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SCL Manual for MSST

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1. Details Command Type BUFFERED Usage EAD WRITE Non Volatile Yes Register Access O 031 Parameter 1 Current units Amps range 0 5 0 MSST5 S 0 10 0 MSST10 S Examples Command Drive Sends Notes Cl2 Set idle current to 2 amps Cl Cl 2 36 SCL Manual for MSST S Drive Rev 1 CJ Commence Jogging Starts the motor jogging The motor accelerates up to the jog speed JS at a rate defined by the jog accel JA command then runs continuously until stopped To stop jogging use the Stop Jogging SJ command for a controlled decel rate decel rate set by JL command For a faster stop use the ST command decel rate set by AM command but be ware that if the speed or load inertia is high the drive may miss steps or fault The jogging direction is set by the last DI command Use the CS command to change jog speed and direction while jogging CS does not affect JS See also CS DI JA JL JS SJ and ST commands Command Siructure CJ Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes JS5 Set jog speed to 5 rps CJ Initiate jogging at 5 rps CS10 Change jog speed to 10 rps SJ Stop jogging ee SCL Manual for MSST S Drive Rev 1 CM Command Mode Sets or requests the Command Mode that the drive operates in Feed commands and Jog command automatically set the prop
2. 10 SCL Manual for MSST S Drive Rev 1 Command Listing This section is an alphabetical listing of all the commands available with your drive Each page in this section contains the details of one available command Below is a sample of what these pages look like with an explanation of the information you will find on each page Title shows the command s two letter command code followed by the command s name Description an explanation of what the command does and how it works Affects a summary of parameters or other commands the command affects See Also related commands Command Structure shows the command s syntax The format for this line is always the two letter command code followed by the number of parameters it uses Not all commands have parameters some commands have optional parameters and other commands always have a parameter Optional parameters are designated by I and required parameters are designated by Details shows the Command Type buffered or immediate the command s Usage Read Only Read Write or Write Only and whether the command is Non Volatile or not Non Volatile commands are saved when the Save SA command is sent If the command transfers data to a register that is accessible via the RL command that register will be shown in Register Access Also the details of the command s parameter s are shown Parameter 1 or 2 gives a brief description
3. AR Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes AR Alarm code is cleared if possible 591 SCL Manual for MSST S Drive Rev 1 AT Analog Threshold Sets or requests the analog input threshold at the AIN input that is used by the Feed to Sensor FS command The threshold value sets the analog voltage that determines a sensor state or a trigger value Affects All Feed to Sensor type commands See also AF AZ FS FM FY and FD commands Command Structure AT Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access Y 041 Parameter 1 nalog threshold value units volts range 10 000 to 10 000 default 2 5 Examples Command Drive sends Notes AT5 Analog input threshold set to 5 volts AT AT 5 a x SCL Manual for MSST S Drive Rev 1 AV Analog Offset Value Sets or returns the analog offset value of the analog input Affects All Analog input functions See also AF AP AZ CM and Feed commands Command Structure AV Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access Z 042 Parameter 1 Analog offset value units Volts range 10 000 to 10 000 default 0 Examples Command Drive sends Notes AV0 25 Set analog offs
4. Details Command Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access None Parameter 1 Decimal equivalent of binary output pattern units integer range 0 1 Examples Command Drive sends Notes IO 10 00000000 Output is low closed IO 10 00000001 Output is high open 100 Set output low closed IO1 Set output high open NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designa tions low andhigh If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 68 SCL Manual for MSST S Drive Rev 1 IP Immediate Position Requests present absolute position The position data is assigned a 32 bit value When sent out in Hexadecimal it will be 8 characters long When sent out in decimal it will range from 2147483647 to 2147483648 Command Siructure IP Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Un
5. Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Delay time units seconds range 0 32 767 default 0 2 Examples Command Drive sends Notes BEO 25 Sets brake engage delay to 250 ms BE BE 0 25 Ev SCL Manual for MSST S Drive Rev 1 BO Brake Output Defines the drive s digital output as a Brake Output The output of an MSST S drive can be assigned to one of four functions alarm output brake output motion output or tach output Each of these functions must exclusively use the output so only one function is allowed There are two ways to define the function of this output via ST Configurator or via SCL commands To set the output as a brake output use the BO command and one of the codes below NOTE Setting the BO command to 1 or 2 overrides previous assignments of this output s function Similarly if you use the AO or MO command to set the function of the output after setting the BO command to 1 or 2 usage of the output wil be reassigned and BO wil be automaticaly set to 3 There are three Brake Output states that can be defined with the BO command BOL Output is closed energized when the drive is enabled and open when the drives is disabled BO2 Output is open de energized when the drive is enabled and closed when the drive is disabled BO3 Output is not used as an Brake Output and can be used for another automatic output function or as
6. MD Details Command Type BUFFERED Usage WRITE ONLY Non Volatile No Register Access None Examples Command Drive sends Notes MD Drive turns off current to the motor 80 SCL Manual for MSST S Drive Rev 1 ME Motor Enable Restores drive current to motor If the drive cannot be enabled due to the Enable Input SI state the drive will respond with a amp which indicates that the drive could not be enabled Enabling the motor also deactivates the output when set to function as a Brake Output BO command Also enabling of the motor is delayed by the BE Brake Engage time delay when the output is set to function as a Brake Output IMPORTANT This command restores the previous mode of operation If for example the drive is operating in velocity oscillator mode the motor may immediately start moving after sending the ME command External inputs to the drive must be sequenced properly to avoid unpredicted operation Affects All motion commands See also BE BO and MD commands Command Structure ME Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes ME Motor current is restored ME amp Motor current is NOT restored check Servo Enable input Proper state 81 SCL Manual for MSST S Drive Rev 1 MN Model Number Requests the drive s Model Number Drive returns a single character that is a code for th
7. Choose a Function ioe the Output Choose a Function for EN Input allows you to define how the digital EN input will be used in your application The options available use EN as a drive enable input an alarm reset input or a general purpose input not used Choose a Function for the Output allows you to define how the drive s single digital Output will used The options available here are fault output brake output motion output tach output or general purpose output not used Once you ve set up the motor in ST configurator and have chosen SCL mode for the drive click the Download to Drive button on the main screen and exit ST Configurator Download to Drive Step 3 Get familiar with SCL commands We highly recommend the SCL Setup Utility software application for familiarizing yourself with SCL commands SCL Setup Utility can be downloaded for free from www moons com cn Launch SCL Setup Utility and connect your MSST S drive to your PC if not already connected from Step 2 To send commands to your drive simply type a command in the Command Line of SCL Setup Utility and press the ENTER key to send it Remember that all commands are capital letters so pressing the Caps Lock key first is a good tip Pressing the ENTER key in SCL Setup Utility does two things it terminates the command with a lt cr gt and automatically sends the entire string Try the example sequence below In this example note that lt ENTER
8. Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access w 071 Target velocity Parameter 1 Velocity selector units integer range 1 target velocity Examples Command Drive sends Notes IV1 IV 1000 Motor is running at 1000 rpm ME SCL Manual for MSST S Drive Rev 1 JA Jog Acceleration Sets or requests the accel decel rate for Jog moves in rev sec sec Sending JA with no number causes drive to respond with present jog accel decel rate Setting JA overwrites the both the last JA and JL values This means that to have different jog accel and jog decel values you should first send JA to set the jog accel and then send JL to set the jog decel The JA value cannot be changed while jogging To change jog speed while jogging use the CS command Affects CJ WI jogging commands See also JL JE JD JS CS CJ SJ Command Structure JA Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access K 027 Parameter 1 Jog acceleration value units rev sec sec rps s range 0 167 to 5461 167 resolution is 0 167 rps s default 100 Examples Command Drive sends Notes JA10 Set jog acceleration to 10 rev sec sec JA JA 10 74 SCL Manual for MSST S Drive Rev 1 JC Velocity Oscillator Mode Second Speed Sets or requests the second speed used in velocity oscillator mode T
9. SF500 Set step filter frequency to 500 Hz SF SF 500 101 SCL Manual for MSST S Drive Rev 1 SH Seek Home Executes the Seek Home command Requires input number and condition for the home sensor Speed is set by the last VE command Accel and decel are set by AC and DE Direction comes from the sign of the last DI command is CCW no sign is CW The SH command performs a number of operations all combined into one command The basic operation acts like a combination of the FS Feed to Sensor and FP Feed to Position commands First an FS like move is made that runs the motor until the motor reaches the home sensor When the drive sees this home sensor it does two things it records the absolute position of the home sensor and it immediately starts decelerating the motor to a stop After the motor has come to a stop the drive then does an FP like move to move the motor back to the absolute position recorded for the home sensor Another function of the SH command is that if an end of travel limit switch is encountered before the home sensor condition is met the move direction is reversed until the opposite limit is found After the opposite limit is found the move then returns to the original direction and again attempts to find the home sensor This always ensures that the motor is moving in the desired direction when the drive sees the home sensor NOTE This command requires the use of three physical sensors or switc
10. details Once the host has determined the presence of a hardware communication error the nature of the error can be retrieved using the CE command Parsing errors Parsing errors happen when a drive receives a command packet but cannot properly interpret parse the command Parsing errors can automatically generate a response packet from the drive to the host depending on the settings of the PR command see PR command Bit 2 121 SCL Manual for MSST S Drive Rev 1 Appendix B Alarm and Status Codes One of a drive s diagnostic tools is its ability to send alarm and status codes back to a host The AL Alarm Code and SC Status Code commands can be used by a host to query a drive at any time If a drive faults or sets an alarm the AL command allows the host to find out what alarm or alarms has been set Similarly the SC command allows a host to find out what the status code of a drive is at any time during drive operation A status code provides information as to whether the drive is running in position disabled homing and other conditions Both alarm and status codes can be very useful when initially setting up and integrating a servo system into your machine The Alarm and Status codes are hexadecimal equivalents of 16 bit binary words Each bit in each binary word is assigned a meaning and therefore the responses to these two commands can actually show information about more than one alarm or status condition Alarm
11. terminals of the drive The response to the IA command will then be very close to IA 3 00 oe SCL Manual for MSST S Drive Rev 1 IC Immediate Current Requests present commanded current See also CC and CI commands Command Siructure IC Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access c 051 Units 0 01 amps Examples Command Drive sends Notes With IF H IC IC 015E 3 5 amps IC IC FEA2 3 5 amps With IF D IC IC 350 3 5 amps IC IC 350 3 5 amps SCL Manual for MSST S Drive Rev 1 ID Immediate Distance Requests present relative distance from the beginning of the last move Command Siructure ID Details Command Type IMMEDIATE Usage EAD ONLY Non Volatile NO Register Access d 052 Units Steps Examples Command Drive sends Notes With IF H ID ID 00002710 10000 10000 counts into CW move ID ID FFFFD8FO 10000 10000 counts into CCW move With IF D ID ID 1 0000 10000 counts into CW move ID ID 1 0000 10000 counts into CCW move 64 SCL Manual for MSST S Drive Rev 1 IF Immediate Format Sets the data format hexadecimal or decimal for data returned using all I commands except IH IL IO and IS Data can be requested from the drive in two formats hexadecimal or decimal By default data is returned in hexadecimal because of its speed and efficiency Conversion to asci
12. 1 BD Brake Disengage Delay This command only takes effect if the BO command is set to 1 or 2 After a drive is enabled this is the time value that may delay a move waiting for the brake to disengage When beginning a move the delay value must expire before a move can take place The delay timer begins counting down immediately after the drive is enabled and the brake output is set The BD command sets a time in milliseconds that a move may be delayed Affects All Feed and Jog commands See also BE and BO commands Command Structure BD Parameter 1 Details Command Type BUFFERED Usage EAD WRITE Non Volatile YES Register Access None Parameter 1 Delay time units Seconds range 0 32 767 default 0 2 Examples Command Drive sends Notes BDO 2 Sets brake disengage delay to 200 ms BD BD 0 2 296 SCL Manual for MSST S Drive Rev 1 BE Brake Engage Delay This command only takes effect if the BO command is set to 1 or 2 After a drive is commanded to be disabled this is the time value that delays the actual disabling of the driver output When using the digital output as a brake output see BO command the output is activated immediately with the disable command then the drive the waits the delay time before turning off the driver outputs Affects All Feed and Jog commands See also BD and BO commands Command Siructure BE Parameter 1
13. 25 rpm K Jog Acceleration JA 027 Short 10 rpm sec L Jog Deceleration JL 028 Short 10 rpm sec N Continuous Current Change ase Shat Goi Anpe Current O Peak Current Idle Current 031 Short 0 01 Amps P Absolute Position Command 032 Long Steps Q RESERVED 033 Long R Steps per Rev EG 034 Short Steps rev S Actual Step Position 035 Long Steps U Change Velocity VC 037 Short 0 25 rpm V Velocity VE 038 Short 0 25 rpm X Analog Position Gain AP 040 Short ADC counts count Y Analog threshold AT 041 Short ADC counts Z Analog Offset AO 042 Short 0 001 Volts 118 SCL Manual for MSST S Drive Rev 1 Appendix A Host Serial Communications When an MSST S stepper drive from MOONS is operating in host mode AKA SCL mode it means that a host device sends commands to the drive or drives over a serial connection and the drive executes the incoming commands Here are some examples of typical host devices A Windows based PC running MOONS software An industrial PC running a custom built or other proprietary software application A PLC with an ASCII module serial port for sending text strings An HMI with a serial connection for sending text strings The aim of this appendix is to describe the following aspects of operating an MOONS products MSST S drive in host mode General structure of host serial communications host mode Hardware wiring and connecting a host device to the serial ports of an MOONS dr
14. Change Current Sets or requests the current setting of drive Affects All Feed commands CJ SH WI jogging and Torque Mode See also PC command Command Structure CC Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access N 030 Parameter 1 Motor current units amps range 0 5 0 MSST5 S 0 10 0 MMST10 S Examples Command Drive sends Notes CC4 50 E Set current to 4 5 amps CC CC 4 5 a4 SCL Manual for MSST S Drive Rev 1 CD Idle Current Delay Time Sets or requests the amount of time the drive will delay before transitioning from full current CC to idle cur rent CI This transition is made after a step motor takes the final step of a move Operating in any form of pulse amp direction mode the drive will reset the idle current delay timer each time a step pulse is received by the drive Command Structure CD Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Delay time units seconds range D 32 767 default 0 4 Examples Command Drive sends Notes CDO 2 Idle current delay time set to 200 milliseconds CD CD 0 2 a se SCL Manual for MSST S Drive Rev 1 CE Communication Error Reads back the communication error code This can be read back when the status code indicates a communication error is p
15. D E RS Request Status code see RS com mand RV Revision Level Request e e SC Status Code hex 0000 FFFF g SCL Manual for MSST S Drive Rev 1 I O Commands Com Description NV write read Imme units range default mand only only diate AD Analog Deadband mvolts 0 255 50 AF Analog Filter integer 0 32767 14418 AG Analog Velocity Gain integer 0 32767 2400 AO Alarm Output code 1 2 3 3 AP Analog Position Gain integer 0 32767 20000 AT Analog Threshold e volts 10 000 2 5 AV Analog Offset volts 10 000 0 AZ Analog Zero Auto Zero 7 7 BD Brake Disengage Delay time seconds 0 32 767 0 2 BE Brake Engage Delay time seconds 0 32 767 0 2 BO Brake Output code 1273 3 MO Motion Output e code 1 2 3 4 FI Filter Input input 1 2 3 0 value 32767 IH Immediate High Output output 1 IL Immediate Low Output output 1 z IO Immediate Output Status Request e 7 z IS Immediate Input Status Request g z SI Enable Input EN input code 1 2 3 3 SO Set Output output 1 H L cond WI Wait for Input input 1 2 3 L H cond F R Register Commands Com Description NV write read Imme Units Range Default mand only only diate RL Register Load IMMEDIATE e RU Register Upload 7
16. Many of the commands listed in this reference function by transferring data to a drive for later use These values are stored in data registers within the drive and remain there until new commands change the values or until power is removed from the drive For example if you send the Velocity command VE1 0 a maximum move speed of 10 rev sec is placed in the data register for velocity You can then execute as many Feed to Length FL Feed to Position FP and Feed to Sensor FS commands as you d like without sending another VE command the move speed of 10 rev sec will remain in the velocity data register until you change it or until power is removed from the drive In addition to the data register for velocity there are registers for move acceleration AC command A register deceleration DE command B register and move distance DI command D register There are also registers for limit sensors DL command motor current CC command motor resolution EG command and motor position SP command See the following section on Data Register Assignments for a complete listing of data registers available in your drive Not all commands function by transferring a data value into a register Conversely not all data registers are associated with a command To access data registers that are not associated with a command you can use a register s unique character assignment See the Data Register Assignments on the following
17. and SO1L means set output 1 low A high state is represented by the H character 19 SCL Manual for MSST S Drive Rev 1 AP Analog Position Gain Sets or requests the analog input gain that relates to motor position when the drive is in analog position command mode see CM command Gain value sets the commanded position when the analog input is at the configured full scale value ST Configurator can be used to configure the analog inputs for the desired input type scaling and offsetting Affects CM22 Analog Positioning Command Mode See also AF AZ and CM commands Examples Command Drive sends Notes AP8000 Position range over full scale of analog input is 8000 steps AP AP 8000 Command Structure AP Parameter 1 Details Command Type UFFERED Usage READ WRITE Non Volatile YES Register Access X 040 Parameter 1 Analog position gain value units steps range D 32767 default 20000 Examples Command Drive sends Notes AP8000 Position range over full scale of analog input is 8000 steps AP AP 8000 M SCL Manual for MSST S Drive Rev 1 AR Alarm Reset IMMEDIATE Resets the alarm and clears the fault if faulted If fault or alarm condition still persists the alarm is not cleared Affects Alarm Code See also AL ME and MD commands NOTE Does not re enable the drive Use Motor Enable ME command to re enable drive Command Structure
18. are saved when the SA command is sent This command is useful for saving the desired defaults for subsequent power ups See which commands are Non Volatile in the Command Summary section earlier in this manual See Also RE command Command Structure SA Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes SA Save all Non volatile data registers and commands 99 SCL Manual for MSST S Drive Rev 1 SC Status Code This command is similar to the RS command except SC requests the current drive status as the Hexadecimal equivalent of a binary word Each bit in the binary word relates to a status condition see assignments below The representation of this binary word as a hexadecimal value is called the Status Code Drives can have multiple status conditions at one time and host systems can typically interpret a Hexadecimal code very quickly See Appendix B for more details on the Status Code See also RS command Command Structure SC Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None nite Hexadecimal equivalent of the binary status code word see bit assignments below Examples Command Drive sends Notes SC SC 0009 Drive is in motion and enabled Bit 3 and 0 SC SC 0004 Drive is faulted and disabled Bit 2 SC SC 0209 Drive has an alarm is in motion and is ena
19. by the H character 70 SCL Manual for MSST S Drive Rev 1 IT Immediate Temperature Requests present value of the temperature sensor on the drive The temperature reads out in 0 1 degrees Centigrade resolution The drive will fault when the temperature reaches a specified maximum value See hardware manuals for details Command Structure IT Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access t 068 Units 0 1 deg C Examples Command Drive sends Notes IT IT 275 Drive temperature is 27 5 C IT IT 310 Drive temperature is 31 0 C Ma SCL Manual for MSST S Drive Rev 1 IU Immediate Voltage Requests present value of the DC bus voltage The voltage reads out in 0 1 volts resolution The drive will fault when the DC bus voltage reaches a specified maximum value An Alarm will be set when the DC Bus voltage is less then a minimum value See user manuals for details Command Structure IU Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access u 069 Units 0 1 Volts DC Examples Command Drive sends Notes With IF H IU IU 01E2 DC supply voltage is 48 2 Volts With IF D IU IU 482 DC supply voltage is 48 2 Volts 72 SCL Manual for MSST S Drive Rev 1 IV Immediate Velocity Requests present velocity of the motor in rpm Command Structure IV Parameter 1 Details
20. for MSST S Drive Rev 1 CG Anti Resonance Filter Gain Sets or requests the anti resonance filter gain setting This setting works in conjunction with the anti resonance filter frequency setting CF to cancel instabilities due to mid band resonance NOTE We strongly suggest using ST Configurator to set this value by entering as accurate a load inertia value as possible in the motor settings window Affects Mid range performance of step motors See also CF command Command Structure CG Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Filter gain units integer number range 0 32767 default 12000 Examples Command Drive sends Notes CG800 Set anti resonance filter gain to 800 CG CG 800 35 SCL Manual for MSST S Drive Rev 1 Cl Change Idle Current Idle current is the level of current supplied to each motor phase when the motor is not moving Using an idle current level lower than the running motor current level see CC command aids in motor cooling A common level used for the idle current setting is 50 of the running current After a motor move there is a time delay after the motor takes its last step before the reduction to the idle current level takes place This delay is set by the CD command Affects Motor current at standstill See also CC PI CD Command Structure Cl Parameter 1
21. is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 49 SCL Manual for MSST S Drive Rev 1 FE Follow Encoder Puts drive in encoder following mode until the given digital or analog input condition is met The master encoder channels A and B must be wired to the STEP and DIR inputs Use the EG command before the FE command to set the following resolution or use the R register to dynamically adjust the following resolution while following When the FE command is initiated the acceleration rate AC is used to ramp the motor up to the following speed Doing this prevents extreme accelerations when the master encoder signal is already at its target velocity Furthe
22. of the parameter units shows how the parameter is interpreted by the drive range gives the acceptable range of values for the parameter and default shows the default value of the parameter Examples shows what to expect when you use this command Under Command are the command strings you would send from a host controller Note that lt cr gt is not shown after each command string in these examples but is still necessary to terminate the string Under Drive Sends are the responses from the drive no response from the drive is denoted by although if Ack Nack is turned on there will always be a response to every command sent Comments gives additional information about the results of the command string 11 SCL Manual for MSST S Drive Rev 1 AC Acceleration Rate Sets or requests the acceleration rate used in all F point to point moves in rev sec sec Affects FC FD FE FL FM FS FP FY SH Commands See also AM DE DI DC VE Commands Command Structure AC Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access A 017 Parameter 1 Acceleration rate units rev sec sec rps s range 0 167 to 5461 167 resolution is 0 167 rps s default 100 Examples Command Drive sends Notes AC100 Set Acceleration rate to 100 rev sec sec AC AC 100 AC25 Set Acceleration rate to 25 rev sec sec DE25
23. on a 2 wire or 4 wire RS 485 network the acknowledge characters are sent out under the following conditions 1 An acknowledge character is sent when the received command has an address character at the beginning 2 An acknowledge character is NOT sent when global commands commands without addresses that do not request data from the drive are used 3 Global commands that request data will cause data to be returned from the drive s This can cause data collisions if there are more than one drive on a network NOTE Always use addresses with commands in multi drop networks to avoid data collisions NOTE When possible avoid using Acknowledge characters as drive addresses in multi drop networks to prevent confusion Good command Examples Command Drive sends Notes DI8000 Drive sends normal Ack over RS 232 port only in response to global set distance to 8000 90 SCL Manual for MSST S Drive Rev 1 1D18000 1 Drive at address 1 sends normal Ack over both ports in response to address specific set distance to 8000 Bad command Examples Command Drive sends Notes VE200 25 Drive sends normal Nack over RS 232 port only in response to global set velocity to 200 rps error code 5 is sent because parameter 200 is out of range 1VE200 175 Drive at address 1 sends Nack over both ports and error code in response to address specific set velocity to 200 rps Buffered command Examples Command Drive sends Not
24. or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 113 SCL Manual for MSST S Drive Rev 1 WT Wait Time Causes a time delay in seconds The resolutions is 0 01 seconds with the largest value being 320 00 seconds Command Structure WT Parameters 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Time units seconds range 0 00 320 00 resolution is 0 01 seconds Examples Command Drive sends Notes WT2 25 Cause time delay of 2 25 seconds PS Pause command buffer WT1 Time delay 1 second FL Initiate Feed to Length instruction CT Continue execution of commands in command buffer 114 SCL Manual for MSST S Drive Rev 1 Data Registers
25. settings in the protocol are turned ON this bit is ignored In other words PR4 Ack Nack turned ON is the same as PR5 Ack Nack and Bit 0 turned ON Below are some examples of command and response packets when PR 1 In this scenario when commands that do not request returned data are received by the drive no other response is sent from the drive In other words the drive will only send a response to commands that require a response Send data Examples Command Drive Sends Notes DI8000 Set distance to 8000 steps 1D18000 Drive with address 1 set distance to 8000 steps Request data Examples Command Drive Sends Notes DI DI 8000 Distance request 1DI 1DI 8000 Distance request from drive with address 1 Bit 1 Address Character always send address character With this option set Bit 1 1 PR 2 a drive s address character will always be included in the response packet along with any requested data Send data Examples Command Drive Sends Notes VE50 Set velocity to 50 rps 1VE50 Drive with address 1 set velocity to 50 rps Request data Examples 89 SCL Manual for MSST S Drive Rev 1 Command Drive Sends Notes VE 1VE 50 Drive responds with address 1 and velocity to velocity request 1VE 1VE 50 Drive responds with address 1 and velocity to velocity request from drive at address 1 Bit 2 Ack Nack always send acknowledge character This option causes the driv
26. should be set is defined by the DC command NOTE Dedicated output functions alarm output brake output motion output must be configured as general purpose before the FO command can be used with the drive s output See AO BO and MO commands See Also DC AO BO MO commands Command Structure FO Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Output Output condition units integer letter henge integer 1 letter L low closed H high open Examples Example You re feeding parts to be cut to length For maximum throughput you want to trigger the cut off knife as the part is nearing the final position Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decel rate to 100 rev sec sec VE2 5 Set velocity to 2 5 rev sec DI20000 Overall move distance set to 20000 steps DC15000 Set output distance set to 15000 steps FOIL Initiate move and set output low at 15000 steps NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designa tions low andhigh f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A l
27. up units 0 01 Amps range 0 5 0 MSST5 S 0 10 0 MSST10 S Current settings in MSST drives depend on the selected motor Use ST Configurator software to select a motor and set the maximum and idle current settings Examples Command Drive sends Notes PI 75 Set and save idle current at 0 75 amps PI PI 0 75 86 SCL Manual for MSST S Drive Rev 1 PM Power up Mode Sets or requests the power up mode of the drive PM determines how the drive is configured for serial communications at power up For SCL applications set PM 2 or PM 5 Affects Serial communications See also CM command Command Structure PM Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Power on mode units integer code range 2 SCL Host command drive enabled 3 ST Configurator only 4 MisNet Hub 5 SCL Host command drive disabled Examples Command Drive sends Notes PM2 Drive will power up in SCL mode PM PM 2 87 SCL Manual for MSST S Drive Rev 1 PR Protocol Sets or requests the serial communication protocol settings There are a number of settings that can be turned on or off in the PR command Each setting is assigned a bit in a 6 bit binary word The parameter of the PR command is the decimal equivalent of this word If you send the PR command without a parameter the drive will respond with the deci
28. want the output to change until a buffered command like a move is complete See also IL SO commands Command Structure IH Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access one Parameter 1 Output number units nteger range 1 Examples Command Drives sends Notes Output set high immediately regardless of what commands are in m 7 the command buffer NOTE When working with digital inputs and outputs in ST S drives it is important to remember the designa tions low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 66 SCL Manual for MSST S Drive Rev 1 IL Immediate Low Output Sets the output low closed immediately Use SO if you don t want the output to change until a buffered command like a move is complete See also IH SO commands Command Siructure IL Parameter 1 Details Command Type IMMEDIATE Usage WRITE O
29. way as with a PLC as well as be able to send commands in the proper syntax to the drive SCL Manual for MSST S Drive Rev 1 Commands There are two basic types of SCL commands buffered and immediate Buffered commands are loaded into and executed out of your drive s command buffer Immediate commands are not buffered when received by the drive they are executed immediately Buffered Commands After being loaded into the command buffer buffered commands are executed one at a time If you send two buffered commands to the drive in succession like a Feed to Length FL command followed by a Send String SS command the SS command sits in the command buffer and waits to execute until the FL command is completed The command buffer can be filled up with commands for sequential execution without the host controller needing to wait for a specific command to execute before sending the next command Special buffer commands like Pause PS and Continue CT enable the buffer to be loaded and to pause execution until the desired time Immediate Commands Immediate commands are executed right away running in parallel with a buffered command if necessary For example this allows you to check the remaining space in the buffer using the Buffer Status BS command or the immediate status of digital inputs using the Input Status IS command while the drive is processing other commands Immediate commands are designed to access the drive at any t
30. with digital inputs and outputs in MSST S drives it is important to remember the designations low and high f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 58 SCL Manual for MSST S Drive Rev 1 HG 4th Harmonic Filter Gain Sets or requests the 4th harmonic filter gain setting This setting works in conjunction with the 4th harmonic filter phase setting HP to reduce low speed torque ripple in step motors NOTE We strongly suggest you set this value in the ST Configurator software application only Affects Low speed performance of step motors See also HP command Command Structure HG Parameter 1 Details Command Type IMMEDIATE Usage READ WRITE Non Volatile YES only
31. 0 rps Examples Command Drive sends Notes AG3000 Set top speed of analog velocity mode to 12 5 rps AG AG 3000 144 SCL Manual for MSST S Drive Rev 1 Al Alarm Reset Input EN input Defines the EN input as an Alarm Reset Input The EN input can be assigned to only one function in an application If you want to use the EN input as an Alarm Reset input you can define it as such in two ways with the ST Configurator software or with the AI command AI takes no effect if the drive is set in Command Mode CM 13 14 17 or 18 because these modes use the EN input as a speed change input and take precedence over the AI command Also setting the SI command after setting the AI command reassigns the EN input to drive enable usage and turns off any alarm reset usage AI3 In other words the AI and SI commands as well as Command Modes CM 13 14 17 and 18 each assign a usage to the EN input Each of these must exclusively use the EN input Command Modes are most dominant and will continually prevent AI and SI from using the input AI and SI exclude each other by overwriting the usage of the EN input There are three Alarm Reset states that can be defined with the AI command Ali Alarm reset occurs when the EN input is closed energized This is an edge triggered event If the switch is closed when an alarm is activated no reset will occur The input must be opened de energized and then closed to reset the alarm AI2 Alarm reset occ
32. 10 rev sec sec VE5 Set velocity to 5 rev sec FL200000 Execute Feed to Length move of 200000 steps in CW direction ie SCL Manual for MSST S Drive Rev 1 DI Distance Position Sets or requests the move distance in steps The sign of DI indicates move direction for CCW no sign for CW DI is used for both relative moves and absolute moves An example of a relative move is the FL command FP is an absolute move and with the FP command DI sets the absolute position rather than the relative distance Affects All Feed commands and SH command See also AC DC DE and VE commands Command Structure DI Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access D 020 Parameter 1 distance units steps range 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW default 20000 Examples Command Drive sends Notes DI20000 Set distance to 20000 steps in the CW direction DI DI 20000 DI 8000 Set distance to 8000 steps in the CCW direction FL Initiate a Feed to Length relative move in the CCW direction SPO m DI20000 _ Set current motor position to absolute zero FP Set position to 20000 steps CW DI10000 Initiate absolute move to 20000 step position FP _ Set position to 10000 steps CW Initiate absolute move to 10000 step position motor will move CCW 44 SCL Manual for MSST S Drive
33. 11 12 13 14 15 16 17 or 18 because these modes predefine these inputs and take precedence over the JE command Also setting the DL command to 1 or 2 after setting the JE command reassigns the STEP and DIR inputs as end of travel limit inputs and turns off jogging functionality In other words the JE and DL commands as well as Command Modes CM 7 11 12 13 14 15 16 17 and 18 each assign a usage to the STEP and DIR inputs Each of these must exclusively use the STEP and DIR inputs Command Modes are most dominant and will continually prevent JE and DL from using the inputs JE and DL exclude each other by overwriting the usage of the STEP and DIR inputs To enable jogging with the STEP and DIR inputs simply execute the JE command with CM 21 or CM 22 Affects Jogging during WI command See also JD and WI commands Command Structure JE Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes JE Enable jogging while executing the WI FFs SCL Manual for MSST S Drive Rev 1 JL Jog Decel Sets or requests the decel rate for Jog moves and velocity oscillator mode in rev sec sec The JL value cannot be changed while jogging To maintain compatibility with legacy products JA sets both the JA and JL values so when a different JL value is required set JA first then set JL Affects Jogging during WI command velocity oscillator mo
34. 167 100 5461 167 AM Max Acceleration rps s 0 167 1000 5461 167 CJ Commence Jogging CS Change Jog Speed rps 133 3333 DC Change Distance steps 0 0 2 147 483 467 DE Deceleration Rate rps s 0 167 100 5461 167 DI Distance Position steps adh 20000 2 147 483 647 EG Electronic Gearing steps rev 200 51200 20000 FC Feed to Length with Speed Change 7 FD Feed to Double Sensor FE Follow Encoder FL Feed to Length steps p 2 147 483 647 FM Feed to Sensor with Mask Dist FO Feed to Length and Set Output FP Feed to Position steps 2 147 483 647 FS Feed to Sensor FY Feed to Sensor with Safety Distance HW Hand Wheel JA Jog Acceleration Rate rps s 0 167 100 5461 167 JC Velocity Oscillator Mode Second Spe rps 0 0042 5 ed 133 3333 JD og Disable JE Jog Enable 7 7 JL Jog Deceleration Rate rps s 0 167 100 5461 167 JS Jog Speed rps 0 0042 10 133 3333 SH Seek Home SJ Stop Jogging SK Stop amp Kill Buffer i code D or none ST Stop i d VC Change Velocity rps 0 0042 5 133 3333 VE Nelocity i rps 0 0042 10 133 3333 SCL Manual for MSST S Drive Rev 1 Configuration Commands Com Description NV write read Imme units range default mand only only di
35. 3 5 word RE Restart E i SCL Manual for MSST S Drive Rev 1 Configuration Commands continued SA Save Parameters SF Step Filter Frequency Hz 0 16000 2500 SI Enable Input EN input code 1 2 3 3 SP Set Absolute Position steps 2 147 483 64 TD Transmit Delay msec 0 32767 0 Buffer Commands Com Description Nv writereadimme Units Range Default mand only only BS Buffer Status 3 CT Continue z PS Pause z SK Stop amp Kill Buffer e code D or none SS Send String WI Wait for Input input 1 2 3 L H 3 cond FR WT Wait Time kg seconds 0 00 320 00 Status Commands Com Description NV write read Imme Units Range Default mand only only diate AR Alarm Reset IMMEDIATE e 7 7 AX Alarm Reset BUFFERED BS Buffer Status IC mmediate Current Request amps ID Immediate Distance Request e steps IF Immediate Format code H D H IO en Output Status e decimal 0 1 Request word IP Immediate Position Request steps 7 i IS Immediate Input Status e IT eg Temperature e 10 1 deg F Request IU mmediate Voltage Request e e 0 1 VDC IV Immediate Velocity Request e rpm z MN Model Number e code
36. AD WRITE Non Volatile NO Register Access None Parameter 1 Absolute position units steps range 2 147 483 647 Examples Command Drive sends Notes SP100 Set absolute position offset to 100 steps SP SP 100 107 SCL Manual for MSST S Drive Rev 1 SS Send String Instructs drive to respond with the desired character string up to 4 characters This command is useful for letting the host system know via the serial port when a sequence of commands has finished executing Multiple SS commands can be replaced into the command buffer at any time though care should be taken when using this command to avoid serial data collisions For example the host system should avoid sending commands to the drive while expecting a character string from a previously buffered SS command Command Structure SS Parameters 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 String of characters units any printable characters range up to 4 characters Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decal rate to 100 rev sec sec VEL Set velocity to 1 rev sec EG10000 Set microstep resolution to 10000 steps DI100000 Set move distance to 100000 steps FL Initiate Feed to Length move SSdone String done sent to host after FL command is completed 108 SCL Manual for MSST S Drive Rev 1 ST St
37. Code Definitions Here is a diagram showing the meaning assigned to each of the 16 bits in the Alarm Code s binary word For example if Bit 5 1 there is an Over Voltage condition at the drive A drive will set any and all bits that pertain to its immediate alarm fault status at the moment of receiving the AL command from the host When a host sends the AL command the response from the drive will be the Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Alarm Code and the equivalent hexadecimal value for each of the bits is given below ooooodogaoodoodg Alarm Description Bit Hex Value NOT USED 0 0001 CCW Limit 1 0002 Bit 0 NOT USED CW Limit 2 0004 Bit 1 CCW Limit Over Temperature 3 0008 Bit 2 CW Limit Internal Voltaae 4 0010 Bit 3 Over Temperature Over Voltaqe 5 0020 Bit 4 nterna Voltage Under Voltage 6 0040 Bit 5 Over Voltage Over Current 7 0080 Bit p 5 Under Voltage Open Windina 8 0100 gt 8 a bd ve NOT USED 9 0200 oa Os NOT GEN Comm Error 10 0400 Bit 10 Comm Error Data Save Failed 11 0800 Bit 11 Data Save Failed No Move 12 1000 Bit 12 No Move Resistance Out of Ranae 13 2000 Bit 13 Resistance Out of Range NOT USED 14 4000 Bit 14 NOT USED Motor Disconnected 15 8000 Bit 15 Motor Disconnected Example The drive has hit the CW limit Bit 2 there is an under voltage condition Bit 6 and an encoder wiring connection has been lost resulting in an encoder fault Bi
38. E Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes SJ i Stop jogging immediately using the deceleration rate set by the JA command 104 SCL Manual for MSST S Drive Rev 1 SK Stop amp Kill Buffer Halts any buffered command in progress and erases all buffered commands in the command buffer When used to stop a move deceleration rate is controlled by the AM Max Acceleration parameter If the D parameter is used deceleration rate is controlled by either DE with Feed moves like FL FP SH or JA when jogging Affects Motion and command buffer contents See Also AM and ST commands Command Structure SK Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Deceleration rate units letter range D deceleration rate set by DE or JA command no parameter deceleration rate set by AM command Examples Command Drive sends Notes Stop motion immediately using the deceleration rate set SK by the AM command and erase the contents of the command buffer Stop motion immediately using the deceleration rate set SKD by the DE command or JA if jogging and erase the contents of the command buffer 105 SCL Manual for MSST S Drive Rev 1 SO Set Output Sets drive s digital output to the given condition low or high This can only be done if the digital output
39. E commands respectively Optional parameter al lows using a local distance for the FL command rather than the last DI value NOTE The last DI command can be ignored unaltered if a parameter is used with the FL command See also AC DE DI VE commands Command Siructure FL Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Relative distance units steps range 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE150 Set decel rate to 150 rev sec sec VE8 Set velocity to 8 rev sec DI20000 Set distance to 20000 steps in the CW direction FL Initiate Feed to Length move FL10000 Initiate Feed to Length move of 10000 steps in the CW direction without affecting the last DI command FL 400 Initiate Feed to Length move of 400 steps in the CW direction without affecting the last DI command 53 SCL Manual for MSST S Drive Rev 1 FM Feed to Sensor with Mask Distance Executes a Feed to Sensor command but sensor is ignored for the first DC counts of the move Useful for masking a switch or clearing a part before sensing the correct stop input DI sets the distance to move after the stop input is triggered AC sets accel rate VE sets velocity and DE sets decel rate See also DC and FS commands see AT com
40. L Manual for MSST S Drive Rev 1 AL Alarm Code Reads back an equivalent hexadecimal value of the Alarm Code s 16 bit binary word This command is useful for viewing over the serial port any alarms present at the drive See also AR command Appendix B Command Structure AL Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access f 054 Units Hexadecimal value of 16 bit binary word see below Alarm Description Bit Hex NOT USED 0 0001 CCW Limit 1 0002 CW Limit 2 0004 Bit 0 NOT USED Over Temperature 3 0008 erd el Internal Voltage 4 0010 Bit 3 Over Temperature Over Voltage 5 0020 Bit 4 Internal Voltage Under Voltaqe 6 0040 Bit 5 Over Voltage Over Current 7 0080 el in A Over Curren Open Winding 8 0100 Bit 8 Open Winding NOT USED 9 0200 Bit 9 NOT USED Comm Error 10 0400 Bit 10 Comm Error Data Save Failed 11 0800 sh ie oo Failed NO Move No Move 12 1000 Bit 13 Resistance Out of Range Resistance Out of Range 13 2000 Bit 14 NOT USED NOT USED 14 4000 _____________ Bit 15 Motor Disconnected Motor Disconnected 15 8000 Examples Command Drive sends Notes Al Al NNNN Na alarms NNANNNANNNANNNNNNY AL AL 0002 CCW end of travel limit alarm 0000000000000001 AL AL 2001 CCW end of travel limit and current limit 0010000000000001 aia SCL Manual for MSST S Drive Rev 1 AM Max Acceleration Sets or request
41. Ls SCL Manual for MSST S Drive Rev 1 PS Pause Suspends execution of buffered commands until the next Continue CT command is executed This can be useful for holding a sequence of commands in the drive s command buffer to time with an external event Use the PS command to pause the command buffer and then send each buffered type command in the desired sequence to the drive When the timing with the external event occurs simply send the CT command which will trigger the execution of the already buffered sequence of commands See also CT command Command Structure PS Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes PS Pause execution of commands in the command buffer _92 SCL Manual for MSST S Drive Rev 1 RE Restart Restarts the drive by resetting fault conditions and re initializing the drive with startup parameters Leaves the drive in a disabled state to prevent any movement after the restart is complete See also SA command for saving changing non volatile parameters Command Structure RE Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None 93 SCL Manual for MSST S Drive Rev 1 RL Register Load IMMEDIATE Sets or requests the contents of a data register The data value is checked and stored as a Long word When setting a Short word
42. NLY Non Volatile NO Register Access None Parameter 1 Output number units integer range 1 Examples Command Drive sends Notes IL1 Output set low immediately NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low andhigh If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character a 2 SCL Manual for MSST S Drive Rev 1 IO Output Status With no parameter this command requests the immediate status of the designated outputs The status is displayed as an 8 bit binary number with input 1 in the far right position bit 0 With a parameter this command sets the outputs high or low using the decimal equivalent of the same binary pattern Logic zero 0 turns an output on by closing it NOTE Since the MSST S drives only have one digital output this command will only return values of 0 or 1 See also IS command Command Structure IO Parameter 1
43. NV parameter A host system can set the baud rate at anytime using this command NOTE Setting the value takes effect immediately Serial communications with the host TD PR commands Affects See also Command Siructure BR Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Baud rate see above units integer code range 1 9600 2 19200 3 38400 4 57600 5 115200 default 1 Examples Command Drive sends Notes BR2 Baud rate is immediately set to 19200 bps BR BR 2 29 SCL Manual for MSST S Drive Rev 1 BS Buffer Status Requests from the drive the number of available command locations in the command buffer This technique simplifies sending commands by eliminating the need to calculate if there is enough space in the buffer for additional commands If the drive responds with at least a 1 a command can be sent If a drive responds to the BS command with 63 the buffer is empty If a O is returned the buffer is full and no more buffered commands can be accepted Command Structure BS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units Empty command spaces in buffer Examples Command Drive sends Notes BS BS 20 There is room in the buffer for 20 more commands 30 SCL Manual for MSST S Drive Rev 1 CC
44. RITE Non Volatile YES Register Access None Parameter 1 Time value units milliseconds range 0 32767 default 0 Examples Command Drive sends Notes TD10 Set drive Tx time delay to 10 milliseconds TD TD 10 110 Affects SCL Manual for MSST S Drive Rev 1 VC Change Velocity FC FD commands Command Structure Sets or requests the change speed for FC and FD moves VC Parameters 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access V 037 Parameter 1 Change speed value units rev sec rps range 0 0042 133 3333 resolution is 0 0042 rev sec default 5 Examples Command Drive sends Notes VC5 Set change velocity to 5 rev sec VC VC 5 AC100 Set accel rate to 100 rev sec sec DE100 Set dccel rate to 100 rev sec sec DI100000 Set overall move distance to 100000 steps DC75000 Set change distance to 75000 steps VES Set initial velocity to 5 rev sec VC1 Set change velocity to 1 rev sec FC Initiate Feed to Length with Speed Change command 111 SCL Manual for MSST S Drive Rev 1 VE Velocity Sets or requests the speed for Feed move like FL FP FS FD SH etc Affects All F commands Command Structure VE Parameters 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access V 038 Parameter 1 Move velocity unit
45. Rev 1 DL Define Limits Defines the STEP and DIR inputs as CW end of travel and CCW end of travel limit inputs respectively Both inputs are assigned together as end of travel limits and for the same connection type see definition of states below If one of these inputs is activated while defined as an end of travel limit motor rotation will stop in that direction and an alarm code will show at the drive s status LEDs The alarm code will be 2 Green 2 Red for a CW end of travel and 1 Green 2 Red for a CCW end of travel The STEP and DIR inputs can each be assigned to only one function in an application If you want to use the STEP and DIR inputs as end of travel limit inputs you can define them as such in two ways with the ST Configurator software or with the DL command DL takes no effect if the drive is set in Command Mode CM 7 11 12 13 14 15 16 17 or 18 because these modes predefine these inputs and take precedence over the DL command Also setting the JE command after setting the DL command reassigns the STEP and DIR inputs as jog inputs and turns off any limit input usage DL3 In other words the DL and JE commands as well as Command Modes CM 7 11 12 13 14 15 16 17 and 18 each assign a usage to the STEP and DIR inputs Each of these must exclusively use the STEP and DIR inputs Command Modes are most dominant and will continually prevent DL and JE from using the inputs DL and JE exclude each other by overwr
46. SCL Manual for MSST S Drives SCL Commands for the MSST5 S and MSST10 S Step Drives MOONS SHANGHAI AMP amp MOONS AUTOMATION CO LTD SCL Manual for MSST S Drive Rev 1 Contents AUTO CIC OD sakene 1 VM o CE seater frien One NN NN NNN NHMNNMNUMNNNNR Uy Free nereeer reneta Name NTyrrrer 1 EEE ET oe ee eS ee eee 1 Getting Started oinccecccessnscinenaoeeectusenserttetaasssatecstbeweeccusiieces 3 Step 1 Install software sc ccccaccccccoonsensvncnnnsencccecsasennnnnnaninonmmnssedeecenenn 3 Step 2 Configure your MSST S drive using ST Configurator 3 Step 3 Get familiar with SCL commands eerrrrvvorrennnnnsvrrnvnvvvenennnn 4 Step 4 Develop your application cccccceeceesseeseeeseeeeeeeeeeeeeeeeees 5 Commands ssas naaa EEE EEE 6 PE NNN Jed AA 6 Immediate CommandS sassaaassacasesssysaeexxkexeernssusssneaieaasbaecanmauandiadl 6 Command SuUMMary sssssssnssnsunnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn ennnen nnna 6 Moton Command SENERE REN SR E E TE 7 Configuration Commands o oippcssassaaazzssnsddavseessaantennaaseoorsmmmmenmmmnnias 8 B te 0 1 EE 9 Status COMMING Hm emraknmNTGMtni 9 VOC 051 RE 10 Register GN 4avarrmrmmsann benene 10 Command Listing 2uesserasdrerealemnenesde 11 AC Acceleration Rate sissesssveviansasaaaadasassavevesaeesadaudasadasacaneressessseads 12 AD Analog Deadband sara 13 AF Analog Fiter EE 14 AG Analog Velocity GAM ass sssnannanncariciscsanadannie dhddassansensandanwv
47. Set Acceleration rate to 25 rev sec sec VE1 5 Set Velocity to 1 5 rev sec FL20000 Execute Feed to Length move of 20000 steps in CW direction 212 SCL Manual for MSST S Drive Rev 1 AD Analog Deadband Sets or requests the analog deadband value in millivolts The deadband value is the zone around the zeroed value of the analog input This deadband defines the area of the analog input range that the drive should interpret as zero This zero point can be used as the zero velocity point in analog velocity mode or as the zero position point in analog position mode The deadband is an absolute value that in usage is applied to either side of zero volts Affects Analog input See also CM command Command Siructure AD Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access one Parameter 1 Analog deadband value units millivolts range 255 default Examples Command Drive sends Notes AD100 Set analog dead band to 0 1 volts ee SCL Manual for MSST S Drive Rev 1 AF Analog Filter Applies a digital filter to the analog input This is a simple single pole filter that rolls off the analog input The Filter value of the AF command is related to the desired value of the analog filter in Hz by the following equation Filter value 72090 1400 x 2 2 where x desired value of the analog filter in Hz Affect
48. Short 32760 10V 32767 10V c Current Command 051 Short 0 01 Amps d Relative Distance 052 Long steps f Alarm Code 054 Long see Appendix B g Sensor Position 055 Short steps Driver Board Inputs decimal equivalent of binary bit i 057 Short pattern see below The i register contains the decimal equivalent of a 16 bit word that represents the status of the MSST S drive s digital inputs and output Because there are only 3 digital inputs and 1 digital output on each MSST S drive bits 0 4 7 and 9 15 of the 16 bit word register are not used will always be 0 Only bits 1 2 3 and 8 are used See the diagram below for more detail lt 5 gt OG gt 8 xxxx xxx xxxx 8321x bt15 gt 0000 0000 0000 0000 lt bito A closed energized state for an input is designated by a 0 in the i register and a closed energized state for the output is designated by a 1 in the i register In other words if nothing is connected to the digital inputs and output of your MSST S drive the response to the command RLi lt cr gt will be RLi 1 4 0000 0000 0000 1110 As an example if inputs 1 STEP and 3 EN are closed input 2 DIR isopen and output 1 OUT is closed the response of the drive to the command RLi lt cr gt will be RLi 260 j Analog Input 1 058 Short ADC counts I Absolute Position 060 Shor
49. Thank you for purchasing an MOONS stepper drive We hope you will find that performance price and ease of use make our products the best value for your application The Serial Command Language SCL can be used in several MOONS drives This manual focuses on using SCL with the MSST5 S and MSST10 S drives only NOTE Using SCL with other MOONS drives is detailed in other manuals Please visit our web site www moons com cn to view and download these manuals NOTE This manual only covers details related to using SCL with the MSST S drives For all other aspects of applying your MSST S drive including hardware configuration I O and software settings view MSST5 10 S User Manual and the Help file contained in the ST Configurator software The manual and software can be downloaded for free from www moons com cn What is SCL SCL was to give users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or indexers to supply Pulse amp Direction signals to your stepper drive It also provides an easy way to interface to a variety of other industrial devices like PLCs and HMIs which most often have standard or optional serial ports for communicating to other devices MSST S drives come with one RS 232 serial port This port is an RJ 11 jack 6P4C as shown in the picture below p To use SCL in an application means you will have a host device such as a PC a PLC or an HMI con n
50. Typically the PR command is used one time when configuring a drive and saved as part of the startup parameters use SA command to save startup parameters However it can be changed at any time to dynamically alter the serial communications The PR command works by sending the decimal equivalent of a 6 bit binary word Each bit in the word represents a different setting of the serial communications protocol These settings are additive meaning when you set a bit to 1 or turn it ON you are adding the functionality of that setting to the serial protocol Think of this 6 bit word as a bank of 6 dip switches You can turn each dip switch on or off and in doing so add or subtract a particular setting from the overall protocol Bit 0 default Standard SCL Bit 1 Address Character Bit 2 Ack Nack Bit 3 Checksum The diagram to the right shows the Bit 4 a not used assignments of each of the 6 bits in the Bit 5 3 diait numeric reaister addressina protocol word Remember that when you use the PR command the parameter that you send along with the command code PR is the decimal equivalent of this binary word Below are the details of each of the bits and the settings they are assigned to Bit 0 default Standard SCL The PR command cannot equal 0 so if no other settings are to be turned ON Bit 0 must be set to 1 For this reason this bit is considered the default or Standard SCL bit If any other
51. a general purpose output Affects Function of digital output See also AI AO ME MD MO SI commands Command Structure BO Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Output state see above units nteger number range 1 20r3 default B Examples Command Drive sends Notes BO1 Output will be closed when drive is enabled BO BO 1 NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low andhigh If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 38 SCL Manual for MSST S Drive Rev 1 BR Baud Rate Sets or requests the bit rate baud for serial communications At power up the drive defaults to 9600 baud If a host system is not detected after 1 second and the drive is configured for SCL mode the drive will set the baud rate according to the value stored in the baud rate
52. at are represented by character codes The drive can send more than one code at a time to define its current status See also SC command Command Structure RS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units Character Code Range A Alarm Code is present use AL command to view alarm code D Drive Disabled E Drive Faulted use AR command to clear fault H Homing SH in progress J Jogging CJ in progress F Motion in progress Feed amp Jog commands M Motion in progress from any kind of input R Ready drive is enabled and ready Examples Command Drive sends Notes RS RS R Drive is enabled and ready RS RS ADE Alarm code is present drive is faulted and disabled RS RS JR Motor is jogging drive is enabled 96 SCL Manual for MSST S Drive Rev 1 RU Register Upload Upload the contents of an array of data registers Up to 16 registers can be read back with one RU command Each reading is terminated with a carriage return Affects All data registers See also PR and RL commands Command Structure RU Parameter 1 Parameter 2 Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access All data registers Parameter 1 Data register assignment units character range all data registers Parameter 2 Number of consecutive data registers to upload units intege
53. ate Al Alarm Reset Input EN input e code 1 2 3 3 AO Alarm Output code 1 2 3 3 BD Brake Disengage Delay time e seconds 0 32 767 0 2 BE Brake Engage Delay time j seconds 0 32 767 0 2 BO Brake Output code 1 2 3 3 BR Baud Rate e code 1 5 CC Change Current e amps 0 max of drive CD Idle Current Delay time e seconds 0 32 767 0 4 CE Communication Error e hex code 0 7F j CF Anti resonance Filter Frequency e Hz 0 2000 241 CG Anti resonance Filter Gain integer 0 32767 12000 CI Change Idle Current e amps 0 max of drive 7 CM Command mode code 7 11 18 21 22 21 DA Define Address character see DA command 1 DL Define Limits e code 1 2 3 3 EG Electronic Gearing e steps rev 200 51200 20000 FI Filter Input input 1 2 3 0 value 32767 HG 4th Harmonic Filter Gain integer 0 32767 HP 4th Harmonic Filter Phase integer 255 IA Immediate Analog Request input 1 or none IC Immediate Commanded Current amps ID Immediate Distance e steps j IF Immediate Format code H D H IP Immediate Position steps IT Immediate Temperature i 0 1 deg i C IU Immediate DC Bus Voltage 0 1 VDC IV Immediate Velocity j rpm 3 j MD Motor Disable i ME Motor Enable MO Motion Output code 1 2 3 4 3 PB Power up Baud Rate e code 1 5 PC Power up Current e amps 0 max of drive PI Power up Idle Current e amps 0 max of drive PM Power up Mode code 0 7 PR Protocol e decimal 1 6
54. bled Bit 9 3 and 0 Status Code bit assignments Bit 0 Drive On Enabled drive is Off disabled if this bit 0 Bit 1 NOT USED Bit 2 Drive Fault check Alarm Code AL Bit 3 In Motion from any kind of input Bit 4 In Motion using Feed command Bit 5 Jogging currently in Jog mode Bit 6 Stopping stop command in progress SK or ST Bit 7 Waiting for an Input WI Bit 8 Saving parameter data is being saved SA Bit 9 Alarm Alarm Code is present AL Bit 10 Homing SH command in progress SH Bit 11 Wait on Timer Wait time is in progress WT Bit 12 NOT USED Bit 13 NOT USED Bit 14 NOT USED Bit 15 Initializing happens at power up 100 SCL Manual for MSST S Drive Rev 1 SF Step Filter Frequency Sets or requests the step filter frequency The primary use of this filter is to introduce Microstep Emulation into the motion of the step motor which smooths motion when the drive s microstep resolution EG command is set to a low value This command is exceptionally useful when using a low resolution indexer or encoder to send pulses to the stepper drive and smooth motor shaft rotation is required Command Structure SF Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Step filter frequency units Hz range 0 16000 default 2500 Examples Command Drive sends Notes
55. ce notice that the motor ramps to the new speed set by CS This ramp is affected by the JA and JL commands Try the same sequence above with different JA JL JS and CS values to see how the motion of the motor shaft is affected Step 4 Develop your application This step will involve different things for different users You ll probably want to spend sufficient time getting familiar with SCL commands using SCL Setup Utility before getting to this step but once you have consider the following If your host is a PC you ve already done a lot of the hardware configuration necessary for your application The rest of your application will involve developing your PC applications to properly send SCL commands to your drive Which application or language you use whether it be VisualBasic C LabView a proprietary vision system application or something else is up to you MOONS offers some sample VisualBasic code on its web site to show how SCL commands can be sent from a windows based PC application You can visit www moons com cn to download it If your host is a PLC you ll have to connect and configure the ASCII module RS 232 port or Aux serial port on your PLC according to the pin assignments and COM port settings listed in the Introduction section From there you ll have to be able to send text strings followed by carriage returns from the PLC If your host is an HMI you ll have to connect and configure the serial port of the HMI in the same
56. command currently being executed If the processor will wait until the level of the EN command is initiated there will be no R additional minimum delay of 2 milliseconds No command works in processor cycles so a As can be seen from the example and flow chart above the functioning of a digital input filter went to zero for a low state or the filter value for a high state Another example of this averaging lag in the response to an input level When an input changes state and is solid no noise the lag time filter values must be set each time the drive is powered on NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character ay SCL Manual for MSST S Drive Rev 1 FL Feed to Length Executes a Feed to Length relative move command Move distance and direction come from the last DI command Speed accel and decel are from VE AC and D
57. current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 46 EG SCL Manual for MSST S Drive Rev 1 Electronic Gearing Sets or requests the desired step resolution of the step motor In most applications the step resolution will be set by the ST Configurator software and then left alone However some applications may require frequently changing this setting For example it is common to change the EG command when using the Follow Encoder FE command In this case the EG command sets the following resolution of the motor to the master encoder To change the following resolution EG should be set before executing the FE command Also it is possible to change the following resolution dynamically by changing the value of the R register This is done with the RL command NOTE The EG command is always twice the R register value In other words if you set EG to 10000 the value of the R register will be 5000 NOTE The values and ranges shown for the EG command and the R register assume 1 8 degree step motors are being used Affects Control Mode 7 Follow Encoder FE and Hand Wheel HW comman
58. de and CJ command See also JA JE JS CS CM and SJ commands Command Structure JL Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 og deceleration rate units rev sec sec rps s range 0 167 5461 167 rps s resolution is 0 167 rps s default 100 Examples Command Drive sends Notes JL25 Sets jog deceleration rate to 25 rps s JL JL 25 es SCL Manual for MSST S Drive Rev 1 JS Jog Speed Sets or requests the speed for Jog moves in rev sec Sending JS with no number causes drive to respond with present jog speed Affects Jogging during WI command oscillator velocity mode and CJ command See also CJ CS CM and JE commands Command Structure JS Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access J 026 Parameter 1 Jog speed units rev sec rps range 0 0042 133 3333 resolution is 0 0042 rps default 10 Examples Command Drive sends Notes JS10 35 Sets jog speed to 10 35 rps JS JS 10 35 ee MD Motor Disable SCL Manual for MSST S Drive Rev 1 Disables motor outputs reduces motor current to zero Disabling the motor also activates the output when set to function as a Brake Output BO command Affects All Motion commands See also BD BO and ME commands Command Structure
59. ds See also R register CM FE HW and RL commands Command Siructure EG Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access R 034 Parameter 1 Step resolution units steps rev range 200 51200 in increments of 2 default 20000 Examples Command Drive sends Notes EG20000 Set step resolution to 20000 stens rev ee SCL Manual for MSST S Drive Rev 1 FC Feed to Length with Speed Change Executes a Feed to Length relative move with a speed change Overall move distance and direction come from the last DI command Accel and decel are from AC and DE commands Initial speed is VE After the motor has moved DC counts the speed is reduced to VC NOTE If DC is greater than DI minus the distance required to decelerate the motor affected by DE and VE no speed change wil result See also VC and DC commands Command Structure FC Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes D150000 Set overall distance to 50000 steps VES Set initial velocity to 5 rev sec DC40000 Set change distance to 40000 steps VCO 5 Set change velocity to 0 5 rev sec FC Initiate move 48 SCL Manual for MSST S Drive Rev 1 FD Feed to Double Sensor Accelerates the motor at rate AC to speed VE When the first se
60. e YES Register Access None Parameter 1 Power up current setting units Amps resolution is 0 01 Amps range 0 5 0 MSST5 S 0 10 0 MSST1 0 S Current settings in MSST drives depend on the selected motor Use ST Configurator software to select a motor and set the maximum and idle current settings Examples Command Drive sends Notes PC3 2 Set power up current to 3 2 Amps PC PC3 2 85 SCL Manual for MSST S Drive Rev 1 PI Power up Idle Current Idle current is the level of current supplied to each motor phase when the motor is not moving Using an idle current level lower than the running motor current see CC and PC commands aids in motor cooling A common level used for the idle current setting is 50 of the running current After a motor move there is a time delay after the motor takes its last step before the reduction to the idle current takes place This delay is set by the CD command The PI command differs from the CI command in that when used the level set by the PI command is immediately stored in non volatile memory For the level set by the CI command to be saved to non volatile memory an SA command must be issued after the CI command Affects Motor current at standstill holding torque See also CD CI and PC commands Command Structure PI Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Idle current at power
61. e are shown here 6 1 5 GND 2 Drive RX 4 Drive TX To configure your host to properly communicate with the drive you ll need to configure your host s serial port as follows 9600 bps 8 data bits 1 stop bit no parity Not coincidentally these are the default COM port settings for a Windows based PC The communications protocol of SCL is simple in that all communications are initiated by the host The only communication the drive will ever initiate is at power up of the drive At power up the drive sends what we call the power up packet which is simply an identifier that is used by MOONS software applications This identifier tells our software which drive is connected and what its firmware version is Other than that all communications are initiated by the host The basic structure of a command packet from the host to the drive is always a text string followed by a carriage return no line feed required The text string is always composed of the command itself followed by any parameters used by the command The carriage return denotes the end of transmission to the drive Here is the basic syntax XXAB lt cr gt In the syntax above XX designates the SCL command which is always composed of two capital letters A designates the first of two possible parameters and B designates the second Parameters 1 and 2 vary in length can be letters or numbers and are often optional Once a drive receives the l
62. e model number NOTE Unlike most other commands that request data back from the drive where the drive will send the original Command Code with an and then a value the drive s response to the MN command is a single character code see below Command Structure MN Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units character code Range D MSST5 S E MSST10 S Examples Command Drive sends Notes MN MN E Connected drive is an MSST10 S a 89 SCL Manual for MSST S Drive Rev 1 MO Motion Output Defines the drive s digital output as a Motion Output The output of an MSST S drive can be assigned to one of four functions alarm output brake output motion output or tach output Each of these functions must exclusively use the output so only one function is allowed There are two ways to define the function of this output via ST Configurator or via SCL commands To set the output as a motion output use the MO command and one of the codes below NOTE Setting the MO command to 1 or 2 overrides previous assignments of this output s function Similarly if you use the AO or BO command to set the function of the output after setting the MO command to 1 or 2 usage of the output will be reassigned and MO will be automatically set to 3 There are four Motion Output states that can be defined with the MO command MO1 Output is closed energized when m
63. e to acknowledge every transmission from a host whether the command is requesting data or not If a host requests data for example a DI command with no parameter the response is considered the acknowledgement However if the host sends commands that do not request data from the drive the drive will still respond with one of the following characters The percent character is a Normal Acknowledge Ack character that means the drive accepted the command and executed it x The asterisk character is an Exception Acknowledge Ack character that means the drive accepted the command and buffered it into the queue Depending on the status of the queue execution of the exception acknowledged command s can occur at any time after the acknowledge The question mark character is a Negative Acknowledge Nack character that means a parsing error occurred while the drive was receiving the command A second character may follow the question mark which provides an error code describing the type of parsing error Here is the list of error codes Negative Acknowledge Codes 1 Command timed out 2 Parameter is too long 3 Too few parameters 4 Too many parameters 5 Parameter out of range 6 Command buffer queue full 7 Cannot process command 8 Program running 9 Bad password 10 Comm port error 11 Bad character Acknowledge characters are always sent out of the RS 232 port When operating
64. ebnnnbbbyen 15 Al Alarm Reset Input EN input Lusammansnemennebminisi 16 Aks Alarm Code RE EE 17 PN Wa CS 50 EE 18 GE OE 0 SE 19 AP Analog Position Gain sisssipesicccocsscconmnneccncceesinsonsenonnnrnriecensnenesves 20 AR Alarm Reset IMMEDIA NE ctiscssssnuinnincntinensusaiannidinninntsxanesssnannnnn 21 TNT 22 AN AO Offset V R cccenccexdusscssssssaasscumepatatesatinngnneendedesstannnnnsindd 23 AX Alarm Reset BUFFERED Luranmmanmisermeneenneeene vre 24 AZ Analog FRERE 25 BD Brake Disengage Delay ccccccccceeeessenseseeesseseeeeeeseenneeees 26 B Brake Engage Delay xcscnncsnumeusinnasnsaancnumuianid il bh iv anann dnro Paiak 27 SCL Manual for MSST S Drive Rev 1 BO Brake Output scccssnnnannanavennnnnnnnnnasennnnnnanstonnnnmnannnnansraoeneanas 28 BR PINE Gammen adddaiaanidaiateobenndadsanaiadds 29 BS Buter Stals ake ae oe enna ny nee ee ee mee Soe Syne 30 OS Change EN die dsc ccaeitnnicennnanxassnceaassiiscssssssisnsannnanuiasaraasisenad 31 CD Idle Current Delay TIME issssiccccccrsaccccsastevcetsctindeenmeccsumenticeadereass 32 CE Communication Error rwvaruvannnnnnnnnvnnnvnnevnnnnnnnnnnennnennnnnnnnnnennnnne 33 CF Anti Resonance Filter Frequency cccccccececesseeeeeceeaeeeeeees 34 OG Anti Resonance Filter Gain cccccccscccssscecscceciidcciscasasecesccecatcaiiicccs 35 CI Change Idle Current cc sassnaansvenssersvossevessassasaasnstensersersssivesssensseues 36 CJ Commence Jog
65. ected to the drive s serial port and using that connection to send commands to the drive The set of commands defined by SCL includes commands for motion of the step motor commands for using the three digital inputs one analog input and one digital output of the drive as well as commands for configuring different aspects of the drive like motor current and microstep resolution When in SCL mode an MSST S drive receives commands from the host into a command buffer and then executes the received commands directly out of that buffer One thing you cannot do with an MSST S drive is to create a stored program that the drive can run stand alone For that you should consider the MSST Q or MSST Si drives which are designed for stored program execution SCL Details There are two basic parts to the serial communications used in SCL the physical connection between the drive and the host and the communications protocol The physical connection between the drive and the host is based on standard RS 232 connections With PCs this is one of the COM ports on your computer With PLCs and HMIs look for connections labeled RS 232 PLC port AUX port ASCII or something similar that would indicate a serial RS 232 connection There are only three connections to be made between the drive and the host transmit Tx receive Rx and signal ground GND af SCL Manual for MSST S Drive Rev 1 The pin assignments of these connections on an MSST S driv
66. een low for the prerequisite 2 milliseconds when the WI3L delay in executing the command On the other hand if the EN input is high when the WI3L command is initiated there will be an after the input changes state from high to low To turn filtering of the EN input on we need to use the FI command The FI value of 1 equals 250 microseconds To filter the EN input for 2 milliseconds the value of the FI command would then be 2 msec divided by 250 usec or 8 The correct syntax for the FI command would then be F138 incorporates an averaging effect on the level of the input This means that in the example above if the level of the EN input were fluctuating between low and high over a range of processor cycles maybe due to electrical noise the drive would not update the input state until the internal counter value effect is if the input were connected to a pulse train from a signal generator with a duty cycle of 51 high and 49 low The input state would eventually be set to a high state depending on the time value used in the pulse train A side effect of the digital filter which is true of any filter is to cause a will be the same as the filter value When noise is present the lag may be longer On the MSST S drives each of the three digital inputs STEP DIR and EN can be filtered using the FI command Filter values are volatile meaning that they are lost at power down of a drive Therefore we d like the level of the EN input low or
67. entire response packet with very limited space between characters At 9600 baud rate the space between characters is less then 1 bit space 0 0001 seconds The host system must be able to handle this speed The space between characters can vary depending on the settings of the PR command see below Protocol Settings PR Command The PR Protocol command offers users the ability to add various features to the overall communications protocol i e tailor the structure of command and response packets to best fit the needs of their application In general when a host device sends a command packet to a drive the drive will either understand the command or not If the drive understands the command the drive executes the command If the drive doesn t understand the command it cannot execute the command In most cases the host device will want to know whether the drive has understood the command or not and so the drive can be set to automatically send an Acknowledge understood or Negative Acknowledge not understand response packet to the host Along with Acknowledge Negative Acknowledge Ack Nack the PR command controls a number of other protocol settings see PR command Also the PR command controls whether or not the drive will respond with error codes in the response packet when communications errors occur Communication Details Transmit Delay TD Command The TD command allows users to define a dwell time in a drive which is used by t
68. er control mode before execution For more automated setup of command modes use ST Configurator software WARNING Changing the Command Mode without proper care may cause the motor to spin at a high rate of speed or give other unexpected results Command Siructure CM Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Control mode units nteger code range 7 Step amp Direction 11 Analog velocity 12 to 18 see below 21 Point to Point 22 Analog Position default 21 Command Modes 12 to 18 NOTE It is recommended to use ST Configurator software for setting up velocity mode operation 12 Analog velocity mode with STEP input as run stop input 13 Analog velocity mode with EN input as speed change input 14 Analog velocity mode with STEP input as run stop input and EN input as speed change input 15 Velocity mode JS for speed 16 Velocity mode JS for speed with STEP input as run stop input 17 Velocity mode JS for speed with EN input as speed change input 18 Velocity mode JS for speed with STEP input as run stop input and EN input as speed change input Examples Command Drive sends Notes CM7 Set the drive to Pulse amp Direction mode CM CM 7 38 SCL Manual for MSST S Drive Rev 1 CS Change Speed Sets or requests the jog speed in rev sec while jogging When Jogging using the CJ com
69. er up Baud Rate Sets or requests the power up baud rate for RS 232 serial communications When executed this command sets the baud rate and immediately saves it to non volatile memory At power up the drive defaults to 9600 baud If a host system is not detected after 1 second and the drive is configured for host operation the drive will set the baud rate according to the value stored in the power up baud rate non volatile parameter A host system can change the baud rate at any time NOTE Setting the baud rate takes effect immediately See also BR PR and TD commands Command Structure PB Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Baud rate code units integer code range 1 9600 2 19200 3 38400 4 57600 5 115200 default 1 Examples Command Drive sends Notes PB2 Power up baud rate is set to 19200 and this value is saved to non volatile memorv PB PB 2 84 SCL Manual for MSST S Drive Rev 1 PC Power up Current Sets or requests the current setting of the drive This command differs from the CC command in that the PC setting is saved to non volatile memory as the command is executed Affects Motor current motor torque See also CC and PI commands Command Structure PC Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatil
70. es AC10 Drive sends Exception Ack over RS 232 port only in response to global set acceleration to 10 rps s 1AC10 1 Drive at address 1 sends Exception Ack and address over both ports in response to address specific set acceleration Bit 3 Checksum use 8 bit checksum Not implemented at this time Call factory for schedule Bit 4 not used with MSST S drives Bit 5 3 digit numeric register addressing Each data register in a drive is normally accessed using its single letter number or other ascii character With Bit 5 set Bit 5 1 PR 32 each of the data registers is instead accessed with a 3 digit number 000 to 074 See the Data Register section for character and 3 digit numerical assignments The Bit 5 option implements this specific usage for the RL Register Load IMMEDIATE and RU Register Upload commands This option was added to make the drives compatible with various HMIs NOTE When data is returned from a drive whether Bit 5 is set or not set the data register is always represented by its single character designation RL Command Example Command Drive sends Notes RLO17100 Load register 017 A with the value 100 RLO17 RLA 100 Drive sends contents of acceleration register RU Command Example Command Drive sends Notes RU0174 RUA 100 Drive responds to register upload command by sending RUB 150 Contents of 4 sequential data registers starting with RUC 140 register 017 A RUD 210
71. et by the AC DE and VE commands respectively Note that the final motor position if the sensor is not found will be the safety distance plus the distance required to decelerate the load which is dependent on the decel rate DE This command is useful for avoiding machine jams or detecting the end of a roll of labels For example you are feeding labels and you want to stop each label 2000 steps after the sensor detects the leading edge The labels are 60 000 steps apart Therefore if you move the roll more than 60 000 steps without detecting a new label you must be at the end of the roll See also DC DE FD FM and FS commands see AT command for using AIN as sensor input Command Structure FY Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 nput number Input condition units nteger letter range nteger 1 STEP 2 DIR 3 EN condition L low H high F falling edge R rising edge Examples Command Drive sends Notes AC50 Set accel rate to 50 rev sec sec DE50 Set decel rate to 100 rev sec sec VE2 5 Set velocity to 2 5 rev sec DI2000 Set distance to stop beyond sensor to 2000 steps and set move direction to CW DC60000 Set safety distance to 60000 steps FY2L E Launch Feed to Sensor motor will stop when input 2 is low or when 60000 steps are reached whichever event comes first NOTE When working
72. et to 0 25 Volts AV AV 0 25 ee SCL Manual for MSST S Drive Rev 1 AX Alarm Reset BUFFERED Resets a drive fault and clears the alarm code This command is the same as the AR command but is a buffered command rather than an immediate command NOTE Does not re enable the drive Use Motor Enable ME command to re enable drive Affects Alarm Code See also ME AR Commands Command Structure AX Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes AX Reset drive fault and clear alarm code 9A SCL Manual for MSST S Drive Rev 1 AZ Analog Zero Activates the analog auto offset algorithm This algorithm can also be accessed in ST Con figurator It is useful in defining the current voltage present at the analog input as the zero point or offset Affects All Analog input functions See also AF AP AV CM and Feed commands Command Siructure AZ Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes AZ Start analog auto offset algorithm Examples Apply 1 VDC across the AIN and GND terminals of the drive Then send the AZ command to the drive Next apply 4 VDC across the AIN and GND terminals Send the IA command and the response should be very close to IA 3 00 25 SCL Manual for MSST S Drive Rev
73. eter 2 Details Command Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access All data registers Parameter 1 Data register assignment units character range All Read Write and User Defined data registers Read Only data registers can be read back when Parameter 2 Parameter 2 Data register value units integer range 2147483647 long data registers 32767 short data registers Examples Command Drive sends Notes RLA150 Set acceleration register to 1500 rpm sec or 25 RLA RLA 1 00 Return acceleration register value JA100 Set jog accel rate to 100 rev sec sec 94 SCL Manual for MSST S Drive Rev 1 JS1 Set jog speed to 1 rev sec CJ Commence jogging CS2 Change jog speed to 2 rev sec RLK30 Set new jog accel rate to 300 rpm sec or 5 rev sec sec CS5 Change jog speed to 5 rev sec SJ Stop jogging With PR command Bit 5 turned on PR32 or greater RLO17100 Set Acceleration register to 1000 rpm sec RLO17 RLA 100 Return acceleration register value Units Example AC10 means 10 rps s RLA10 means 10 10 rpm s 1 667 rps s Multiply the desired rps s value times 6 to convert to the internal acceleration register value 95 SCL Manual for MSST S Drive Rev 1 RS Request Status Requests the immediate status of the drive This basically asks the drive to respond with what it s doing The drive has a number of different states of operation th
74. f the output after setting the AO command to 1 or 2 usage of the output will be reassigned and AO will be automatically set to 3 There are three Alarm Output states that can be defined with the AO command AO1 Output is closed energized when an alarm is present AO2 Output is open de energized when an alarm is present AO3 Output is not used as an Alarm Output and can be used for another automatic output function or as a general purpose output Affects Function of digital output See also AI SI BO and MO commands Command Structure AO Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Output State see above units integer code range 1 20r3 default 3 Examples Command Drive sends Notes AO1 Output will be closed when an alarm or fault occurs AO AO 1 NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low andhigh f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low
75. g value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 102 SCL Manual for MSST S Drive Rev 1 SI Enable Input EN input Defines the EN input as an Enable Input The EN input can be assigned to only one function in an application If you want to use the EN input as an Enable input you can define it as such in two ways with the ST Configurator software or with the SI com mand SI takes no effect if the drive is set in Command Mode CM 13 14 17 or 18 because these modes use the EN input as a speed change input and take precedence over the SI command Also setting the AI command after setting the SI command reassigns the EN input to alarm reset usage and turns off any drive enable usage SI3 In other words the SI and AI commands as well as Command Modes CM 13 14 17 and 18 each assign a usage to the EN input Each of these must exclusively use the EN input Command Modes are most dominant and will continually prevent SI and AI from using the input SI and AI exclude each other by overwriting the usage of the EN input There are three Enable input states that can be defined with the SI command SI1 Drive is enabled when the EN input is open de energized SI2 Drive is enabled when the EN input is closed energized SI3 The EN Input is not used for Enable and can be used as a general purpose input SI will be auto matically set to 3
76. ging NE 37 CM Gommand cree acscseaccenccsasisceetaetet eed 38 OO OGhange SHOE ve 39 EE g ER Ia 40 DA Define Address Ga 41 DG Change Distante sascinntnnese canes buvauaaiancetnebepbbbbbbviiccsessedhibllabea n 42 DE Deceleration Rate vvcsvccscccistsssassscctsncescsacictieavinnnratiantintasecisccsscses 43 DI Distance Position socsscceccsoccccseccccecenceechiacaewacecceeccescescceudieaacsaaenes 44 a KEENE 45 SEE Se eg GE MR cana ewnetireseeepiahihhhhhh ccnpecesencccsedierteasan 47 FC Feed to Length with Speed Change rnnnnnnnnnnnnnnnnnnnnnnennnnnne 48 FD Feed to Double Sensor cicciesesiciesscvesisacscanasadccavecennecivaanstaananaana 49 FE Follow Encoder ccccsicicsvissssssaisacdoseassdavecosssceescsesssbsteeanssauseanseatens 50 Fl T R ET 51 FL FEL OLENE wcssinninammnundereatedadececicnccatidiedddteteepiss aiibi 53 FM Feed to Sensor with Mask Distance rurrrrennnnnrerenrrenrrenrurenn 54 FO Feed to Length and Set Output seemed 55 FPFeedto POSION s 56 FP NNN 57 FY Feed to Sensor with Safety Distance eee 58 HG 4th Harmonic Filter Gain kummen 59 HP 4th Harmonic Filter Phase mmrnnnrnnnnnnnnnnnnnnnnnnnnnennnnvnnevnnevnennne 60 HW Hand Wheel cs scasiccaccdvvaisesiansienastadecsseseusssaiaaecstensscaneantasdensesaand 61 IA Immediate Analog scccssissssssssnenssssssnsersetas0esannensereneseernmenseiaeias ones 62 IC Immediate Current rmvarnnvevnnevnnevnnevnnnnnnnevnnvnnevnnevnne
77. gt means press the ENTER key on your keyboard which is the same as terminating the command with a lt cr gt IMPORTANT We recommend practicing with SCL commands with no load attached to the motor shaft You want the motor shaft to spin freely during startup to avoid damaging mechanical components in your system AC25 lt ENTER gt Set accel rate to 25 rev sec sec DE25 lt ENTER gt Set decel rate to 25 rev sec sec VE5 lt ENTER gt Set velocity to 5 rev sec sec FL20000 lt ENTER gt Move the motor 20000 steps in the CW direction If your motor didn t move after sending the FL20000 check the LEDs on your drive to see if there 4 SCL Manual for MSST S Drive Rev 1 is an error present If so send the AR command AR lt ENTER gt to clear the alarm If after clearing the alarm you see a solid green LED it means the drive is disabled Enable the drive by sending the ME command ME lt ENTER gt and verify that you see a steady flashing green LED You might also want to review your settings in ST Configurator to make sure the motor current is set properly Then try the above sequence again Here is another sample sequence you can try JA10 lt ENTER gt Set jog accel rate to 10 rev sec sec JL10 lt ENTER gt Set jog decel rate to 10 rev sec sec JS1 lt ENTER gt Set jog speed to 1 rev sec CJ lt ENTER gt Commence jogging CS 1 lt ENTER gt Change jog speed to 1 rev sec in CCW direction SJ lt ENTER gt Stop jogging In the above sequen
78. h to ignore mask the sensor at 5 1 inches enough to allow the previous part to completely clear the sensor FM1F Initiate FM move Sensor is connected to input 1 and will close when it sees a part NOTE When working with inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 54 SCL Manual for MSST S Drive Rev 1 FO Feed to Length and Set Output Same as Feed to Length FL but changes the state of an output during the move Overall move distance is defined by the DI command Accel rate decel rate and velocity are set by the AC DE and VE commands respectively Distance within overall move at which output condition
79. he EN input is used to select the speed set by the JC command This only applies to Command Modes CM 13 14 17 and 18 Affects Velocity oscillator mode See also AD AG and CM commands Command Structure JC Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Analog velocity mode second speed units rev sec rps range 0 0042 133 0 rps default 5 Examples Command Drive sends Notes JC11 Set second jog speed in velocity mode to 11 JC JC 11 iy SCL Manual for MSST S Drive Rev 1 JD Jog Disable Disables the STEP and DIR inputs as jog inputs during a WI instruction Affects Jogging during WI command See also JE and WI commands Command Structure JD Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes JD Disable jogging while executing a WI sh 2 SCL Manual for MSST S Drive Rev 1 JE Jog Enable Enables the STEP and DIR inputs as jog inputs during a WI instruction Jog accel decel and velocity are set using the JA JL and JS commands respectively The STEP and DIR inputs can each be assigned to only one function in an application If you want to use the STEP and DIR inputs as jog inputs you can define them as such with the JE command JE takes no effect if the drive is set in Command Mode CM 7
80. he drive to delay the start of transmission of a response packet after the end of reception of a command packet NOTE The Transmit Delay TD command is intended for use in 2 wire RS 485 serial communication networks Because the MSST S drives only have RS 232 ports for serial communications setting the TD command to a non zero value is unnecessary Communications Packet A Communications Packet or packet for short includes all the characters required to complete a command or response transmission This can vary depending on the 120 SCL Manual for MSST S Drive Rev 1 settings of the PR command See the PR command for more details Drive Startup At power up all MOONS drives send out what is called the power up packet This packet notifies a host of the drive s presence After sending the power up packet the drive waits for a response from the host This is one of the rare instances in which a drive will initiate communications with the host This process is necessary for a number of MOONS software applications such as Mis Programmer and ST Configurator The power up packet is an exception to the ASCII character rule in that all the characters in the packet are binary value The power up packet consists of three binary characters with the first character being a binary 255 255 is not a printable ASCII character This character designates to the software application that the packet is a power up packet The following two characte
81. hes tied to three digital inputs of the stepper drive a home sensor a CW end of travel limit and a CCW end of travel limit For this reason you should always wire the home sensor to the EN input See Also DL command Command Structure SH Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Input number Input condition units integer letter range integer 1 STEP 2 DIR 3 EN letter L low H high F falling edge R rising edge Examples Command Drive sends Notes SH3L Seek home to EN input low STEP and DIR inputs wired to end off travel limit switches NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analo
82. i in the decimal format is slower and causes a slight delay that varies in length Hexadecimal minimizes the overhead required to convert the internal binary data to ascii form This speeds up the process of sending out the requested data thus giving the most recent value Typically applications written on more powerful host computers can easily convert a hexadecimal value into a decimal value All I commands can be used at any time and at the fastest rate possible limited only by the given baud rate see BR and PB commands Immediate commands are executed as they are received regardless of what is in the drive s command buffer Regardless of format hex or dec there will be a slight delay in processing the response to an I command Real time usage of the data must be carefully analyzed Affects Immediate Commands IA IC ID IP IT IU and IV Command Structure IF Parameter 1 Details Command Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access None Parameter 1 Return format units letter range H hexadecimal or D decimal default H Examples Command Drive sends Notes IFH Sets format to Hexadecimal ID ID 00002710 Distance is 10000 counts IF IF H IFD Sets format to Decimal ID ID 1 0000 Distance is 10000 counts IF IF D 65 SCL Manual for MSST S Drive Rev 1 IH Immediate High Output Sets the output high open immediately Use SO if you don t
83. if CM is set to 13 14 17 or 18 or if AI is set to 1 or 2 after the SI command is set See also AI and CM commands Command Structure SI Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Enable input usage state units integer range 1 2 or 3 see above default 3 Examples Command Drive sends Notes SI1 Cause servo drive to be enabled when EN input is open SI SI 1 NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 103 SCL Manual for MSST S Drive Rev 1 SJ Stop Jogging Stops the motor when jogging CJ starts jogging Jog decel rate is defined by the JA command Affects CJ command See Also JA CJ ST SK SM commands Command Structure SJ Details Command Type IMMEDIAT
84. igh state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 61 SCL Manual for MSST S Drive Rev 1 IA Immediate Analog Requests present analog input value There are two different analog values that can be accessed With no parameter the IA command returns the analog command value which is derived from the analog input with gain and offset values applied as set in ST Configurator or via the AD AV and or AZ commands When a parameter is given the raw unscaled analog input value can be returned Immediate Analog IA Voltage at AIN Analog Offset Value AV AZ See Also AD AV and AZ commands Command Siructure IA Parameter 1 Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access a 049 Analog command j 058 Analog input raw AD counts Parameter 1 Analog input units nteger range No parameter or 0 Analog command 1 Analog input raw AD counts Examples Command Drive sends Notes IA IA 2 5 Analog command value is at mid IA1 IA 4 99 range Analog input is near 5 volts Example Send the command AV1 to the drive to set the Analog Offset Value to 1 VDC Then apply 4 VDC across the AIN and GND
85. ime and can be sent as often as needed This allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position Command Summary The set of tables that follows lists all of the SCL commands available with your drive In each table there are a number of columns that give information about each command Command shows the command s two letter Command Code Description shows the name of each command NV designates which commands are Non volatile that is which commands are saved in non volatile memory when the SA Save command is sent to the drive Write only or Read only is checked when a command is not both Read Write compatible Immediate designates an immediate command all other commands are buffered Units shows a couple of different things If a command has a parameter option it shows the units of that parameter If the command requests information from the drive status command it shows the units of the response Range shows the range of values the command can use in its parameter Default shows the default parameter value stored in the drive SCL Manual for MSST S Drive Rev 1 Motion Commands Com Description NV write read Imme units range default mand only only diate AC Acceleration Rate rps s 0
86. is not being used for a dedicated function such as Alarm Output AO Brake Output BO or Motion Output MO See Also IL IH IO commands Command Structure SO Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Output number Output state units integer letter range integer 1 Output letter L Low H High Examles Command Drive sends Notes SOIL Set Output low closed SO1H Set Output high open NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 106 SCL Manual for MSST S Drive Rev 1 SP Set Position Sets or requests the motor s absolute position in steps See Also FP commands Command Structure SP Parameter 1 Details Command Type BUFFERED Usage RE
87. itch or sensor triggers Since DI sets move direction CW or CCW the sign of DC is ignored Affects See also Command Structure DC Parameter 1 FC FY FO and FM commands VC command in CCW Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access C 019 Parameter 1 distance units steps range D to 2 147 483 647 default 0 Examples Command Drive sends Notes DC80000 Set change distance to 80000 counts DC DC 80000 DI 100000 Set overall distance to 100000 counts direction DC50000 Set change distance to 50000 counts VES Set velocity to 5 rev sec VC2 Set change velocity to 2 rev sec FC Initiate FC command 47 SCL Manual for MSST S Drive Rev 1 DE Deceleration Rate Sets or requests the deceleration rate used in all F point to point moves in rev sec sec Affects FC FD FE FL FM FS FP FY SH Commands See also AC AM DE DI VE Commands Command Structure DE Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access B 018 Parameter 1 Deceleration rate units rev sec sec rps s range 0 167 to 5461 167 resolution is 0 167 rps s default 100 Examples Command Drive sends Notes DE125 Set deceleration rate to 125 rev sec DE DE 125 AC25 Set Acceleration rate to 25 rev sec sec DE10 Set Acceleration rate to
88. ith digital inputs and outputs in MSST S drives it is important to remember the designa tions low andhigh If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 50 SCL Manual for MSST S Drive Rev 1 Fl Filter Input Applies a digital filter to a given input The digital input must be at the same level for the time period specified by the FI command before the input state is updated For example if the time value is set to 100 the input must remain high for 100 processor cycles one cycle 250 usec before high is updated as the input state A filter value of 100 equals 25 msec A filter value of 0 disables the filter This command can be used to apply filters to inputs STEP DIR and EN Affects All commands usi
89. iting the usage of the STEP and DIR inputs There are three end of travel limit input states that can be defined with the DL command DL1 End of travel limit occurs when an input is closed energized Motor automatically decelerates using the AM command DL1 End of travel limit occurs when an input is open de energized Motor automatically decelerates using the AM command DL3 The STEP and DIR inputs are not used as end of travel limit inputs and can be used as a general purpose inputs DL will be automatically set to 3 if CM is set to 7 11 12 13 14 15 16 17 or 18 or if JE is executed after the DL command is set Affects All F commands CJ SH WI when jogging commands See also AM command Command Structure DL Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Limit input state see above units integer number range 1 20r3 default 3 45 SCL Manual for MSST S Drive Rev 1 Examples Command Drive sends Notes DL1 Set limit inputs to act as normally open DL DL 1 DL3 Set limit inputs to act as general purpose inputs NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low andhigh f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no
90. its steps Examples Command Drive sends Notes With IF H IP IP 00002710 Absolute position is 10 000 steps IP IP FFFFD8FO Absolute position is 10 000 steps With IF D IP IP 10000 Absolute position is 10000 steps IP IP 1 0000 Absolute position is 10000 steps 260 SCL Manual for MSST S Drive Rev 1 IS Input Status Requests immediate status of all three digital inputs STEP DIR and EN Command Structure IS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes IS IS 00000000 All 3 inputs are closed IS IS 00000 111 All 3 inputs are open IS IS 00000001 STEP input is open DIR and EN inputs are closed IS IS 00000 101 STEP and EN inputs are open DIR input is closed s o o ofofo 1 1 1 STEP DIR EN NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented
91. ive COM Port Settings UART settings and Bit Rate Baud settings Communications Protocol Communication Details Communication Errors General structure of host serial communications The MSST S host serial communications are based on the common ASCII character set transmitted using standard UARTs over an RS 232 hardware interface The ASCII character set is used because it is common and well understood as well as easy to read UART Universal Asynchronous Receiver Transmitter serial transceivers are available on many types of equipment including most PCs and provide a common form of serial communications interface RS 232 hardware connections are commonly used with UARTs and also provide the easiest and most common form of connectivity Hardware Each MSST S stepper drive ships with an RS 232 programming cable This cable should be used for configuring your drive with the ST Configurator software as well as for sending SCL commands from SCL Setup Utility Furthermore if the host device in your application is a PC you can consider using this cable as well For applications where the host device is a PLC or HMI you will need to make your own communications cable The pinouts of the RS 232 connector RJ 1 1 6P4C on MSST S drives are shown in the diagram to the right Pin 5 of the connector should be connected to your host s signal ground pin Pin 4 of the connector should be connected to your host s Rx pin And Pin 2 of the connecto
92. ling you check the Hex radio button and enter the hexadecimal code sent by the drive Then check the Bin radio button and your code will automatically be converted to a binary word Note that Calculator does not allow leading zeros in entries So you may see less than 16 bits That s OK just start counting from the right with Bit 0 and you will be able to determine the conditions set in the 123 codes SCL Manual for MSST S Drive Rev 1 LED Display codes In addition to the AL and SC commands some alarm and status codes are physically displayed at the red and green LEDs of MSST S drives O DESCRIPTION 1 NOT USED 1 2 no move attempted move while drive disabled 2 1 CCW limit 2 2 CW limit 3 1 drive overheating 3 2 NOT USED 4 1 power supply over voltage 4 2 power supply under voltage 5 1 over current short circuit 5 2 motor resistance out of range 6 1 open motor winding 6 2 NOT USED 7 1 serial communication error 7 2 NOT USED 124 SCL Manual for MSST S Drive Rev 1 MOONS Shanghai AMP amp MOONS Automation CO Ltd NO 168 Mingjia Road Shanghai 201107 P R China Tel 86 21 52634688 Fax 86 21 52634098 E mail info moons com cn www moons com cn SCL Manual for MSST S Drives 125
93. ltering required to eliminate the effects of noise or bounce The digital filters implemented in MSST S drives work by continuously monitoring the level of the inputs to which filters have been applied using the FI command During each processor cycle every 51 SCL Manual for MSST S Drive Rev 1 250 microseconds internal counters associated with the filters are incremented or decremented depending on whether each input is high open or low closed respectively When a command that accesses a digital input is executed the state of the input requested by that command will be updated only after the internal counter for that input s filter reaches a threshold value This threshold value is also known as the filter value and is set by the FI command The flow chart to the right shows how a digital filter works For example if we apply a digital filter Repeat 4000 times per second Get Input Level Update Input State to Low Update Input State to High of 2 milliseconds to the EN input it means high to be true for 2 milliseconds before the processor updates the state of the EN input to the state requested by the command being executed is a WI3L No command which literally means wait for input 3 EN input low it means the input has been low for 2 milliseconds counter counie before updating the state of the input as low and finishing the WI3L command If by chance the EN input has b
94. lues to a Read Only data register you can only read the contents of them see RL and RX commands Read Only registers are assigned to lower case letters Read Write data registers Read Write data registers are predefined registers that contain drive and move parameters that can be set by the user These parameters include acceleration rate velocity move distance current setting and more Many of the Read Write registers are associated with a particular command so you can read their contents or load data into them with RL RX or that parameter s particular command Read Write registers are assigned to upper case letters Data Registers Assignment What follows is a listing of all the data registers available with your MSST S drive In the tables below Ch denotes the data register s character assignment and Description gives the name of the data register The column 3 digit denotes the register s 3 digit numeric assignment see PR command Data Type designates whether the data register is a 16 bit word Short or a 32 bit word Long Units shows how a data register s contents are used by the drive and Default shows the value loaded into the register at the factory Also some registers are followed by specific notes helpful for using them 115 SCL Manual for MSST S Drive Rev 1 Read Only data registers a z Ch Description 3 digit Data Units Default a Analog Command value 049
95. mal equivalent of the word as well The different protocol settings and their bit assignments are shown below Affects RS 232 Serial Communications See also BR and PB commands Command Structure PR Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Protocol code units decimal value of binary word range 1 63 000001 111111 bit 0 default Standard SCL bit 1 Always use Address Character bit 2 Ack Nack bit 3 Checksum RESERVED bit 4 RS 485 Adaptor not available in MSST S drives default 5 Bit 0 is only required when all other bits are set to 0 If any other bit in the word is set to 1 Bit 0 is ignored In other words PR4 and PR5 provide the same protocol settings Examples Command Drive sends Notes PR1 Set to standard SCL protocol PR4 Turn Ack Nack on PR PR 4 The PR Command in Detail Because of the detailed nature of serial communications required in host mode applications you are allowed to adjust a drive s serial communications protocol to best fit your application Adjusting a drive s serial communications protocol is done using the PR command NOTE We suggest turning Protocol settings ON or OFF using the SCL Configuration window of the ST 88 SCL Manual for MSST S Drive Rev 1 Configurator software application This window offers the same options as the PR command
96. mand for using AIN as sensor input Command Structure FM Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Input Input condition units integer letter range integer 1 STEP 2 DIR 3 EN 4 AIN letter L low H high F falling edge R rising edge Examples Example Parts are feeding on a conveyor which is being driven by the step motor A sensor detects the leading edge of the part and stops If the part has a hole in it which is common when you attempt to feed the next part into position you may in fact stop after feeding the previous part only a short distance because the sensor will register the hole in the part rather than the leading edge of the next part The solution is to use the FM command instead of the FS command and to set the DC command for the size of the part or greater Example continued The parts on the conveyor are 6 inches long Your mechanical linkage provides 2000 steps per inch You want the leading edge of the part to stop moving 1 inch past the sensor and therefore 5 inches of the part will not have gone past the sensor yet To avoid holes in the part and see the next part properly we need to mask 5 inches or more of the move Here are the commands you could use Command Drive sends Notes DI2000 Set distance to stop past sensor at 1 inch 2000 steps DC10200 Set distance over whic
97. mand the jog speed can be changed dynamically by using this command The value of CS can be positive or negative allowing the direction of jogging to be changed also Ramping between speeds while jogging is controlled by the JA and JL commands Changing CS does not change either JS or DI Affects Jog speed while jogging See also CJ and JS commands Command Structure CS Parameter 1 Details Command Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access J 026 Parameter 1 Jog Speed units rev sec range 133 3333 to 133 3333 sign determines direction for CCW no sign for CW Examples Command Drive sends Notes CS2 5 Set jog speed to CW at 2 5 rev sec CS CS 2 5 Displays current Jog speed CS 5 Set jog speed to CCW at 5 rev sec ce CT Continue SCL Manual for MSST S Drive Rev 1 Resume execution of buffered commands after a PS command has been sent The Pause PS command allows you to pause execution of commands in the command buffer After sending the PS command subsequent commands are buffered in the command buffer until either a CT command is sent at which time the buffered commands will execute in the order they were received or until the command buffer is full See also PS ST and SK commands Command Structure CT Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive se
98. nds Notes CT Resumes execution of a paused command buffer 40 SCL Manual for MSST S Drive Rev 1 DA Define Address Sets the drive address of your MSST S drive Since MSST S drives only work in point to point RS 232 comunication schemes the drive address does not normally need to be changed from the default of 1 See also PR command Command Structure DA Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 RS 485 network address units character range Valid address character are IM amp 0123456789 lt gt default 1 Examples Command Drive sends Notes DA2 Set drive address to 2 DA DA 2 SA Saves new drive address in NV memory Saves new drive address in NV memory 41 SCL Manual for MSST S Drive Rev 1 DC Change Distance Sets or requests the change distance or offset distance in steps The change distance is used by various move commands to define more than one distance parameter All move commands use the DI command at some level and many require DC as well Examples are FC FM FO and FY The moves executed by these commands change their behavior after the change distance DC has been traveled For example FM is similar to FS but in an FM move the sensor input is ignored until the motor has moved the number of steps set by DC This is useful for masking unwanted sw
99. ng inputs See also WI FE FD FM FS and FY commands Command Structure Fl Parameter 1 Parameter 2 Details Command Type BUFFERED Usage READ WRITE Non Volatile NO Register Access None Parameter 1 Input units integer range 1 STEP 2 DIR 3 EN Parameter 2 Filter value units processor cycles range 0 32767 0 disables the filter Examples Command Drive sends Notes FI1100 Requires that STEP input maintain the same state low or high for 25 milliseconds before the drive registers that state FI1 FI1 100 Digital Input Filters in Detail The MSST S drives have the capability to apply digital filters to selected digital inputs With factory defaults digital inputs are not filtered through any means other than the natural response time of the optical couplers used in the input circuits Analog filtering has purposely not been implemented so as not to restrict the input circuit However digital filtering is available on select digital inputs to enhance the usage of those inputs On occasion electrical noise at digital inputs may create a false trigger or even a double trigger This can often happen when using mechanical switches that bounce when activated or de activated For this reason there may be a need to filter an input to eliminate the effects of these noise conditions Digital filtering gives the greatest flexibility by allowing the user to select the amount of fi
100. nsisitidaauecssdtineddisindiceins 94 RS Request Status 5 csesesaxexGscacscccaaaaaaaucseassassvevsediaessesecensosnataneees 96 Pu Register Upload nrusiissr eee 97 RV Revision Lad 98 SA eave Parameters p 99 DG Slas COUE EE 100 SF Step Filter Frequency ccccsesccccccceeeeeeeeeeceeeeeeeeeeeeeeeeeeaes 101 T SN HOME ener 102 Sl Enable Input EN WOU isacssssssssarrssidannspnensssarieisiaisassannanmaaaannbas 103 SJ O JOON sossar Ann mind 104 SK Stop amp Kill BUNG acs accaanecq ennnnnnnnnnnnrnerntsnaggaggqqagswecssosseeesoestagyys 105 EEE TOUTE seres rnn R 106 PN 107 Se AE 108 EE nese CEECEE EENT 109 SCL Manual for MSST S Drive Rev 1 TO Transmit Delay Lukkede khan 110 VC Change Velocity NR 111 ENN je 112 V Wan FOr IMPUN susssiiicninninnnnnnnnaneceeertatnnnnnmnmncneneneeetrseestunerercts 113 WI Wait eres 114 Data Registers Luske 115 Read Only data registers oo ceicidevsssnsessshness aaseiassecassasberanancceaaaeexasiacsas 115 Read Write data 0 EE 115 Data Register AssignmentS sssannnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnennnnnennnnnnnnnnnnn senses 115 Read Only data registers a Z csiicisisssssssisssitisissassicisasensaasdteaiteasiaasa 116 Read Write data registers Z rrnnnnnnnevnvnvvnnnnnnnnnrrsnnsnsnennnnnnnnnnnne 117 Appendix A Host Serial Communications 119 Appendix B Alarm and Status Codes 00 122 IV SCL Manual for MSST S Drive Rev 1 Introduction
101. nsor is reached first input condition is made the motor decelerates at rate DE to speed VC When the second sensor is reached second input condition is made the motor decelerates to a stop at rate DE The sign of the DI register is used to determine the direction Both analog and digital inputs can be used in this command See also FM FS FY and VC commands see AT command for using AIN as sensor input Command Structure FD Parameter 1 Parameter 2 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 1st Input number Input condition integer letter integer 1 STEP 2 DIR 3 EN 4 AIN letter L low H high F falling edge R rising 2nd Input number Input condition Parameter 1 units range Parameter 2 units integer letter range integer 1 STEP 2 DIR 3 EN 4 AIN letter L low H high F falling edge R rising Examples Command Drive sends Notes AC50 s Set accel rate to 50 rev sec sec DE50 Set decel rate to 50 rev sec sec DI 1 Set move direction to CCW VES Set initial velocity to 5 rev sec VCi Set change velocity to 1 rev sec FD1F2H Launch Feed to Double Sensor move decal from VE to VC when input 1 changes from high to low falling then decel to a stop when input 2 is high NOTE When working with digital inputs and outputs in MSST S drives it
102. o 0 5 rev sec FSiL a Initiate move and decel to stop when sensor tied to input 1 is low NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NOTE When working with the analog input of an MSST S drive AIN terminal L designates an analog value lower than the value set by the AT command Similarly H designates an analog value greater than the value set by the AT command 37 SCL Manual for MSST S Drive Rev 1 FY Feed to Sensor with Safety Distance Executes a Feed to Sensor move but monitors a predefined safety distance If sensor is not found before distance reaches the safety distance DC the motor is stopped and the drive sends the host an exclamation point DI defines the direction of rotation and the stop distance to move after the sensor triggers the stop input Accel rate decel rate and velocity are s
103. olumn NOTE When using registers pay attention to units In the case of some Read Write registers the units of the register when using the RL and RX command are different than when using the same register s associated command For example the V register uses units of 0 25 rom but its associated command VE uses revs sec rps The reason for this difference is that all registers operate with integer math On the other hand when using commands it is often possible to include decimal places which allow for more user friendly units Ch Description 3 digit Data Type Units Default A Acceleration AC 017 Short 10 rpm sec B Deceleration DE 018 Short 10 rpm sec C Change Distance DC 019 Long steps D Distance DI 020 Long steps 117 SCL Manual for MSST S Drive Rev 1 F Other Flags 022 hone bit pattern see below Drive response to RLF lt cr gt command Description Hex Value Decimal Value DISTANCE LIMIT FLAG 0x0001 1 SENSOR FOUND FLAG 0x0002 2 HARDWARE OVERCURRENT 0x0004 4 SOFTWARE OVERCURRENT 0x0008 8 BAD CURRENT OFFSET Ph A 0x0010 16 BAD CURRENT OFFSET Ph A 0x0020 32 OPEN WINDING Phase A 0x0040 64 OPEN WINDING Phase B 0x0080 128 Note Clear flags by sending RLFO lt cr gt command to the drive H RESERVED 024 Long J Jog Velocity JS 026 Short 0
104. op Halts the current buffered command being executed but does not affect other buffered commands in the command buffer When used to stop a move deceleration rate is controlled by the AM Max Acceleration command If a D parameter is used deceleration rate is controlled by either the DE command with Feed moves like FL FP and SH or the JA command when jogging See Also SK command Command Structure ST Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Deceleration rate units letter range D deceleration rate set by DE or JA command no parameter deceleration rate set by AM command Examples Command Drive sends Notes ST 7 Stop current command immediately and use the decel eration rate set by the AM command if motion is in process Stop current command immediately and use the decel STD 8 eration rate set by the DE or JA command if motion is in process 109 SCL Manual for MSST S Drive Rev 1 TD Transmit Delay Sets or requests the time delay used by the drive when responding to a command that requests a response Most RS 232 hosts will not require a non zero TD value because separate Rx and Tx lines are used Affects RS 232 Serial Communications See Also BR PB and PR commands Command Structure TD Parameter 1 Details Command Type BUFFERED Usage READ W
105. otor is not moving MO2 Output is open de energized when motor is not moving MO3 Output is not used as a Motion Output and can be used for another automatic output function or as a general purpose output MO4 Output is used as a Tach Output Use ST Configurator to set the resolution of the Tach Output function Affects Function of digital output See also AO and BO commands Command Structure MO Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter 1 Condition code units integer range 1 2 3 or 4 see above default 3 Examples Command Drive sends Notes MO1 Output will be closed when motor is not moving MO MO 1 NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designa tions low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character oe SCL Manual for MSST S Drive Rev 1 PB Pow
106. ow state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character 55 SCL Manual for MSST S Drive Rev 1 FP Feed to Position Executes a Feed to Position absolute move Move position comes from the last DI command Speed accel and decel are from VE AC and DE commands respectively Optional parameter allows using a local absolute position for the FP command rather than the last DI value NOTE The last DI command can be ignored unaltered if a parameter is used with the FP command See also AC DE DI VE commands Command Siructure FP Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access one Parameter 1 Absolute position units steps range 2 147 483 647 to 2 147 483 647 Examples Example After homing the motor you want to zero the home position and move to an absolute position 80000 steps from the new home position Command Drive sends Notes SPO Set current motor position as absolute zero VE5 Set velocitv to 5 rev sec D180000 Set move position to 80000 steps FP Initiate Feed to Position move FP40000 Initiate Feed to Position move to 40000 steps without affecting the the last DI command 56 SCL Manual for MSST S Drive Re
107. pages for a listing of data registers and their character assignments When accessing a data register using its character assignment you use the RL Register Load IMMEDIATE or RX Register Load BUFFERED commands These commands allow you to load data values into a register as well as read back the contents of a data register For example we set the move speed to 10 rev sec by using the velocity command VE1 0 You can accomplish the same thing by using the RL command and the character assignment for the velocity data register V By sending RLV2400 to the drive you set the move speed to 10 rev sec Wait please read that again send RLV2400 to change the velocity to 10 rev sec Be careful of units when working directly with registers and the RL and RX commands Data register units are often not the same as the units used by their associated commands The VE command works in rev sec but the V register works in deca rpm sec 10 rpm sec This means you multiply the desired speed in rev sec by 240 to get the same value in deca rpm sec There are two basic types of data registers available in MSST S drives Read Only and Read Write Read Only data registers Read Only data registers are predefined registers that contain information about drive parameters settings and states These include registers for commanded current analog input level drive temperature internal bus voltage and more You cannot transfer data va
108. pt to follow the master encoder signals without injecting any ramps to smoothly approach high frequency target speeds or to come to a stop when the stop input condition is met In this mode inputs STEP and DIR are used for connecting the A and B signals of the encoder based hand wheel The EG Electronic Gearing command defines the following resolution of the step motor See also EG and FE commands see AT command for using AIN as sensor input Command Structure HW Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Input number Input condition units integer letter range integer 3 EN letter L low H high F falling edge R rising edge Examples Command Drive sends Notes HW3L 7 Run in hand wheel mode until EN input is low NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low andhigh f current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A h
109. r Step 2 Configure your MSST S drive using ST Configurator If you haven t already done so unpack your MSST S drive and step motor and collect them together near your PC You re going to need the following items to begin developing your application AnMSST5 S or MSST10 S stepper drive A 2 phase step motor MOONS offers a number of step motors for use with the MSST series drives Of course you can use your own step motors The programming cable supplied with your MSST S drive 9 pin D sub at one end RJ 1 1 modular connector at the other A small flat blade screwdriver supplied with your MSST S drive A 24 or 48 VDC power supply IMPORTANT Never connect a step motor to your MSST S drive with power applied to the drive Always make sure your DC power supply is either off or disconnected from the MSST S drive when connecting or disconnecting your step motor Connect the 2 phase step motor to your MSST S drive Then connect your MSST S drive to your PC using the programming cable Launch ST Configurator Power your drive ON If power was ON to the drive when you launched ST Configurator power the drive OFF then back ON Configure your motor by clicking the Motor button on the main screen of ST Configurator Use the Help file contained in ST Configurator for details on configuring your drive for the particular step motor you have Each MSST S drive can run in one of 4 Motion Control Modes Pulse amp Direction Velocit
110. r range 1 16 Examples Command Drive sends Notes RUA5 RUA 400 A The Acceleration value RUB 400 B The Deceleration value RUC 16000 C The Distance Change value RUD 8000 D The Distance value RUE 0 E The Encoder value With PR Command Bit 5 turned on PR32 or greater RUO175 RUA 400 017 The Acceleration value RUB 400 018 The Deceleration value RUC 16000 019 The Distance Change value RUD 8000 020 The Distance value RUE 0 021 The Encoder value NOTE All data registers use internal drive units meaning the data is not scaled to the units used by different commands For example the velocity register V will be returned as quarter rpm 0 25 rpm instead of rev sec like the VE command 97 SCL Manual for MSST S Drive Rev 1 RV Revision Level Requests the drive s firmware version Data is returned as a three digit value with no decimal point See below for example Command Structure RV Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units Drive firmware version Examples Command Drive sends Notes RV RV 150 Drive is running firmware version 1 50 RV RV 222 Drive is running firmware version 2 22 98 SCL Manual for MSST S Drive Rev 1 SA Save Parameters Saves selected command parameters to non volatile memory All commands in this section that show Non Volatile YES
111. r should be connected to your host s Tx pin 5 GND 2 Drive RX 4 Drive TX COM Port Settings UART Settings We operate our UARTs with the following settings 1 start bit 8 data bits 0 no parity bits and 1 stop bit Bit rate baud settings BR and PB commands All MOONS drives default to 9600 baud from the factory In most cases this speed is adequate for setup configuring programming as well as host mode communications If higher baud rates are required the drives can be configured to operate with a different rate using the BR Baud Rate or PB Power up Baud Rate command In all cases the 119 SCL Manual for MSST S Drive Rev 1 drive starts up at the factory rate 9600 and will remain there if the power up packet is acknowledged by the host see Drive Startup below When the power up cycle is complete and if the drive has not received the power up packet the drive will activate the new baud rate Selecting a baud rate higher than the default 9600 is dependent on the application If there is a host device operating a number of drives on a network a higher speed may be required in order to process all the communication needs Communications Protocol In general the protocol for communications between a host device and a drive is quite simple MSST S drives do not initiate communications on their own so drives are normally in a state to receive packets from the host A communications packet or packe
112. register with a Long word data value only the lower word of the Long value is used The RL commands is useful for dynamically changing certain drive and motion parameters For example while jogging the jog accel and decel rates can be changed using the K and L registers respectively This allows a more dynamic use of the drive s jogging functions because the JA and JL commands don t take effect if jogging has already commenced Rather they are buffered until jogging stops so they will take effect the next time jogging starts Conversely changing the K register during jogging takes effect immediately and any subsequent increases in jog speed CS for example will use the new accel rate NOTE When setting a register no pre processing of the data value is performed This means data sent using the RL command must be in the units used by the drive internally In some cases the units used by the drive internally are different from the units used by the associated command For example jog accel rate can be changed by both the JA command and the K register Units of the JA command are rev sec sec Internal units of the K register are dece rpm sec 10 rpm sec In other words JA 100 is the same as RLK600 See the Data Register section later in this manual for more details on data register assignments and units Affects All data registers See also Section on Data Registers Command Structure RL Parameter 1 Param
113. resent The value sent from the drive is the hexadecimal equivalent of the binary code Bit assignments are shown in the Details table below Command Structure CE Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Parameter 1 Communication error code units hex code STANJE bit 0 parity error not used bit 1 framing error bit 2 noise error bit 3 overrun error bit 4 Rx buffer full bit 5 Tx buffer full bit 6 bad SPI op code Examples Command Drive sends Notes CE CE 10 Rx buffer full 33 SCL Manual for MSST S Drive Rev 1 CF Anti Resonance Filter Frequency Sets or requests the anti resonance filter frequency setting This setting is in Hz and works in conjunction with the anti resonance filter gain setting CG to cancel instabilities due to mid band resonance NOTE We strongly suggest using ST Configurator to set this value by entering as accurate a load inertia value as possible in the motor settings window Affects Mid range performance of step motors See also CG command Command Structure CF Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Filter frequency units Hz range 0 2000 default 241 Examples Command Drive sends Notes CF1400 Set anti resonance filter frequency to 1400 Hz CF CF 1400 34 SCL Manual
114. rmore the motor will follow the master encoder pulses in both direction CW and CCW However once the input condition to stop is met the motor will only stop properly if moving in the direction set by the DI command This command also works like the Feed to Sensor FS command in that it uses the DI register value to go the DI distance after the input condition triggers the stop When done executing the drive returns to the mode it was in before executing the FE command NOTE You must use ST Configurator to set up the STEP and DIR inputs for encoder following Do this by choosing A B Quadrature in the Pulse amp Direction Motion mode NOTE Take care when changing the R register while following because some move parameters wil be scaled as well and therefore the move may change unexpectedly See also EG command and R register see AT command for using AIN as sensor input Command Siructure FE Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile O Register Access None Parameter 1 Input Input condition units nteger letter range nteger 3 EN 4 AIN etter L low H high F falling edge R rising edge Examples Command Drive sends Notes AC500 Limit acceleration in encoder following to 500 rev sec sec D18000 z Set the stoppina offset distance to 8000 steps FE3L Run in encoder following mode until the EN input is low NOTE When working w
115. rs are the firmware version number and the model number of the drive respectively Power Up Packet 255 F W Version Model No As an example an MSST S drive with f w version 1 53 will send out a power up packet that looks like this 255 53 38 To an ASCII terminal this packet may look like y58 amp The 255 is the power up packet designator the 53 actually stands for f w version 1 53 the 1 is implied and the 38 is an internal model number for the drive The power up packet is always sent at 9600 baud regardless of the bit rate set by the BR or PB command If an MOONS software application is present it will respond to the power up packet and communications will continue at 9600 baud If an MOONS software application is not present the drive s request made by the power up packet will time out and the drive will begin communicating at the saved bit rate BR or PB command 9600 or otherwise Communication Errors During the process of sending communication packets between the host and drive s two different types of communication errors can occur Hardware errors Hardware errors are displayed physically by an MSST S drive via the red and green LEDs on the drive see Appendix B but no response packet is automatically generated from the drive to the host Therefore it is the responsibility of the host to check for hardware communication errors using the AL RS and or SC commands See AL and SC commands for more
116. s Analog input See also IA CM commands Command Structure AF Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Filter value units nteger see formula above range D 32767 0 disables the filter default 14418 500 Hz An AF value of 28271 equates to 4000 425 Hz Setting the AF command to anything higher than 28271 has a negligible effect on the analog filter In other words the maximum value of the filter is approximately 4000 Hz Examples Command Drive sends Notes AF5000 Make the analog input bandwidth 114 585 Hz AF AF 5000 14 SCL Manual for MSST S Drive Rev 1 AG Analog Velocity Gain Sets or requests the gain value used in analog velocity oscillator mode The gain value is used to establish the relationship between the analog input and the motor speed The units are 0 25 rpm For example if the gain is set to 2400 when 5 Volts is read at the analog input the motor will spin at 10 rps TIP To set the analog velocity gain to the desired value multiply the desired motor speed in rps by 240 or the desired motor speed in rpm by 4 Affects Analog velocity modes See also CM command Command Siructure AG Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None units 0 25 rpm range 0 32767 default 2400 1
117. s rev sec rps range 0 0042 133 3333 resolution is 0 0042 rev sec default 10 Examples Command Drive sends Notes VE2 525 Set move velocity to 2 525 rev sec VE VE 2 525 DI 20000 Set move distance to 20000 steps in CCW direction VE2 5 Set move velocity to 2 5 rev sec FL Initiate Feed to Length command 112 SCL Manual for MSST S Drive Rev 1 WI Wait for Input Waits for an input to reach the given condition Allows very precise triggering of moves if a WI command is followed by a move command When JE Jog Enable has been executed and the drive is in CM21 or 22 the STEP and DIR inputs act as jog inputs during WI commands JD Jog Disable disables jogging using these inputs during WI commands Affects Use of STEP and DIR inputs as jog inputs See Also FI JE and JD commands Command Structure WI Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Input number Input condition units integer letter range integer 1 STEP 2 DIR 3 EN letter L low H high F falling edge R rising Examples Command Drive sends Notes WIBR _ Wait for EN input to go high rising edge before proceedina to the next command in the command buffer NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input
118. s the maximum acceleration deceleration allowed when using analog velocity oscillator mode Also sets the deceleration used when an end of travel limit is activated during any of the Feed moves or when a Stop ST or Stop amp Kill SK command is sent Affects ST SK commands Analog velocity oscillator mode See also VM command Command Siructure AM Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile VES Register Access None Parameter 1 aximum acceleration deceleration units rev sec sec rps s range 0 167 5461 167 resolution is 0 167 rps s default Examples Command Drive sends Notes AM2000 Set maximum acceleration deceleration rates to 2000 rev sec sec AM AM 2000 18 SCL Manual for MSST S Drive Rev 1 AO Alarm Output Defines the drive s digital output as an Alarm Output The output of an MSST S drive can be assigned to one of four functions alarm output brake output motion output or tach output Each of these functions must exclusively use the output so only one function is allowed There are two ways to define the function of this output via ST Configurator or via SCL commands To set the output as an alarm output use the AO command and one of the codes below NOTE Setting the AO command to 1 or 2 overrides previous assignments of this output s function Similarly if you use the BO or MO command to set the function o
119. t 9 The resulting 16 bit word is 0000001001000100 and the equivalent hexadecimal value is 0244 Therefore when the host sends AL the drive will respond with AL 244 Status Code Definitions Below is a diagram showing the meaning assigned to each of the 16 bits in the Status Code s binary word For example when Bit 1 1 the drive is disabled Similarly when Bit 10 1 the drive is seeking the home sensor defined by the SH command A drive will set any and all bits that pertain to its immediate status condition at the moment of receiving the SC command from the host 122 SCL Manual for MSST S Drive Rev 1 When a host sends the SC command the response from the drive will be the Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Status Code and the equivalent hexadecimal value for each of the bits is given below Bit Assignment Hex Value Drive On Enabled drive is Off disabled if this bit 0 0001 NOT USED 0002 Drive Fault check Alarm code AL 0004 In Motion from anv kind of input 0008 In Motion using a Feed command 0010 Joaaina currently in Joa mode 0020 Stoppina stop command in proaress SK or ST 0040 Waitina for an Input WI 0080 Savina parameter data is being saved SA 0100 Alarm Alarm Code is present AL 0200 Homina SH command in proaress SH 0400 Wait on Timer Wait time is in proaress WT 0800 NOT USED 1000 NOT USED 2000 NOT USED 4000 Initiali
120. t bit pattern m Control Mode 061 Short Mode n Velocity Move State 062 Short State see below Drive response to RLn lt cr gt command WAITING 0 In Velocity mode waiting for a command RUNNING 1 Velocity move in progress jogging FAST STOPPING 2 Stopping a velocity move SK or ST with no parameter STOPPING 3 Stopping a velocity move SJ SKD or STD ENDING 4 Clean up at end of move 1 PWM cycle 62 usec o Analog Command value 063 Short State see below 116 SCL Manual for MSST S Drive Rev 1 Drive response to the RLo lt cr gt command Description Decimal Value Comment WAITING 0 In position mode waiting for command WAITING ON BREAKE 1 Waiting for brake to release CALCULATING 2 Doing the calculating for the move ACCELERATING 3 Accelerating up to speed CHANGE VELOCITY 4 Changing the speed accel or dccel AT VELOCITY 5 At the desired speed DECELERATIONG 6 Decelerating to a stop FAST DECELERATION 7 Doing a fast deceleration SK or ST POSITIONING 8 Clean up at end of move 1 PWM cycle 62 usc S Status Code 067 Short see Appendix B t Drive temperature 068 Short 0 1 C u Bus Voltage 069 Short 0 1 Volts W Target Velocity 071 Short 0 25 rpm Read Write data registers A Z Many of the Read Write data registers are associated with a specific command In the tables below associated commands are shown in parentheses in the Description c
121. t cr gt it will determine whether or not it understood the command If it did understand the command the drive will either execute or buffer the command If Ack Nack is turned on see PR command the drive will also send an Acknowledge character Ack back to the host The Ack for an executed command is percent sign and for a buffered command is asterisk If the drive did not understand the command it will do nothing If Ack Nack is turned on a Nack will be sent which is signified by a question mark The Nack is usually accompanied by a numerical code that indicates a particular error To see a list of these errors see the PR command SCL Manual for MSST S Drive Rev 1 Getting Started To get up running with your MSST S drive and SCL as quickly as possible follow the basic steps below Step 1 Install software Your MSST S stepper drive was shipped with User Manual and CD ROM containing all of the software applications available from MOONS drives If you don t have a copy of this CD ROM you can also visit www moons com cn to download software applications for free From the CD ROM or from a download install ST Configurator and SCL Setup Utility on your Windows based PC ST Configurator will be used to configure your drive and put it into SCL mode SCL Setup Utility will be used to practice with SCL commands NOTE For laptop computers without a serial port you will have to use a USB Serial adapter or a PCMCIA Serial adapte
122. t for short includes all the characters required to complete a command host to drive or response drive to host transmission In other words a host initiates communication by sending a command packet and the drive responds to that command by sending a response packet back to the host Command Transmission host to drive The philosophy of sending characters to the drive requires the host to send all the required characters that form a packet in a limited time frame At the start of receiving a packet the drive begins timing the space between characters Each time a character is received an internal timer is reset to 200 milliseconds If the timer reaches zero before the next character in the packet is received the drive will terminate its packet parsing characters will still go into the receive buffer and may send out an error response packet depending on the protocol setting The purpose of the timeout feature is to allow the drive to purge its buffers automatically when a bad transmission occurs NOTE This timeout feature limits the usage of host devices such as the Windows application HyperTerminal We recommend using MOONS SCL Setup Utility instead This utility sends out an entire command packet with the minimum delay between characters and includes the packet s terminating character Response Transmission drive to host In response to a command packet from the host a drive will usually send a response packet The drive sends out its
123. urs when the input is open de energized This is an edge triggered event If the switch is open when an alarm is activated no reset will occur The input must be closed energized and then opened to reset the alarm AI3 The EN Input is not used for Alarm Reset and can be used as a general purpose input AI will be automatically set to 3 if CM is set to 13 14 17 or 18 or if SI is set to 1 or 2 after the AI command is set Command Structure AI Parameter 1 gt Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Usage State see above for details units nteger number range 1 2 or 3 default 3 Examples Command Drive sends Notes T F Closing EN input resets all possible alarms NOTE When working with digital inputs and outputs in MSST S drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character aig SC
124. v 1 FS Feed to Sensor Executes a Feed to Sensor command Requires input number and condition The motor moves until a sensor triggers the stop input then stops a precise distance beyond the sensor The stop distance is defined by the DI command The direction of rotation is defined by the sign of the DI command for CCW no sign for CW Speed accel and decel are from the last VE AC and DE commands respectively A motor moving at a given speed with a given decel rate needs a certain distance to stop If you specify too short a distance the drive may overshoot the target Use the following formula to compute the minimum decel distance given a velocity V in rev sec and decel rate D in rev sec sec R steps rev which in this equation equals the value set by the EG command in steps rev R minimum decel distance 2D See also FD FM and FY commands see AT command for using AIN as sensor input Command structure FS Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter 1 Input number Input condition units Integer letter range Integer 1 STEP 2 DIR 3 EN 4 AIN Condition L low H high F falling edge R rising edge Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decel rate to 100 rev sec sec DI1000 5 Set stop distance to 1000 steps VEO 5 Set velocity t
125. vunvnnevnnevnnsen G3 ID Immediate Distance SE 64 IF Immediate Formal 24av vvves EEE TS 65 iH Immediate High RR 66 IL Immediate Low Output oats asec eee ecennnn en anctesieadiestsienannncennnqnctnsanins 67 SCL Manual for MSST S Drive Rev 1 lO Output SSIS NE 68 IP immediate POSION sinnscuununuticdadddddddadeanbsducesddddddddddedeasiiabiiidddddita 69 PDE WS pr 70 IT Immediate Temperature xi ictecccccscttcteetcisssusaaseeeseeansensanntectetesasiad 71 IU Immediate Voltage sstcscvnvincessiiiaiiiacannadantdennivasusuiidiaanandbeaaanantesieds 72 IV Immediate Velocity summeres rnnnesssnijr 73 JA Jog Acceleration sccesssssacactsdasdvasasstaiibexsasgaceasdissciaaiessabebaanawantaaas 74 JC Velocity Oscillator Mode Second Speed mmrrrrrrrrrnrnnnnnnnnrrr 75 JD Jog Disable REE 76 EJ Fv 77 eS eT SCSI EEE 78 JE SJON CMCC A 79 MD Motor Disable acccesccccesscsalesssececasasatledaiattaieessteusesaanmneannnptetlecaded 80 Re Motor Enable NG 81 MN DCE NE sanse 82 MO Motion ON go eecceat ve yseen ins tssassassanansnsaasssssssesssssass 83 PB Power up Baud Rate cccccccssssmnesecsnseeeeeseenedsennmnnteqeeesseeeeesezeqseees 84 PG Powerup CUTEM es oe eneeeeeeeenetmmnnnnnneticnmnniminimiionnnnnnnnnnnnnncadiies 85 Pi Powerup Idle VEN sumaren 86 PM Power up Mode cccccccceeeeeeeeeesseeeeeeeeeeeeeeeeeeeeeeeeeeeeeesnees 87 PR POTOGA EEEE EEEE 88 gt RE ER 92 EE EE OR 93 RL Register Load IMMEDIATE ccccicccccesuaisacn
126. when set in Configurator software otherwise NO Register Access None Parameter 1 Filter gain units integer number range 0 32767 Example Command Drive sends Notes HG8000 Set filter gain value to 8000 HG HG 8000 59 SCL Manual for MSST S Drive Rev 1 HP 4th Harmonic Filter Phase Sets or requests the 4th harmonic filter phase setting This setting works in conjunction with the 4th harmonic filter gain setting HG to reduce low speed torque ripple in step motors NOTE We strongly suggest you set this value in the ST Configurator software application only Affects Low speed performance of step motors See also HG command Command Structure HP Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES only when set in Configurator software otherwise NO Register Access None Parameter 1 Filter phase units nteger number range 255 to 255 Examples Command Drive sends Notes HG1 05 Set 4th harmonic filter gain to 105 HG HG 105 60 SCL Manual for MSST S Drive Rev 1 HW Hand Wheel Puts drive in hand wheel mode until the given digital or analog input condition is met Hand wheel mode is a kind of low speed following mode where the motor follows master encoder signals as a hand wheel is manually turned This command differs from the FE command in that the AC DE and DI commands are not used in any way In other words the motor will attem
127. y Oscillator Multi axis MisNet Hub and SCL Click the Motion amp I O button in ST Conigurator then select SCL This will bring up the SCL Configuration window SEL Motion amp I 0 iii r Serial Command Language SCL In the SCL Configuration window there are a number of settings you can make that affect how the drive operates while in SCL mode View the graphic below to understand these ois SCL Manual for MSST S Drive Rev 1 settings Communication Protocol contains settings to turn on Ack Nack and to turn on 3 digit numeric register addressing Ack Nack is a useful setting l 7 BET because the drive will respond to each command it si receives with an Ack or sign or Nack sign Commuricabon Protocol 3 digit numeric register addressing is a common set M Respond to all commande with ack or nak ting for HMI hosts because many HMIs work with Use 3 digt HMI compatible register addressing numerical register addresses rather than alphabetical Command Mode register addresses 21 Point to Point Postioning Power Up Command Mode sets which mode the Choose a Function for EN Input drive will power up in There are a number of different Not used modes the drive can operate in and still communicate with SCL commands Most applications will at least reder start out in Command Mode 21 Point to point NotUced z Positioning See details on the Command Mode CM command for more information
128. zing happens at power up 8000 Bit OONOOaARWN OO 10 11 12 13 14 15 Example The drive is executing an FL command Bit 4 and it s waiting for the input specified by the WI command Bit 7 The 16 bit word for this condition is 0000 0000 1001 0000 and the hexa decimal equivalent is 90 Therefore when the host sends SC the drive will respond with SC 90 A useful tool for converting alarm and status codes to binary If you re using a Windows based PC as a host with your MSST S drive which you ll definitely be doing if you re using any of the MOONS software supplied with your drive you can use the Calculator utility that comes with Windows to convert hexadecimal values into binary values or words This utility is usually found in the Accessories folder of the Programs Folder in the Start menu Once open make sure the Scientific view is set by choosing it from the View menu of Calculator This view provides some radio buttons for switching between Hex and Bin as well as fajita Dec and Oct Bit 0 Drive on Enabled Bit 1 NOT USED Bit 2 Drive Fault Bit 3 In Motion any input Bit 4 In Motion Feed command Bit 5 Jogging Bit 6 Stopping Bit 7 Waiting Bit 8 Saving Bit 9 Alarm Bit 10 Homing Bit 11 Wait on Timer Bit 12 NOT USED Bit 13 NOT USED Bit 14 NOT USED Bit 15 Initializing To figure out what your Alarm or Status Code is tel

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