2016

Contents 4. Driver
- Basic terms
1. Basics of Stepping motor
- Types and Features of Driver
- Basic theory of motor
- Function of Driver
- Stepping VS Servo
- Introduction of Products 5. Controller
- Introduction of Products

2. Basics of Stepping Motor - PMC-HS ↔ PC (PMC)

Communication connection
- Basic theory of Stepping Motor
- Parameter setting
- 2 phase / 5 phase Stepping Motor
6. Actual practice Ⅰ
- Basic terms
- Actual practice of Auto home search
- Torque
- Actual practice of program mode

- LP-S070 + Motor
3. Stepping Motor
- Features of Stepping Motor
7. Actual practice Ⅱ
- Types of Stepping Motor
- contact control
- Example of application
- Trouble shooting
1. Basics of Stepping motor

- What is motor?

- Basic principle of motor

- Stepping Motor VS Servo Motor

- System of Motion Device

- Introduction of Products

- Replacement table for discontinued products

What is motor?

MOTOR
ㆍ A machinery that creates torque, and usually called generator.
ㆍ It is defined academically as a device that converts electrical energy to
mechanical energy.

Magnetic Energy

Generator
A device that converts Mechanical Energy to Electrical Energy
Basic principle of motor

B
B

1. Flow Direct Current through a commutator. A

2. [Figure on the left] The direction of force is upward when armature (a) left-hand rule is applied. At this point
of time, armature rotates as the direction of force of b part is applied to downward.
3. [Figure on the middle] Although current does not flow if the armature goes vertical, it rotates due to inertia.
4. [Figure on the right] The direction of armature (a) force is downward, The direction of force (b) is upward ->
Torque
Understanding basic principle of motor
Qualifications of Motor

Motor’s Run/Stop, forward/backward revolution and

brake shall be stable with high efficiency.

Motors shall have high response ability.

Motors shall have the same performance for both

forward revolution and reverse revolution.

Motors shall have stable RUN characteristics and have

no effect from ambient environment.

Easy maintenance shall be ensured.

Motors shall have superior environmental resistance.

System of Device

Winding current
STEPPING MOTOR

DRIVER PC / PLC

Pulse
Command
CONTROLLER
System of Device

Controller
An integrated circuit to generate pulse signals based on
given speed & position data.

Stepping Motor Driver

An integrated circuit to supply current to motor based
on pulse signals given by controllers having direct
effect on motor’s performance.

Stepping Motor
Hybrid type motor having features of high-accuracy, high-
torque that rotates with machinery angle determined as
existing current of phase of motor is controlled in accordance
with the input pulse signal.
Composition of product

Motor
AK-2 Series AK Series AHK Series AK-GB / AK-B AK-RB / AK-R
Series Series

Driver

MD2U-ID20 MD2U-MD20 MD5-ND14 MD5-HD14 MD5-HF28 MD5-HF14 MD5-HD14-2X/3X

Controller

PMC-2HSP PMC-HS PMC-4B-PCI

※ Please refer to Autonics Website & Catalogue for more detail information of models.
Replacement table for discontinued products

KR-55M /KR-55MC MD5-HD14 KR-505G MD5-HF28

KR-5M /KR-5MC MD5-ND14 KR-515M /MD5-MF14 MD5-HF14

2. Stepping Motor

- Basic theory of Stepping Motor

- 2-phase / 5-phase Stepping Motor

- Basic terms

- Torque

- Means of Calculating Torque

- Selecting Motion Device & Example of

product selection for companies

What is Stepping Motor ?

Motor that s with machinery angle determined by Pulse signal

Shaft Type (Standard)

Stator Hole Shaft Bearing Permanent Magnet

Stator teeth Rotor teeth Insulator Flange Rotor Core Coil

What is Stepping Motor?

*Classification according to input power type

Classification of
MOTOR

DC Motor Universal Motor AC Motor

Brush Type
DC Series Motor
DC Motor

Synchronous Induction
BLDC Motor DC Shunt Motor
Motor Motor

DC Compound
SR Motor
Motor
DC Separately VR Type PM Type HB Type
Stepping Motor
Excited Motor Accurate
STEP O X O
Angle
Minimizin
g
X O O
VR Motor HB Motor PM Motor
Weight
lightening X O O
 Stepping Motor

Variable Reluctance(VR) Permanent Magnet(PM) Hybrid(HB)

ROTOR ROTOR ROTOR

: Consists of electrical steel : Consists of permanent magnet :: Consists of permanent magnet
sheets having salient structure . STATOR and iron core
STATOR : Consists of electrical steel STATOR)
: Consists of coil and electrical sheet having salient teeth and : Consists of electrical steel
steel sheets having salient coils. sheet having salient teeth and
structure. coils

VR Type PM Type HB Type

AUTONICS Stepping Motor
2-phase Stepping Motor 5-phase Stepping Motor
1Pulse = 1.8° 1Pulse = 0.72°
200Pulse = 360° 500Pulse = 360°
A-phase A-phase
B-phase
C-phase

B-phase
D-phase

E-phase
Torque fluctuation is big. Torque fluctuation is small.
High-speed, Accuracy ↓, Low-speed, Accuracy ↑, Smooth
Unsmooth operation ,Low-cost operation, High-cost
5-phase Stepping Motor

Controlling motor torque through current ON/OFF

Rotate in accordance with step angle

Easy
Easy position(Rotation
position(Rotation angle)
angle) controlling
controlling
Rotation angle
1 Pulse 0.72°

2 Pulse 1.44°

500 Pulse
360°

Input Pulse (Example of 5-phase STEPPING MOTOR FULL STEP operation)

Changing rpm in accordance with switching frequency of current

Easy
Easy speed
speed controlling
controlling
Rpm
500 Hz 60rpm

2000 Hz 240rpm

5000 Hz 600rpm
(Example of 5-phase STEPPING MOTOR FULL STEP operation)
Input frequency

Position control by the number of set pulse/Speed control

in accordance with the width of pulse
Basic terms

· PPS (Pulse per Second) : The number of Pulse per Second.

· PPM (Pulse per Minute) : The number of Pulse per Minute.
· Hz (Hertz) : The number of Pulse per Second = PPS
· RPS : Rotation per Second
· RPM : Rotation per Minute

Example)
What is RPS and RPM of 5-phase Stepping Motor that receives
signal of 3000Hz per second?
Explanation: 3000 Hz / 500 Pulse = 6
Answer: 6 RPS / 360 RPM

Example)
What is PPS of 5-phase Stepping Motor that rotates with
600RPM?
Explanation: 600 RPM / 60 = 10 RPS
10 RPS x 500 Pulse = 5000
Answer: 5000 PPS
ㆍ Step Angle : Mechanical angle that stepping motor rotates according to the signal input
from external.
-2 phase HB Type Stepping Motor : 1.8°
-5 phase HB Type Stepping Motor : 0.72°

ㆍ Step Angle Error : The difference between actual rotation angle and theoretical rotation
angle of stepping motors by 1Pulse signal.

ㆍ Hysteresis Angle Error : The difference of stop angle between CW rotation and CCW
rotation of a stepping motor.

ㆍ Stop Angle Error : The difference between actual rotation angle and theoretical rotation
angle of stepping motors at the starting point.
Example) (5 phase) when applying 500Pulse → Theoretical angle: 360° /
Actual angle: 360.02° / Error : 0.02°

ㆍ Full Step : Operate with step angle that mechanically determined by Stepping Motor.
2-phase : 1Pulse → 1.8° / 5-phase : 1Pulse → 0.72°

ㆍ Half Step : A method to drive stepping motor by 2/1 of step angle which is determined mechanically.
2-phase : 1Pulse → 0.9° / 5-phase : 1Pulse → 0.36°
Micro Step : A method to get a rotation angle of the rotor even in the middle area of basic
step by changing current on mechanically determined step angle of stepping motors.
※ Rotation angle is adjustable by Driver’s performance (resolution).

Large Large
Full Step

Half Step

Noise/Ocillation
e
Torqu
¼ Step

⅛ Step

In case of 1Pulse rotation angle of 5-phase motor [MD5 Series]

Full Step : 0.72° / Half Step : 0.36° / 250 resolution : 0.00288°
Small Small
[Stepping Motor] VS [Servo Motor]

Item Stepping motor Servo motor

Open roof control Close roof control

Principle of Control
[Encoder option] [Encoder essential]

5-phase [500Pulse] Encoder resolution for

Resolution
2-phase [200Pulse] 1 rotation

Max. 6,000rpm
Max. 2400rpm (5-phase)
Rpm High speed, Low
Low speed, High Torque
Torque

Output w ~ 300w, Small-size 3w~30kw, Large-size

[Stepping Motor] VS [Servo Motor]

Stepping Motor Servo Motor

ㆍ Simple control circuit

ㆍ Low price
ㆍ Advantageous for short ㆍ Closed Loop
Strength distance position ㆍ Advantageous for long
controlling distance position controlling
ㆍ No Hunting
ㆍ Able to operate directly

ㆍ Heat-resistance ㆍ Complicate control circuit

Weakness ㆍ Vibration, Noise ㆍ High price
ㆍ Open Loop ㆍ Hunting
What is Torque?

The tendency of a force to cause an object to rotate, equal to the Vector product
of radius vector from the axis of rotation to the point of application of the for
and the for vector. Unit: [kgf·cm]

T = F x r
T: Torque F: Force r: Radious

F r

r F
T •
T
T=F r
T : Torque, F : Force, r : Radious
The meaning of 1kgf ㆍ
cm?
Required torque for rotating a rotator of which radius is 1cm in case 1kg of
weight is applied. (The weight of rotator itself is negligible)

1[cm]

T = F x r
T: torque F: Froce r: Radius
1[kg]

Coupling

10cm
Motor
X 5kg = 25 kgf∙cm
D= 10[cm] 2

D(Diameter) : 10 [cm]

M(Weight) : 5 [kg]
m=5[kg]
Calculation of Torque
Weight of Load: 40kg
Exercise) Calculation of Torque for Ball-screw load Ball Screw Pitch : 1cm
Efficiency: 90%

Ball screw 40kg

Pitch 10[mm]

m∙Pb m: Weight of load[kg]

TL =
2η Pb: Ball screw Pitch [cm]
η: Efficiency[0.85~0.95]
40kg X 1cm
= 7.077 kgf∙cm
2 X  X 0.9 ≒ 7.08 kgf∙cm Load torque = Over 7.08 kgf∙cm
Example of Selecting Stepping Motor
Example of selecting Stepping motor for company D

Check point Unit Contents

Structure Ball Screw Type
Weight m 14.54 [kg]
Ball Screw Pitch Pb 2 [mm]
Ball Screw Efficiency η 0.9 [90%]
Operation speed V 600 [RPM]

1. Calculation of Torque

T = Necessary motor Torque

TL = Load Torque
TA = Acceleration, Deceleration Torque
Load Torque [ TL ]

Horizontal
load

Vertical
load
※ Simple calculations without considering the constant are shown as below because it is impossible to get
mechanical constant in many cases.
※ ｉ ( Reduction gear ration of ball screw) is set as ‘1’ because the reduction gear ratio of the machinery that
manufacturer uses is 1:1.
※ It is used vertically by company D
Acceleration/Deceleration Torque [ TA ]

※ A lot of data is needed such as quality, thickness, speed of acceleration etc. to calculate

Acceleration/Deceleration Torque.

※ There is no situation that actual acceleration/deceleration torque is bigger than load torque

on ball-screw structure.

※ When it is ball-screw: TL > TA

※ Considering that it is TL > TA as company D provided insufficient data such as quality, thickness

and etc., hypothesize that it is TL = TA.

Necessary motor Torque [ T ]

Torque [ TL ] : 1.029 [kgf ㆍ cm]

Acceleration/Deceleration Torque [ TA ] : 1.029 [kgf ㆍ cm]
(Hypothesize that it is TL = TA due to insufficient data)

Necessary motor Torque [ T ] : 1.029 x 2 [kgf ㆍ cm]

= 2.058 [kgf ㆍ cm]

※ As simplified formula for calculating torque is used, factor of safety is included in

the above calculation so that the calculation of actual necessary toque is lower than
the result.
※ 42 Square : A3K-S545
60 Square : A4K-M564(-B) [Brake type motor]
3. Stepping Motor
- Feature of Stepping Motor
[Operation types of 1Pulse / 2Pulse]
[Strength of Stepping Motor]
- Example of application of manufacturer
- Types & Features of Stepping Motor
[Hollow Shaft Type]
[Rotary Actuator Type]
[Brake Type]
[Geared Type]
Features of Stepping Motor

1Pulse Input type

• CW: Operation Command Pulse input
-> Applies signal that determines RPM∙Angle of Stepping Motor
• CCW: Rotation direction pulse input [H: CW rotation. L: CCW rotation]
-> Applies signal that determines the rotation direction of Stepping Motor

H
CW
L
H
CCW
L
CCW Rotation
Rotation
direction of CW Rotation
Motor
2Pulse Input type

• CW: Clockwise Rotation

-> Applies signal that determines revolution∙angle of Motor
• CCW: Counter clockwise Rotation
-> Applies signal that determines revolution∙angle of Motor

H
CW
L
H
CCW
L
Rotation CW Rotation
direction of
CCW Rotation
Motor
Easy rotation angle & speed control

• Rotates with mechanical angle according to Pulse signal

Easily controls rotation angle, rotation speed by controlling pulse signa

• Revolution per minute[rpm] = Step angle X Pulse speed [Hz] X 60

[°]
360detecting revolution speed
→ No sensor needed for

High Torque / High response ability

• Hybrid Type Stepping Motor
Able to gain huge torque but small & light weight.

• As it has high-acceleration with self-holding and self operation torque, fast and
accurate holding, verse-reverse rotation is possible.
High-resolution, High-accuracy position controlling is possible
• 2 Phase : 1Pulse → 1.8° rotation
5 Phase : 1Pulse → 0.72° rotation
• When using resolution of 250 by using Micro Step Driver
2 Phase : 1Pulse → 1.8° / 250 = 0.0072° rotation
5 Phase : 1Pulse → 0.72° / 250 = 0.00288° rotation
Possible to perform high-accuracy position control by using.

Holding torque

• Hybrid Type Stepping Motor has huge holding torque when stopping while power is
supplied.
It is able to perform position control without relying on mechanical brake control signal.
Setting time is short and there is no hunting status when stopped.

• Settling time which motor axis is stopped after normal and reverse rotation by load
inertia is short when motor is stopped at a stop position.
• There is no hunting which motor axis is stopped with delicate normal and reverse
rotation when holding a stop position after settling time.

Rotation angle Rotation angle

Settling Hunting Settling

Servo Motor Stepping Motor

Time Time
Strength of Stepping Motor Weakness of Stepping Motor

1. Vibration occurs as low speed

1. Easy pulse control
section
2. High speed of response
2. Heat generation occurs as
ability
current is supplied when
3. Self-holding
stopping.
4. High Torque
3. No Feed Back function.
Types and features of Stepping Motor

Hollow Shaft Type When driving Ball-Screw

Shaft Type

Hollow
Shaft Type

AHK Series

Space
saving
Rotary Actuator Type
Space
saving

Shaft Type

Rotary
Actuator Type

AK-R Series

More stable + space saving performance is possible when

connected with load that has large area.
 When used for driving stopping
Brake Type Vertically∙Horizontally status
maintained

Black
out
occurs

Damage
AK-B Series

Shaft Type Brake Type

Brake Type has self-holding ability although current is disconnected.

When power is supplied : Brake OFF
When power is blocked : Brake ON
 Geared Type ㆍ Planetary gear Type
ㆍ Standard Step angle
1:5 → 0.144° / 1:7.2 → 0.1° / 1:10 → 0.072°
ㆍ Backlash
42 Square : 0.58° / 60 Square : 0.33° /
85 Square : 0.25°
(A gap between tooth surfaces when a pair of gears is meshed.)

AK-G Series

Planetary gear type Harmonic Spur gear

Geared+Brake Type Rotary Actuator + Brake Type

AK-GB Series AK-RB Series

A company : Position controlling for sell by date printing of packing machine

Model name: A63K-M5913

B company : Automatic label maker

Model name: A21K-M596

C company : Pharmaceutical product packing machine

Model name: A41K-M599

 D company : Mobile monitor pressure detecting machine

Model name: A16K-M569

E company : Automatic welding machine positioning controller

Model name: A16K-M569

D company Vision Auto – Aligner Module

Model name: A8K-S566

Model name: MD5-HD14

4. Driver

- Basic glossary of Driver

- Types of 2-phase Driver

- Types of 5-phase Driver

- Explanation about functions of MD5-HD14 Driver

[ Test / ½CLK / C/D ]

[ Micro Step ]

[ Run Current ]

[ Stop Current ]
Basic glossary of DRIVER

Unipolar driving tpye Bipolar driving type

ㆍ Current direction : Unidirectional ㆍ Current direction : Bidirectional (Changeable)
Simple circuit. ㆍ High angle accuracy.
ㆍ Superior for high-speed rotation. ㆍ Superior torque characteristic at low speed.
ㆍ Low possibility of missing step ㆍ Complex circuit.
during high-speed rotation. ㆍ Torque characteristic reduces at high-speed
ㆍ Bad torque characteristic at low speed.

Bipolar

Unipolar
Types of 2-phase DRIVER
Power voltage : 24~35VDC 3A / Run current : 0.5~2A/Phase / Run method : Unipolar/ approval:

2-phase micro step driver 2-phase intelligent type driver

MD2U-MD20 MD2U-ID20

ㆍ Micro step setting ㆍ No controller needed

- Max.20 division of resolution ㆍ Realizing characteristics of

ㆍ Run/Stop current adjustment function speed variable AC motor

ㆍ 1Pulse / 2Pulse setting ㆍ Simple operation (Switch, Volume)

ㆍ Micro step setting
Types of 5-phase DC Type DRIVER
Power voltage : 24~35V DC 3A / Run method : Bipolar constant current pentagon drive / Approval :

5-phase normal step drive 5-phase micro step driver

MD5-ND14 MD5-HD14
∙ Run current : 0.4~1.4A /Phase
∙ Micro-step function / Resolution: 250
∙ Run current : 0.5~1.5A /Phase
■ Low-speed rotation
∙ Full / Half Step function
■ High-accuracy positioning available)
∙ Auto current down, self test function etc.
Type of 5-phase AC Type DRIVER
Power voltage: 100~220V AC 50/60Hz / Run method : Bipolar type / Approval :

5-phase micro step driver 5-phase micro step driver

MD5-HF14 MD5-HF28
∙ Resolution: 250

∙ Resolution: 250 ∙ 100~220V free power type(Convenient)

∙ Realizing high-speed, high-torque
∙ Alarm function equipped
through run current adjustment.
: Prevent over-current & temperature rise (over 80°c)
∙ Various alarm function through self diagnosis
∙ Various functions such as self-diagnosis
function.
function and etc.
(Temperature rise, over current)
∙ Front side Alarm LED equipped
MD5-HD14-2X/3X
∙ Able to drive 2-axis/3-axis motor with

single power

∙ Resolution: 250

∙ Micro step function

(Low-speed rotation, High-accuracy control)

∙ Auto current down, Self test function etc.

∙ Custom IC, Circuit configuration by

surface mounting

(Realizing small / light weight / high quality)

∙ Adapted Photo Coupler input

insulation method
5-phase DRIVER (MD5-HD14) function

ON ← ∙ Test : Self-diagnosis function.

- Rotates with speed of appox. 250pps
Test
when Full Step is set.
½ CLK - Revolution speed = 250pps / Resolution
C/D - A function to test the driver
- 1Pulse : CW / 2Pulse : CCW rotation
MD5-HD14
∙ ½ CLK
- Pulse input method.
1Pulse : CW [operation command pulse input] / CCW [rotation direction pulse input
= H: CW rotation, L: CCW rotation]
2Pulse : CW [CW direction rotation pulse input] / CCW [CCW direction rotation pulse input]

∙ C/D (Current Down)

- A function that automatically reduces the current to suppress the generated heat when motor is stopped.
- It activates when there is no pulse input of motor operation for over 200ms.
 Micro Step (Resolution setting)
· Able to reduce vibration and noise of motor
· Able to perform more accurate angle control
· Changing setting during motor operation is the
cause of missing step.
Ex) 5-phase Stepping Motor
1Pulse : 0.72°
Resolution setting: No. 5 [ Resolution: 10 ]
1Pulse : 0.72° ÷ 10 = 0.072 °

3 4 5 S/W No 0 1 2 3 4 5 6 7
2 6
1 7
Resolution 1 2 4 5 8 10 16 20
0 8
F 9
E A S/W No 8 9 A B C D E F
D C B
Resolution 25 40 50 80 100 125 200 250
 Run Current (Run current setting)
· Adjusting run current of motor.
· Set Run current at the rated current or below.
· Use Run current to suppress heat generation of motor when it is to be used below
rated torque of motor
· Be sure to change while the motor is under operation
S/W No 0 1 2 3 4 5 6 7
Current (A /
0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9
Phase)
S/W No 8 9 A B C D E F
Current (A /
0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
Phase)
Stop Current (Stop current setting)
· Activates when auto Current Down function is set.
· Ratio of Run Current setting value [%]
· Able to reduce heat generation when motor is stopped.
· Operates when Hold Off signal is Low
S/W No 0 1 2 3 4 5 6 7
% 27 31 36 40 45 50 54 58
S/W No 8 9 A B C D E F
% 62 66 70 74 78 82 86 90
PMC CONTROL
Types of Controller
Power voltage : 24V DC ± 10%

PMC-1HS / PMC-2HS PMC-1HSP / PMC-2HSP

∙Independent 2-axis control

is possible
∙Max. 4MHz of high-speed
∙RS-485 / RS-232 / USB communication

∙High speed 1 axis/2 axis Stand-Alone Type ∙Multi-axis control is possible (Max. 32

∙RS-232 / USB communication axis with 16 units)

∙ Scan / Continuous / Index / Program mode
∙Max. 4MHz of high-speed operation
∙ Linear/Circuit interpolation control
∙Scan / Continuous / Index / Program mode
∙ Realizing a wide range of operations up to
∙64 steps of various operations with
200 steps using 17 different operation
12 control command
programs.
∙Joy stick control which is convenient for
∙Symmetrical / asymmetrical trapezoid
X/Y Stage S-shaped de/acceleration driving function
5. Controller

- Types of Controller

- Circuit configuration of Motion Device

- PMC-HS ↔ PC (PMC Program)

communication connection

- Parameter setting

[ RUN MODE ]

[ X / Y PARAMETER ]

[ HOME ]
Actual practice 1. Motion Device connection [ X axis]

AK Serise MD5-HD14 PMC-HS

A A
CW+ XP+P
B B
CW- XP+N
C C
CCW+ XP-P
D D
CCW- XP-N
E E
+24V, GND wiring excluded
Actual practice 2. Communication connection

Communication cable

RS-232C Mini USB

Master – [PMC Editor]

- PMC-1HS/2HS S/W
- Motor drive
[Jog, Scan, Index, Program mode]
- Parameter Edit
- I/O Test
Slave – [PMC-HS]
- RS-232C / USB Communication
Actual practice 2. COM check & Communication
connection
Actual practice 3. RUN MODE practice

Scan Mode
- Operates with + / - direction while input signal is On.
(Run stops when input signal is OFF)

Continuous Mode
- Operates with + / - direction if input signal is ON.
(Run stops when stop signal is ON)

Preset
- Click direction key to move as much as set Preset Value
Actual practice 4. RUN mode setting

Setting list

1. Limit Stop Mode

3. Limit signal logic level

4. Drive end pulse

5. Speed of acceleration select

6. S/W limit

7. Power On Home return/start

8. Power On Program Start

Direct link to user manual

Parameter setting

Setting list
1. Speed Multiplier
2. Acceleration/Deceleration speed
3. Acceleration Rate
4. Deceleration Rate
5. Start Speed
6. Drive Speed 1~4
7. Post Timer 1~3
8. Soft Ware Limit +/-
9. End Pulse Width
10. Pulse Scale Numerator/
Denominator

Direct link to user manual

Parameter setting
Setting list

1. Step 1~4 Enable/Disable

2. Step 1~4 Search Direction

3. Position counter Reset

4. Near Home Signal Level

5. Home Signal Level

6. Z Signal Logic Level

7. Speed of low-speed home return

8. Speed of high-speed home return

9. Home return offset

Direct link to user manual

6. Actual practice Ⅰ

- Home return practice

- Program mode practice

- Program mode command practice

Actual practice 5. Home return

ㆍ Step 1 [Near Home Search] : Enable −

ㆍ Step 2 [Home Search] : Enable −
ㆍ Step 3 [Encoder Z phase] : Disable +
ㆍ Step 4 [Home Offset value] : Enable +

Sensing Sensing

Low Speed High Speed

Sensor Sensor

Command
: Home

Intended
Original starting
point after pointas much as Offset value
moving
Home return input signal

XP+P XP+N
This training course is led by setting input 1 2
signal to Low [GND].
XP-P XP-N
3 4
ㆍ Step 1 [Near Home Search]: XSTOP0 No. 11
XOUT0 XINPOS
5 6
ㆍ Step 2 [Low-speed home search]: XSTOP1 No. 10
GEX
ㆍ Step 3 [Low-speed encoder Z-phase]: XSTOP2 No. 9 XALARM 7 8
ㆍ Step 4 [High-speed home Offset value]: Setting value
XSTOP2 XSTOP1
9 10

XSTOP0 XLMT+
※ Step. 1 ~ Step. 4 is executed in consecutive order 11 12

when returning to home XLMT- EMG

13 14
[Limited to the steps set as Enable in Home parameter]
GEX VEX
15 16
ㆍ Step 1 [High-speed Near Home Search]

ㆍ Step 2 [Low-speed Home Search]

ㆍ Step 3 [Low-speed Encoder Z-phase]

ㆍ Step 4 [High-speed Home Offset value] : setting value

ㆍ Step 1 / 4 : Home Search High Speed

ㆍ Step 2 / 3 : Home Search Low Speed

(Home returning High / Low speed is to be set at parameter

tap)

ㆍ Generally Step 2 (Low-speed home search) is used as basic

ㆍ Use Step 1~4 according to user’s environment.

ㆍ Set offset value at parameter tap

ㆍ Execution order when all 4 steps are to be executed.

Step 1 → Step 2 → Step 3 → Step 4

Input the signal of home senor in order as well.

Actual Practice 6. Program mode

- Max. 62 steps of parameter setting on X-axis/ Y-axis through command

- Method of Operation : 1. PC [Application]
2. Parallel I/F [ In/Out contact ]
3. PMC-2TU-232 [Teaching unit]

※Sold separately
-Data edit : Parameter / Program
-Drive operation : Present position display
Jog
Home
Program mode
 Program command

Command Description

ABS Absolute position move

INC Relative position move

OUT Output Port Number – 0 [Off] / 1 [On]

OTP Output Port Number– On Time [0~65,535msec]

IJP Input Port Number -Register number to Jump

JMP Register number to Jump

Repetition command [Start], Number of

REP
repetition [1~255]
RPE Repetition command [End]

TIM Standby time [0~65,535msec]

ABS [Absolute position move] VS INC [Relative position move
ABS [Absolute position move]
- Moves indicated distance with absolute position based on original point.

INC [Relative position move]

- Moves indicated distance with relative position based on present position.

• Number of command : 3 / Target position : 10

• Target position according to the number of commands [1 time: 3 / 2 time: 6 / 3 time : 10]

3 times
ABS 1 2 3 2 times
ABS 1 time
INPUT 3 6 10
0 3 6 10
원점

1 time 2 times 3 times

INC 1 2 3
INC
INPUT 3 3 4
0 3 6 10
Program drawing

Command : Select the command and input

Data : Input suitable value according to command
Speed : Select drive speed 1~4 indicated on parameter
Timer : Select post timer 1~3 indicated on parameter
End P : After finishing command, select “1” when end
pulse is output and select “0” when end pulse
is not output
Both : When driving the same command at the same time to Y-axis, it is “1”
Actual practice of drawing program

1. CW 3 rotation [Use INC] Speed: 1 / Remainder: 0

2. CCW 1 rotation [Use ABS] Speed: 2 / Remainder : 0
3. CW 4 rotation [Use ABS] Speed: 1 / Remainder : 0
4. END

1. CW 3 Rotations 2. CCW 1 Rotation 3. CW 4 Rotations 4. CCW 6 Rotations

7. Actual practice Ⅱ

- contact control practice

[ X / Y-axis indication ]

[ Scan mode ]

[ Consecutive mode ]

[ Program mode ]

[ Index mode ]

- Trouble shooting
Actual practice 7. contact control [ X-axis control]

Reset Home
※ Apply GND signal [No 1 2

18,19] Strobe X / JOG Y+

No. 12 No. 13 3 4
[Mode 0] [Mode 1]
Run mode
Y / JOG Y- 5 6 REG 0/RUN+
OFF OFF Index Mode /JOG X+

Scan Mode REG 1/RUN+

/JOG X-
7 8 REG 2/SPD0

ON OFF Mode 1 : SCAN (10) = OFF

REG 3/SPD1 9 10 REG 4/JOG
Mode 2: SCAN (10) = ON

OFF ON Continuous Mode REG 5/STOP 11 12 MODE0

ON ON Program Mode MODE1 X DRIVE/END

13 14

Y DRIVE/END 15 16 X ERROR

Y ERROR 17 18 GEX
X-axis indication : No. 19, 4
GEX VEX
Y-axis indication : No. 19, 5 19 20
Running Scan Mode
Reset 1 2 Home

Strobe 3 4 X / JOG Y+

No. 19 – No 4, 10, 12
REG 0 / RUN+
Y / JOG Y- 5 6 / JOG X+

X-axis indication 4 REG 1 / RUN+

/ JOG X- 7 8 REG 2/SPD0

Scan Mode 1 12 REG 3 / SPD1 9 10 REG 4 / JOG

Scan Mode 2 10, 12 REG 5 / STOP 11 12 MODE0

GND 19 MODE1 13 14 X DRIVE/END

Start 6(+) / 7(-)

Y DRIVE/END 15 16 X ERROR

Y ERROR 17 18 GEX

Scan Mode: MODE 0 → ON

MODE 1 → OFF GEX 19 20 VEX
Running Consecutive Mode

Reset 1 2 Home

No. 19 – No 4, 13 Strobe 3 4 X / JOG Y+

REG 0 / RUN+
Y / JOG Y- 5 6 / JOG X+
X 축 지정 4
REG 1 / RUN+
/ JOG X- 7 8 REG 2/SPD0

연속 모드 13
REG 3 / SPD1 9 10 REG 4 / JOG

GND 19
REG 5 / STOP 11 12 MODE0

Start 6(+) / 7(-) MODE1 13 14 X DRIVE/END

Stop 11 Y DRIVE/END 15 16 X ERROR

Y ERROR 17 18 GEX

Consecutive mode : MODE 0 → OFF

MODE 1 → ON GEX 19 20 VEX
Running Program Mode
Reset 1 2 Home

Strobe 3 4 X / JOG Y+

No. 19 – No 4, 12,13 Y / JOG Y- 5 6 REG 0 / RUN+

/ JOG X+
X –axis 7 8
4 REG 1 / RUN+ REG 2/SPD0
indication / JOG X-

Program mode 12, 13 REG 3 / SPD1 9 10 REG 4 / JOG

REG 5 / STOP 11 12 MODE0

GND 19
MODE1 13 14 X DRIVE/END
Start 3
Y DRIVE/END 15 16 X ERROR
Program mode : MODE 0 → ON
MODE 1 → ON Y ERROR 17 18 GEX

GEX 19 20 VEX
Running Index Mode

Reset 1 2 Home

No. 19 – No 4
Strobe 3 4 X / JOG Y+

X-axis indication 4 Y / JOG Y- 5 6 REG 0 / RUN+

/ JOG X+

GND 19 REG 1 / RUN+ 7 8 REG 2/SPD0

/ JOG X-

REG 3 / SPD1 9 10 REG 4 / JOG

Start 3

Index mode: MODE 0 → OFF REG 5 / STOP 11 12 MODE0

MODE 1 → OFF
MODE1 13 14 X DRIVE/END

REG 0 = 20 [6] Y DRIVE/END 15 16 X ERROR

※Drawn program
REG 1 = 21 [7] When running REG 4
REG 2 = 22 [8] Y ERROR 17 18 GEX
REG 3 = 23 [9] REG 2 [8] → ON
4
REG 4 = 2 [10]
5
[19, 8]
GEX 19 20 VEX
REG 5 = 2 [11]
ction & understand instruction
Motion function

Better use of a space +

1 HMI + PLC + Position decision
Cost cutting

2
1 Max 100KHz pulse 2 contact concurrent output Able to 2 axis control

Jog, Operation Designation, Pattern, Selective utilization of

3
1
Support application instruction various function
ction & understand instruction
Input / Output information
X7X6X5X4X3X2X1X0 Y7Y6Y5Y4Y3Y2Y1Y0
+ + 7 6 5 4 3 2 1 0 – + 7 6 5 4 3 2 1 0
+ + F E D C B A 9 8 – + F E D C B A 9 8

XFXEXDXCXBXAX9X8 YFYEYDYCYBYAY9Y8

Input contact Output contact

Signal name Operation contents Signal name Operation contents
No No
CH1 X0 When input signal, CH1 lower detection CH1 direction selection
Lower limit signal CH1 Y2
Signal output
CH2 X3 When input signal, CH2 lower detection Direct signal
CH2 direction selection
CH1 X1 When input signal, CH1 upper detection CH2 Y3
Signal output
Upper limit signal CH1 Y0 CH1 PWM signal output
CH2 X4 When input signal, CH2 upper detection PWM signal
CH2 Y1 CH2 PWM signal output
CH1 X2 When input signal, CH1 home detection
Home limit signal
CH2 X5 When input signal, CH2 home detection
ction & understand instruction
Wave form of motion drive

LP-S070 Channel Output contact Output wave Driver Stepping motor

CH1
Y0

Y2
CW
CCW

Y1

Y3
CW
CCW
CH2

- Drive type : 1PULSE type

ction & understand instruction
Basic connection of motion

Power supply
P24V

LP-S070 driver

2㏀
CW+
Y0/Y1 1/2W
CW-
2㏀
CCW+
Y2/Y3 1/2W
CCW-

- When connection, need the resister in order to set

the driver input level
ction & understand instruction
ownloading motion example file
nics Home page reference room(http://www.autonics.com)
c panel → LP-S070 → Software
to download program No.3 at the list.

Motion Program
Of GP-Editor

Motion Program
Of Smart-Studio
※Training LP series intermediate
ction & understand instruction
training kit connection
ction & understand instruction
GP-EDITOR project

- X, Y axis information(position, speed)

acceleration/deceleration state
- X, Y axis forward/back direct jog
ction & understand instruction
GP-EDITOR project

- X, Y axis information(position, speed)

acceleration/deceleration state
- Speed/position drive and speed/position overide
ction & understand instruction
GP-EDITOR project

- X, Y axis information(position, speed)

acceleration/deceleration state
- Action item/pattern driver(include information) and
ction & understand instruction
GP-EDITOR project

- X, Y axis information(position, speed)

acceleration/deceleration state
- Position preset and Forced home setting
ction & understand instruction
SMART-STUDIO motion setting

Motion common setting

Action list

Pattern list
ction & understand instruction
SMART-STUDIO motion setting

Parameter – Motion common setting

Item Ch1 Axis Ch2 Axis Item Ch1 Axis Ch2 Axis
Enable Ch True False Deceleration Time 4(ms) 500 500
SW Upper Limit 2147483647 2147483647 Deceleration Time 5(ms) 1000 1000
SW Lower Limit -2147483647 -2147483647 Jog Speed(pps) 3000 3000
Start Speed(pps) 500 500 Jog Acceleration Time(ms) 50 50
Origin Point 0 0 Jog Deceleration Time(ms) 50 50
Home Search Direction Forward Forward Acceleration Time to Origin(ms) 100 100
Acceleration Time 1(ms) 50 50 Deceleration Time to Origin(ms) 100 100
Acceleration Time 2(ms) 100 100 Home Search Speed(pps) 3000 3000
Acceleration Time 3(ms) 300 300 Enable S/W Limit TRUE TRUE
Acceleration Time 4(ms) 500 500 Enable H/W Limit TRUE TRUE
Acceleration Time 5(ms) 1000 1000 Origin Back Kind S/W S/W
Deceleration Time 1(ms) 50 50
Deceleration Time 2(ms) 100 100
Deceleration Time 3(ms) 300 300
ction & understand instruction
SMART-STUDIO motion setting

Num Drv Type Coodi Type Dst Pos Drv Direction Drv Speed(pps) Accel Time Decel Time Dwell Time
1 Position Absolute 50000 Forward 10000 3 3 500
① ② ③ ④ ⑤
2 Speed Relative 0 Forward 10000 2 2 100
① ② ③ ④

1. Position drive 2. Speed drive

Max. speed Max. speed
(100,000pps) (100,000pps)

Drive
Drive speed
speed 10000pps
10000pps

② ①
③ ④
Actual deceleration Dwell
② ③
Actual deceleration Dwell
Actual acceleration time Actual acceleration time
time time
Acceleration time 3 ⑤
Deceleration time 3 Acceleration time 2 Deceleration time 2④
Complete signal
Distance
Movement distance
50000

①
ction & understand instruction
Information of error code
Device Description
F20 CH1 error code check
F21 CH2 error code check

Error Run
Symptom Troubleshooting
code state
When inputting other starting instruction signal during Clear the error by MTMEC(removing error) instruction
1 Run
using channel and executes next start instruction
When giving progress instruction to other direction than Edit the pattern list which has problem.
2 current progressing direction during consecutive running ‘C’ Stop Clear the error by MTMEC(removing error)
instruction and executes motion operation
3 When setting position preset during running Run Clear the error by MTMEC(removing error) instruction
When there is no action list to operate during executing Edit the action list which has problem.
4 Stop
pattern action Clear the error by MTMEC(removing error) instruction
When action list type is position drive during Check and edit action list and S/W limit value which have
5 executing pattern action and destination position is out of Stop problem. Clear the error by MTMEC(removing error)
S/W limit range instruction
Excess high low limit error Clear the error by MTMEC(removing error) instruction
10 Stop
and escape limit with jog operation and execute the next
When speed parameter value is higher than maximum Clear the error by MTMEC(removing error) instruction
speed (100,000PPS) and check the set parameter values
20 Stop
Designated pattern number of MTIDM(Indirect
designated drive) instruction is out of 1 to 99
ction & understand instruction
ormation of motion special device
Device
Name Function R/W
CH 1 CH 2
1: Use
Using device axis R F100 F120
0: Disuse
While moving device currently
1: Moving
(one of accel, decel, constant R F101 F121
2: Not moving
drive)
1: Accelerating
Accelerating device axis R F102 F122
2: Not accelerating
While driving device with set 1: Driving with set speed
R F103 F123
speed(Max. speed) 0: Not Driving with set speed
1: Decelerating
Decelerating device axis R F104 F124
0: Not decelerating
1: Dwelling
Dwelling device R F105 F125
0: Not dwelling
1: Completing
Completing device drive R F106 F126
0: Not completing
< Example drawing >
F102 F103F104 F105 F106

F122 F123F124 F125 F126

ction & understand instruction
formation of motion special device
Device
Name Function R/W
CH 1 CH 2
Detecting S/W lower 1: Detecting S/W lower limit
R F107 F127
limit of device axis 0: Not detecting S/W lower limit
Detecting S/W upper 1: Detecting S/W upper limit
R F108 F128
limit of device axis 0: Not detecting S/W upper limit
Detecting H/W lower 1: Detecting H/W lower limit
R F109 F129
limit of device axis 0: Not detecting H/W lower limit
Detecting H/W upper 1: Detecting H/W upper limit
R F10A F12A
limit of device axis 0: Not detecting H/W upper limit
1: Occurrence channel error
Channel Error R F110 F130
0: Not occurrence channel error
Emergency stop 1: Occurrence emergency stop error
R F11F F13F
error 0: Not occurrence emergency stop error

< Example drawing >

F107 F108F109 F10A

F127 F128F129 F12A F11F or 13FF11F or 13F

ction & understand instruction
formation of motion special device
Device
N Function R/W
CH 1 CH 2
ON rising: Accelerates with jog forward, and drives with
jog forward drive constant speed R/W F500 F502
OFF falling: Decelerates with jog forward, and stops
ON rising: Accelerates with jog backward, and drives with
jog backward drive constant speed R/W F501 F503
OFF falling: Decelerates with jog backward, and stops.
Current position current position value R F60 F70
Current speed Current speed value R F62 F72
Current action number Current action number R F64 F74
Current pattern number Current pattern number R F65 F75
Current origin point
Current origin point position R F66 F76
position
Set speed Set speed R F68 F78
Error check Error code check R F20 F21

< Example drawing >

F501 or F503 F500 or F502 F66 or F76F60 or F70F62 or F72

F68 or F78
LP Instruction
Motion Instruction
Instruction Operation Note

MTVDM Speed direct drive Designate direct drive data directly and it executes speed drive

MTPDM Position direct drive Designate direct drive data directly and it executes position drive

MTIDM Indirect designate drive Operates with the number of scripted string in the specified pattern from pattern list.

MTMEC Error remove Removes the error when error flag occurs by error during motion drive

MTEMS Emergency stop Stop all motion actions by emergency stop instruction

MTCPP Current position preset Re-set the current position

MTFOS Forced home setting Sets the specified position as the set home position value

MTSRS Normal stop Executes normal stop instruction to the currently motion driving channel

MTOBC Origin back Goes back to the preset origin point

MTOVV Speed overide Converts the currently operating speed set (unit set) to the other speed and operates
with the converted speed
MTOVP Position override Changes the set target position to the designated position

MTIPT Line interpolation Executes line interpolation drive with two axes

MTUAI Action item drive Operates one action of motion referring the number of action item
Motion Instruction

Speed dirrect drive instruction

Position dirrect drive instruction

Indirrect designate drive instruction

Error remove instruction

Emergency stop instruction

Current position preset instruction

Forced home setting instruction

Normal stop instruction

Origin back instruction

Speed override instruction

Position override instruction

Line interpolation instruction

Action list drive instruction

ction & understand instruction
Motion command

■ Normal stop
Format : MTSRS S
OP DATA type Available device / Description / Range • Normal stop instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) It executes normal stop
1~2
instruction to the currently
[Pattern stop method with combinating special flag] motion driving channel.
1. F400 or F402 (Action list stop) + MTSRS
: During pattern drive, if currently executed action list type is speed drive and this
instruction is executed, speed drive is finish and it executes the next action list.
2. F401 or F403 (Group stop) + MTSRS
: During group drive, this instruction is executed, it escapes the group and executes
action list following the group.
3. Not to set special flag
: Pattern drive is finish.
4. MTSRS during linear interpolation drive
: Two axies decelerately stop at the same time.
ction & understand instruction
Motion command

■ Speed direct drive

Format : MTVDM S S1 S2 S3 • Speed direct drive instruction
OP
S4 S5
DATA type Available device / Description / Range
X, M, D, Z, UW, integer
You can designate direct drive data
S　 WORD Channel(Ch1, Ch2) (drive speed, drive direction, etc) directly
speed
1~2
X, M, Z, UB and it executes speed drive.
S1 BIT Motion drive direction Set
1: Forward, 0: Backword speed
X, M, D, Z, UW, integer
S2 DWORD Drive speed
0~100,000
D
Time
X, M, D, Z, UW, integer
On
S3 WORD Dwell time
0~65535ms

S4 WORD
X, M, D, Z, UW, integer
Acceleration time
S On

Select acceleration time 1 to 5 in common configuration

Deceleration
X, M, D, Z, UW, integer
stop
S5 WORD Deceleration time
Select deceleration time 1 to 5 in common configuration S Drive instruction
D
Dwell signal
ction & understand instruction
Motion command

■ Speed overide
Format : MTOVV S S1 • Speed overide
OP DATA type Available device / Description / Range
X, M, D, Z, UW, integer It converts the currently operating speed se
S　 WORD Channel(Ch1, Ch2) (unit set) to the other speed and operates
1~2
X, M, D, Z, UW, integer with the converted
speed speed.
S1 DWORD Drive speed
Change
0~100 kps speed

Initial
speed
D
Time
On

S On

Speed
Override
instuction
S Drive instruction
D Dwell signal
ction & understand instruction
Motion command

■ Error remove
Format : MTMEC S
OP DATA type Available device / Description / Range • Error remove instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) This instruction removes the error when err
1~2
flag occurs by error during motion drive.
ction & understand instruction
Motion command

■ Position direct drive

Format : MTPDM S S1 S2 S3
OP DATA type Available device / Description / Range • Position direct drive instruction
S4 S5 X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) You can designate direct drive data
1~2
X, M, D, Z, UW, integer
(drive speed, drive direction, etc) directly
speed
S1 DWORD Target position and it executes position drive.
-2,147,483,648 ~ 2,147,483,647 (Enable to set the range)
X, M, D, Z, UW, integer Set
speed
S2 DWORD Drive speed
0~100,000
X, M, D, Z, UW, integer D
S3 WORD Dwell time Time
0~65536ms On

X, M, D, Z, UW, integer
S4 WORD Acceleration time
Select acceleration time 1 to 5 in common configuration
S On

X, M, D, Z, UW, integer
S5 WORD Deceleration time C
Select deceleration time 1 to 5 in common configuration
S Drive instruction
D
Dwell signal
C Complete signal
ction & understand instruction
Motion command

■ Position override
Format : MTOVP S S1
OP DATA type Available device / Description / Range • Position override
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) It changes the set target position to the
1~2
X, M, D, Z, UW, integer
designated speed
position byOrigin
the instruction.
target Changed
position position
S1 DWORD Changed position
-2,147,483,647 ~ 2,147,483,647 Set speed

D
time
On

S On

Position
Override
instruction

S Drive instruction
D Dwell signal
ction & understand instruction
Motion command

■ Emergency stop
Format : MTEMS S
OP DATA type Available device / Description / Range • Emergency stop instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) If there is emergency during motion positio
1~2
driving, you can stop all motion actions by
emergency stop instruction.
[Note]
When executing emergency stop instructio
all currently executing motion instructions
stop.
ction & understand instruction
Motion command

■ Action item drive

Format: MTUAI S S1
OP DATA type Available device / Description / Range • Action item drive instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) It operates one action of motion referring
1~2
X, M, D, Z, UW, integer
the number of action item.
S1 WORD Step number
1~99
ction & understand instruction
Motion command

■ Indirect designate drive

Format: MTIDM S S1
OP DATA type Available device / Description / Range • Indirect designate drive instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) It operates with the number of scripted
1~2
X, M, D, Z, UW, integer
string in the specified pattern from pattern
S1 WORD Step number list.
1~99
[Pattern stop method]

1) F400 or F402 (Action list stop) + MTSRS

: During pattern drive, if currently executed action list type is speed drive and this instruction is executed, speed drive is finish
and it executes the next action list.

2) F401 or F403 (Group stop) + MTSRS

: During group drive, this instruction is executed, it escapes the group and executes the other action list following the group.

3) Not to set special flag

: Pattern drive is finish.
ction & understand instruction
Motion command

■ Indirect designate drive

No Pattern String
1 1-1C, (R2-1R, R3-1R)-5, R4-10C, R5-20, R6-1
2 C5-2R, 2-3C, 4

Pattern String Grammar Structure (essential)

Unit Sequence Action “–” The number Sequence “,”

Action Information List Of repeat Information

Item Description
Sequence Designation part for repeat connection information of current pattern with continue, repeat, or single.
information Continue: C, Repeat: R, Single: None (omissible)
Action list Designate action list number. (essential)
Signal of the number of Signal for dividing action list number and the number of repeat. If there is no number of repeat, please
repeat “-“ omit this.
The number of repeat The number of repeat for action list (omissible) ‘0’ means infinite repeat.
Sequence information Designate connect action for next pattern. If there is no next pattern, it is omissible.
(Next pattern)
Signal of pattern “,” Signal for dividing next unit action. If there is no next action, it is omissible.
ction & understand instruction
Motion command

■ Indirect designate drive

Pattern grammar of unit action
Sequence Action “–” The number Sequence “,”
Information List Of repeat Information

C 5 ㅡ 2 R ,

C5-2R,2-3C,4
1st Repeats #5 action list twice with C(continue).
2nd After repeated second #5 action list, connects #2 action list with R(repeat).
3rd Repeats #2 action list three times with single. To repeat action list with
single, there should be start instruction to executes the action.
4th After repeated third #2 action list, connects #4 action list with C(continue).
5th Executes #4 action list once and completes this action.
ction & understand instruction
Motion command

■ Indirect designate drive

Let’s make pattern list
Make the pattern list through SmartStuio / LP
[System setting]

C5-2R,2-3C,4
ction & understand instruction
Motion command

■ Indirect designate drive

Pattern grammar of group action
It is able to drive as unit action by binding other unit actions with
Group sequence Start bracket End bracket The number of Connection sequence
bracket.
information ‘(’
Unit action(list)
‘)’
ㅡ
repeat information
,

C ( 2-3R,C4-2 ) - 2 R ,

C(2-3R,C4-2)-2R,3-2
1st Repeats #2 action list three times with single.
To start or repeat action list with single, there should be start instruction to
execute the action.
2nd After repeated third #2 action list, connects #4 action list with R(repeat).
3rd Repeats #4 action list twice with C(continue).
4th 1st to 3rd steps are bound with start bracket “(” and end bracket “)” as a
ction & understand instruction
Motion command

■ Indirect designate drive

Let’s make the group pattern list
Make the group pattern list through SmartStuio / LP [System setting]

C(2-3R,C4-2)-2R,3-2
ction & understand instruction
Motion command

■ Line interpolation • Line interpolation instruction

Format : MTIPT S S1 S2 S3 It executes line interpolation drive with
OP DATA type Available device / Description / Range
Integer
two axes.
S　 WORD Channel number of the first axis(Ch1, Ch2)
1~2 Y axis
X, M, D, Z, UW, integer
S1 WORD Action number of the first axis(it is not pattern number) Y2
0~65535 Y axis start
Integer Movement (X1, Y1)
S2 WORD Channel number of the second axis (Ch0, Ch1) distance tarket
1~2 Y1 (X2, Y2)
X, M, D, Z, UW, integer
S3 WORD Action number of the second axis(it is not pattern number)
X axis
0~65535 X1 X axis X2
Movement
distance
ction & understand instruction
Motion command

■ Current position preset instruction

Format: MTCPP S S1
OP DATA type Available device / Description / Range • Current position preset instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) This motion
1~2
X, M, D, Z, UW, integer
instruction
[Note] is for re-set the current position.
S1 DWORD Setting value of new position
-2,147,483,646 ~ 2,147,483,647
During motion driving, if this instruction is
Executed, error occurs.
ction & understand instruction
Motion command

■ Forced home setting

Format: MTFOS S
OP DATA type Available device / Description / Range • Forced home setting instruction
X, M, D, Z, UW, integer
S　 WORD Channel(Ch1, Ch2) This instruction sets the specified position a
1~2
the set home position value in SmartStudio.
. Smart Studio Program
2-6. Special Device

Device
Name Function R/W
CH 1 CH 2
1: Use
Motion Axis R F100 F120
0: No Use
Moving
1: Moving
(Accelerating, Decelerating R F101 F121
2: Not Moving
Driving)
1: Accelerating
Accelerating R F102 F122
2: Not Accelerating
1: Driving with SET speed
Driving R F103 F123
0: Not Driving with SET speed
1: Decelerating
Decelerating R F104 F124
0: Not Decelerating
1: Dwelling
Dwelling R F105 F125
0: Not Dwelling
1: Completing
Completing R F106 F126
0: Not Completing
phic Drawing Example>

F102 F103F104 F105 F106

F122 F123F124 F125 F126

. Smart Studio Program
2-6. Special Device
Device
Name Function R/W
CH 1 CH 2
Detecting 1: S/W Lower Limit Detected
R F107 F127
S/W Lower Limit 0: No S/W Lower Limit Detected
Detecting 1: S/W Upper Limit Detected
R F108 F128
S/W Upper Limit 0: No S/W Upper Limit Detected
Detecting 1: H/W Lower Limit Detected
R F109 F129
H/W Lower Limit 0: No H/W Lower Limit Detected
Detecting 1: H/W Upper Limit Detected
R F10A F12A
H/W Upper Limit 0: No H/W Upper Limit Detected
1: Channel Error Occurred
Channel Error R F110 F130
0: No Channel Error
1: Emergency Stop Error Occurred
Emergency Stop Error R F11F F13F
0: No Emergency Stop Error
phic Drawing Example>

F107 F108F109 F10A

F127 F128F129 F12A F11F or 13F F11F or 13F

. Smart Studio Program
2-6. Special Device
Device
Name Function R/W
CH 1 CH 2
ON : Jog Forward Accel./ Drive
Jog Forward Drive R/W F501 F503
OFF : Jog Forward Decel./Stop
ON : Jog Backward Accel./ Drive
Jog Backward Drive R/W F502 F504
OFF : Jog Backward Decel./Stop
Current Position Current Position R F60 F70
Current Speed Current Speed R F62 F72
Action Number Current Action Number R F64 F74
Pattern Number Current Pattern Number R F65 F75
Origin Point Position Current Origin Point Position R F66 F76
Setting Speed Setting Speed R F68 F78

Error Check Error Code Check R F20 F21

phic Drawing Example>

F502 or F504 F501 or F503 F66 or F76 F60 or F70 F62 or F72 F68 or F78
. Smart Studio Program
Driving – Graphic Drawing Example
. Smart Studio Program
-8 Motion Instruction (MTSRS)
Instruction: MTSRS S
OP DATA TYPE Device / Description / Range • Normal Stop Instruction
X, M, D, Z, UW, Constant Execute normal stop instruction
S　 WORD Channel (Ch1, Ch2)
To currently motion driving CH
1~2

[ Patter Stop]
1) F400 or F402 (Action List Stop) + FTSRS
: To execute next action list or group during executing pattern, use this instructions.

2) F401 or F403 (Group Stop) + MTSRS

: Stop the pattern which is executing as group type and executes the next action list or group

3) When no special flags are used

: Pattern driving would be stopped

4) Linear Interpolation Driving MTSRS

: Both of axes would be deceleration stopped.
. Smart Studio Program
-8 Motion Instruction (MTVDM)
Instruction : MTVDM S S1 S2 S3 S4 S5
• Speed Direct Drive Instruction
To designate direct drive data including drive speed,
Drive direction directly and it executes speed drive.
Speed

Setting
Speed

D
Time
On

S On

Decel. Stop
. Smart Studio Program
-8 Motion Instruction (MTOVV)

Instruction: MTOVV S S1 • Speed Override

To change the set speed during speed driving

Speed

Changed
Speed

D
Initial
Setting
Drive Time

On

S On

Speed
Override
Instruction
. Smart Studio Program
-8 Motion Instruction (MTMEC)

Instruction: MTMEC S

• Error Remove Instruction

To clear error flag during motion drive
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Ladder Programming Practice 1>
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M0
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2-8 Motion Instruction (MTPDM)

• Position Direct Drive Instruction

Instruction: MTPDM S S1 S2 To designate direct drive data including drive speed,
S3 S4 S5 Drive direction directly in order to execute position drive

Speed

Setting
Speed

D Time

On

S On

C
. Smart Studio Program
-8 Motion Instruction (MTOVP)

Instruction: MTOVP S S1 • Position Override

To change the set position as destination position

Speed
Original Position Changed Position

Changed
Speed

D Time

On

S On

Position
Override
Instruction
 Smart Studio Program
-8 Motion Instruction (MTEMS)

Instruction: MTEMS S • Emergency Stop

To execute emergency stop to stop all actions
related with motion in case of emergency situation

[NOTE]
MTEMS instruction is for emergency stop without deceleration and dwell time.
It may cause malfunction to motors.
Smart Studio Program
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. Smart Studio Program
2-8 Motion Instruction (MTUAI)

Instruction: MTUAI S S1 • Action List Drive Instruction

To designate action list number to execute motion
. Smart Studio Program
-8 Motion Instruction (MTIDM)

Instruction: MTIDM S S1
• Indirect Designate Drive Instruction
To designate pattern list number
and operate motion.

[ Patter Stop]
1) F400 or F402 (Action List Stop) + FTSRS
: To execute next action list or group during executing pattern, use this instructions.

2) F401 or F403 (Group Stop) + MTSRS

: Stop the pattern which is executing as group type and executes the next action list or group

3) When no special flags are used

: Pattern driving would be stopped

4) Linear Interpolation Driving MTSRS

: Both of axes would be deceleration stopped.
. Smart Studio Program
2-8 Motion Instruction (MTIPT)

Instruction: MTIPT S S1 S2 S3 • Line Interpolation Instruction

To execute line interpolation
drive with set action list

Y Axis

Y2

Y Axis Start
(X1, Y1)
Target
Y1
(X2, Y2)

XAxis

X1 X-axis moving X2
. Smart Studio Program
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. Smart Studio Program
-8 Motion Instruction (MTCPP)

Instruction: MTCPP S S1 • Current Position Preset Instruction

To reset the current position of motors

[NOTE]

Error Signal will be ON while this instruction is executed while driving.

Smart Studio Program
2-8 Motion Instruction (MTFOS)

Instruction: MTFOS S
• Forced Home Setting instruction
To set current position as designate origin
Position from “Common Configuration”
 Smart Studio Program
-8 Motion Instruction (MTOBC)

Instruction: MTOBC S • Origin Back Instruction

Before executing motion action, designates action position
As origin point or returns back the set origin point
During motion driving
[ H/W Origin Point Decision]
. Smart Studio Program
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M118 MB MC MD