from current home position. Argument <off>...

  • Page 55: Display Setting

    7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel.。 In locak mode, set the amount of movement of a operation Command SETJG<ch><pos> of JOG switch. Argument <pos> Step number 0 ~ 9,999 Initial value 1 Reply Nothing Example SETJG7200 Outputted 200 pulse when JOG switch for CH7 is operated one time.
  • Page 56 7 Commands for parameter set up <ch>: 0 ~ F(Hexadecimal) for channel. Command LCDB <brt> Adjust the brightness of the LCD backlight. Argument <brt> brightness Please enter an integer of 1 ~ 100. Initial value 100 Reply Nothing Example LCDB 50 Remarks Only remote mode.

  • Page 57: Timing Out Signal Output

    8 Timing out signal output 8 Timing out signal output From the four channels that are displays on the LCD, you can get output signal of TTL level according to the current pulse position from LEMO connector on the front panel. Type of signal is available pulse signal and GATE signal.

  • Page 58: Output Method

    8 Timing out signal output  Output method 1. Set the timing signal In LOCAL mode, please refer to “Page7 TIMING OUT setting” (page28) for setting. In REMOTE mode, you can be set by the following commands. <ch>: 0 ~ F(Hexadecimal) for channel Command TMGM<ch><type>...
  • Page 59 8 Timing out signal output <ch>: 0 ~ F(Hexadecimal) for channel. Command TMGI?<ch> Confirm the interval of the timing pulse output. Reply dddddddd (8-digit integer) Example TMGI?F reply: 00001000 Remarks Command TMG<md><ch><data> Set the timing signal start point and end point. <md>...

  • Page 60: Timing Signal Manual Output Mode

    8 Timing out signal output 4. Motor is move to the end point direction, and the signal is generated from the time that has passed through the start point. In gate mode, the signal is outputted between the start point with the end point until releasing the output preparation state of the timing signal.
  • Page 61 8 Timing out signal output <ch>: 0 ~ F(Hexadecimal) for channel. Command TMGFX? Confirm the output channel mode of the timing signal. DS/ Output from the channel in the display. Reply EN/ Output channel fixed mode Example TMGFX? reply: EN Remarks Output channel fixed mode when enabled, Set up the output channel by the command below.

  • Page 62: Other Operation

    9 Other Operation 9 Other Operation 9-1 Channel comment setting You can leave 3 characters for each channel. Channel comment is not displayed at the initial state. You can use the following methods to view comments. Timing signal output port display Channel comment display In the communication command, you can display switching with the following command.

  • Page 63: How To Set The Channel Comments (Local Mode)

    9 Other Operation  How to set the channel comments (local mode) 1. Move the cursor to where you want to enter a character. 2. Select a letter kind by the letter kind selection button assigned to the numeric keypad. 3.

  • Page 64: How To Set The Channel Comments (Remote Mode)

    9 Other Operation 4. In order to enter “4”, move the cursor to the location where colored in the figure above. Please press the numeric keypad “9” 3 times. The input was completed, and "A-4" has been set in the comments of CH1. ...

  • Page 65: All Reply Mode

    9 Other Operation 9-2 All reply mode In PM16C-16HW2, All reply mode have been added to add a response to the command with no response. Response that is added is the following five types. The command will reply with original response.

  • Page 66: Maintenance Command

    9 Other Operation 9-3 Maintenance command Command VER? Read out firmware version. Reply Example) V1.00 20-09-03 PM16C-16HW2 Remarks Command VERH? Read out hardware version. Reply Example) HD-VER 211111 Remarks (V1.08 ~) The first character is displayed on the startup screen.
  • Page 67 9 Other Operation Firmwares are saved in two ROMs. Confirm ROM which has been Command FROM? used for the firmware. Reply FROM0, FROM1 Remarks FROM0 Command Select the one of two ROM that are saved the firmware. FROM1 Reply Nothing Please note that when you restart the equipment after you run this command, Remarks various parameters will be initialized.

  • Page 68: Firmware Version Up

    Mark on Local echo and "OK". Send the command VER?, and the connection will be good if there is reply. 5. Set PM16C-16HW2 to REMOTE MODE. All response modes are forcibly disabled for all communications. (In local mode, even if a file for version UP is sent, it will not be recognized.)
  • Page 69 In that case, increase the window size of Tera Term. 7. REM lamp on the PM16C-16 is blinking on and off slowly that indicate receiving the file by PM16C-16HW2. After received all data, REM lamp turns on quick blinking mode. Then the data write procedure begins.
  • Page 70 10 Firmware version up 1. Put off the power switch of this unit and open the top cover. Please find dip switch is on print circuit board "TEP743" Set the dip switch 1No.2 to side "ON". (Dip switch 1 is still side "OFF".) 2.

  • Page 71: Appendix

    11 Appendix 11 Appendix 11-1 Command List ABSx ..........40 GTHPx ........... 42 AESTP ........... 42 ALL_REP DS ......... 64 ALL_REP EN ........ 64 ALL_REP? ........64 H_OFTM?x ........47 ASSTP ..........42 H_OFTMxttt........47 H_ONTM?x ........47 H_ONTMxttt ......... 47 HDSTLS? ........
  • Page 72 11 Appendix PAUSE? ......... 43 SPDH?x ......... 49 PS?x ..........37 SPDHx ........... 38 PS_16? ........... 37 SPDHxdddddd ......48 SPDL?x .......... 49 PSxddd･･･ ........37 SPDLx ........... 38 SPDLxdddddd ....... 48 SPDM?x ......... 49 SPDMx .......... 38 RELx ..........40 SPDMxdddddd ......

  • Page 73: Battery Backup Battery Replacement

    11 Appendix 11-2 Battery backup battery replacement PM16C-16HW2 uses a button battery for battery backup, even if the power is turned off. It holds the settings of each axis and the current position. It has a life of 5 years or more, but if the battery runs out, it will not be possible to set and retain location information when the power is turned off.

  • Page 74: Revision History

    12 Revision History 12 Revision History Revision Date Revision history First version release. 2022/07/19 English version4 is matched with Japanese version4.
  • Page 75 13 Performance and Specifications 13 Performance and Specifications AC85V ~ 264V, 47 ~ 440Hz, 50VA Power Battery Backup: CR2032 x1 Control motor 16 motors can be controlled Local mode: controls 4 motor units at the same time. Capability Remote mode: controls 16 motor units at the same time. For each 16 motor driver, CW, CCW (5V, 8mA: line driven) Out put...

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