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Host Command Reference Rev I

1. is closed active low This Input opened drive is re enabled Input closed alarm is reset is an edge triggered event If Input opened drive is re enabled the switch is closed when an alarm is activated no reset Alan will occur The input must be thigh opened inactive high and then closed to reset the alarm The drive will be enabled when the input is returned to the opened state inactive high unless the high low time Al B c D ABI C D E low 4 gt time Input is closed normal operation Input is open Alarm occurs SI command has been used to configure hardware enable Input opened alarm is reset Input closed drive is re enabled Al B Alarm occurs C D Input opened alarm is reset Input closed drive is re enabled Al B C Input closed no reset occurs D E functionality Al2n For normal operation the designated input n input must be closed active low Alarm reset occurs when the designated input is opened 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 The drive will be enabled when the input is returned to the closed sta
2. Alarm Reset and may be used as a general purpose input Al will be automatically set to 3 if CM is set to 13 14 17 or 18 or Input is closed normal operation Alarm occurs A B C Input opened alarm is reset D Input closed drive is re enabled AJ Input is open B Alarm occurs C Input closed no reset occurs D Input opened alarm is reset if Sl is set to either 1 or 2 after E Input closed drive is re enabled the Al command is set STM24 Drives with Flex I O allow a second parameter which allows the user to specify the I O point used as the Alarm Reset input Before an I O point can be used as an Alarm Reset input it must first be configured as an input with the SD command See the STM24 Hardware Manual for details of which inputs may be used as the Alarm Reset input Possible uses for the Al command on the STM24 are as follows n denotes the I O point to be used Alin high high EL low low Di T time H time g Alin For normal operation the AB Cl D AB O D E designated input n must be f i Al Input is open normal operation AJ Input is closed open inactive high Alarm B Alarm occurs B Alarm occurs reset occurs when the input C Input closed alarm is reset C Input opened no reset occurs D D E
3. IP address matches yours in the first three octets The O 10 10 10 10 numbers between the dots in an IP address are called 1 192 168 1 10 octets For example if your PC is on a Class C subnetand 2 192 168 1 20 has an IP address of 192 168 0 20 it can talk toadeviceat 3 192 168 1 30 192 168 0 40 but not one at 192 168 1 40 If you change 4 192 168 0 40 your subnet mask to 255 255 0 0 Class B you can talk 5 192 168 0 50 to any device whose first two octets match yours Be sure 6 4 92 4 68 0 60 to ask your system administrator before doing this You te network may be segmented for a reason ae ee Your drive includes a 16 position rotary switch for 9 4 92 4 68 0 90 setting its IP address The factory default address for each A 1 92 4 68 0 1 00 switch setting is shown in the table to the right B 4 92 4 68 01 10 Settings 1 through E can be changed using the STAC G4 92 4 68 0 1 20 Configurator software use Quick Tuner for servo drives D 192 168 0 130 Setting 0 is always 10 10 10 10 the universal recovery E 4 92 4 68 0 1 40 address If someone were to change the other settings and F DH C P Da not write it down or tell anyone I m not naming names here but you know who I m talking about then you will not be able to communicate with your drive The only way to recover it is to use the universal recovery address Setting F is DHCP which commands the drive to get an IP address from a DHCP server on the network Th
4. WRITE ONLY Examples Command Drive sends Notes AC500 Limit acceleration in encoder following to 500 rps s DI8000 Set the stopping offset distance to 8000 counts FE4L Run in encoder following mode until input 4 is low 920 0002 Rev I 78 2 2013 Host Command Reference FI Filter Input Compatibility All drives except STAC5 S Affects All commands using inputs See also FX RC SD WI and all feed to sensor commands See El for hardware filter alternative specifically on STACS5 drives Applies a digital filter to the given input The digital input must be at the same level for the time period specified by the Fl 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 before high is updated as the input state One processor cycle is 125usec for a servo drive and the STAC5 stepper drive and 100usec for all other drives A value of 0 disables the filter BLu STAC6 This command can be used to apply filters to low speed inputs X3 through X7 on the main driver board of all drives and can also be used on top board inputs IN3 through IN7 of SE QE and Si drives Reassigning the filters to top board inputs of SE QE and Si drives is done with the FX command SV ST Q Si This command can be used to apply filters to low speed inputs X3 through X8 ST S STM17 STM23 This command can be used to apply filters to inputs STEP DIR and EN STM
5. A RUD 210 PR Command Examples Now that you know what the bits in the PR command s 6 bit binary word mean here are a couple examples showing how you would set the serial communications protocol of your Q drive Example Turn on Ack Nack Bit 2 and 3 digit numeric register addressing function Bit 5 The 6 bit word for this combination is 100100 and it s decimal equivalent is 36 Therefore to set your drive with this serial protocol you would send the command PR3 6 to your drive Example Turn on RS 485 adaptor function Bit 4 The 6 bit word for this combination is 010000 and it s decimal equivalent is 16 Therefore to set your drive with this serial protocol you would send the command PR16 to your drive 920 0002 Rev 252 2 2013 Host Command Reference Appendix E 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
6. Non Volatile Register Access Parameter Details Parameter 1 Filter Value 0 32767 see above for calculations Examples Command Drive sends Notes KC7836 Set servo filter to 200 Hz KC KC 7836 920 0002 Rev 122 2 2013 Host Command Reference KD Differential Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control differential gain Gain value is relative 0 meaning no gain 32767 meaning full gain KD is part of the Damping servo parameters in Quick Tuner It works to damp low speed oscillations NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Differential Gain value Examples Command Drive sends Notes KD2000 Set differential gain to 2000 KD KD 2000 123 920 0002 Rev I 2 2013 Host Command Reference KE Differential Filter Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the differential control parameter filter frequency The filter is a simple one pole low pass filter intended for attenuating high frequency oscillations The value is a constant that must be calculated from the desired roll off frequency See equation below C 72090 1400 F 2 2 where C Filter Value K desired filter Frequency in Hz NOTE It is recommended to
7. Read write and user defined registers can be incremented and decrmented by 1 Two commands are used for these functions the RI Register Increment and RD Register Decrement command NOTE Incrementing past the range of a data register will cause the value to wrap around Counting RC I register Q drives only ey A special data register the I register Input Counter is designated for counting input transitions and input state times of a selected digital input The I register is a read write register that can be used with all other register functions including math and conditional testing The RC Register Counter command is used to assign digital inputs to register counting There are four different input states that can be chosen and that have different effects on input counting When using the high or low level states the counter acts as a timer with a resolution of 100 microseconds SV servo drives and all stepper drives or 125 microseconds BLu servo drives Edge type states like falling or rising are used for input counting See details of the RC command in the Q Command Reference Math amp Logic R R R R R amp R Q drives only Math and logic functions can be performed on data registers Math is limited to integer values Some of the math functions are also limited to 16 bit values When doing math only one operation can be done per instruction Math and
8. 1 The drive is not powered 2 The software is using the wrong COM port 3 The drive was already running before the software was launched wrong power up sequence 4 The USB Serial converter is faulty or not supported by AMP If an onboard 9 pin COM port is not available use a USB Serial converter based on the FTDI chipset The chipset used will be shown on the converter s documentation Contact AMP for specific device recommendations Hint If communications have been established AMP software will display the drive s firmware revision along with the model number If this box is empty communications have not been established 313 It is recommended that the user receive and process the drive s ACK NACK character before sending the next command This will ensure that the drive s command buffer never overflows and the drive behaves normally If this is not possible a delay should be introduced between commands that are streamed to the drive A delay of approximately 10ms should be sufficient for all commands that do not cause motion 1 Apply power to the drive 2 Physical 9 pin COM ports are typically assigned COM1 or COM2 USB Adaptors are often assigned arbitrary COM port identifiers Check your computer s hardware settings in the Control Panel to verify which COM port your device is using 3 Ensure that the software is running and using the correct COM port Then cycle power on the d
9. Stepper steps All drives g Sensor Position 055 Short The g register contains the absolute position of the point at which the input condition is met during moves like FS FE SH and other sensor type moves It is common practice to use the EP and SP commands to establish known absolute positions within an application or program which will make the value of the g register most meaningful Otherwise the absolute position of the motor is zeroed at every power up of the drive decimal equivalent of binary word see below aes dily h Condition Code 056 Short The response to the RLh command will be the decimal equivalent of the condition code s binary word Bit assignments and examples are shown below Description Bit Decimal Value TRUE non zero 0 1 FALSE zero 1 2 POSITIVE 2 4 NEGATIVE 3 8 GREATER THAN 4 16 LESS THAN 5 32 EQUAL TO 6 64 UNEQUAL TO 7 128 920 0002 Rev I 230 2 2013 Host Command Reference Example Command Drive Sends Notes RLh RLh 149 Bits 7 UNEQUAL TO 4 GREATER THAN 2 POSITIVE and 0 TRUE are set Within a Q program the programmer will often have more than one condition to choose from when using the QJ command The condition FALSE in Q Programmer is represented by bit 0 0 opposite of TRUE Driver Board Inputs ISX 057 Short ee a may All drives Details when executing the RLI command BLu S
10. Unequal to the First and Second values are not equal NOTE The QJ Queue Jump command is designed to use the Condition Codes above for jumping The Condition Code can also be accessed via the h register Data Register Assignments What follows is a listing of all the data registers available with Applied Motion drives 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 equivalent numerical assignment see PR command bit 5 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 Compatibility shows which drives can make use of the given register NOTE When programming a Q drive with the Q Programmer software only the character assignment of the register can be used When communicating to a Q drive via one of its serial ports either the character assignment or the 3 digit numerical assignment can be used Read Only data registers a z Many of the Read Only data registers can be read with a specific command In the tables below associated commands are shown in parentheses in the Description column Ch Description 3 digit Data Type Units Compatibility BLu SV STAC6 ST Q Si 32760 10V 32760 10V ST S
11. 0 01 Amps Servo drives only H Analog Velocity Gain 024 Short 32767 ADC counts BLu servo drives only The H register in BLu servo drives is similar to the AG command in all other drives The H register is used to set the motor speed at a given DC voltage in analog velocity mode It is recommended to make this setting in Quick Tuner where it is labeled Speed in rev sec at xx Volts under the Velocity gt Analog Operating Mode Input Counter 025 Long counts per edge Q drives only 235 920 0002 Rev I 2 2013 Host Command Reference J Jog Velocity JS 026 Short 0 25 rpm All drives The J register units are 0 25 rpm which means that the value of the J register is equal to 240 times the JS command value In other words to achieve a jog speed value of 7 rev sec send the command RLJ1680 K RESERVED 027 i RESERVED 028 Max Velocity VM servo Servo 0 01 amps RMS Servo drives and STM M See senator ane 029 Short re 0 01 amps peak of Integrated Steppers a Curent ICE Servo 0 01 amps RMS l N Running Current CC 030 Short Stepper 0 01 amps peak of All drives stepper oe 0 Peak Curent OR sere oaj short lepper 0 01 amps peak All drives P Absolute Position Command 032 Long counts All drives Q RESERVED 033 7 R Steps per Rev
12. 1 use normal decel DE or JL Queue Load OL f0 Hoa incoming Type 1 commands into Qbutfer A A A a Stop Motion ST stops amove O use quick decel AM 1 use normal decel DE or JL 1 2 3 FE IEEE 1588 Control fo Enables IEEE 1588 protocol preventing Class 1 connection FF UDP port reset 0 Opens UDP pot 7775 and listens tor a new connection FF pem e Closes and resets UDP port 7775 301 920 0002 Rev I 2 2013 Host Command Reference Type 2 Set Output Immediate opcode 8B operand table erpe Jee eee OUT1 OUT2 OUT3 OUT4 OUTI OUT2 OUT3 OUT4 high high high high low low low low Y1 Y2 OUTI OUT2 OUT3 OUT4 Y1low Y2low OUTI OUT2 OUT3 OUT4 high high high high high high low low low low Q register writes are not range checked so be careful before you write 920 0002 Rev I 302 2 2018 Host Command Reference Table 3 Parameter read write operands All values are HEX A A A A A A A A A Steps rev divided by 2 ANALOG_THRESHOLD m Ra C F G l M 0 P 7 V BE CA CC CD CF CG Cl CM DE DL EG A o H H e e Mri eS G P m MV F M STEP_FILTER_FREQUENCY 303 F P e C 46 a Sooo a Goo C i Ce Ce a so C a jo fo AF JB i C ne ae es B RO Ce Ee ee a Ce C ae aooo aN C e dlo oo o lt 920 0002 Rev I 2 2013 Host Command Reference Swm o IsServo ST SV only 1 servo O stepp
13. 920 0002 Rev 284 2 2013 Host Command Reference Explicit Messaging The AMP EtherNet IP implementation allows for Explicit Messaging using either a Class 3 connection or the Unconnected Message Manager UCMM The service code of this custom profile s g ne eee ned alae halen is 0x3C and the class code is 0x64 Ingle SEVICE WIN ME TEMOWING para merers In addition to the custom profile the following standard objects To check the drive s profile code and ARM TCP IP Object Volume 2 Chapter 5 with the following parameters Assembly Volume 1 Section 5 37 CIP Sync Object Volume 1 Section 5 47 7 Message Type CIP Generic Documentation can be found in the following ODVA Service Type specifications specific sections are noted above next to each object name Volume One Common Industrial Protocol CIP edition 3 8 f Thi i za Volume Two EtherNet IP Adaptation of CIP edition 1 9 Attribute Services e Message Router Object Volume 1 Section 5 3 e Connection Manager Volume 1 Section 5 7 attribute foe SiS e Connection Configuration Volume 1 Section 5 50 ATES mae e Port Volume 1 Section 3 7 To communicate with the drive via Explicit e Ethernet Link Object Volume 2 Chapter 5 Messages use the Vendor Specific profile service Profile Code amp ARM Firmware Version Ox0E 0x64 0x00 0x01 Example response message 00 75 00 07 41 5F 00 01 03 4A Get Attribute 0x00 ARM Ethernet board firmware ma
14. BLu SV STAC6 ST Q Si STAC5 SVAC3 10 000 to 10 000 ST S STM 5 000 to 5 000 Notes Set analog offset to 0 25 Volts 35 920 0002 Rev I 2 2013 Host Command Reference AX Alarm Reset Buffered Compatibility All drives Affects Alarm Code See also AR ME OF WT Commands Clears Alarms and Drive Faults This command functions the same as AR Alarm Reset but is a Buffered type command Typically used in conjunction with OF within a Q program Please note that while immediately executing AX will clear the alarm code it does not guarantee that the condition that caused the alarm has been resolved Therefore it is recommended to include a short delay or wait for user input before clearing the alarm and resuming normal operation In addition to clearing alarms and faults the AX command resets the LED blink timer As such if the AX command is used within a tight loop in a Q program the LED may actually appear to be solid green NOTE Does not re enable the drive Use ME Motor Enable command to re enable drive Command Details Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes In segment 1 of a Q program OF9 When a drive fault occurs load and execute program segment 9 In segment 9 of the same Q program WTO 1 Short delay to allow the system to settle AX Alarm reset ME Motor enable QX1 Load and execute segment 1 which will also reset the OF function 920 0002 Rev 3
15. D 020 Parameter Details encoder counts servo or steps stepper 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW Examples Command Drive sends Notes DI20000 Set distance to 20000 counts in the CW direction DI DI 20000 DI 8000 Set distance to 8000 counts in the CCW direction FL Initiate FL move 63 920 0002 Rev I 2 2013 Host Command Reference DL Define Limits Compatibility All drives Affects All move commands See also AM command CW and CCW end of travel limits are available on all drives and can be used to define the boundaries of acceptable motion in a motor drive system 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 When defining these inputs as end of travel limits both inputs are defined together as either active low active high or not used See below for details BLu S Q STAC6 Defines usage of inputs X6 and X7 as dedicated end of travel limits X6 is the CCW limit input and X7 is the CW limit input If not needed X6 and X7 can be redefined as general purpose inputs STAC5 S SVAC3 S Defines usage of inputs X1 and X2 as dedicated end of travel limits X1 is the CW limit input and X2 is the CCW limit input If not needed X1 and X2 can be redefined as general purpose inputs STAC5 Q IP SVAC3 Q IP Defines usage of input
16. El128 STM23 Set encoder noise filter to 117 2 kHz 15 000 000 128 El EG 128 71 920 0002 Rev I 2 2013 Host Command Reference EP Encoder Position Compatibility Servo drives and stepper drives with encoder feedback Affects Encoder position value See also SP MT WM commands The EP command allows the host to define the present encoder position For example if the encoder is at 4500 counts and you would like to refer to this position as 0 send EPO To ensure that the internal position counter resets properly use SP immediately following EP For example to set the position to zero after a homing routine send EPO then SPO Sending EP with no position parameter requests the present encoder position from the drive For best results when using stepper systems AMP recommends setting both CC and Cl to the motor s maximum ratings before issuing an EP command This will avoid any position error caused by the motor s detent torque Once EP has been changed reset CC and Cl to their running levels WARNING When in Multi tasking mode see MT command the EP command should not be issued while the drive is simultaneously executing a move command Cu FL FP FS etc A drive fault may result Command Details Non Volatile e 053 read only Parameter Details Parameter 1 Encoder position value 2 147 483 647 to 2 147 483 647 Examples Command Drive sends Notes EPO Step 1 reset internal position
17. Enables jog inputs during a WI instruction Jog accel decel and velocity are set using the JA JD and JS commands respectively BLu STAC6 S SE Q QE Inputs X1 and X2 are the designated jog inputs during a WI instruction BLu STAC6 Si Inputs 5 and 6 of IN OUT2 or top board screw terminal connector are the designated jog inputs during a WI instruction SV ST OQ Si Inputs X5 and X6 are the designated jog inputs during a WI instruction ST S STM The STEP and DIR inputs are the designated jog inputs during a WI instruction 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 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
18. Host Command Reference Qand SCL commands for servo and stepper drives Includes RS 232 RS 485 Ethernet UDP Ethernet TCP IP and EtherNet IP communication Applied Motion Products APPLIED MOTION PRODUCTS INC 920 0002 Rev I 2 2013 Host Command Reference Contents Getting Started iiine sense at eee tenses Servo Drives tana oasn tect bqutie inom tun nanieheinencicn dl inenaiaddlbduaetnt emenenniuisansanates 8 SY DIVE Sesion ck E aT O 8 COMTANS naroon E aE Buttered Command S oc cccccccses satis voxsdusnncuzuadiumecssasdiddansssaianaiiisasieniebeadalswes 9 Stored Programs in Q DriVES sssssisinrinsmn nananman 9 Multitasking MO Drive S spain a a 9 immediate Commands nec cichra nna neanecciiirandenduumnianaiandidinaneeiemucaiant 9 Using COMM ANG S wiscusceienisinscctcessedonascaat ccc charvapeceentenpcosavesssbentansannatenutas 9 Commands IN QUAVE serrennererccer rer meet erete serra rere ern teen cern trey 10 SCL Utility 611 ere rere eee ne en ena eee eer eee rye 11 Command Summary 2 eeeeeeeeeeeeneneneeeeeeeeeeeeeeneeseeneeeeeeeseeeeeeseeenes 12 PORCINE ONT Shad sh Gs dace adr raiastaniasse Absaneasanisdieuannalnearramusiiansciads 13 SeN COMMAS ee eee ene ee cement ener ene er nee errr en nrren nace nrntrr 14 Configuration ComMmmandS ass air prensesceeiadie aactacastacantanannapienieantetinteness 14 A A IS ae spirits werner cic bina rina we E AENT 16 Communications COMMAS o ctacissicicccasacsscinennteluidnncdawsiaaun
19. STM17 STM23 Command Drive Sends Notes CA1 75 Set accel decel current to 1 75 amps peak of sine CA CA 1 75 920 0002 Rev 44 2 2013 Host Command Reference CC Change Current Compatibility All drives Affects Motor current and torque See also CA Cl CP PC commands BLu SV Sets or requests the continuous RMS current setting of the servo drive STAC6 Sets or requests the current setting peak of sine of the stepper drive also known as the running current The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings defined in the STAC6 Configurator software Use STAC6 Configurator to select a motor and set the maximum current setting Note that setting CC automatically sets Cl to the same value if the new CC value is less than the starting Cl value ST Q Si ST S STM Sets or requests the current setting peak of sine of the stepper drive also known as the running current The range of the CC command may be limited from the ranges shown in the Parameters table below based on the settings defined in the ST Configurator software Use ST Configurator to select a motor and set the maximum current setting Note that setting CC automatically sets Cl to 50 of CC If a Cl value different than 50 of CC is needed be sure to always set Cl after setting CC Command Details Non Volatile Register Access N 030 Note The CC command uses different un
20. Sets or requests the Jog mode There are two Jog modes available Stepper drives only utilize Jog Mode 1 JM1 and therefore will ignore attempts to set JM2 Jog Mode 1 Servo and stepper drives For servo drives Jog Mode 1 uses a position type of servo control that moves the target position which causes the servo to move at the set velocity Jog Mode 1 will cause the servo motor to always move the same distance over time A drawback is that the servo can fault if the position error during the move exceeds the value set by the PF Position Fault command For stepper drives Jog Mode 1 causes the step motor to run at the set velocity see JS and CS commands Jog Mode 2 Servo drives only For servo drives only Jog Mode 2 uses a velocity type of servo control that applies torque to the motor to maintain velocity This method functions better with high inertia loads because it ignores the value set by the PF Position Fault command It also allows the drive to function in a torque limited velocity mode or a velocity limited torque mode Jog Mode 2 also uses a different set of control parameters VI and VP for tuning the velocity mode See VI amp VP commands later in this guide Command Details READ WRITE Non Volatile Parameter Details range 1 position type 2 velocity type Examples Command Drive sends Notes JM1 Put drive into position type servo control when jogging JM2 Put drive i
21. T Srepporamesony 920 0002 Rev I 14 2 2013 Host Command Reference Configuration Commands continued or Antvresonance Fier Frequency Stepperarves ony oa _ Antvesonance FiterGan stepper aves ony for Change te Curent Stepper aves only fem fema f Ol wes CS Tenoa fus CS Encoder Direction ja Servo drives drives with encoder Servo drives drives with encoder feedback feedback Encoder or Resolution 4th Harmonic Filter Gain Immediate Analog immediate Distance Immediate Encoder W Immediate Format Immediate Current Immediate Position Immediate Temperature 4th Harmonic Filter Phase Servo drives drives with encoder feedback P mos CS Immediate Voltage Aldrives Immediate Velocity Lo EA Motor Disabe Motor Enable o Model Number B Le Lo Ez Ea All drives All drives deprecated see EG command Microstep Resolution FPowerup Current id Position Fault a Power up Idle Current In Position Limit Power up Mode Power up peak current e Pass Word All drives except Blu servos Q drives only Q drives only All drives All drives feedback 15 920 0002 Rev I 2 2013 oR w W e o C CE C Host Command Reference Configuration Commands continued C S ides SCSC fac Jregserros O i devs SCS ras Request Status Ol o mes aw freson f O e s STM stepper drive
22. With Q drives there may be multiple VCs and DCs per FC command allowing for more complex multi velocity moves To make multi velocity moves with more than one speed change the WP Wait Position command is also required A sample sequence is shown in the Examples section below Velocity VE y ie VC Distance FC used without optional parameter Velocity SWITCH EVENT VE VC FC used with optional parameter res 920 0002 Rev I 2 2013 Host Command Reference Command Details FO Parameter i Parameter 2 Usage WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes DI50000 Set distance to 50000 steps VE5 Set velocity to 5 rps DC40000 Set change distance to 40000 steps VCO0 5 Set change velocity to 0 5 rps FC Initiate move FC with I O trigger DI50000 Set distance to 50000 steps VE5 Set velocity to 5 rps DC40000 Set change distance to 40000 steps VCO0 5 Set change velocity to 0 5 rps FC1L Initiate move specifying that the drive will move 50000 steps beyond the point where input 1 goes LOW For Q drives only MT1 Turn multi tasking ON DI50000 Set overall move distance to 50000 steps VE5 Set initial velocity to 5 rps DC10000 Set 1st change distance to 10000 steps VC10 Set 1st change velocity to 10 rps FC Initiate move WP Wait position DC20000 Set 2nd change di
23. jo bytes feo operand o o o o o bytea 0 operand o o 0001 Motor enabled Q program not running 4001 Motor enabled Q program running 4801 Motor enabled Q running Wait Time command executing 4019 Motor enabled motor moving Q running For more information about the status code please read about the SC command in the main part of this manual 309 920 0002 Rev I 2 2013 Host Command Reference Can Download a Q Program over EtherNet IP The preferred method for creating downloading and testing Q programs is to use the Q Programmer software Should you prefer to download a program over the EtherNet IP interface instead the procedure is as follows 1 Develop and test your program using Q Programmer so that you know the final contents of the Q segments s you ll need Any Type 1 command can be used in a Q program Encode each command into a Type 1 message according to Table 1 Issue the QL Queue Load Type 2 command see Table 2 Begin sending the encoded Q commands that you want in this segment They will be placed into the Q buffer 5 After sending the entire contents of a segment issue the Type 2 QS command which instructs the drive to save the Q buffer as a Q segment 6 Repeat steps 2 5 if you have additional Q segments When you have completed the download process for all segments steps 1 6 upload your program using Q Programmer to make sure that there were no mistakes Ether
24. seeregistercode table R amp Registerand B2 regt reg2 azorAzor0 9 see register code table RJ Registeror B regt reg2 JazorA zor0 9 see register code table 299 920 0002 Rev I 2 2013 Host Command Reference cond ST X0 X8 L H F R see 10 Encoding Table STACS X0 X4 1 8 L H F R A Z 00 9 see register code table reg code A Z or 0 9 see register code table RC Register Counter an dest src Source a z or A Z or see register code table reg freg 0 9 dest A Z or 0 9 Register Decrement LAF fo a Register Increment BO RM REGISTER MOVE B1 REGISTER_READ from mem reg W REGISTER_WRITE to mem Hj NV mem reg A Z or 0 9 see register code table location memory location 1 100 NV mem reg a z or A Z or 0 9 see register code table location memory location 1 100 RX REGISTER_LOAD AE reg value 16 or 32 bits reg A Z or 0 9 see register code table depending on register type value 2147483647 long data registers 32767 short data registers TR Test Register Immediate reg value 16 or 32 bits reg a z or A Z or 0 9 see register code table depending on register type value 2147483647 long data registers 32767 short data registers s ume smm delo TET ax faam Reset feao S TP MT _ Mutti Tasking afo f f fort foot honot oF onrat fa fo segment foi ON_INPUT cond ST X0 X8 L H F R see 10 encoding table ST
25. symbolizes the command itself which is always composed of two capital letters A symbolizes the first of two possible parameters and B symbolizes the second Parameters 1 and 2 vary in length can be letters or numbers and are often optional The lt cr gt symbolizes the carriage return which terminates the command string How the carriage return is generated in your application will depend on your host software Once a drive receives the lt cr gt it will determine whether or not it understood the preceding characters as a valid command If it did understand the command the drive will either execute or buffer the command If Ack Nack 9 920 0002 Rev I 2 2013 Host Command Reference 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 It is always recommended that the user program wait for an ACK NACK character before subsequent commands are sent If the ACK NACK functionality cannot be used in the application a 10ms delay is recommended between non motion commands 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 details in the Appendix
26. 920 0002 Rev 198 2 2013 Host Command Reference SI Enable Input Usage Compatibility All drives Affects Enable input usage See also Al CM SD commands BLu SV STAC6 ST Q Si Sets or requests the usage of the Enable input Input X3 is the default Enable input on all drives however IN3 on SE QE and Si drives may also be designated as the Enable input see below If an external Enable function is not needed input X3 and or IN3 can be defined solely as a general purpose input In this scenario only the ME and MD commands will enable and disable the drive respectively When using the brake output see BO BD and BE commands the disabling of the drive is delayed by the time value set using the BD command There are five possible usage states for the Enable function Sl1 Drive is enabled when X3 is open inactive high S12 Drive is enabled when X3 is closed active low SI3 Neither X3 nor IN3 is used for enabling disabling the drive but as general purpose inputs S14 Drive is enabled when IN3 is open inactive high SE QE and Si drives only S15 Drive is enabled when IN3 is closed active low SE QE and Si drives only ST S STM17 STM23 Q C STM24 C Defines the EN input as an Enable Input 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 command SI takes no effect if the drive is set in Command Mode CM 13 14 17 or
27. A2 FB 3D 21 7A 01 IP 192 168 1 101 MAC ID 03 C8 11 2B DE 02 IP 192 168 1 102 It should be noted that computers maintain a local ARP table as well tracking other devices they ve interacted with This is an important point because the ARP table on a PC will typically refresh more frequently than those on a network router or switch So why do we care Your application will probably require changing the IP address of a drive The ARP table must then be refreshed to show the same MAC ID with a different IP address This is usually not an issue if the drive is directly connected to the PC used to configure it because the local ARP table will likely refresh quickly enough to catch the new IP address and re establish a connection The problem comes when the drive is connected through a router during configuration In this scenario it is entirely possible for IP address changes to happen more frequently than the ARP table can refresh itself Most routers do not allow users to refresh the ARP table directly as this poses a significant network security risk The router must actually be rebooted to force a reset of the ARP table and allow a connection with the new IP address Obviously this is not an ideal solution For this reason we recommend that all configuration be performed while directly connected to a PC Do not use a router for drive configuration Once an IP address is assigned the drive may be placed on the plant network without worry
28. DC DC 80000 DI 100000 Set overall move distance to 100000 counts in CCW direction DC50000 Set change distance to 50000 counts VE5 Set base move velocity to 5 rev sec VC2 Set change velocity to 2 rev sec FC Initiate FC command 61 920 0002 Rev I 2 2013 Host Command Reference DE Deceleration Compatibility All drives Affects FC FD FE FL FM FO FS FR FY SH commands See also AM DE DI DC VE commands Sets or requests the deceleration rate used in point to point move commands in rev sec sec Command Details Non Volatile Register Access B 018 Note The DE command uses different units than the B register see Data Registers section for details Parameter Details Parameter 1 Deceleration rate revisecisec rps s 0 167 to 5461 167 resolution is 0 167 rps s Examples Command Drive sends Notes DE125 Set deceleration rate to 125 rev sec sec DE DE 125 920 0002 Rev 62 2 2013 Host Command Reference DI Distance Position Compatibility All drives Affects All move commands See also AC DC DE and VE commands Sets or requests the move distance in encoder counts servo or steps stepper The sign of DI indicates move direction no sign means CW and means CCW DI sets both the distance for relative moves like FL and the position for absolute moves like FP DI also sets the direction of rotation for jogging CJ Command Details READ WRITE Non Volatile
29. For normal operation the tow _ time ow gt time X4 input must be closed Al B Cc D AlB IC D E active low Alarm reset Al Input is closed normal operation Al Input is open occurs when the input is B Alarm occurs B Alarm occurs opened inactive high C Input opened alarm is reset C Input closed no reset occurs This is an edge triggered D Input opened alarm is reset event If the switch is open when an alarm is activated no reset will occur The input must be closed and then opened to reset the alarm Al3 Input is not used for Alarm Reset and can be used as a general purpose input ST S STM17 STM23 Defines the EN input as an Alarm Reset Input 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 Al command Al 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 Al command Also setting the SI command after setting the Al command reassigns the EN input to drive enable usage and turns off any alarm reset usage AI3 In other words the Al 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 There are three Alarm
30. IO IOY IOY IOYO IOY7 SV ST Q Si Command IO IO 100 107 10 00001111 10 00000000 10 0000001 1 Drive sends 10 00000000 10 00001111 All 4 outputs of IN OUT2 high open Notes DB15 Both outputs of IN OUT1 low closed Both outputs of IN OUT1 high open Both outputs of IN OUT1 low closed Both outputs of IN OUT1 high open Notes All 4 outputs are low closed All 4 outputs are high open Sets all 4 outputs low closed Sets all 4 outputs high open ST S STM17 S Q C STM23 Q C STM24 C Command IO IO 100 101 Drive Sends 10 00000000 10 00000001 STM24 Flex I O Command IO IO 100 1015 IO 920 0002 Rev I 2 2013 Drive sends IO 00000000 10 00001111 10 00001111 Notes Output is low closed Output is high open Sets output low closed Sets output high open Notes All 4 outputs of IN OUT2 are low closed All 4 outputs of IN OUT2 are high open Sets all 4 outputs of IN OUT2 low closed Sets all 4 outputs of IN OUT2 high open All 4 outputs of IN OUT2 high open 104 Host Command Reference IP Immediate Position Compatibility All drives 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 Details CA Non Volatile Units encoder counts servo steps stepper Examples Comm
31. LA at 25 rps LS LS 25 133 920 0002 Rev I 2 2013 Host Command Reference Compatibility Affects All drives Under voltage alarm and fault LV Low Voltage threshold Sets or requests the low voltage threshold for under voltage alarm fault conditions In AC drives e g BLuAC5 and STAC6 an under voltage condition causes a Drive Fault which disables the motor outputs of the drive In DC drives SV ST and STM an under voltage condition causes an Alarm If desired the user can change the low voltage threshold of the drive however in most applications it is neither necessary nor recommended The factory default for low voltage threshold is set to both protect the drive from damage and work with the widest range of supply voltages possible Command Details READ WRITE Non Volatile Register Access Parameter Details Parameter 1 Low voltage threshold units All drives except BLUACS 0 1 volts DC BLuAC5 1 volt DC BLuDC 18 to 40 BLuAC 90 to 300 STACE 90 to 160 ST5 12 to 75 ST10 12 to 75 SV7 12 to 75 STM 10 to 75 Examples Command LV LV200 LV LV 920 0002 Rev I 2 2013 Drive sends LV 180 LV 900 LV 90 Notes Low voltage threshold of ST5 set at 18 VDC Set low voltage threshold of ST5 drive to 20 VDC Low voltage threshold of STAC6 set at 90 VDC bus voltage Low voltage threshold of BLUAC5 set at 90 VDC bus voltage 134 Host Command Reference MC Motor Curre
32. Non Volatile All Read Write and User Defined data registers Parameter Details Parameter 1 Data register all Read Write and User Defined data registers Parameter 2 Non volatile memory location 1 100 Examples Command Drive sends Notes RRV10 Read data from non volatile memory location 10 and place it in data register V 920 0002 Rev I 182 2 2013 Host Command Reference RS Request Status Compatibility All drives See also SC command Asks the drive to respond with what it s doing The drive has a number of different states of operation that are represented by character codes The drive can send more than one code at a time to define its current status Command Details Examples Command Drive sends Notes RS RS PR Motor is in position drive is enabled RS RS AED Alarm code is present drive is faulted and disabled RS RS JR Motor is jogging drive is enabled Status character codes A An Alarm code is present use AL command to see code AR command to clear code D Disabled the drive is disabled E Drive Fault drive must be reset by AR command to clear this fault F Motor moving H Homing SH in progress J Jogging CJ in progress M Motion in progress Feed amp Jog Commands P In position R Ready Drive is enabled and ready S Stopping a motion ST or SK command executing T Wait Time WT command executing W Wait Input WI command executing 183 920 00
33. SD4l Set I O point 4 as an Input SD SD 000001 11 Drive reports that I O points 1 2 and 3 are inputs 4 is an output Note on the STM24 I O points 5 8 are unused 920 0002 Rev 196 2 2013 Host Command Reference SF Step Filter Frequency Compatibility Stepper drives only Sets or requests the step filter frequency The primary use of this filter is to introduce microstep emulation effects which smooth out low resolution step pulses when the drive s microstep gearing resolution EG command is set to a low value This command is exceptionally useful when using a low resolution indexer and smooth motor shaft rotation is required Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Step filter frequency Hz 0 2500 Examples Command Drive sends Notes SF500 Set step filter frequency to 500 Hz SF SF 500 197 920 0002 Rev I 2 2013 Host Command Reference SH Seek Home Compatibility All drives See Also DL FD FS FY MT commands 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 It should be noted that the SH command is not affected by multitasking It will execute as shown here regardless of the current MT setting Please see the MT command for details The SH command pe
34. numbers at http www iana org assignments port numbers One final note Ethernet communication can use one or both of two transport protocols UDP and TCP eSCL commands can be sent and received using either protocol UDP is simpler and more efficient than TCP but TCP is more reliable on large or very busy networks where UDP packets might occasionally be dropped 269 920 0002 Rev I 2 2013 Host Command Reference Option 1 Connect a Drive to Your Local Area Network SWITCH or ROUTER If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network and not used by anything else this is a simple way to get connected This technique also allows you to connect multiple drives to your PC If you are on a corporate network please check with your system administrator before connecting anything new to the network He or she should be able assign you a suitable address and help you get going If you are not sure which addresses are already used on your network you can find out using Angry IP scanner which can be downloaded free from jhttp www angryip org w Download But be careful an address might appear to be unused because a computer or other device is currently turned off And many networks use dynamic addressing where a DHCP server assigns addresses on demand The address you choose for your drive might get assigned to something els
35. see EF command for details This value is reached at the speed set by the LS command Lead Angle is the angular measurement between the internal magnetic field and the motor s rotor If the lead angle is too large the magnetic attraction fades and the motor will stall Too small of a value makes inefficient use of the magnetic attraction and the motor will not produce its maximum torque Lead angle directly affects the magnetic forces acting on the rotor and is thus directly related to the motor s torque An ideal setting for Lead Angle is essential for maximizing the motor s torque output During motion the motor s lead angle is constantly monitored and adjusted to keep it within a speed dependent operational range and allow the drive to maintain control of the motor even in the event of a disturbance The maximum lead angle set by LA is reached at the Lead Angle Speed specified by LS This value is measured in electrical degrees There are four physical motor steps 4 1 8 degrees 7 2 degrees per 360 degree electrical cycle The relationship between electrical degrees and motor rotational displacement is given as follows 360 electrical degrees 7 2 rotational degrees 50 electrical degrees rotational degree Alternatively in terms of physical displacement 1 rotational degree 50 electrical degrees 0 02 rotational degrees electrical degree The maximum effective setting for LA is 180 electrical degrees If at any po
36. 026 Note The CS command uses different units than the J register see Data Registers section for more details BLu SV STAC6 ST Q Si ST S STAC5 SVAC3 133 3333 to 133 3333 resolution is 0 0042 STM 80 0000 to 80 0000 resolution is 0 0042 Examples Command 920 0002 Rev I 2 2013 Drive sends sign determines direction for CCW no sign for CW Notes Set base jog speed to 1 rev sec Commence jogging Set jog speed to CW at 2 5 rev sec Displays current Jog speed Set jog speed to CCW at 5 rev sec Stop jogging 58 Host Command Reference CT Continue Compatibility All drives See also PS ST SK commands Resume execution of buffered commands after a PS command has been sent The PS Pause 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 resume execution in the order they were received or until the command buffer is full Command Details Type IMMEDIATE Non Volatile WRITE ONLY Examples Command Drive sends Notes PS Pause command buffer FL2000 CW move 2000 counts WT 25 Wait 0 25 seconds FL 2000 CCW move 2000 counts CT Resume execution of buffered commands 59 920 0002 Rev I 2 2013 Host Command Reference DA Define Address Compatibility All drives Affects Drive add
37. 034 Short counts All drives Note R EG for servo drives R EG 2 for stepper drives S Pulse Counter 035 Long counts All drives The S register counts pulses coming into the STEP X1 and DIR X2 inputs of the drive This is particularly useful when in Command Mode 7 see CM command or executing an FE Follow Encoder command To zero the S register send the command RLSO T Total Count 036 Long see below Q drives only The T register is automatically saved at power down and restored at power up U Change Velocity VC 037 Short 0 25 rpm All drives The U register units are 0 25 rpm which means that the value of the U register is equal to 240 times the VC command value In other words to achieve a change velocity value of 7 rev sec send the command RLU1680 V Velocity VE 038 Short 0 25 rpm All drives The V register units are 0 25 rpm which means that the value of the V register is equal to 240 times the VE command value In other words to achieve a velocity value of 7 rev sec send the command RLV1680 WwW Time Stamp 039 Short 0 001 sec Q drives only 920 0002 Rev I 2 2013 236 Host Command Reference Servo ADC counts encoder X Analog Position Gain AP 040 Short count All drives Stepper ADC counts step Y Anal
38. 114 JA Jog Acceleration cece ccicgae iu fhntiivedimeeeedageguscnrnaieneseeesuaniapntermanninness 115 JC Velocity Oscillator mode second Speed ccceceeeeeeeeeees 116 JD J09 Disable esiri a a aaa EEAS PRE 117 JE al OG ENADE enasna EEEE ENEN EE EEE ENEE 118 Jes Jogi DECE esnie eco nEnN NE E r eee Eees eR Ee aa 119 Tere 0o e E E E E E N 120 JS MG Spee asee AEE ESET N 121 KC Overall Servo Filter versscrerecsasuvsdccsesesanenhosnsseveeeeennnrenssssssnatonnneents 122 KD Differential COnsStaN srcren riie inire ewtesiaiiemestis 123 KE Differential Filter 00nnnnnnnnnnooooeaeeennnnenneeoooorrrrerrrrrnrrrererrreree nnn 124 KF Velocity Feedforward GOnstanthsrccsninetsiiarvelanimimnaciacnsnesdnorrenunsees 125 KI Integrator CONSE vccecscsensesnsscssenenscoceeeeresesserersxenernrentiasesieesseneners 126 KJ Jerk Filter Frequency sxcccsssucursinssneccnescntnencuseevosceusiupidtevecicecnsntoess 127 KK Inertia Feedforward Constant csssssssseeeeeeeeeeeeeeesseneeseeeees 128 RP Proportional Ors al cccsicticcteespenckanessssarsesuumunmasaisenicerrrnancaetst 129 KV Velocity Feedback Constannt cccceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 130 LA Lead Angle Max VAIS cc chccsiiiiicntsosivscsuperestereaeenihiatiiccreccaceeis 131 920 0002 Rev I 4 2 2013 Host Command Reference LS tead Angle Spod snssicinorsn aai Eia 133 LV Low Voltage TAKES ONG nono ence ciseccnnnnsocesnnnensesesvssanernnnnnadaa
39. 18 because these modes use the EN input as a speed change input and take precedence over the SI command Also setting the Al 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 Al 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 Note The STM24 C drive uses IN3 for the Enable 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 inactive high S12 Drive is enabled when the EN input is closed active low SI3 The EN input is not used for Enable and can be used as a general purpose input SI will be automatically set to 3 if CM is set to 13 14 17 or 18 or if Al is set to 1 or 2 after the SI command is set STM24 SF QF Drives with Flex I O allow a second parameter which allows the user to specify the I O point used Before an I O point can be used as the Drive Enable input it must first be configured as an input with the SD command See the STM24 Hardware Manual for details of which inputs may be used as the Drive Enable input Possible uses for the SI command on the STM24 are as follows n denotes the I O point to be used Slin Drive is enabled when the designated input is open inactive high Sl2n Drive is enabled when the designated input is closed active
40. CC to idle current Cl 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 Details CD Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Delay time 0 00 to 10 00 Examples Command Drive sends Notes CDO 4 Idle current delay time set to 0 4 seconds CD CD 0 4 47 920 0002 Rev I 2 2013 Host Command Reference CE Communication Error Compatibility All drives See also AL command Requests the hexadecimal equivalent of the communication error s 8 bit binary word The presence of a comm error will also be shown in the Alarm Code AL command as well as the status LEDs at the front of the drive Appendix F Bit assignments for the 8 bit word are shown in the Response Details table below Command Details Command Type IMMEDIATE READ ONLY Non Volatile Response Details Response Communication error code hexadecimal code range bit O parity flag error bit 1 framing error bit 2 noise flag error bit 3 overrun error bit 4 Rx buffer full bit 5 Tx buffer full bit 6 bad SPI op code bit 7 Tx time out Examples Command Drive sends Notes CE CE 0010 Rx buffer full CE CE 0002 Framing error 920 0002 Rev 48 2 2013 Host Command Reference CF Anti resonance Fil
41. Command Details Wo Parameter A WRITE ONLY Non Volatile Parameter Details Parameter 1 Data register data register assignment All Read Write and User Defined data registers Examples Command Drive sends Notes WD5 Wait the number of milliseconds indicated by the value in user defined data register 5 920 0002 Rev 218 2 2013 Host Command Reference WI Wait for Input Compatibility All drives Affects Use of Jog Inputs See Also Fl JE JD WD WM TI commands 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 is active the drive s jog inputs can be used to jog the motor JD disables jogging using inputs See your drive s User s Manual for designation of jog inputs Command Details Structure WI Parameter 1 Type BUFFERED Parameter Details See Appendix F Working With Inputs and Outputs WRITE ONLY Examples Command Drive sends Notes WI3R Wait for input 3 to go high rising edge before proceeding to the next command in the queue 219 920 0002 Rev I 2 2013 Host Command Reference WM Wait on Move Compatibility Q drives only Affects Queue execution See also MT When in multi tasking is turned on see MT command this command will block execution of subsequent commands until the previously initiated move is complete This can be any type of m
42. Ended Encoder Usage Flag units integer range 0 Differential encoder used recommended 1 Single ended encoder used Examples Command Drive sends Notes ESO Drive will use a differential encoder ES ES 0 ES1 Drive will use a single ended encoder ES ES 1 920 0002 Rev 74 2 2013 Host Command Reference FC Feed to Length with Speed Change Compatibility All drives though Q drives have added functionality see below See also VC VE DC DI SD WP commands 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 respectively Initial speed is VE After the motor has moved DC counts the speed changes to VC If DC is equal to or greater than DI a speed change will not occur Optionally a parameter pair may be used with the FC command to designate a switch and polarity to use as a trigger for the final move segment If a switch parameter is used the motor will change speed at the DC distance and will maintain that speed until the input is triggered Once this input condition is met the drive will travel the full DI distance and decelerate to a stop per the DE ramp In this scenario the overall move distance is the sum of DC DI and the distance between the DC change point and the point where the input is triggered The overall distance then depends on the location of the trigger input Q drives only
43. Examples Command Drive sends Notes DRa Set capture data register to a Analog Command register 920 0002 Rev I 66 2 2013 Host Command Reference ED Encoder Direction Compatibility BLu STAC5 STAC6 SV7 SVAC3 Affects Encoder count direction See also EF El commands BLu STAC5 STAC6 SV7 SVAC3 Sets or requests the encoder count direction Command Details PResistor Acosss foe ooo Parameter Details Parameter 1 Encoder Count Direction Binary flag 0 or 1 range 0 default behavior 1 count in reverse Examples Command Drive sends Notes ED1 Set encoder to count in reverse ED ED 1 67 920 0002 Rev I 2 2013 Host Command Reference EF Encoder Function Compatibility Stepper drives with encoder feedback Affects Stall Detection and Stall Prevention See also CC Cl ER PF commands NOTE The behavior of this function was updated subsequent to firmware rev 1 04L STM17 23 Most notably a power cycle was requried to initialize the drive with a new EF setting Drives with more recent firmware perform a current probe and encoder alignment immediately following execution of the EF command and do not require the drive to be reset All descriptions shown here assume that the drive is running current firmware ST Q Si STM Sets or requests the decimal equivalent of the encoder function s 3 bit word The encoder function can be set through Configurator or by using the EF command
44. IS 000001 11 Encoder index channel is closed IS IS 10000100 Inputs STEP and DIR are closed SVAC3 STAC5 Command Drive Sends Notes IS IS 10001111 S drive No inputs are closed IS IS 10001111 Q or IP drive Inputs IN5 IN7 are closed IS IS 000001 11 S drive Encoder index and input X4 are closed IS IS 00000111 Q or IP drive Inputs IN4 IN8 are closed IS IS 10101110 S drive Invalid response IS IS 10101110 Q or IP drive Inputs IN1 IN5 and IN7 are closed ISX IS 10001010 Inputs X1 and X3 are closed NOTE When working with digital inputs and outputs 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 low and SO1L means set output 1 low A high state is represented by the H character 109 920 0002 Rev I 2 2013 Host Command Reference IT Immediate Temperature Compatibility All drives Requests drive temperature as measured by either an on chip or board mounted sensor A parameter of 0 or 1 is used to specify which temperature reading is desired depending on drive type see
45. Only stepper drives with encoder inputs optional on ST Q Si STAC5 and STM drives running a step motor with a shaft mounted encoder can utilize the Stall Detection and Stall Prevention functions Note this feature is NOT available on the STAC6 AMP recommends an encoder with differential outputs and a resolution of at least 1000 lines 4000 counts rev EFO Disable Encoder Functionality EF1 Turn Stall Detection ON EF2 Turn Stall Prevention ON EF6 Turn Stall Prevention with time out ON The drive performs a full current probe for encoder alignment during power up and after each EF command is sent It is very important to raise the idle and continuous current settings to the maximum value and then execute the new EF setting after a 1 second delay Once the EF command is completed the current may be reset to its normal value Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Encoder function setting decimal equivalent of 3 bit binary word 0 Encoder function off 1 Stall Detection 2 Stall Prevention 6 Stall Prevention with time out 920 0002 Rev 68 2 2013 Examples Command EF1 EF EF6 EF Host Command Reference Drive sends Notes Turn ON Stall Detection function EF 1 Enable Stall Prevention with time out EF 6 Example encoder alignment sequence STM24 CC6 CI5 4 EF1 CC3 Cl2 4 Raise current to 6A Raise idle current to 5 4A Enable Stall Detectio
46. P10 75 Set power up idle current to 0 75 amps PI Pl 0 75 920 0002 Rev I 154 2 2013 Host Command Reference PL Position Limit Compatibility Servo drives only Affects Motion Output function See also MO command Sets or requests the count value used by the servo to determine if the motor is in position This is used by the servo for determining the state of Motion Output see MO command When performing a move the Motion Output will be set to the designated condition until the servo is in position at the end of a move The In Position status is set in the same way Command Details Non Volatile Register Access Parameter Details Parameter 1 Positioning limit Examples Command Drive sends Notes PL20 Set position limit to 20 counts PL PL 20 158 920 0002 Rev I 2 2013 Host Command Reference PM Power up Mode Compatibility All drives See also CM command Sets or requests the power up mode of the drive PM determines how the drive is configured for serial communications at power up For example for SCL applications set PM 2 or PM 5 The power up mode is also set when configuring the drive with Quick Tuner or Configurator PM2 Q SCL is the same as PM7 Q Program Mode except the program is not automatically executed at power up Q drives When creating Q Programs for your Q drive checking the Execute Q at Power up box on the main screen of the Q Programmer software will
47. READ WRITE Non Volatile Parameter Details Parameter 1 Limit input state see above Examples Command Drive sends Notes DL1 Set limit inputs to work with normally open limit switches DL DL 1 DL3 Set limit inputs to act as general purpose inputs NOTE When working with digital inouts and outputs 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 low and SO1L means set output 1 low A high state is represented by the H character 65 920 0002 Rev I 2 2013 Host Command Reference DR Data Register for Capture Compatibility Q servo drives only BLu Q and SV Q Affects Quick Tuner Data Capture Sets or requests the data register used in the register plot data source in Quick Tuner Any data register can be selected for viewing when capturing data using Quick Tuner Command Details Command Type BUFFERED WRITE ONLY Non Volatile Register Access All data registers Parameter Details Parameter 1 Data register assignment All data register assignments
48. Responses from the drive will be sent with a similar syntax to the associated SCL command YXX A lt cr gt In the syntax above Y symbolizes the drive s RS 485 address and is only present when using RS 485 networking XX symbolizes the command itself which is always composed of two capital letters A symbolizes the requested data and may be presented in either Decimal or Hexadecimal format see the IF command The lt cr gt symbolizes the carriage return which terminates the response string Commands in Q drives Q drives have additional functionality because commands can also be composed into a stored program that the Q drive can run stand alone The syntax for commands stored in a Q program is the same as if the commands were being sent directly from the host or XXAB Q Programmer software is used to create stored Q programs and can be downloaded for free from www applied motion com support software php The diagram below shows how commands sent from the host s serial port interact with the volatile command buffer AKA the Queue and the drive s non volatile program memory storage Loading and Uploading the Queue contents via the serial port are done with the QL and QU commands respectively Similarly the Queue s contents can be Loaded from NV memory using the QL and QX commands and can be saved to NV memory with the QS command Finally commands currently in the Queue can be executed with the QE or QX
49. S 044 STAC6 220 Q i 045 STAC6 220 Si 046 STAC6 C E 047 STAC6 220 C 048 ST5 S 020 ST5 Q 022 ST5 Si T 023 ST5 Plus 026 ST10 S i 021 ST10 Q 024 ST10 Si 025 ST10 Plus 7 027 STM23S 2AN i 049 A STM23S 2AE 049 E STM23S 2RN 7 049 C STM23S 2RE 049 G STM23S 3AN i 049 B STM23S 3AE 049 F STM23S 3RN 049 D STM23S 3RE i 049 H STM23Q 2AN i 050 A STM23Q 2AE i 050 E 143 920 0002 Rev I 2 2013 Host Command Reference STM23Q 2RN 050 C STM23Q 2RE 050 G STM23Q 3AN i 050 B STM23Q 3AE 050 F STM23Q 3RN 050 D STM23Q 3RE x 050 H See example below for format of firmware version Denotes no sub model number code is used for this drive Examples Command Drive sends Notes MV 100Q012 Drive connected has DSP firmware version 1 00Q and the drive model number is SV7 Q MV 103F042 Drive connected has DSP firmware version 1 03F and the drive model number is STAC6 Q MV 102J049A Drive connected has DSP firmware version 1 03F and the drive model number is STM23S 2AN 920 0002 Rev I 144 2 2013 Host Command Reference NO No Operation Compatibility Q drives only Affects Stored program flow Q programs halt execution at blank lines If a no op line is required in a program for comments or other purposes rather than leave the line blank the NO command is used Think of the NO command as leaving a blank line in the middle of a sequence of commands This is useful if after creating
50. STM 16383 5V 0 OV a Analog Command value IA 049 Short All drives Note that the a register is affected by the AV Analog Offset command so the range may vary beyond 0 to 16383 b Queue Line Number 050 Short Line 1 62 Q drives only 229 920 0002 Rev I 2 2013 Host Command Reference Servo 0 01 amps RMS C Current Command IC 051 Short Stepper 0 01 amps peak of All drives sine i l Servo encoder counts d Relative Distance ID 052 Long Stepper steps All drives BLu STAC6 The d register as well as the ID command contains the relative move distance used in the last move This means that the d register is only updated at the end of every relative move SV ST Q Si ST S STM The d register as well as the ID command contains the immediate relative distance moved since the start of the last or current relative move This means the d register is updated during relative moves and can therefore be polled during a move to see where the motor is with respect to the overall relative move distance Servo drives and e Encoder Position IE EP 053 Long encoder counts stepper drives with encoders The e register can be zeroed by sending the command EPO hexadecimal equivalent of f Alarm Code AL 054 Long binary Alarm Code word All drives See AL command for details Servo encoder counts
51. Sending the RC command clears the time stamp buffer Executing the TS command removes the oldest time value from the time stamp buffer and places it in the W Data Register where it can be used With each execution of the TS command a time value is transferred until the end of the time stamp buffer is reached If a TS is sent with no time values in the time stamp buffer a 0 is placed in the W data register Command Details Structure BUFFERED Type Non Volatile W 039 milliseconds Register Access WRITE ONLY Units Example This sample Q program illustrates the interaction of the RC and TS commands After initialization the program waits for a falling edge event on input X3 at which point a 5 second timer begins counting down During this delay the user may trigger X3 an arbitrary number of times After 5 seconds the motor will execute a series of 5000 step moves with the delay between each corresponding to the delay between switch closures on X3 That is if the user trips X3 four times waiting 1 second between each event the motor will execute four 5000 step moves with a 1 second dwell between each MT 1 Multi tasking ON EG 20000 20 000 steps rev AC 250 DE 250 VE 5 FI 3 200 Filter input 3 for 200 processor ticks RX I 0 Zero the I register RC X8F Setup the I register for input X3 WI X3F Wait for input X3 WT 5 00 Wait 5 seconds gt gt gt trigger inpuxt X3 a few ti
52. User defined 011 Long integer Q drives only lt User defined 012 Long integer Q drives only User defined 013 Long integer Q drives only gt User defined 014 Long integer Q drives only User defined 015 Long integer Q drives only User defined 016 Long integer Q drives only RESERVED 043 RESERVED 044 RESERVED 045 A RESERVED 046 RESERVED 047 RESERVED 048 920 0002 Rev 238 2 2013 Host Command Reference Appendices The following appendices detail various special topics in working with Applied Motion motor drives Appendix A Non Volatile Memory in Q drives Appendix B Host Serial Communications Appendix C Host Serial Connections Appendix D The PR Command Appendix E Alarm and Status Codes Appendix F Working with Inputs and Outputs Appendix G Troubleshooting Appendix H EtherNet IP Communications 239 920 0002 Rev I 2 2013 Host Command Reference Appendix A Non Volatile Memory in Q drives The non volatile memory in Q drives is partitioned into 16 sections The partitions are dedicated to various elements of a Q drive s data and are designated as follows Partitions Wsisssccpteteecs deceegsteas Q Program Segment 1 Partition 2 vveseesesesiweenceedsieds Segment 2 Partition Svvcscuct denies cneiceeves Segment 3 Panon Aasra Segment 4 Partition 5
53. Velocity Compatibility Servo drives Affects Analog Velocity mode See Also AM VC VE commands Sets or requests the maximum motor velocity in rev sec Used in analog velocity mode to limit the maximum speed of the drive Command Details Non Volatile Parameter Details BLu SV Parameter 1 Move velocity revisec rps 0 0042 133 3333 resolution is 0 0042 rev sec Examples Command Drive sends Notes VM50 Set maximum move velocity to 50 rev sec VM VM 50 920 0002 Rev 216 2 2013 Host Command Reference VP Velocity Mode Proportional Constant Compatibility Servo drives only Affects Jog commands See also VI amp JM commands Sets or requests the velocity mode servo control Proportional gain term Gain value is relative 0 no gain 32767 full gain VP minimizes velocity error when in velocity mode 2 see JM command Command Details Non Volatile Register Access Parameter Details Parameter 1 Velocity mode proportional gain Examples Command Drive sends Notes VP5000 Set velocity mode proportional gain to 5000 VP VP 5000 217 920 0002 Rev I 2 2013 Host Command Reference WD Wait Delay Compatibility Q drives only Affects None See also WI RX commands Causes a time delay to occur using a time value from a given data register The resolution is in milliseconds Only up to 15 bits of the data register are used giving a maximum wait time of 32 seconds
54. can be changed see BR and PB commands Connecting to a PC using RS 232 Each drive comes with a programming cable for use with the drive s RS 232 port This cable is made up of two parts a 7 foot 4 wire cable looks just like a 7 foot telephone cord and an RJ11 to 9 pin DSUB adapter This adapter allows you to connect to the COM port serial port of your PC Here are the general directions for connecting your drive to your computer e Locate your computer within 6 feet of the drive e Plug the 9 pin end of the adapter supplied with your drive to the COM1 serial port of your PC Secure the adapter with adapter s two screws If the COM1 port on your PC is already used by something else you may use the COM2 port of your PC On some PCs COM2 will have a 25 pin connector rather than a 9 pin If this is the case with your PC and you must use COM2 you will have to purchase a 25 to 9 pin serial adapter at your local computer store NOTE If you are using a laptop computer that does not have any COM ports you will have to use either a USB to Serial adapter or a PCMCIA Serial adapter There are a variety on the market and some work better than others But in general once you ve installed one of the adapters your PC will assign the adapter a COM port number Remember this number when you go to use your Applied Motion software Also if you are having troubles with your adapter contact Applied Motion for help with recommended adapters e No
55. cirein Segment 5 Partition Gosci Segment 6 Partition 7 sweisc ccivtvasescensiees Segment 7 Partition 8 veisc ccciviconiies Segment 8 Partition 9 0 eee Segment 9 Partition Tecnos Segment 10 Partition 11 0 eee Segment 11 Partition 12 eee Segment 12 Partition 13 0 eee Drive Parameters Partition 14 000 Alarm History Partition 15 0 eee NV Data Register Storage Locations 1 100 Partition 16 eee RESERVED The separation of these partitions is important in understanding how the drive writes to non volatile memory For example each time the SA command is executed by the drive all of the Drive Parameters are re written to non volatile memory partition 13 Similarly each time an RW command is executed by the drive all of the one hundred NV Data Register Storage Locations are re written in partition 15 even if only one of the locations is being updated with a new data register value The significance of these operations becomes clear when we consider that the physical non volatile memory of the Q drive is limited to approximately 10 000 write cycles This means that after writing to any one of the 16 partitions 10 000 times the integrity of the data stored in that memory partition cannot be insured For this reason it is not recommended to use the RW or SA commands in stored Q programs For example it might be tempting for a user to include an RW command or two in a stored program in such a manner that allows for various data r
56. command Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command piii j _ i range integer 0 encoder index if present 1 4 5 AIN letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition range integer 0 encoder index if present 1 4 5 AIN letter L Low H High F Falling Edge R Rising Edge 920 0002 Rev I 264 2 2013 Host Command Reference Exceptions e When using the Follow Encoder or Hand Wheel commands FE or HW respectively the master encoder channels A and B must be wired to drive inputs STEP X1 IN1 and DIR X2 IN2 In these modes these inputs must not be used for sensor inputs e Using the On Input Ol command with no parameter will disable the interrupt function e The Seek Home SH command makes use of the drive s CW and CCW limit functions As such the home sensor may not be wired to the following inputs STAC5 S X1 X2 STM17 S Q STEP DIR STAC5 Q IP IN7 IN8 STM17 C IN1 IN2 SVAC3 S X1 X2 STM23 S Q STEP DIR SVAC3 Q IP IN7 IN8 STM23 C IN1 IN2 BLu X6 X7 STM24 SF QF 1 03 1 04 STAC6 X6 X7 STM24 C IN1 IN2 ST S Plus STEP DIR ST Q Si C IP X7 X8 SV7 X7 X8 Output Parameter Details BLu S BLu Q STAC6 S STAC6 Q STAC6 C Parameter 1 Optional Y output number output condition NOTE I
57. command Segment Location ere RS 232 e eget Th RS 485 e Queue Ethernet RAM BUFFER Communications Line 1 Line 2 Loading Queue QL QX Loading Queue Serial QL Ethernet Port Uploading Queue Saving Queue QU QS Line 62 Queue Execution QE Immediate QX Buffered Line 62 920 0002 Rev I 10 2 2013 Host Command Reference The Q Programmer software automates many of the functions shown in the diagram above SCL Utility software The SCL Utility software is an excellent application for familiarizing yourself with host commands SCL Utility can be downloaded for free from www applied motion com To send commands to your drive from SCL Utility simply type a command in the Command Line 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 while in SCL Utility does two things it terminates the command with a carriage return and automatically sends the entire string Try the example sequence below In this example note that lt ENTER gt means press the ENTER key on your keyboard which is the same as terminating the command with a carriage return 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 AC2
58. commands from the queue 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 Command Details WRITE ONLY Non Volatile Parameter Details Parameter 1 Deceleration rate range D deceleration rate set by DE or JA command no parameter deceleration rate set by AM command Examples Command Drive sends Notes SK Stop motion immediately using the deceleration rate set by the AM command and erase the contents of the queue SKD Stop motion immediately using the deceleration rate set by the DE command or JA if jogging and erase the contents of the queue 920 0002 Rev I 202 2 2013 Host Command Reference SM Stop Move Compatibility Q drives only See also AM DE JL SK ST QK commands Stops any type of move in progress such as FL or CJ This command acts like the ST Stop command except it will not stop a wait operation like WD WI WP or WT and it can be part of a stored Q program The contents of the queue are not affected by the SM command Exception SH NOTE Requires Multi Tasking to be enabled MT1 By default Motion Tasking is disabled which means the current move must complete before any subsequent buffered command such as SM can execute With Multi Tasking enabled subsequent commands may be processed while a move
59. condition codes T F N P and Z Command Details alParameter FIN Parameter 2 Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data register data register assignment All data registers Parameter 2 Second data register data register assignment All data registers Examples Command Drive sends Notes R D1 Divide contents of distance register D by user defined register 1 and place result in accumulator register 0 191 920 0002 Rev I 2 2013 Host Command Reference R amp Register AND Compatibility Q drives only Affects All data registers See also R R R R RD RI QJ commands Do a bit wise AND of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register User Defined register 0 This is a 32 bit operation This operation affects the condition code use by the QJ Queue Jump command All math operations affect the condition code used by the QJ Queue Jump command Can set condition codes T F N P and Z Command Details naParameter Parameter 2 Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data register data register assignment All data registers Parameter 2 Second data register data register assignment All data registers Examples Command Drive sends Notes R amp s1 AND the co
60. counter SPO Step 2 reset internal position counter 920 0002 Rev I 72 2 2013 Host Command Reference ER Encoder Resolution Compatibility Servo drives and stepper drives with encoder feedback Affects Motor Operation Sets the encoder resolution in quadrature counts For example if the motor connected to the drive has an 8000 count 2000 line per revolution encoder set the encoder resolution to 8000 WARNING Changing this setting will affect motor commutation with servo drives Use the Quick Tuner setup utility to change this setting then run the Timing Wizard in Quick Tuner to properly set up the motor commutation Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Encoder resolution Examples Command Drive sends Notes ER8000 Set encoder resolution to 8000 counts rev ER ER 8000 73 920 0002 Rev I 2 2013 Host Command Reference ES Single Ended Encoder Usage Compatibility Servo and stepper drives with encoder feedback except STM Allow a single ended encoder to be used for drive feedback and commutation This command has the same function as the box marked Single Ended in the Encoder setup screens of ST Configurator or QuickTuner While some applications require single ended encoders to be used differential signals are always recommended due to their superior noise immunity Command Details READ WRITE Non Volatile Parameter Details Single
61. counts into CCW move If the IF command is set with Parameter 1 D ID ID 10000 10000 counts into CW move ID ID 10000 10000 counts into CCW move 920 0002 Rev 98 2 2013 Host Command Reference IE Immediate Encoder Compatibility Servo drives and stepper drives with encoder feedback Requests present encoder position Command Details Non Volatile Register Access e 053 Examples Command Drive sends Notes IE IE 00002710 Encoder position is 10000 counts IE IE FFFFD8FO Encoder position is 10000 counts If the IF command is set with Parameter 1 D IE IE 10000 Encoder position is 10000 counts IE IE 10000 Encoder position is 10000 counts 99 920 0002 Rev 2 2013 Host Command Reference IF Immediate Format Compatibility All drives Affects Immediate Commands IA IC ID IE IP IT IU IV and IX P 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 ascii 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 power
62. disabled SS o 2 internal vottage out ofrange SS i Ts 1 over current short cieutSSCSC S e Yopen motorwinding SSCS ol k oo wo i ol 259 920 0002 Rev I 2 2013 Host Command Reference Appendix F Working with Inputs and Outputs This Appendix covers I O usage on drives from Applied Motion Products Low v High When working with inputs and outputs it is important to remember the designations low and high If current is flowing into or out of an input or output the logic state for that input output is defined as low or closed If no current is flowing 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 WIX4L means wait for input X4 low and SO1L means set output 1 low A high state is represented by the H character When working with the analog inputs 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 X Marks The Spot When using a dual input command both I O points used must reside on the same connector That is if an X input such as X2 is used for the first input the second input is assumed to use an X as well since it must reside on the same connector Since it is not possible to mix I O from different banks th
63. equivalent see IF command of the option board s 7 bit binary word Since some drives like the SV ST Q Si and STM drives are available with different option boards it is useful for the host to be able to request this information from the drive The 7 bits in the option board s binary word are shown below Fo 1 Encoder Board Encoder Boara Encoder Board Encoder Board raf e reserved reserved resened reserved e o ethernet ethernet etternet o o reserved Expanded resenea reserved This board includes encoder output so drives with this option will also have bit O set Command Details Structure OR IMMEDIATE READ ONLY Non Volatile Examples IF command set for decimal IFD Command Drive sends Notes OP OP3 Drive has both encoder and RS 485 option boards installed OP OP4 Drive has CANOpen board installed OP OP33 Drive has MCF board installed bits 0 and 5 are set IF command set for hexadecimal IFH Command Drive sends Notes OP OP0003 Drive has both encoder and RS 485 option boards installed OP OP0004 Drive has CANOpen board installed OP OP0021 Drive has MCF board installed 920 0002 Rev 148 2 2013 Host Command Reference PA Power up Acceleration Current Compatibility STM Integrated Step Motors Affects Motor accel decel current and torque See also PC CC CA SA commands Sets or requests the power up accel decel current setting peak of sine of the s
64. execution Itis not required to execute the SA command to save to non volatile memory Examples Command Drive sends Notes PM2 Drive will power up in Q SCL mode drive enabled PM PM 2 920 0002 Rev I 156 2 2013 Host Command Reference PN Probe On Demand Compatibility Stepper drives See also EF MC commands Perform a full current probe of the motor The motor s maximum rated current is used as defined by the MC command This allows the drive to dynamically measure electrical parameters such as inductance and resistance which are used to optimize the drive s control over the motor This probe is automatically done on power up and after an EF command is issued but may be performed at any time using the PN command NOTE This operation will briefly energize the motor with full current Use caution when executing the PN command as this may cause slight movement of the motor shaft Command Details Structure Type BUFFERED WRITE ONLY Non Volatile Examples Command Drive sends Notes PN Perform a full current probe of the motor 157 920 0002 Rev I 2 2013 Host Command Reference PP Power up Peak current Compatibility Servo drives only Affects Motor current especially during acceleration and deceleration See also CC CP PC commands Sets or requests the power up peak RMS current setting of the servo drive This command differs from the CP command in that in addition to setting the peak c
65. fo EP DC SET_CHNG_DISTANCE _ B7 0 32bitdistance or position 2 147 483 647 stes DE P_10_P_DeceL fF fo oecelrate 1 32000 10 rpmiseo for _ SET_REL_DISTANCE fee o 32 biroisence or positon 2 ares Mses ii ENCODER_FUNCTION function 0 1 2 or 3 0 Encoder function off 1 Stall Detection 2 Stall Prevention 4 Stall prevento w time out o stepsrev 100 25600 steps rev divided y2 EP ENCODER Posmon 98 f0 32 bitencoder position 2 147 483 647 counts ro C CN C FD feed to double sensor cond io2 cond iot ST X0 X8 L H F R see 10 Encoding Table 2 1 STACS X0 X4 1 8 L H F R FE FOLLOW ENCODER CC cond ST X0 X8 L H F R see 10 Encoding Table STACS X0 X4 1 8 L H F R FL feed to length relative move 66 0 a ee FM Feed to with mask 6A 1 ST X0 X8 L H F R see 10 Encoding Table distance STAC5 X0 X4 1 8 L H F R FO feed and set output cond ST Y1 Y4 Lor H see IO Encoding Table STACS 1 4 Y1 Y2 L orH eile to position absolute ee FS Feed to Sensor cond ST X0 X8 L H F R see 10 Encoding Table STACS X0 X4 1 8 L H F R FY Feed to Sensor with safety cond ST X0 X8 L H F R see IO Encoding Table distance STACS X0 X4 1 8 L H F R 920 0002 Rev 296 2 2013 Host Command Reference cond ST X0 X8 L H F R see IO Encoding Table STACS X0 X4 1 8 L H F R 1 32000 10 rpm sec direction 1 cw enable 2 ccw a ee eel Pf enable 3 bo
66. into and executed out of the drive s volatile command buffer also known as the queue Immediate commands are not buffered when received by the drive they are executed immediately Buffered Commands After being loaded into the command buffer of a drive buffered commands are executed one at a time See Multi tasking in Q Drives below for an exception to this rule If you send two buffered commands to the drive in succession like an FL Feed to Length command followed by an SS Send String 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 PS Pause and CT Continue enable the buffer to be loaded and to pause execution until the desired time Stored Programs in Q Drives Stored Q Programs created with the Q Programmer application software are created by using only buffered commands Multi tasking in Q Drives Multi tasking allows for an exception to the one at a time rule of buffered commands The multi tasking feature of a Q drive allows you to initiate a move command FL FP CJ FS etc and proceed to execute other commands without waiting for the move command to finish Immediate Commands Immediate commands are executed right away running in para
67. logic results are stored in the Accumulator register O This register is part of the user defined register set Math functions include Add Subtract Multiply and Divide Logic functions include Logical AND and Logical OR 920 0002 Rev 228 2 2013 Host Command Reference Conditional Testing CR TR Q drives only When constructing complex programs it is usually necessary to do some conditional processing to affect program flow Two commands are available for evaluating a data register for conditional processing the TR Test Register and CR Compare Register commands The TR command will compare the First value of a given data register against a Second immediate value The CR command compares the First value of a given data register against the Second value of another data register When using the TR and CR commands an internal Condition register is set with the result The result can be True the First value is either positive or negative False the First value is not a value it s zero Zero the First value equals 0 Positive the First value is positive Negative the First value is negative Greater Than the First value is more positive than the Second value Less Than the First value is more negative than the Second value Equal to the First and Second values are equal
68. or Q versions optional Y character is not necessary Command Drive sends Notes IO IO 00000000 All 3 outputs of IN OUT1 or main board are low closed IO IO 00000111 All 3 outputs of IN OUT1 or main board are high open 100 Sets all 3 outputs low closed 107 Sets all 3 outputs high open BLu and STAC6 QE or Si versions Command Drive sends Notes IO IO 00000000 All 4 outputs of IN OUT2 or top board are low closed IO IO 00001111 All 4 outputs of IN OUT2 or top board are high open 100 Sets all 4 outputs of IN OUT2 or top board low closed 1015 Sets all 4 outputs of IN OUT2 or top board high open IOY IO 00000000 All 3 outputs of IN OUT1 or main board are low closed IOY IO 00000111 All 3 outputs of IN OUT1 or main board are high open IOYO Sets all 3 outputs of IN OUT1 or main board low closed IOY7 Sets all 3 outputs of IN OUT1 or main board high open Command Drive sends Notes DB 15 IOY IO 00000000 Both outputs of IN OUT1 are low closed IOY IO 0000001 1 Both outputs of IN OUT1 are high open IOYO Sets both outputs of IN OUT1 low closed IOY3 Sets both outputs of IN OUT1 high open STAC5 Q IP SVAC3 Q IP Command Drive sends Notes DB25 IO IO 00000000 All 4 outputs of IN OUT2 are low closed IO IO 00001111 All 4 outputs of IN OUT2 are high open 100 Sets all 4 outputs of IN OUT2 low closed 1015 Sets all 4 outputs of IN OUT2 high open 103 920 0002 Rev I 2 2013 Host Command Reference
69. position Examples Example After homing the motor you want to zero the home position and move to an absolute position 8000 counts or steps from the new home position Command Drive sends Notes SPO Set current motor position as absolute zero DI8000 Set move position to 8000 counts steps FP Launch Feed to Position FP8000 Launch Feed to Position to 8000 counts steps without affecting the D register FP8000 Motor is already at position 8000 no motion occurs 85 920 0002 Rev I 2 2013 Host Command Reference FS Feed to Sensor Compatibility All drives See also FD FM and FY commands see AT command for using AIN as sensor input Executes a Feed to Sensor command Requires input number and condition The motor moves until a sensor triggers the specified input condition 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 for DI 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 will equal the encoder resolution for a servo moto
70. register see Data Registers section for more details Parameter Details STAC6 Parameter 1 Idle current O 100 of running current ST Q Si ST S STM STAC5 Parameter 1 Idle current Examples STAC6 Command Drive sends Notes Cl1 0 Set idle current to 1 0 amps Cl Cl 1 CC0 5 Set running current to 0 5 amps Cl Cl 0 5 Cl automatically set 0 5 amps along with CC0 5 command 5i 920 0002 Rev I 2 2013 Host Command Reference ST Q Si ST S STM STAC5 Command Drive sends Notes Cl2 Set idle current to 2 amps CC2 Set running current to 2 amps Cl Cl 1 Cl automatically set to 1 amp to match 50 of CC2 command Cl1 8 Set idle current to 1 8 amps or 90 of last CC value 920 0002 Rev I 52 2 2013 Host Command Reference CJ Commence Jogging Compatibility All drives See also JS JA JL SJ CS and DI commands 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 SJ Stop Jogging 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 beware that if the speed or load inertia is high the drive may miss steps stall or fault The jogging direction is set by the last DI command Use the CS command to change jog speed and direction while already jogging CS does not affect JS Use in Q Programs
71. register assignment all data registers Parameter 2 Second data register assignment all data registers Examples Command Drive sends Notes R D1 Add contents of distance register D to user defined register 1 and place the result in the accumulator register 0 920 0002 Rev I 188 2 2013 Host Command Reference R Register Subtract Compatibility Q drives only Affects All data registers See also R R R R amp RD RI QJ commands Subtracts the contents of the second data register from the first data register and places the result in the accumulator data register User Defined register O This is a 32 bit operation subtracting two Long word values can cause an underflow All math operations affect the condition code used by the QJ Queue Jump command Can set condition codes T F N P and Z Command Details R Parameter Parameter FA Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data register assignment all data registers Parameter 2 Second data register assignment all data registers Examples Command Drive sends Notes R D1 Subtract the contents of user defined register 1 from the distance register D and place the result in the accumulator register 0 189 920 0002 Rev I 2 2013 Host Command Reference R Register Multiply Compatibility Q drives only Affects All data registers See also R
72. 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 RS 485 Adapter mode Allows using a drive as an RS 232 to RS 485 adapter by letting the host communicate on an RS 485 network through the first drive s RS 232 port When the host sends commands with a tilde at the beginning of the command to the first drive s RS 232 port the command is echoed out of both of that drive s RS 232 and RS 485 ports Drives connected on the RS 485 network will receive the same command with the oo stripped off Without the Bit 4 option Bit 4 0 a drive will normally echo any addressed command out of the RS 232 port only whether the command was received from the drive s RS 232 or RS 485 port What the Bit 4 setting does Bit 4 1 is force the drive to echo commands out the RS 485 port as well allowing a host that is connected to a drive through its RS 232 port to communicate to an RS 485 network of drives NOTE When both Bits 4 and 2 are set Bit 4 1 Bit 2 1 the host will receive back both the echoed packet and the acknowledge packet For example two drives are connected in an RS 485 network and they both have PR command Bits 4 and 2 set The first drive which is also connected to the host via its RS 232 port is addressed 1 and the secon
73. servo drives Affects Analog velocity mode See also AD AG CM commands Sets or requests the second speed used in velocity oscillator mode This only applies to Command Modes CM 13 14 17 and 18 SV STAC6 ST Q Si Input X5 is used to select the speed set by the JC command while in Command Mode 13 14 17 or 18 ST S STM The EN input is used to select the speed set by the JC command while in Command Mode 13 14 17 or 18 Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Analog velocity mode second speed BLu SV STAC6 ST Q Si ST S 0 0042 133 3333 resolution is 0 0042 STM 0 0042 80 0000 resolution is 0 0042 Examples Command Drive sends Notes JC11 Set second jog speed in analog velocity mode to 11 rps JC JC 11 920 0002 Rev 116 2 2013 Host Command Reference JD Jog Disable Compatibility All drives Affects Jogging during a WI command See also JA JE JS WI commands Disables jog inputs which are active during a WI instruction if previously enabled by the JE command Jog accel decel and velocity are set using the JA and JS commands respectively Command Details Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes JD Disable jog inputs while executing the WI command 117 920 0002 Rev I 2 2013 Host Command Reference JE Jog Enable Compatibility All drives Affects WI jogging command See also JA JD JS WI commands
74. 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 a code word can actually show information about more than one alarm or status condition Alarm Code Definitions AL command When a host sends the AL command the response from the drive will be the Hexadecimal equivalent of a 16 bit word This hexadecimal value is considered the Alarm Code and the hexadecimal value for each of the bits in the Alarm Code is given below Over Voltage Over Current 2000 Current Foldback Motor Resistance not used not used Out of Range 4000 Blank Q Segment 8000 BLUAC drives only NOTE Items in bold italic represent Drive Faults which automatically disable the motor Use the OF command in a Q Program to branch on a Drive Fault Example The drive has hit the CW limit 0004 there is an under voltage condition 0040 and an encoder wiring connection has been lost resulting in an encoder fault 0200 The resulting Alarm Code is 0244 and when the host sends the AL command the drive will respond with AL 244 f data register Another way to retrieve the Alarm Code is to use the f data register If the host sends the RLf command the response from the drive will be the decimal equivalent of the 16 bit Alarm Code word The diagram below 253 920 0002 Rev I 2 2
75. simplifies sending commands by eliminating the need to calculate if there is enough space in the buffer for a command If the drive responds with at least a 1 a command can be sent If a drive responds to the BS command with the value 63 it means the buffer is empty If a O is returned the buffer is full and no more buffered commands can be accepted a buffer overflow will occur if another command is sent Command Details Examples Command Drive sends Notes BS BS 20 There is room in the buffer for 20 more commands 43 920 0002 Rev I 2 2013 Host Command Reference CA Change Acceleration Current Compatibility STM Integrated Step Motors Affects Motor accel decel current and torque See also PA CC PC commands Sets or requests the accel decel current setting peak of sine of the stepper drive also known as the peak current CA will only accept parameter values equal to or larger than the current CC setting NOTE CA has no effect in Command Mode 7 CM7 Step and Direction mode Command Details CA Parameter 1 BUFFERED READ WRITE Non Volatile Register Access M 029 Note The CA command uses different units than the M register see Data Registers section for details Parameter Details Parameter 1 Accel Decel Current amps resolution is 0 01 amps range STM23 0 5 0 STM17 0 2 0 Configurator software may also be used to set all current levels Example
76. the effects of these noise conditions Digital filtering gives the greatest flexibility by allowing the user to select the amount of filtering required to eliminate the effects of noise or bounce The digital filters work by continuously monitoring the level of the inputs to which filters have been applied using the Fl command During each processor cycle servo and STAC5 125 usec other steppers 100 usec 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 Fl command The flow chart to the right shows how a digital filter works For example if we apply a digital filter of 2 milliseconds to input 3 on a STAC6 stepper drive it means we d like the level of input 3 low or high to be true for a total of 2 milliseconds before the processor updates the state of input 3 to the state requested by the command currently being executed If the command being executed is a WI8L command which literally means wait for input 3 low it means the processor will wait until the level of input 3 has been low for a total of 2 milliseconds before updating the state of the
77. two ways to define the function of this output via the ST Configurator software or via the MO command STM24 SF QF Drives with Flex I O allow a second parameter which allows the user to specify the I O point used Before an I O point can be used as a Motion Output it must first be configured as an output with the SD command Possible uses for the MO command on the STM24 are as follows n denotes the I O point to be used MO1n Output is closed active low when a Drive Fault is present MO2n Output is open inactive high when a Drive Fault is present MO8n Output is not used as an Alarm Output and can be used for another automatic output function or as a general purpose output MO4n Output is used as a Tach Output at 100 pulses rev with 1 8 degree step motor MO5n Output is used as a Tach Output at 200 pulses rev with 1 8 degree step motor MO6n Output is used as a Tach Output at 400 pulses rev with 1 8 degree step motor MO7n Output is used as a Tach Output at 800 pulses rev with 1 8 degree step motor MO8n Output is used as a Tach Output at 1600 pulses rev with 1 8 degree step motor 139 920 0002 Rev I 2 2013 Host Command Reference NOTE Setting the MO command to 1 2 or 4 8 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 AO will be automatical
78. use the Quick Tuner software for tuning and configuring your servo system Command Details Non Volatile Register Access Parameter Details Parameter 1 Filter Value Examples Command Drive sends Notes KE7836 Set differential filter to 200 Hz 920 0002 Rev 124 2 2013 Host Command Reference KF Velocity Feedforward Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control velocity feedforward gain Gain value is relative 0 meaning no gain 382767 meaning full gain KF is part of the Damping servo parameters in Quick Tuner It counters the effects of the KV parameter which can cause large following error KF is usually the same value as KV NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Velocity feedforward gain value Examples Command Drive sends Notes KF 4000 Set velocity feedforward gain to 4000 KF KF 4000 125 920 0002 Rev I 2 2013 Host Command Reference KI Integrator Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control integrator gain term Gain value is relative 0 meaning no gain 82767 meaning full gain KI is part of the Stiffness servo parameters in Quick Tuner It minimizes or may even eliminate
79. with the SCL command Byte SCLstring Encoding ASCII GetBytes RV create a byte array that will be used for the actual transmission Byte sendBytes new Byte SCLstring Length 3 insert opcode 07 is used for all SCL commands sendBytes 0 0 sendBytes 1 7 copy string to the byte array System Array Copy SCLstring 0 sendBytes 2 SCLstring Length insert terminator sendBytes sendBytes Length 1 L37 CR 920 0002 Rev I 278 2 2013 Host Command Reference send it to the drive udpClient Send sendBytes sendBytes Length Getting responses back from the drive in C is a more complicated than VB6 You have two choices poll for a response or create a callback function that will provide a true receive event Polling is easier to code but less efficient because you must either sit in a loop waiting for an expected response or run a timer to periodically check for data coming in Since the choice depends on your programming style and the requirements of your application we preset both techniques Polling for an incoming packet The same UdpClient object that you use to send packets can be used to retrieve incoming responses from the drive The Available property will be greater than zero if a packet has been received To retrieve a packet assign the Receive property to a Byte array You must create an IPEndPoint object in order to use the Receive property priv
80. 0 Set electronic gearing resolution in servo drive to 20000 pulses rev EG EG 20000 RLR RLR 20000 R register matches the EG setting in a servo drive EG36000 Set microstep resolution to 36000 steps rev in a stepper drive EG EG 36000 RLR RLR 18000 R register contains 1 2 the EG setting in a stepper drive or 18000 steps rev 920 0002 Rev I 70 2 2013 Host Command Reference El Input Noise Filter Compatibility ST STM SV7 SVAC3 STAC5 and STAC6 Affects Input Noise Filter parameter See also CM ER FE and HW commands Sets or requests the Input Noise Filter parameter This parameter acts as a low pass filter rejecting noise above the specified frequency NOTE On STAC5 S and SVAC3 S drives this parameter setting affects inputs X1 X4 and is an alternative to the FI commana if input noise filtering is required STM17 Given a cutoff frequency an appropriate El value may be calculated as follows where f is the target cutoff frequency El 9 000 000 f ST STM23 24 SV7 SVAC3 STAC5 STAC6 Given a cutoff frequency an appropriate El value may be calculated as follows where f is the target cutoff frequency El 15 000 000 f Command Details READ WRITE Non Volatile Register Access noes o O Parameter Details Parameter 1 Encoder Noise Filter Constant E OOS Examples Command Drive sends Notes El128 STM17 Set encoder noise filter to 70 3 kHz 9 000 000 128
81. 013 Host Command Reference shows the 16 bit assignments for the Alarm Code which of course match the hexadecimal values above fa fa fa fa fa fa iit fa Bit 0 Position Limit Bit 1 CCW Limit Bit 2 CW Limit Bit 3 Over Temperature Bit 4 Excess Regen Internal Voltage Bit 5 Over Voltage Bit 6 Under Voltage Bit 7 Over Current Bit 8 Bad Hall Sensor Open Motor Winding Bit 9 Bad Encoder Bit 10 Comm Error Bit 11 Bad Flash Bit 12 Wizard Failed No Move Bit 13 Current Foldback Motor Resistance Bit 14 Blank Q Segment Bit 15 No Move Alarm Code 16 bit word 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 bit 9 The resulting Alarm Code binary word is 0000 0010 0100 0100 The decimal equivalent of this word is 580 so the response from the drive to the RLf command will be RLf 580 Status Code Definitions SC command When a host sends the SC command the response from the drive will be the Hexadecimal equivalent of a 16 bit word This hexadecimal value is considered the Status Code and the hexadecimal value for each of the bits in the Status Code is given below When a host sends the SC command the response from the drive will actually be the Hexadec
82. 02 Rev I 2 2013 Host Command Reference RU Register Upload Compatibility Q drives only Affects All data registers See also PR RL RX commands 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 Command Details RU Parametr 1 Parameter 2 WRITE ONLY Non Volatile All data registers Parameter Details Parameter 1 Data register assignment all data registers Parameter 2 Number of consecutive data registers to upload 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 When PR command Bit 5 is set RU0175 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 values are raw meaning the data is not scaled to the drive user units For example the velocity value V will be returned as 0 25 rpm instead of rps raw value of 2400 10 rps 920 0002 Rev 184 2 2013 Host Command Reference RV Revision Level Compatibility All drives See also MV command Requests the drive s firmware version Data is returned as a three digit value To see the fir
83. 1 x8 X7 X6 X5 X4 X3 X2 X1 btI5 gt 000 0 0000000000 0 0 lt bit0 ST S STM The bit pattern of the i register breaks down as follows bit O represents the encoder index channel if present bit 1 represents the STEP input bit 2 the DIR input and bit 3 the EN input Bit 8 represents the drive s single output OUT For bits O 3 Index STEP DIR and EN inputs a state of 1 means the optically isolated input is open and a state of O means the input is closed S ye amp Ka amp cS amp Se eles al ea ee aar a yyy xxx ya Y11XXXX X4 X3 x2 X1 bit 15 gt 000000 00 0000 0000 lt bito 231 920 0002 Rev 2 2013 Host Command Reference X lt s Fj Ix x x x x x xlloutllx x x x TEN DIR STEP Index bt15 gt 00000000 0000 0 0 0 0 lt bit0 SVAC3 STAC5 The bit pattern of the i register breaks down as follows bits 0 3 represent inputs X1 X4 respectively bits 8 and 9 represent outputs Y1 and Y2 and bit 14 represents the encoder index channel if present represents the STEP input bit 2 the DIR input and bit 3 the EN input Bit 8 represents the drive s single output OUT For bits 0 3 and 14 X1 X4 and the Index a state of 1 means the optically isolated input is open and a state of 0 means the input is closed raw ADC counts 0 32760 j Analog Input 1 IA1 058 Short 16383 0 volts for BLu SV A
84. 16 bits when you select Bin That s OK just start counting from the right with Bit O and you ll be able to determine the conditions set in the codes 255 920 0002 Rev I 2 2013 Host Command Reference LED and 7 Segment Display codes In addition to the Alarm and Status codes most drive alarms and faults as well as some status codes are displayed at the front of the drives via either two color flashing LED codes or 7 segment LED codes The following tables show the various codes available with Applied Motion drives BLuDC LED codes Items in bold italic are Drive Faults solid _ Motor disabled flashing Motor enabled slowly flashing Q program running Q drives only quickly i over voltage gt 55 Vdc under voltage lt 18 Vdc over current short circuit current limit bad hall bad encoder serial communication error BLuAC 7 Segment codes Items in bold italic are Drive Faults Position Mode Over Temp Comm Error Over Voltage Velocity Mode Move attempted while disabled Step Mode Current Limit 920 0002 Rev 256 2 2013 Bad Flash Si Mode a n oe Host Command Reference Drive Disabled Hall Bad Bad Encoder Stack Overflow Position Limit Stack Underflow CCW Limit Memory Failed Q Program Running D R7 E flashing SV LED codes o fexcnmno Items in bold italic are Drive Faults solid Motor disabled Motor enabled Q program running Q
85. 2 Rev I 2 2013 Host Command Reference Al Alarm Reset Input Compatibility All drives see below Affects Alarm Reset input usage See also AL CM DL SI SD commands BLu SV STAC6 ST Q Si Defines the function of the X4 input This input can be used to clear a drive fault and reset the Alarm Code see AL command When the Alarm Reset function is not needed at input X4 such as when operating with a host controller where faults and alarms can be cleared via serial commands it may be useful to reconfigure X4 as a general purpose input which allows it to be used by other types of input commands There are three Alarm Reset Input states that can be defined with the Al command Al1 For normal operation the All X4 input must be open high high inactive high Alarm i t reset occurs when ie time low y time the input is closed active Al B c D AB C D E low 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 inactive high Input is open normal operation A Alarm occurs B Input closed alarm is reset C Input opened no reset occurs D Input closed alarm is reset Input is closed Alarm occurs AND gt and then closed to reset Alg the alarm high high i Al2
86. 24 SF QF For drives with Flex I O this command can be used to apply filters to any input STM24 C This command can be used to apply filters to inputs IN1 IN2 and INS STAC5 Q IP SVAC3 Q IP This command can be used to apply filters to inputs IN5 IN8 Command Details Fi Parametert 1 Parameter 2 BUFFERED READ WRITE Non Volatile YES except BLu servos Register Access Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes Fl4100 Requires that input X4 if FX 1 maintain the same state low or high for 100 total processor cycles before the drive registers the change Fl4 Fl4 100 79 920 0002 Rev I 2 2013 Host Command Reference Digital Input Filters in Detail 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 to not 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
87. 3 920 0002 Rev I 2 2013 Host Command Reference VI Velocity Integrator Constant Compatibility Servo drives only Affects Jog commands See also VP amp JM commands Sets or requests the velocity mode JM2 servo control integrator gain term Gain value is relative 0 no gain 32767 full gain VI minimizes steady state velocity errors Command Details Non Volatile Register Access Parameter Details Parameter 1 Velocity integrator gain value Examples Command Drive sends Notes VI5000 Set velocity integrator gain to 5000 VI Vl 5000 920 0002 Rev I 214 2 2013 Host Command Reference VL Voltage Limit Compatibility _ High voltage Stepper Drives STAC5 STAC6 only Specifies the maximum voltage that will be applied to the motor by the PWM outputs on the drive Normally this is set to 100 for modern step motors Some inexpensive motors are constructed with less robust winding insulation and require this voltage to be limited In these rare cases VL may be lowered This will directly impact motor performance but will allow the drive to control a wider variety of motors Command Details Non Volatile Parameter Details units Examples Command Drive sends Notes VL1000 Maximum voltage applied to the motor 100 0 default VL VL 1000 VL500 Maximum voltage applied to the motor 50 0 VL VL 500 215 920 0002 Rev I 2 2013 Host Command Reference VM Maximum
88. 3 Host Command Reference CC Running CURRENT D IDLE_CURRENT_DELAY DLE CURRENT CM CONTROL_MODE motor current 500 1000 500 01 amps when running Encoder Function Hg delay time 1 82000 motor current 500 1000 500 01 amps when idle _ mode code 7 10 18 21 22 SSS OIO function code 0 1 2 or 4 0 Encoder function off 1 Stall detection 2 Stall prevention 4 Stall prevention w time out encoder line 50 32000 lines rev counts rev 4 count fitervalue 0 2767 CPUcyoles X L finputbank foot oum o N ouT2 n 0 3000 harmonic smoothing phase_ 5 o f phase fa 255 Pa_ Pu_AcceL_cuaRENT D7 fo current STMony Ottamos can a el limit PM opeRATION MODE 44 fo _ mode code sF_ srer_rilter FREQUENCY e fo fea 100 2500 tHe VO Commands S SS S S S S O I O Commands AD ANALOG_DEADBAND D2 o fdeadband 0 255 AF ANALOG_FILTER_GAIN 4C freq 0 32000 Filter value 72090 1400 Hz 2 2 O no filter AG ANALOG_VELOCITY_GAIN 3B speed at full 32000 25 rpm scale feo CCCs Ai _ ALARMRESET INPUT 46 fo __ state i fAo_ raurourpur fav fo f pse ha o pe ere ee posnatfull 1 32000 scale ANALOG_SCALING D1 input range 0 7 0 single ended 10 volts 1 single ended 0 10 volts 2 single ended 5 volts 3 single ended 0 5 volts 4 differential 10 volts 5 differential 0 10 volts 6 differential
89. 5 data registers in all See the following Data Register Assignments section 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 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 in the first paragraph of this page by using the velocity command VE10 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 see units of V register in Data Register Assignments section you set the move speed to 10 rev sec There are four categories of data registers available with your drive Read Only Read Write User Defined and Storage The last two categories User Defined and Storage are only for use with Q drives Read Only data registers Read Only data registers are predefined registers that contain in
90. 5 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 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 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 the you see a steady flashing green LED 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 sequence 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 11 920 0002 Rev I 2 2013 Host Command Reference Command Summary This section contains a set of tables that list all of the Host Commands available with your drive In each table there are a number of columns that give information about each co
91. 5 volts 7 differential 0 5 volts 920 0002 Rev 298 2 2013 ER ENCODER_RESOLUTION _ Filter Input CO om cD CM Host Command Reference AT ANALOG_THRESHOLD threshold 32767 ADC Counts voltage 32767 10 volts 32767 10 volts e e ee SS az auro orst njof f BRAKE RELEASE DELAY E 1 r 32000 msec delay e ENGAGE DELAY pet A brake engage 1 32000 delay BO BRakEoutPuT 48 fo state Ma o o aena ae a e Fi Fitter INPUT cofio fitervalue_ o sa7e7_ CPU cycles Pe ees She input bank O extended 1 main a board 0 Jocosasle fs fo f S S T Too JE JOG ENABLE A2 direction 1 cw enable 2 ccw ae 3 both mo move outeur ffo _ sate ON INPUT cond Hoe X0 X8 L H F R see PE encoding table STACS X0 X4 1 8 L H F R s enapleNpur sjo f f state o hs o SO Set Output 8B cond ST Y1 Y4 Lor H see 10 Encoding Table STAC5 1 4 Y1 Y2 L or H Tl Test Input A8 cond ST X0 X8 L H F R see IO Encoding Table STACS X0 X4 1 8 L H F R WI Wait for Input 70 cond ST X0 X8 L H F R see IO Encoding Table STACS X0 X4 1 8 L H F R Register Commands CR_ CompareRegisters BE fo reot reg2 azorAZor0 9 see register code table Re Registerad 2 reat reg2 azorAzor0 9 see register code table R Register subrat B2 20 reot reg azorA Zoro 9 seeregistercode table reot reg2 azorA Zoro 9 see register code table regt reg2 fazorA Zor0 9
92. 58 PRA ROOCO era E AE A E EE 159 PSA PAUSE npa A a RE BPR 160 PTE PUSe Tye meisse eni EEE ENEN EEEE ENEE 161 PY P aS SWO disrerriEir ar rros FFER rA AEE A EEE t wrererers 162 QC Queue Call Reema eee ornen Eei E ARA EE eni 163 OD Queue Delete erris uarn EE A EPPO 164 QE Queue EXecute nenesseseeninineneesesrrirrrrnrnrsnsrrrrrrrnrnssnsnrrrrrrnrnne 165 OG Queue GOl roro r E AN Eaa Tet 166 QJ Queus JUMP radiere innen e accented 167 OK Queue Killersin a ERR 168 QL Queue Load 200 cece cceecetteceeeeceeeeesssseseaeeeeeeeeeeessessneaseeeeeeeeeeeeenas 169 OR Queue Repeal scccsvnrniseoncisncevnassndaes vedere accu mNeKe 170 QS Queue Fae ov ceichasesp treed cents sannincdceaeveunsnipateeel eee sauces 171 COU Queus Upload sssiicsisisnrusrisinrcdidivpesdsanniscnesstadiiinmnceniaslasiinersnaauiss 172 QX Queue Load amp Execute 20 0 ccc ccccceccseeeeeeeeseesesssaeeeeeeeeeesseeees 173 RG Register COUMEM srein innesa a RE 174 5 920 0002 Rev I 2 2013 Host Command Reference RD Register DectremMeMt vorcc tectericstoriercentywiersetemerimaeiidipinatiestaamnnens 176 RE Restart OF Reset sis cvcecaccececcnasseeanmnasoneneennssnsesennanernnennadaaasiinnsenpeners 177 RI Register IMCPSIIe Vil auicccccunssaisestsndiedi ntsc nee 178 RL Register Load immediate ig sisscicccsvvtereenssnsesesancdiunseavancecndeccereie 179 RM Register MOVi dneh rpp ana Eror ESTE a 180 RO Anti Resonance ON cccccccceceeeeeeeeeeeeeeeeee
93. 6 2 2013 Host Command Reference AZ Analog Zero Compatibility All drives Affects All Analog input functions See also AF AP AV CM amp Feed commands Activates the analog auto offset algorithm It is useful in defining the current voltage present at the analog input as the zero reference point or offset Command Details Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes AZ Start analog offset algorithm Example 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 A command and the response will be very close to A 3 00 or 4 1 VDC 37 920 0002 Rev I 2 2013 Host Command Reference BD Brake Disengage Delay Compatibility All drives Affects All F Feed and Jog commands See also BE command 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 Command Details Parameter Details Parameter 1 Delay time 0 32 767 Examples Command Drive sends Notes BDO 2 Sets brake disengage d
94. 66 ED Encoder eNO sisarien r rras Erie EEE ETE 67 EF e Goer FUNGUO siirad annin barat 68 EG Electone Geari gasesti Aa apapa 70 El Input Noise Filter savewwvucswunrentscdennersuxqansacanses veveveneerrrieisedumnecesesann 71 EP Encoder POSION i rrsresoniioris eisein ene 72 ER Encoder Resol tiON sses sernnnenncrareeniiir noorie ra ERE 73 ES Single Ended Encoder USA 6 iicinicesitiissssivasionecarsiarsonidnnevruneisess 74 FC Feed to Length with Speed Change ccceceeceeeeeeeeeeeeeeees 75 FD Feed to Double SensOf ccsiunweuniencmesnenaihenneneen 77 FE FOlOW ENGOQOT Gaerernnr ean eerce Teer em ten ne mnie dy test rere tne ee rre een 78 Fl TRS GO neu ti veneNdilinarcne ANa EPES 79 FL Feed to Length rassscerrrcccenneundiivesnnnssonaxearannosesexsxeervpenndeaasiencersamet 82 FM Feed to Sensor with Mask Distance cccceceeeeseeeeeseeeees 83 FO Feed to Length and Set Output cc ceeeeeeeeeeeeeeeeeeeeeees 84 FP Feed to POSIMO van siscdersetticteatienndunetssrsseeuianemnekeeanicomanaseal 85 FS Feed to SOMSOM sissiccvessscsevenawwwsconsssseaseniosssneeeeehanwennnnissssenetenmnvirt 86 FX Filter Select INpuls rner ui eree orar Era E E 87 3 920 0002 Rev I 2 2013 Host Command Reference FY Feed to Sensor with Safety Distance ccccc ee eeeee tees 88 GC Current COMMANG vissscassesinaissscnnnsccssecenessesecovsasereremesuweddexsosnancet 89 HD Hard Stop Fault Delay scaniindininc i
95. 7 Si AE SV7 Si AF SV7 C CE 920 0002 Rev I 316 2 2013 Host Command Reference STAC5 Stepper Drives STAC6 Stepper Drives 317 920 0002 Rev I 2 2013 Host Command Reference A 220VAC Stepper Drive RS 232 Si Programming A 120VAC Stepper Drive CANOpen A 220VAC Stepper Drive CANOpen SVAC3 Servo Drives SVAC3 IP E 120 A 120VAC Servo Drive Ethernet Q Programming EtherNet IP SVAC3 IP E 220 A 220VAC Servo Drive Ethernet Q Programming EtherNet IP 920 0002 Rev 318 2 2013 Host Command Reference This page intentionally left blank 319 920 0002 Rev I 2 2013 920 0002 Rev I 2 2013 Applied Motion Products Applied Motion Products 404 Westridge Drive Watsonville CA 95076 USA tel 831 761 6555 fax 831 761 6544 www applied motion com
96. ACS X0 X4 1 8 L H F R ac fowueca 4 fo segment pa o OG_ dueveGoto fe fo f ine he o QJ Queue Jump 7F jcc line line 1 62 cc condition code ASCII T True F False P Positive G Greater than L Less than E Equals U Unequal Z Zero Queue Repeat 79 reg segment reg code 0 9 or A Z see register code table Segment 1 12 920 0002 Rev I 300 2 2013 RD a Host Command Reference Ox QueveLoad recute refo fseomem pa ce o PP Tl TEST_INPUT A8 cond ST X0 X8 L H F R see 10 Encoding Table STACS X0 X4 1 8 WAIT_DELAY_REGISTER BF reg JazorA Zor0 9 see register code table WI WAIT_ON_INPUT 70 cond ST X0 X8 L H F R see 10 Encoding Table ionum cond STACS X0 X4 1 8 wm waron move ec jo po wp wam onposmon oo fo oP Too S WT Wwaittime fF fo aelaytime 1 32000 Ot seconds Table 2 Message Type 2 Commands 83 Parameter Write see Table 3 write a 16 bit parameter to a register Add 128 0x80 to operand for non volatile flash write 84 Parameter read see Table 3 Returns the 16 bit parameter indicated by operand 1 ar Read atm oe ots am istry alent ty open aa Peat Encoders Poon 0 Reuse at ncoer poston CE ee fae Setup rma Clear Fault AR PS Clear the drive fault A motor enable must be sent to re enable the motor Stop Motion Kill Buffer decel rate stops a move purge all commands from buffer O use quick decel SK AM
97. B 15 Omitting the X indicates that the input s resides on the OPT2 connector DB 25 paii u i erer range integer for IN OUT1 connector XO encoder index if present X1 X4 X8 AIN integer for OPT2 connector 1 8 letter L Low H High F Falling Edge R Rising Edge For those commands with Parameter 2 input number input condition range integer for IN OUT1 connector 0 encoder index if present 1 4 8 AIN integer for OPT2 connector 1 8 letter L Low H High F Falling Edge R Rising Edge ST Q ST Si ST C ST IP V7 S SV7 Q SV7 Si SV7 C SV7 IP Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command range integer 0 encoder index if present 1 8 9 Analog Command AIN1 AIN2 letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition range integer 0 encoder index if present 1 8 9 Analog Command AIN1 AIN2 letter L Low H High F Falling Edge R Rising Edge 920 0002 Rev 262 2 2013 Host Command Reference ST S ST Plus STM17S STM17Q STM23S STM23Q Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command a m erer range integer 0 encoder index if p
98. B 25 inputs X1 through X7 plus the encoder index channel if present while IS requests IN OUT2 or top board screw terminal inputs 1 through 8 SV ST Q Si The IS command requests the status of inputs X1 through X8 plus the encoder index channel if present ST S STM17 S Q C STM23 Q C STM24 C The IS command requests the status of all three digital inputs STEP DIR and EN plus the encoder index channel STM only if present STM17 C STM24 C The IS command requests the status of all three digital inputs IN1 IN2 and IN3 plus the encoder index channel if present Command Details READ ONLY Non Volatile Parameter Details BLu STAC6 Parameter 1 Optional X character used to access driver board inputs with SE QE and Si drives SV ST Q Si ST S STM17 S Q C STM23 Q C STM24 C Parameter 1 X character ignored if used SVAC3 STAC5 Parameter 1 Optional X character used to access driver board inputs with Q and IP drives 107 920 0002 Rev I 2 2013 Host Command Reference Response Details BLu STAC6 S and Q drives X character is not required to designate main board inputs is 4 4 114111 41111 L x1 STEP X2 DIR X3 Enable X4 Alarm Reset X5 X6 CCW Limit X7 CW Limit X0 Encoder Z SV ST Q Si is 1 4 4 1 4 4 1 1 1 x1 STEP X2 DIR X3 Enable X4 Alarm Reset X5 CW Jog X6 CCW Jog X7 CW Limit X8 CC
99. BO1 Output is closed energized when drive is enabled and open when the drive is disabled BO2 Output is open de energized when drive is enabled and closed when the drive is disabled BO3 Output is not used as a Brake Output and can be used as a general purpose output 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 will be reassigned and BO will be automatically set to 3 Command Details BO Parameter 1 Parameter 2 Flex I O only BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Output Usage see above Parameter 2 Flex I O only I O Point if applicable see note below NOTES e For drives with Flex I O the SD command must be executed to set an I O point as an output before that output can be assigned as the Brake Output e Parameter 2 only applies to drives equipped with Flex I O This includes the STM24SF and STM24QF Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes BO1 Brake Output will be closed when drive is enabled BO BO 1 Drives with Flex I O only Command Drive sends Notes SD40 Configures I O 4 as output see SD command for details BO14 Brake Output is mapped to I O point 4 and will be Closed when drive is en
100. C SC 0209 Drive has an alarm is in position and enabled hex values 0001 0008 and 0200 195 920 0002 Rev I 2 2013 Host Command Reference SD Set Direction Compatibility Integrated Steppers with Flex I O Affects All input and output commands See Also Al AO BO DL MO and SI The Flex I O feature allows the user to specify the direction of each I O point That is to configure each as either an input or output SD may be used as a query if issued without a parameter The drive will then report the direction of each I O point WARNING The SD command allows dynamic changes to I O behavior of the drive and may cause unintended interactions with other machine components if not implemented properly Extreme caution should be used The SD command is documented here only for completeness Applied Motion Products strongly recommends that the Configurator software be used to make changes to drive I O behavior Command Details SD Parameter 1 Parameter 2 BUFFERED READ WRITE Non Volatile Register Access Parameter Details Parameter 1 I O point to configure Parameter 2 Direction input or output Single character T or O letter O not zero NOTE This command requires either the letter T input or O output as Parameter 2 The drive s response however is composed of the numbers 1 one input or O zero output Examples Command Drive sends Notes SD20 Set I O point 2 as an Output
101. Command Drive sends Notes HWX4L Run in hand wheel mode until input X4 low 93 920 0002 Rev I 2 2013 Host Command Reference Immediate Status Commands The following section describes commands that return Immediate results when sent These selected commands provide useful information for monitoring internal values from the drive Data can be sent out in two different formats Hexadecimal or Decimal By default the data is returned in Hexadecimal because of its speed and efficiency Conversion to ascii 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 to an integer value The Immediate Format IF command sets the format of the returned data to hexadecimal or decimal For cases where a slight delay is acceptable the data can be sent out in decimal form Setting the format affects all of the I commands except IH and IL See IF command in the following pages All the 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 As with any immediate type command it is acted upon as soon as it s received Regardless of format hex or dec th
102. Configurator Q Programmer does support RS 485 in a limited fashion e Permits longest cable lengths up to 1000 feet at low baud rates e May require special adaptor e Fewest wires smaller cables e Immune to EMI when wired properly COM Port Settings UART Settings We operate our UARTs with the following settings 1 start bit 8 data bits O no parity bits and 1 stop bit Bit rate baud Settings BR and PB commands All AMP 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 Bit rate or PB Power up Bit rate command In all cases the 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 The drives do not initiate communications on their own
103. DISTANCE LIMIT FLAG 0x0001 1 SENSOR FOUND FLAG 0x0002 2 LOWSIDE OVERCURRENT 0x0004 4 HIGHSIDE OVERCURRENT 0x0008 8 OVER CURRENT READING 0x0010 16 BAD CURRENT OFFSET Phase A 0x0020 32 BAD CURRENT OFFSET Phase B 0x0040 64 BAD FLASH ERASE 0x4000 16384 BAD FLASH SAVE 0x8000 32768 Clear flags by sending RLFO to the drive STAC6 The value of the F register is a hexadecimal sum of various drive states as shown below 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 Phase A 0x0010 16 BAD CURRENT OFFSET Phase B 0x0020 32 OPEN WINDING Phase A 0x0040 64 OPEN WINDING Phase B 0x0080 128 Clear flags by sending RLFO to the drive ST Q Si ST S STM The value of the F register is a hexadecimal sum of various drive states as shown below Description Hex Value Decimal Value DISTANCE LIMIT FLAG 0x0001 1 SENSOR FOUND FLAG 0x0002 2 LOWSIDE OVERCURRENT 0x0004 4 HIGHSIDE OVERCURRENT 0x0008 8 OVER CURRENT READING 0x0010 16 BAD CURRENT OFFSET Phase A 0x0020 32 BAD CURRENT OFFSET Phase B 0x0040 64 OPEN WINDING Phase A 0x0080 128 OPEN WINDING Phase B 0x0100 256 LOGIC SUPPLY 0x0200 512 GATE SUPPLY 0x0400 1024 BAD FLASH ERASE 0x4000 16384 BAD FLASH SAVE 0x8000 32768 Clear flags by sending RLFO to the drive G Current Command GC 023 Short
104. Drive Sends Notes DI8000 Global set distance to 8000 counts or steps 1DI8000 Drive with address 1 set distance to 8000 counts or steps Request data Examples Command Drive Sends Notes DI DI 8000 Global distance request 1Dl 1DI 8000 Drive with address 1 responds with distance Bit 1 Address Character always send address character With this option set Bit 1 1 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 Global set velocity to 50 rps 1VE50 Drive with address 1 set velocity to 50 rps Request data Examples Command Drive Sends Notes VE 1VE 50 Drive responds with address 1 and velocity to global 249 920 0002 Rev I 2 2013 Host Command Reference velocity request 1VE 1VE 50 Drive responds with address 1 and velocity to specific velocity request from drive at address 1 Bit 2 Ack Nack always send acknowledge character This option causes the drive 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 char
105. Host Command Reference QL Queue Load Compatibility Q drives only Affects Contents of command buffer See also QE QS QX commands Initiates the loading of a command sequence into the queue Loading can come from the serial port host controller or from non volatile memory stored program When no parameter is sent with the command loading is done from the serial port Loading is finished when a QS Queue Save or QE Queue Execute command is sent When a parameter is sent with the command the parameter designates the non volatile memory location of the desired program segment to be loaded into the queue QL will cause an overwrite of any commands in the queue starting at line 1 Command Details UParameter r WRITE ONLY Non Volatile Parameter Details Parameter 1 Program segment number Examples Command Drive sends Notes QL Initiates loading queue from serial port QL3 Loads segment from non volatile memory into the queue 169 920 0002 Rev I 2 2013 Host Command Reference QR Queue Repeat Compatibility Q drives only Affects Selected data register See also QJ QG RL RX commands Causes program segment execution to jump to a previous line number in the queue for a given number of repeat counts The repeat count is acquired from a selected Read Write or User Defined data register Jumps past the end of the queue are ignored Jumps to subsequent line numbers in the queue will not be repeated If repeat
106. L response from the UDP payload and displays it in a message box Private Sub Winsockl DataArrival ByVal bytesTotal As Long Dim udpData As Byte n As Integer Dim hexbyte As String packetID As Long SCLrx As String Winsock1l GetData udpData remotehost gets clobbered when packet rec d next line fixes it Winsock1l RemoteHost Winsockl RemoteHostIP first 16 bits of packet are the ID opcode If UBound udpData gt 1 Then packetID 256 udpData 0 udpData 1 If packetID 7 then SCL response SCLrx W For n 2 To UBound udpData SCLrx SCLrx amp Chr udpData n Next n MsgBox SCLrx End If End If End Sub bi C NET The NET languages are Microsofts modern object oriented Windows application building tools and include robust Ethernet support We present this example in C Make sure your project includes this line providing access to an Ethernet socket using System Net Sockets In your form header you must declare a UdpClient object and create an instance which can be done in the same line The local port number is included in the new UdpClient call This is the port number that will be reserved on the PC for your application static UdpClient udpClient new UdpClient 7777 To open the connection invoke the Connect method specifying the drive s IP address and port number udpClient Connect 192 168 0 130 7775 To send RV to the drive create a string loaded
107. NOTE If you find that you are changing IP addresses often and the connection becomes unreliable it may be necessary to force a refresh of your PC s local ARP table This can be accomplished by opening a command window and using the command arp d You must have administrator privileges on your PC to do this 920 0002 Rev 274 2 2013 Host Command Reference Configuring Your Drive Three Windows programs are available from Applied Motion Products for use with our Ethernet drives These programs are included on the CD that accompanies each drive and the most recent version is always available at www applied motion com ST Configurator is used to configure your stepper drive and motor It can also be used to change the selection of drive IP addresses ST Configurator includes extensive built in help screens and manuals Quick Tuner is used to configure and tune servo drives The Quick Tuner Manual is automatically installed in the Applied Motion Products program menu when you install Quick Tuner Q Programmer will be needed if you want to embed programs in the non volatile memory of your drive either to run automatically at power up or to be triggered by commands sent from a host 275 920 0002 Rev I 2 2013 Host Command Reference Creating Your Own Application To create your own application you will need to choose a programming language learn how SCL commands and responses are encapsulated in UDP packets and learn to use your prog
108. Net IP on large networks Once a computer connects to an Applied Motion EtherNet IP drive with Applied Motion software such as ST Configurator STAC Configurator or Q Programmer that connection is maintained until power is cycled In most cases this will be acceptable because only one computer will ever need to connect to the drive for monitoring or Q program download In large complex installations however it may simply not be feasible to cycle power to the machine every time a new technician connects to the drive To address this we have implemented opcode OxFF Using an operand of 1 will allow the user to forcibly reset the maintenance port UDP port 7775 effectively yielding control of the drive Once reset the port must be reinitialized which requires opcode OxFF to be sent again this time with an operand of 0 This will instruct the drive to accept a new connection from the next computer that tries to connect using Applied Motion software It is important to understand that only one host computer may be connected to the drive at any given time To change hosts again simply repeat the sequence Example Close and reset UDP port for access by another host opcode OxFF from Table 2 operand 0x1 Close and reset UDP port 7775 byee fo notused bner o notus Remember this is a two step process First the port must be closed and reset as shown above Once reset the port must be opened for new connections which may be accomplished by s
109. Note that Encoder Position Absolute Position and Velocity are signed integers and negative values will be represented in 2 s complement form Sequence Number 0xE003 IP Address 0x2800A8C0 0xC0A80028 192 168 0 40 Status see SC command 0x1900 0x0019 0000 0000 0001 1001 Alarm see AL command 0x0000 Voltage OxE901 0x01E9 489 48 9 V Current see IC command 0x0000 Temp see ITO commana 0x3802 0x238 568 56 8 degrees C Encoder Position see EP command OxBAFCFFFF OxFFFFFCBA 838 Absolute Position see SP command 0xC72A0600 0x00062AC7 404167 Velocity see IV command OXC3FF OxFFC3 61 Extended Inputs see IS command OxFF40 Ox40FF Main Board Inputs see ISX command Ox000F 0x0F00 Outputs see IO command Ox0F00 0x000F Configuration Assembly 0x66 This connection point is used by the EtherNet IP protocol to configure various parameters including the Receive Packet Interval RPI data size etc It must be specified by the user Heartbeat Input Only Assembly 0x67 This connection point represents a zero length assembly object whose purpose is not to send data but rather to simply inform the controller that the drive is still active and producing data Heartbeat Listen Only Assembly 0x68 This connection point represents a zero length assembly object whose purpose is not to send data but rather to simply inform the drive that the controller is still active and receiving data
110. O IV 1000 Servo motor is running at 1000 rpm IV1 IV 1000 Target motor velocity is 1000 rpm 113 920 0002 Rev I 2 2013 Host Command Reference IX Immediate Position Error Compatibility Servo drives and stepper drives with encoder feedback Requests present position error between motor and encoder Command Details Non Volatile Register Access x 072 Examples Command Drive sends Notes IX IX 10 Position error is 10 counts 920 0002 Rev 114 2 2013 Host Command Reference JA Jog Acceleration Compatibility All drives Affects CJ WI jogging commands See also CJ CS JD JE JL JS SJ Sets or requests the accel decel rate for Jog moves in rev sec sec Sending JA with no parameter 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 Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Jog acceleration value revisec sec rps s 0 167 to 5461 167 resolution is 0 167 rps s Examples Command Drive sends Notes JA100 Set jog acceleration to 100 rev sec sec JA JA 100 115 920 0002 Rev I 2 2013 Host Command Reference JC Velocity Oscillator mode second speed Compatibility Stepper drives and SV
111. OF function off so after a fault the OF command must be executed again to reset the function For this reason it is common to place the OF command in segment 1 of a Q program and then load segment 1 QX1 from the designated OF segment after the fault has been cleared and the motor re enabled A parameter value of 0 disables the On Fault function See the AL Alarm code command for details of drive faults Command Details WRITE ONLY Non Volatile Parameter Details Parameter 1 program segment 1 12 segment 1 12 0 disable On Fault function a ec Examples Command Drive sends Notes In segment 1 of a Q program OF9 When a drive fault occurs load and execute program segment 9 In segment 9 of the same Q program WTO 1 Short delay to allow the system to settle AX Alarm reset ME Motor enable QX1 Load and execute segment 1 which will also reset the OF function OFO Disable the On Fault function 920 0002 Rev I 146 2 2013 Host Command Reference Ol On Input Compatibility Q drives only Affects Interrupt function and stored program flow See also MT OF command When the given input condition is met the Ol command causes program segment 10 to immediately load from non volatile memory into the queue The Ol command operates as a kind of software switch Executing the command turns the interrupt function on Responding to the interrupt input by loading segment 10 turns the interrupt funct
112. Only part of the expected data was transferred Connection lost The messaging connection was lost Service not supported The requested service was not implemented or was not defined for this Object Class Instance Attribute list error An attribute in the Get_Attribute_List or Set_Attribute_List response has a non zero status t st The object cannot perform the requested service in its current mode state The requested instance of object to be created already exists T Reply data too large he data to be transmitted in the response buffer is larger than the allocated response buffer Fragmentation of a primitive The service specified an operation that is going to fragment a primitive data value i e value alf a REAL data type Not enough data he service did not supply enough data to perform the specified operation Attri ject Invalid attribute value Invalid attribute data detected Already in requested mode The object is already in the mode state being requested by the service state Too much data he service supplied more data than was expected 7 h 7 The attribute specified in the request is not supported 7 T he object specified does not exist in the device Service fragmentation he fragmentation sequence for this service is not currently active for this data sequence not in progress No stored attribute data he attribute data of this object was not saved prior to the requested service Store operation f
113. Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command ee erer range integer 1 4 letter L Low H High 920 0002 Rev I 266 2 2013 Host Command Reference ST S ST Plus STM17S STM17Q STM17C STM23S STM23Q STM23C STM24C Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command pa k ai erer range integer 1 letter L Low H High STM24SF STM24QF Drives with Flex I O allow a user to configure 1 01 through 1 04 as either inputs or outputs by using the Set Direction SD command Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command aie K range integer 1 4 letter L Low H High F Falling Edge R Rising Edge 267 920 0002 Rev I 2 2013 Host Command Reference Appendix G eSCL SCL over Ethernet Reference Introduction eSCL is Applied Motion Products language for commanding and querying motion control products over Ethernet It is supported by several motion control devices including the ST5 Q E ST10 Q E and SV7 Q E In addition to sending commands to a drive from a host in real time you can also use our Q Programmer software to embed sequences of commands calle
114. Parameter 1 Continuous wattage value of regen resistor Examples Command Drive sends Notes ZC250 External regen resistor with value of 250 continuous watts is connected to the drive 223 920 0002 Rev I 2 2013 Host Command Reference ZR Regen Resistor Value Compatibility BLuAC5 and STAC6 drives only Sets or requests the regeneration resistor value BLUAC and STAC drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the value of the regen resistor to do this effectively Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Value of regen resistor 25 100 Examples Command Drive sends Notes ZR50 50 ohm external regen resistor connected to drive 920 0002 Rev 204 2 2013 Host Command Reference ZT Regen Resistor Peak Time Compatibility BLuAC5 and STAC6 drives only Sets or requests the regeneration resistor time constant Decides the peak time that the resistor can tolerate full regeneration voltage When regeneration occurs the full regeneration voltage of 400 volts is applied across the resistor The peak wattage is typically very high for example with the built in 40 ohm resistor the peak wattage is 4000 Watts Power resistors will tolerate this for only a brief period of time In the case of the built in 40 ohm 50 Watt regen resistor it is only 0 3125 seconds The ZT value provides the resistor time constan
115. Parameter Details The temperature reads out in decivolts or units of 0 1 degrees C The drive will fault when the temperature reaches a specified maximum value See Parameter Details section below for details If no parameter is supplied ITO is assumed Command Details IT Parameter 1 IMMEDIATE READ ONLY 088 Parameter Details BLu STAC6 STM17 Parameter 1 Optional IT or ITO returns the termperature as measured by an external board mounted sensor Overtemp occurs at 85 degrees C ST Parameter 1 Optional IT or ITO returns the termperature as measured by the internal on chip sensor Overtemp occurs at 85 degrees C SV7 Parameter 1 Optional IT or ITO returns the termperature as measured by the internal on chip sensor Overtemp occurs at 100 degrees C STM23 STM24 Parameter 1 0 Returns the temperature as measured by the internal on chip sensor 1 Returns the temperature as measured by an external board mounted sensor Overtemp occurs at 85 degrees C 920 0002 Rev I 110 2 2013 SVAC3 STAC5 Parameter 1 Examples Command IT ITO IT1 Drive sends IT 275 IT 310 IT 412 Host Command Reference 0 Returns the temperature as measured by an external board mounted sensor Overtemp occurs at 85 degrees C 1 Returns the temperature as measured by the internal on chip sensor Overtemp occurs at 100 degrees C Notes Drive temperature is 27 5 C Drive temper
116. Programmer software is running To start a Q program from an EtherNet IP message you must send a Type 1 message with opcode 0x78 the QX command You ll need to specifiy the Q segment number as shown in the example This allows you to store up to 12 Q segments or subprograms and operate them independently Q segments can also call each other once one has been started Example Starting Q Segment 1 QX1 start Q segment 1 opcode 0x0078 from Table 1 operand 0x1 segment 1 up to 12 segments are allowed in a Q program Once a Q segment has begun Type 1 messages are no longer permitted because the CPU is busy executing the commands in the Q segment To stop a Q program you must use a Type 2 SK message opcode 98 as shown in the next example Q programs also stop running if they encounter a blank line in the segment This makes it possible to launch a segment have it complete a task and stop by itself Status Code MSB Status Code LSB o o o o 2 o omi o Example Stopping a Q Program SK stop the Q program opcode 0x98 from Table 2 operand decel rate 0 use quick decel rate from AM 1 use normal decel rate from DE or JL fbyteo Jo reserved byteo fo __ reserved byte 1 byte2 98 opcode byte2 os opcode bytes fo operand o operand o o o o byte 3 byee fo rousa byer o rousa 920 0002 Rev I 308 2 2013 Host Command Reference Communicating with a Q Program While I
117. Q drives only Within a stored Q program jog moves are most commonly initiated with the CJ command However because the SJ and ST commands are immediate type they cannot be used within a Q program to stop the jog move So the procedure to stop a jog move within a Q program involves both the MT Multi tasking and SM Stop Move commands See Examples below for a sample command sequence Command Details BUFFERED WRITE ONLY Non Volatile Examples Command Drive sends Notes JA10 Set jog accel to 10 rps s JL25 Set jog decel to 25 rps s JS1 Set jog speed to 1 rps CJ Start jogging with speed set by last JS command CS10 Change jog speed to 10 rps SJ Stop jogging using decel rate set by last JL command The following example changes the jog speed during program execution by directly loading a value into the J register This method allows for dynamically calculated jog speeds and does not affect the original JS or DI setting CJ always starts a jog move using JS and DI so this is the recommended method of changing speed dynamically during program execution Sample Q program sequence MT1 Turn Multi tasking ON F158 Filter input X5 for 8 processor ticks 2 msec WIX5L Wait for input X5 low CJ Commence jogging RLJ480 Change speed to 2 rev sec by directly loading the J register Note units are 0 25rpm WIX5H Wait for input X5 high SMD Stop Move using the decel ramp set by JL 53 920 0002 Rev I 2 2013 Host Comma
118. R R R amp RD RI QJ commands Multiply the contents of the first data register by the second data register and place the result in the accumulator data register User Defined register 0 This is a 32 bit operation multiplying two Long word values can cause an overflow All math operations affect the condition code used by the QJ Queue Jump command Can set condition codes T F N P and Z Command Details R Parameter Parameter FA Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data register assignment all data registers Parameter 2 Second data register assignment all data registers Examples Command Drive sends Notes R D1 Multiply contents of distance register D by contents of user defined register 1 and place result in accumulator register 0 920 0002 Rev I 190 2 2013 Host Command Reference R Register Divide Compatibility Q drives only Affects All data registers See also R R R R amp RD RI QJ commands Divide the contents of the first data register by the second data register and place the result in the accumulator data register User Defined register 0 This is a 32 bit operation A value of zero in the second data register will cause an illegal divide by zero in which case the divide operation is ignored All math operations affect the condition code used by the QJ Queue Jump command Can set
119. R command controls a number of other protocol settings See Appendix D for details on the 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 the drive to delay the start of transmission of a response packet after the end of reception of a command packet When using 2 wire RS 485 networks there are times when a drive s response packet must be delayed until the network is ready for the drive to transmit Why is this necessary The answer is because RS 485 networks are by nature half duplex which means you cannot transmit and receive at the same time Rather a host must first transmit stop then wait to receive This is because the host and drive transmitters share the same pair of wires When transmitting the device that has the transmission rights must assert its transmitter outputs and therefore take control of the pair At the same time all other devices on the network must de assert or open their transmitters so as not to interfere with the device that has the rights Transmitters in this scenario have tri state outputs the three states are transmit open and receive Some devices are not as quick in opening their transmitters as others For this reason it may be necessary for other faster devices on th
120. READ WRITE Non Volatile Parameter Details Parameter 1 Proportional gain value Examples Command Drive sends Notes KP5000 Set proportional gain to 5000 KP KP 5000 129 920 0002 Rev I 2 2013 Host Command Reference KV Velocity Feedback Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control velocity feedback gain term Gain value is relative 0 meaning no gain 32767 meaning full gain KV is part of the Damping servo parameters in Quick Tuner It aids the KD command in damping system oscillation This term helps to control larger inertial loads NOTE The Velocity Feedback KV and Velocity Feedforward KF constants are typically set to similar values The Feedforward value may at times be set larger depending on the frictional content of the motor load NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details KPan READ WRITE Non Volatile Parameter Details Parameter 1 Velocity feedback gain value integer 0 32767 0 0 32767 100 Examples Command Drive sends Notes KV4000 Set velocity feedback gain to 4000 KV KV 4000 920 0002 Rev 130 2 2013 Host Command Reference LA Lead Angle Max Value Compatibility Stepper drives except STM See also EF LS commands Returns the maximum lead angle setting for use in the Stall Prevention algorithm
121. Registermutiptcaton actives ony SS rai _ Registerowision O Someso iS aa _ RegistrtogialanD Tomes a _ Registercogealon Tomes CS ma fresing J PP dives ony iS fis imesema dives ty CS 920 0002 Rev I 18 2 2013 Host Command Reference 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 code followed by the command s name Compatibility shows which drives use this command DI Distance Position Compatibility All drives o Alfects a summary of parameters or other Affects All move commands commands the command affects See also AC DC DE and VE commands See Also related commands Sets or requests the move distance in encoder counts servo or steps stepper The sign of DI indicates move direction no sign means CW and means CCW DI sets both the distance for relative moves like FL and the position for absolute moves like FP DI also sets the direction of rotation for jogging CJ Description an explanation of what the Command Details command does and how it works Structure Di Parameter 1 Command Details shows the command s e ae Structur
122. Reset Input states that can be defined with the Al command Al1 For normal operation the EN input must be open inactive high Alarm reset occurs when the EN input is closed active low 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 and then closed to reset the alarm After the alarm is cleared the drive will be enabled when the input is opened again 920 0002 Rev I 24 2 2013 Host Command Reference Al2 For normal operation the EN All input must be closed active high A high low Alarm reset occurs when w the input is opened inactive B time ow time high This is an edge triggered A B C D AB CG OE event If the switch is open A Input is open normal operation Al Input is closed when an alarm is activated no B Alarm occurs B Alarm occurs reset will occur The input must C Input closed alarm is reset IC input opened no reset occurs be closed and then opened D Input opened drive is re enabled D Input closed alarm iS reset to reset the alarm After the E Input opened drive is re enabled alarm is cleared the drive will Al2 be enabled when the input is HA E closed again t f qow T f time tow gt time Al3 The EN Input is not used for A Bl D AB O D E
123. STE ETT 203 S0 Set OPU ertesi EN eee apaae eters 204 SPa St POSION sessies a Enur NEEESE EARNS EEEa 205 SS Send String aaciiseeseaxnusneveepraticnscsaiprennoasiqossseediesqeewnreraseshenaseenneents 206 STA OOD erT 207 TO hans mi Delay arin 208 Te TESNO rea E AAN S PERRON 209 TR Test Register ences ssnvvssacee rp rtrcsseuemmaserszenmenseseserseervernciomaieecneanens 210 TS Time SaMO eeri rorik EE CEER EEEE NENE E ON EEEs 211 VC Velocity Change ssai a N Aee 212 VES IY ossaa E E ET 213 VI Velocity Integrator Constant cceeeeeeeec reee eeee teeta teeeteteeaaes 214 VE s Voltage Mic repreceennrneece ati e aaae NENE rrrer Ee 215 WIE Maximum VEIOOR sisne snn R EEEE P EES 216 920 0002 Rev I 6 2 2013 VP Velocity Mode Proportional Constant WD Wait IA cx ccvoncesseuvnyrseee yer tratesssmessscessmmessserersmerereanciny Wi Walt for I asst KEN WM Wall ON MOVG knitter WP Wat POSION cfish ta ndsniucnatenesdtcieveednaapecsetenuermeeiaaeanes WT Wait TIME apg itd eke veerstee eye eseseeeeereipiereeenn ZC Regen Resistor Continuous Wattage 60e ZR Regen Resistor Value cca ncccustenpenntcnshecrenetennensinimmeecccctnes ZT Regen Resistor Peak Tie initsseccscsua ds sesrrcbavnncanebsstannicn Data Registers sassnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn Read Only data registers cccceccceeeeeeeeeeeeeeeeteeeeeeeeeeees Read Write data registers iisiccesssasiinssvondidavievicccsbesneereuse
124. Segment 1 12 Q drives only q Actual Motor Current IQ 065 Short 0 01 Amps Servo drives only r Average Clamp Power 066 Short Watts BLuAC5 STAC6 920 0002 Rev 232 2 2013 Host Command Reference hexadecimal equivalent of S Status Code SC 067 Short binary Status Code word All drives See SC command for details t Drive Temperature IT 068 Short 0 1 C All drives u Bus Voltage IU 069 Short 0 1 Volts All drives Servo drives and v Actual Velocity IVO 070 Short 0 25 rpm stepper drives with encoder WwW Target Velocity IV1 071 Short 0 25 rpm All drives For stepper drives the w register is only updated when Stall Detection or Stall Prevention is turned on Servo drives and X Position Error IX 072 Long encoder counts stepper drives with encoder y Expanded Inputs IS 073 Short bit pattern BLu STAC6 Details when executing the RLy command BLu STAC6 SVAC3 and STACS5 drives The bit pattern of the y register breaks down as follows bits 0 7 represent the states of top board inputs 1 8 respectively bits 8 11 represent the states of driver board outputs 1 4 respectively and bits 12 15 are not used For all I O bits O 11 inputs 1 8 and outputs 1 4 a state of 1 means the optically isolated input or output is open and a state of O means the input or output is c
125. State ar AsyncState e Byte receiveBytes u EndReceive ar ref e get opcode opcode 256 receiveBytes 0 receiveBytes 1 if opcode 7 SCL response string receiveString Encoding ASCII GetString receiveBytes Byte SCLstring new Byte receiveBytes Length 2 remove opcode System Array Copy receiveBytes 2 SCLstring 0 SCLstring Length receiveString Encoding ASCII GetString SCLstring AddToHistory receiveString else if opcode 99 ping response MessageBox Show Ping eSCL Utility MessageBoxButtons OK MessageBoxIcon Information The call back function will not be called unless it is registered with the UdpClient object using the BeginReceive method as shown below StartRecvCallback can be called from the Form Load event It must also be re registered each time it is called this is to prevent recursion which is most easily accomplished by making a call to StartRecvCallback each time you send a packet private void StartRecvCallback UdpState s new UdpState s e new IPEndPoint IPAddress Any 0 s u udpClient udpClient BeginReceive new AsyncCallback ReceiveCallback s This example requires that you declare a class called UdpState as described below class UdpState public UdpClient u public IPEndPoint e As if this event driven technique wasn t quirky enough it also creates a threading err
126. TAC6 The bit pattern of the i register breaks down as follows bit 0 is the state of the encoder s index Z channel also known as input XO bits 1 7 represent the states of driver board inputs X1 X7 respectively bits 8 10 represent the states of driver board outputs Y1 Y3 respectively and bits 11 15 are not used For bits 0 7 inputs XO X7 a state of 1 means the optically isolated input is open and a state of O means the input is closed It is the exact opposite for bits 8 10 outputs Y1 Y3 for which a state of 1 means the optically isolated output is closed and a state of O means the output is open G gt x9 K s N gt s S o Ss Ix x x x xll Y3 Y2 Y1I X7 X6 X5 X4 X3 X2 X1 XO bt15 gt 0 00000000000 0 0 0 0 lt bit0 SV ST Q Si The bit pattern of the i register breaks down as follows bits 0 7 represent inputs X1 X8 respectively bits 8 11 represent outputs Y1 Y4 respectively and bit 12 is the encoder index channel if present For bits 0 7 and 12 inputs X1 X8 and the Index a state of 1 means the optically isolated input is open and a state of 0 means the input is closed Itis the exact opposite for bits 8 11 outputs Y1 Y4 for which a state of 1 means the optically isolated output is closed and a state of 0 means the output is open 5 oa e Ss x Sy amp g Ra g c A fe Ss Ix x x lIndex y4 Y3 Y2 Y
127. To enable jogging with the STEP and DIR inputs simply execute the JE command with CM 21 or CM 22 Command Details Structure Type BUFFERED WRITE ONLY Examples Command Drive sends Notes JE Enable jog inputs while executing the WI command WIX4L Wait for input X4 to close While waiting jog inputs are active which means the motor can be jogged in the CW and CCW directions by closing the jog inputs After input X4 closes the jog function stops at least until the next WI command executes 920 0002 Rev 118 2 2013 Host Command Reference JL Jog Decel Compatibility All drives Affects Jogging during WI command velocity oscillator modes and CJ command See also JA command Sets or requests the decel rate for Jog moves and velocity oscillator modes 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 Command Details Non Volatile Parameter Details Parameter 1 Jog deceleration rate revisec sec rps s 0 167 5461 167 rps s resolution is 0 167 rps s Examples Command Drive sends Notes JL25 Sets jog deceleration rate to 25 rps s JL JL 25 119 920 0002 Rev I 2 2013 Host Command Reference JM Jog Mode Compatibility All drives see below Affects CJ command and jogging during a WI command See also CJ JE WI commands
128. W Limit SVAC3 STAC5 sx PERLE x X2 X3 X4 Encoder Index SE QE and Si drives X character is required to designate main board inputs is 1 4 4 1 4 4 4 1 isx 1 1 4 1 1 4 1 1 X1 STEP X2 DIR X3 Enable X4 Alarm Reset X5 X6 CCW Limit X7 CW Limit X0 Encoder Z ST S STM17 S Q C STM23 Q C STM24 C IS je EN IN1 IN2 IN3 XO Encoder index if present s EEH ka IN IN IN IN IN IN IN if present 920 0002 Rev I 2 2013 108 Encoder Index STM only if present 1 2 3 4 5 6 7 8 Host Command Reference Examples BLu and STAC6 S or Q versions optional X character is not necessary Command Drive sends Notes IS IS 00000000 All 8 inputs are low closed IS IS 11111111 All 8 inputs are high open IS IS 11101100 Inputs 1 2 and 5 are closed IS IS 10000101 Inputs 2 4 5 6 and 7 are closed BLu and STAC6 SE QE or Si versions optional X character necessary to access IN OUT1 or main driver board DB 25 inputs Command Drive sends Notes IS IS 11010011 Inputs 3 4 and 6 are closed ISX IS 10101110 Inputs X1 X5 and X7 are closed SV ST Q Si Command Drive sends Notes IS IS 100110110 Inputs 1 4 7 and 8 are closed IS 1IS 011111111 Encoder index channel is closed ST S STM17 S Q C STM23 Q C STM24 C Command Drive Sends Notes IS IS 10000111 All inputs are open IS
129. a general purpose output for use with other types of output commands There are three states that can be defined BO1 Output is closed energized when drive is enabled and open when the drive is disabled BO2 Output is open de energized when drive is enabled and closed when the drive is disabled BO3 Output is not used as a Brake Output and can be used as a general purpose output ST S STM17 STM23 STM24 C Defines the drive s digital output as a Brake Output The output of a drive can be assigned to one of five functions Alarm Output Brake Output Motion Output Tach Output or General Purpose 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 BO1 Output is closed active low when the drive is enabled and open when the drives is disabled BO2 Output is open inactive high when the drive is enabled and closed when the drive is disabled BO3 Output is not used as a Brake Output and can be used for another automatic output function or as a general purpose output STM24 SF QF Drives with Flex I O allow a second parameter which allows the user to specify the I O point used Before an I O point can be used as a Brake Output it must first be configured as an output with the SD command Possible uses for
130. a register values in sequence back from the drive This is great when an array of information is required at one time Writing Storage registers RW Q drives only Writing a data register allows the user to store data register values in non volatile memory To write a data register we use the RW Register Write command There are 100 storage locations for data registers in NV memory Note that the user must keep track of where data registers are stored because the NV memory locations are not associated with any specific data register Reading Storage registers RR Q drives only Reading a data register allows the user to move data previously saved in NV memory into a data register To read a data register we use the RR Register Read command Reading is typically done in the midst of a Q program The following sub sections describe additional usage of data registers within Q drives only Moving data registers RM Q drives only Data register values can be moved from one register to another This is done with the RM Register Move command When executing an RM command the contents of the originating data register are retained Contents of read only registers can be moved into read write registers and user defined registers However as implied by its label no register values can be moved into read only registers Attempting to do so will have no effect and no error code is generated Incrementing Decrementing RI RD Q drives only
131. a sequence of commands you would like to delete a command without the line numbers of the remaining commands changing Instead of deleting the line with the unwanted command replace the unwanted command with a NO command and the remaining commands in the sequence will maintain their respective line numbers NOTE NO commands are not required after the last command in a segment Command Details BUFFERED WRITE ONLY Non Volatile Examples Command Drive sends Notes NO No operation takes place at this program line 145 920 0002 Rev I 2 2013 Host Command Reference OF On Fault Compatibility Q drives only Affects Stored program flow See also AL AX AX ME Ol commands When a drive fault occurs the OF command causes a given program segment to immediately load from non volatile memory into the queue The OF command acts as a kind of software switch in that when this function is turned on the drive s response to a drive fault loading the designated program segment is automatic Once a fault occurs the fault must be cleared AX and the motor re enabled ME before continuing normal program execution Please note that while immediately executing AX will clear the alarm code it does not guarantee that the condition that caused the alarm has been resolved Therefore it is recommended to include a short delay or wait for user input before clearing the alarm and resuming normal operation Also a drive fault will turn the
132. abled BO BO 14 41 920 0002 Rev I 2 2013 Host Command Reference BR Baud Rate Compatibility All drives Affects Serial communications See also TD PB PM PR commands Sets or requests the bit rate baud for serial communications At power up a drive will send its power up packet at 9600 baud If a response from a host system such as a software application from Applied Motion is not detected after 1 second and the drive is configured for SCL or Q operation see PM command the drive will set the baud rate according to the value stored in the Baud Rate NV parameter A Host system can set the baud rate at anytime using this command See Appendix B Host Serial Communications for details NOTE 1 Setting the value takes effect immediately NOTE 2 Due to processor speed limitations Si drives can accept only parameter values 1 2 or 3 S and Q drives will accept parameter values of 1 5 Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Baud rate see above 1 9600 bps 2 19200 3 38400 4 57600 S and Q drives only 5 115200 S and Q drives only Examples Command Drive sends Notes BR2 Baud rate is immediately set to 19200 BR BR 2 920 0002 Rev 42 2 2013 Host Command Reference BS Buffer Status Compatibility All drives See also CT PS commands Requests from the drive the number of available command locations in the command buffer This technique
133. acter that means the drive accepted the command and executed it wd 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 2 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 12 I O point already used by current Command Mode and cannot be changed Flex I O drives only 13 I O point configured for incorrect use i e input vs output Flex I O drives only 14 I O point cannot be used for requested function see HW manual for possible I O function assignments Flex I O drives only Acknowledge characters are always sent out of the RS 232 port When operating on a 2 wire or 4 wire RS 485 network the acknowledge characters are sent out under the following conditions 1 An acknow
134. active low Al Al 14 NOTE When working with digital inputs and outputs 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 low and SO1L means set output 1 low A high state is represented by the H character 920 0002 Rev 26 2 2013 AL Alarm Code Compatibility All drives See also Al AR AX commands Appendix Host Command Reference Reads back an equivalent hexadecimal value of the Alarm Code s 16 bit binary word Command Details Register Access f 054 Note response to AL command is a different format than the response to the RLf command See Appendix F for details Hexadecimal value of 16 bit binary word see below Response Details STACE Position Limit Over Voltage 0040 Under Voltage Under Voltage Under Voltage Under Voltage Under Voltage Over Current 2000 Current Foldback Motor Resistance not used not used Out of Range 4000 Blank Q Segment 8000 BLUAC drives only NOTE Items in bold italic represent Drive Faults w
135. ailure he attribute data of this object was not saved due to a failure during the attempt 311 920 0002 Rev I 2 2013 Host Command Reference Routing failure request The service request packet was too large for transmission on a network in the path to the packet too large destination The routing device was forced to abort the service 1B Routing failure response The service response packet was too large for transmission on a network in the path packet too large from the destination The routing device was forced to abort the service 1C Missing attribute list entry The service did not supply an attribute in a list of attributes that was needed by the data service to perform the requested behavior Invalid attribute value list The service is returning the list of attributes supplied with status information for those attributes that were invalid A vendor specific error has been encountered The Additional Code Field of the Error Response defines the particular error encountered Use of this General Error Code should only be performed when none of the Error Codes presented in this table or within an Object Class definition accurately reflect the error Invalid Parameter A parameter associated with the request was invalid This code is used when a parameter does not meet the requirements of this specification and or the requirements defined in an Application Object Specification 21 Write once value or medium An attempt was ma
136. and Drive sends Notes IP IP 00002710 Absolute position is 10 000 counts or steps IP IP FFFFD8F0 Absolute position is 10 000 counts or steps If the IF command is set with Parameter 1 D IP IP 10000 Absolute position is 10000 counts or steps IP IP 10000 Absolute position is 10000 counts or steps 105 920 0002 Rev I 2 2013 Host Command Reference IQ Immediate Current Actual Compatibility Servo drives only Requests present actual current This current reading is the actual current measured by the drive As with the Commanded Current this is an RMS value that represents the DC current in the motor windings Command Details C Examples Command Drive sends Notes IQ IQ 015E 3 5 Amps IQ IQ FEA2 3 5 Amps If the IF command is set with Parameter 1 D IQ IQ 350 3 5 Amps IQ IQ 350 3 5 Amps 920 0002 Rev 106 2 2013 Host Command Reference IS Input Status Compatibility All drives Requests immediate status of all drive inputs A closed input is represented by a 0 zero and an open input is represented by a 1 one Unused positions in the response are represented by 0 zero BLu STAC6 On S and Q drives the IS command requests the status of IN OUT1 or main driver board DB 25 inputs X1 through X7 plus the encoder index channel if present On SE QE and Si drives the ISX command IS command with parameter character X is required to request status of IN OUT1 or main driver board D
137. and only in place of Service not supported Attribute not supported and Attribute not settable Unknown Modbus Error A CIP to Modbus translator received an unknown Modbus Exception Code Attribute not gettable A request to read a non readable attribute was received PO Reserved by CIP for future extensions Reserved for Object Class This range of error codes is to be used to indicate Object Class specific errors Use of and Service errors tihs range should only be performed when none of the Error Codes presented in this table accurately reflect the error that was encountered 920 0002 Rev 312 2 2013 Appendix Troubleshooting This Appendix addresses potential issues that may occur while using AMP equipment Host Command Reference NOTE Every drive must be configured with AMP software prior to operation For stepper systems use the appropriate Configurator utility while Quick Tuner should be used for servos It is never safe to assume that the configuration state of the drive is known when it is received This step should not be considered optional While streaming commands to the drive it behaves erratically or does not send legible ACK NACK responses The drive is not responding Is it connected to the right port and turned on The drive s command buffer may be full which may cause unpredictable behavior The software is unable to communicate to the drive There are four common causes for this error
138. and to affect top board inputs IN3 through IN7 of SE QE and Si drives FX FX 1 Digital filters are set to be applied to main driver board inputs X3 through X7 87 920 0002 Rev I 2 2013 Host Command Reference FY Feed to Sensor with Safety Distance Compatibility All drives See also DC FD FM and FS commands see AT command for using AIN as sensor input Executes a Feed to Sensor move while monitoring a predefined safety distance DC DI defines the direction of rotation and the stop distance to move after the sensor triggers the stop input condition Accel rate decel rate and velocity are set by the AC DE and VE commands respectively Note that the maximum final motor position will be the safety distance plus the distance required to decelerate the load which is dependent on the decel rate DE NOTE If the safety distance is exceeded three things will happen The motor is stopped the drive sends the host an exclamation point and adds a value of 1 to the Other Flags register F register This can occur if the sensor is not encountered before DC is reached or if the DI value is set high enough that the total move distance would exceed the maximum of DC plus the deceleration distance determined by 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 Th
139. ansencerrenens 134 MC Motor Current Rated a cescsscuiincsvescwsvcadcanausibtorceeanniauiiecdinecennees 135 MD Motor DEAD Errn ne ae eee 136 ME Motor ENa Dl Enies EPE AENT 137 MN Model NUIMIBSN is cvviecananconnnavewednncssesnvnniessseeeexseaadcenpauconansessavants 138 MO Motom OUUT errre EE Er E EEr rE NENE OE 139 MR Microstep TeSONMION cas ssacccsnnsnnnconnscenvvdvnienboosaiad neuadasnsaanecnsseenrs 141 MEMU TASKIN Penance eee etre nrc rte riers tmnt A rere sr erner eye PREA 142 MV Model amp Revision vccscscessavincnscencncsonsnerrisenssuversasaeestercieesaveessmnsares 143 NO NO Operati ONE issceeph rsin k ie reen ETET RER EEn 145 OFON FaU seserinis 146 SES eE E A T T E T 147 OP Option MIO aps ncsaa ve vs aeeoprevssusanaadgnonsandtonescncddsenreprpeuucsunitenssertis 148 PA Power up Acceleration Current ccssssssssssseeeeeeeeeeeeeeeeeeeeeees 149 PB Power up Baud Rate ccacinitsssasneucenscrdsitinsaeeewniat eure 151 PC Powerup CUr eTit ssssgsenioiite paaa E PR 152 PF Position FOIE s acosssxavrsacivvveteisdssannnsssoneorpnesesnseesaeaservenaiaweddnecansaniat 153 Pl Powerup Idle CUNPGIl scsccccsswcccvsssncdcse cecenesssnsaseeseouhiniduiieaiereccedsins 154 PESFOSRWOR LIMIT seeren soiin E A A 155 PM PowerUp ModE renees ihit rpe SETE 156 PN Probe On DSMANG vciscccscvvenssussconssssesceniasssseceechacmennnnssssdenensnmnentas 157 PP Power up Peak current sssnnoneenereoeernrrrrrrrnnrrterrnnrrrerennrrneeee 1
140. ata value only the lower word of the Long value is used This command is the same as the RL command except it is a buffered command and therefore can be placed in a stored program Command Details ax Parameter Parameter 2 Non Volatile Register Access All data registers Parameter Details Parameter 1 Data register assignment All Read Write and User Defined data registers Read Only data registers can be used when Parameter 2 is not included i e for reading back the contents of a Read Only data register Parameter 2 Data register value units integer range 2147483647 long data registers 32767 short data registers Examples Command Drive sends Notes RXA100 Set acceleration register A to 1000 rpm s RXA RXA 100 187 920 0002 Rev I 2 2013 Host Command Reference R Register Add Compatibility Q drives only Affects All data registers See also R R R R amp RD RI QJ commands Adds the contents of a first data register to a second data register and places the result in the accumulator data register User Defined register O This is a 32 bit operation adding two Long word values can cause an overflow All math operations affect the condition code used by the QJ Queue Jump command R can set condition codes T F N P and Z Command Details A Parameior Parameter F2 Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data
141. ate void UDPpoll you can call this from a timer event or a loop if udpClient Available gt 0 is there a packet ready TPEndPoint RemoteIpEndPoint new IPEndPoint IPAddress Any 0 try Get the received packet Receive method blocks until a message returns on this socket from a remote host so always check Available to see if a packet is ready Byte receiveBytes udpClient Receive ref RemotelIpEndPoint strip opcode Byte SCLstring new byte receiveBytes Length 2 for int i 0 i lt SCLstring Length i SCLstring i receiveBytes 1i 2 string returnData Encoding ASCII GetString SCLstring AddToHistory returnData catch Exception ex put your error handler here Console WriteLine ex ToString 279 920 0002 Rev I 2 2013 Host Command Reference Creating a receive event using a call back function First create a function to handle incoming packets This function must contain two local objects a UdpClient and an IPEndPoint The call back function will be passed an I AsyncResult object that contains a reference to the UDP connection The local IPEndPoint object is passed to the UDPClient s EndReceive property to retrieve the packet public void ReceiveCallback IAsyncResult ar int opcode UdpClient u UdpClient UdpState ar AsyncState u TPEndPoint e IPEndPoint Udp
142. ated 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 The motor continues to follow the master encoder pulses until the input condition is met at which time the motor decelerates at rate DE to a stop using the DI command as the overall decel distance If DI is long the motor may not begin decel immediately after the input condition is met If DI is short the motor may have to decelerate at a rate faster than DE Before the input condition is met the motor will follow the master encoder pulses in both CW and CCW directions regardless of the sign of the DI command However once the input condition is met the motor will only stop properly if moving in the direction set by the DI command When done executing the drive returns to the mode it was in before executing the FE command NOTE You must use the appropriate configuration software Quick Tuner for servos Configurator for steppers to set up the STEP X1 and DIR X2 inputs for encoder following Do this by choosing A B Quadrature in the Position mode settings NOTE Take care when changing the R register while following because some move parameters will be scaled as well and therefore the move may change unexpectedly Command Details Structure FE Parameter 1 Type BUFFERED Parameter Details See Appendix F Working With Inputs and Outputs
143. ated 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 Command Details FO Parameter 1 BUFFERED WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs 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 920 0002 Rev I 84 2 2013 Host Command Reference FP Feed to Position Compatibility All drives See also AC DE DI SP VE commands Executes an absolute move command Move position comes from the last DI command Speed accel and decel are from VE AC and DE commands respectively Executing the FP command with no parameter initiates a feed to position move that uses the last DI command for position Executing the FP command with a parameter uses the parameter for position without changing the DI command Command Details FP Parameter 1 BUFFERED WRITE ONLY Non Volatile Parameter Details Parameter 1 Absolute
144. ately IHY2 Output 2 of main driver board goes high immediately 101 920 0002 Rev I 2 2013 Host Command Reference IL Immediate Low Output Compatibility All drives See also IH SO commands Sets an output low closed immediately Use SO instead if you don t want the output to change until a buffered command like a move is complete Command Details IL Parameter 1 IMMEDIATE WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes IL1 Output 1 goes low immediately IL2 Output 2 goes low immediately To force Outputs on main driver board when using an SE QE or Si drive ILY1 Output 1 of main driver board goes low immediately ILY2 Output 2 of main driver board goes low immediately 920 0002 Rev I 102 2 2013 Host Command Reference IO Output Status Compatibility All drives With no parameter this command requests the immediate status of the designated outputs The status is displayed as an 8 bit binary number with output 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 Command Details lO Parameter 1 IMMEDIATE READ WRITE Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs STAC5 S SVAC3 S Examples BLu and STAC6 S
145. ates that the input s resides on the IN OUT2 or top board connector Optional X integer letter integer for IN OUT1 or main drive board connector XO encoder index if present X1 X7 X8 Analog Command X9 AIN1 X AIN2 integer for IN OUT2 or top board connector 1 8 letter L Low H High F Falling Edge R Rising Edge Parameter 2 Input number input condition units integer letter range integer for IN OUT1 or main drive board connector 0 encoder index if present 1 7 8 Analog Command 9 AIN1 AIN2 integer for IN OUT2 or top board connector 1 8 letter L Low H High F Falling Edge R Rising Edge STAC5 S SVAC3 S Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command integer letter integer 0 encoder index if present 1 4 8 AIN letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition units integer letter range integer 0 encoder index if present 1 4 8 AIN letter L Low H High F Falling Edge R Rising Edge 261 920 0002 Rev I 2 2013 Host Command Reference STAC5 Q STACS5 IP SVAC3 Q SVAC3 IP Parameter 1 Optional X input number input condition NOTE Including the optional X indicates that the input s resides on the IN OUT1 connector D
146. ature is 31 0 C Drive temperature is 41 2 C 111 920 0002 Rev I 2 2013 Host Command Reference IU Immediate Voltage Compatibility All drives Requests present value of the DC bus voltage 5 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 hardware manuals for details Command Details Non Volatile Register Access u 069 Examples Command Drive sends Notes If the IF command is set with Parameter 1 H IU IlU 01E2 DC supply voltage is 48 2 Volts IU IlU 067E DC bus voltage is 166 2 Volts If the IF command is set with Parameter 1 D IU IlU 482 DC supply voltage is 48 2 Volts IU IlU 1662 DC bus voltage is 166 2 Volts 920 0002 Rev I 112 2 2013 Host Command Reference IV Immediate Velocity Compatibility All drives Requests present velocity of the motor in rom There are two different velocities that can be read back the motor s actual velocity and the motor s target velocity Command Details Non Volatile NO Register Access v 070 Actual velocity servo drives and stepper drives wi encoder w 071 Target velocity Parameter Details Parameter 1 Velocity selector range 0 actual velocity request servo drives and stepper drives with encoder 1 target velocity request Examples Command Drive sends Notes IV
147. 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 characters 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 a BLUACS5 Si with f w version 1 53 firmware will send out a power up packet that looks like this 255 53 38 To an ASCII terminal this packet may look like y5 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 243 920 0002 Rev I 2 2013 Host Command Reference number for the BLUAC5 Si The power up packet is always sent at 9600 baud regardless of the bit rate set by the BR or PB command If an Applied Motion software application is present it will respond to the power up packet and communications will continue at 9600 baud If an Applied Motion 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 Interaction with PM parameter Power up Mode If the drive is currently in power up modes 1 or 3 PM1 or PM3 it will be unable to respond to standard SCL commands In these modes the drive is using a proprietary communicati
148. bsequent commands in the queue or program segment This allows executing other type of operations such as setting outputs SO while a move is taking place Command Details MT Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Multi tasking switch range 0 multi tasking disabled 1 multi tasking enabled Examples Command Drive sends Notes MT1 Enables multi tasking MT MT 1 920 0002 Rev I 142 2 2013 Host Command Reference MV Model amp Revision Compatibility All drives except BLu servo drives See also MN RV commands Requests the connected drive s DSP firmware version model number code and sub model number code if applicable Not all drive series utilize the sub model number code The response from the drive is a single string of characters with no breaks or delimiters The sequence of characters is firmware revision 3 numbers and 1 letter model number code 3 numbers sub model number code 1 letter See Response Details below Command Details Response Details Response will be in the format AAAABBBC where AAAA is the firmware version BBB is the model number code and C is the sub model number code Model and sub model number codes are listed below by drive and Examples are given afterward Drive Firmware Model No Code Sub Model No Code SV7 S 011 SV7 Q 7 012 SV7 Si i 013 STAC6 S i 041 STAC6 Q 042 STAC6 Si i 043 STAC6 220
149. ccess Examples Command Drive sends Notes DI100000 Overall move distance set to 100 000 counts VE10 Initial move speed set to 10 rps DC80000 1st change distance set to 80 000 counts VC15 1st change speed set to 15 rps FC Initiate FC command complex move WP DC60000 2nd change distance set to 60 000 counts vcg 2nd change speed set to 9 rps WP DC40000 3rd change distance set to 40 000 counts VC1 3rd change speed set to 1 rps WP DC20000 4th change distance set to 20 000 counts VC19 4th change speed set to 19 rps 221 920 0002 Rev I 2 2013 Host Command Reference WT Wait Time Compatibility All drives Causes a time delay in seconds The resolution is 0 01 seconds with the largest value being 320 00 seconds Command Details wiParameter n WRITE ONLY Non Volatile Parameter Details 0 00 320 00 resolution is 0 01 seconds Examples Command Drive sends Notes WT2 25 Causes time delay of 2 25 seconds 920 0002 Rev 209 2 2013 Host Command Reference ZC Regen Resistor Continuous Wattage Compatibility BLuAC5 and STAC6 drives only Sets or requests the regeneration resistor wattage value BLUAC and STAC drives dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the continuous wattage rating of the regen resistor to do this effectively Command Details Non Volatile Register Access Parameter Details
150. change the power up mode of the drive to 7 PM7 with the next download This will cause the drive to run its stored Q Program at power up You must download the program after checking this box for the change to take effect Si drives An Si drive is set to PM1 automatically when an Si program is downloaded to the drive If the drive is currently set to PM7 for operation in Q mode simply uploading and executing a stored Si program will not change the power up mode of the drive to PM1 The program may be uploaded and executed but the drive will not power up and execute the Si program until after a download through the Si Programmer software NOTE If the drive is configured for power up modes 1 or 3 it will not respond to SCL commands issued by a host device If SCL communications are required in this scenario the host device must recognize the drive s power up packet and issue the response 00 double zero no carriage return within two seconds to force the drive into SCL mode without altering the PM setting See Appendix B for further information Command Details READ WRITE Non Volatile Yes see note below Parameter Details Parameter 1 1 Si Program Si versions only 2 Q SCL drive enabled 3 Quick Tuner servos or Configurator steppers 4 SiNet Hub 5 Q SCL drive disabled 6 not used 7 Q Program Auto execute Q drives only NOTE This data is saved to non volatile memory immediately upon
151. ckets are terminated by a Carriage Return ASCII 13 Response Transmission drive to host In response to a command packet from the host a drive can send a response packet The drive sends out its entire response packet with very limited space between characters 920 0002 Rev 242 2 2013 Host Command Reference At 9600 baud 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 Response packets are terminated by a Carriage Return ASCII 13 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 the 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 for every command packet received Along with Acknowledge Negative Acknowledge Ack Nack the P
152. count is set to 1 no Jump is performed The data register selected for the repeat count must be set with the number of repeat counts prior to using the QR command use the RX Register Load buffered command to load the data register with the repeat count The data register contents are affected by this command and must be re loaded before each usage with the QR command NOTE Although data registers A Z can be used with the QR command it is not recommended The QR command eventually destructs the data in a register by decrementing its value each time a jump is made in the repeat loop and could therefore lead to unexpected results in other parts of the program that make use of data registers A Z Command Details OR Parameter F Parameter 2 WRITE ONLY Non Volatile Parameter Details Parameter 1 Data register register character range A Z and all user defined registers listed in the Data Registers section Parameter 2 Segment line number Examples Command Drive sends Notes RX120 Load user register 1 with the value 20 QR15 Cause a repeated jump to line 5 of the queue using the value 20 in data register 1 as the repeat count 920 0002 Rev I 170 2 2013 Host Command Reference QS Queue Save Compatibility Q drives only Affects None See also QE QL QX PW commands Saves a segment currently in the queue to a non volatile memory location Ends a QL Queue Load if one is in progress See Ap
153. ction and a modified RS 422 4 wire connection that has been termed 4 wire RS 485 This is because unlike the standard RS 422 which is designed for single node connections the 4 wire RS 485 used by 245 920 0002 Rev I 2 2013 Host Command Reference Applied Motion drives allows multiple nodes NOTE In general we recommend using half duplex communications with the drives Even though the 4 wire RS 485 network can support full duplex there is now the capability to have multiple nodes and therefore data collisions might occur For this reason we recommend limiting communications to half duplex even with the 4 wire RS 485 connections Connecting to your Q drive s serial port s Each drive comes with one or two physical connectors for connecting to a PC or other serial host controller device One connector is an RJ11 connector same as a 4 wire phone jack that is used strictly for RS 232 communications The second connector is a removable 5 position terminal block for use with 2 wire and 4 wire RS 485 connections COM Port Settings When using software from Applied Motion Products to communicate to a drive there is no need to worry about COM port settings because the software will take care of them In applications where a host serial controller will be communicating to a drive via one of it s serial ports the COM port settings should be set as follows 8 data bits no Parity 1 stop bit The default Baud rate is 9600 though this
154. d Message Manager UCMM Both command message types result in a response message even when no data is requested All numerical values are in two s complement Integers are sent big endian most significant byte first For detailed SCL and Q command descriptions please see the main section of this manual When reading the command descriptions in the main part of this manual please be advised that the EtherNet IP encapsulation often requires that different units and a different range of acceptable values be used Type 1 Message Format See Table 1 for the complete list of commands The response message will always echo back the opcode and register code if present Also contained in the response message is the drive s status code a bit pattern that indicates useful information such as whether there is a fault or if the motor is in motion For more information please see the section on the SC command earlier in this manual Note All numerical values are in two s complement Integers are sent big endian most significant byte first Command Message Format lt 0 0 0 0 0 0 0 Command Axis Number 0x0 Command Message Type 0x1 B6 Parameters Response Message Format Response Axis Number 0x0 Response Message Type 0x1 Register code for commands QR RR RW and RX 0 for all others e fums O 7S 920 0002 Rev I 286 2 2013 Host Command Reference Type 1 Message Examples Example 1 SCL commands requir
155. d Q Programs in a drive These programs can be set to execute automatically at power up or can be triggered by commands sent from the host This guide is intended to help you connect and configure your drive and to help you start writing your own eSCL host application Getting Started There are three steps required to create an eSCL application with your new Applied Motion Products motor driver Each of these is explained in a separate section of this manual e Connect the drive to your PC This includes getting the drive physically connected to your network or directly to the PC setting the drive s IP address and setting the appropriate networking properties on your PC e Configure the drive for your motor and application For step motor drives you ll need to use a suitable version of our Configurator software For servos use Quick Tuner e Create your own application This guide includes code examples in Visual Basic and C to help you get started You can download the example in their entirety from our website but we recommend reading the explanations in the guide first Connecting a Drive to Your PC This process requires three steps e Get the drive physically connected to your network or directly to the PC e Set the drive s IP address e Set the appropriate networking properties on your PC Addresses Subnets and Ports Every device on an Ethernet network must have a unique IP address In order for
156. d as follows using the figure below 920 0002 Rev I 246 2 2013 Host Command Reference 1 Connect the drive TX to the host RX 2 Connect the drive TX to the host RX 3 Connect the drive RX to the host TX 4 Connect the drive RX to the host TX 5 Connect GND to the host signal ground 6 We recommend a 120 ohm terminating resistor be connected between the Rx and Rx terminals of the drive farthest from the host to Host GND to Host Rx to Host Rx to Host Tx to Host Tx Rx Tx GND Rx Tx GND Rx Tx GND Drive 1 Drive 2 Drive n NOTE Proper cable shielding is a must High voltage high frequency high current signals that are present on the servo motor cables can emit a significant amount of electrical interference Without proper shielding on the communications wiring this interference can disrupt even noise tolerant differential line drivers Getting and Connecting an RS 485 4 wire adapter to your PC If you are using your computer to communicate to the drive s and therefore need an RS 485 adapter model 117701 from Jameco Electronics 800 831 4242 works well This adaptor is for a 25 pin serial port If you are like most people and have a 9 pin serial port on your PC you will also need to purchase Jameco cable 31721 Connect as follows Adaptor Terminal Drive Terminal 1 RX 2 RX 3 TX 4 TX Set the switches on the Jameco adaptor for DCE and TxON RxON Don t forget to plug in the DC po
157. d drive is addressed 2 Here is what you will see Send data Example Command Drive Sends Notes 2DI8000 2D18000 Drive at address 1 echoes original command over both serial ports 2 Drive at address 2 responds with ack Request data Example Command Drive Sends Notes 2Dl 2Dl Drive at address 1 echoes original command over both serial ports 2D1I8000 Drive at address 2 responds with distance 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 each of the data registers is instead accessed with a 3 digit number 000 to 074 See the Data Registers section for character and 3 digit numerical assignments The Bit 5 option implements this specific 251 920 0002 Rev I 2 2013 Host Command Reference usage for the RL Register Load and RU Register Upload commands 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
158. de to write to a write once medium e g WORM drive PROM that already written has already been written or to modify a value that cannot be changed once established Invalid Reply Received An invalid reply is received e g reply service code does not match the request service code or reply message is shorter than the minimum expected reply size This status code can serve for other causes of invalid replies Buffer Overflow The message received is larger than the receiving buffer can handle The entire message was discarded Message Format Error The format of the received message is not supported by the server Key Failure in path The Key Segment that was included as the first segment in the path does not match the destination module The object specific status shall indicate which part of the key check failed Path Size Invalid The size of the path which was sent with the Service Request is either not large enough to allow the Request to be routed to an object or too much routing data was included Unexpected attribute in list n attempt was made to set an attribute that is not able to be set at this time A Invalide Member ID The Member ID specified in the request does not exist in the specified Class Instance Attribute Member not settable A request to modify a non modifiable member was received Group 2 only server general This error code may only be reported by DeviceNet Group 2 Only servers with 4K or failure less code space
159. der and with the Stall Prevention function turned on PF PF 50 153 920 0002 Rev I 2 2013 Host Command Reference PI Power up Idle Current Compatibility Stepper drives only Affects Motor current at standstill holding torque See also CC CD Cl commands 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 This command is similar to the Cl command It differs only in that in addition to setting the idle current of the drive PI also immediately saves the setting to NV memory See Cl command page for details Command Details Non Volatile Yes see note below Register Access O 031 Note The Cl command uses different units than the O register see Data Registers section for more details Parameter Details STAC6 Parameter 1 Idle current at power up ST Q Si ST S STM STAC5 Parameter 1 Idle current at power up NOTE This data is saved to non volatile memory immediately upon execution It is not required to execute the SA command to save to non volatile memory Examples Command Drive sends Notes
160. desired input type scaling and offsetting Command Details AP Parameter 1 BUFFERED READ WRITE Non Volatile X 040 Parameter Details Parameter 1 Analog position gain value 0 32767 Examples Command Drive sends Notes AP8000 Position range over full scale of analog input is 8000 steps AP AP 8000 31 920 0002 Rev I 2 2013 Host Command Reference AR Alarm Reset Immediate Compatibility All drives Affects Alarm Code See also AL ME MD commands Clears Alarms and Drive Faults If an Alarm or Drive Fault condition persists after sending the AR command the Alarm is not cleared NOTE Does not re enable the drive Use ME Motor Enable command to re enable drive Command Details Type IMMEDIATE WRITE ONLY Non Volatile Examples Command Drive sends Notes AR Reset Drive Fault and clear Alarm Code if possible 920 0002 Rev 30 2 2013 Host Command Reference AS Analog Scaling Compatibility All stepper drives and SV servo drives Affects Analog input See also CM command Sets or requests the analog input scaling setting This is a code that determines what type of analog input scaling is desired The codes for selecting the various settings are in the Details table below Command Details Non Volatile Parameter Details 0 single ended 10 volts 1 single ended 0 10 volts 2 single ended 5 volts 3 single ended 0 5 volts 4 differentia
161. driver board I O connector DB 25 or the top board connector screw terminal Command Details FD Parameter Hy Parameter 2 WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes FDX2F4H Launch Feed to Double Sensor move decel from VE to VC when input 2 changes from high to low falling then decel to a stop when input 4 is high AC50 Set accel rate to 50 rev sec sec DE50 Set decel rate to 50 rev sec sec DI 1 Set move direction to CCW VE5 Set initial velocity to 5 rev sec VC1 Set change velocity to 1 rev sec FD1F2H Launch Feed to Double Sensor move decel from VE to VC when input 1 changes from high to low falling then decel to a stop when input 2 is high if 920 0002 Rev 2 2013 Host Command Reference FE Follow Encoder Compatibility All drives See also EG MT ST commands 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 X1 and DIR X2 inputs of the drive 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 Note that in stepper drives the R register is equal to 1 2 the EG command The Step Smoothing Filter is active in FE mode see the SF command for details When the FE command is initi
162. drives only position limit move attempted while disabled CCW limit CW limit over temp internal voltage out of range attempt to load blank Q segment over voltage under voltage Bad Si program instruction over current short circuit current limit bad hall bad encoder 7 serial communication error 2 7 2 badflash STAC6 LED codes Items in bold italic are Drive Faults Fe solid Motor disabled flashing slowly Motor enabled flashing quickly Q program running Q drives only 257 920 0002 Rev I 2 2013 Host Command Reference bad encoder signal w optional encoder only serial communication error O 6 ST Q Si LED codes Items in bold italic are Drive Faults DESCRIPTION soi ashing quickly serial communication eror serial communication error ST S LED codes Items in bold italic are Drive Faults solid Motor disabled ae flashing slowly Motor enabled 920 0002 Rev 258 2 2013 Host Command Reference k 1 2 move attempted while disabled et icowim SSCS C o 2 internal voltage out ofrange N 2 Ds __ over eurrent short circuit 6 open motor winding STM LED codes Items in bold italic are Drive Faults sod Wotordsaied SOSCS SCSCSCSCSCS ashing sowy Wotorenabieg OO O OOOO T asring quickly O program running G arves ony a i motor sta w optional encoderony 41 2 move attempted while
163. e Type Usage Non Volatile status Non Volatile YES and Register Access Structure always Register Access aga shows the two letter command code followed by the number of parameters it uses Not distance all commands have parameters some eee commands have optional parameters and ign determines direction for CCW no sign for CW other commands always have a parameter Optional parameters are designated by and required parameters are designated by ae ace al Type can be BUFFERED or IMMEDIATE Usage can be Read Only Read Write or Write Only Non Volatile will show if the command can be saved YES or not NO Saving Non Volatile commands to memory requires the SA Save command Register Access shows any data registers associated with the command If the command transfers data to a register that is accessible via the RL and RX commands that register will be shown here Parameter Details Parameter 1 units range Examples Command DI20000 DI DI 8000 PL Set distance to 8000 co rts in the CCW direction Initiate FL move Parameter Details shows a description the units and the range of the parameter s available with a given command Some commands will also have a Response Details section which shows how the drive s response to the given command is formatted Examples shows what to expect when you use this command Under Command are th
164. e 6 read Q register D opcode Ox9F operand 0x44 return value 0x12345678 Example 7 write Q register D jo jo jo jo o opcode 0x9E operand 0x44 data 0x12345678 neo fo reseve Host Command Reference read 32 bit Q register from Table 2 from Reg Code Table indicates register D o reseve read 32 bit Q register from Table 2 from Reg Code Table indicates register D neo Jo resene byee fo norus bner Jo notus Example 8 Disable IEEE 1588 protocol for Class 1 connections opcode OxFE operand 0x1 data 0x0 byteo fo _ reservea byte 1 byte 2 byte 3 bea Jo nouse byes o notused byee o rotusa foyte7 o nousa IEEE 1588 control from Table 2 Disable IEEE 1588 protocol 0x0 will enable IEEE 1588 byteo o reserved byte 1 byte 2 o operand byte 3 byes o notusea byez o rusa 295 920 0002 Rev I 2 2013 Host Command Reference Table 1 Message Type 1 Command List For detailed SCL and Q command descriptions please see the main section of this manual When reading the command descriptions in the main part of this manual please be advised that the EtherNet IP encapsulation often requires that different units and a different range of acceptable values be used Motion Commands ac p topaccel ffo f facoelrate 1 32000 10 rpmiseo AM Max_accel 16 JO f faccelrate 1 32000 10rpmisec ax faam Reset BAO TE cs sarr ocene 96
165. e IP address automatically assigned by the DHCP server may be dynamic or static depending on how the administrator has configured DHCP The DHCP setting is reserved for advanced users Your PC or any other device that you use to communicate with the drive will also have a unique address On the drive switch settings 1 through E use the standard class B subnet mask i e 255 255 0 0 The mask for the universal recovery address is the standard class A i e 255 0 0 0 One of the great features of Ethernet is the ability for many applications to share the network at the same time Ports are used to direct traffic to the right application once it gets to the right IP address The UDP eSCL port in our drives is 7775 To send and receive commands using TCP use port number 7776 You ll need to know this when you begin to write your own application You will also need to choose an open unused port number for your application Our drive doesn t care what that is when the first command is sent to the drive the drive will make note of the IP address and port number from which it originated and direct any responses there The drive will also refuse any traffic from other IP addresses that is headed for the eSCL port The first application to talk to a drive owns the drive This lock is only reset when the drive powers down If you need help choosing a port number for your application you can find a list of commonly used port
166. e as follows n denotes the I O point to be used AO1n Designated output n is closed active low when a Drive Fault is present AO2n Designated output n is open inactive high when a Drive Fault is present AO3n Designated output n is not used as an Alarm Output and can be used for another automatic output function or as a general purpose output 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 of 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 Command Details Structure AO Parameter 1 Parameter 2 Flex I O only BUFFERED Usage READ WRITE Non Volatile YES Register Access 29 920 0002 Rev I 2 2013 Host Command Reference Parameter Details Parameter 1 Output Usage see above range ord Parameter 2 Flex I O only I O Point if applicable see note below NOTES e For drives with Flex I O the SD command must be executed to set an I O point as an input or output before that output can be designated as the Alarm Output Parameter 2 only applies to drives equipped with Flex I O This includes the STM24SF and STM24QF Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes AO1 Alarm Output will close wh
167. e by the DHCP server at another time Once you ve chosen an appropriate IP address for your drive set the rotary switch according the address table above If none of the default addresses are acceptable for your network you can enter a new table of IP addresses using Configurator lf your network uses addresses starting with 192 168 0 the most common subnet you will want to choose an address from switch settings 4 through E Another common subnet is 192 168 1 If your network uses addresses in this range the compatible default selections are 1 2 and 3 If your PC address is not in one of the above private subnets you will have to change your subnet mask to 255 255 0 0 in order to talk to your drive To change your subnet mask 1 On Windows XP right click on My Network Places and select properties On Windows 7 click Computer Scroll down the left pane until you see Network Right click and select properties Select Change adapter settings 2 You should see an icon for your network interface card NIC Right click and select properties Scroll down until you see Internet Properties TCP IP Select this item and click the Properties button On Windows 7 and Vista look for TCP IPv4 4 Local Area Connection Properties General Advanced Internet Protocol TCP IP Properties Connect using p Intel R PRO 100 VE Network Conne General You can get IP settings assigned automatically if
168. e command strings you would send from a host controller or write into a stored program Under Drive Sends are the responses from the drive no response from the drive is denoted by Notes give additional information about the results of the command string 19 920 0002 Rev I 2 2013 Host Command Reference AC Acceleration Rate Compatibility All drives Affects FC FD FE FL FM FS FP FY SH commands See also AM DE DI DC VE commands Sets or requests the acceleration rate used in point to point move commands in rev sec sec Command Details Non Volatile Register Access A 017 Note Units of AC command and A register are different See Data Registers section for details of A register Parameter Details Parameter 1 Acceleration rate revisec sec rps s 0 167 to 5461 167 resolution is 0 167 rps s Examples Command Drive sends Notes AC100 Set Acceleration to 100 rev sec sec AC AC 100 AC25 Set acceleration rate to 25 rev sec sec DE25 Set deceleration rate to 25 rev sec sec VE1 5 Set velocity to 1 5 rev sec FL20000 Execute Feed to Length move of 20000 steps 920 0002 Rev 20 2 2013 Host Command Reference AD Analog Deadband Compatibility All stepper drives and SV servo drives Affects Analog input See also CM command Sets or requests the analog deadband value in millivolts The deadband value is the zone around the zeroed value
169. e drive are as follows Field Descriptor Length bytes iP Address Encoded in Internet Forma 4 OO o o owswo e O mwa C suyos e Actual Current e NTMI M MTM sA Drive Temperature O e _ Encoder Position 32 bit signed 4 Absolute Poston 82 bit signed 4 ALA The data transmitted by the drive is sent in Little Endian format so it will likely require rearranging before use IP addresses said to be stored in Internet Format are simply encoded into hexadecimal notation and rearranged into Little Endian format Each octet has a value from 0 255 and can be represented by a single byte Standard IP address 192 168 0 40 Convert to Hexadecimal 192 0xC0 168 0xA8 0 0x00 40 0x28 Rearrange into Little Endian Format C0 A8 00 28 gt 28 00 A8 CO Converted IP address 192 168 0 40 gt 0x2800A8C0 Note that all numbers are sent in Little Endian format so the process for converting is the same for each piece of data 283 920 0002 Rev I 2 2013 Host Command Reference Thus an example message might be organized as follows Raw E0032800A8C019000000E90100003802BAFCFFFFC 72A0600C3FFFF40000F0F00 Grouped E003 2800A8CO 1900 0000 E901 0000 3802 BAFCFFFF C72A0600 C3FF FF40 000F OF 00 The data should be decoded as follows Where possible the values have been converted to human readable units Please refer to the appropriate command page for further information
170. e 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 NOTE DI must be assigned a value greater than zero when used with the FY command If DI is set to zero DIO the motor will not move Command Details Structure FY Parameter 1 BUFFERED Usage WRITE ONLY Non Volatile Register Access F 022 Executing the FY command will put a value of 2 in the F register when the sensor is successfully found or a value of 1 in the F register if the safety distance is met If you plan to use the F register for monitoring the success of the FY command you must zero the register before each FY command by executing RLFO Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes DI2000 Set distance to stop beyond sensor to 2000 counts steps DC60000 Set safety distance to 60000 counts steps FY2L Launch Feed to Sensor motor will stop when input 2 is low or when 60000 counts steps are reached whichever event comes first When using the SE QE or Si drives and needing to access the main driver board inputs FYX2L Launch Feed to Sensor motor will stop when main driver board input 2 is low or when 60000 counts steps are reached whichever event comes first 920 0002 Rev I 88 2 2013 Host Command Reference GC Current Command Compatibility Servo d
171. e network to dwell some time while the slower devices open their transmitters Applied Motion drives de assert their transmitters very quickly Typically it is done within 100 microseconds 0001 second after the end of a packet transmission However it is possible that the host device won t be this fast and so the TD command allows users to set the time delay that an Applied Motion drive will delay after receiving a command packet before sending a response packet 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 settings of the PR command See Appendix D for more on the PR command All packets are terminated by a Carriage Return ASCII 13 Drive Startup At power up all Applied Motion 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 Applied Motion software applications such as Quick Tuner and STAC6 Configurator The power up packet is an exception to the ASCII character rule in that all the characters in the packet are binary value Even if the character is printable its binary value is what is important The power up packet consists of three
172. e only the lower word of the Long value is used Command Details Structure RL Paramter 1 Parameter 2 IMMEDIATE READ WRITE Non Volatile All data registers Parameter Details Parameter 1 Data register assignment All Read Write and User Defined data registers Read Only data registers can be read back when Parameter 2 is not included Parameter 2 Data register value range 2147483647 long data registers 32767 short data registers Examples Command Drive sends Notes RLA100 Set acceleration register to 1000 rpm s RLA RLA 100 Return acceleration register value When PR command Bit 5 is set RLO17100 Set Acceleration register to 1000 rpm s RLO17 RLA 100 Return acceleration register value NOTE When setting a register no pre processing of the data value is performed Data is set to the internal raw value For example the internal raw acceleration value is in tens of rpm s See the Data Register section at the beginning of this manual for more details on data register assignments and units 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 raw acceleration value 179 920 0002 Rev I 2 2013 Host Command Reference RM Register Move Compatibility Q drives only Affects All data registers See also RI RD RL TR RX commands Move the contents of a first data register into a second data reg
173. ed for Point to Point move AC100 set acceleration rate to 100 rev sec sec 6000 rpm sec opcode 0x001E from Table 1 operand 0x258 units are 10 rpm sec so 6000 rpm sec is represented by 600 decimal 258 hex Type 1 Command Message Payload Type 1 Response Message Payload byteo fo byte 1 byte2 o unused byte 3 o o yea fo unused o Status Code LSB operand MSB bytee6 o notused operand LSB jbyte7 o j notused DE100 set deceleration rate to 100 rev sec sec 6000 rpm sec opcode 0x001F from Table 1 operand 0x258 units are 10 rpm sec so 6000 sec is represented by 600 decimal 258 hex jbyted o_ reserved jbyte2 o funused nee fo notused bner Jo notus operand MSB operand LSB VE5 set velocity to 5 rev sec 300 rpm opcode 0x001D from Table 1 operand 0x4B0 units are 0 25 rpm so 300 rpm is represented by 1200 decimal 4B0 hex o o byte 4 unused byte4 o unused o 287 920 0002 Rev I 2 2013 Host Command Reference o _ o yte 3 1 opcode o o Bo DI100000 set move distance to 100 000 steps opcode 0x00B6 from Table 1 operand 0Ox186A0 beo Jo resened byez fo nouse byes es opos bea fo _ notused byee ee operand 2nd LSB FL start the feed to length move opcode 0x0066 from Table 1 operand 0 no operand Type 1 Command Message Payload fo fo a lo units are steps so 100000 is represented by 186A0 hex yeo Jo resene byez
174. eeeeeeeeeeeeeeeeeeeeeeetees 181 RR Register Read srssscccrsu niinen coronene 182 RS Request Status s sc2cccccanpdccecnanposanniiennsaeobubadbassonmaaacanmnassbiaioancermen 183 RU Register Upload ssatina eaaa ee ani PREIA 184 RV Revision LS Sl csncserereacsanennn cence cunsenonesesiinrvekaverexenenniarasustatersessenas 185 RW Register Write icssascakvnccucsnsenvecedtiecdsesteateeceseneeniiiea 186 RX Register Load buffered scicsssnsccccevscvvesunnnsnnescanatnesvasnentientenrers 187 Rre Register Add erriten rpa Aa E Raa SP aaae 188 R Register SUDU ACL as svvescevcrrerasunecsivessusntsiesosseurecesernnseesaucesnnionsnessis 189 R Register Multiply ate nce cctqunsrpciive diedesascoranneeear UNG rien 190 R Register Bl 0 aeeneren tere tree eet Sante mate ee Eana a Tr ore rere 191 Pie Register AND ssri niani npa eaaa ei EnA ppan 192 RI Register OR isscaxeneseveessnnenertresdcneemnesssannnmapsssurvvsaecrnresnsiusesieassneeees 193 SA Save Parameters wien emer en 194 SC e Status COUE sssi ee en ARA E eee N rye cer enm 195 SDa Set Directies isis iiaii Eppa A AEE ATSE 196 SF Step Filter Frequency cccccccssssscsssssssseeeeeeeeessssseceeessssssseeeees 197 Od Sook HOME reres ices E E as O aie 198 Sl Enable Input USAGE a scrap cannionbnnsnuccrematnieneasousietarermannisbaeueennereents 199 Sd e Stop JOJN orara suurt nani aparea a E GEE CAROL EP PRP ISa i 201 SK e SOP e Kileri OEE EES EENE 202 SM Stop MOVE essre r rrr OT E
175. eevens User Defined data registers ccccceceeeeeeeeeeeteeeeeeeeeeees St rage data VSO StSt Si cccicerattidtoeetrrrneeanniieanmiianesatieds Using Data Registers icc ccnsiacanndentnxesacuceuenssnnckexdddctmsevanninenn Loading Rie RX ccc cscoseceeataccuslenviveapicieranereraeniien Uploading RL RUY siisriisnanrsisrissssennesisssrrnrirssssrnrnannsisinasa Writing Storage registers RW Q drives OnIy 2 008 Reading Storage registers RR Q drives only 0 Moving data registers RM Q drives only c cccee Incrementing Decrementing RI RD Q drives only Counting RC P register Q drives ONIy cseeeeeee Math amp Logic R R R R R amp RI Q drives only Conditional Testing CR TR Q drives only seeeeeeee Data Register ASSIQNMENIMS ccccccccececeeeeeeeeeeeeeeeeeeeeeeees Read Only data registers a Z iisiieriincinasssvereeessisninusssborss Read Write data registers A Z eeesssessssrsseeeserrerererrreee User Defined data registers 0 9 other characters APPENGICE S scrieri EEs Appendix A Non Volatile Memory in Q drives Appendix B Host Serial Communications Appendix C Host Serial Connections ss sssssssssssssnnnnnnn Appendix D The PR Command l sssssssssssssnnunnnnnnnnnnnnnnnnnnnnn Appendix E Alarm and Status Codes ccccccccssssssseeees Appendix F Working with Inputs and Outpu
176. egister values to be written to non volatile memory on a regular basis The temptation of this is that there won t be a need to reload register values manually in the case of a power down up cycle the register values can simply be loaded back into the program using RR commands from non volatile memory This is to be avoided though because using the RW command or SA command in this manner could result in the early failure of the non volatile memory of the drive The intended use of the RW command therefore is to be used in the early stages of an application during startup and programming to set up a series of non volatile register locations that can be read into a stored program using the RR command The partitions designated for Q Program Segment storage are typically not going to be re written ina manner similar to the RW and SA commands as they are only accessed during program segment downloads during startup and programming of an application 920 0002 Rev 240 2 2013 Host Command Reference Appendix B Host Serial Communications When a drive is operating in host mode it means that a host device sends commands to the drive or drives over a serial connection or network and the drive executes the incoming commands Here are some examples of typical host devices e A Windows based PC running Applied Motion software e An industrial PC running a custom built or other proprietary software application e APLC with an ASCII mod
177. ek Home Stop Jogging Stop the Move O Feed to Length amp Set Output o lt n Set Absolute Position 13 920 0002 Rev I 2 2013 Host Command Reference Motion Commands continued Velocity for Speed Change FC Velocity Setting For Feed Commands Oi o pos E a O O o os E Fv vetootywax O o os wm wattonwowe Cd eves ony SCS we Watton poston Jomes Servo Commands Command Description NV write read Immediate Compatibility only only Change Peak Current o Tf E E alr E ae oh hee fa immediate Actual Cure x immediate Poston enor fit ko ovan Servoriter t xD iferentia Constant ke oteren ner eO ke Verooity Feecforward Constant a fimegrator Consan Je a _ verkc Fter Frequency Je kk era Feeatorward Constant ke Proporional Constant M ev Vetocty Feccback Constant AT Position Fault feedback ee froston senoosoy PP Power UpPeakCurrent Je Servodrivesonly v veiy integrator Constant _ Senodrivesony ve Velocity Mode Proportional Consam _ Senodrivesony Configuration Commands Command Description NV write read Immediate Compatibility only only a ramce C atarves aR faama Sd Sd e as a gt re DsengageDeayime t mos aE Brake Engage Dey ime _ aldives i fas feuersemss J ca oange Acvelration Guren
178. elay to 200 ms BD BD 0 2 920 0002 Rev 38 2 2013 Host Command Reference BE Brake Engage Delay Compatibility All drives Affects All F Feed and Jog commands See also BD command 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 dedicated brake output see BO command the output is activated immediately with the disable command then the drive waits the delay time before turning off the motor current Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Delay time Examples Command Drive sends Notes BE0 25 Sets brake engage delay to 250 ms BE BE 0 25 39 920 0002 Rev I 2 2013 Host Command Reference BO Brake Output Compatibility All drives Affects Function of digital output See also Al AO BD ME MD MO SD SI commands NOTE The digital output circuits available on Applied Motion drives are not sized for directly driving a typical holding brake An external relay must be wired in circuit between the digital output of the drive and the holding brake See the appropriate drive hardware manual for an example wiring diagram BLu SV STAC6 ST Q Si Defines usage of digital output Y1 as the Brake Output which can be used to automatically activate and deactivate a holding brake Output Y1 can also be configured as
179. en 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 The PR command in detail PIPPIP The diagram to the right shows the assignments of each of the 6 bits in the protocol word Remember that when you use the PR command the parameter _ Bit 0 Default Standard SCL that you send along with the command code PR is _____Bit 4 Address Character the decimal equivalent of this binary word Below are Bit 2 Ack Nack the details of each of the bits and the settings they L_______Bit 3 Checksum are assigned Io Bit 4 RS 485 Adapter Bit 5 3 digit numeric register addressing Bit 0 Default Standard SCL PR cannot be set to 0 so if no other bits in the PR word are set to 1 then at least bit O must be set to 1 Setting Bit O to 1 when any other bits are also set to 1 has no effect on the communications protocol For example PR4 bit 2 set to 1 is the same as PR5 bits 0 and 2 set to one With only bit 0 set to 1 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
180. en a Drive Fault occurs AO AO 1 Drives with Flex I O only Command Drive sends Notes SD40 Configures I O 4 as output see SD command for details AO14 Alarm Output is mapped to output 4 and will close when a Drive Fault occurs AO AO 14 NOTE When working with digital inputs and outputs 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 low and SO1L means set output 1 low A high state is represented by the H character 920 0002 Rev 30 2 2013 Host Command Reference AP Analog Position Gain Compatibility All drives Affects CM22 Analog Positioning Command Mode See also AD AF AZ CM SF commands Sets or requests the analog Input gain that relates to motor position when the drive is in analog position command mode see CM command parameter value 22 Gain value sets the commanded position when the analog input is at the configured full scale value Quick Tuner BLu SV STAC6 Configurator STAC6 or ST Configurator ST STM can be used to configure the analog inputs for the
181. ending opcode FF again but this time with an operand of 0 o byte 3 o o o o 920 0002 Rev I 310 2 2013 Host Command Reference CIP General Status Codes The following table lists the Status Codes that may be present in the General Status Code field of an Error Response message Note that the Extended Code Field is available for use in further describing any General Status Code Extended Status Codes are unique to each General Status Code within each object Each object shall manage the extended status values and value ranges including vendor specific All extended status values are reserved unless otherwise indicated within the object definition Success Service was successfully performed by the object specified Connection failure A connection related service failed along the connection path Resource unavailable Resources needed for the object to perform the requested service were unavailable Invalid parameter value See Status Code 0x20 which is the preferred value to use for this condition Path segment error The path segment identifier or the segment syntax was not understood by the processing node Path processing shall stop when a path segment error is encountered Path destination unknown The path is referencing an object class instance or structure element that is not known or is not contained in the processing node Path processing shall stop when a path destination unknown error is encountered Partial transfer
182. ene 90 HG 4th Harmonic Filter Gain cccsjsanaisecivnccoemussnserspaatenenaeieisexndintews 91 HP 4th Harmonic Filter Phase assckcrpenienesssassrnndiernccbdddonsigerpananasts 92 HW Hand Wheel sick civ evecaenesennsawewsisuingescnsanipnsteceeesaqaseanpncuchwansoosseetel 93 Immediate Status COMmiUvian aS vsvesivedevencccsccssceswemeaeeees Hs ieeeteenestens 94 A TSO ae Analog siciicsaadonedaatepinneienesesencharnmsensentcecsetaeieesean 95 IC Immediate Current Commanded ececeeceeeeeeeeeseeeeees 97 ID Immediate Distance ccccceseeeeeceeeeeseeeeeeseaseeeeeesseaeseeeeesnenes 98 IE Immediate Encoder aan epee enntrr re meeeer tre erttr rit een nntretttrrt weeeeer es 99 IF Immediate Format aniececinaienssdeccae anise 100 IH Immediate Aigh UR sirisser deii rnn 101 IL Immediate Low QOUPDUT sasereresssssccdssssencceiansssaecdenaernnrrrasscesnnionnswenes 102 lO lt OUMU SIAU S eper On E E Er EENEN I 103 IP Immediate Position a arcecncntassapnancerarditieseeeeentiotaemeern 105 IQ Immediate Current ACIIAL sscccsvssssccatvsiastslacuscguaa biicninnrenspaeeeeiass 106 IS Input STAINS vinaceovenereracsonresnsddawansesesorenetassssadeecnsernrnnnstesecsnnnenenass 107 IT Immediate TSI SPAN Ss i vivsssiensvnaiids cecoresasvssbreeseninKausieimnneies 110 VON AG Ss saiia ET Ra 112 IV immediate WSO LY tsesen ear E E 113 IX Immediate Position Error ssssssesenseeneenesereresrerrrnrrrrrrnrrrerernrreeene
183. ent in the servo motor is well represented by this value Stepper drives Requests the present peak of sine current applied to each motor phase This value will change depending on what the motor is doing at the moment the command is processed If the motor is moving this value will equal the CA STM only or CC value If the motor is not moving this value will equal the Cl value Command Details Non Volatile Register Access c 051 Units Examples Command Drive sends Notes IC IC 015E 3 5 amps IC IC FEA2 3 5 amps If the IF command is set with Parameter 1 D IFD Set values to be read back in decimal IC IC 350 3 5 amps IC IC 350 3 5 amps 97 920 0002 Rev 2 2013 Host Command Reference ID Immediate Distance Compatibility All drives BLu STAC6 Requests the total relative distance moved in the last completed move SV ST Q Si ST S STM Requests the immediate relative distance traveled from the beginning of the last move Once the move is finished the value will be equal to the relative distance of that last move until another move is initiated at which time the value will zero and begin tracking the new relative distance moved Command Details Structure oO Type IMMEDIATE Usage READ ONLY Register Access d 052 Units encoder counts servo steps stepper Non Volatile Examples Command Drive sends Notes ID ID 00002710 10000 10000 counts into CW move ID ID FFFFD8FO 10000 10000
184. er Can be used to tell if 91 drive is servo or stepper Output Status reads back outputs T N DriveOptions bit pattern indicating presence of option boards 92 Bit 0 Encoder Bit 1 RS 485 Bit 2 CANopen Bit 3 reserved Bit 4 Resolver Bit 5 MCF encoder in and out SV7 only Bit 6 Ethernet sc statusword 8s Ek TD VC VE m AL BS EP IC c t co oC Ola lomo o a s o a NI PO Oyo yoyo IHR aio ic oO iQ Too vo 920 0002 Rev I 304 2 2013 Host Command Reference 10 Encoding Table Useful ASCII values for O commands On STAC5 inputs X1 X4 and outputs Y1 amp Y2 are on the DB15 IN OUT 1 connector Input XO is the encoder index signal Inputs 1 8 and outputs 1 4 are on the DB25 IN OUT 2 connector po o STBasTo O STAC5 I i O input X2 or output Y2 input X4 X5 input X5 n a 1 or output 1 2 or output 2 3 or output 3 4 or output 4 input 5 input 6 er 7 Lae ons oy H Joxe high state open high state open R os2 _ frsingedge risingede 305 920 0002 Rev I 2 2013 Host Command Reference Register Encoding Table tor po fxs fong use defined o 1 y user defined 0x32 long f use defined pf Bj use defined pod 84 tong user defined 0x35 long PF use defined po 865 ong use defined o aj use defined o y ej user defined 0x39 flog use defined o a ee use defined po 8B tong user defined Ox3C long f use defined p
185. ere is no need for the X character on the second I O point See the Parameter Details section in the tables below for specific details Parameter Details The following tables show general I O details for commands as they relate to specific drives There are exceptions to these general rules so be sure to check the command pages for the specific SCL commands you wish to implement as well as the list of exceptions at the end of this section For specific voltage or wiring questions consult your drive s hardware manual Input Parameter Details BLu S BLu Q STAC6 S STAC6 Q STAC6 C Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command Optional i m iii range integer 0 encoder index if present 1 7 8 Analog Command 9 AIN1 AIN2 letter L Low H High F Falling Edge R Rising Edge Parameter 2 Input number input condition range integer 0 encoder index if present 1 7 8 Analog Command 9 AIN1 AIN2 letter L Low H High F Falling Edge R Rising Edge 920 0002 Rev 260 2 2013 Host Command Reference BLu SE BLu QE BLu Si STAC6 SE STAC6 QE STAC6 Si Parameter 1 Optional X input number input condition NOTE Including the optional X indicates that the input s resides on the IN OUT1 or main drive board connector Omitting the X indic
186. ere will be a slight delay in processing the command Real time usage of the data must be carefully analyzed 920 0002 Rev 94 2 2013 Host Command Reference IA Immediate Analog Compatibility All drives See Also AD AV AZ and IF commands BLu SV STAC6 ST Q Si Requests present analog input value from the given source There are three different analog values that can be accessed With no parameter the IA command returns the Analog Command value which is derived from the analog inputs with gain and offset values applied as set in Quick Tuner or Configurator or via the AD AV and or AZ commands When a parameter is given raw unscaled analog input values are returned ST S STM 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 raw unscaled analog input values are returned Note The output of the IA command is formatted by IF See IF for further details Command Details Register Access All drives a 049 Analog Command BLu SV STAC6 ST Q Si 7 058 Analog input 1 unscaled k 059 Analog input 2 unscaled ST S STM 7 058 AIN unscaled Parameter Details BLu SV STAC6 ST Q Si STAC5 SVAC3 Pa
187. erence QD Queue Delete Compatibility Q drives only See also QL QS PW commands Deletes the contents of the non volatile memory location associated with a particular program segment Command Details aD Parameter WRITE ONLY Non Volatile Parameter Details Parameter 1 Segment number Examples Command Drive sends Notes QD5 Delete program segment 5 from the drive s non volatile memory 920 0002 Rev 164 2 2013 Host Command Reference QE Queue Execute Compatibility Q drives only See also QL QX Begins executing a program segment previously loaded into the queue Starts executing at line 1 A segment must have previously been loaded using the QL or QX commands Command Details Examples Command Drive sends Notes QE Begin execution of loaded segment 165 920 0002 Rev I 2 2013 Host Command Reference QG Queue Goto Compatibility Q drives only See also QJ QR Causes program segment execution to jump to the given line number in the queue Gotos directed to the same line number as the QG command or past the end of the queue are ignored Command Details OG Parameter WRITE ONLY Non Volatile Parameter Details Parameter 1 Segment line number Examples Command Drive sends Notes QG10 Cause a jump to line 10 in the segment 920 0002 Rev 166 2 2013 Host Command Reference QJ Queue Jump Compatibility Q drives only Affects Program
188. ers A Z a z and 0 9 are acceptable After entering the new key code the user must enter the SA Save command for the new key code to be saved in the drive Then the next time the drive is powered up password protection will take effect which means the user must first unlock the drive by sending the PW command with the customized key code before being able to upload QU save QS or delete QD any part of the Q drive s stored program All other immediate commands function even if the drive is not unlocked Furthermore every subsequent power up of the drive will require the same key code to be entered before uploading To change the key code enter the present key code at power up and then use the PW command to enter a new key code followed by the SA command To return the drive to the default state of no password protection unlock the drive first by using the present key code then enter the default key code of 1234 followed by the SA command NOTE If the key code is forgotten or lost re entering the default code of 1234 will unlock the drive and ERASE THE CONTENTS OF THE DRIVE S NON VOLATILE MEMORY AT THE SAME TIME Command Details Pw Parameter Non Volatile Register Access Parameter Details Parameter 1 4 digit alphanumeric key code upper and lower case letters and numbers A Z a z 0 9 Default key code is 1234 Examples Command Drive sends Notes PWak99 Password key code se
189. ervo only 7 Step amp Direction 10 Commanded Velocity jog mode 11 Analog velocity 12 to 18 see below 21 Point to Point 22 Analog Position NOTE In Command Modes 11 12 13 and 14 input X2 will function to reverse the direction of motion 920 0002 Rev 54 2 2013 Host Command Reference Command Modes 12 to 18 are for stepper drives and SV servo drives only 12 Analog velocity mode with input X1 as run stop input 13 Analog velocity mode with input X5 X4 for STAC5 drives as speed change input 14 Analog velocity mode with input X1 as run stop input and input X5 X4 for STACS5 drives as speed change input 15 Velocity mode 16 Velocity mode 17 Velocity mode 18 Velocity mode change input JS for speed JS for speed JS for speed JS for speed with input X1 as run stop input with input X5 X4 for STAC5 drives as speed change input with input X1 as run stop input and input X5 X4 for STAC5 drives as speed a NT Sara Twa NOTE It is recommended to use Configurator or Quick Tuner software for setting up velocity mode operation Examples Command Drive sends Notes CM2 Sets the servo drive to Analog Torque mode at which time there is a linear relationship between the voltage at the drive s analog input and the motor current CM7 Sets the drive to Step amp Direction input mode which is used for all digital positioning schemes like Step Pulse amp Direction CW CCW Pulse a
190. eserved bit 5 3 digit numeric register addressing 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 For example 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 4 159 920 0002 Rev I 2 2013 Host Command Reference PS Pause Compatibility All drives See also BS CT command Suspends execution of buffered commands until the next CT Continue command is executed This can be useful for coordinating motion among axes by first pausing PS the drives then loading the drives command buffers with commands and then resuming command execution CT in all drives at once PS can also 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 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 NOTE It is possible to overflow the command buffer Use the BS Buffer Status command to view how many command spaces are vacant in the buffer at any given time Command Details Structure Type BUFFERED Non Volatile WRITE ONLY Examples Command Drive sends Notes PS Pause execution o
191. eter Details Parameter 1 String of characters any printable characters up to 4 characters Examples Command Drive sends Notes SSdone done String done sent when SS command is executed 920 0002 Rev 206 2 2013 Host Command Reference ST Stop Compatibility All drives See Also SK SM commands 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 JL command when jogging Note that setting the JA command also sets the JL command If distinct JA and JL values are required always set JL after setting JA Command Details WRITE ONLY Non Volatile Parameter Details Parameter 1 Deceleration rate range D deceleration rate set by DE or JA command no parameter deceleration rate set by AM command Examples Command Drive sends Notes ST Stop motion immediately using the deceleration rate set by the AM command STD Stop motion immediately using the deceleration rate set by the DE or JA command 207 920 0002 Rev I 2 2013 Host Command Reference TD Transmit Delay Compatibility All drives Affects RS 232 amp RS 485 Serial Communications See Also BR PB amp PR commands Sets or reques
192. f buffered commands 920 0002 Rev 160 2 2013 Host Command Reference PT Pulse Type Compatibility All drives See also CM EG commands Sets or requests the type of incoming pulse used in CM7 Pulse and Direction mode The possible input signals are as follows 0 Step Direction 1 CW CCW Pulse 2 AB Quadrature master encoder 4 Step Direction direction input is reversed from PTO 6 BA Quadrature count direction is reverse of PT2 Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Pulse Type integer 0 1 2 4 or 6 Examples Command Drive sends Notes PTO Instruct the drive to follow step direction pulses from a master controller PT PT 0 PT2 Instruct the drive to follow AB quadrature encoder pulses typically from a master encoder PT PT 2 161 920 0002 Rev I 2 2013 Host Command Reference PW Password Compatibility Q drives only Normally the stored program of a Q drive can be uploaded and downloaded at will This allows basically any user to access the stored program of a Q drive To password protect the stored program of a Q drive the PW command can be issued with a customized key code The factory default key code is 1234 which allows uploading and downloading programs freely To password protect a stored program the user should enter the PW command with a new key code This new key code can be any 4 character alpha numeric code charact
193. f 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 drive also deactivates the Brake Output function see BO command Enabling of the motor is delayed by the BD Brake Disengage time delay WARNING This command restores the previous mode of operation If for example the drive is operating in Analog Velocity mode the motor may immediately start moving External inputs to the drive must be sequenced properly to avoid unpredictable operation Command Details Examples Command Drive sends Notes ME Drive is enabled ME amp Drive is NOT enabled check Servo Enable input SI for proper state 137 920 0002 Rev I 2 2013 Host Command Reference MN Model Number Compatibility All drives NOTE This command is deprecated Please use MV to query the drive for model and revision information Requests the drive s Model Number Drive returns a single character that is a code for the model number Unlike most other commands that request data back from the drive where the drive will send the original Command Code followed by an and then a value when the MN command is sent to a drive the drive only responds with the single character code See below Command Details Structure Type Non Volatile Register Access Units Response Details Model Number Character code character code see belo
194. flow See also QG TI TR CR and all Math commands R commands Causes program segment execution to jump to the given line number in the queue based on a condition code Jumps directed to the same line number as the QJ command or past the end of the queue are ignored If the condition code is met the jump occurs if not the program proceeds to the next line Condition codes are set by previous commands such as the TI Test Input or TR Test Register commands When using math commands R commands the condition code is set based on the result of the math operation Command Details GuParameter Parameter rA WRITE ONLY Non Volatile Parameter Details Parameter 1 Condition code T True F False P Positive G Greater than L Less than E Equals U Unequal Z Zero Parameter 2 Segment line number Examples Command Drive sends Notes TI4L Test input 4 to see if it s low active QJT15 Jump to line 15 if condition code is True i e input 4 is low 167 920 0002 Rev I 2 2013 Host Command Reference QK Queue Kill Compatibility Q drives only Affects Queue execution and program flow See also SK Halts execution of the queue The queue contents are not affected and can be executed again using the QE command Command Details Non Volatile Examples Command Drive sends Notes QK Stop execution of the queue program 920 0002 Rev 168 2 2013
195. fo rouse byes B6 opos byes o rousa byez o rousa Type 1 Response Message Payload byte 0 byte 0 Status Code LSB C o o fo ee ee oe eee on fo fo fo fo Example 2 setting an output SO2L opcode operand 0x4CB2 set output 2 low closed 0x008B from Table 1 LSB is 2 0xB2 MSB is L 0x4C see IO Encoding Table 920 0002 Rev I 288 2 2013 meo Jo reserved bnez o norus feytes Jo notus ves o norus Example 3 enabling the motor ME motor enable opcode 0x009F from Table 1 operand 0 no operand meo Jo reserved onez fo funuse feytes Jo norus byes o norus onee o notus byer o notus Host Command Reference Type 1 Response Message Payload beo fo bnez fo norus byee fo rouse ner Jo notus meo Jo resene bne fo unse nee fo norus bner o notus Example 4 SCL commands required for Feed to Sensor move AC200 opcode 0x001E from Table 1 set acceleration rate to 200 rev sec sec 12000 rpm sec operand 0x4B0 units are 10 rpm sec so 12000 rpm sec is represented by 1200 decimal 4B0 hex meo Jo resened bnez fo funuse feytes Jo unse ves o unse byez Bo operenause DE150 opcode 0x001F from Table 1 yeo Jo reseve ovez Jo funuse bes o _ e7 Jo set deceleration rate to 150 rev sec sec 9000 rpm sec 289 920 0002 Rev I 2 2013 Host Command Reference operand 0x384 units are 10 rpm sec so 9000
196. formation about drive parameters settings and states These include registers for commanded current encoder position analog input levels drive temperature internal bus voltage and more You cannot transfer data values 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 continuous current setting peak 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 User Defined data registers User Defined data registers are read write registers that are not predefined These registers are only used with Q drives They allow you to create more flexible and powerful Q programs through math functions incrementing and decrementing conditional processing and more These registers are assigned to single digit numbers and other ASCII characters Storage data registers Each Q drive comes with 100 non volatile Storage data registers which can be used to save the contents of other data registers to non volatile memory For example since n
197. ful 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 Command Details Non Volatile Parameter Details Parameter 1 Return format H hexadecimal or D decimal 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 10000 Distance is 10000 counts IF IF D 920 0002 Rev I 100 2 2013 Host Command Reference IH Immediate High Output Compatibility All drives See also IL SO commands Sets an output high open immediately Use SO instead if you don t want the output to change until a buffered command like a move is complete Command Details WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes IH1 Output 1 goes high immediately IH2 Output 2 goes high immediately To force Outputs on main driver board when using an SE QE or Si drive IHY 1 Output 1 of main driver board goes high immedi
198. he AF command will affect the responsiveness of the a j and k registers to changes in analog voltage Parameter Details Parameter 1 Filter value integer see formula above 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 920 0002 Rev I 29 2 2013 Host Command Reference AG Analog Velocity Gain Compatibility All stepper drives and SV servo drives Affects Analog velocity modes See also CM command Sets or requests the gain value used in analog velocity oscillator modes 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 analog input is scaled to 0 5 volt input and 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 Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Analog velocity gain value Examples Command Drive sends Notes AG3000 Set top speed of analog velocity mode to 12 5 rps AG AG 3000 23 920 000
199. he Drive menu Network Interface Dialog Local Host IP Netmask 192 168 0 21 255 255 255 0 You will see a dialog such as this Normally Drive Discovery will only detect one network interface card NIC and will select it automatically If you are using a laptop and have both wireless and wired network connections second NIC may appear Please select the NIC that you use to connect to the network to which you ve connected your drive Then click OK Drive Discovery f Cancel will notify you as soon as it has detected a drive Select the host interface you want to search and hit OK If you think this is the correct drive click Yes If you re not sure click Not Sure and Drive Discovery will look for additional drives on you network Once you ve told Drive Discovery which drive is yours it will automatically enter that drive s IP address in the IP address text box so that you are ready to communicate w AMP Drive Discovered Drive discovery found the following AMP drive IP ADDRESS 192 168 0 105 MAC ID 0 4 43 20 DF D4 Download to Drive ARM BUILD NUMBER 16 Upload from Drive Do you want to connect to this drive No Not Sure 271 920 0002 Rev I 2 2013 Host Command Reference Option 2 Connect a Drive Directly to Your PC 1 Connect one end of a CAT5 Ethernet cable into the LAN card NIC on your PC and the other into the drive 2 Set the IP address on the drive to 10 10 10 10 by se
200. hich automatically disable the motor Use the OF command in a Q Program to branch on a Drive Fault NOTE See Appendix for more detailed information on Alarm Codes Examples Command AL AL AL Drive sends AL 0000 AL 0001 AL 0201 Notes No alarms Position limit alarm Position limit and bad encoder signal alarms 27 920 0002 Rev I 2 2013 Host Command Reference AM Max Acceleration Compatibility All drives Affects ST SK SM QK commands analog velocity and oscillator modes See also VM command Sets or requests the maximum acceleration deceleration allowed when using analog velocity and oscillator modes Also sets the deceleration rate used when an end of travel limit is activated during a move or when an ST Stop or SK Stop amp Kill command is sent Command Details Non Volatile Parameter Details Parameter 1 Maximum acceleration deceleration rev sec sec rps s 0 167 5461 167 resolution is 0 167 rps s Examples Command Drive sends Notes AM2000 Set maximum acceleration deceleration values to 2000 rev sec sec AM AM 2000 920 0002 Rev I 28 2 2013 Host Command Reference AO Alarm Output Compatibility All drives Affects Alarm Output usage See also Al BO MO SD SI commands BLu SV STAC6 ST Q Si SVAC3 Q S IP STAC5 Q S IP Defines usage of digital output Y3 Normally this output is used to indicate an Alarm caused by a Drive Fault This output can being reconfig
201. iS Prive Communications Commands only only BR Baud Rate ooo de o o Attives S Bs BufierStatus A l f gt Aanes S ce commumicaionsen mos E immediate Format o o Mos O O O Ps PowerupBaaras moes OO o C a a SY Cid ves mo _ Tansmit Dey SSC l moes S Q Program Commands only only ax alarmReset TT TT Altives S fur mms O O O oe OS mo moopron o omeo o Joram bome o fomm mso Ps fws oo S S SS ao faes o omeo S a fawo l omeo a Jowes ves ony O Queue Goto Pf mem O a fow omeo Oo awen CCT OS lawuo O e STS e oso Cid foucue Repeat S e o oossoo O awusa e o meso O awusa f e e oossoo O Queue Load amp Execute l Le ef Cle Opel e aes a ef pd l Q drives only All drives Q drives only PF Q drives only 17 920 0002 Rev I 2 2013 for Host Command Reference Register Commands Command Description NV write read Immediate Compatibility i only on Compare Register P aarvesony ee a EAA DE O R CE e fRegsier come deve ony ao Register Decrement omes CS a _ Registrnerement fomes C a ives ty iS Pair fRegsiermos J dvs ty iS fan fRegserrea J dives ony iS RU feasa e O TTCSC aw _ Registerwrte S e devas ny CS x aegse J O O dvs ty iS a _ Registeradation SP PP Tomes CS fe Register sumaron dives ony fa _
202. ill need to choose 2 wire or 4 wire RS 485 A Quick Summary of 2 wire and 4 wire RS 485 connections The 2 wire and 4 wire RS 485 protocols that the drives utilize are based on industry standard RS 485 and RS 422 protocols Strictly defined RS 485 is a 2 wire interface that allows multi node connections limited to half duplex serial communications Up to 32 nodes that both transmit and receive can be connected to one network On the other hand RS 422 in the strictest definition is a 4 wire point to point connection that allows full duplex serial communications when connected to a single node RS 422 has one node that is the driver or transmitter and up to 10 nodes that are receivers RS 422 was not designed for a true multi node network 2 wire interfaces require one more significant feature A network node master or slave must be able to tri state its transmitter to allow other nodes to use the network when required For high speed baud rates this must be done very quickly to avoid communication collisions 4 wire interfaces can go beyond simple point to point communications and be used in multi node networks if the slave nodes are capable of tri stating their transmitters as required in the 2 wire networks Some RS 485 devices like Applied Motion drives are set up to do this and can be used in a 4 wire multi node configuration The drives are designed to work in a multi node environment and so they use both the standard 2 wire RS 485 conne
203. ils Jerk Filter Frequency Hz 0 5000 0 disabled Examples Command Drive sends Notes KJ500 Set jerk filter frequency to 500Hz KJ KJ 500 127 920 0002 Rev I 2 2013 Host Command Reference KK Inertia Feedforward Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control inertia feedforward gain Gain value is relative O meaning no gain 32767 meaning full gain KK is an Inertia servo parameter in Quick Tuner KK improves acceleration control by compensating for the load inertia NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details Non Volatile Register Access Parameter Details Parameter 1 Inertia feedforward gain value Examples Command Drive sends Notes KK500 Set inertia feedforward gain to 500 KK KK 500 920 0002 Rev 128 2 2013 Host Command Reference KP Proportional Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control proportional gain term Gain value is relative 0 meaning no gain 382767 meaning full gain KP is part of the Stiffness servo parameters in Quick Tuner This parameter is the primary gain term for minimizing the position error NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details
204. imal 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 Motor Enabled Motor Disabled if this bit 0 Sampling for Quick Tuner 920 0002 Rev 254 2 2013 Host Command Reference Status Code bit definition 1000 Wizard running Timing Wizard is running 2000 Checking encoder Timing Wizard is running 4000 Q Program is running 8000 Initializing happens at power up Example The drive is running a stored Q program hex value 4000 it s in position hex value 0008 and it s waiting for the input specified by the WI command hex value 0080 The Status Code for this condition is 4088 and when the host sends the SC command the drive will respond with SC 4088 s data register Another way to retrieve the Status Code is to use the s data register If the host sends the RLs command the response from the drive will be the decimal equivalent of the 16 bit Status Code word The diagram below shows the 16 bit assignments for the Status Code which of course match the hexadecimal values above Bit 0 Motor Enabled Bit 1 Sampling Bit 2 Drive Fault Bit 3 In Position Bit 4 Moving Bit 5 Jogging Bit 6 Stopping Bit 7 Waiting Bit 8 Saving Bit 9 Alarm Bit 10 Homing B
205. individually An easy way to do this is prior to hooking the drives up with one of the RS 485 implementations shown above use the RS 232 cable that came with each drive and the SCL Setup Utility If you ve already connected your drive using one of the RS 485 implementations completing this sub section will allow you to test your connections First connect your PC and drive See preceding sub sections on connecting to a PC or host for help with this Then launch the SCL Setup Utility on your PC If you don t have the SCL Setup Utility installed you can get it either from the CD ROM that came with your drive or from Applied Motion s web site www applied motion com support software php Once the SCL Setup Utility is launched select the proper COM port of your PC and then apply power to the drive Press the Caps Lock key on your keyboard because the drives only accept commands in uppercase Type RV then press Enter If the drive has power and is properly wired it will respond with RV x where x is the firmware version of your drive This confirms that communication has been established If you don t see the RV x response check your wiring and follow the above procedures again Next you must choose an address for each drive Any of the low ascii characters many of which appear above the number keys on a PC keyboard are acceptable S amp 4 0123456789 lt gt 7 To find out which address is already in you
206. input as low and finishing the WI3L command If by chance input 3 has already been low for the prerequisite 2 milliseconds when the WI3L command is initiated there will be no delay in executing the command On the other hand if input 3 is high when the WI3L command is initiated there will be an additional minimum delay of 2 milliseconds after the input changes state from high to low It is important to understand that any fluctuation of the physical signal by switch bounce or electrical noise will contribute to a lag in the processed signal To turn filtering of input 3 on we need to use the Fl command The Fl command works in processor cycles and we re using a STAC6 stepper drive in this example so a value of 1 equals 100 microseconds To filter the EN input for 2 milliseconds the value of the Fl command would then be 2 msec divided by 100 usec or 20 The correct syntax for the Fl command would then be FI320 As can be seen from the example and flow chart above the functioning of a digital input filter incorporates an averaging effect on the level of the input This means that in the example above if the level of the input 3 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 went to zero for a low state or the filter value for a high state Another example of this averaging effect is if the input were connected
207. int the motor s lead angle exceeds this value a stall condition will occur NOTE While it is worthwhile to understand the meaning of the Lead Angle setting it is intended that the ST Configurator software be used to configure this setting Command Details Non Volatile Parameter Details Parameter 1 Lead Angle Value 1 180 electrical degrees 131 920 0002 Rev I 2 2013 Host Command Reference Examples Command Drive sends Notes LA120 Set the target lead angle setting to 120 electrical degrees default optimal for most motors LA LA 120 920 0002 Rev 132 2 2013 Host Command Reference LS Lead Angle Speed Compatibility Stepper drives except STM See also EF LA commands Specifies the speed at which the Lead Angle specified by the LA command will be applied See LA command for a detailed description of the Lead Angle concept During operation the lead angle is continuously monitored and is dynamically adjusted to maintain maximum torque output The optimal setting is dependent upon motor speed with the maximum setting occurring at the speed specified by LS NOTE While it is worthwhile to understand the meaning of the Lead Angle Speed setting it is intended that the ST Configurator software be used to configure this setting Command Details Non Volatile Parameter Details Lead Angle Speed Examples Command Drive sends Notes LS25 Use maximum lead angle setting
208. ion off Therefore after an interrupt condition is cleared in the system the Ol command must be executed again to reset the interrupt function One way to do this is place a copy of the Ol command near the end of segment 10 before loading and executing another segment QX command Only one interrupt input can be defined at a time within a program Executing the Ol command with no parameter disables the interrupt function If Multi Tasking is disabled MTO default when the input condition is met any move in progress will be aborted and Segment 10 will be loaded immediately If Multi Tasking is enabled MT1 when the input condition is met the program will branch to Segment 10 without interrupting a move in progress In this scenario a Stop Move SM command may be used to abort the move Command Details Non Volatile Register Access Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes MTO Turn Multi Tasking off OIX5F Load and execute program segment 10 when input X5 goes from high to low If a move is in progress abort it MT1 Turn Multi Tasking on OIX5F Load and execute program segment 10 when input X5 goes from high to low Has no effect on a move already in progress Ol Disable interrupt function 147 920 0002 Rev I 2 2013 Host Command Reference OP Option board Compatibility All drives See also IF MV commands Requests the decimal or hexadecimal
209. is in progress and the SM command will execute properly Command Details Non Volatile Parameter Details Parameter 1 Deceleration rate range D deceleration rate set by DE command or JL command if jogging M deceleration rate set by AM command Examples Command Drive sends Notes SMD Stop motion immediately using the deceleration rate set by the DE command or the JL command if jogging SMM Stop motion immediately using the deceleration rate set by the AM command 203 920 0002 Rev I 2 2013 Host Command Reference SO Set Output Compatibility All drives See Also IL IH IO commands Sets an output to the given condition Care must be taken when using outputs on the main driver board because those outputs are by default programmed for dedicated purposes Alarm Brake Motion Use the AO BO and MO commands to reconfigure main driver board output usage to general purpose before using the SO command with those outputs Command Details Structure SO Parameter 1 Type BUFFERED Parameter Details See Appendix F Working With Inputs and Outputs WRITE ONLY Examples Command Drive sends Notes SO1L Set output 1 low closed SO2H Set output 2 high open SOY1L Set main driver board output 1 low closed SOY2H Set main driver board output 2 high open 920 0002 Rev 204 2 2013 Host Command Reference SP Set Position Compatibility All drives Affects FP commands See Al
210. ister Command Details RM Parameter i Parameter 2 Non Volatile All Read Write and User Defined data registers Parameter Details Parameter 1 Source data register all data register assignments Parameter 2 Destination data register all Read Write and User Defined data registers Examples Command Drive sends Notes RMAB Move contents of acceleration register A into the deceleration register B 920 0002 Rev 180 2 2013 Host Command Reference RO Anti Resonance ON Compatibility Stepper drives Enables or disables the Anti Resonance algorithm This command has the same effect as the Anti Resonance off check box in ST Configurator s motor configuration dialog Command Details Non Volatile Parameter Details Parameter 1 Anti Resonance Algorithm Status range 0 Anti Resonance OFF 1 Anti Resonance ON Examples Command Drive sends Notes RO1 Enable Anti Resonance algorithm RO RO 1 ROO Disable Anti Resonance algorithm RO RO 0 181 920 0002 Rev I 2 2013 Host Command Reference RR Register Read Compatibility Q drives only Affects All data registers See also RI RD RL RM RW commands Reads a data value from a non volatile memory location into a data register The data value is read as a Long word If the value being read is too large for the destination data register the value is truncated Command Details ai Parameter Parameter 2
211. it 11 Wait on Timer Bit 12 Wizard running Bit 13 Checking Encoder Bit 14 Q Program is running Bit 15 Initializing Status Code 16 bit word Example The drive is running a stored Q program bit 14 it s in position bit 3 and it s waiting for the input specified by the WI command bit 7 The resulting Status Code binary word is 0100 0000 1000 1000 The decimal equivalent of this word 16 520 so the response from the drive to the RLs command will be RLs 16520 A useful tool for converting between binary decimal and hexadecimal If you re using a Windows based PC as a host with your drive which you ll definitely be doing at some point during the project you can use the Calculator utility that comes with Windows to convert Alarm and Status Codes between binary decimal and hexadecimal values This utility is usually found in Start Menu Programs Accessories Once open make sure to choose Scientific view from the View menu of Calculator This view provides radio buttons for Hex Dec and Bin To figure out what your Alarm or Status Code is telling you first select the appropriate radio button Hex for the AL or SC commands Dec for the f and s registers then enter the response from the drive Now you can toggle between Hex Dec and Bin to compare the values to the tables and diagrams above Note Calculator does not show leading zeros in a binary number so you may see less than
212. its than the N register see Data Registers section for details Parameter Details BLu SV SVAC3 Parameter 1 Continuous current setting amps rms resolution is 0 01 amps BLuDC4 0 4 5 BLuDC9 0 9 0 BLUACS 0 5 0 SV 0 7 0 SVAC3 120V SVAC3 220V 0 3 5 0 1 8 STAC6 ST Q Si ST S STM STAC5 STACE 0 6 0 ST5 0 5 0 ST10 0 10 0 STM 0 5 0 STAC5 120 5 STACS 220 0 2 0 0 55 45 920 0002 Rev I 2 2013 Host Command Reference Current setting in stepper drives depends on the selected motor Use Configurator software to select a motor and set the maximum current setting Examples BLu SV SVAC3 Command Drive sends Notes CC4 50 Set continuous current to 4 5 amps rms CC CC 4 5 STAC6 Command Drive sends Notes CC4 50 Set running current to 4 5 amps Cl2 Set idle current to 2 0 amps CC1 8 Set idle current to 1 8 amps CC CC 1 8 Cl Cl 1 8 Cl automatically set to 1 8 amps along with CC1 8 command ST Q Si ST S STM STAC5 Command Drive sends Notes CC3 Set running current to 3 0 amps Cl Cl 1 5 Cl automatically set to 1 5 amps along with CC3 command Cit Set idle current to 1 0 amps 920 0002 Rev I 46 2 2013 Host Command Reference CD Idle Current Delay Time Compatibility Stepper drives only Affects Motor current at rest See also CC Cl commands Sets or requests the amount of time the drive will delay before transitioning from full current
213. ity Q drives only Affects All data registers See also CR TI RI RD RM RL QJ commands Tests a data register against a given data value The result of the test is the setting of the condition code which can be used for conditional programming see QJ command All conditions codes can be set by this command See QJ command for more details Command Details Structure TR Parameter 1 Parameter 2 BUFFERED WRITE ONLY Non Volatile Register Access All data registers Parameter Details Parameter 1 Data register data register assignment All data registers range 2 147 483 647 long data registers 32 767 short data registers Examples Command Drive sends Notes TR15 Test user defined register 1 against the value 5 920 0002 Rev 210 2 2013 Host Command Reference TS Time Stamp Compatibility Q drives only Affects Data Register W See also RC WD All register commands Transfers the oldest Time Stamp value from the time stamp buffer into the W data register The time stamp value is a time value in milliseconds recorded between two input triggers when using the RC command Each time a defined input condition is True triggered the elapsed time from the previous input is stored in the time stamp buffer The time stamp buffer is 8 words deep and acts as a FIFO buffer The I data register used by the RC command records when an input trigger has occurred
214. jor revision most significant byte Snye 0x75 ARM Ethernet board firmware major revision least significant byte 0x00 ARM Ethernet board firmware minor revision most significant byte 0x07 ARM Ethernet board firmware minor revision least significant byte 0x41 ASCII A the profile code 0x5F 95 Model Number see table below 0x00 Sub model Number see table below 0x01 1 Drive firmware major revision number 1 xx 0x03 3 Drive firmware minor revision number x 03 0x4A ASCII J Drive firmware revision letter x xXJ ARM firmware major rev minor rev 0x0075 0x0007 117 07 Hex Dec Hex Dec Hex Dec ons SIP onua SSP S na Smo TAC5 IP STAC5 IP 220 SVAC3 IP 220 O ox5F 95 SVAC3 IP 285 920 0002 Rev I 2 2013 Host Command Reference Vendor Specific Device Profile A Explicit Message Types Two types of explicit messages can be sent to Applied Motion EtherNet IP drives Type 1 messages include most of the buffered SCL and Q commands However unlike SCL and Q commands that are sent over RS 232 RS 485 and standard Ethernet Type 1 messages do not support queries Immediate SCL commands cannot be encapsuated in Type 1 messages Type 2 messages provide additional functionality not available with Type 1 messages including the ability to read back settings and registers Both types can be sent over a Class 3 connection or they can be sent to the Unconnecte
215. l 10 volts 5 differential O 10 volts 6 differential 5 volts 7 differential 0 5 volts Examples Command Drive sends Notes AS2 Analog input scaling set to single ended 5 volts AS AS 2 33 920 0002 Rev I 2 2013 Host Command Reference AT Analog Threshold Compatibility All drives Affects All Feed to Sensor type commands See also AF AZ FS FY FD commands Sets or requests the Analog Input Threshold that is used by the Feed to Sensor command The threshold value sets the Analog voltage that determines a sensor state or a trigger value Command Details READ WRITE Non Volatile Y 041 Parameter Details Parameter 1 Analog threshold value BLu SV STAC6 ST Q Si STAC5 SVAC3 10 000 to 10 000 ST S STM 0 000 to 5 000 Examples Command Drive sends Notes AT4 5 Analog input threshold set to 4 5 volts AT AT 4 5 920 0002 Rev I 34 2 2013 Compatibility Affects See also Host Command Reference AV Analog Offset Value All drives All Analog input functions AF AP AZ CM amp Feed commands Sets or requests the analog offset value in volts Command Details Non Volatile Register Access Parameter Details Parameter 1 Analog offset value Examples Command AV0 25 AV Drive sends AV 0 25 Z 042 Note Units of AV command are different than units of Z register see Data Registers section for more details
216. lay the user may trigger X3 an arbitrary number of times After 5 seconds the motor will execute a series of 5000 step moves with the delay between each corresponding to the delay between switch closures on X3 That is if the user trips X3 four times waiting 1 second between each event the motor will execute four 5000 step moves with a 1 second dwell between each 920 0002 Rev 174 2 2013 Host Command Reference Sample Q program for illustrating RC and TS interaction LABEL2 LABEL1 NO 1 20000 250 250 5 3 200 0 1 L LABEL1 W 1 LABEL2 Multi tasking ON 20 000 steps rev Filter input 3 for 200 processor ticks Zero the I register Setup the I register for input X3 Wait for input X3 Wait 5 seconds gt gt gt trigger inpuxt X3 a few times Throw away first time stamp Decrement I register Feed 5000 steps Test I against 1 Jump to end if I less than 1 Time stamp Move W into 1 Delay for 1 milliseconds Go to Label 2 Stop program 175 920 0002 Rev I 2 2013 Host Command Reference RD Register Decrement Compatibility Q drives only Affects All data registers See also Rl RM Decrements by 1 the value of the designated data register Command Details RD Parameter 1 BUFFERED WRITE ONLY Non Volatile All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment all Read Write and U
217. ledge 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 Example Command Drive Sends Notes DI8000 Drive sends normal Ack over RS 232 port only in response to global set distance to 8000 920 0002 Rev 250 2 2013 1D18000 1 Bad command Example Host Command Reference Drive at address 1 sends normal Ack over both ports in response to address specific set distance to 8000 Command Drive Sends Notes VE200 5 Drive sends 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 Buffered command Example code in response to address specific set velocity to 200 rps Command Drive Sends Notes AC10 Drive sends Exception Ack over RS 232 port only in res ponse to global set acceleration to 10 rps
218. ll drives STAC6 ST Q Si drives raw ADC counts 0 32760 BLu SV STAC6 k Analog Input 2 IA2 059 Short 16383 0 volts ST Q Si only i z Encoder counts servo or f l Immediate Absolute Position 060 Long motor steps stepper All drives m Command Mode CM 061 Short Mode All drives n Velocity Move State 062 Short State see below All drives Response details to the RLn command Description Decimal Value Comment WAITING 0 In velocity mode waiting for a command RUNNING 1 Doing a velocity move jogging FAST STOPPING 2 Stopping a velocity move ST or SK with no parameter STOPPING 3 Stopping a velocity move SJ STD or SKD ENDING 4 Clean up at end of move 1 PWM cycle 62 usec O Point to Point Move State 063 Short State see below All drives NOTE The Point to Point Move State is only defined during FL FP and FS commands Details when using RLo command Description Decimal Value Comment WAITING 0 In position mode waiting for command WAITING ON BRAKE 1 Waiting for brake to release CALCULATING 2 Doing the calculations for the move ACCELERATION 3 Accelerating up to speed CHANGE VELOCITY 4 Changing the speed accel or decel AT_VELOCITY 5 At the desired speed DECELERATION 6 Decelerating to a stop FAST DECELERATION 7 Doing a fast deceleration ST or SK POSITIONING 8 Clean up at end of move 1 PWM cycle 62 usec p Segment Number 064 Short
219. llel with a buffered command if necessary For example this allows you to check the remaining space in the buffer using the BS Buffer Status command or the immediate status of digital inputs using the IS Input Status command while the drive is processing other commands Immediate commands are designed to access the drive at any time Applied Motion recommends waiting for an appropriate Ack Nack response from the drive before sending subsequent commands This adds limited overhead but ensures that the drive has received and executed the current command preventing many common communication errors If the Ack Nack functionality cannot be used in the application for any reason the user should allow a 10ms delay between commands to allow the drive sufficient time to receive and act on the last command sent This approach allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position Using Commands 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 YXXAB lt cr gt In the syntax above Y symbolizes the drive s RS 485 address and is only required when using RS 485 networking XX
220. losed Bit 15 represents the ID bit which simply holds a 1 if the IN OUT2 or screw terminal I O board is present and a 0 of it s not In other words for SE QE and Si drives the ID bit will equal 1 For S and Q drives the ID bit will equal 0 xO N xO S amp s lt ka c fe ID x x xll4 3 2 1118 765 432 11 bt1s gt 0 00000000000 00 0 0 lt bitO For example if top board inputs 3 and 5 and top board outputs 1 and 2 were all closed the response of the drive to the command RLi would be RLi 29461 1000 1100 1110 1011 For a more efficient use of the y register it is recommended to mask off the ID bit and the other three not used bits This can be done by using the R amp Register AND command with the y register and a User Defined register set with the value 4095 0000 1111 1111 1111 1111 Following a register AND operation amp this will reject the top 4 bits leaving the rest of the data untouched For example the command sequence would look like this RL14095 Load User Defined register 1 with the value 4095 R amp y1 Register AND the y and 1 registers RLO Request the value stored in the Accumulator register O to which the drive s response would be RLO 3307 Z Phase Error 074 Short encoder counts Servo drives only 233 920 0002 Rev I 2 2013 Host Command Reference Read Write data registers A Z Many of the Read Write data
221. low SI3n The specified input n is not used for Drive Enable and may be used as a general purpose input 199 920 0002 Rev I 2 2013 Host Command Reference STAC5 S SVAC3 S Defines the X3 input as an Enable Input If you want to use the X3 input as an Enable input you can define it as such in two ways with the ST Configurator software or with the SI command SI takes no effect if the drive is set in Command Mode CM 13 14 17 or 18 because these modes use the X3 input as a speed change input and take precedence over the SI command Also setting the Al command after setting the SI command reassigns the X3 input to Alarm Reset usage and turns off any drive enable usage SI3 In other words the Al and SI com mands as well as Command Modes CM 13 14 17 and 18 each assign a usage to the X3 input Each of these must exclusively use the X3 input There are three Enable input states that can be defined with the SI command SI1 Drive is enabled when the X3 input is open inactive high S12 Drive is enabled when the X3 input is closed active low SI3 The X3 input is not used for Enable and can be used as a general purpose input SI will be automatically set to 3 if CM is set to 13 14 17 or 18 or if Alis set to 1 or 2 after the SI command is set Command Details Sl Parameter 1 Parameter 2 Flex I O only BUFFERED READ WRITE Non Volatile Register Access Parameter Details Parameter 1 Input Usage 1 3
222. ly set to 3 Command Details MO Parameter 1 Parameter 2 Flex I O only BUFFERED READ WRITE Non Volatile Register Access None Parameter Details Parameter 1 Output Usage see above Parameter 2 Flex I O only I O Point if applicable see note below NOTES The SD command must be executed to set an I O point as an output before that output can be designated as the Motion Output e Parameter 2 only applies to drives equipped with Flex I O This includes the STM24 S and Q Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes MO1 Motion Output will close when the motor is not moing MO MO 1 Drives with Flex I O only Command Drive sends Notes SD40 Configures I O 4 as output see SD command for details MO14 Motion Output is mapped to output 4 and will close when the motor is not moving MO MO 14 STM24 S Q only Command Drive sends Notes MO14 I O point 4 will be closed when motor is not moving MO MO 14 NOTE When working with digital inputs and outputs 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 b
223. mes TS Throw away first time stamp LABEL2 RD Decrement I register FL 5000 Feed 5000 steps TR l 1 Test I against 1 QJ L LABEL1 Jump to end if I less than 1 TS Time stamp RM W 1 Move W into 1 WD 1 Delay for 1 milliseconds QG LABEL2 Go to Label 2 LABEL1 NO Stop program 920 0002 Rev I 2 2013 211 Host Command Reference VC Velocity Change Compatibility All drives Affects FC FD commands Sets or requests the change speed for FC and FD moves Command Details READ WRITE Non Volatile U 037 Parameter Details Parameter 1 Move velocity BLu SV STAC6 ST Q Si ST S 0 0042 133 3333 resolution is 0 0042 STM 0 0042 80 0000 resolution is 0 0042 Examples Command Drive sends Notes VC5 Set change velocity to 5 rev sec VC VC 5 920 0002 Rev p12 2 2013 Host Command Reference VE Velocity Compatibility All drives Affects FC FD FE FL FM FS FP FY SH commands Sets or requests shaft speed for point to point move commands like FL FP FS FD SH etc Command Details Non Volatile V 038 Parameter Details Parameter 1 Move velocity BLu STAC6 0 0042 133 3333 resolution is 0 0042 SV 0 0042 136 resolution is 0 0042 ST Q Si ST S STM STAC5 0 0042 80 0000 resolution is 0 0042 Examples Command Drive sends Notes VE2 525 Set move velocity to 2 525 rev sec VE VE 2 525 21
224. mmand 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 Note that certain commands PA PB PC PI and PM save their parameter data to non volatile memory immediately upon execution and need not be followed by an SA command 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 Compatibility shows which drives use each of the commands The different categories for these tables Motion Servo Configuration I O Communications Q Program Register are set up to aid you in finding particular commands quickly Motion commands have to do with the actual shaft rotation of the step or servo motor Servo commands cover servo tuning parameters enabling disabling the motor and filter setup Configuration commands pertain to setting up the drive and motor for your application including tuning parameters for your servo drive step resolution and anti resonance parameters for your step motor drive etc I O commands are used to control and configure the inputs and outputs of the drive Communications commands have to do with the configuration of the drive s serial po
225. mmand Summary section Command Details Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes SA Save all Non Volatile designated data registers 920 0002 Rev 194 2 2013 Host Command Reference SC Status Code Compatibility All drives See also RS command 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 E for more details on the Status Code Command Details Sro SSCS Units Hexadecimal equivalent of the binary status code word see bit assignments below Response Details Sampling for Quick Tuner Drive Fault check Alarm Code In Position motor is in position Moving motor is moving Jogging currently in jog mode Stopping in the process of stopping from a stop command Waiting for an input executing a WI command Saving parameter data is being saved Alarm present check Alarm Code Homing executing an SH commana Waiting for time executing a WD or WT command Examples Command Drive sends Notes SC SC 0009 Drive is in position and enabled hex values 0001 and 0008 SC SC 0004 Drive is faulted and disabled hex value 0004 S
226. mware version s sub letter as well if applicable use the MV command Command Details Structure Type IMMEDIATE Usage READ ONLY Examples Command Drive sends Notes RV RV 150 Drive is running firmware version 1 50 185 920 0002 Rev I 2 2013 Host Command Reference RW Register Write Compatibility Q drives only Affects All data registers See also RI RD RL RM RW commands Writes the data value of a given data register into non volatile memory The data value is written as a Long word See Appendix A for more details on this command including its limitations NOTE The RW function writes information to flash memory which has a usetul life of 10 000 write cycles Command Details RW Parameter Parameter FA WRITE ONLY Non Volatile All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment all Read Write and User Defined data registers Parameter 2 Non volatile memory location 1 100 Examples Command Drive sends Notes RWV10 Write data from data register V into non volatile memory location 10 920 0002 Rev I 186 2 2013 Host Command Reference RX Register Load buffered Compatibility Q drives only Affects All data registers See also RL RU RM commands Sets a data register to the given immediate data value The data value is checked and stored as a Long word When loading a Short word data register with the given Long word d
227. n feature Lower current to normal running level application dependent Lower idle current to normal running level application dependent If this is done through a Q program add a short delay after raising current levels CC6 Cl5 4 WT1 EF1 CC3 Cl2 4 Raise current to 6A Raise idle current to 5 4A Short delay Enable Stall Detection feature Lower current to normal running level application dependent Lower idle current to normal running level application dependent 90 of CC see CI command for details 69 920 0002 Rev I 2 2013 Host Command Reference EG Electronic Gearing Compatibility All drives Affects Command Mode 7 FE and HW commands See also CM ER FE and HW commands BLu SV Sets or requests the pulses per revolution for electronic gearing For example with an EG value of 20000 the servo drive will require 20000 pulses from the master pulse source to move the servo motor 1 revolution STAC6 ST Q Si ST S STM Sets or requests the desired step microstep resolution of the step motor Command Details Register Access R 034 Note With servo drives the EG command is equal to the R register With stepper drives the EG command is equal to twice the R register Parameter 1 Servo electronic gearing ratio Stepper step resolution units Servo counts rev Stepper steps rev range Servo 200 32000 Stepper 200 51200 Examples Command Drive sends Notes EG2000
228. n the second data register Parameter 2 The result is a condition code that can be used for program conditional processing See QJ command For Example if the first data register is greater than the second the greater than flag is set and the QJGx command can be used to create a conditional jump Command Details CriParameter fy Parameter FA WRITE ONLY Non Volatile All data registers Parameter Details Parameter 1 First data register assignment All data register assignments Parameter 2 Second data register assignment All data register assignments Examples Command Drive sends Notes CRE1 Compare data register E to data register 1 QJG5 If E register is greater than 1 register jump to line 5 of Q segment otherwise proceed to next line of 920 0002 Rev I 2 2013 Host Command Reference Compatibility Affects See also Sets or requests the jogging speed in rev sec while jogging When Jogging using the CJ command the Jog speed can be changed dynamically by using this command The sign of CS can be positive or negative allowing the direction of jogging to be changed dynamically also Ramping between speeds is controlled by the JA and JL All drives Jog speed while jogging CJ JS JA JL commands CS Change Speed commands Setting CS does not change JS or DI Command Details Non Volatile Register Access Parameter Details Parameter 1 Jog Speed J
229. nadiindoanncias 17 O Program Commands ssis e E 17 Register Commands oc cacccttansse tous eoaeenticnedracemcatnnsee ne eeaeia 18 Command LiSting seeeeeeeeeeesseneneseeeeeeeeeeeseseesnnenneeeeeeeeeessensenanes 19 AC Acceleration Rate sihcidesdaradiriiarcnnsasdssisseennasectdeneaanaladaxaaduuasadanacss 20 PES SPATS AON sriain 21 AF Analog Filter ene ene ree ene nO tenen EE er rer errr ee 22 AG Analog Velocity TaN ccceestieesee eer eee 23 Al Alarm Reset Input seasisssaicnasssancrrdinnicasasinasnessacesddtunmeaadidarteeanecnasadics 24 Abs AM OG e A 27 AM Max PAC SGT CIN ciciissus saanpisecatialeesacdanecceanddddamensannneistsseueetasasinns 28 PODS PAY TO suisia amannan ie easi 29 AP Analog Position Gain dead asciavcsenginnasie ti tsccslaidddeainaaaaeenennimiaadeses 31 AR Alarm Reset Immediate ccccccceeceeeessssesseeeeeeeeeeeseeeeeeas 32 AS Analog ScalNg srana neei 33 Al PUG Treshold srutra 34 AV Analog Offset VAG isaisiasssaccmitensinaas sicscnsalatsiaacscaiidemmseiaueduonssn 35 AX Alarm Reset Buffered si ciccsccscosscestesssnienttcesseceriiiiunsnamanceentl 36 AZ Analog Zel eet ee Be aaie e err er Ne eee 37 BD Bfake Disengage Delay aueccis ax sbvceaedsinsinceetnissancccerttideestasssecedsees 38 BE Brake Engage Delay eke anes eecennicasss jiaadadudendeanidnanatabreneeiiaaleass 39 920 0002 Rev I 2 2 2013 Host Command Reference EP Bae OUIPUE ssiri rpp ier aar Ep 40 BR Baud Rate sc casac
230. ncluding omitting the optional Y has no effect on the execution of the command Kai K iia ii range integer 1 3 letter L Low H High BLu SE BLu QE BLu Si STAC6 SE STAC6 QE STAC6 Si Parameter 1 Optional Y output number output condition NOTE Including the optional Y indicates that the output s resides on the IN OUT1 or main drive board connector Omitting the Y indicates that the output s resides on the IN OUT2 or top board connector aaa H ia iii range integer for IN OUT1 or main drive board connector Y1 Y3 integer for IN OUT2 or top board connector 1 4 letter L Low H High 265 920 0002 Rev I 2 2013 Host Command Reference STAC5 S SVAC3 S Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command D erer range integer 1 2 letter L Low H High STAC5 Q STAC5 IP SVAC3 Q SVAC3 IP Parameter 1 Optional Y output number output condition NOTE Including the optional Y indicates that the output s resides on the IN OUT1 connector DB 15 Omitting the Y indicates that the output s resides on the OPT2 connector DB 25 adii as range integer for IN OUT1 connector Y1 Y2 integer for OPT2 connector 1 4 letter L Low H High ST Q ST Si ST C ST IP SV7 S SV7 Q SV7 Si SV7 C SV7 IP Parameter 1
231. nd A B Quadrature Use the appropriate Configurator or Quick Tuner application to set the proper scheme within this mode CM10 Sets the drive to Command Velocity or jog mode which in practice is very similar to Point to Point mode CM21 When in CM21 and a jog command is issued like CJ the drive automatically switches to CM10 during the jog move and then back to CM21 when the jog move is stopped Conversely when in CM10 and a feed move is commanded like FL the drive automatically switches to CM21 during the move and then back to CM10 when the move is finished CM10 is most useful with servo drives and when the JM Jog Mode is setto 2 This puts the drive into a jog mode in which position error is ignored Then when the motor is at rest the drive acts somewhat like a constant friction device in that a certain amount of torque set by CC and CP commands is required to move the shaft CM11 Sets the drive to Analog Velocity mode In servo drives this will be similar to the Analog Torque mode where voltage level at the analog input relates to motor speed In stepper drives this puts the drive into continuous oscillator mode with speed set by the JS command CM22 Sets the drive to Analog Positioning mode In this mode it is also possible to control the position through the use of an external encoder 55 920 0002 Rev I 2 2013 Host Command Reference CP Change Peak Current Compatibility Servo drives only Affects Motor c
232. nd Reference CM Command Mode AKA Control Mode Compatibility All drives Affects Drive mode of operation See also PM command Sets or requests the Command Mode that the drive operates in For more automated setup of command modes use the appropriate Configurator or Quick Tuner software application The most common command mode is Point to Point 21 in which all move commands can be executed Move commands like FL FP FS and CJ can still be executed when the command mode is set to Step amp Direction 7 because the drive will temporarily switch to command mode 21 to execute the move then revert back to command mode 7 when the move is finished However move commands are either ignored or do not function properly when the command mode is set to any velocity mode 11 18 or the Analog Position mode 22 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 For this reason it is suggested that the appropriate Configurator or Quick Tuner software application be used to test specific Command Modes first before changing them in the application using the CM command Command Details Register Access m 061 Note Because a drive can change Command Mode on it s own to complete certain moves the CM command and the m register may not always match Parameter Details Parameter 1 1 Commanded Torque servo only 2 Analog Torque s
233. nd at line 1 of the segment Next line command at line 2 of the segment Last line command at last line of segment Negative Responses ack QUO No segment at specified location QU 1 Program Running Cannot upload at this time QU 2 Upload currently in process QU 3 Password Protected Protection must be unlocked using PW command Command Details QUiParareter Ft Non Volatile Parameter Details Parameter 1 Program segment location Examples Command Drive sends Notes QUO queue contents Uploads contents of queue to the serial port QU3 segment 3 contents Uploads contents of segment from non volatile memory location 3 920 0002 Rev 172 2 2013 Host Command Reference QX Queue Load amp Execute Compatibility Q drives only Affects Stored program flow See also QE QL Loads a program segment from non volatile memory into the queue Begins executing the segment at line 1 This is the similar to the combination of a QL Queue Load and a QE Queue Execute command with the difference being the QX command can be written into a stored program segment Use this command to jump from segment to segment Command Details Ox Parameter A Non Volatile Parameter Details Parameter 1 Program segment location Examples Command Drive sends Notes QX2 Loads segment 2 and begins execution 173 920 0002 Rev I 2 2013 Host Command Reference RC Register Co
234. nt Rated Compatibility Stepper drives except STM See also CC PN commands Specifies the maximum current that can be sent to the motor This is the same value set in ST Configurator s Custom Motor screen for Rated Current This value serves as the upper ceiling for the CC command preventing excessive current from being sent to the motor potentially damaging it It is also used when the motor is probed to determine its electrical characteristics see PN command for details Command Details MC Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Motor Rated Current range 0 6 00 amps STAC6 only 0 10 00 amps ST S ST Q Si Examples Command Drive sends Notes MC2 5 Motor maximum current set to 2 5A MC MC 2 5 135 920 0002 Rev I 2 2013 Host Command Reference MD Motor Disable Compatibility All drives See also BE BO ME commands Disables motor outputs reduces motor current to zero Disabling the motor also activates the Brake Output function see BO command Motor current is not reduced to zero until the Brake Engage BE command time has expired Command Details Co Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes MD Drive turns off current to the motor 920 0002 Rev 136 2 2013 Host Command Reference ME Motor Enable Compatibility All drives See also BD BO MD commands Restores drive current to motor I
235. ntents of status register s and user defined register 1 and place the result in accumulator register 0 920 0002 Rev 192 2 2013 Host Command Reference R Register OR Compatibility Q drives only Affects All data registers See also R R R R R amp RD RI QJ commands Do a bit wise OR of the contents of the first data register with the contents of the second data register and place the result in the accumulator data register User Defined register 0 This is a 32 bit operation All math operations affect the condition code used by the QJ Queue Jump command Can set condition codes T F N P and Z Command Details AI Parameter FN Parameter 2 Non Volatile 0 000 Accumulator Parameter Details Parameter 1 First data register data register assignment All data registers Parameter 2 Second data register data register assignment All data registers Examples Command Drive sends Notes RIi1 OR the contents of inputs register i with user defined register 1 and place the results in accumulator register 0 193 920 0002 Rev I 2 2013 Host Command Reference SA Save Parameters Compatibility All drives See Also RE command Saves selected command parameters to non volatile memory This command is useful for setting up the drive configuration with the desired defaults at power up See which commands are non volatile in the Co
236. nto velocity type servo control when jogging JM JM 2 920 0002 Rev 120 2 2013 Host Command Reference JS Jog Speed Compatibility All drives Affects Jogging during WI command velocity oscillator modes and CJ command See also CJ CS JA commands Sets or requests the speed for Jog moves in rev sec Sending JS with no parameter causes drive to respond with present jog speed Command Details Non Volatile Register Access J 026 Note The JS command uses different units than the J register See Data Registers section for details Parameter Details Parameter 1 Move velocity BLu SV STAC6 ST Q Si ST S 0 0042 133 3333 resolution is 0 0042 STM 0 0042 80 0000 resolution is 0 0042 Examples Command Drive sends Notes JS10 35 Set jog speed to 10 35 rps JS JS 10 35 121 920 0002 Rev I 2 2013 Host Command Reference KC Overall Servo Filter Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control overall filter frequency The filter is a simple one pole low pass filter intended for attenuating high frequency oscillations The value is a constant that must be calculated from the desired roll off frequency See equation below NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system C 72090 1400 F 2 2 where C Filter Value F desired filter Frequency in Hz Command Details
237. o 8D ong use defined o y aj user defined 0x3F long f user defined 0x40 Hong f use defined o y y ej user defined po y y y dwj use defined pf 0x5 fomg use defined po GE ong use defined pf GF tong use defined pf 0x60 fom analog command O ine number Oo y y dej s current command relative distance woo o fon s encoder position ong sensor position condition code X inputs IN OUT 1 gt a i 3 D D i i i i hor hor absolute position foec Long E o pointtopointstate f o oF jso yes w jo o as DJE o o eje 2 eA for Po oD o ed Bo 9 ed ja bo jd je ooo i fi 920 0002 Rev I 306 2 2013 Host Command Reference ston yes iin fi f m ooo ous fo ww e O e T o a e O O a a 2 CE a a oo es o o E C e O E C e Co C a a mo Somos foo Soe stot C C P faouenn OOOO oo o O o fem S o C e a C e sng woa fooi p e ooo mwee Es sto feosty isto waw O 2 C atin gs E E C a stot arenas fast 307 920 0002 Rev I 2 2013 Host Command Reference EtherNet IP And Q Programs To provide additional functionality and autonomy Q programs can be stored in EtherNevt IP drives These programs can be started and stopped on demand using explicit messaging The Q Programmer application is used to compose download and test Q programs Please avoid sending EtherNet IP messages to the drive while the Q
238. 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 see CM command The deadband is an absolute value that in usage is applied to either side of the zero point Note that in Analog Positioning mode CM22 the AD setting is used as a hysteresis value rather than a standard deadband setting As such it will work over the entire analog range not just at zero volts Command Details Non Volatile Register Access Setting the AD command will affect the contents of the a Analog Command register Parameter Details Parameter 1 Analog deadband value millivolts 0 255 Examples Command Drive sends Notes AD100 Set analog deadband to 0 1 volts AD AD 100 21 920 0002 Rev I 2 2013 Host Command Reference AF Analog Filter Compatibility All drives Affects All commands using the analog inputs See also IA CM commands Applies a digital filter to the analog input s 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 Command Details Non Volatile Register Access Setting t
239. og Threshold AT 041 Short raw ADC counts All drives Z Analog Offset AV 042 Short raw ADC counts All drives 237 920 0002 Rev I 2 2013 Host Command Reference User Defined data registers 0 9 other characters Ch Description 3 digit Data Type Units Compatibility 0 Accumulator 000 Long integer Q drives only The Accumulator register 0 is aside from being a User defined data register the register in which the result of every register math function is placed For example if the drive executes the register addition command R D1 the result of this operation i e the sum of the values in data registers D and 1 will be placed in the Accumulator 0 register 1 User defined 001 Long integer Q drives only 2 User defined 002 Long integer Q drives only 3 User defined 003 Long integer Q drives only 4 User defined 004 Long integer Q drives only 5 User defined 005 Long integer Q drives only 6 User defined 006 Long integer Q drives only 7 User defined 007 Long integer Q drives only 8 User defined 008 Long integer Q drives only 9 User defined 009 Long integer Q drives only F User defined 010 Long integer Q drives only
240. on protocol used by Si Programmer and its interface to the SiNet Hub units as well as the QuickTuner and Configurator software programs Standard SCL commands will not be recognized or acted upon by the drive in these modes If the application requires it the drive may be temporarily forced into SCL mode through the use of the double zero Double Zero When the drive initializes it will send the power up packet as detailed above Typically this packet is used only by Applied Motion Products software but a host device may also use it to force SCL communication in a drive otherwise not configured to do so The host device must recognize the power up packet and respond with a simple double zero 00 No carriage return is required Note that this response must occur within 2 seconds of the power up packet being sent but must delay at least 2 milliseconds 0 002 sec This will force the drive into standard SCL mode and enable serial communication without altering the PM setting of the drive 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 a drive via either LEDs or a 7 segment display on the drive see Appendix F 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 comm errors
241. one of the User Defined data registers are non volatile a user may want to save the values of some of these registers to memory This can be done by transferring their values to Storage registers called Writing before power down of the drive Then at the next 920 0002 Rev 226 2 2013 Host Command Reference power up these values can be loaded back into the User Defined registers from the Storage registers called Reading Each Storage register can save one data register value and the Storage registers are numbered 1 to 100 See the RR RW and SA commands as well as the Appendix for more information on accessing this section of memory Using Data Registers The diagram below shows how a drive s serial port accesses the different volatile Read Only Read Write User Defined and non volatile Storage data registers within a drive The user can Load and Upload data register values using the RL RX and RU commands via the drive s serial port s Read Only data registers can be uploaded but not loaded For Q drives only non volatile memory is available for data registers in the form of Storage registers Moving the contents of the volatile data registers back and forth between the non volatile Storage registers is done with the RW and RR commands See below for more details RS 234 RS 485 Serial Comms RS 232 RS 485 Serial Port Data Register Access RLr RXr RU Read Write Registers Read Only Registers Accelera
242. onfigurator software to select a motor and set the maximum current Examples Command Drive sends Notes PC3 2 Set power up continuous current to 3 2 amps RMS for servo drive or 3 2 amps running current for stepper drive PC PC 3 2 920 0002 Rev 152 2 2013 Host Command Reference PF Position Fault Compatibility Servo drives and stepper drives with encoder feedback Servo drives Sets or requests the Position Fault limit in encoder counts This value defines the limit threshold in encoder counts reached between actual position and commanded position before the system produces a position fault error Stepper drives Sets or requests the percentage of torque used in the Stall Prevention function for systems with an encoder installed on the motor Making this setting with the PF command requires that an SA Save command be sent afterwards then a power down power up cycle before the change will take effect It is recommended that the Configurator software be used to make this setting Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Servo Position fault limit Stepper Percentage of torque units Servo encoder counts Stepper percentage of torque range Servo 1 32767 Stepper 0 100 percent Examples Command Drive sends Notes PF2000 Set position fault limit to 2000 counts in servo drive PF PF 2000 PF50 Set percentage of torque to 50 in stepper drive fitted with enco
243. ons Using an Applied Motion supplied adapter programming cable one supplied with each Applied Motion drive a single drive can be connected directly to any PC with a standard 9 pin RS 232 serial port Here are some RS 232 highlights e Easiest to use e Configuration of choice for using Applied Motion software applications such as Q Programmer Quick Tuner and STAC6 Configurator e Short Cable Lengths e Serial cable provided with each Applied Motion drive e Susceptible to EMI RS 422 4 wire RS 485 RS 422 was originally designed for high reliability communications in point to point configurations It usually requires a special adapter to work with a PC but is common on many types of controllers such as PLCs and HMls Our implementation allows for multi drop communications with a single master serial network Here are some RS 422 highlights e Relatively easy to use e NOT supported by Applied Motion software applications such as Quick Tuner or STAC6 Configurator Q 241 920 0002 Rev I 2 2013 Host Command Reference Programmer does support RS 422 in a limited fashion e Permits longer cable Lengths e May require special adaptor e Immune to EMI when wired properly RS 485 2 wire RS 485 Designed for multi drop serial networks provides simple wiring high reliability and long cable lengths Here are some RS 485 highlights e More difficult to use e NOT supported by Applied Motion software applications such as Quick Tuner or
244. or 1 5 see above Parameter 2 Flex I O only I O Point if applicable see note below Integer Code 1 or 3 See STM24 Hardware Manual for details NOTES e For drives with Flex I O the SD command must be executed to set an I O point as an input or output before it can have a dedicated function assigned to it e Parameter 2 only applies to drives equipped with Flex I O This includes the STM24SFand STM24QF Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes Sl1 Cause drive to be enabled when X3 EN input is open SI Sl 1 Drives with Flex I O Command Drive sends Notes SD3l Configures I O 3 as input see SD command for details 113 Cause drive to be enabled when Input 3 is open SI Sl 13 920 0002 Rev I 200 2 2013 Host Command Reference SJ Stop Jogging Compatibility All drives Affects CJ command See Also JA CJ ST SK SM commands Stops the motor when jogging CJ starts jogging Jog decel rate is defined by the JA command Command Details IMMEDIATE WRITE ONLY Non Volatile Examples Command Drive sends Notes SJ Stops jogging immediately using the deceleration rate set by the JA command 201 920 0002 Rev I 2 2013 Host Command Reference SK Stop amp Kill Compatibility All drives See Also AM DE JA ST SM commands Halts any buffered command in progress and removes any other buffered
245. or creating stored programs and for sending commands to your drive For Si applications use Si Programmer for creating stored programs Note SV7 Si and BLu Si drives are not recommended for multi drop communications over the RS 485 port Stepper Drives This series includes all ST5 10 STM STAC5 and STAC6 drives For Ethernet enabled drives see Appendix G of this document and your drive s Hardware Manual for information regarding Ethernet communications Use ST Configurator software to define your motor configure the operating mode and encoder if applicable as well as any application specific I O requirements For SCL applications choose the SCL Operating Mode for Q applications choose either the SCL or Q Program Operating Mode For SCL applications theSCL Setup Utility is a useful tool to gain familiarity with the SCL command syntax and to test commands that will be used in the final product For Q applications use Q Programmer both for creating stored programs and for sending commands to your drive For Si applications use Si Programmer for creating stored programs Note ST5 10 Si and STAC6 Si drives are not recommended for multi drop communications over the RS 485 port STAC5 Q STAC6 Q STAC6 QE and STAC6 Si drives can be used in Q applications 920 0002 Rev 3 2 2013 Host Command Reference Commands There are two types of host commands available buffered and immediate Buffered commands are loaded
246. or unless the following statement in included in the form load event this must be so for callbacks which operate in a different thread CheckForIllegalCrossThreadCalls false 920 0002 Rev 280 2 2013 Host Command Reference Further Reading The following materials can be downloaded from www Applied motion com e The eSCL Utility will help you get familiar with the SCL language e ST Configuration Ethernet is needed to configure the ST5 QE and ST10 QE step motor drives This application also includes extensive help screens e QuickTuner is used to configure and tune SV7 servo drives Quick Tuner also includes extensive help screens e Visual Basic and C example projects can be downloaded from the software page To learn more about networking using Ethernet we recommend reading Sams Teach Yourself TCP IP in 24 Hours available from amazon com and other fine booksellers 281 920 0002 Rev I 2 2013 Host Command Reference Appendix H EtherNet IP EtherNet IP products designated by the letters IP in the model number provide access to Q and SCL functionality over EtherNet IP networks This appendix details which commands are available and how to encapsulate them into EtherNet IP and CIP packets It is assumed that the user has a working knowledge of EtherNet IP as it relates to the controller being used as this chapter will not explain general EtherNet IP implementation details AMP offers both Class 1 and Clas
247. ove such as Feeds Jogging or the Hand Wheel encoder following Command Details BUFFERED WRITE ONLY Non Volatile Examples Command Drive sends Notes WM Causes queue execution to wait until any move in progress is complete 920 0002 Rev 220 2 2013 Host Command Reference WP Wait Position Compatibility Q drives only Affects Multi velocity or complex move profiles See Also FC DC VC MT commands When multi tasking is turned on MT1 this command is used in conjunction with the DC command to block program execution until a specific position s is reached during a move When the position s specified by the DC command is reached program execution continues Common example This command is used as a separator in changing the motor speed of multi velocity move profiles created using the FC command The normal FC command provides for one speed change using values determined by DC and VC commands executed prior to the FC command Additional speed changes can be added after an FC command is initiated by using the WP command to separate additional DC and VC commands See the example below NOTE This command along with the ability to create multi velocity move profiles with the FC command is only available in BLu servo drive firmware revisions 1 53C or later This command is available in all firmware revisions of STAC stepper drives Command Details Non Volatile Register A
248. pcode and an 8 bit operand Return values include a 16 or 32 bit response as appropriate The response message will always echo back the opcode and operand from the command message Also contained in the response message is the drive s status code unless other information is requested e g parameter read command The status code is a bit pattern that indicates useful information such as whether there is a fault or if the motor is in motion For more information please see the section on the SC command earlier in this manual Command Message Format Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 Command Axis Number 0x0 Command Message Type 0x2 Opcode see Table 2 Be Unused 0 Data and LSB for opcode eE Response Message Format Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 Response Axis Number 0x0 Response Message Type 0x2 Opcode see Table 2 B2 B3 B4 Status MSB Data MSB for opcodes 0x84 0x88 0x89 0x9F B5 Status LSB Data LSB for opcodes 0x84 0x88 0x89 Data 2nd MSB for opcode 0x9F B7 B2 B3 _ Operand seeTabe 2 o O B4 B5 Be Unused 0 Data 2nd LSB for opcode 0x9F B7 Unused 0 Data LSB for opcode 0x9F 920 0002 Rev I 292 2 2013 Type 2 Message Examples Example 1 parameter write AC100 set acceleration rate to 100 rev sec sec 6000 rpm
249. pendix B for more details on this command including its limitations Command Details OS Parameter A WRITE ONLY Non Volatile Parameter Details Parameter 1 Program segment location Examples Command Drive sends Notes QS2 Save contents of queue to non volatile memory location 2 171 920 0002 Rev I 2 2013 Host Command Reference QU Queue Upload Compatibility Q drives only See also QL QE QS QX PW commands Uploads a stored program segment from the drive s non volatile memory to the serial port This command is used to retrieve stored program segments from the drive When using this command the drive responds with either a positive or a negative response A positive response consists of a normal acknowledge ack followed by the contents of the requested program segment with each line number separated by a carriage return Program segments 1 to 12 can be uploaded as well as the contents of the queue A negative response from the drive consists of a normal acknowledge ack followed by one of four error codes 0 1 2 or 3 A negative acknowledge nack will be sent from the drive if the command is not understood by the drive See Appendix D for more information on acknowledge and negative acknowledge responses Positive response format ack First line QU where the number of lines in the segment 1 Second line comma
250. ples Command Drive sends Notes HD1000 In the event of a stall instruct the drive to attempt to recover for 1000ms 1 second before faulting 920 0002 Rev 90 2 2013 Host Command Reference HG 4th Harmonic Filter Gain Compatibility Stepper drives only Affects Low speed performance of step motors See also HP command 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 Command Details Non Volatile YES only when set in Configurator software otherwise NO Register Access Parameter Details Parameter 1 Filter gain Examples Command Drive sends Notes HG8000 Set filter gain value to 8000 HG HG 8000 91 920 0002 Rev I 2 2013 Host Command Reference HP 4th Harmonic Filter Phase Compatibility Stepper drives only Affects Low speed performance of step motors See also HG command 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 Command Details READ WRITE Non Volatile YES only when set in Configurator software otherwise NO Paramete
251. position errors especially when holding position NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Integrator gain value Examples Command Drive sends Notes KI5000 Set integrator gain to 500 KI KI 500 920 0002 Rev I 126 2 2013 Host Command Reference KJ Jerk Filter Frequency Compatibility SV7 Servo drives only Affects S Curve Sets or requests the Jerk Filter frequency in Hz The parameter is set within Quick Tuner and can also be set with the SCL command Ku The lower the frequency value the more pronounced the S curve profile will be Setting the value to 0 will disable the filter S curve acceleration deceleration ramps are beneficial in positioning systems where instantaneous changes in speed may cause the load to jerk excessively One example is when the load is connected to the motion actuator via a long moment arm If the arm is not sufficiently rigid changes in speed at the actuator can result in undesirable oscillations and increased settling time at the load Smoothed transitions in speed changes such as those provided by the jerk filter in Quick Tuner can alleviate this unwanted motion and reduce settling time NOTE It is recommended to use the Quick Tuner software for tuning and configuring your servo system Command Details READ WRITE Non Volatile Parameter Deta
252. project calls for a Q drive or drives running stored programs you will use the supplied RS 232 programming cable along with Quick Tuner or Configurator and Q Programmer to setup configure and program your drive s If your project calls for your drive s only running stored programs you can read up on the RS 232 sub section in this section and not read any more about the other serial connections However if your application calls for a serial host controller PC PLC HMI or other serial device that can act as a host being able to communicate to the drive s you will need to choose one of the three available serial connections Available Host Serial Connections RS 232 2 wire RS 485 4 wire RS 485 When choosing the best serial connection for your project the choice may be made for you based on the host controller you plan to use For example some devices only communicate via 2 wire RS 485 If you are not restricted by your host controller here are two guidelines for choosing the best connection Single or multi axis If your project calls for communicating to only one drive you can consider any of the three options If your project calls for communicating to more than one drive you should use 2 wire or 4 wire RS 485 Long communication cables In many applications the limitation of 50 feet on RS 232 will be sufficient In applications where the distance between drive and host controller will be more than 50 feet up to 1000 feet you w
253. ps range STM24 0 6 0 STM23 0 5 0 STM17 0 2 0 Configurator software may also be used to set all current levels NOTE This data is saved to non volatile memory immediately upon execution Itis not required to execute the SA command to save to non volatile memory 149 920 0002 Rev I 2 2013 Host Command Reference Example STM17 STM23 STM24 Command Drive sends Notes PA1 2 Set power up accel decel current to 1 2 amps peak of sine PA PA 1 2 920 0002 Rev 150 2 2013 Host Command Reference PB Power up Baud Rate Compatibility All drives See also BR PR TD commands Sets or requests the power up baud rate for 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 an Applied Motion software application 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 Command Details READ WRITE Non Volatile Yes see note below Parameter Details Parameter 1 Baud rate code 1 9600 2 19200 3 38400 4 57600 5 115200 NOTE This data is saved to non volatile memory immediately upon execution It is not required to execute the SA command to sa
254. put at 100 pulses rev with 1 8 degree step motor MOS Output is used as a Tach Output at 200 pulses rev with 1 8 degree step motor MO6 Output is used as a Tach Output at 400 pulses rev with 1 8 degree step motor MO7 Output is used as a Tach Output at 800 pulses rev with 1 8 degree step motor MO8 Output is used as a Tach Output at 1600 pulses rev with 1 8 degree step motor For SV servo drives there are 7 additional states available MO4 Output is used as a Tach Output at 64 pulses rev with 8 pole motor 8 times number of poles MOS Output is used as a Tach Output at 128 pulses rev with 8 pole motor 16 times number of poles MO6 Output is used as a Tach Output at 256 pulses rev with 8 pole motor 32 times number of poles MO7 Output is used as a Tach Output at 512 pulses rev with 8 pole motor 64 times number of poles MO8 Output is used as a Tach Output at 1024 pulses rev with 8 pole motor 128 times number of poles MO9 Output is closed when in position based on encoder error MO10 Output is open when in position based on encoder error BLu SV STAC6 ST Q Si STAC5 Q IP SVAC3 Q IP Output Y2 is the designated Motion Output ST S STM17 S Q C STM23 Q C STM24 C The one output of these drives OUT can be assigned to one of the five available functions alarm output brake output motion output tach output or general purpose output Each of these functions must exclusively use the output so only one function is allowed There are
255. r Details Parameter 1 Filter phase Examples Command Drive sends Notes HG105 Set 4th harmonic filter gain to 105 HG HG 105 920 0002 Rev I 92 2 2013 Host Command Reference HW Hand Wheel Compatibility All drives See also EG FE and MT commands see AT command for using analog input as sensor input 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 attempt 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 BLu SV STAC6 ST Q Si STAC5 SVAC3 Inputs X1 and X2 are used for connecting the A and B signals of the encoder based handwheel The EG Electronic Gearing command defines the following resolution of the motor ST S STM17 23 Inputs STEP and DIR are used for connecting the A and B signals of the encoder based handwheel The EG Electronic Gearing command defines the following resolution of the step motor Command Details Structure HW Parameter 1 BUFFERED Usage WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples
256. r and the EG setting for a step motor v R minimum decel distance 30 Note that it is possible to use an analog input AIN as a discrete sensor by configuring a threshold point See the AT command for details Command Details Structure FS Parameter 1 BUFFERED Usage WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes FSiL Launch move and decel to stop when sensor tied to input 1 is low FS3R Launch move and decel to stop when sensor tied to input 3 changes from low to high rising edge FSX5L Launch move and decel to stop when sensor tied to input X5 is low 920 0002 Rev I 86 2 2013 Host Command Reference FX Filter select inputs Compatibility All drives except STAC5 SVAC3 Affects FI command on SE QE and Si drives See also FI command The FX command allows changing the target inputs of a drive s digital input filters from the main board X3 through X7 inputs to the top board IN3 through IN7 inputs This can only be done on SE QE and Si drives with firmware 1 53U or later Command Details FX Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Digital inputs selector units integer range 0 top board inputs of SE QE and Si drives 1 main board inputs of all drives Examples Command Drive sends Notes FXO Cause digital input filters set by FI comm
257. r drive type DA then press Enter The drive will respond with DA x where x is the address that was last stored To change the address type DAy where y is the new address character then press Enter To test the new address type yRV where y is the address you ve just assigned to the drive and then press Enter For example if you set the address to and want to test the address type RV then press Enter The drive should respond with RV x where x is the firmware version of the drive Once each drive in your network has been given a unique address you can proceed with wiring the whole network together 920 0002 Rev I 248 2 2013 Host Command Reference Appendix D The PR Command Because of the intense 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 This adjusting of a drive s serial communications protocol is done using the PR command 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 wh
258. r on the drive and repeat the firmware download process Host Command Reference Appendix J List of Supported Drives STMITS OAN STMITS OAE STMATS ORN STMITS ORE STMITOSAN STMITOSAE STMITORN STMITOORE STMITCAICN STMITO OCE STHERS 2AN STMERS 2AE STM23S 2AN STN23S2RE STM23Q 2AN NEMA 23 Integrated Stepper 2 stack motor Q Programming RS 232 STM23Q 2RN NEMA 23 Integrated Stepper 2 stack motor Q Programming RS 485 STM23Q 2RE NEMA 23 Integrated Stepper 2 stack motor Q Programming RS 485 Encoder STM23S 3AN NEMA 23 Integrated Stepper 3 stack motor RS 232 STMERS OAE STM23SSAN STMERS ORE STMBIOAN STNG RN STN RE STMBICAICN STM23C 3CE NEMA 23 Integrated Stepper 3 stack motor Q Programming CANOpen Encoder STM24SF 3AN NEMA 24 Integrated Stepper RS 232 STM23Q 3AE NEMA 23 Integrated Stepper 3 stack motor Q Programming RS 232 Encoder STM23Q 2AE STM24SF 3AE STM24SF 3RN STM24SF 3RE STM24QF 3AN STM24QF 3AE STM24QF 3RN STM24QF 3RE STM24C 3CN STM24C 3CE NEMA 24 Integrated Stepper CANOpen Encoder 315 920 0002 Rev I 2 2013 Host Command Reference S155 STEPS STON STONE ST5OAN ST5QRE ST5QEN ST5QEE STIPEN STSIPEE STESEN STBSINE STEOON ST500E STOS STOPS STIOGNN STIOONE STON STIO ORE STOGEN STI0O EE STIOIPEN STIDIPEE STO SINN STIOSINE TOCA STO CCE SV7 S AE SV7 S AF SV7 S RE SV7 Q AE SV7 Q AF 7A DC Servo Drive RS 232 Encoder SV7 Q RE SV7 Q EE SV7 IP EE SV
259. rameter 1 Analog input range No parameter or 0 Analog command 1 Analog input 1 unscaled 2 Analog input 2 unscaled 3 Expanded analog input SE QE and Si models ST S STM17 S Q C STM23 Q Parameter 1 Analog input range No parameter or 0 Analog command 1 AIN unscaled 95 920 0002 Rev I 2 2013 Host Command Reference Examples Command Drive sends IFD IA IA 2 5 IFH IA IA 1FEE 920 0002 Rev I 2 2013 Notes Return future Immediate command responses in Decimal format Analog Command is at mid range when drive is set to 0 5 volt input In Decimal mode neither leading nor trailing zeros are used so the response length is not strictly defined and may be up to four digits in length Return future Immediate command responses in Hexadecimal format Analog Command represented as hexadecimal value Leading zeros are used for small values so the response will always be four digits in length 96 Host Command Reference IC Immediate Current Commanded Compatibility All drives Servo drives Requests the present RMS current commanded by the servo loop This may not be the actual current at the motor windings Most AC servo motors are commutated using a sinusoidal current waveform that is a peak value and not directly represented by the commanded current The commanded current is the average RMS current being asked of the driver Typically with a well tuned current loop the RMS curr
260. ramming language s interface to the network UDP Packet Format eSCL is based on Applied Motion s Serial Command Language SCL an ASCIl based language with roots in RS 232 and RS 485 communication eSCL drives support the full SCL and Q command sets and utilize the speed and reliability of Ethernet Commands and responses are encapsulated in the payload of User Datagram Protocol UDP packets and are transmitted using standard Ethernet hardware and standard TCL IP stacks Sending Commands to a Drive An eSCL UDP packet consists of three parts the header binary 07 the SCL string a sequence of ASCII en coded characters and the SCL terminator ASCII carriage return 13 Example Sending RV SCL Header 07 two bytes R ASCII 82 V ASCII 86 lt cr gt ASCII carriage return 13 o 7 e se jis Receiving Responses from a Drive A typical response to RV would be RV 103 lt cr gt which would be formatted as o z s je Js aes js jis 920 0002 Rev I 276 2 2013 Host Command Reference Example Programs Both example programs are available for download at www applied motion com example_code You should still read this section so that you understand the key elements of the code and what tradeoffs you may encounter Visual Basic 6 Even though VB6 is an older language its refreshing simplicity makes it a compelling choice for quickly developing an Ethernet application To communicate o
261. registers are associated with a specific command In the tables below associated commands are shown in parentheses in the Description column 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 rpm but its associated command VE uses revs sec ros 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 Compatibility A Acceleration AC 017 Short 10 rpm sec All drives The A register units are 10 rpm sec which means that the value of the A register is equal to 6 times the AC command value In other words to achieve an acceleration value of 100 rev sec sec send the command RLA600 NOTE Take care to ensure that this register is never set to zero The drive may become stuck in a command mode or program loop and or refuse to move See the RL RM and RX commands B Deceleration DE 018 Short 10 rpm sec All drives The B register units are 10 rpm sec which means that the value of the B register is equal to 6 times the DE command value In other
262. resent 1 STEP 2 DIR 3 EN 4 AIN letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition range integer 0 encoder index if present 1 STEP 2 DIR 3 EN 4 AIN letter L Low H High F Falling Edge R Rising Edge STM17C Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command aang ial a range integer 0 encoder index if present 1 3 4 AIN letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition range integer 0 encoder index if present 1 3 4 AIN letter L Low H High F Falling Edge R Rising Edge 263 920 0002 Rev I 2 2013 Host Command Reference STM23C STM24C Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command aia limi erer range integer 0 encoder index if present 1 3 letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition range integer 0 encoder index if present 1 3 letter L Low H High F Falling Edge R Rising Edge STM24SF STM24QF Drives with Flex I O allow a user to configure 1 01 through 1 04 as either inputs or outputs by using the Set Direction SD
263. ress for multi drop communications Sets individual drive address character for multi drop RS 485 communications This command is not required for single axis point to point or RS 232 communications Command Details READ WRITE Non Volatile Parameter Details Parameter 1 RS 485 network address range Valid a characters are 1 amp 0123456789 lt gt Examples Command Drive sends Notes DA1 Set drive address to 1 DA DA 1 920 0002 Rev 60 2 2013 Host Command Reference DC Change Distance Compatibility All drives Affects FC FY FO FM commands Sets or requests the change distance 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 switch or sensor triggers Since DI sets move direction CW or CCW the sign of DC is ignored Command Details Non Volatile C 019 Parameter Details range 0 to 2 147 483 647 the sign of negative values is ignored Examples Command Drive sends Notes DC80000 Set change distance to 80000 counts
264. rforms 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 drive sees 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 is designed for use with three physical sensors or switches tied to three separate digital inputs of the drive a home sensor a CW end of travel limit and a CCW end of travel limit Command Details Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes SH1L Seek home to input 1 low SH3R Seek home to input 3 rising edge SHX5L Seek home to input X5 low main driver board input
265. rive This will allow the software to intercept the drive s power up packet as detailed in Appendix B and initiate communications 920 0002 Rev I 2 2013 Host Command Reference You have not set the load inertia in the Motor Settings The electronic damping and anti resonance will work better if you set the load inertia accurately Do you want to download your settings anyway The drive is missing important information used to properly configure the anti resonance features The motor will run without this information but it may not be as smooth as it otherwise could be This is generally acceptable only for initial testing and should be addressed before normal operation An alarm or fault condition exists The Drive s LED blinks red and display consists of a specific number of red green and green blinks and will repeat continuously until resolved A firmware download was interrupted and Pe eer SNOWS SONG TEQ the drive is unable to boot properly 920 0002 Rev I 314 2 2013 Set the load inertia Depending on the configuration software used it is either possible to enter the actual calculated load inertia or a best guess estimate of the inertia ratio load motor For example if the load inertia is five times that of the motor s rotor the ratio would be entered as 5 1 Fault codes are drive dependent Consult Appendix E and your drive s hardware manual for specific information Cycle powe
266. rives only Affects Commanded motor current See also CM command Sets or requests the immediate current command for the servo motor and drive when the servo drive is set for Command Mode 1 CM1 NOTE Setting this value may make the servo motor run to a very high speed especially if there is no load on the motor Take care when using this command Command Details GC Parameter 1 IMMEDIATE READ WRITE Non Volatile G 023 Command Details Parameter 1 RMS Current 0 01 amps rms 2000 to 2000 20 amps rms Examples Command Drive sends Notes CM1 Set servo drive to Commanded Current Command Mode GC100 Set current to motor at 1 Arms GC 100 Set current to motor at 1 A rms opposite direction 89 920 0002 Rev I 2 2013 Host Command Reference HD Hard Stop Fault Delay Compatibility Stepper drives with Encoder Feedback See also EF command Specifies the amount of time the drive will attempt to recover from a stall while in Stall Prevention mode In Stall Prevention mode See EF command the drive will attempt to recover from a stall condition This delay setting dictates the amount of time the drive will work to recover from such a stall before faulting This allows the machine to recover from minor disruptions without unnecessarily working to recover from an unrecoverable state Command Details WRITE ONLY Non Volatile Parameter Details 1 32000 milliseconds Exam
267. rts Q Program commands deal with programming functions when creating stored programs for your Q drive Register commands deal with data registers Many of these commands are only compatible with Q drives 920 0002 Rev 12 2 2013 Host Command Reference Motion Commands Command Description NV write read Immediate Compatibility only All drives All drives gt C M Accel Rate Accel Max Servos and steppers with encoder feedback Servos and steppers with encoder feedback All drives All drives Servos and steppers with encoder feedback Commence Jogging Distance for FC FM FO FY Decel Rate is mjo an Distance or Position Encoder Direction al Encoder Function m Electronic Gearing m Input Noise Filter U Encoder Position O Feed to Length with Speed Change gJ Feed to Double Sensor m Follow Encoder Feed to Length Feed to Sensor with Mask Dist Feed to Length amp Set Output Feed to Position nju Feed to Sensor lt All drives All drives Feed to Sensor with Safety Dist Hand Wheel Jog Accel Decel rate All drives O Velocity mode second speed All drives amp 1 STM stepper drives with Flex I O only Jog Disable m Jog Enable am Jog Decel rate Jog Mode Jog Speed c ZzIs Motor Disable Motor Enable Microstep Resolution Power up Accel Current iw Set Direction n Se
268. s 3 type connections each of which are useful for specific tasks Class 1 connections are useful for high bandwidth tasks such as monitoring specific functions of the drive while Class 3 connections are used for sending targeted messages to directly control the drive The latter is used to implement Explicit Messaging Note that with EtherNet IP all data direction notation assumes the point of view of the network In this way data sent by the drive to the controller is referred to as an Input while data sent by the controller down to the drive is referred to as an Output The Class 1 Connection Class 1 connections use Connection Points which can be thought of as addresses with predefined functions To communicate with an Applied Motion drive using a Class 1 connection the following connection points are available Object ID Function Notes 0x64 100 Input Assembly Static Assembly Object for monitoring drive status amp behavior see below for details 0x66 102 Configuration Assembly Specifies parameters such as packet interval data length 0x67 103 Heartbeat Input Only Assembly Zero length message that tells the controller the drive is still active 0x68 104 Heartbeat Listen Only Assembly Zero length message that tells the drive the controller is still active 920 0002 Rev I 282 2 2013 Host Command Reference Input Assembly 0x64 This connection point is used to monitor the drive s behavior The 32 bytes of data sent by th
269. s IN7 and IN8 as dedicated end of travel limits IN7 is the CW limit input and IN8 is the CCW limit input If not needed IN7 and IN8 can be redefined as general purpose inputs Blu Si Defines usage of top board inputs IN7 and IN8 as dedicated end of travel limits IN7 is the CW limit input and IN8 is the CCW limit input ST Q Si SV Defines the usage of inputs X7 and X8 as dedicated end of travel limits X7 is the CW limit input and X8 is the CCW limit input If not needed X7 and X8 can be redefined as general purpose inputs ST S STM 17 23 Defines the STEP and DIR inputs as CW end of travel and CCW end of travel limit inputs 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 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 mo
270. s with Flex I O only Le Stepper drives only P Alidrives S SS SS aaa ae Set Direction Enable Input usage a ES P avarves Regen Resistor Continuous Wattage a BLuAC5 and STACE6 drives only BLuAC5 and STACE6 drives only BLuAC5 and STACE6 drives only Regen Resistor Value Regen Resistor Peak Time 1 O Commands Command Description write read Immediate Compatibility only only Analog Deadband All stepper drives and SV servo drives Analog Filter Js a Analog Velocity Gain Alarm Input usage Alarm Output usage Analog Position Gain Analog Scaling Analog Threshold ao O e ia ao e a Jsa C Zap aD Brake Disengage Doty ime BE Bake Engage Detytme dt BO Brake Outputusage i o emeim Sd E CE HH Le o O His All drives All stepper drives and SV servo drives Aliidrrives All drives All drives All stepper drives and SV servo drives All drives _ Faeries Faeries OS PT Taerves O O Paes y OS C nons OS Faeries Tats y OS cn a a All drives Note not NV on Blu servos mo monoa Input Noise Filter AD AF AG AO AP AS AT AV AZ BE DL El FI FX IH IL IS MO 920 0002 Rev 16 2 2013 Host Command Reference I O Commands continued for Joma o e orso E s fereve muusa id Aes i so fso Jo o s CS mo feme e ides ony CS w waron S
271. sec opcode 0x83 parameter write from Table 2 operand OxiE from Table 3 data o o o Example 2 parameter read AC opcode read back the acceleration rate 0x84 operand 0x1E from Table 3 return value meo Jo resened feytes Jo notus byes Jo frotu byee Jo notus oner o notu parameter read from Table 2 o o o Host Command Reference 0x258 units are 10 rpm sec so 6000 sec is represented by 600 decimal 258 hex 0x258 units are 10 rpm sec so 6000 sec is represented by 600 decimal 258 hex Type 2 Response Message Payload 293 o o o 920 0002 Rev I 2 2013 Host Command Reference Example 3 read absolute position opcode 0x88 operand 1 return value 0x87654321 lo lo eo fo fo Example 4 read encoder position opcode 0x88 operand 0 return value 0x12345678 neo Jo reserved mes Jo operend feytes Jo notus oves o notus byee o norus oner o notus Example 5 read Q user register 3 read 32 bit Q register from Table 2 from Reg Code Table indicates register 3 opcode Ox9F operand 0x33 return value 0x12345678 jbyteo 0 reserved o o o o 920 0002 Rev I 2 2013 read 32 bit abs posn enc posn from Table 2 from Table 2 indicates abs posn o reseve read 32 bit abs posn enc posn from Table 2 from Table 2 indicates enc posn neo Jo reene nes fo operan byteo o reserved byte 1 byte 2 byte 3 294 Exampl
272. sec is represented by 900 decimal 384 hex Type 1 Command Message Payload Type 1 Response Message Payload byte 0 byte 1 fo reserved oye Jo unvsed yea fo fuuss lo o byte2 o funused byee fo rousa byer o rousa operand MSB operand LSB VE3 set velocity to 3 rev sec 180 rpm opcode 0x001D from Table 1 operand 0x2D0 units are 0 25 rpm so 180 rpm is represented by 720 decimal 2D0 hex byteo Jo reserved byteo fo reserved jbyte2 fo unused byte2 fo funused o o Do nee fo rouse bner Jo notus DI5000 set move distance to 5 000 steps this is the distance beyond the sensor where motor will stop opcode 0x00B6 from Table 1 operand 0x1388 units are steps so 5000 is represented by 1388 hex operand 2nd MSB operand 2nd LSB operand LSB Status Code LSB o o o o A e e ee o o CE FS2R start the feed to sensor move stop 5000 steps after input 2 rising edge opcode 0x006B from Table 1 operand 0x52B2 LSB is 2 0xB2 MSB is R 0x52 see IO Encoding Table 920 0002 Rev I 290 2 2013 Host Command Reference condition R Status Code LSB fo fo os eo eo mea Jo otused fo fo fo 291 920 0002 Rev I 2 2013 Host Command Reference Type 2 Message Format Message Type 2 commands provide functionality that is not available with Type 1 commands This is the only way to read back information from the drive All Type 2 commands require and 8 bit o
273. ser Defined data registers Examples Command Drive sends Notes RDV Decrements the value of the velocity data register V 920 0002 Rev 176 2 2013 Host Command Reference RE Restart or Reset Compatibility All drives Restarts the drive by resetting fault conditions and re initializing the drive with the startup parameters Leaves the drive in a disabled state to prevent any movement after the restart is complete Command Details Usage WRITE ONLY Non Volatile Examples Command Drive sends Notes RE Resets drive condition and parameters 177 920 0002 Rev I 2 2013 Host Command Reference RI Register Increment Compatibility Q drives only Affects All data registers See also RD RM commands Increments by 1 the value of the designated data register Command Details Non Volatile All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment all Read Write and User Defined data registers Examples Command Drive sends Notes RIV Increments the value of the velocity data register V 920 0002 Rev 178 2 2013 Host Command Reference RL Register Load immediate Compatibility All drives Affects All data registers See also RX RI RD RM commands Sets a data register to the given immediate data value The data value is checked and stored as a Long word When setting a Short word register with the given Long word data valu
274. so EP FP commands Sets or requests the motor s absolute position To ensure that the internal position counter resets properly use EP immediately prior to sending SP For example to set the position to zero after a homing routine send EPO immediately followed by SPO Command Details SP Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Absolute position 2 147 483 647 Examples Command Drive sends Notes SP100 Set absolute position offset to 100 encoder counts SP SP 100 EPO Step 1 reset internal position counter SPO Step 2 reset internal position counter 205 920 0002 Rev I 2 2013 Host Command Reference SS Send String Compatibility All drives with RS 232 communication 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 placed into the queue 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 NOTE Due to the possibility of data collisions related to unscheduled communication from slave devices this command is nonfunctional for RS 485 drives Command Details Non Volatile Param
275. so drives are normally in a state to receive packets from the host A communications packet or packet 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 if necessary by sending a response packet back to the host Command Transmission host to drive The transmission of 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 time out feature is to allow the drive to purge its buffers automatically when a bad transmission occurs NOTE This time out feature limits the usage of host devices such as the Windows application HyperTerminal We recommend using Applied Motion s 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 carriage return Command pa
276. sosceeveaseneunninadsesunancsnnsennnnsssscvevsnersexenatacentnncomncanns 42 BS BUNE StI S ecrin rir ranr EEA EE E eee 43 CA Change Acceleration Current cccccccccecseececeeceeeeeeeeneeeeeees 44 CC Change Curent A idicosie dio iasdccrreneerorenes e ASEA 45 CD Idle Current Delay Time ccccccsseseecececeeeceeeceeeeeeeeeeeeeeeeeeeees 47 CE Oia ON EMO sesir r E Hea 48 CF Anti resonance Filter Frequency cccccceccceeceeeeceeeeeeeeeees 49 CG Anti resonance Filter CAND csisssossassendisndasviccdssgaapciincndiccapprancenishs 50 CI Change Idle Current cccccscccsscsccccecccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeees 51 CJ Commence Jogging cicccesnsesrineeir nite eee 53 CM Command Mode AKA Control Mode ccccccsssseeeeeeeeeeeees 54 CP Change Peak CUNT iwisrsnccartnrrnenenertna si ireninecaaaiiensierrrpamannnts 56 CR Compare Registers sncccesrencwass sscsecsssessiossssenevenssenerenasssssnecennneetes 57 CS Change SPEEdent tiers iraa On 58 CTF I Ne nrnna aE NS 59 DA Delne Addres Surri EE T 60 DC Change DISTANCE ccccsseiesereressiscenmnsessenrnmpssservessiernresniiecesieasenenens 61 DE Bo viel aig lc gerne Merce ent e EAE r 62 DI Distance Position sana ainzcaac retansenaniacties cocuansenanneseentanes a baeenneaenns 63 Dk Define TIS sos sca nccsnrreat edict rn ss acedennnebiadawnbbcrreraeeuins 64 DR Data Register for Capture ccceccceccecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees
277. st dominant and will continually prevent DL and JE from using the inputs DL and JE exclude each other by overwriting the usage of the STEP and DIR inputs STM24 C Defines the usage of inputs IN1 and IN2 as dedicated end of travel limits IN1 is the CW limit input and IN2 is the CCW limit input If not needed IN1 and IN2 can be redefined as general purpose inputs STM24 SF QF Drives with Flex I O allow a user to configure a drives I O 1 01 through 1 04 to be either an input or an output by using the SD command For the DL command the drive uses inputs I O3 and O4 as dedicated end of travel limits 1 03 is the CW limit input and 1 04 is the CCW limit input If not needed 1 03 and 1 04 can be redefined as general purpose inputs 920 0002 Rev 64 2 2013 Host Command Reference 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 Motion stops automatically at rate defined by AM command DL2 End of travel limit occurs when an input is open de energized Motion stops automatically at rated defined by AM command DL3 Inputs are not used as end of travel limit inputs and can be used as a general purpose inputs In the case of ST S and STM drives 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 Command Details DL Parameter 1 BUFFERED
278. stance to 20000 steps VC1 Set 2nd change velocity to 1 rps WP Wait position DC30000 Set 3rd change distance to 30000 steps VCO0 5 Set 3rd change velocity to 0 5 rps Because multi tasking is required for the WP command to be used only Q models can perform multi segment moves 920 0002 Rev 76 2 2013 Host Command Reference FD Feed to Double Sensor Compatibility All drives See also FM FS FY VC commands see AT command for using analog input as sensor input Accelerates the motor at rate AC to speed VE When the first sensor 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 over the distance DI to a stop at rate DE The sign of the DI register is used to determine both the direction of the move CW or CCW and the distance past the second sensor If DI is long the motor may not begin decel immediately after the second sensor If DI is short the motor may decelerate using a faster decel rate than DE Both analog and digital inputs can be used as sensor inputs BLu STAC6 STAC5 Q IP SVAC3 Q IP STM Both sensor inputs must be from the same physical I O connector of the drive This means that both inputs used in this command must reside on the same I O connector either IN OUT 1 or IN OUT 2 In the case of BLuDC drives this means that both inputs must reside on the same connector either the main
279. t s Running You can use Type 2 commands to read and write registers while a Q program is running The Q program can send information to the host by changing a register that the host is polling Registers 0 9 can be polled using the Type 2 User Register Read command opcode 9A The host can make changes to the Q program operation by writing to parameters that the program uses For example you could change the motor speed sending a parameter write message that alters VE Type 2 message opcode 83 operand 1D The speed change will take effect on the next move Changes that affect a Q program immediately can be made using the Write Q Register command message type 2 opcode 9E For example if the motor is jogging after having been sent a CJ command writing to register J will result in an immediate speed change Please note that Q register writes are not range checked so be careful before you write How to Know if a Q Program Has Stopped Since a Q program can be launched and allowed to stop itself when it encounters a blank line you may want to know when it stops You can do this by polling for the status word and observing bit 14 This bit is a one if the program is executing To fetch the status word use the Type 2 Parameter Read command with operand 0x80 as shown below Example Checking Status While a Q Program is Running opcode 0x84 parameter read from Table 2 operand 0x80 status code from Table 3 Typical return values
280. t to ak99 SA New key code saved in drive PWak99 Access to stored program unlocked at next power up of drive 920 0002 Rev 162 2 2013 Host Command Reference QC Queue Call Compatibility Q drives only See also QX QE QL commands Loads a program segment from non volatile memory into the queue and begins executing at line 1 Loads the calling segment location and the line where the call occurred into a call stack When a QC command without a parameter is encountered in the segment a return to the calling segment is activated The calling segment is loaded from non volatile memory back into the queue and begins executing at the line immediately following the line number of the original calling QC command The call stack can go 5 calls deep which means you can nest up to 5 calls If the number of calls before a return QC with no parameter is encountered exceeds 5 the calling QC command with parameter is ignored If a return is encountered without a previous call the return is ignored Command Details OCi Parameter WRITE ONLY Non Volatile Parameter Details Parameter 1 Program segment no parameter means return to calling segment units integer range 1 12 segment 1 12 no parameter return to calling segment Examples Command Drive sends Notes QC4 Call segment 4 QC Return to calling segment 163 920 0002 Rev I 2 2013 Host Command Ref
281. t used to create the filter for calculating average wattage in the regen resistor Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Maximum time for peak regen 0 25 milliseconds 1 32000 Examples Command Drive sends Notes Z1T1250 Regen resistor peak time set to 0 3125 seconds ZT ZT 1250 225 920 0002 Rev I 2 2013 Host Command Reference Data Registers Many of the commands listed in this reference function by transferring data to a drive for later use These data values are stored in data registers within the drive and remain there until new commands change the values or power is removed from the drive For example if you send the Velocity command VE10 a maximum move speed of 10 rev sec is placed in the data register for velocity You can then execute as many FL Feed to Length FP Feed to Position or FS Feed to Sensor move 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 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 encoder resolution ER command motor position SP command and encoder position EP command There are 7
282. te 25 920 0002 Rev I 2 2013 Host Command Reference active low unless the SI command has been used to configure hardware enable functionality Al3n The designated input n is not used for Alarm Reset and may be used as a general purpose input NOTE A rule of thumb when using the Alarm Reset function is to toggle the designated input twice whenever an alarm occurs That is if the input is normally open inactive high it should be closed and then opened again If the input is normally closed active low it should be opened and then closed again Command Details Al Parameter 1 Parameter 2 Flex I O only BUFFERED READ WRITE Register Access ne ooo Parameter Details Parameter 1 Input Usage Parameter 2 Flex I O only I O Point if applicable see note below Integer Code 2 or 4 See STM24 Hardware Manual for details NOTES e For drives equipped with Flex I O the SD command must be executed to set an I O point as an input before it can be used as the Alarm Reset Input Parameter 2 only applies to drives equipped with Flex I O Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes Ali Enables input to reset alarm when closed active low Al Al 1 Drives with Flex I O Command Drive sends Notes SD4I Configures I O 4 as input see SD command for details Al14 Assigns input 4 to reset the alarm when closed
283. tepper drive also known as the peak current PA is similar to the CA command in that a change to PA affects the current value of the accel decel current However PA differs from CA in that a change to PA is automatically written to non volatile memory at the time of the change For a change in CA to be written to non volatile memory an SA command must be executed afterwards See below for more details PA will only accept parameter values equal or larger than the current PC setting Relationship of PA CA and M register e A change to PA affects the current accel decel current value and is automatically stored in non volatile memory e A change to PA automatically changes CA and the M register to the same value e A change to CA or the M register only affects the current accel decel current value but does not automatically change PA to the same value e A change to CA or the M register is stored in non volatile memory only after an SA command is executed When this occurs the PA command is also automatically changed to the new value NOTE PA has no effect in Command Mode 7 CM7 Step and Direction mode Command Details PA Parameter 1 BUFFERED READ WRITE Non Volatile Yes see note below M 029 Note The PA and CA commands use different units than the M register see Data Registers section for details Parameter Details Parameter 1 Power up accel decel current Amps resolution is 0 01 am
284. ter 1 Filter gain Examples Command Drive sends Notes CG800 Set anti resonance filter gain to 800 CG CG 800 920 0002 Rev I 50 2 2013 Host Command Reference CI Change Idle Current Compatibility Stepper drives only Affects Motor current at standstill holding torque See also CC PI CD commands 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 STAC6 Cl cannot be greater than CC If you attempt to set CI higher than CC it will be automatically limited to the CC value Furthermore setting CC automatically sets Cl to the same value if the new CC value is less than the starting Cl value ST Q Si ST S STM Cl cannot be greater than 90 of CC If you attempt to set Cl to a higher value than this Cl is automatically limited to 90 of CC Furthermore setting CC automatically sets Cl to 50 of the CC value If a Cl value different than 50 of CC is needed be sure to always set Cl after setting CC Command Details Non Volatile Register Access O 031 Note The Cl command uses different units than the O
285. ter Frequency Compatibility Stepper drives only Affects Mid range performance of step motors See also CG command 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 the appropriate Configurator software application to set this value by entering as accurate a load inertia value as possible in the motor settings window Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Filter frequency Examples Command Drive sends Notes CF1400 Set anti resonance filter frequency to 1400 Hz CF CF 1400 49 920 0002 Rev I 2 2013 Host Command Reference CG Anti resonance Filter Gain Compatibility Stepper drives only Affects Mid range performance of step motors See also CF command Sets or requests the anti resonance filter gain setting This setting is unit less and works in conjunction with the anti resonance filter frequency setting CF to cancel instabilities due to mid band resonance NOTE We strongly suggest using the appropriate Configurator software application to set this value by entering as accurate a load inertia value as possible in the motor settings window Command Structure CG Parameter 1 Command Details CG Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parame
286. th tio oe ee Oof Oof O a HW Hand wheel A VM_ACCEL D JOG_DISABLE E JOG_ENABLE oS a o D cel rate aL ecel rate 1 32000 10 rpm sec peed 0 32000 25 rpm Oori 10n O off ST X0 X8 L H F R see IO Encoding Table STACS X0 X4 1 8 E o i L_ vmoecel 1 _ S_ vmvevociy afo o o j fo Q nla D MOTOR_DISABLE E MOTOR_ENABLE T j Multi Tasking Q e a H SEEK_HOME ionum cond 6E L H F R M STOP_MOVING B5 oe D DE rate or M AM D or M rate P SET_ABS_POSITION A5 0 32 bitabs position 2 147 483 647 c chance veLocny aa fo fspeea 1 32000 propvetociy id jo sped 1 32000 Wait for Input 70 ST X0 X8 L H F R see IO Encoding Table STACS X0 X4 1 8 L H F R wam on move ec fo ot TP e p wam onposmon foofo fo Configuration Commands RESTORE DEFAULTS fae EP Analog Deadband D2 fo fdeadband 0 255 millivolts o ME MT D Analog Scaling 1 scale code 0 7 0 single ended 10 volts 1 single ended 0 10 volts 2 single ended 5 volts 3 single ended 0 5 volts 4 differential 10 volts 5 differential 0 10 volts 6 differential 5 volts 7 differential 0 5 volts BRAKE RELEASE DELAY brake release 1 32000 msec delay BE BRAKE ENGAGE DELAY i 1 32000 delay CA ACCEL_CURRENT not supported 10 rpm sec Sp 297 920 0002 Rev I 2 201
287. the BO command on the STM24 are as follows n denotes the I O point to be used BO1n Designated output n is closed active low when the drive is enabled and open when the drive is disabled BO2n Designated output n is open inactive high when the drive is enabled and closed when the drive is disabled BO3n Designated output n is not used as a Brake Output and can be used for another automatic output function or as a general purpose output STAC5 S SVAC3 S Defines usage of digital output Y2 as the Brake Output which can be used to automatically activate and deacti vate a holding brake Output Y2 can also be configured as a Motion Output a Tach Output or a General Purpose output for use with other types of output commands There are three states that can be defined BO1 Output is closed energized when drive is enabled and open when the drive is disabled BO2 Output is open de energized when drive is enabled and closed when the drive is disabled BO3 Output is not used as a Brake Output and can be used as a general purpose output 920 0002 Rev 40 2 2013 Host Command Reference STAC5 Q IP SVAC3 Q IP Defines usage of digital output Y2 as the Brake Output which can be used to automatically activate and deactivate a holding brake Output Y2 can also be configured as a Tach Output or a General Purpose output for use with other types of output commands There are three states that can be defined
288. this capability Otherwise you need to ask your network administrator for the appropiate P settings Obtain an IP address automatically Use the following IP address IP address wD 0 0 1 Subnet mask SG oe ee i Default gateway 8 Because you are connected directly to the drive anytime the drive is not powered on your PC may annoy you with a small message bubble in the corner of your screen saying The network cable is unplugged 920 0002 Rev 979 2 2013 Host Command Reference Option 3 Use Two Network Interface Cards NICs This technique allows you to keep your PC connected to your LAN but keeps the drive off the LAN preventing possible IP conflicts or excessive traffic 1 If you use a desktop PC and have a spare card slot install a second NIC and connect it directly to the drive using a CAT5 cable You don t need a special crossover cable the drive will automatically detect the direct connection and make the necessary physical layer changes 2 If you use a laptop and only connect to your LAN using wireless networking you can use the built in RJ45 Ethernet connection as your second NIC 3 Set the IP address on the drive to 10 10 10 10 by setting the rotary switch at 0 4 To set the IP address of the second NIC a On Windows XP right click on My Network Places and select properties b On Windows 7 click Computer Scroll down the left pane
289. tion A 017 Analog Input a 049 Deceleration B 018 Queue Line b 050 Chng Dist C 019 Distance D 020 Current Cmd c 051 Dist Moved d 052 Analog Offset Z 042 Non Volatile Storage data registers l Petey ana l Long Data 2 l User Def 1 001 Long Data 3 User Def 2 002 User Def 3 003 User Def 016 Phase Error z 074 ee Long Data 100 Loading RL RX Accessing data registers is done by Loading data into a register and Uploading data from a register Loading a data register can be done from a host command line or from a line in a program To load a register from a host command line use the RL Register Load command This command can be executed at any time even while a drive is running a program The RL command is an immediate command To load a register within a Q program use the RX command which is a buffered version of Register Load 227 920 0002 Rev I 2 2013 Host Command Reference Uploading RL RU Uploading data registers can only be done from a host command line not within a program There are two commands available for uploading register values RL is used to upload one register value at a time while RU can be used to upload a single register value or an array of register values Both RL and RU are immediate commands and therefore can be executed while a program is running The RU command can request up to 10 dat
290. tion 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 a 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 which 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 83 920 0002 Rev I 2 2013 Host Command Reference FO Feed to Length and Set Output Compatibility All drives See Also DC DI AO BO MO commands 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 should be set is defined by the DC command If DC is equal to or greater than DI the input condition will not be met during the move and the output will not be set NOTE Dedic
291. to 2 147 483 647 sign determines direction for CCW no sign for CW Examples Command Drive sends Notes DI20000 Set distance to 20000 counts in the CW direction FL Launch Feed to Length move FL20000 Launch Feed to Length move of 20000 counts in the CW direction without affecting the DI command FL 400 Launch Feed to Length move of 400 counts in the CCW direction without affecting the DI command 920 0002 Rev I 82 2 2013 Host Command Reference FM Feed to Sensor with Mask Distance Compatibility All drives See also FS command Executes a Feed to Sensor command see FS command except sensor is ignored for the first DC counts of the move In other words the sensor is masked for a beginning portion of the move This command is useful for ignoring noise from a mechanical switch or for clearing a part before sensing the next one Command Details Structure FM Parameter 1 BUFFERED Usage WRITE ONLY Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Example Parts are feeding on a conveyor which is being driven by the 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 solu
292. 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 920 0002 Rev 80 2 2013 Host Command Reference Filter values are non volatile for all but the BLu series of servo drives if followed by an SA command Witha BLu servo drive the filter values are lost at power down and must be set each time the drive is powered on NOTE A side effect of the digital filter which is true of any filter is to cause a lag in the response to an input level When an input changes state and is solid no noise the lag time will be the same as the filter value When noise is present the lag may be longer 81 920 0002 Rev I 2 2013 Host Command Reference FL Feed to Length Compatibility All drives See also AC DE DI VE commands Executes a relative move command Move distance and direction come from the last DI command Speed accel and decel are from the VE AC and DE commands respectively Executing the FL command with no parameter initiates a feed to length move that uses the last DI command for direction and distance Executing the FL command with a parameter uses the parameter settings for direction and distance without changing the DI command Command Details FL Parameter 1 BUFFERED WRITE ONLY Non Volatile Parameter Details Parameter 1 Relative distance range 2 147 483 647
293. ts Appendix G eSCL SCL over Ethernet Reference Appendix H EtherNet IP eesseeeeeeeeeeeeeeeeeeeeeeee Appendix l Troubleshooting 2 s eeeseeeeeeeeeeeeeees Appendix J List of Supported Drives sse 7 Host Command Reference 920 0002 Rev I 2 2013 Host Command Reference Getting Started The basic procedures for integrating an Applied Motion drive into your application are the same for every drive offered The first step is to configure and or tune the drive using either ST Configurator stepper or Quick Tuner servo Depending on the specific drive the user may now use SCL Utility Q Programmer or Si Programmer software for testing and advanced programming Servo Drives This series includes all SV7 SVAC3 BLUAC5 BLUDC9 and BLuDC4 drives For Ethernet enabled drives see Appendix G of this document and your drive s Hardware Manual for information regarding Ethernet communications Use Quick Tuner software to tune and configure your drive See the Quick Tuner Software Manual for details on tuning servo drives For SCL applications choose the SCL Operating Mode for Q applications choose either the SCL or Q Program Operating Mode For SCL applications theSCL Setup Utility is a useful tool to gain familiarity with the SCL command syntax and to test commands that will be used in the final product For Q applications use Q Programmer both f
294. ts the time delay used by the drive when responding to a command that requests a response Typically this is needed when using the 2 wire RS 485 interface Half duplex Because the same wires are used for both receive and transmit a time delay is usually needed to allow transition time The Host device s RS 485 specification must be understood to determine the time delay needed Command Details READ WRITE Non Volatile Parameter Details Parameter 1 Time value Examples Command Drive sends Notes TD10 Set Tx time delay to 10 milliseconds TD TD 10 920 0002 Rev 208 2 2013 Host Command Reference TI Test Input Compatibility Q drives only Affects Condition Code See also QJ TR commands Tests a digital or analog input against the given input state If the input is in the state the condition code is set to T true If not the condition code is set to F false The condition code is found in read only register h and is most commonly used in conditional jump QJ commands The input is tested and the jump is performed only if that input is in a specific state Command Details Non Volatile Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes TI4L Test input 4 for a low state QJT15 Jump to line 15 if the previously tested input is True 209 920 0002 Rev I 2 2013 Host Command Reference TR Test Register Compatibil
295. tting the rotary switch at 0 3 To set the IP address of your PC a On Windows XP right click on My Network Places and select properties b On Windows 7 click Computer Scroll down the left pane until you see Network Right click and select properties Select Change adapter settings 4 You should see an icon for your network interface card NIC Right click and select properties a Scroll down until you see Internet Properties TCP IP Select this item and click the Properties button b On Windows 7 and Vista look for TCP IPv4 Local Area Connection Properties Generel Advanced Connect using Ep Intel R PRO 100 VE Network Conne This connection uses the following items M Y NWLink NetBIOS a vi NWLink IPX SPX NetBIOS Compatible Transport Prot Intemet Protocol TCP IP lt amp 7 5 Select the option Use the following IP address Then enter the address 10 10 10 11 This will give your PC an IP address that is on the same subnet as the drive Windows will know to direct any traffic intended for the drive s IP address to this interface card 6 Next enter the subnet mask as 255 255 255 0 Ta Be sure to leave Default gateway blank This will prevent your PC from looking for a router on this subnet Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports
296. two devices to communicate with each other they must both be connected to the network and they must have IP addresses that are on the same subnet A subnet is a logical division of a larger network Members of one subnet are generally not able to communicate with the members of another Subnets are defined by the choices of IP addresses and subnet masks If you want to know the IP address and subnet mask of your PC select Start All Programs Accessories Command Prompt Then type ipconfig and press Enter You should see something like this Windows IP Configuration Ethernet adapter Local Area Connection DNS Suffix Connect ion specif ic IP Address Subnet Mask Default Gateway P 920 0002 Rev I 268 2 2013 AMP recommends performing all Ethernet configuration of the drive while connected directly to a PC via a CAT 5 Ethernet cable This avoids many potential communication problems associated with frequent IP address changes on a larger network Once fully configured the drive may be used on a plant network without issue See the section titled ARP Tables the Ghost in the Machine below for further information 192 168 22 255 255 255 6 192 168 86 254 Host Command Reference If your PC s subnet mask is set to 255 255 255 0 a common setting known as a Class C subnet mask then P Ad d ress your machine can only talk to another network device whose
297. ule serial port for sending text strings e An HMI with a serial connection for sending text strings The aim of this appendix is to describe the following aspects of operating an Applied Motion Products motor drive in host mode e General structure of host serial communications e Hardware wiring and connecting a host device to the serial ports of an Applied Motion drive Covered in detail in Appendix C e COM Port Settings UART settings and Bit Rate Baud settings e Communications Protocol e Communication Details e Communication Errors General structure of host serial communications Applied Motion s host serial communications are based on the common ASCII character set transmitted using standard UARTs over an RS 232 or RS 485 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 and RS 485 hardware connections are commonly used with UARTs and also provide the easiest and most common form of connectivity Hardware Details on drive terminals and connectors for wiring each of the available hardware configurations are shown in Appendix C Below is an overview of the three available configurations RS 232 This is the easiest method for drive serial communicati
298. unter Compatibility Q drives only Affects Data Register I 025 See also RL RX RI RD TS commands This command enables a function that increments the I data register when the given input condition determined by the RC command is met Typically the R or F input condition see Details below is used to trigger an increment If however the L or H input condition is used the register will be incremented at a rate of 8000 times per second In other words the R and F input conditions are used for true input counting while the L and H conditions act as input timers Use the RL Register Load immediate or RX Register Load buffered commands to preset or set the I data register to a predetermined value Sending the RC command without a parameter disables the function This command is also used in conjunction with the TS Time Stamp command See the TS command for more details Command Details Non Volatile T 025 Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes RC4F Increment data register I each time input 4 changes from high to low falling edge The sample Q program on the following page illustrates the interaction of the RC and TS commands After initialization the program waits for a falling edge event on input X3 at which point a 5 second timer begins counting down During this de
299. until you see Network Right click and select properties Select Change adapter settings Local Area Connection Properties General Advanced Connect using E Intel R PRO 100 VE Network Conne This connection uses the following tems M NWLnk NetBIOS M NWLink IPX SPX NetBIOS Compatible Transport Prot Cik g intemet Protocol TCP IP Is a 5 You should see an icon for your newly instated NIC Right click again and select properties a Scroll down until you see Internet Properties TCP IP Select this item and click the Properties button b On Windows 7 and Vista look for TCP IPv4 6 Select the option Use the following IP address Then enter the address 10 10 10 11 This will give your PC an IP address that is on the same subnet as the drive Windows will know to direct any traffic intended for the drive s IP address to this interface card 7 Next enter the subnet mask as 255 255 255 0 Be sure to leave Default gateway blank This will prevent your PC from looking for a router on this subnet Internet Protocol TCP IP Properties General j You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address A 10 AO Subnet mask 2 25 2255 0 Default gate
300. ured as a general purpose output for use with other types of output commands There are three states that can be defined AO1 Output is closed active low when a Drive Fault is present AO2 Output is open inactive high when an Drive Fault is present AO3 Output is not used as an Alarm Output and can be used as a general purpose output ST S STM17 STM23 STM24 C Defines the drive s digital output as an Alarm Output The output of a drive can be assigned to one of five functions Alarm Output Brake Output Motion Output Tach Output or General Purpose 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 the ST Configurator or via SCL commands To set the output as an Alarm Output use the AO command and one of the codes below There are three Alarm Output states that can be defined with the AO command AO1 Output is closed active low when a Drive Fault is present AO2 Output is open inactive high when a Drive Fault 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 STM24 SF QF Drives with Flex I O allow a second parameter which allows the user to specify the I O point used Before an I O point can be used as an Alarm Output it must first be configured as an output with the SD command Possible uses for the AO command on the STM24 ar
301. urrent especially during acceleration and deceleration See also CC PC PP commands Sets or requests the peak RMS current setting of the servo drive Peak current sets the maximum current that should be used with a given motor When the motor position requires more than the continuous value the peak current time calculation is done using I T which integrates current values for more accurate modeling of drive and motor heating The servo drive will allow peak current for nor more than one second After one second of operation at peak current the current is reduced to the continuous current setting see CC command Command Details CP Parameter 1 BUFFERED READ WRITE Non Volatile Register Access O 031 Note The CP command uses different units than the O register see Data Registers section for more details Parameter Details Parameter 1 Peak current limit amps RMS range BLuDC4 0 13 5A BLuDC9 0 18 0A BLuAC5 0 15 0 A SV7 0 14 0 A SVAC3 120V 0 7 5 SVAC3 220V 0 3 75 Examples Command Drive sends Notes CP9 0 Peak current is set to 9 0 amps RMS CP CP 9 0 920 0002 Rev I 56 2 2013 Host Command Reference CR Compare Registers Compatibility Q drives only Affects Contents of condition code register h See also RI RD RM RL QJ commands Compare the contents of two data registers The first data register Parameter 1 is tested by comparing it against the data value i
302. urrent of the drive PP also immediately saves the setting to NV memory In other words PP CP SA Command Details Non Volatile Parameter Details Parameter 1 Power up peak current limit amps RMS resolution is 0 01 amps BLuDC4 0 13 5 BLuDCg9 0 18 0 BLuACS 0 15 0 SV7 0 7 0 SVAC3 120V 0 7 5 SVAC3 220V 0 3 75 Examples Command Drive sends Notes PP6 Set power up peak current to 6 0 amps RMS PP PP 6 920 0002 Rev 158 2 2013 Host Command Reference PR Protocol Compatibility All drives Affects RS 232 amp RS 485 Serial Communications See also BR and PB commands Sets or requests the serial communication protocol settings 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 decimal equivalent of the word as well The different protocol settings and their bit assignments are shown below Command Details Non Volatile Register Access Parameter Details Parameter 1 Protocol code decimal integer value of binary word 1 63 000001 111111 bit O Default Standard SCL bit 1 Always use Address Character bit 2 Ack Nack bit 3 Checksum RESERVED bit 4 r
303. using the AL RS and or SC commands See Appendix F for more details on the AL and SC commands Once the host has determined the presence of a hardware comm 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 Appendix D PR command Bit 2 920 0002 Rev 244 2 2013 Host Command Reference Appendix C Host Serial Connections Introduction When communicating to a drive over its serial port you will always be using one of the following serial connections RS 232 2 wire RS 485 or 4 wire RS 485 Out of the box we suggest starting with RS 232 along with the programming cable and software that was supplied with your Q drive so that you may be communicating to and familiarizing yourself with your drive as quickly as possible All software from Applied Motion communicate to a drive via the supplied RS 232 programming cable These software include Quick Tuner used for tuning and configuring servo drives Configurator used for configuring your stepper drives Q Programmer create and edit stored Q programs emulate a host SCL Setup Utility basic host terminal for host emulation If your
304. ve to non volatile memory Examples Command Drive sends Notes PB2 Power up baud rate is set to 19200 and this value is immediately saved to non volatile memory PB PB 2 151 920 0002 Rev I 2 2013 Host Command Reference PC Power up Current Compatibility All drives Affects Motor current and torque See also CC PI PP commands If using a stepper drive PC sets or requests the continuous RMS current setting of the servo drive If using a servo drive PC sets or requests the current setting peak of sine of the stepper drive also known as the running current NOTE This command is similar to CC It differs only in that in addition to setting the continuous current of the drive PC also immediately saves the setting to NV memory See CC command for further details Command Details Non Volatile Yes see note below Register Access N 030 Note The PC and CC commands use different units than the N register see Data Registers section for details Parameter Details BLu SV SVAC3 Parameter 1 Power up continuous current setting amps rms resolution is 0 01 amps BLuDC4 0 4 5 BLuDC9 0 9 0 BLUACS 0 5 0 SV 0 7 0 SVAC3 120V SVAC3 220V 3 1 0 3 5 0 1 8 STAC6 ST Q Si ST S STM STAC5 STACE 0 6 0 ST5 0 5 0 ST10 0 10 0 STM17 0 2 0 STM23 0 5 0 STM24 0 6 0 STACS 120V 0 5 STAC5 220V 0 2 55 NOTE Applied Motion recommends using C
305. ver Ethernet from VB6 you ll need the Winsock control MSWINSCK OCX which is included in the Professional and Enterprise editions of the language To configure an instance of Winsock you must specify the protocol as UDP choose a local port number and set the remote IP address and port number to match the drive In the code example below 7775 is the port of the drive drivelPaddress is the IP address of the drive 10 10 10 10 or 192 168 0 130 for example 7777 is the port of the PC Winsock1l RemotePort 7775 Winsock1l RemoteHost drivelIPaddress Winsock1 Protocol sckUDPProtocol Winsock1 Bind 7777 if port 7777 is in use by another application you will get an error that error should be trapped using the On Error statement and an alternate port should be chosen Sending RV command Dim myPacket 0 to 4 as Byte declare a byte array just large enough myPacket 0 0 first byte of SCL opcode myPacket 1 7 second byte of SCL opcode myPacket 2 R XR myPacket 3 v wy myPacket 4 vbCR carriage return Winsock1 SsSendData myPacket 21r 920 0002 Rev I 2 2013 Host Command Reference To receive a response you will need to place some code in the Winsock DataArrival event This event is automatically declared as soon as you add a Winsock control to your form The DataArrival event will automatically trigger each time a packet is received The code below extracts the SC
306. w Model Number Character Code BLuDC4 S O STAC6 220 S BLuDC4 SE o STAC6 220 SE BLuDC4 Si P STAC6 220 Q BLuDC4 Q W STAC6 220 QE BLuDC4 QE w STAC6 220 Si BLuDC9 S R ST5 S D BLuDC9 SE r ST10 S E BLuDC9 Si ST5 Plus J BLuDC9 Q X ST10 Plus K BLuDC9 QE x ST5 Q F BLuAC5 S T ST10 Q H BLUAC5 SE t ST5 Si G BLuAC5 Q U ST10 Si BLuAC5 QE u STM23S xxx a BLuAC5 Si V STM23Q xxx b STAC6 S Y SV7 S STAC6 SE y SV7 Q lt STAC6 Q Z SV7 Si STAC6 QE Zz STAC6 Si BLu100 and BLu200 series drives have been replaced by BLUDC4 and BLuDC9 series drives respectively BLu100 and BLu200 drives are still supported but part numbers have been changed Examples Command Drive sends Notes MN T Connected drive is a BLUAC5 S 920 0002 Rev I 2 2013 138 Host Command Reference MO Motion Output Compatibility All drives See also AO BO PL SD commands Defines the drive s Motion Output digital output function See the PL command for details on the in position window setting There are three Motion Output states that can be defined for all drives with the MO command MO1 Output is closed energized when motor 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 For all stepper drives there are 5 additional states available MO4 Output is used as a Tach Out
307. w take the 7 foot cable and plug one end into the adapter you just attached to your PCs COM port and plug the other end into the RS 232 RJ11 jack on the drive If you need to locate your drive farther from the PC you can replace the 7 foot cable with any 4 wire telephone cord Do not exceed 50 feet WARNING Never connect an Applied Motion Products drive to a telephone circuit It uses the same connectors and cords as telephones and modems but the voltages are not compatible Connecting to a host using 4 wire RS 485 An Applied Motion drive s 4 wire RS 485 implementation is a multi drop network with separate transmit and receive wires One pair of wires connects the host s TX and TX signals to each drive s RX and RX terminals Another pair connects the RX and RX signals of the host to the TX and TX terminals of each drive A common ground terminal is provided on each drive and can be used to keep all drives at the same ground potential This terminal connects internally to a drive s ground connection so if all the drives on the 4 wire network are powered form the same supply it is not necessary to connect the logic grounds You should still connect one drive s GND terminal to the host s signal ground Before wiring the entire system you ll need to connect each drive individually to the host so that a unique address can be assigned to each drive See following sub section Before you connect the drive to your system Procee
308. way 8 Because you are connected directly to the drive anytime the drive is not powered on your PC will annoy you with a small message bubble in the corner of your screen saying The network cable is unplugged 273 920 0002 Rev I 2 2013 Host Command Reference ARP Tables The Ghost in the Machine ARP which stands for Address Resolution Protocol is a low level router function that enables traffic to be correctly routed on the Ethernet network It is handled automatically by the router and is normally transparent to the user All network devices need to have two things a MAC ID and an IP address e The MAC ID is a unique identifier that is assigned to the chip on the network interface device You can think of it as a network serial number e The IP address is just that an address Like a street address on your house IP addresses can be changed MAC ID s cannot The following diagram shows a basic network Note that each device has both a MAC ID and IP address The router maintains an ARP table which is really just a list that matches MAC ID s to IP addresses An entry is created for every device on the network ARP TABLE MAC ID 08 A4 C3 10 0E 00 lt gt IP 192 168 1 100 MAC ID A2 FB 3D 21 7A 01 lt gt IP 192 168 1 101 MAC ID 03 C8 11 2B DE 02 lt gt IP 192 168 1 102 MAC ID 08 A4 C3 10 0E 00 IP 192 168 1 100 MAC ID
309. wer adapter that comes with the unit Connecting to a host using 2 wire RS 485 An Applied Motion drive s 2 wire RS 485 implementation is a multi drop network with one pair of wires that is used for both transmit and receive To make this type of connection you will first need to jumper the TX terminal of a drive to it s own RX terminal and then do the same with the TX and RX terminals To then connect a drive to the host you will need to connect the TX RX terminals of the drive to the host s TX RX terminal and then the TX RX terminals of the drive to the host s TX RX terminal We also recommend a 120 terminating resistor be connected between the Tx and Tx terminals of the drive farthest from the host Here is a diagram to Host GND TR SS 7 to Host Tx A to Host Tx B ONNO DNNN ONNO Rx Tx GND Rx Tx GND Rx Tx GND Drive 1 Drive 2 Drive n 247 920 0002 Rev I 2 2013 Host Command Reference Getting and Connecting an RS 485 2 wire adapter to your PC If you are using your computer to communicate to the drive s and therefore need an RS 485 adaptor model 485 25E from Integrity Instruments 800 450 2001 works well It comes with everything you need Connect as follows Adaptor Terminal Drive Terminals A TX RX B TX RX Before you connect the drive to your system If you plan to implement a 2 wire or 4 wire RS 485 network of drives you will first need to address each drive
310. words to achieve a deceleration value of 100 rev sec sec send the command RLB600 NOTE Take care to ensure that this register is never set to zero The drive may become stuck in a command mode or program loop and or refuse to move See the RL RM and RX commands C Change Distance DC 019 Long counts All drives D Distance Dl 020 Long counts All drives ne Drives with encoder E Position Offset 021 Long counts jeedback option The E register contains the difference between the encoder count and the motor position This value is most useful with servo drives Blu SV where the resolution of the motor and encoder are the same and this offset can be useful when working with absolute positions The register contains the difference in counts between the e register and the value set by the SP command F Other Flags 022 Long bit pattern see below All drives BLu The value of the F register is a hexadecimal sum of various drive states as shown below Description Hex Value Decimal Value DISTANCE LIMIT FLAG 0x0001 1 SENSOR FOUND FLAG 0x0002 2 LOWSIDE OVERCURRENT 0x0004 4 HIGHSIDE OVERCURRENT 0x0008 8 Clear flags by sending RLFO to the drive SV The value of the F register is a hexadecimal sum of various drive states as shown below 920 0002 Rev 234 2 2013 Host Command Reference Description Hex Value Decimal Value
311. y the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 low and SO1L means set output 1 low A high state is represented by the H character 920 0002 Rev 140 2 2013 Host Command Reference MR Microstep Resolution Compatibility All Stepper Drives Affects Microstep Resolution See also EG command The MR command allows the user to set or request the Microstep Resolution of the drive NOTE The MR command has been deprecated and should no longer be used It is included here solely for compatibility with older programs New applications should make use of the EG command Command Details MR Parameter 1 BUFFERED READ WRITE Non Volatile Parameter Details Parameter 1 Microstep Resolution code range 0 15 Code steps rev 5 10 000 6 12 800 7 18 000 8 20 000 9 21 600 10 25 000 11 25 400 12 25 600 13 36 000 14 50 000 15 50 800 Examples Command Drive sends Notes MR8 Set the drive s microstep resolution to 20 000 steps rev MR MR 8 141 920 0002 Rev I 2 2013 Host Command Reference MT Multi Tasking Compatibility Q drives only Affects All move commands See also CJ Ol QJ Tl TR and WM commands Sets or request the status of the multi tasking function on or off When multi tasking is enabled on commands such as FL Feed to Length or HW Hand Wheel do not block execution of su
312. your network supports This connection uses the following items this capability Otherwise you need to ask your network administrator for the appropriate IP settings V Y NWLink NetBIOS A vi NWLink IPX SPX NetBIOS Compatible Transport Prot Intemet Protocol TCP IP K eta a IP address 192 168 0 22 Obtain an IP address automatically y Use the following IP address 920 0002 Rev 270 2 2013 Host Command Reference 4 If the option Obtain an IP address automatically is selected your PC is getting an IP address anda subnet mask from the DHCP server Please cancel this dialog and proceed to the next section of this manual Using DHCP 5 If the option Use the following IP address is selected life is good Change the subnet mask to 255 255 0 0 and click OK Using DCHP If you want to use your drive on a network that where all or most of the devices use dynamic IP addresses supplied by a DHCP server set the rotary switch to F When the drive is connected to the network and powered on it will obtain an IP address and a subnet mask from the server that is compatible with your PC The only catch is that you won t know what address the server assigns to your drive Ethernet Configurator can find your drive using the Drive Discovery feature as long as your network isn t too large With the drive connected to the network and powered on select Drive Discovery from t

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