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Ultra3000™ Host Commands for Serial Communication Reference

1. 0x024 Operating Mode 2 118 0x025 Up to Speed Limit 2 0x026 Reserved 0x027 Velocity Error Time 2 121 0x028 Analog Position Scale 2 20 0x029 Analog Position Offset 2 20 0x02A Reserved 0x02B Preset Position Acceleration 2 32 0x02C Position Feedback Source 2 91 0x02D Low Pass Filter Bandwidth 2 89 0 02 Low Pass Filter Enable Disable 2 90 Ox02F Forward Current Limit 2 7 0x030 Reverse Current Limit 2 8 0x031 User Current Limit 2 121 0x032 Reserved 0x033 0x034 0x035 0x036 0x037 Encoder Lines Revolution 2 62 0x038 Maximum Rotary Speed 2 62 0x039 Motor Intermittent Current 2 63 0x03A Motor Continuous Current 2 63 0 03 2 64 0x03C Motor Inertia 2 64 0x03D Motor Resistance 2 65 0x03E Motor Inductance 2 65 0x03F Motor Thermostat 2 66 0x040 Commutation Type 2 67 0x041 Poles Revolution 2 68 0x042 Hall Offset 2 68 0x043 Override Mode 2 9 0x044 Digital Output Configuration 2 98 0x045 Brake Active Delay 2 99 0x046 Brake Inactive Delay 2 100 0x047 Analog Velocity Offset 2 21 0x048 Reserved 0x049 Analog Current Offset 2 23 0x04A Reserved 0x04B Analog Output Configuration 2 103 0x04C Analog Output Offset 2 104 0x04D Analog Output Scale 2 105 0x04E Analog Output Override Enable Disable 2 106 0x04F Analog Output Override Value 2 106 0x050 Baud Rate 2 17 0x051 Frame Format 2 18 Artisan Technology Group Quality Inst
2. Order Parameter Code Serial Command Described on Page by Parameter Code 0x000 Product Type 22 0x001 Power up Status 2 3 0x002 Firmware Version 2 3 0x003 Boot Firmware Version 2 4 0x004 Reset User Parameters to Factory Defaults 2 4 0x005 Reserved 0x006 Drive Name 2 4 0x007 Reserved 0x008 0x009 0x00A 0 008 0 00 0 000 Preset Position 2 30 OxOOE Preset Position Velocity 2 31 0x00F Reserved 0x010 0x011 Position Loop Kp Gain 2 85 0x012 Position Loop Ki Gain 2 85 0x013 Position Loop Kd Gain 2 86 0x014 Position Loop Kff Gain 2 86 0x015 Position Loop 2 87 0x016 Position Window Size 2 5 0x017 Position Window Time 2 5 0x018 Position Error Limit 2 119 0x019 Position Error Time 2 119 0x01A Motor Gear Ratio 2 34 0x01B Master Gear Ratio 2 34 0x01C Marker Output Gating 2 97 0x01D Slew Limit 2 36 0 01 Slew Limit Enable Disable 9 37 Ox01F Velocity Loop P Gain 2 87 0x020 Velocity Loop Gain 2 88 0 021 Velocity Loop D Gain 2 08 0x022 Zero Speed Limit 2 6 0x023 Speed Window Size 2 6 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Serial Command Cross References Publication 2098 October 2001 Parameter Code Serial Command Described on Page
3. 2 69 Standard Motor EISE Ea x Gp eR dees 2 70 Mot r Type ace v and eee dod IC EAR 2 71 Encoder Type a adde 09 ed 2 72 Startup Commutation 2 73 Encoder Lines Meter RC ee ea 2 73 101558 u eos so o oo Reh a eee CRUS OO 2 74 Electrical Cycle Length xe cease eked Ae ey 2 74 2 75 Total Moving eas sb ooh 3 2 75 Motor Flux quu 2 76 Maximum Linear Speed oe aet 2 77 Motor Thermal Resistance Winding to Encoder 2 78 Motor Thermal Resistance Winding to Ambient 2 79 Motor Thermal Capacitance Winding to Encoder 2 80 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com iv Table of Contents Publication 2098 October 2001 Motor Thermal Capacitance Winding to Ambient 2 81 08 1 yg eG ie 2 81 Motor Rated Voltage acia oec gor a RO Ro Oed 2 82 Integral ee Road Ld CA oS e d 2 83 Automatic Motor Identification 2 84 Tuning 82443 aca A ded cea x 2 85 Position Loop Kp Gain eases 2 85 Position Loop Ki aaa 2 85 Position Loop Kd Gain 4 2 qd eo gelato ree den 2 86 Positio
4. October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 3 Power up Status Format aa001fddcc cr Parameter 0x001 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Power up Status where 0x00 Successful power up 0x33 OxFE Power up error code as defined in Appendix A Firmware Version Format aa002fvvrrce cr Parameter 0x002 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields Major firmware version rr Minor firmware revision Development Firmware Version Format 179 Parameter 0x179 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields Development firmware version where a value of 0 indicates a standard release and anything else indicates a prototype or beta version Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference Publication 2098 October 2001 Boot Firmware Version Format aa003fvvrrce cr Parameter 0x003 Code Valid Fun
5. 5 018 2 3 Firmware auaa ees 2 3 Development Firmware Version 2 3 Boot Pirgware acc ws OR 2 4 Reset User Parameters to Factory Defaults 2 4 IIS Roco trad a oh ew ee ee 2 4 Position Window Sizes su 2 5 Position Window Time a uad ecu wae ob a c n 2 5 Speed LIE 242 ho 8 seh eon oes 2 6 Speed Window Size 2 6 Up t Speed Limit 4 ccce ok pe oce de OR UR CA 2 7 Forward Current Limit s ol dee pe 2 7 Reverse Current Limit 2l 2 8 acea ego Xx REOR Oe CARCASS 2 9 Operation Modes iur du aL aco eed yd ACA de 2 10 Host Control uaa Ree eee we Rer d 2 11 R set DVE i oe que dece e uen 2 11 Drive Enable Disable sc suede eh ore o e 2 12 Setpoint 2 12 Setpoint Velocity 654844 Re dob AR 2 13 Setpoint Acceleration saa ka Kae eee ASE RAS 2 13 Reset cs xa Hee yy ey ROS Ron 2 13 Position CoODIDIPIOE La Rc oa des opes a Rer oe pen 2 14 Position Comparator Polarity 2 15 Machine Cycle o sacas RC 2 16 Position Rollover Enable Disable 2 16 Communications Commands 2 17 Publication
6. Commutation Type Format aa040fddcc cr Parameter 0x040 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Commutation type where 0x00 Reserved 0x01 Reserved 0x02 Sinusoidal Minimum 0x00 Value Maximum 0x02 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 68 Command Reference Publication 2098 October 2001 Poles Revolution Format aa041fddcc cr Parameter 0x041 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Val
7. 2 52 Soft Overtravel Enable Disable 2 53 Homing Commands ia x RR OR ADR ry 2 54 Deine Homes x ores ereas tra rap UE 2 54 Auto start HOMINg us aca qox OR GH 2 54 Homing Wy De ae a awe dale 2 55 Homing Velocity Wai 2 56 Homing Acceleration eg 3 02 6 Cag m 2 56 Offset Move Distance 2 22 ed RE RE 444455 2 57 POST 1 2 7 009 Ie e o e 2 57 Start GNO qoo a Na eed DECRE CEU 2 58 Homing Backoff Enable Disable 2 58 Home Sensor Polanty aus aac eR Ge 2 59 Homing Creep Velocity i e Ro OX Ro RN 2 59 Homing Abort Deceleration 14 cua ki 2 60 Home Cutie x 6462450 36405944 kesh d d dut 2 61 Motor Commands iac esa a dnd o De o nC RR o 2 62 Encoder Lines RevoluDB a seio ce o eter e 2 62 Maximum Rotary Speed 2 62 Motor Intermittent Current a aia mna EX X RE 2 63 Motor Continuous Current 2 63 Torque Constant o oo vac x eo 2 64 Motor Inertia 6 2 sedes d cordc aod eh as 2 64 Motor Resistance isa ak ne aot pot o e ato ol AR 2 65 2 65 Motor Thermostat 4221453249 ERRARE ES A2eE ES 2 66 Commutation T YDG ead aera XC EUER RERO AREAS 2 67 Poles Revolution s os d dep RR arie EIER 2 68 Hall 9 2 68 Motor Thermal Protection Enable
8. October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 64 Publication 2098 October 2001 Command Reference Torque Constant Format aa03Bfddddce cr Parameter 0x03B Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Torque constant of a rotary motor in units of N m A 4096 Minimum 0x0001 Value Maximum OxFFFF Value Default 2458 Motor Inertia Format aa03Cfddddddddce cr Parameter 0x03C Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x08 Invalid Functio
9. 0x140 0x141 0x142 0x143 0x144 0x145 0x146 0x147 0x148 0 149 0x14A 0x14B 0x14C 0x14D 0 14 Ox14F 0x150 0x151 0x152 0x153 0x154 0x155 0x156 0x157 0x158 0x159 Reserved 0x159 Automatic Motor Identification 2 84 0x15A 0x15B 0 15 Reserved 0 150 Position Comparator 2 14 Ox15E Position Comparator Polarity 2 15 0x15F Home Current 2 61 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 9 Serial Command Described on Page 0x160 0 161 0x162 0x163 0x164 0 165 0 166 0 167 0x168 0x169 0x18A 0x16B 0 16 0 160 0 16 Ox16F 0x170 0x171 0x172 0x173 0x174 0x175 0x176 0x177 0x178 Reserved 0x179 Development Firmware Version 2 3 0x180 0x181 0x182 0x183 0x184 0x185 0x186 0x187 0x188 0x189 0x18A 0x18B 0x18C 0x18D Reserved 0x18F Encoder Temperature 2 110 0x190 0x191 0x192 Reserved
10. 0x193 Machine Cycle Size 2 16 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com B 10 Serial Command Cross References Parameter Code Serial Command Described on Page 0x194 Position Rollover Enable Disable 2 16 0x195 0x196 0x197 0x198 0 199 0x19A 0x19B 0x19C 0 190 Reserved Ox19E Extended Fault Status Ox19F Publication 2098 October 2001 Reserved Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Commands in Alphabetical Serial Command Cross References B 11 Order Parameter Code Serial Command Described on Page by Command Name 0x0A8 Analog Acceleration Enable Disable 2 25 0 05 Analog Acceleration Limit 2 23 0x07A Analog Command Input 2 111 0x07C Analog Current Limit Input 2 111 0x049 Analog Current Offset 2 23 0x119 Analog Current Scale 2 22 Ox05E Analog Deceleration Limit 2 24 0x07D Analog Output 2 112 0 04 Analog Output Configuration 2 103 OxOCE Analog Output Configuration 2 102 0 04 Analog Output Offset 2 104 0 04 Analog Output Override Enable Disable 2 106 0x04F Analog Output Override Value 2 106 0x04
11. October 2001 Zero Speed Limit Format aa022fddddddddcc cr Parameter 0x022 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Zero speed limit in units of counts second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 500 Speed Window Size Format aa023fddddddddcc cr Parameter 0x023 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Speed window size in units of counts second Minimum 0x0000000
12. October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com vi Table of Contents Using Host Commands Publication 2098 October 2001 Appendix C CODIGO OB s d vw o ENS AT eie desde ea de ORT eee RO C 1 Host Mode Communications Overview C 1 You Begg o 3o da Tr der d Sa dex ee Jor es C 2 Preparing your Computer and Ultra3000 Drive C 2 Opening Hyperterminal E d a ore C 2 Calculating the Checksum i 40 4 44 0 sh deed oe doe a C 3 Exercise 41 Enabling Setpoint Velocity Control 4 Exercise 42 Controlling Speed in Host Mode C 5 Exercise 3 Using Ultraware s Host Command Window Exercise 4 Positioning Commands in Host Mode C 7 ASG CONV SIODS HT ARE C 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Introduction Who Should Use this Manual Purpose of this Manual Preface Read this preface to familiarize yourself with the rest of the manual This preface contains the following topics e Who Should Use this Manual e Purpose of this Manual Contents of this Manual e Related Documentation e Conventions Used in this Manual e Allen Bradley Support This manual is intended for engineers programmers or technicians directly involved in th
13. October 2001 Encoder Ratio Load Format aa102fddddcc cr Parameter 0x102 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Units Load Encoder Counts Minimum 0x0001 Value Maximum Ox7FFF Value Default 1 Load Encoder Type Format aal03fddec lt cr gt Parameter 0x103 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd 0 Rotary Encoder 1 Linear Encoder Minim
14. Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Motor intermittent current rating in units of 5 128 Minimum 0x0001 Value Maximum Ox7FFF Value Default 2560 Motor Continuous Current Format aa03Afddddcc cr Parameter 0x03A Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Motor continuous current rating in units of 5 128 Minimum 0x0001 Value Maximum Ox7FFF Value Default 640 Publication 2098
15. Command Reference 2 95 Encoder Output Type Format 0 lt gt Parameter OxOEE Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Motor encoder output type where 0 Buffered 1 Divided 2 Interpolated Minimum 0x00 Value Maximum 0x02 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 96 Command Reference Publication 2098 October 2001 Maximum Encoder Output Frequency Format aa0EFfddcec cr Parameter OxOEF Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values
16. Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Slew rate for gearing in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 37 Slew Limit Enable Disable Format aa01Efddcc cr Parameter Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for the gearing slew rate where 0x00 Disable gearing slew rate limits 0x01 Enable gearing slew rate limits Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 38 Indexing Operating Mode Commands Publication 209
17. 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Machine cycle rollover position in units of counts Minimum 0x00000064 Value Maximum Ox7FFFFFFF Value Default Ox7FFFFFFF Position Rollover Enable Disable Format aa194fddcc cr Parameter 0x194 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enables or disables the rollover of position variables according to the machine cycle size parameter Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Communications Commands Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 17 Baud Rate Format aa050fddcc cr Par
18. 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception 0x03 EEPROM Write Error Codes 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddd Index batch count for the specified index A value of zero indicates the index should be repeated indefinitely Minimum 0x0000 Value Maximum OxFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 0x0001 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 48 Command Reference Publication 2098 October 2001 Index Termination Format aa0B6fnnddce cr Parameter Ox0B6 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0
19. A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 888 88 SOURCE sales artisantg com www artisantg com Allen Bradley Ultra3000 Host Commands for Serial Communication Reference Manual Rockwell Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regula
20. Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 102 Command Reference Digital Output Configuration Format aa0CEfnnddddddddce cr Parameter Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Specifies the function or functions to be mapped to a digital output where dddddddd A set bit indicates the function to be assigned to the output Multiple functions can be assigned with OR functionality The bit definitions are Bit 0 At home Bit 1 End of sequence Bit 2 In motion Bit 3 In dwell Bit 4 Registered Bit 5 Axis homed Bit 6 Tracking Bit 7 Startup commutation complete Bit 8 Positive overtravel input Bit 9 Negative overtravel input Bit 10 Positive software overtravel exceeded Bit 11 Negative software overtravel exceeded Bit 12 At Index 0 Position Bit 13 At Index 1 Position Bit 14 Position Comparator 1 Bit 15 Position Compara
21. Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 46 Command Reference Publication 2098 October 2001 Index Dwell Format aa0B4fnnddddce cr Parameter 0 0 4 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddd Index dwell for the specified index in units of milliseconds Minimum 0x0000 Value Maximum OxFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 0x0000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 47 Index Count Format 0 5 lt gt Ox0B5 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value
22. Read Default Value 0x Copy Default Value to Non Volatile and Working Values Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Specifies the function or functions to be mapped to a digital input where dddddddd A set bit indicates the function to be assigned to the input Multiple functions can be assigned The bit definitions are Bit 0 Disable serial communications Bit 1 Pause Index Bit 2 Stop index Bit 3 Pause homing Bit 4 Stop homing Bit 5 Unused Bit 6 Positive overtravel Bit 7 Negative overtravel Bit 8 Preset select 0 Bit 9 Prreset select 1 Bit 10 Preset select 2 Bit 11 Preset select 3 Bit 12 Preset select 4 Bit 13 Preset select 5 Bit 14 Unused Bit 15 Unused Bit 16 Set preset position Bit 17 Integrator inhibit Bit 18 Follower enable Bit 19 Forward enable Bit 20 Reverse enable Bit 21 0peration mode override Bit 22 Position Strobe Bit 23 Home Sensor Bit 24 Unused Bit 25 Start index Bit 26 Define home Bit 27 Registration Sensor Bit 28 Remove COMMAND offset Bit 29 Start homing Bit 30 Fault reset Bit 31 Drive Enable Minimum Array Index 0x00 Maximum Array Index 0x07 Default 0x80000000 for Input 1 0x00000000 for Inputs 2 through 8 Publication 2098 RM003A EN P October 2001
23. Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddd Preset current in units of Amps 128 Minimum 0x8001 Value Maximum Ox7FFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 0x0000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 28 Command Reference Publication 2098 October 2001 Preset Velocity Acceleration Limit Format aa05Ffddddddddcce cr Parameter 0x05F Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Preset acceleration limit in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 1
24. 0x026 0x02A 0x032 0x033 0x034 0x035 0x036 0x048 0x04A 0x054 0x055 0x056 0x057 0x062 0x063 0x064 0x065 0x066 0x067 0x068 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 16 Serial Command Cross References Parameter Code Serial Command Described on Page 0x072 Reserved 0x078 0x07B 0x08C 0x090 0x091 0x096 0x097 0x098 0x099 0x09A 0 09 0x09C 0 09 0 09 OxO9F Ox0A0 0 0 1 0 0 2 3 0 0 4 0x0A5 0x0A6 0 0 7 OxOBB OxOBC OxOBD OxOBE OxOBF 0 0 0 0 0 1 0x0C2 0x0C3 OxOCF 0 000 0 001 0 002 0 003 0 004 0 005 0 006 OxODC Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 17 Serial Command Described on Page 0x1 04 0x1 05 0x1 06 0x1 07 0x1 09 0x1 0B 0x1 0C 0X1 0X1 0X1 0X1 0X1 0X1 0X1 0X1 0x1 0x1 0x1 0
25. 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Maximum encoder output frequency where 0 500kHz 1 1 MHz 2 4MHz 328 MHz Minimum 0x00 0x00 Value Maximum 0x03 0x03 Value Default 0x00 0x00 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 97 Encoder Output Divider Format aa059fddddcc cr Parameter 0x059 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Motor encoder output divider Minimum 1 Value Maximum 1000 Value Default 1 Marker Output Gating Format aa01Cfddec lt cr gt Parameter 0x01C Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working V
26. Data Fields dddd Force constant of a linear motor in units of N m Amp 16 Minimum 0x0001 Value Maximum OxFFFF Value Default 16 Electrical Cycle Length Format aa0E3fddddcc cr Parameter OxOE3 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Length of an electrical cycle for a linear motor in units of millimeters 10 Minimum 100 Value Maximum 10000 Value Default 300 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 15 Motor Mass Format aa0E4fddddddddcc cr Parameter Ox0E4 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value
27. Disable soft overtravel limit checking 0x01 Enable soft overtravel limit checking Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 54 Command Reference Homing Commands Define Home Format 071 lt gt 0x071 Code Valid Function 0x1 Write Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields None Auto start Homing Format aa0C4fddcc cr Parameter 0x0CA Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Auto start homing condition where 0x00 Auto start homing inactive 0x01 Auto start homing active only if not homed 0x02 Auto start homing always active Minimum 0x00 Value Maximum 0x02 Value Default 0x00 Publication 2098 October 2
28. Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Index velocity for the specified index in units of counts second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 44 Command Reference Publication 2098 October 2001 Index Acceleration Format aa0B2fnnddddddddcce cr Parameter 0x0B2 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index
29. Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Analog acceleration limit in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 24 Command Reference Publication 2098 October 2001 Analog Deceleration Limit Format aa05Efddddddddcc cr Parameter Ox05E Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Analog deceleration limit
30. e Host Command Description e Drive Response Description e Exception Responses The command format is shown below Start Address Parameter Function Data Checksum End aa ppp f cr Each letter represents a single ASCII character In the address parameter function data and checksum fields the characters should all be ASCII hex values i e they should be in the range 0 through 9 and A through F upper case only All commands begin with a colon 0x34 and terminate with a carriage return 0 0 The address field is made up of two characters These characters supply the address of the drive that the command is intended for For example a host addressing drive 72 would have 0x02 The address field allows drive addresses from 0x00 through OxFD or 254 individual drives The parameter field specifies the parameter in the drive that is being accessed which can range from 000 to 7FF or 2048 possible parameters Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 2 Communications Protocol The function field specifies what is to be done with the parameter and is defined as follows Function Action 0x0 Read working value 0 1 Write working value 0x2 Read non volatile value 0x3 Write non volatile and working values 0x4 Copy non volatile value to working v
31. 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Homing creep velocity in units of counts second Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default 10 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 60 Command Reference Publication 2098 October 2001 Homing Abort Deceleration Format aa0D7fddddddddcce cr Parameter 0 007 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Deceleration used to bring the motor to a stop when a homing sequence is terminated with the Stop Homing input in units of counts second second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Ho
32. 0x08 Invalid Function Code Data Fields nn Array index dddddddd Index acceleration for the specified index in units of counts second second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 45 Index Deceleration Format aa0B3fnnddddddddcc cr Parameter 0x0B3 Code Valid Function 0x0 Read Working Value Codes 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Index deceleration for the specified index in units of counts second second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 100 000 Publication 2098 October 2001
33. 88 SOURCE www artisantg com Serial Command Cross References B 13 Serial Command Described on Page 0x01C Marker Output Gating 2 97 0 018 Master Gear Ratio 2 34 OxOEF Maximum Encoder Output Frequency 2 96 OxOE6 Maximum Linear Speed 2 77 0x038 Maximum Rotary Speed 2 62 Ox0AD Monitor Index Count 2 110 0x03A Motor Continuous Current 2 63 OxOED Motor Encoder Interpolation 2 94 OxOE5 Motor Flux Saturation 2 76 0 01 Motor Gear Ratio 2 34 OxO3E Motor Inductance 2 65 0x03C Motor Inertia 2 64 0x039 Motor Intermittent Current 2 63 Ox0E4 Motor Mass 2 75 OxOEB Motor Model 2 81 0 07 Motor Position 2 112 OxOEC Motor Rated Voltage 2 82 0 03 Motor Resistance 2 65 0x092 Motor Temperature 2 116 0 0 9 Motor Thermal Capacitance Winding to 2 81 Ambient OxOEA Motor Thermal Capacitance Winding to 2 80 Encoder Motor Thermal Protection Enable 2 69 7 Motor Thermal Resistance Winding to 2 79 Ambient OxOE8 Motor Thermal Resistance Winding to 2 78 Ox03F Motor Thermostat 2 66 OxODE Motor Type 2 71 OxODB Negative Deceleration Distance 2 52 0x08A Negative Peak Current Command 2 115 0x083 Negative Peak Position Error 2 113 0 009 Negative Soft Position Limit 2 51 0x0C8 Offset Move Distance 2 57 0x024 Operating Mode 2 118 0x05A Op
34. 9 Override Mode Format aa043fddcc cr Parameter 0x043 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x06 Command Disabled when Drive is Enabled 0x08 Invalid Function Code Data Fields dd Operation mode override where 0x00 Analog velocity command 0x01 Analog current command 0x02 Preset velocity 0x03 Preset current 0x04 Follower auxiliary encoder 0x05 Follower step direction 0x06 Follower CW CCW 0x07 Indexing 0x08 Analog position 0x09 Preset position Minimum 0x00 Value Maximum 0x08 Value Default 0x00 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 10 Command Reference Publication 2098 October 2001 Operation Mode Format aa05Afddcce cr Parameter 0x05A Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Worki
35. 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dd Index termination for the specified index where 0x00 Stop 0x01 Start another immediately 0x02 Start another w start index input 0x03 Start another index without stopping Minimum 0x00 Value Maximum 0x02 Value Minimum Array 0x00 Index Value Maximum Array Index Value Default 0x00 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Index Pointer Command Reference 2 49 Format aa0B7fnnddce cr Parameter 0x0B7 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code D
36. Code Data Fields dddddddd Position that when exceeded negatively will cause a deceleration to zero velocity Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Default 0x80000001 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 52 Command Reference Publication 2098 October 2001 Positive Deceleration Distance Format aa0DAfddddddddce cr Parameter 0x0DA Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Distance that an axis will travel when an overtravel limit has been reached in the positive direction Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 0x00000000 Negative Deceleration Distance Format aa0DBfddddddddcc cr Parameter OxODB Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile
37. Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Thermal resistance of the motor from winding to encoder in units of degrees C Watt 65536 Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default Ox7FFFFFFF Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 79 Motor Thermal Resistance Winding to Ambient Format aa0E7fddddddddcc cr Parameter Ox0E7 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Thermal resistance of the motor from winding to ambient in units of degrees C Watt 65536 Minimum 0x0000
38. Drive Address Format aa052fddcc cr Parameter 0x052 Code Valid Function 0x0 Read Working Value Codes 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Drive address for serial communications Minimum 0 Value Maximum 253 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 19 Broadcast Address Format aa053fddcc cr Parameter 0x053 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dd Broadcast address for serial communications Default OxFF Reset Serial Port Format 10 lt gt 0x10A Code Valid Function Codes 0 1 Write Working Value
39. FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF Instra REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED Contact us 888 88 SOURCE sales artisantg com www artisantg com
40. Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Position window size in units of counts Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 20 Position Window Time Format aa017fddcc cr Parameter 0x017 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dd Position window time in units of milliseconds Minimum 0x00 Value Maximum OxFF Value Default 20 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 6 Command Reference Publication 2098
41. Rated Voltage Format aa0ECfddddcc cr Parameter OxOEC Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Rated voltage of the motor in units of AC RMS Volts Minimum 100 Value Maximum 1000 Value Default 230 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Integral Limits Command Reference 2 83 Format aal0Dfddec lt cr gt Parameter Ox10D Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0
42. Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Present operating mode where 0x00 Analog Velocity 0x01 Analog Current 0x02 Preset Velocity 0x03 Preset Current 0x04 Follower Auxiliary Encoder 0x05 Follower Step Direction 0x06 Follower Step Up Step Down 0x07 Indexing 0x08 Analog Position 0x09 Preset Position 0x0A Unused OxOB Unused 0 0 Unused 0 00 Unused Unused OxOF Unused 0x10 Velocity Control Panel 0x11 Current Control Panel 0x12 Indexing Control Panel 0x13 Autotuning 0x14 Manual Velocity Tuning 0 1 anual Position Tuning 0x16 Encoder Alignment ommutation diagnostics otor feedback diagnostics otor marker diagnostics uxiliary feedback diagnostics uxiliary marker diagnostics nused nused 0x1 nused 0x1 nused 0x20 Disabled 0x21 Fault Deceleration 0x22 Homing 0x23 SERCOS 0x24 Commutation Startup gt lt c x ec Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 119 Fault Commands Position Error Limit Format aa018fddddddddcc cr Parameter 0x018 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non
43. Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Position error limit in unit of counts Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 8000 Position Error Time Format aa019fddddec lt cr gt Parameter 0x019 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x08 Invalid Function Code Data Fields dddd Position error time in units of mS Minimum 0x0000 Value Maximum OxFFFF Value Default 100 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 120 Publication 2098 October 2001 Comm
44. Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Forward current limit in percentage of the minimum of the motor intermittent current rating and drive intermittent current rating Minimum 0 Value Maximum 100 Value Default 100 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 8 Command Reference Publication 2098 October 2001 Reverse Current Limit Format aa030fddcc cr Parameter 0x030 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Reverse current limit in percentage of the minimum of the motor intermittent current rating and drive intermittent current rating Minimum 0 Value Maximum 100 Value Default 100 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2
45. in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 25 Analog Acceleration Enable Disable Format aa0A8fddcce cr Parameter 0x0A8 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for analog acceleration limits where 0x00 Disable analog accel decel limits 0x01 Enable analog accel decel limits Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 26 Preset Operating Mode Commands Publication 2098 October 2001 Command Reference Preset Velocity Format aa05Bfnnddddddddce cr Parameter 0x05B Code Valid Function Cod
46. le es 2 104 Analog Output Scale uos cbe Ceo RC et 2 105 Analog Output Override Enable Disable 2 106 Analog Output Override Value xw xa 2 106 Monitor Commands winks n e CR RO dee 2 107 DriveStatus llle 2 107 BU uc vue goce S E dedos dee V aC le Vedi s S 2 108 Digital Input aco RR Rho Rd Roos 2 108 Digital Output S tUS pe ER E XO er 2 109 Encoder Status 6984 2 109 Encoder Temperature oa 2 110 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Fault Codes Serial Command Cross References Table of Contents v Index Number qos doe dep dco RERO eO hd 2 110 Monitor Index Count EG HERES ES 2 110 Reset Peaks eee aao ee 2 111 Analog Command Input 0 2 111 Analog Current Limit Input 2 111 Analog OWE cacao kee SCAR ORE HERR qo 2 112 Motor Position 2 2 llle 2 112 Auxiliary Encoder Position 2 112 Position eGR bead Reed 2 112 POSION ETOL wit wc 4 e a Wi ee wget 2 113 Positive Peak Position Error 2 113 Negative Peak Position Error 4 414654440404 2 113 Velocity Command nasan Ee RK ORD 2 113 Velocity MOLDE s de YO ea ERIS OOS 2 114 Velocit
47. to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddddddd Mass of the moving part of a linear motor in units of Kg 65536 Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default 0x00010000 Total Moving Mass Format aal 1Ffddddddddec lt cr gt Parameter Ox11F Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddddddd Total moving mass of a linear motor system in units of Kg 65536 Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default 0x00010000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 76 Command Reference Publication 2098 October 2001 Motor Flux Saturation Format aa0E5fnnddcc cr
48. 0 Index Number 2 110 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 5 Serial Command Described on Page Ox0AD Monitor Index Count 2 110 OxOAE Index Type 2 40 OxOAF Index Distance Position 2 41 0x0B0 Index Registration Distance 2 42 0x0B1 Index Velocity 2 43 0x0B2 Index Acceleration 2 44 0x0B3 Index Deceleration 2 45 0x0B4 Index Dwell 2 46 0x0B5 Index Count 2 47 0x0B6 Index Termination 2 48 0x0B7 Index Pointer 2 49 0x0B8 Host Index 2 39 0x0B9 Index Abort Deceleration 2 50 0x0BA Reserved 0x0BB 0x0BC 0x0BD OxOBE OxOBF 0 0 0 0 0 1 0x0C2 0x0C3 0x0C4 Auto start Homing 2 54 0x0C5 Homing Type 2 55 0x0C6 Homing Velocity 2 56 0x0C7 Homing Acceleration 2 56 0x0C8 Offset Move Distance 2 57 0 0 9 Home Position 2 57 Ox0CA Homing Backoff Enable Disable 2 58 0 0 Home Sensor Polarity 2 59 0 0 Homing Creep Velocity 2 59 0x0CD Start Homing 2 58 OxOCE Analog Output Configuration 2 102 OxOCF Reserved 0 000 0 001 0 002 0 003 0 004 0 005 0 006 0 007 Homing Abort Deceleration 2 60 0 008 Positive Soft Position Limit 2 51 0 009 Negative Soft Position Limit 2 51 OxODA Pos
49. 0 Value Maximum Ox7FFFFFFF Value Default 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 7 Up to Speed Limit Format aa025fddddddddcc cr Parameter 0x025 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Up to speed limit in units of counts second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Forward Current Limit Format aa02Ffddce cr Parameter 0x02F Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM
50. 00 000 Preset Velocity Deceleration Limit Format aa060fddddddddcc cr Parameter 0x060 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Preset deceleration limit in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 29 Preset Velocity Accel Decel Limit Enable Disable Format aa0A9fddcce cr Parameter 0x0A9 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x0
51. 0001 Value Maximum Ox7FFFFFFF Value Default 57672 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 80 Command Reference Publication 2098 October 2001 Motor Thermal Capacitance Winding to Encoder Format aa0EAfddddddddcce cr Parameter OxOEA Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Thermal capacitance of the motor from winding to encoder in units of Watt second degrees C 256 Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default 0x00000001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 81 Motor Thermal Capacitance Winding to Ambient Format aa0E9fddddddddcc cr Parameter 0 0 9 Code Valid Function Codes 0x0 Read Working Val
52. 001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 55 Homing Type Format aa0C5fddcc cr Parameter 0x0C5 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Homing type code where 0x00 Home to sensor forward to marker 0x01 Home to marker 0x02 Home to sensor 0x03 Home to sensor backward to marker 0x04 Home to current setting 0x05 Home to current setting backward to marker Minimum 0x00 Value Maximum 0x03 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 56 Publication 2098 October 2001 Command Reference Homing Velocity Format aa0C6fddddddddcc cr Parameter 0x0C6 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volati
53. 0x00 0x00 Value Maximum 0x0C 0x0C Value Default 0x00 0x00 Reset Drive Format aa06Afcc cr Parameter 0x06A Code Valid Function 0x1 Write Working Value Codes Valid Exception 0x06 Command Disabled when Drive is Enabled Codes 0x08 Invalid Function Code Data Fields None Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference Drive Enable Disable Format aa06Bfddcc cr Parameter 0 068 Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x08 Invalid Codes Function Code Data Fields dd Software enable disable control where 0x00 Disable drive 0x01 Enable drive Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Setpoint Current Format aa06Cfddddcc cr Parameter 0 06 Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x04 Data Below Minimum Codes 0x08 Invalid Function Code Data Fields dddd Setpoint current setting in units of Amps 128 Minimum 0x8001 Value Maximum Ox7FFF Value Default 0x0000 Publication 2098 October 2001 Artisan Tec
54. 0x047 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog velocity offset in units of milliVolts Minimum 10000 Value Maximum 10000 Value Default 0 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 22 Command Reference Publication 2098 October 2001 Analog Current Scale Format aa119fddddcc cr Parameter 0x119 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write E
55. 0x080 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Commanded motor position in units of counts Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Position Error Command Reference 2 113 Format aa081fddddddddcc cr Parameter 0x081 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Position error in units of counts Positive Peak Position Error Format aa082fddddddddcc cr Parameter 0x082 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Peak positive position error in units of counts Negative Peak Position Error Format aa083fddddddddcc cr Parameter 0x083 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Peak negative position error in units of counts Velocity Command Format aa084fddddddddcc cr Parameter 0x084 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Velocity
56. 10 Current Command 0x11 Average Current 0x16 Velocity Feedback 0x17 Velocity Command 0x18 Velocity Error 0x24 Current Feedback Minimum 0x00 Value Maximum 0x2A Value Default 0x00 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 104 Command Reference Publication 2098 October 2001 Analog Output Offset Format aa04Cfddddcc cr Parameter 0x04C Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Offset to be applied to the analog output in units of mV Minimum 10000 Value Maximum 10000 Value Default 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 105 Analog Output Scale Format aa04Dfddddec cr Parameter 0x04D Code Valid Function 0x0 Read Working Val
57. 102 Encoder Ratio Load 2 92 0x101 Encoder Ratio Motor 2 91 0x094 Encoder Status 2 109 0x18F Encoder Temperature 2 110 0x0DF Encoder Type 2 72 0x19E Extended Fault Status 2 123 0x074 Fault Status 2 122 0x002 Firmware Version 2 3 0x0E2 Force Constant 2 74 0x02F Forward Current Limit 2 7 0x051 Frame Format 2 18 0x042 Hall Offset 2 68 0x15F Home Current 2 61 0 0 9 Home Position 2 57 0 0 Home Sensor Polarity 2 59 0 007 Homing Abort Deceleration 2 60 0x0C7 Homing Acceleration 2 56 Ox0CA Homing Backoff Enable Disable 2 58 0 0 Homing Creep Velocity 2 59 0 0 5 Homing Type 2 55 0x0C6 Homing Velocity 2 56 0x061 Host Control Mode 2 11 Ox0B8 Host Index 2 39 Ox0B9 Index Abort Deceleration 2 50 Ox0B2 Index Acceleration 2 44 0 0 5 Index Count 2 47 Ox0B3 Index Deceleration 2 45 OxOAF Index Distance Position 2 41 0 084 Index Dwell 2 46 0 0 Index Number 2 110 0x0B7 Index Pointer 2 49 0x0B0 Index Registration Distance 2 42 0x0B6 Index Termination 2 48 OxOAE Index Type 2 40 OxOB1 Index Velocity 2 43 0 100 Integral Limits 2 83 0x179 Development Firmware Version 2 3 OxOFF Load Encoder Lines Per Meter 2 93 0 100 Load Encoder Lines Per Revolution 2 93 0x103 Load Encoder Type 2 92 0 020 Low Pass Filter Bandwidth 2 89 0 02 Low Pass Filter Enable Disable 2 90 0x193 Machine Cycle Size 2 16 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888
58. 2 0x104 Reserved 0x105 0x106 0x107 0x108 Drive Temperature 2 117 0x109 Reserved 0 10 Reset Serial Port 2 19 0x10B Reserved 0 10 0 100 Integral Limits 2 83 0 10 Overspeed Limit 2 120 Ox10F Velocity Error Limit 2 120 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 7 Serial Command Described on Page 0X1 0X1 0X1 0X1 0X1 0X1 0X1 0X1 Reserved 0x11 Analog Velocity Scale 2 21 0x11 Analog Current Scale 2 22 0x11 0x11 0x11 0x11 0x11 Reserved TIM TW DY 2 OO CO mI BI wr 0x11 Total Moving Mass 2 75 0x120 0x121 0x122 0x123 0x124 0x125 0x126 0x127 0x128 0x129 0x12A 0x12B 0x12C 0x12D Ox12E Ox12F 0x130 0x131 0x132 0x133 0x134 0x135 0x136 0x137 0x138 0x139 0x13A 0x13B 0x13C Reserved Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 Serial Command Cross References Parameter Code Serial Command Described on Page 0x13D 0 13 Ox13F
59. 2 Reserved Bit 13 Reserved Bit 14 Reserved 1 Bit 15 Reserved Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 124 Command Reference Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix A Fault Codes Runtime Faults Fault 0x01 Description of Runtime Fault Non Volatile Memory Endurance Exceeded 0x02 Position Change Exceeds Position Rollover 2 0x03 Absolute Feedback Range Exceeded 0x04 Motor thermostat 0x05 IPM hardware fault 0x06 Hardware overtravel SERCOS only 0x07 Motor encoder channel B line break 0x08 Motor encoder channel A line break 0x09 Bus undervoltage 0x0A Bus overvoltage OxOB Illegal hall state 0x0C Home search failed 0x0D Home position outside limits OxOE Option card communication error OxOF Electrical cycle length limit exceeded 0x10 Overtravel used only for SERCOS drives 0x1 User specified current fault 0 1 Motor overspeed 0x1 Excess following error 0 1 Motor encoder state error 0 1 Auxiliary encoder state error 0 1 Motor Thermal Protection Filter 0x1 IPM Thermal Protect
60. 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Publication 2098 October 2001 Table of Contents D UM c rr 2 17 Frame Format llle 2 18 Drive Address d CS p t CR e CORR CR 2 18 Broadcast Address 0 0 cee eee 2 19 Reset Serial PO 4445444042954 nt eda wants 2 19 Analog Operating Mode Commands 2 20 Analog 011324 2 ov pea 2 20 Analog Position Offset sss hk dex 2 20 Analog Velocity Scale ic tobe Raa ERO OREN 2 21 Analog Velocity Offset 2 21 Analog Current Scale e 2 22 Analog Current ii 24 44 er 2 23 Analog Acceleration Limit 4 4 gas o o 2 23 Analog Deceleration Limit uides 2 24 Analog Acceleration Enable Disable 2 25 Preset Operating Mode Commands 2 26 Preset Velocity dp E ier rare aea da er we 2 26 Preset GUITOPIU ure ea Bake REA as 2 27 Preset Velocity Acceleration Limit one 2 28 Preset Velocity Deceleration Limit ade 2 28 Preset Velocity Accel Decel Limit Enable Disable 2 29 Preset Position 2 20 Preset Position Velocity ue EORR ARR 2 31 Preset Position Acceleration ve er 2
61. 3 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for preset velocity acceleration limits where 0x00 Disable preset accel decel limits 0x01 Enable preset accel decel limits Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 30 Command Reference Publication 2098 October 2001 Preset Position Format aa00Dfnnddddddddce cr Parameter 0 000 Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Preset positions in units of counts Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value
62. 32 Preset Position Deceleration Rh 2 33 Follower Operating Mode Commands 2 34 Master Gear REC 2 34 Motor Gear Ratio llle 2 35 Rotation Direction 4464444458264 2 36 Slew Limit uou was eae sack eR So de RR 2 36 Slew Limit Enable Disables sie mo RES 2 37 Indexing Operating Mode Commands 2 38 Auto start E Ee Seen 2 38 Stat IMS CT 2 38 ood came an p REA CPUS S eR OX e dE gd 2 39 Index TUBES ua dud bbe bE bono doi bed adios ed 2 40 Index Distance Position RR m Rh 2 41 Index Registration Distance 4 444440 eR s 2 42 Index Velocity s ace queis UR ARP GS dows Ce t 2 43 Index 2 44 Index Deceleration ey ad ws adore yen Y 2 45 Index Dwell 2 46 Index Seat hs doe dot eh est 2 47 Index Termination 2 48 Index BOUE s 456254 heh Ree ee SES der dri 2 49 Index Abort Deceleration RR RA 2 50 Overtravel Commands qd sau sac REG E 2 51 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table of Contents iii Positive Soft Position Limit acer mr heh he 2 51 Negative Som Position Lint 445 465 044 does 2 51 Positive Deceleration Distance 2 52 Negative Deceleration Distance
63. 8 October 2001 Command Reference Auto start Indexing Format aa058fddcc cr Parameter 0x058 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for auto start indexing where 0x00 Disable auto start indexing 0x01 Enable auto start indexing Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Start Index Format aa070fcc cr Parameter 0x070 Code Valid Function Codes 0 1 Write Working Value Valid Exception Codes 0x08 Invalid Function Code Data Fields None Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 39 Host Index Format aa0B8fddcc cr Parameter Ox0B8 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x05 Data Above Maximu
64. 96 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 90 Command Reference Publication 2098 October 2001 Low Pass Filter Enable Disable Format aa02Efddce cr Parameter 0 02 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable of the current command low pass filter where 0x00 Disable low pass filter 0x01 Enable low pass filter Minimum 0x0 Value Maximum 0x1 Value Default 0x0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 91 Encoder Commands Position Feedback Source Format aa02Cfddcc cr Parameter 0x02C Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Work
65. D Analog Output Scale 2 105 0x029 Analog Position Offset 2 20 0x028 Analog Position Scale 2 20 0x047 Analog Velocity Offset 2 21 0x118 Analog Velocity Scale 2 21 0x159 Automatic Motor Identification 2 84 0x0C4 Auto start Homing 2 54 0x058 Auto start Indexing 2 38 0x07F Auxiliary Encoder Position 2 112 0x088 Average Current 2 114 0x050 Baud Rate 2 17 0x003 Boot Firmware Version 2 4 0x045 Brake Active Delay 2 99 0x046 Brake Inactive Delay 2 100 0x053 Broadcast Address 2 19 0x08B Bus Voltage 2 115 0x040 Commutation Type 2 67 0x087 Current Command 2 114 0x08D Current Feedback 2 116 0x071 Define Home 2 54 0x069 Digital Input Configuration 2 101 0x076 Digital Input Status 2 108 0x044 Digital Output Configuration 2 98 0x077 Digital Output Status 2 109 0x052 Drive Address 2 18 0x06B Drive Enable Disable 2 12 0x006 Drive Name 2 4 0x073 Drive Status 2 107 0x108 Drive Temperature 2 117 0x0E3 Electrical Cycle Length 2 74 0x0E1 Encoder Lines Meter 2 73 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 12 Serial Command Cross References Parameter Code Serial Command Described on Page 0x037 Encoder Lines Revolution 2 62 0x059 Encoder Output Divider 2 97 OxOEE Encoder Output Type 2 95 0x
66. Maximum Array 0x07 Index Value Default 0x00000000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 31 Preset Position Velocity Format aa00Efnnddddddddce cr Parameter OxOOE Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Preset position velocities in units of counts second Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 32 Command Reference Publication 2098 October 2001 Preset Position Acceleration Format aa02Bfnn
67. Parameter 0 0 5 Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index for the flux saturation table where 0x00 specifies the value at 12 596 of motor pea current 0x01 specifies the value at 25 096 of motor pea current 0x02 specifies the value at 37 596 of motor pea current 0x03 specifies the value at 50 096 of motor pea current 0x04 specifies the value at 62 5 of motor pea current 0x05 specifies the value at 75 0 of motor pea current 0x06 specifies the value at 87 596 of motor pea current 0x07 specifies the value at 10096 of motor peak current dd Flux saturation value scaled so a value of 255 indicates no saturation and a value of 64 indicates 75 saturation Minimum 0x01 Value Maximum OxFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default OxFF Artisan Te
68. Reserved 0x45 Reserved 0x46 Reserved 0x47 Reserved 0x48 Reserved 0x49 Reserved Ox4A Non volatile memory write error Ox4B Reserved Ox4C Reserved Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Fault Codes Fault Description of Power up Fault Ox4D Reserved Ox4E Reserved Ox4F Reserved 0x50 Reserved 0x51 Reserved 0x52 Bus error 0x53 Reserved 0x54 Reserved 0x55 Reserved 0x56 Reserved 0x57 Illegal event 0x58 Breakpoint interrupt 0x59 Reserved 0 5 Reserved Ox5B Reserved Ox5C Vender code uninitialized 0 50 DNet serial number uninitialized OxbE Reserved Ox5F Option board Dual port error 0x60 Unused interrupt 0x61 Spurious interrupt 0x62 Divide by zero 0x63 Illegal instruction Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Publication 2098 October 2001 4 Fault Codes Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix B Serial Command Cross References Commands in Numerical
69. Valid Exception Codes 0x06 Command Disabled when Drive is Enabled 0x08 Invalid Function Code Data Fields None Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 20 Analog Operating Mode Commands Publication 2098 October 2001 Command Reference Analog Position Scale Format aa028fddcc cr Parameter 0x028 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Analog position scale in units of counts Volt Minimum 0x8001 Value Maximum Ox7FFF Value Default 1000 Analog Position Offset Format aa029fddddcc cr Parameter 0x029 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working
70. Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Distance that an axis will travel when an overtravel limit has been reached in the negative direction Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 0x00000000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 53 Soft Overtravel Enable Disable Format aa0DDfddce cr Parameter OxODD Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for the soft overtravel limit checking where 0x00
71. Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 0 Value Maximum 4000 Value Default 200 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 88 Command Reference Publication 2098 October 2001 Velocity Loop Gain Format aa020fddddcc cr Parameter 0x020 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 0 Value Maximum 4000 Value Default 66 Velocity Loop D Gain Format aa021fddddcc cr Parameter 0x021 Code Valid Function Codes 0x0 Re
72. Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog position offset in units of milliVolts Minimum 10000 Value Maximum 10000 Value Default 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 21 Analog Velocity Scale Format aa118fddddddddcc cr Parameter 0x118 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog velocity scale in units of percentage of maximum motor speed per 10 Volts Minimum 200 Value Maximum 200 Value Default 100 Analog Velocity Offset Format aa047fddddcc cr Parameter
73. Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Encoder lines per revolution Minimum 100 Value Maximum 64000 Value Default 2000 Maximum Rotary Speed Format aa038fddddcc cr Parameter 0x038 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Maximum speed of a rotary motor in units of RPM Minimum 300 Value Maximum Ox7FFF Value Default 3500 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 63 Motor Intermittent Current Format aa039fddddcc cr Parameter 0x039 Code
74. ad Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Units Minimum 0x0000 Value Maximum 0x00C8 Value Default 0x0064 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 87 Position Loop Format aa015fddddcc cr Parameter 0x015 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Units counts Minimum 0x0000 Value Maximum Ox7FFF Value Default 0x03F8 Velocity Loop P Gain Format aa01Ffddddcc cr Parameter Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working
75. ad Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 1000 Value Maximum 1000 Value Default 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 89 Low Pass Filter Bandwidth Format aa02Dfddddcc cr Parameter 0x02D Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Units Hertz Minimum 0x0001 Value Maximum 0 03 0 Value Default 0x00
76. ademark of Rockwell Automation Ultra3000 is a trademark of Rockwell Automation DeviceNet is a trademark of the Open DeviceNet Vendor Association Microsoft is a registered trademark of Microsoft Corporation Windows and Hyperterminal are trademarks of Microsoft Corporation SERCOS is a trademark of the Interests Group SERCOS interface e V IGS Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Communications Protocol Command Reference Table of Contents IG KA REA P 1 Who Should Use this P 1 Purpose of this Manual ok ae eRe RS P 1 Contents of this Manual vu Rie VOR OR Rcs P 2 Related Documentation 4 2 ceu pce de Re eR Ow Re P 2 Conventions Used in this P 2 Allen Bradley Support was wore o eoe d ra P 3 Local Product Support X AY ved 873 P 3 Technical Product Assistance P 3 Chapter 1 TATOO SERIE OR at 1 1 Command Format se d opu a OIX Ce SE RE 1 1 Host Command Description 1 1 Drive Response 1 2 Exception Responses 00 0000 eee eee 1 3 Chapter 2 General Commands Ga Od a 2 2 Product Type qu 4849 0444 HS EAE ES Pues 2 2
77. al with an Ultra3000 drive Hyperterminal allows you to enter characters on your computer keyboard and transmit them through the RS 232 serial communications port Before using the Hyperterminal program ensure the settings are as follows 1 Open up Hyperterminal Hyperterminal is located in the Accessories program group in Windows 2 Select File Properties and select the Connect To tab 3 Verify that the Connect using option is set to Direct to Com 2 or Com 2 Note This setting is correct for most laptop computers If communications is not established try Direct to Com 1 or Comi 4 Click on the Configure button and make these Port Settings Port Setting Properties Bits per second 38400 Data bits 8 Parity None Stop bits 1 Flow control None 5 Close the Connect window but do not close the Properties window Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Calculating the Checksum Using Host Commands C 3 6 Select the Settings tab A Verify that Emulation is set to VT100 B Click on the ASCII Setup button and make these selections Selected checkmark Not Selected no checkmark Echo typed characters locally Send line ends with line feeds Append line feeds to incoming line Force incoming data to 7 bit ASCII ends Wrap lines that exceed terminal width The checksum value is used to verify that the data transferred correct
78. alue 0x5 Copy working value to non volatile value 0 6 Read default value 0x7 Copy default value to non volatile value and working values 0 8 Read minimum value 0x9 Read maximum value OxA Read Array Index Minimum OxB Read Array Index Maximum OxC OxF Reserved The data field provides any data necessary for the drive to implement the command and can have a variable number of characters When strings are used in the data field two ASCII hex characters represent the ASCII character For example the character is represented by two characters a 2 followed by a 3 For some commands the data field is not used Also if the function code specifies to copy the non volatile value to the working value or vice versa the data field is absent The checksum field contains an ASCII hex version of the 8 bit checksum of the Address Parameter Function and Data fields The sum of the Address Parameter Function Data and Checksum field should result in a value of zero When computing the sum the characters of the Address Parameter Function and Data fields are summed with the 8 bit value represented by the characters of the checksum field Drive Response Description If the drive receives the host s command with a communication error parity or checksum errors for example the drive does not respond The host should assume a communication error occurred if a response from the drive does not occur within a time out period If
79. alues 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Marker output gating where 0 Marker output not gated by AM and BM inputs 1 Marker output ANDed with AM and BM inputs Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 98 Command Reference Digital 1 0 Commands Digital Output Override Format aa044fddmmcc cr Parameter 0x044 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Specifies the desired state of the digital outputs assuming the corresponding override mask bits have been set A bit set indicates the output should be active The bit definitions are Bit 0 Transistor Output 1 Bit 1 Transistor Output 2 Bit 2 Transistor Output 3 Bit 3 Transistor Output 4 Bit 4 Relay Output Bit 5 Relay Output mm Specifies the override mask for the digital outputs A bit set indicates the output
80. ameter 0x050 Code Valid Function Codes 0x0 Read Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Baud rate code where 0x00 1200 baud 0x01 2400 baud 0x02 4800 baud 0x03 9600 baud 0x04 19200 baud 0x05 38400 baud Minimum 0x00 Value Maximum 0x05 Value Default 0x05 Publication 2098 October 2001 2 18 Command Reference Frame Format Format aa051fddcc cr Parameter 0x051 Code Valid Function 0x0 Read Working Value Codes 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values Ox6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Frame format code where 0x00 7 bits Even parity 1 Stop 0x01 7 bits Odd parity 1 Stop 0x02 8 bits parity 1 Stop 0x03 8 bits Even parity 1 Stop 0x04 8 bits Odd parity 1 Stop Minimum 0x00 Value Maximum 0x04 Value Default 0x02
81. an Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 59 Home Sensor Polarity Format aa0CBfddce cr Parameter Ox0CB Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Polarity of the home sensor where 0x00 Inactive to active transition 0x01 Active to inactive transition Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Homing Creep Velocity Format aa0CCfddddddddce cr Parameter 0x0CC Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error
82. and Reference Overspeed Limit Format aadOEfddddddddcc cr Parameter Ox10E Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dddddddd User specified speed limit in units of counts s If the measured velocity exceeds this value a fault will be generated Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Velocity Error Limit Format aa1OFfddcc cr Parameter Ox10F Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dd Velocity error limit in units of percent of m
83. anteed 888 88 SOURCE www artisantg com Command Reference 2 115 Positive Peak Current Command Format aa089fddddcc cr Parameter 0x089 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Peak positive current command in units of 5 128 Negative Peak Current Command Format aa08Afddddce cr Parameter 0x08A Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Peak negative current command in units of 5 128 Bus Voltage Format aa08Bfddddcc cr Parameter 0x08B Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Bus voltage after filtering in units of Volts Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 116 Command Reference Current Feedback Format aa08Dfddddcc cr Parameter 0 08 Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Current feedback in units of Amps 128 U Phase Current Format aa08Ffddddcc cr Parameter O
84. ata Fields nn Array index dd Index pointer for the specified index points to the next index to be started if the index termination is programmed not to stop Minimum 0x00 Value Maximum Ox3F Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 50 Command Reference Publication 2098 October 2001 Index Abort Deceleration Format aa0B9fddddddddce cr Parameter 0x0B9 Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Deceleration to be used if the stop index input is activated in units of counts second second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Overtrav
85. atile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable the motor thermal protection algorithm where 0x00 Motor thermal protection algorithm disabled 0x01 Motor thermal protection algorithm enabled Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 70 Command Reference Publication 2098 October 2001 Standard Motor Flag Format aa095fddcce cr Parameter 0x095 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Motor flag where 0x00 Custom 0x01 Standard Minimum 0x00 Value Maxi
86. ation 2098 October 2001 Position Comparator Format aa15Dfnnddddddddce cr Parameter 0x15D Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Position value setting for the specified position comparator in units of counts Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value MaximumArray 0x01 Index Value Default 0x00000000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 15 Position Comparator Polarity Format aad5Efnnddcc cr Parameter 0x15E Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value
87. chnology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 77 Maximum Linear Speed Format aa0E6fddddcc cr Parameter 0 0 6 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Maximum speed of a linear motor in units of meters sec 256 Minimum 32 Value Maximum Ox7FFF Value Default 256 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 78 Command Reference Publication 2098 October 2001 Motor Thermal Resistance Winding to Encoder Format aa0E8fddddddddcc cr Parameter OxOE8 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5
88. command in units of counts second Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 114 Command Reference Velocity Motor Format aa085fddddddddcc cr Parameter 0x085 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Velocity feedback in units of counts second Velocity Error Format aa086fddddddddcc cr Parameter 0x086 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Velocity error in units of counts second Current Command Format aa087fddddcc cr Parameter 0x087 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Current command in units of Amps 128 Average Current Format aa088fddddcc cr Parameter 0x088 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Command current after being filtered with a 100 5 time constant in units of Amps 128 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guar
89. ction Codes 0x0 Read Working Value Valid Exception Codes 0x08 Invalid Function Code Data Fields Major boot firmware version rr Minor boot firmware revision Reset User Parameters to Factory Defaults Format aa004fcc lt cr gt Parameter 0x004 Code Valid Function Codes 0x1 Write Working Value Valid Exception Codes 0x03 EEPROM Write Error 0x06 Command Disabled when Drive is Enabled 0x08 Invalid Function Code Data Fields None Drive Name Format aa006fdd ddcc lt cr gt Parameter 0x006 Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dd dd Drive name a 64 character string Default Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 5 Position Window Size Format aa016fddddddddcc cr Parameter 0x016 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write
90. d Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Phase phase stator inductance in units of milliHenries 256 Minimum 0x0001 Value Maximum OxFFFF Value Default 6144 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 66 Command Reference Publication 2098 October 2001 Motor Thermostat Format aa03Ffddcc cr Parameter 0x03F Code Valid Function Codes 0x0 Read Working Value 0x1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for motor thermostat where 0x00 No thermostat is present 0x01 Thermostat is present Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 67
91. ddddddddcce cr Parameter 0x02B Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Preset position accelerations in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 33 Preset Position Deceleration Format aa093fnnddddddddcc cr Parameter 0x093 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x C
92. dixB Serial Command Organizes the Ultra commands in Cross References alphabetical and numerical order Appendix C Using Host Commands A short tutorial on writing host mode commands for Ultra drives The following documents contain additional information concerning related Allen Bradley products To obtain a copy contact your local Allen Bradley office or distributor For Read This Document A description of the Ultra3000 drives Ultra Family Brochure Catalog Number 2098 Information on configuring and troubleshooting your Ultra3000 Information on configuring your Ultra3000 using Ultraware Ultra3000 Digital Servo Drives Integration Manual Ultraware User Manual 2098 1 005 2098 UM001 x EN P Instructions for installing and wiring the Ultra3000 Ultra3000 Digital Servo Drives Installation Manual 2098 1 003 The following conventions are used throughout this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Words that you type or select appear in bold e When we refer you to another location the section or chapter name appears in italics Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Allen Bradley Support Preface P 3 Allen Bradley offers support services worldwide with over 75 Sales Su
93. ds without Hyperterminal or similar terminal emulator program The Host Command Window for Ultraware is shown below Host Command x Command 00061101 5 r Response 50061101 pe Close Checksum To activate the Host Command window press the Control Shift and F10 keys at the same time Ctrl Shft F10 while Ultraware is open and connected to a drive The Host Command window allows you to send host commands to the drive and it calculates and displays the checksum However you still must e convert data to hexadecimal numbers and e prefix the command string with the drive address For example to turn on Digital Output 1 and Digital Output 3 1 Locate the Digital Output Override command code 0x044 2 Enter the appropriate hexadecimal commands in the Host Command window The Digital Output data and mask fields in Ultraware will change when the host command is correctly issued Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Using Host Commands C 7 Exercise 4 Positioning This exercise outlines the sequence and commands required to Commands in Host Mode perform an index to a specified position There are several steps necessary to set the drive up and execute an index command The seven basic steps are listed below 1 2 3 The drive must be an Indexing drive e g 2098 DSD 005X Set the drive for Host Cont
94. e Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Encoder lines meter for a linear motor Minimum 4000 Value Maximum 10 000 000 Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 74 Publication 2098 October 2001 Command Reference Force Constant Format aa0E2fddddcc cr Parameter OxOE2 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x08 Invalid Function Code
95. e installation operation programming and field maintenance of the Ultra3000 using host mode commands If you do not have a basic understanding of the Ultra drive contact your local Allen Bradley representative for information on available training courses before using this product This manual describes the Rockwell Automation Allen Bradley host command set for end user interface with the Ultra drive via serial communications Use this manual for designing programming and troubleshooting host commands for serial communications with the Ultra3000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Preface Contents of this Manual Related Documentation Conventions Used in this Manual Publication 2098 October 2001 Artisan Technology Group Refer to the following listing for the descriptive contents of this installation manual Chapter Title Contents Appendix Preface Describes the purpose background and scope of this manual Also specifies the audience for whom this manual is intended Chapter 1 Communications Protocol Explains the general format of the Ultra host command protocol Chapter 2 Command Reference Describes in detail the command format and purpose of each Ultra host command AppendixA Fault Codes Lists the runtime and power up faults for the Ultra Appen
96. e values that are valid for each Ultra3000 Host Command The commands are grouped into the following sections General Commands Communications Commands Analog Operating Mode Commands Preset Operating Mode Commands Follower Operating Mode Commands Indexing Operating Mode Commands Overtravel Commands Homing Commands Motor Commands Tuning Commands Encoder Commands Digital 1 Commands Analog I O Commands Monitor Commands Fault Commands Appendix B Serial Command Cross References provides cross references between command names and parameter codes Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Publication 2098 October 2001 2 2 Command Reference General Commands Product Type Format aa000fddddddddcc cr Parameter 0x000 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Product Type Bit 0 Indexing Capability Bit 1 Non Indexing Capability Bit 2 Ultra 3000 Hardware Bit 3 Reserved Bit 4 DeviceNet Option Card Bit 5 SERCOS Option Card Bits 6 23 Unused Bits 24 31 Drive Type where 0x00 500W 230V 0x01 1 kW 230V 0x02 2 kW 230V 0x03 3 kW 230V 0x04 7 5 kW 230V 0x05 15 kW 230V 0x06 3 kW 460V 0x07 5 kW 460V 0x08 10 kW 460V 0x09 15 kW 460V 0x0A 22 kW 460V Publication 2098
97. eference Publication 2098 October 2001 Brake Inactive Delay Format aa046fddddcc cr Parameter 0x046 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Specifies the time delay between disabling the drive and activating the brake signal in units of milliseconds Negative values indicate the time that the brake signal is inactive before disabling the drive Minimum 0x8001 Value Maximum Ox7FFF Value Default 0x0000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 101 Digital Input Configuration Format aa069fnnddddddddcc cr Parameter Code 0x069 Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0 6
98. el Commands Command Reference 2 51 Positive Soft Position Limit Format aa0D8fddddddddcc cr Parameter 0 008 Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Position that when exceeded positively will cause a deceleration to zero velocity Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Default Ox7FFFFFFF Negative Soft Position Limit Format aa0D9fddddddddcc cr Parameter 0 009 Valid Function 0 0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x06 Data Below Minimum 0x08 Invalid Function
99. eration Mode 2 10 0x043 Override Mode 2 9 0 10 Overspeed Limit 2 120 0x041 Poles Revolution 2 68 0x080 Position Command 2 112 0x15D Position Comparator 2 14 0 15 Position Comparator Polarity 2 15 0x081 Position Error 2 113 0x018 Position Error Limit 2 119 0x019 Position Error Time 2 119 0x02C Position Feedback Source 2 91 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 Serial Command Cross References Publication 2098 October 2001 Parameter Code Serial Command Described on Page 0x015 Position Loop 2 87 0x013 Position Loop Kd Gain 2 86 0x014 Position Loop Kff Gain 2 86 0x012 Position Loop Ki Gain 2 85 0x011 Position Loop Kp Gain 2 85 0x194 Position Rollover Enable Disable 2 16 0x016 Position Window Size 2 5 0x017 Position Window Time 2 5 OxODA Positive Deceleration Distance 2 52 0x089 Positive Peak Current Command 2 115 0x082 Positive Peak Position Error 2 113 0 008 Positive Soft Position Limit 2 51 0x001 Power up Status 2 3 0x05C Preset Current 2 2 0 000 Preset Position 2 30 0x02B Preset Position Acceleration 2 32 0x093 Preset Position Deceleration 2 33 0x00E Preset Position Velocity 2 31 0x05B Preset Velocity 2 26 Ox0A9 Preset Vel
100. es 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Preset velocity in units of counts sec Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 0x00000000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 2 Preset Current Format aa05Cfnnddddce cr Parameter 0 05 Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value
101. hnology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 13 Setpoint Velocity Format aa06Dfddddddddec cr Parameter 0x06D Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x04 Data Below Minimum Codes 0x08 Invalid Function Code Data Fields dddddddd Setpoint velocity in units of counts second Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Default 0x0000 Setpoint Acceleration Format aa06Efddddddddcc cr Parameter OxOGE Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x05 Data Above Maximum Codes 0x08 Invalid Function Code Data Fields dddddddd Setpoint acceleration in units of counts sec sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Reset Faults Format aa06Ffcc cr Parameter Ox06F Code Valid Function 0x1 Write Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields None Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 14 Command Reference Public
102. ing Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd 0 Dual loop disabled 1 Dual loop enabled Minimum 0x00 Value Maximum 0x01 Value Default 0 Encoder Ratio Motor Format aa101fddddcc cr Parameter 0x101 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Units Motor Encoder Counts Minimum 0 8001 Value Maximum Ox7FFF Value Default 1 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 92 Command Reference Publication 2098
103. inimum 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddd Master encoder counts for the specified gear ratio Minimum 0x0001 Value Maximum Ox7FFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 0x0001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 35 Motor Gear Ratio Format aa01Afnnddddcc cr Parameter 0x01A Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception 0x01 Invalid Data Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddd Motor encoder counts for the specified gear ratio This value must be nonzero Minimum 0x8001 Value Maximum Ox7FFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 0x0001 P
104. ion 1 2 parameter 1 1 command format 1 1 communication commands 2 17 contents of manual P 2 conventions used in this manual P 2 cross references to commands B 1 D digital I O commands 2 98 E encoder commands 2 91 F fault commands 2 119 follower operating mode com mands 2 34 format of commands 1 1 G general commands 2 2 H homing commands 2 54 host command window C 6 host commands address field 1 1 analog I O 2 103 analog operating mode 2 20 calculating checksum C 3 checksum field 1 2 command fields 1 1 command format 1 1 Index communications 2 17 cross reference alphabetical order B 11 numerical order B 1 cross reference B 1 data field 1 2 digital I O 2 98 encoder 2 91 exception response 1 3 fault 2 119 follower operating mode 2 34 formatting C 1 function field 1 2 general 2 2 homing 2 54 indexing operating mode 2 38 monitor 2 107 motor 2 62 overtravel 2 51 parameter field 1 1 preset operating mode 2 26 sorted alphabetically by com mand B 11 numerically by parame ter code B 1 hyperterminal C 2 indexing commands 7 indexing operating mode com mands 2 38 M monitor commands 2 107 motor commands 2 62 O overtravel commands 2 51 P positioning commands C 7 preset operating mode com mands 2 26 purpose of this manual P 1 Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w
105. ion Filter 0 1 Excess velocity error 0 1 Sensor not assigned 0x1 Motor speed limit exceeded 0 1 Axis homed 0 1 Blob or Smart encoder parameter error 0 1 Encoder output frequency limit exceeded m oO BB S S a 0 1 Encoder communications error Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Fault Codes Fault Description of Runtime Fault Ox1F Encoder data corruption error 0x20 Encoder input frequency limit exceeded 0x21 Absolute Position Exceeds Position Rollover 0x22 Ground Short Circuit 0x23 Soft Start fault 0x24 Drive Module Overtemperature 0x25 AC Input Phase Loss Power up Faults Fault Description of Power up Fault 0x33 Boot firmware checksum error 0x34 Main firmware checksum error 0x35 User area uninitialized 0x36 Non volatile memory unreadable 0x37 User parameter checksum bad 0x38 Watchdog timeout 0x39 Gate array watchdog timeout Ox3A Reserved Ox3B Reserved Ox3C Mfg parameter area uninitialized Ox3D Reserved Ox3E Manufacturing checksum bad Ox3F Reserved 0x40 Reserved 0x41 Reserved 0x42 Reserved 0x43 Reserved 0x44
106. isantg com Tuning Commands Command Reference 2 85 Position Loop Kp Gain Format aa011fddddcc cr Parameter 0x011 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 0x0000 Value Maximum OxOFFF Value Default 0x0200 Position Loop Ki Gain Format aa012fddddec lt cr gt Parameter 0x012 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 0x0000 Value Maxim
107. it Bit 18 Follower enable Bit 19 Forward enable Bit 20 Reverse enable Bit 21 Operation mode override Bit 22 Position Strobe Bit 23 Home Sensor Bit 24 Unused Bit 25 Start index Bit 26 Define home Bit 27 Registration Sensor Bit 28 Remove COMMAND offset Bit 29 Start homing Bit 30 Fault reset Bit 31 Drive Enable Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 108 Command Reference Publication 2098 October 2001 Run Status Format aa075fddcc cr Parameter 0x075 Code Valid Function Codes 0x0 Read Working Value Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Run status indicates if the drive is faulted enabled or disabled where OxFF Disabled and not faulted 0x00 Enabled 0x01 OxFE Faulted with error code as defined in Appendix A Digital Input Status Format aa076fddddcc cr Parameter 0x076 Code Valid Function Codes 0x0 Read Working Value Valid Exception Codes 0x08 Invalid Function Code Data Fields dddd Digital input status A bit set indicates the input is active with bit definitions as follows Bit O Input 1 Bit 1 Input 2 Bit 2 Input 3 Bit 3 Input 4 Bit 4 Input 5 Bit 5 Input 6 Bit 6 Input 7 Bit 7 Input 8 Artisan Technology Group Quality In
108. itive Deceleration Distance 2 52 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 Serial Command Cross References Publication 2098 October 2001 Parameter Code Serial Command Described on Page OxODB Negative Deceleration Distance 2 52 OxODC Reserved 0 000 Soft Overtravel Enable Disable 2 53 OxODE Motor Type 2 71 OxODF Encoder Type 2 72 OxOEO Startup Commutation 2 73 OxOE1 Encoder Lines Meter 2 73 2 Force Constant 2 74 OxOE3 Electrical Cycle Length 2 74 Ox0E4 Motor Mass 2 15 0 0 5 Motor Flux Saturation 2 76 0 0 Maximum Linear Speed 2 77 7 Motor Thermal Resistance Winding to 2 79 Ambient OxOE8 Motor Thermal Resistance Winding to 2 78 0 0 9 Motor Thermal Capacitance Winding to 2 81 Ambient OxOEA Motor Thermal Capacitance Winding to 2 80 Encoder OxOEB Motor Model 2 81 OxOEC Motor Rated Voltage 2 82 OxOED Motor Encoder Interpolation 2 94 OxOEE Encoder Output Type 2 95 OxOEF Maximum Encoder Output Frequency 2 96 OxOFF Load Encoder Lines Per Meter 2 93 0 100 Load Encoder Lines Per Revolution 2 93 0x101 Encoder Ratio Motor 2 91 0x102 Encoder Ratio Load 2 92 0x103 Load Encoder Type 2 9
109. le Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x06 Data Below Minimum 0x08 Invalid Function Code Data Fields dddddddd Homing velocity in units of counts second Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Default 100 000 Homing Acceleration Format aa0C7fddddddddcc cr Parameter 0x0C7 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Homing acceleration and deceleration in units of counts second second Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Default 100 000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Com
110. lues for each character in the command string Refer to ASCII Conversions on page C 8 for the ASCII values Hex Character 0 0 0 6 1 1 0 1 C ASCII Value 48 48 48 54 49 49 48 49 ASCII Sum 96 144 198 247 296 344 393 B Subtract 393 from 256 256 393 137 C Convert 137 to hexadecimal 137 OxFFFFFF77 Hex Note Use the Windows calculator feature to convert 137 to a hex value The calculator is in the Accessories section Be sure to switch it to scientific functions 2 Assemble the complete command by appending the two least significant digits of the checksum hex value 77 to the end of the command string and prefixing the string with a colon Command String 0006110177 3 Type the command string into Hyperterminal followed by the Enter key The Ultra3000 drive is now ready to accept velocity commands Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Exercise 2 Controlling Speed in Host Mode Encoder Conversion Hex Conversion Hex Character ASCII Value ASCII Sum Hex Conversion Using Host Commands 0 5 This exercise issues a host command to set the speed of the motor It builds on the Ultra family command previously issued to place the drive in velocity set point control mode The command string parameters to set the motor speed to 500 rpm are Note The numbers are hexadecimal Com
111. ly When the Ultra family drive receives a command it verifies that the checksum is correct before acting on the data To calculate the checksum value you must obtain the ASCII value of each character in the command string A decimal to ASCII conversion table is on page 8 For example the ASCII value for the number 5 is 53 To calculate the checksum value you must add together all of the ASCII values for the numbers or letters in the command you want to send subtract this value from 256 convert the result to a hexadecimal number and then use only the last two digits It may seem complicated but after an exercise or two it will become clear Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com C 4 Using Host Commands Exercise 1 Enabling This exercise transmits the command that places the drive in the Setnoint Velocitv Control setpoint velocity Host Control Mode which allows the drive to accept p y velocity commands using host commands The command string parameters to enable the Setpoint Velocity Host Control Mode are Note The numbers are hexadecimal Command String 00061101 Parameters CC Checksum 01 Data 1 Function 061 Parameter 00 Drive Address 1 Calculate the checksum Note The colon that signifies the beginning of a command is ignored when calculating the checksum A Sum the ASCII va
112. m Codes 0x08 Invalid Function Code Data Fields dd Index to be started when in setpoint indexing host control mode Minimum 0x00 Value Maximum Ox3F Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 40 Command Reference Publication 2098 October 2001 Index Type Format aa0AEfnnddce cr Parameter OxOAE Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dd Index type code for the specified index where 0x00 Incremental 0x01 Absolute 0x02 Registration 0x03 Jog Minimum 0x00 Value Maximum 0x03 Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 0x00 Artisan Technology G
113. mand Reference 2 57 Offset Move Distance Format aa0C8fddddddddce cr Parameter 0x0C8 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x06 Data Below Minimum 0x08 Invalid Function Code Data Fields dddddddd Specifies how far the axis will be from the marker or sensor for Home to Sensor after the homing procedure is complete in units of counts Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Default 0x00000000 Home Position Format aa0C9fddddddddce cr Parameter 0x0C9 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x06 Data Below Minimum 0x08 Invalid Functio
114. mand String 0006D100012EBCcc Parameters CC Checksum 00012EBC Data 1 Function 06D Parameter 00 Drive Address 1 Convert 500 rpm to an 8 character hexadecimal value Assume a standard encoder with 2000 lines per revolution 8000 counts rev to calculate the hexadecimal data value 1 rpm 8000 counts minute or 155 counts second 500 rpm 77 500 counts second or 0 12 hex 2 Calculate the checksum and convert to hexadecimal by subtracting 760 from 256 256 760 504 and converting 504 to hex OxFFFFFE08 0 0 0 6 D 1 0 0 0 1 2 E B 20 48 48 48 54 68 43 48 48 48 49 50 69 66 67 96 144 198 218 267 315 363 411 508 558 627 693 760 256 760 OxFFFFFEO8 Hex 3 Prefix the string with a colon and append the two least significant digits of the hex value 08 to the end of the command string Command String 0006D100012EBC08 4 Type the command string into Hyperterminal followed by the Enter key The motor will rotate at 500 rpm when the drive is enabled 5 Stop the motor using the same command by setting the speed to zero 0 rpm Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com C 6 Using Host Commands Exercise 3 Using Ultraware s Host Command Window Publication 2098 October 2001 The Ultraware software package allows you to send host mode comman
115. me Current Command Reference 2 61 Format aal 5Ffddddec lt cr gt Parameter Ox15F Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x04 Data Below Minimum Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Current value used when homing to a current setting in units of Amps 128 If the commanded current is equal to or greater than this value the homing sequence is terminated or changed to searching for a marker Minimum 0x0001 Value Maximum Ox7FFF Value Default 128 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 62 Command Reference Motor Commands Publication 2098 October 2001 Encoder Lines Revolution Format aa037fddddcc cr Parameter 0x037 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to
116. mode of operation is particularly useful when the user wishes to write their own custom program to augment or replace Ultraware software Commands that are sent to the Ultra family drive must follow a specific format Each command line starts with a colon followed by a two digit drive address a three digit parameter a single digit function command data of a variable length a two digit checksum and is finalized with a carriage return cr The command format is shown below and is more fully explained in Communications Protocol on page 1 1 Start Address Parameter Function Data Checksum End aa ppp f d d cc cr 0006110177 cr is an example of a complete command string This command communicates to the drive with address 00 issues command code 061 host control mode function code 1 write working value with data 01 setpoint velocity control mode and validates communication of the command with a checksum of 77 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com C 2 Using Host Commands Before You Begin Publication 2098 October 2001 Preparing your Computer and Ultra3000 Drive Verify the following e Close the Ultraware program e Disable the Ultra family Opening Hyperterminal This exercise utilizes the Microsoft Windows Hyperterminal program to communicate as a dumb termin
117. mum 0x01 Value Default 0x00 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 1 Motor Type Format aa0DEfddce cr Parameter OxODE Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Motor type where 0x00 Rotary 0x01 Linear Minimum 0x00 Value Maximum 0x03 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 72 Command Reference Publication 2098 October 2001 Encoder Type Format aa0DFfddce cr Parameter OxODF Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Val
118. n 2 112 Ox07F Auxiliary Encoder Position 2 112 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Serial Command Cross References Parameter Code Serial Command Described on Page 0x080 Position Command 2 112 0x081 Position Error 2 113 0x082 Positive Peak Position Error 2 113 0x083 Negative Peak Position Error 2 113 0x084 Velocity Command 2 113 0x085 Velocity Motor 2 114 0x086 Velocity Error 2 114 0x087 Current Command 2 114 0x088 Average Current 2 114 0x089 Positive Peak Current Command 2 115 0x08A Negative Peak Current Command 2 115 0x08B Bus Voltage 2 115 0x08C Reserved 0 080 Current Feedback 2 116 Ox08E U Phase Current 2 116 W Phase Current 2 116 0x090 Reserved 0x091 0x092 Motor Temperature 2 116 0x093 Preset Position Deceleration 2 33 0x094 Encoder Status 2 109 0x095 Standard Motor Flag 2 70 0x096 Reserved 0x097 0x098 0x099 0x09A 0 09 0x09C 0 09 0 09 0x09F 0x0A0 0x0A1 0 0 2 3 0 0 4 0x0A5 0x0A6 0 0 7 0x0A8 Analog Acceleration Enable Disable 2 25 Ox0A9 Preset Velocity Accel Decel Limit Enable 2 29 Disable Ox0AA Motor Thermal Protection Enable 2 69 Ox0AB Rotation Direction 2 36 0
119. n Code Data Fields dddddddd Home position at the completion of a homing procedure in units of counts Minimum 0 80000001 Value Maximum Ox7FFFFFFF Value Default 0 00000000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 58 Command Reference Start Homing Format aa0CDfddcc cr Parameter Ox0CD Code Valid Function Write Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Homing Backoff Enable Disable Format aa0CAfddce cr Parameter Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Enable disable control for home sensor backoff where 0x00 Disable home sensor backoff 0x01 Enable home sensor backoff Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artis
120. n Code Data Fields dddddddd Inertia of a rotary motor in units of Kg cm cm 65536 Minimum 0x00000001 Value Maximum OxFFFFFFFF Value Default 49807 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 65 Motor Resistance Format aa03Dfddddcc cr Parameter 0x03D Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Phase phase stator resistance in units of Ohms 256 Minimum 0x0001 Value Maximum OxFFFF Value Default 998 Motor Inductance Format aa03Efddddcc cr Parameter OxO3E Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Rea
121. n Loop Gain Vacca act acre eee 9 aio ed 2 86 Position Loop We oaa 4 heh 44 43 48483806 X EX 2 87 Velocity Loop P Gain qd cedo dp dod e 65 2 87 Velocity Loop slide uote A OR REC 2 88 Velocity Loop D Gain naana iere Vo ete 2 88 Low Pass Filter Bandwidth asc 4090 peak peo doen 2 89 Low Pass Filter Enable Disable 2 90 Encoder Commands ee 444i hy ae X No a 2 01 Position Feedback RR 2 91 Encoder Ratio Motor 21468 e hielo 2 91 Encoder Ratio Load RR e ed ow 2 92 Load Encoder Wy peri is Cees 2 92 Load Encoder Lines Per Revolution 2 03 Load Encoder Lines Per ssi an a 2 03 Motor Encoder Interpolation o wed x 2 94 Encoder Output i asco or donde RO FR FCR e 2 95 Maximum Encoder Output Frequency 2 96 Encoder Output Divider 2 97 Marker Output Gating Lek e452 ews 2 97 Digital I O Commands 6 5 04 4 ed RR d RR RR 2 98 Digital Output Override iacu 44 004 xo ex ER E 2 98 Brake Active Delay sac Rer Y RA 2 99 Brake Inactive Delay pee pene KR Rn 2 100 Digital Input Configuration oo od ees 2 101 Digital Output Configuration 29 yv rte 2 102 Analog I O Commands socer e eRe WEAR He 229 2 103 Analog Output Configuration 2 103 Analog Output Offset kg ee ioe eo ek
122. ng Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x06 Command Disabled when Drive is Enabled 0x08 Invalid Function Code Data Fields dd Operation mode where 0x00 Analog velocity command 0x01 Analog current command 0x02 Preset velocity 0x03 Preset current 0x04 Follower auxiliary encoder 0x05 Follower step direction 0x06 Follower step step pulses 0x07 Indexing 0x08 Analog position 0x09 Preset position Minimum 0x00 Value Maximum 0x08 Value Default 0x00 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 11 Host Control Mode Format aa061fddcc cr Parameter 0x061 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x05 Data Above Maximum Codes 0x06 Command Disabled when Drive is Enabled 0x08 Invalid Function Code Data Fields dd Host control mode where 0x00 Normal mode 0x01 Setpoint velocity 0x02 Setpoint current 0x03 Host index 0x04 0 0 Reserved Minimum
123. ocity Accel Decel Limit Enable 2 29 Disable 0x05F Preset Velocity Acceleration Limit 2 28 0x060 Preset Velocity Deceleration Limit 2 28 0x000 Product Type 2 2 0x06A Reset Drive 2 11 0x06F Reset Faults 2 13 0x079 Reset Peaks 2 111 0x10A Reset Serial Port 2 19 0x004 Reset User Parameters to Factory Defaults 2 4 0x030 Reverse Current Limit 2 8 0x0AB Rotation Direction 2 36 0x075 Run Status 2 108 0x06E Setpoint Acceleration 2 13 0x06C Setpoint Current 2 12 0x06D Setpoint Velocity 2 13 0x01D Slew Limit 2 36 0x01E Slew Limit Enable Disable 2 37 0x0DD Soft Overtravel Enable Disable 2 53 0x023 Speed Window Size 2 6 0x095 Standard Motor Flag 2 70 0x0CD Start Homing 2 58 0x070 Start Index 2 38 0x0E0 Startup Commutation 2 73 0x03B Torque Constant 2 64 0x11F Total Moving Mass 2 75 0x025 Up to Speed Limit 2 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 15 Parameter Code Serial Command Described on Page 0x08E U Phase Current 2 116 0x031 User Current Limit 2 121 0x084 Velocity Command 2 113 2 2 0x086 Velocity Error Ox10F Velocity Error Limit 0x027 Velocity Error Time 2421 0x021 Velocity Loop D Gain 2 88 0x020 Velocity Loop Gain 2 88 0x01F Velocity Loop P Gain 2 87 0x085 Velocity Motor 2 114 0x08F W Phase Current 2 116 0x022 Zero Speed Limit 2 6 0x005 Reserved 0x007 0x008 0x009 0x00A 0x00B 0x00C 0x00F 0x010
124. ode Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Index registration distance for the specified index in units of counts Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x3F Index Value Default 1000 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 43 Index Velocity Format aa0B1fnnddddddddce cr Parameter 0x0B1 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8
125. og output Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Analog Output Override Value Format aa04Ffddddcc cr Parameter Ox04F Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x04 Data Below Minimum Codes 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog output override value in mV Minimum 10000 Value Maximum 10000 Value Default 0 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 107 Monitor Commands Drive Status Format aa073fddddddddcc cr Parameter 0x073 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Drive status A bit set indicates the function is active with bit definitions as follows Bit 0 In position Bit 1 Within position window Bit 2 Zero speed Bit 3 Within speed window Bit 4 Forward current limit Bit 5 Reverse current limit Bit 6 Up to speed Bit 7 Enabled Bit 8 Bus charged Bit 9 Fault disable Bit 10 Fault decel disable Bit 11 Fault ignore Bit 12 Fault indicate Bit 13 Overtravel exceeded Bit 14 Brake Bit 15 Ready Bit 16 Set preset position Bit 17 Integrator inhib
126. opy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Preset position decelerations in units of counts sec Sec Minimum 0x00000000 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array 0x07 Index Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 34 Follower Operating Mode Commands Publication 2098 October 2001 Command Reference Master Gear Ratio Format aa01Bfnnddddce cr Parameter 0x01B Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below M
127. otor maximum speed If the velocity error exceeds the velocity error limit for greater than the velocity error time a fault will be generated Minimum 1 Value Maximum 100 Value Default 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 121 Velocity Error Time Format aa027fddddcc cr Parameter 0x027 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x08 Invalid Function Code Data Fields dddd Velocity error time in units of mS If the velocity error exceeds the velocity error limit for greater than the velocity error time a fault will be generated Minimum 0x0000 Value Maximum OxFFFF Value Default 100 User Current Limit Format aa031fddddcc cr Parameter 0x031 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Wo
128. pport Offices 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone plus Allen Bradley representatives in every major country in the world Local Product Support Contact your local Allen Bradley representative for e Sales and order support e Product technical training e Warranty support e Support service agreements Technical Product Assistance If you need to contact Allen Bradley for technical assistance please review the maintenance information in the Ultra3000 Digital Servo Drives Installation Manual first then call your local Allen Bradley representative For the quickest possible response please have the catalog numbers of your products available when you call Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Preface Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Chapter 1 Introduction Command Format Host Command Description Communications Protocol The drive command protocol is similar to others in the industry It is a master slave protocol where the host computer is the master and the drive is the slave This chapter provides details on the following aspects of the Ultraware Serial Communications Protocol e Command Format
129. ption Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Load encoder lines meter Minimum 4000 Value Maximum 10 000 000 Value Default 100 000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 94 Publication 2098 October 2001 Command Reference Motor Encoder Interpolation Format aa0EDfddcce cr Parameter OxOED Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Interpolation from lines to counts of a sine cosine encoder where 0 1 2 16 32x32 4 x64 5 x128 6 x256 7 xb12 8 1024 0 00 Value Maximum 0x08 Value Default 0x06 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
130. put Format aa07Cfddddcc cr Parameter 0x07C Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd A D converter value after scaling and offsetting of the analog ILIMIT input in units of mV Ranges from 10000 to 10000 mV Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 112 Command Reference Analog Output Format aa07Dfddddcc cr Parameter 0x07D Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Analog output value in units of mV Ranges from 10000 to 10000 mV Motor Position Format aa07Efddddddddcc cr Parameter 0 07 Valid Function 0 0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Motor encoder feedback position in units of counts Auxiliary Encoder Position Format aa07Ffddddddddcc cr Parameter 0 07 Valid Function 0 0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Auxiliary encoder position in units of counts Position Command Format aa080fddddddddcc cr Parameter
131. responses are as follows Response Data 01 Exception Type Invalid Data Description The command data parameter was unacceptable and the parameter was not changed in the drive 02 Command Not Enabled The command is disabled and is dependent on another command for enabling 03 EEPROM Write Error The command required a write to EEPROM and the data could not be written 04 Data Below Minimum The command data was less than the minimum value and the parameter was not changed in the drive 05 Data Above Maximum The command data was greater than the maximum value and the parameter was not changed in the drive 06 Command Disabled When Drive is Enabled The command cannot be complied with because the drive is enabled 07 Invalid Array Index The array index is out of range 08 Invalid Function Code The host function code was not recognized by the drive 09 Invalid Parameter Number The host parameter number was not recognized by the drive Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 4 Communications Protocol Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference Chapter 2 This chapter defines th
132. rical cycle length limit exceeded Bit 15 Overtravel used only for SERCOS drives Bit 16 User specified current fault Bit 17 Motor overspeed Bit 18 Excess following error Bit 19 Motor encoder state error Bit 20 Auxiliary encoder state error Bit 21 Motor Thermal Protection Filter Bit 22 IPM Thermal Protection Filter Bit 23 Excess velocity error Bit 24 Sensor not assigned Bit 25 Motor speed limit exceeded Bit 26 Axis not homed Bit 27 Blob or Smart encoder parameter error Bit 28 Encoder output frequency limit exceeded Bit 29 Encoder communications error Bit 30 Encoder data corruption error Bit 31 Encoder input frequency limit exceeded Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 123 Extended Fault Status Format aal 9Efddddddddec lt cr gt Parameter 0 19 Valid Function 0 0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Extended fault status where a particular bit set indicates a fault Bit 0 Absolute position exceeds position rollover Bit 1 Ground fault Bit 2 Soft start fault Bit 3 Drive module overtemperature Bit 4 AC input phase loss Bit 5 Reserved Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Reserved Bit 10 Reserved Bit 11 Reserved Bit 1
133. rking Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x08 Invalid Function Code Data Fields dddd User current limit in units of Amps 128 If the average current exceeds this value a fault will be generated Minimum 0 0000 Value Maximum Ox7FFF Value Default Ox7FFF Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 122 Command Reference Fault Status Format aa074fddddddddcc cr Parameter 0x074 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddddddd Fault status where a particular bit set indicates a fault Bit 0 Non volatile memory endurance exceeded Bit 1 Position change exceeds position rollover 2 Bit 2 Absolute feedback range exceeded Bit 3 Motor thermostat Bit 4 IPM hardware fault Bit 5 Hardware overtravel SERCOS only Bit 6 Motor encoder channel B line break Bit 7 Motor encoder channel A line break Bit 8 Bus undervoltage Bit 9 Bus overvoltage Bit 10 Illegal hall state Bit 11 Home search failed Bit 12 Home position outside limits Bit 13 Option card communication error Bit 14 Elect
134. rol Mode Host Indexing 0x061 Select the host mode index that you want to be to executed 0x0B9 Set the index velocity acceleration and deceleration 1 Ox0B2 2 Set the index type incremental absolute jog or registration OxOAE Set the index distance position OxOAF Start the index by sending the Start Index command 0x0B8 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com C 8 Using Host Commands ASCII Conversions Keyboard ASCII Value Keyboard ASCII Value Character decimal Character decimal 0 48 W 87 1 49 X 88 2 50 Y 89 3 51 Z 90 4 52 a 97 5 53 b 98 6 54 C 99 7 55 d 100 8 56 e 101 9 57 102 A 65 g 103 B 66 h 104 C 67 i 105 D 68 j 106 69 k 107 F 70 l 108 G 71 m 109 H 72 n 110 l 73 0 111 74 112 K 75 q 113 L 76 r 114 M 77 5 115 N 78 t 116 0 79 U 117 P 80 V 118 0 81 W 119 R 82 X 120 5 83 y 121 T 84 2 122 U 85 58 V 86 64 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com analog I O commands 2 103 analog operating mode 2 20 ASCII conversion table C 8 C command fields address 1 1 checksum 1 2 data 1 2 exception response 1 3 funct
135. roup Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 41 Index Distance Position Format saa0AFfnnddddddddec lt cr gt Parameter OxOAF Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dddddddd Index distance or position for the specified index in units of counts Minimum 0x80000001 Value Maximum Ox7FFFFFFF Value Minimum Array 0x00 Index Value Maximum Array Index Value Default 1000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 42 Command Reference Publication 2098 October 2001 Index Registration Distance Format aa0BOfnnddddddddce cr Parameter OxOBO C
136. rror 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog current scale in units of percentage of the minimum of the motor intermittent current rating and drive intermittent current rating per 10 Volts Minimum 200 200 Value Maximum 200 200 Value Default 100 100 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 23 Analog Current Offset Format aa049fddddcc cr Parameter 0x049 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Analog current offset in units of milliVolts Minimum 10000 Value Maximum 10000 Value Default 0 Analog Acceleration Limit Format aa05Dfddddddddcc cr Parameter 0x05D Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3
137. rumentation Guaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 3 Serial Command Described on Page 0x052 Drive Address 2 18 0x053 Broadcast Address 2 19 0 054 Reserved 0x055 0x056 0x057 0x058 Auto start Indexing 2 38 0x059 Encoder Output Divider 2 97 0x05A Operation Mode 2 10 0 058 Preset Velocity 2 26 0x05C Preset Current 2 2 0 05 Analog Acceleration Limit 2 23 Ox05E Analog Deceleration Limit 2 24 Ox05F Preset Velocity Acceleration Limit 2 28 0x060 Preset Velocity Deceleration Limit 2 28 0x061 Host Control Mode 2 11 0x062 Reserved 0x063 0x064 0x065 0x066 0x067 0x068 0x069 Digital Input Configuration 2 101 0x06A Reset Drive 2 11 0x06B Drive Enable Disable 2 12 0x06C Setpoint Current 2 12 0x06D Setpoint Velocity 2 13 Setpoint Acceleration 2 13 Reset Faults 2 13 0x070 Start Index 2 38 0x071 Define Home 2 54 0x072 Reserved 0x073 Drive Status 2 107 0x074 Fault Status 2 122 0x075 Run Status 2 108 0x076 Digital Input Status 2 108 0x077 Digital Output Status 2 109 0x078 Reserved 0x079 Reset Peaks 2 111 0x07A Analog Command Input 2 111 0 07 Reserved 0x07C Analog Current Limit Input 2 111 0x07D Analog Output 2 112 0 07 Motor Positio
138. should be overridden The bit definitions are Bit 0 Transistor Output 1 Bit 1 Transistor Output 2 Bit 2 Transistor Output 3 Bit 3 Transistor Output 4 Bit 4 Relay Output Bit 5 Relay Output Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 99 Brake Active Delay Format aa045fddddcc cr Parameter 0x045 Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Specifies the time delay between enabling the drive and activating the brake signal in units of milliseconds Negative values indicate the time that the brake signal is active before enabling the drive Minimum 0x8001 Value Maximum Ox7FFF Value Default 0x0000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 100 Command R
139. strumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 109 Digital Output Status Format aa077fddddcc cr Parameter 0x077 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Digital output status A bit set indicates the output is active with bit definitions as follows Bit 0 Output 1 Bit 1 Output 2 Bit 2 Output 3 Bit 3 Output 4 Bit 4 Relay Output Encoder Status Format aa094fddddcc cr Parameter 0x094 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Encoder input status A bit set indicates the input is active with bit definitions as follows Bit 0 Channel IX Bit 1 Channel BX Bit 2 Channel AX Bit 3 Hall S3 Bit 4 Hall 52 Bit 5 Hall 51 Bit 6 Channel IM Bit 7 Channel BM Bit 8 Channel AM Bit 9 Thermostat Bit 10 Negative overtravel Bit 11 Positive overtravel Artisan Technology Group Quality Instrumentation G Publication 2098 October 2001 uaranteed 888 88 SOURCE www artisantg com 2 110 Command Reference Encoder Temperature Format aa18Ffddcc cr Parameter Ox18F Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Mea
140. sured temperature of a smart encoder in units of C Minimum 0 Value Maximum 125 Value Index Number Format aaDACfddcc cr Parameter Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Index current executing in the range 0x00 to Ox3F Monitor Index Count Format aaDADfddddcc cr Parameter Ox0AD Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Batch count of index current executing Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 111 Reset Peaks Format aa079fcc cr Parameter 0x079 Code Valid Function 0x1 Write Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields None Resets the peak position error and peak current variables to zero Analog Command Input Format aa07Afddddcc cr Parameter 0x07A Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd A D converter value after scaling and offsetting of the analog COMMAND input in units of mV Ranges from 10000 to 10000 mV Analog Current Limit In
141. the drive receives the command without a communication error the response is in the same format as the host command The Address field contains the drive address so the host can verify the proper drive responded Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Communications Protocol 1 3 The Parameter field of the response is the same as that of the command unless the drive is unable to execute the command in which case it returns an exception response Examples of exception causes are invalid function number illegal data etc An exception response is generated from the command parameter code by setting the most significant bit of the parameter code field Equivalently it is generated by adding 0x800 to the command parameter code The Function field of the response is the same as the command The Data field contains data requested from the drive if any If an exception occurred the data field is made up of two characters which identify the type of exception The Checksum field is generated in the same manner as in the host command with the sum of the Address Parameter Function Data and Checksum field set equal to zero Exception Responses If a command is received by the drive without a communication error but cannot be processed normally an exception response is generated The possible exception
142. tions codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for tbe Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohibited Throughout this manual we use notes to make you aware of safety considerations Identifies information 2 t practices or ATTENTION de e ormation about pra circumstances that can lead to personal injury death property damage or economic loss Attention statements help you to e identify a hazard e avoid a hazard e recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a registered tr
143. to Non Volatile Value 0x6 Read Default Value 0x7 Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Read Minimum Array Index Value OxB Read Maximum Array Index Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields nn Array index dd Position comparator polarity where 0 Active for positions greater than the position comparator value 1 Active for positions less than the position comparator value Minimum Array 0x00 Index Value Maximum Array 0x01 Index Value Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 16 Command Reference Publication 2098 October 2001 Machine Cycle Size Format aa193fddddddddcc cr Parameter 0x193 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value
144. tor 2 Bit 16 In position Bit 17 Within position window Bit 18 Zero speed Bit 19 Within speed window Bit 20 Forward current limit Bit 21 Reverse current limit Bit 22 Up to speed Bit 23 Enabled Bit 24 Bus charged Bit 25 Fault disable Bit 26 Fault decel disable Bit 27 Fault ignore Bit 28 Fault indicate Bit 29 Unused Bit 30 Brake Bit 31 Ready Minimum Array Index 0x00 Maximum Array Index 0x04 Default 0x00000000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 103 Analog 1 0 Commands Analog Output Configuration Format aa04Bfddcc cr Parameter Ox04B Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x05 Data Above Minimum 0x07 Invalid Array Index 0x08 Invalid Function Code Data Fields dd Specifies the signal to be mapped to the analog output where 0x00 None 0x01 Position Command 0x02 Position Error 0x07 Position Feedback 0x
145. uaranteed 888 88 SOURCE www artisantg com Serial Command Cross References B 19 Parameter Code Serial Command Described on Page 0x16B Reserved 0 16 0x16D 0 16 0x16F 0x170 0x171 0x172 0x173 0x174 0x175 0x176 0x177 0x178 0x180 0x181 0x182 0x183 0x184 0x185 0x186 0x187 0x188 0x189 0x18A 0x18B 0x18C 0x18D 0x190 0x191 0x192 0x195 0x196 0x197 0x198 0x199 0x19A 0 19 0x19C 0 190 0x19F Publication 2098 RM003A EN P October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 20 Serial Command Cross References Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Objectives Host Mode Communications Overview Appendix C Using Host Commands This exercise introduces you to the Ultra family drive host mode serial communications protocol Each host mode command requires three steps 1 Select the appropriate command code 2 Format the command correctly 3 Calculate the checksum After completion you will be able to write host mode commands A Ultra family drive can be set up and operated from a serial communications terminal such as a computer using the host mode commands This
146. ublication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 36 Command Reference Publication 2098 October 2001 Rotation Direction Format aa03Afddcc cr Parameter Ox0AB Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Master encoder rotation direction where 0x00 Normal 0x01 Reverse Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Slew Limit Format aa01Dfddddddddce cr Parameter 0x01D Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value
147. ue Valid Exception Codes 0x01 Invalid Data 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Poles per revolution of a rotary motor Only even values are acceptable Minimum 2 Value Maximum 100 Value Default 8 Hall Offset Format aa042fddddcc cr Parameter 0x042 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x05 Data Above Maximum Codes 0x08 Invalid Function Code Data Fields dddd Hall offset in units of electrical degrees Minimum 0 Value Maximum 359 Value Default 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 69 Motor Thermal Protection Enable Format aa0AAfddce cr Parameter Ox0AA Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Vol
148. ue Codes 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception 0x03 EEPROM Write Error Codes 0x04 Data Below Minimum 0x08 Invalid Function Code Data Fields dddd Scaling used for the analog output The meaning of the scale value is dependent on the parameter mapped to the output as follows Position Counts Volt Variables Velocity Value Variables Ge MotorMaximumSpeed Volt Current Value Variables 2 1 SysAmps Volt Minimum 0x8001 Value Maximum Ox7FFF Value Default 0x0000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 106 Command Reference Analog Output Override Enable Disable Format aa04Efddmmcc cr Parameter Ox04E Code Valid Function 0x0 Read Working Value Codes 0 1 Write Working Value 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception 0x08 Invalid Function Code Codes Data Fields dd Enable disable for overriding the analog output where 0x00 Normal operation 0x01 Override the anal
149. ue 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddddddd Thermal capacitance of the motor from winding to ambient in units of Watt second degrees C 256 Minimum 0x00000001 Value Maximum Ox7FFFFFFF Value Default 0x0004CB00 Motor Model Format aa0EBfdd ddec lt cr gt Parameter OxOEB Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values Valid Exception Codes 0x03 EEPROM Write Error 0x08 Invalid Function Code Data Fields dd dd Motor model text a 32 character string Default Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 82 Command Reference Publication 2098 October 2001 Motor
150. ue 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0x9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Encoder type where 0x01 Incremental 0x02 Sine Cosine 1V Minimum 0x01 Value Maximum 0x02 Value Default 0x01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 73 Startup Commutation Format aa0EOfddce cr Parameter OxOEO Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Type of startup for sinusoidal commutation where 0x00 Self sensing 0x01 Hall inputs Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Encoder Lines Meter Format aa0E1fddddddddcc cr Parameter OxOE1 Code Valid Function Codes 0x0 Read Working Value 0 1 Writ
151. um 0x00 Value Maximum 0x01 Value Default 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 93 Load Encoder Lines Per Revolution Format aa100fddddcc cr Parameter 0x100 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0 5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Load encoder lines per revolution Minimum 100 Value Maximum 64000 Value Default 2000 Load Encoder Lines Per Meter Format saaOFFfddddddddec lt cr gt Parameter OxOFF Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exce
152. um OxOFFF Value Default 0x0000 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 86 Command Reference Publication 2098 October 2001 Position Loop Kd Gain Format aa013fddddcc cr Parameter 0x013 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x04 Data Below Minimum 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dddd Minimum 0x0000 Value Maximum OxOFFF Value Default 0x0000 Position Loop Kff Gain Format aa014fddddcc cr Parameter 0x014 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Re
153. ww artisantg com 1 2 Index R tutorial related documentation P 2 calculating checksum C 3 command format C 1 S indexing commands C 7 safety notices 3 2 positioning commands C 7 Ultraware host command T C 6 technical support local product P 3 product assistance P 3 who should use this manual P 1 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 2098 October 2001 0013 1095 001 01 Copyright 2001 Rockwell Automation All rights reserved Printed in the USA Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment
154. x08 Invalid Function Code Data Fields dd Specifies if the motor has internal limit switches where 0x00 No integral limit switches 0x01 The motor has integral limit switches Minimum 0x00 Value Maximum 0x01 Value Default 0x00 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 84 Command Reference Publication 2098 October 2001 Automatic Motor Identification Format aad59fddcc cr Parameter 0x159 Code Valid Function Codes 0x0 Read Working Value 0 1 Write Working Value 0x2 Read Non Volatile Value 0x3 Write Non Volatile and Working Values 0x4 Copy Non Volatile Value to Working Value 0x5 Copy Working Value to Non Volatile Value 0x6 Read Default Value 0x Copy Default Value to Non Volatile and Working Values 0x8 Read Minimum Value 0 9 Read Maximum Value Valid Exception Codes 0x03 EEPROM Write Error 0x05 Data Above Maximum 0x08 Invalid Function Code Data Fields dd Specifies if the motor data should be determined by communication with an intelligent encoder where 0x00 Disable automatic motor identification 0x01 Enable automatic motor identification Minimum 0x00 Value Maximum 0x01 Value Default 0x01 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www art
155. x08E Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd U phase current feedback in units of Amps 128 W Phase Current Format aa08Ffddddcc cr Parameter 0x08F Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd W phase current feedback in units of Amps 128 Motor Temperature Format aa092fddddcc cr Parameter 0x092 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Motor temperature in units of percent 128 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Command Reference 2 117 Drive Temperature Format 10814444 Parameter 0x108 Code Valid Function 0x0 Read Working Value Codes Valid Exception 0x08 Invalid Function Code Codes Data Fields dddd Drive temperature in units of percent 128 Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 118 Command Reference Operating Mode Format aa024fddcc cr Parameter 0x024 Code
156. x1 0x1 m TW PINI 0x1 N 0x1 N 0x1 N N 0x1 N 99 0x1 N 2 0x1 N 0x1 N o 0x1 N N 0x1 N co 0x1 N co 0x1 N gt 0x1 N UJ 0x1 N 0x1 N C 0x1 N m 0x1 N 0 1 e 0x1 99 hund 0x1 99 N 0x1 95 25 0x1 Co 4 0x1 99 0 1 99 o 0x1 99 N 0x1 95 co 0x1 99 co Reserved Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 18 Serial Command Cross References Parameter Code Serial Command Described on Page 0 13 Reserved 0x13B 0x13C 0x13D 0 13 Ox13F 0x140 0x141 0x142 0x143 0x144 0x145 0x146 0x147 0x148 0x149 0x14A 0x14B 0x14C 0x14D Ox14F 0x150 0x151 0x152 0x153 0x154 0x155 0x156 0x157 0x158 0x159 0x15A 0x15B 0 15 0 160 0 161 0x162 0x163 0x164 0x165 0x166 0x167 0x168 0x169 0x16A Publication 2098 October 2001 Artisan Technology Group Quality Instrumentation G
157. y ES OR here PR AE Re HED EES 2 114 Current Command asas Qo Hoe ERE dex 2 114 Ayerage C me wr sae rire TEs 6 2 114 Positive Peak Current Command 2 115 Negative Peak Current Command 2 115 Bus Voltag rode ecco Roc ao oed ERU a o dio 2 115 Current Feeback 2 116 U Phase Currents s odo a E ep ER PS 2 116 W Phase Current acce peg a REX ON RR A 2 116 Motor Temperature ud uae ee ke eee ene ated 2 116 Drive Temperature uoc deve iq deo pe cg PCR a 2 117 Operating Mode ied oo E Pre RC d 2 118 Fault Commands ian oco ote 2 119 Position Error Limit 2 0 2 0 0 00000 2 119 Position Error 2 119 Overspesd LIGUE ea ou cee D Ld 2 120 Velocity Error Limit eio d dr DES Ade ed 2 120 Velocity Error Time ag aec o9 FOR OR Je RR 2 121 User Current Limit llle 2 121 Fault State e hoe Sce IUE ende ed 2 122 Extended Fault Status veau ke mee 2 123 Appendix A Runtime Faults a d do 45544545 A 1 Power up Faults oder dier oen frm dien ao de Geta ee 2 Appendix B Commands in Numerical Order by Parameter Code esos ecb Ra ERR ERES EARS B 1 Commands in Alphabetical Order by Command Name iacu v sac cae e B 11 Publication 2098

Ultra3000™ Host Commands for Serial Communication Reference

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Ultra3000&trade; Host Commands for Serial Communication Reference

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