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IQ® Programmer Reference Manual

1. 15 COMMUNICATIONS COMMAS HU 16 PFOGKaNM OTI ioo cM 16 Register Command Sessan PI Le GCGommand Eire etm Suo S 18 AG Acceleration ale da Dare cus Prset ee FE oen EHE Ya D cnameadwonyaye ts ann chaceadvetyantiieenachadaaduenyolcSbits hide EORR PEN RE UR ces ERU d ERN 19 Top AMAIOG DCA DAN sii iiis cass cctscinaccesdcsnaptsanncaaecerunsedosnasten AN T RASENE EEA EAREN EEA AAA SEREAS AANE ERENER 20 AL gt Ai alO Gi FIG lis icai prepa E a a ea a rta dit paca dv Re Sehr pud Era vedi AA 21 AG Analog Velocity Galoran neasi rdinara aaa eain adbbeiagenusnedncensediandes 22 Al Alarm R set IMU D 23 N EEO 1o E EEE 25 AM MaxcACCGleration seiniin 26 AQ NEKO oE ETETE ET A EET 27 AP Analog Position Gain Mp 29 AR Alartin Reset Immediate os ccena pecu eee nnne ade RE E a Ra aa Aa E apia DRA 30 ASS ANAO CAN M DICE 31 AT Analog Threshold n N Ma ta t rra din coated a EA N 32 AV Analog Offset Value nennen nennen nennen nnn nennen nennen enne enne nne innen enne e erret eere 33 EP uscire Em 34 AZ NS PAE MTEET RR 35 BD Brake Disengage Delay cc rmn re iere ren Da rr i EXER seca e PER HER PR EE FECE cantodecaiaadeneneset 36 BE Brake Engage Delay
2. Command Description NV write read Immediate Compatibility only only CD Idle Current Delay Stepper drives only CF Anti resonance Filter Frequency Stepper drives only CG Anti resonance Filter Gain Stepper drives only Cl Change Idle Current Stepper drives only CM Control mode All drives CP Change peak current Servo drives only DA Define Address e All drives DL Define Limits e All drives DR Data Register for Capture Q servo drives only ED Encoder Direction Servo drives drives with encoder feedback ER Encoder or Resolution Servo drives drives with encoder feedback HG 4th Harmonic Filter Gain Stepper drives only HP 4th Harmonic Filter Phase Stepper drives only A Immediate Analog e All drives D immediate Distance All drives E Immediate Encoder Servo drives drives with encoder feedback F Immediate Format All drives Q Immediate Current Servo drives only P Immediate Position e All drives T Immediate Temperature All drives U Immediate Voltage All drives V Immediate Velocity All drives LV Low Voltage Threshold e All drives MD Motor Disable e All drives ME Motor Enable All drives MN Model Number e All drives MO Motion Output All drives MR Microstep Resolution All drives deprecated see EG command MV Model amp Revision All drives except Blu servos OF On Fault e Q drives only Ol On Inp
3. 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 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 Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Status Code and the equivalent hexadecimal value for each of the bits is given below Hex Value Status Code bit definition 0001 Motor Enabled Motor Disabled if this bit 0 0002 Sampling for Quick Tuner 0004 Drive Fault check Alarm Code 0008 In Position motor is in position 0010 Moving motor is moving 0020 Jogging currently in jog mode 0040 Stopping in the process of stopping from a stop commana 0080 Waiting for an input executing WI command 0100 Saving parameter data is being saved 0200 Alarm pres
4. units Integer Code range 1 or 3 See ITM23 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 Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command Drive sends Notes Si Cause drive to be enabled when X3 EN input is open SI Sl 1 Drives with Flex I O Command Drive sends Notes SDSI Configures I O 3 as input see SD command for details SH3 Cause drive to be enabled when Input 3 is open SI Sl 13 184 IQ Programmer Reference Manual 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 Structure SJ Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes SJ Stops jogging immediately using the deceleration rate set by the JA command 185 IQ Programmer Reference Manual 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 commands from the queue When used to stop a move deceleration rate is c
5. 181 ias dej 182 SI ziale MigeU MB Q 183 SJ Stop Jogging SK Stop amp Ill i cic steps aderire a tei br ecrit c Vea ER e n eA RD eet pet ERR p RO e ELA SM StoP MOVE m EEST SO Set OU aaa EE SP Set Position SSe SONG SUING aeaaea P ST Stop 191 TB Transmit Delaying a a a Peiper ee aa a EEEa aa AA SAAE 192 TI Test Input NEN 194 DEI 195 VG Velocity I 196 VE Velocity VI Velocity Integrator GOrnIStarit us coc or ier rtr ror rie rero i Ln aandaa ERE PEDE KR He PER E REM FIL Co EHE SEI ER Ya do 198 AES Maximu VIO CI e 199 VP Velocity Mode Proportional Constant ssssseseeeeeenenennenneememeeee nennen nrenre nete nnne enne 200 WD Wait Delay WVU WAITTOM INSU M ETEEE 202 Wie Wallon MOVE ipa ut xk etia a ENa Mx ota diet dpa det RR nere ated cde aic n SERRE DM AL 203 VES I fs Ind rers o RR ERTEILEN 204 WT Wait Time ZG Regen Resistor Continuous Wattage i5 rer oreet D aerea srt orn XXE nV o nh er Ee erheben
6. Response Details Model Number Character code SRV AC5 S T SRV AC5 Q U SRV AC5 QE u Examples Command Drive sends MN T Model Number STP 10 Q ITM 23Q SRV DC7 F SRV DC7 Q Notes Connected drive is a SRV AC5 S Character Code H b lt 127 IQ Programmer Reference Manual MO Motion Output Compatibility All drives See also AO BO SD commands Defines the drive s Motion Output digital output function 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 five additional states available MO4 Output is used as a Tach Output 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 MOG Output is used as a Tach Output at 400 pulses rev with 1 8 degree step motor MOT 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 SRV DC7 servo drives there are seven 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
7. rii rr hri rer herede ER e Fr En DER eiii pe REN idinon ER Rr FERES REEE 37 BO Brake Output sissies 38 BR Baud Rate p 40 BS B ffer Status wc M 41 CA Change Acceleration Current 102 GG CHANGE GUNG I EETA A ER 43 e bESuevuzn b MN PPP 45 B zie COMMMUAICATOMIERTON Dm 46 CF Anti resonance Filter Frequency AT CG Anti resonance Filter Gain 0 ee ecececeeeeccen eerste ereeneeeieeneeneeeneeeeeenesteesiesneesiesneesiesniesiesneseaesneeeiesnesieetneesieeneeneenea 48 Cl Changeldle CUNEN sssi PP 49 CJ eredi gemere gie PER nitisi siinide ddannedd beadad sead Subai diani oeni aris 50 CM Command Mode AKA Control Mode GP Change Peak Current iiien aori daanan iia aa a a aaaea Da Aaa akasan 53 IQ Programmer Reference Manual e Gre nales FEGIStENS s5 sacsciuscissseascasncatiresulraucedsansesctnassassnescasnagacis ances a EAE ASA EE ARR EAEE 54 SNO Meere P 55 95 RES OMNIS ERIT TD TR TER TENDER EPUM 56 DA Dfe epp 57 DC Change Distance 98 IBID re I zuo o 59 DI e Distance s POSITION isi ciseivass eere Edere a t hg rv ds ve eee ue dnd 60 Dk Define Limits RENE M 61 DR Data Register for Capture 63 ED Enc
8. Structure RR Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All Read Write and User Defined data registers Parameter Details Parameter 1 units Data register character range all Read Write and User Defined data registers Parameter 2 Non volatile memory location units integer Examples Command Drive sends Notes RRV10 Read data from non volatile memory location 10 and place it in data register V 166 IQ Programmer Reference Manual 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 Structure RS Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None 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 pr
9. range integer O encoder index if present 1 8 9 Analog Command AINT AIN2 letter L Low H High F Falling Edge R Rising Edge Parameter 2 input number input condition units integer letter range integer O encoder index if present 1 8 9 Analog Command AINT AIN2 letter L Low H High F Falling Edge R Rising Edge ITM 23Q STP 10 S STP 10 PLUS Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command units optional X integer letter range integer O encoder index if present 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 units integer letter range integer O encoder index if present 1 STEP 2 DIR 3 EN 4 AIN letter L Low H High F Falling Edge R Rising Edge 243 IQ Programmer Reference Manual 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
10. Counting RC I register Q drives only 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 SRV servo drives and all stepper drives or 125 microseconds SRV AC5 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 and Logic R R R R R amp RI 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 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 Conditional Testing CR TR Q drives only When constructing complex
11. See also AC DC DE and VE commands e E 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 Description an explanation of what the command DI also sets the direction of rotation for jogging CJ does and how it works Cc id Details D ommand Details MM Command Details shows the command s uut ee Structure Type Usage Non Volatile status and Usage READ WRITE Register Access Structure always shows the Non Volatile YES two letter command code followed by the number Risuisten o Cus D 020 of parameters it uses Not all commands have Parameter Details parameters some commands have optional Parameter 1 distance parameters and other commands always have a units encoder counts servo or steps stepper parameter Optional parameters are designated by TT a elerne areton e un CER Ra dor and required parameters are designated by Type can be BUFFERED or IMMEDIATE Usage s can be Read Only Read Write or Write Only Non Set distance to 20000 counts in the CW direction Volatile will show if the command can be save
12. Structure FL Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Relative distance units counts or steps range 2 147 483 647 to 2 147 483 647 Sign determines direction for CCW no sign for CW Examples Command Drive sends Notes DI20000 Set distance to 20000 counts in the CW direction FL Launch Feed to Length move FL20000 s 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 77 IQ Programmer Reference Manual 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 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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
13. 000 Accumulator Parameter Details Parameter 1 First data register assignment units character range all data registers Parameter 2 Second data register assignment units character range all data registers Examples Command Drive sends Notes R D1 Multiply contents of distance register D by contents of user defined 174 register 1 and place result in accumulator register 0 IQ Programmer Reference Manual R Register Divide Compatibility Q drives only Affects All data registers See also R R R R amp RD RI QU 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 O 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 QU Queue Jump command Can set condition codes T F N P and Z Command Details Structure R Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O 000 Accumulator Parameter Details Parameter 1 units First data register data register assignment range All data registers Parameter 2 Second data register units data reg
14. BS Buffer Status All drives CE Communications Error All drives IF Immediate Format e All drives PB Power up Baud Rate All drives PR Protocol All drives TD Transmit Delay All drives Q Program Commands Command Description NV write read Immediate Compatibility only only AX Alarm Reset All drives MT Multi Tasking Q drives only NO No Operation Q drives only OF On Fault e Q drives only Ol On Input Q drives only PS Pause All drives QC Queue Call Q drives only QD Queue Delete Q drives only QE Queue Execute Q drives only QG Queue Goto Q drives only QJ Queue Jump Q drives only QK Queue Kill Q drives only QL Queue Load Q drives only QR Queue Repeat Q drives only QS Queue Save Q drives only QU Queue Upload Q drives only 16 Q Program Commands continued IQ Programmer Reference Manual Command Description NV write read Immediate Compatibility only only QX Queue Load amp Execute Q drives only SM Stop Move Q drives only SS Send String All drives TI Test Input Q drives only WD Wait Delay using Data Register Q drives only WI Wait for Input All drives WM Wait for Move to complete Q drives only WP Wait for Position in complex move Q drives only WT Wait Ti
15. Command Drive sends Notes HWX4L Run in hand wheel mode until input X4 low 87 IQ Programmer Reference Manual 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 there will be a sl
16. 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 Structure QG Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Segment line number units integer range 1 62 Examples Command Drive sends Notes QG10 Cause a jump to line 10 in the segment 151 IQ Programmer Reference Manual Compatibility Affects See also QJ Queue Jump Q drives only Program flow 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 Structure QJ Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1
17. JM JM 2 113 IQ Programmer Reference Manual 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 Structure JS Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes 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 units rev sec range SRV AC5 SRV DC7 STP 10 0 0042 133 3333 resolution is 0 0042 ITM 23Q 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 35 114 IQ Programmer Reference Manual 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 Bimba IQ Servo software for tuning and configuring your servo system C 72090 1400 F 2 2 where C Filter Value
18. 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 Structure SH Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 182 IQ Programmer Reference Manual SI Enable Input Usage Compatibility All drives Affects Enable input usage See also Al CM SD commands SRV AC5 SRV DC7 STP 10 Q Sets or requests the usage of the Enable input Input X3 is the default Enable input on all drives however IN3 on 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 SI1 Drive is enabled when X3 is open inactive high SI2 Drive is enabled when X3 is closed
19. 62 AC P_TO_P_ACCEL 1E A AF ANALOG_FILTER_GAIN 4C AG ANALOG VELOCITY GAIN 3B H Al ALARM RESET 46 AM MAX ACCEL 16 AO ALARM_OUTPUT 47 AP ANALOG_POSITION_GAIN 4B X AT ANALOG_THRESHOLD 4D Y AV ANALOG_OFFSET 3C Z BD BRAKE_DELAY 40 BE BRAKE_DELAY_2 41 BO BRAKE OUTPUT 48 CA ACCEL_CURRENT STM only 61 CC MAX_CURRENT 18 N CD IDLE CURRENT DELAY 4F CF Anti resonance Frequency 50 CG Anti resonance Gain 51 Cl IDLE CURRENT 19 0 CM CONTROL_MODE 10 DE P_TO_P_DECEL 1F B DL DEFINE_LIMITS 42 ED ENC_DIRECTION 5F EG Steps rev divided by 2 26 R ER ENCODER_RESOLUTION 20 HG HYPERBOLIC_GAIN 4 HP HYPERBOLIC_PHASE 5 JA VM_ACCEL 1B K JL VM_DECEL 1C L JS VM_VELOCITY 1A M MO MOVE_OUTPUT 49 MV ModelNum F W version 1 PF POSITION_FAULT 21 PM OPERATION MODE 44 PR PROTOCOL 59 SF STEP FILTER FREQUENCY 6 SI SERVO ENABLE 45 TD ACK_DELAY 5A VC CHANGE VELOCITY 4A U VE P TO P VELOCITY 1D V 277 IQ Programmer Reference Manual Command Description Index Q Register Char Read Only DSP firmware letter 8E Hall Pattern SRV DC7 only 8F Sub Model ITM only 90 IsServo STP SRV only 1 servo O stepper Can be used to tell if drive is 91 servo or stepper AL alarm code 81 f BS Buffer Status 94 EP encoder count upper 84 EP encoder count lower 85 IA command voltage Ain 83 a IC command current 88 C 10
20. 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 62 IQ Programmer Reference Manual DR Data Register for Capture Compatibility Q servo drives only SRV AC5 Q and SRV DC7 Q Affects Quick Tuner Data Capture Sets or requests the data register used in the register plot data source in IQ Servo Any data register can be selected for viewing when capturing data using Quick Tuner Command Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All data registers Parameter Details Parameter 1 Data register assignment units character range All data register assignments Examples Command Drive sends Notes DRa Set capture data register to a Analog Command register 63 IQ Programmer Reference Manual ED Encoder Direction Compatibility SRV AC5 STP AC5 SRV DC7 SRV AC3 Affects Encoder count direction See also EF El commands SRV AC5 STP AC5 SRV DC7 SRV AC3 Sets or requests the encoder count direction Command Details Structure ED Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access none Parameter Details Parameter 1 Encoder Count Direction units Binary flag O or
21. MSB is R 0x52 see IO Encoding Table Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 6B opcode byte 3 6B opcode byte 4 not used byte 4 Status Code MSB byte 5 0 not used byte 5 Status Code LSB byte 6 52 condition R byte 6 0 not used byte 7 B2 ionum 2 byte 7 0 not used IQ Programmer Reference Manual 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 an 8 bit opcode 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 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O BO Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 B1 Comm
22. OxOF 15 SRV DC7 IP 0x59 89 um STP AC5 IP 220 0x11 17 E ST5 IP 0x5F 95 en SRV AC3 IP 0x13 19 STP 10 IP 0x65 101 SRV AC3 IP 220 0X32 50 0x09 9 ITM 23Q 2 E N 0x32 50 0x09 9 ITM 23Q 2 EIP N M12 0X32 50 0x0A 10 ITM 23Q 2 E E 0x32 50 0x0A 10 ITM 23Q 3 EIP N M12 0X32 50 0x0B 11 ITM 23Q 3 E N 0x32 50 0x0B 11 ITM 23Q 2 EIP E M12 0X32 50 0x0C 12 ITM 23Q 3 E E 0x32 50 0x0C 12 ITM 23Q 3 EIP E M12 0x53 83 em STP AC5 IP 261 IQ Programmer Reference Manual Explicit Message Types Two types of explicit messages can be sent to Bimba 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 Unconnected 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 thi
23. RMS current setting of the servo drive STP 10 ITM 23Q 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 Bimba IQ Stepper software Use Bimba IQ Stepper 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 Structure CC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access N 030 Note The CC command uses different units than the N register see Data Registers section for details Parameter Details SRV drives Parameter 1 Continuous current setting units amps rms resolution is 0 01 amps range SRV AC5 0 5 0 SRV DC7 0 7 0 SRV AC5 120V 0 3 5 SRV AC5 220V 0 1 8 STP and ITM drives Parameter 1 Running current units amps resolution is 0 01 amps range STP 10 0 10 0 ITM 23Q 0 5 0 STP AC5 120 0 5 STP AC5 220 0 2 55 Current setting in stepper drives depends on the selected motor Use IQ Stepper software to select a motor and set the maximum current setting 43 IQ Programmer Reference Manual Example
24. Register Access O 031 Note The CI command uses different units than the O register see Data Registers section for more details Parameter Details STP 10 Q ITM 23Q STP AC5 Parameter 1 Idle current at power up units amps range O 90 of running current 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 PIO 75 Set power up idle current to 0 75 amps Pl Pl 0 75 141 IQ Programmer Reference Manual 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 Structure PL Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Positioning limit units encoder counts range O 32767 Examples Command Notes PL20 Set position limit to 20 counts PL 142 IQ Programmer Reference Manual PM Power up Mode Compatibility
25. Relative Distance ID 052 Long Serves enicoaer counts All drives Stepper steps SRV AC5 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 SRV DC7 STP 10 Q ITM 23Q 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 6 Encoder Position IE EP 053 Long encoder counts stepper drives with encoders The e register can be zeroed by sending the command EPO 212 IQ Programmer Reference Manual hexadecimal equivalent of f Alarm Code AL 054 Long binary Alarm Code word All drives See AL command for details Servo encoder counts g Sensor Position 055 Short Stepper steps All drives 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 meaningfu
26. Tx GND Rx Tx GND Drive 1 Drive 2 Drive n 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 229 IQ Programmer Reference Manual 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 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 Bimba s web site www bimba com 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 the
27. active low SI3 Neither X3 nor IN3 is used for enabling disabling the drive but as general purpose inputs SI4 Drive is enabled when IN3 is open inactive high QE and EIP drives only SI5 Drive is enabled when INS is closed active low QE and EIP drives only ITM 23Q STP 10 S 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 Bimba IQ9 Stepper 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 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 SI8 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 Enable input states that can be defined with the SI command SI1 Drive is enabled when the EN input is open inactive high SI2 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 STP AC5 S SRV AC3 S Defines the X3 input as an Enable Input If yo
28. 2000 Current Foldback not used not used 4000 Blank Q Segment 8000 No Move not used SRV AC5 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 shows the 16 bit assignments for the Alarm Code which of course match the hexadecimal values above 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 RLT 580 235 IQ Programmer Reference Manual Bit 0 Position Limit Bit 1 CCW Limit
29. 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 save 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 2 138 IQ Programmer Reference Manual 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 Structure PC Parameter 1 Type BUFFERED Usage READ WRITE 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 SRV AC5 SRV DC7 SRV AC3 Parameter 1 units Power up continuous current setting amps rms resolution is 0 01 amps range SRV AC5 0 5 0 SRV DC7 0 7 0 SRV ACS 120V
30. 48 2 Volts IU IlU 1662 DC bus voltage is 166 2 Volts 105 IQ Programmer Reference Manual IV Immediate Velocity Compatibility All drives Requests present velocity of the motor in rpm and the motor s target velocity Command Details There are two different velocities that can be read back the motor s actual velocity Structure IV Parameter 1 Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access v 070 Actual velocity servo drives and stepper drives with encoder w 071 Target velocity Parameter Details Parameter 1 Velocity selector units integer range O actual velocity request servo drives and stepper drives with encoder 1 target velocity request Examples Command Drive sends Notes IVO IV21000 Servo motor is running at 1000 rpm IV1 IV 1000 Target motor velocity is 1000 rpm 106 IQ Programmer Reference Manual IX Immediate Position Error Compatibility Servo drives and stepper drives with encoder feedback Requests present position error between motor and encoder Command Details Structure IX Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access x 072 Units encoder counts Examples Command Drive sends Notes IX IX 10 Position error is 10 counts 107 IQ Programmer Reference Manual JA Jog Acceleration Compatibility All drives Affects CJ WI jogging commands S
31. 61 0 accel current not supported 10 rpm sec CC Running CURRENT 18 0 motor current 500 1000 500 01 amps when running CD IDLE CURRENT DELAY 4F 0 delay time 1 32000 msec Cl IDLE CURRENT 19 0 motor current 500 1000 500 01 amps when idle CM CONTROL MODE 10 0 mode code 7 10 18 21 22 272 IQ Programmer Reference Manual T I r n o e amp s 8 2 5 js ls E90 S amp o 99 9 9 B S E C g o E E E E mn E o o lo S 8 S ca 2 l bie E 8 8 Ebe 5 EF Encoder Function D6 0 function code 0 1 2 or 4 0 Encoder function off 1 Stall detection 2 Stall prevention 4 Stall prevention w time out ER ENCODER_RESOLUTION 20 0 encoder line 50 32000 lines rev counts rev 4 count FI Filter Input CO io filter value 0 32767 CPU cycles FX Filter Select Inputs D3 0 input bank 0 or 1 1 IN OUT1 0 IN OUT2 HG harmonic smoothing gain 4 0 gain 0 32000 HP harmonic smoothing phase 5 0 phase 255 PA PU_ACCEL_CURRENT D7 0 Current STM only 01 amps PF POSITION_FAULT 21 0 posn fault limit 1 32000 encoder counts PM OPERATION MODE 44 0 mode code 2 0r 7 SF STEP FILTER FREQUENCY 6 0 freq 100 25000 0 1 Hz 1 0 Commands AD ANALOG_DEADBAND D2 0 deadband 0 255 mV AF ANALOG FILTER GAIN 4C 0 freq 0 32000 Filter value 72090 140
32. Access None Parameter Details Parameter 1 Velocity mode proportional gain units integer range O 32767 0 100 Examples Command Notes VP5000 Set velocity mode proportional gain to 5000 VP 200 IQ Programmer Reference Manual 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 Command Details Structure WD Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Data register units data register assignment range 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 5 201 IQ Programmer Reference Manual WI Wait for Input Compatibility All drives Affects Use of Jog Inputs See Also FI 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 designat
33. 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 Bimba IQ Servo or IQ Stepper PM 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 Bimba IQ9 Servo software will 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 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 Structure PM Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes see note below Register Access None Parameter Details Parameter 1 Power on mode units integer code ran
34. CIP Sync Object Volume 1 Section 5 47 7 Message Type CIP Generic Documentation can be found in the following ODVA specifications specific Service Type Custom sections are noted above next to each object name Service 0x3C Volume One Common Industrial Protocol CIP edition 3 8 Class 0x64 Instance 0x01 TM i iti Volume Two EtherNet IP Adaptation of CIP edition 1 9 Attribute 0x01 Services Name Service Class Instance Attribute Profile Code and ARM Firmware Version OxOE 0x64 0x00 0x01 Example response message 00 75 00 07 41 5F 00 01 03 4A Get Attribute 0x00 ARM Ethernet board firmware major revision most significant byte single 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 Ox5F 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 Vendor Specific Device Profile A 0x3C 0x64 0x01 0x01 Drive Model Number Identification Table Model ID Sub Model ID Model ID Sub Model ID Drive Model Number Drive Model Number Hex Dec Hex Dec Hex Dec Hex Dec
35. Condition code units letter range T True F False P Positive G Greater than L Less than E Equals U Unequal Z Zero Parameter 2 Segment line number units integer range 1 62 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 152 IQ Programmer Reference Manual 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 Structure QK Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes QK Stop execution of the queue program 153 IQ Programmer Reference Manual 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 prog
36. Dist All drives HW Hand Wheel All drives JA Jog Accel Decel rate All drives JC Velocity mode second speed All drives JD Jog Disable All drives JE Jog Enable All drives JL Jog Decel rate All drives JM Jog Mode Al drives see JM command JS Jog Speed All drives MD Motor Disable All drives ME Motor Enable e All drives MR Microstep Resolution Stepper drives only PA Power up Accel Current ITM stepper drives only SD Set Direction ITM stepper drives with Flex I O only SH Seek Home All drives SJ Stop Jogging All drives SM Stop the Move Q drives only SP Set Absolute Position All drives ST Stop Motion e All drives VC Velocity for Soeed Change FC All drives 12 IQ Programmer Reference Manual Motion Commands continued Command Description NV write read Immediate Compatibility only only VE Velocity Setting For Feed Commands All drives VM Velocity Max All drives WM Wait on Move Q drives only WP Wait on Position Q drives only Servo Commands Command Description NV write read Immediate Compatibility only only CP Change Peak Current Servo drives only EP Encoder Position Servo drives only GC Current Command Servo drives only IC Immediate Current Command Servo dri
37. F desired filter Frequency in Hz Command Details Structure KC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Filter Value units integer range O 32767 see above for calculations Examples Command Drive sends Notes KC7836 Set servo filter to 200 Hz KC KC 7836 115 IQ Programmer Reference Manual KD Differential Constant Compatibility Servo drives only Affects Servo tuning and performance Sets or requests the servo control differential gain Gain value is relative O meaning no gain 32767 meaning full gain KD is part of the Damping servo parameters in Bimba IQ Servo It works to damp low speed oscillations NOTE It is recommended to use the Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KD Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Differential Gain value units integer range O 32767 0 0 32767 100 Examples Command Notes KD2000 Set differential gain to 2000 KD 116 IQ Programmer Reference Manual 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 si
38. IVO 070 Short 0 25 rpm stepper drives with encoder W 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 V Expanded Inputs IS 073 Short bit pattern SRV AC5 215 IQ Programmer Reference Manual Details when executing the RLy command SRV AC5 SRV AC3 and STP AC5 drives The bit pattern of the y register breaks down as follows bits O 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 0 means the input or output is closed 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 O 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 O a e ID x x xll4 3 2 1187 65 432 1 bti3 0 00000000000 00 0 0 bio SP C se S 3 RS 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
39. Non Volatile Yes Register Access None Parameter Details Parameter 1 units I O point to configure Integer range 1 4 Parameter 2 Direction input or output units Single character range l or O letter O not zero NOTE This command requires either the letter I 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 SD20 SDAI SD 180 Drive sends SD 000001 11 Notes Set I O point 2 as an Output Set I O point 4 as an Input Drive reports that I O points 1 2 and 3 are inputs 4 is an output Note on the ITM23 I O points 5 8 are unused IQ Programmer Reference Manual 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 Structure SF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Step filter frequency units Hz Examples C
40. Programmer Reference Manual DE Deceleration Compatibility All drives Affects FC FD FE FL FM FO FS FP 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 Structure DE Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES 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 units rev sec sec rps s range 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 59 IQ Programmer Reference Manual 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 Structure DI Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access D 020 Parameter Details Parameter 1 dis
41. 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 Structure RC Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access I 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 whic
42. R Register Add Q drives only All data registers 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 Structure R Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O 000 Accumulator Parameter Details Parameter 1 First data register assignment units character range all data registers Parameter 2 Second data register assignment units character range all data registers Examples Command Drive sends Notes R D1 Add contents of distance register D to user defined register 1 and 172 place the result in the accumulator register O IQ Programmer Reference Manual R Register Subtract Compatibility Q drives only Affects All data registers See also R R R R amp RD RI QU 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
43. Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Analog velocity mode second speed units rev sec range SRV AC5 SRV AC3 STP 10 0 0042 133 3333 resolution is 0 0042 ITM 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 11 109 IQ Programmer Reference Manual 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 Structure JD Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes JD Disable jog inputs while executing the WI command 110 IQ Programmer Reference Manual JE Jog Enable Compatibility All drives Affects WI jogging command See also JA JD JS WI commands Enables jog inputs during a WI instruction Jog accel decel and velocity are set using the JA JD and JS commands respectively SRV AC5 Q Inputs X1 and X2 are the designated jog inputs during a WI instruction SRV AC5 S Inputs 5 and 6 of IN OUT2 or top board screw terminal connector are the designated jog inputs during a WI inst
44. Usage READ WRITE Non Volatile YES Register Access None 27 IQ Programmer Reference Manual Parameter Details Parameter 1 Output Usage see above units integer code range 1 20r3 Parameter 2 Flex I O only I O Point if applicable see note below units integer code range 1 4 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 e 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 AO1 Alarm Output will close when 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 i
45. WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 units Output Usage see above integer code range 1 20r3 Parameter 2 Flex I O only I O Point if applicable see note below units integer code range 1 4 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 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 enabled BO BO 14 39 IQ Programmer Reference Manual 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 Bimba 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 N
46. a move is complete Command Details Structure IH Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None 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 and QE drive IHY1 Output 1 of main driver board goes high immediately IHY2 Output 2 of main driver board goes high immediately 95 IQ Programmer Reference Manual 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 Structure IL Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None 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 and QE drive ILY1 Output 1 of main driver board goes low immediately ILY2 Output 2 of main driver board goes low immediately 96 IQ Programmer Reference Manual IO Output Status Compatibility All drives With no parameter this command requests the immedi
47. a Tach Output at 128 pulses rev with 8 pole motor 16 times number of poles MOS 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 MOS Output is used as a Tach Output at 1024 pulses rev with 8 pole motor 128 times number of poles MOS Output is closed when in position based on encoder error MO10 Output is open when in position based on encoder error SRV AC5 SRV DC7 STP 10 Q STP AC5 EIP SRV AC3 Q Output Y2 is the designated Motion Output ITM 23Q 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 two ways to define the function of this output via the Bimba IQ Stepper software or via the MO command 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 automatically set to 3 128 Command Details IQ Programmer Reference Manual Structure MO Parameter 1 Parameter 2 Flex I O only Type BUFFERED Usage READ WRITE Non Volati
48. 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 HL14095 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 Phase Error 074 Short encoder counts Servo drives only Read Write Data Registers A Z Many of the Read Write data registers are associated with a specific command In the tables below associated commands are shown in parentheses in the Description 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 rps The reason for this difference is that all registers operate with integer math On the other hand when using commands it is often possible to include decimal p
49. 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 register 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 in a manner similar to the RW and SA commands as they are only accessed during program segment downloads during startup and programming of an application 222 IQ Programmer Reference Manual 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 Bimba software e An indus
50. c HQ Ol On PUT OP Option BOA aeiae ave siueiuna M PA PowetstipAcceleraton CUNEN a e ius csrssaes struc AEn AA EENES AN EEEE A A EAERI E EAE ENE EA AASE 137 PB Power up Baud Rate PGS ROWSE CURSIVE ccc haceactiacedsnaeceuenspeeieacadssenadeesnnd lt fuas E PR zioclie liL PEAPOWwer Up ldle Current sn TP PE eclesie En aS Ea PMi Power p oro PP Power up Peak Current PR PrOtOGOl ME PS ReO E PW ES oro NG AUC ICAI HH eE E QD Queue Delete scii peana aiana nenied aiaa tsa dhadhadhautgud santa sss caseesteauubyvbn chide ncpadhanvnedtasad anecaaceaiiey QE H1QUEUG DEE ciczcsaansastescessquacsaacpaneanasupacsnaebasga E tas vapsakenspeaapantessezaeesd OG QUEUES GOO Mm CQ QUEUS DUN Diss ses DEED OK QUEUE e H n QL Queue Load IESeU A e X OS Quelie Save MERE QU QUEUG Up lO a e OX Queue Load amp EXecute iie ic Lannea trece deve L
51. commands may be processed while a move is in progress and the SM command will execute properly Command Details Structure SM Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Deceleration rate units letter 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 7 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 187 IQ Programmer Reference Manual 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 Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes SO1L Set output 1 low closed SO2H Set output 2 high open SOYAL Set
52. dependent 9096 of CC see Cl command for details 66 IQ Programmer Reference Manual EG Electronic Gearing Compatibility All drives Affects Command Mode 7 FE and HW commands See also CM ER FE and HW commands SRV AC5 SRV DC7 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 STP 10 Q ITM 23Q Sets or requests the desired step microstep resolution of the step motor Command Details Structure EG Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES 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 EG20000 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 67 IQ Programmer Reference Manual El Inp
53. e All stepper drives and SRV DC7 servo drives Al Alarm Input usage All drives AO Alarm Output usage All drives AP Analog Position Gain e All drives AS Analog Scaling e All stepper drives and SRV DC7 servo drives AT Analog Threshold e All drives AV Analog Offset e All drives AZ Analog Zero Auto Zero All drives BD Brake Disengage Delay time e All drives BE Brake Engage Delay time e All drives BO Brake Output usage All drives DL Define Limits All drives El Input Noise Filter e All drives Fl Filter Input e All drives Note not NV on SRV AC5 servos FX Filter Selected Inputs SRV AC5 STP AC5 SRV AC3 15 1 0 Commands continued IQ Programmer Reference Manual Command Description NV write read Immediate Compatibility only only IH Immediate High Output e All drives IL Immediate Low Output All drives IO Output Status All drives IS Input Status request All drives MO Motion Output All drives Ol On Input Q drives only Sl Enable Input usage All drives SO Set Output All drives TI Test Input Q drives only WI Wait on Input All drives Communications Commands Command Description NV write read Immediate Compatibility only only BR Baud Rate e All drives
54. easiest method for drive serial communications Using a Bimba supplied adapter programming cable one supplied with each Bimba 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 Bimba software applications such IQ Programmer and IQ Servo e Short Cable Lengths e Serial cable provided with each Bimba 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 HMIs 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 Bimba software applications such as IQ Servo and IQ Stepper IQ 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 223 IQ Programmer Reference Manual 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 Bimba software applications such as IQ Servo and IQ Stepper IQ Programmer does support RS 485
55. for all others B3 Opcode B4 Status Code MSB BS Status Code LSB B6 Unused 0 B7 Unused 0 262 IQ Programmer Reference Manual Type 1 Message Examples Example 1 SCL commands required for Point to Point move AC100 set acceleration rate to 100 rev sec sec 6000 rpm sec opcode OxOO1E 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 byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1E opcode byte 3 1E opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 2 operand MSB byte 6 0 not used byte 7 58 operand LSB byte 7 0 not used DE100 set deceleration rate to 100 rev sec sec 6000 rpm sec opcode OxOO1F from Table 1 operand 0x258 units are 10 rpm sec so 6000 sec is represented by 600 decimal 25 Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1F opcode byte 3 1F opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 2 Status Code LSB byte 6 2 operand MSB byte 6 0 not used byte 7 58 operand
56. 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 motor and the EG Setting for a step motor minimum decel distance 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 11 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes FS1L 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 81 IQ Programmer Reference Manual FX Filter Select Inputs Compatibility All drives except STP AC5 SRV AC3 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 b
57. header RV 103 lt cr gt O 7 82 86 61 49 48 51 13 253 IQ Programmer Reference Manual Example Programs Both example programs are available for download at www bimba com 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 over 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 Winsock1 RemotePort 7775 Winsock1 RemoteHost drivelPaddress 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 myPa
58. 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 Bimba 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 so drives are normally in a state to receive packe
59. in it which is common when you attempt to feed the next part into position you may in fact stop after feeding the previous part only a short distance because the sensor will register the hole in the part rather than the leading edge of the next part The solution is to use the FM command instead of the FS command and to set the DC command for the size of the part or greater Example continued The parts on 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 78 IQ Programmer Reference Manual 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 r
60. 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 e Ix x x x xilY3 Y2 Y1 X7 X6 X5 X4 X3 X2 X1 XO btis gt 0 00000000000 O 0 0 0 bito S o ES o L 213 IQ Programmer Reference Manual SRV DC7 STP 10 Q The bit pattern of the i register breaks down as follows bits O 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 O 7 and 12 inputs X1 X8 and the Index 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 11 outputs Y1 Y4 for which a state of 1 means the optically isolated output is closed and a state of O means the output is open gt e go 6 P FH S S SS SS Ix x x Index lYA v3 v2 vil xa x7 xe X5 xa xa X2 x1 bti5 000 0 0000000000 0 0 bio ITM 23Q STP 10 S 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
61. inputs can be used as sensor inputs STP AC5 Q IP SRV AC3 Q IP ITM 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 Command Details Structure FD Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 VO when input 1 changes from high to low falling then decel to a stop when input 2 is high 73 IQ Programmer Reference Manual FE Follow Encoder Compatibility All drives See also EG MT 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 dyna
62. 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 248 IQ Programmer Reference Manual 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 http 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 else 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 IQ Stepper If 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 adaresses 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 Pla
63. 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 Notes Output is low closed Output is high open Sets output low closed Sets output high open 97 IQ Programmer Reference Manual 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 Structure IP Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units encoder counts servo steps stepper Examples Command Drive sends Notes IP IP 00002710 Absolute position is 10 000 counts or steps IP IPZFFFFD8FO 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 98 IQ Programmer Reference Manual 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 Structure IQ Type IMMEDIATE Usage READ ONLY N
64. optically isolated input is open and a state of 0 means the input is closed gt gt d d d Ix x x x x x xX OUTx x x x TEN DIR STEP Index bt15 gt 00000000 0000 0 0 0 0 bio e c2 x9 e GU l F d aS S 8 x xlix xxxl y2 va lx xx x xa X3 x2 x1 bit 15 gt 000000 00 0000 0000 4 bito SRV AC3 STP AC5 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 O means the input is closed raw ADC counts O 32760 Analog Input 1 IA1 058 Short 16383 0 volts for SRV AC5 All drives SRV DC7 STP 10 Q drives raw ADC counts O 32760 SRV AC5 SRV DC7 meg Tetas 099 Short 16383 0 volts STP 10 Q only Immediate Absolute Position 060 Long EUEGHED Couns eo OF All drives motor steps stepper m Command Mode CM 061 Short Mode All drives Velocity Move State 062 Short State see below All drives 214 IQ Programmer Reference Manual Response details to the RLn command Description Decimal Value Comment WAITING 0 In veloc
65. 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 O 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 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 211 IQ Programmer Reference Manual Data Register Assignments What follows is a listing of all the data registers available with Bimba drives In the tables below Ch denotes the data registe
66. requests the power up accel decel current setting peak of sine of the stepper 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 Achange to PA automatically changes CA and the M register to the same value e Achange 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 Achange 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 Structure PA Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes see note below Register Access M 029 NOTE The PA and CA commands use different units than the M register s
67. 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 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 Structure CJ Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 o
68. 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 W Time Stamp 039 Short 0 001 sec Q drives only Servo ADC counts encoder X Analog Position Gain AP 040 Short count All drives Stepper ADC counts step Y Analog Threshold AT 041 Short raw ADC counts All drives Z Analog Offset AV 042 Short raw ADC counts All drives User Defined Data Registers 0 9 other characters eR 4 Data m Ch Description 3 digit Type Units Compatibility O Accumulator 000 Long integer Q drives only The Accumulator register O 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 O register 1 User defined 001 Long integer Q drives only 2 User defined 002 Long integer Q drives only 219 IQ Programmer Reference Manual 3 User defined 003 Long integer Q drives only 4 User defined 004 Long integer Q drives on
69. 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 none 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 power up t
70. the drive s CW and CCW limit functions As such the home sensor may not be wired to the following inputs STP AC5 S X1 X2 STP ACS EIP IN7 IN8 SRV AC3 S X1 X2 SRV AC3 Q IN7 IN8 SRV ACS X6 X7 STP 10 S PLUS STEP DIR STP 10 X7 X8 SRV DCT X7 X8 ITM23Q STEP DIR Output Parameter Details SRV AC5 S SRV AC5 Q Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command units Optional Y integer letter range integer 1 3 letter L Low H High SRV AC5 QE 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 units Optional Y integer letter 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 244 IQ Programmer Reference Manual STP AC5 S SRV AC3 S Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command units Optional Y integer letter range integer 1 2 letter L Low H High STP AC5 Q EIP SRV AC3 Q
71. 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 STP 10 ITM 23Q 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 Structure Cl Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access O 031 Note The CI command uses different units than the O register see Data Registers section for more details Parameter Details STP 10 ITM 23Q STP AC5 Parameter 1 Idle current units amps range O 9096 of running current Examples STP 10 ITM 23Q STP AC5 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 CH 8 Set idle current to 1 8 amps or 90 of last CC value 49 IQ Programmer Reference Manual 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
72. 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 Bimba communicate to a drive via the supplied RS 232 programming cable These software include IQ9 Servo used for tuning and configuring servo drives IQ Stepper used for configuring your stepper drives IQ Programmer create and edit stored Q programs emulate a host SCL Setup Utility basic host terminal for host emulation If your project calls for a Q drive or drives running stored programs you will use the supplied RS 232 programming cable along with IQ9 Servo or IQ Stepper 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 Connec
73. when none of the Error Codes presented in this table accurately reflect the error that was encountered 286 IQ Programmer Reference Manual Appendix I Troubleshooting This Appendix addresses potential issues that may occur while using Bimba equipment NOTE Every drive must be configured with Bimba software prior to operation For stepper systems use the IQ Stepper utility while IQ Servo 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 Error Message Indication Explanation Solution While streaming commands to the drive it behaves erratically or does not send legible ACK NACK responses The drive s command buffer may be full which may cause unpredictable behavior 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 The drive is not responding Is it connected to the right port and turned on The software is unable to communicate to the drive There are four common causes for this error 1 The drive is not po
74. 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 characters 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 Structure PW Parameter 1 Type IMMEDIATE Usage WRITE O
75. with SCL commands with no load attached to the motor shaft You want the motor shaft to spin freely during startup to avoid damaging mechanical components in your system AC25 lt ENTER gt Set accel rate to 25 rev sec sec DE25 lt ENTER gt Set decel rate to 25 rev sec sec VE5 lt ENTER gt Set velocity to 5 rev sec 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 ENTER 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 ENTER Commence jogging CS 1 ENTER 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 IQ Programmer Reference Manual Command Summary This section contains a set of table
76. 0 Hz 2 2 O no filter AG ANALOG VELOCITY GAIN 3B 0 speed at full 32000 25 rpm scale Al ALARM_RESET INPUT 46 0 State 1 3 AO FAULT OUTPUT 47 0 State dS AP ANALOG POSITION GAIN 4B 0 posn at full 1 32000 steps scale AS ANALOG SCALING Di 10 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 5 volts 7 differential 0 5 volts AT ANALOG_THRESHOLD 4D 0 threshold 32767 ADC Counts voltage 32767 10 volts 32767 10 volts AV ANALOG_OFFSET 3C 0 offset 32000 ADC counts AZ AUTO OFFSET At 0 EE DERE BD BRAKERELEASEDELAY 40 0 brake release msec delay BE BRAKE ENGAGE DELAY 41 0 brake engage delay BO BRAKE_OUTPUT 48 0 State 1 3 273 IQ Programmer Reference Manual long data registers 32767 short data registers POT OA x lt 1 Le Ee ie es eae e o Q o o o Bm S E a lele e le o o E 5 DIS JE JIE JE JE Jee T 5 g 2 8 B R ES E Sic ja dd d co 5 DL DEFINE LIMITS 42 0 state 1 3 H FILTER INPUT CO io filter value 0 32767 CPU cycles FX FILTER SELECT INPUTS D3 0 input bank O extended 1 main board JD JOG_DISABLE A3 0 JE JO
77. 0 3 5 SRV ACS 220V 0 1 8 STP 10 Q ITM 23Q STP AC5 Parameter 1 Running current units amps resolution is 0 01 amps range STP 5 0 5 0 STP 10 0 10 0 ITM 23 0 5 0 STP AC5 120V 0 5 STP AC5 220V 0 2 55 NOTE Bimba recommends using Bimba IQ Stepper software to select a motor and set the maximum current Examples Command Drive sends PC3 2 PC PC 3 2 Notes Set power up continuous current to 3 2 amps RMS for servo drive or 3 2 amps running current for stepper drive 139 IQ Programmer Reference Manual 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 Bimba IQ Stepper software be used to make this setting Command Details Structure PF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Param
78. 008 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 Ox4000 16384 BAD FLASH SAVE Ox8000 32768 Clear flags by sending RLFO to the drive Current Command GC 023 Short 0 01 Amps Servo drives only Analog Velocity Gain 024 Short 32767 ADC counts QE Serio drys The H register in SRV AC5 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 Bimba IQ Servo where it is labeled Speed in rev sec at xx Volts under the Velocity Analog Operating Mode Input Counter 025 Long counts per edge Q drives only 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 RESERVED 027 RESERVED 028 Max Velocity VM servo Servo 0 01 amps RMS Accel Decel Current CA STM 029 Short Stepper 0 01 amps peak of Servo drives and STM Integrated Steppers Integrated Stepper sine Continuou
79. 0101110 SRV DC7 STP 10 Q Command IS IS ITM 23Q Command Drive sends IS 100110110 IS 011111111 Drive Sends IS 10000111 IS 000001 1 1 8210000100 SRV AC3 STP AC5 Command ISX Drive Sends IS 10001111 IS 10001111 IS 000001 11 IS 000001 11 IS 10101110 IS 10101110 IS 10001010 IQ Programmer Reference Manual Notes All 8 inputs are low closed All 8 inputs are high open Inputs 1 2 and 5 are closed Inputs 2 4 5 6 and 7 are closed Notes Inputs 3 4 and 6 are closed Inputs X1 X5 and X7 are closed Notes Inputs 1 4 7 and 8 are closed Encoder index channel is closed Notes All inputs are open Encoder index channel is closed Inputs STEP and DIR are closed Notes S drive No inputs are closed Q or IP drive Inputs IN5 IN7 are closed S drive Encoder index and input X4 are closed Q or IP drive Inputs IN4 IN8 are closed S drive Invalid response Q or IP drive Inputs IN1 IN5 and IN7 are closed 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 par
80. 0200 Alarm present check Alarm Code 0400 Homing executing an SH commano 0800 Wait Time executing a WT command 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 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 SC SC 0209 Drive has an alarm is in position and enabled hex values 0001 0008 and 0200 179 IQ Programmer Reference Manual Compatibility Affects See Also SD Set Direction Integrated Steppers with Flex I O All input and output commands 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 Bimba strongly recommends that the IQ Stepper software be used to make changes to drive I O behavior Command Details Structure SD Parameter 11 Parameter 2 Type BUFFERED Usage READ WRITE
81. 0x4C low state closed low state closed H 0x48 high state open high state open R 0x52 rising edge rising edge F 0x46 falling edge falling edge IQ Programmer Reference Manual 279 IQ Programmer Reference Manual Register Encoding Table Register Use equivalent SCL command Code Size Read Only Name 0 Accumulator 0x30 long 1 user defined 0x31 long 2 user defined 0x32 long 3 user defined 0x33 long 4 user defined 0x34 long 5 user defined 0x35 long 6 user defined 0x36 long 7 user defined 0x37 long 8 user defined 0x38 long 9 user defined 0x39 long user defined Ox3A long user defined Ox3B long lt user defined 0x3C long E user defined Ox3D long gt user defined Ox3E long user defined Ox3F long user defined 0x40 long user defined 0x5B long user defined 0x5C long user defined 0x5D long A user defined 0x5E long 2 user defined 0x5F long user defined 0x60 long a analog command IA 0x61 short yes b Q line number 0x62 short yes C current command IC 0x63 short yes d relative distance ID 0x64 long yes e encoder position IE EP 0x65 long yes f alarm code AL 0x66 long yes g sensor position 0x67 shor yes h condition code 0x68 shor yes i X inputs IN OUT 1 ISX 0x69 shor yes j analog IN1 IA1 Ox6A shor yes k analog IN2 1A2 0x6B shori yes absolute position 0x6C long yes m control mo
82. 1 range O default behavior 1 count in reverse Examples Command Drive sends Notes ED1 Set encoder to count in reverse ED ED 1 64 IQ Programmer Reference Manual 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 ITM 23Q 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 ITM 23Q STP 10 Q 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 Only stepper drives with encoder inputs optional on STP 10 STP AC5 and ITM drives running a step motor with a shaft mounted encoder can utilize the Stall Detection and Stall Prevention functions Bimba 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
83. 10 Q LED codes Items in bold italic are Drive Faults O DESCRIPTION solid Motor disabled flashing slowly Motor enabled flashing quickly Q program running Q drives only motor stall w optional encoder only 2 move attempted while disabled 4 COW limit CW limit i N over temp internal voltage out of range 4 N over voltage under voltage i N over current short circuit open motor winding bad encoder signal w optional encoder only N IO D O AJA JOJO MIM serial communication error STP 10 S LED codes Items in bold italic are Drive Faults DESCRIPTION solid Motor disabled flashing slowly Motor enabled 2 move attempted while disabled 4 2 CCW limit CW limit 4 over temp internal voltage out of range N over voltage under voltage i N over current short circuit open motor winding o O1 3 IHR 10 lo IO I2 serial communication error IQ Programmer Reference Manual 239 IQ Programmer Reference Manual ITM 23Q LED codes Items in bold italic are Drive Faults O e DESCRIPTION solid Motor disabled flashing slowly Motor enabled flashing quickly Q program running Q drives only 1 1 motor stall w optional encoder only 1 2 move attempt
84. 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 5 194 IQ Programmer Reference Manual 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 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 O is placed in the W data register Command Details Structure TS Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access W 039 Units milliseconds Example This sample Q program illustrates th
85. 2 Save contents of queue to non volatile memory location 2 156 IQ Programmer Reference Manual 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 O 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 96 First line QU where the number of lines in the segment 1 Second line command 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 96 QUO No segment at specified location QU 1 Program Running Cannot upload at this time QU 2 Upload
86. 206 vA Euer m M 207 ZT Regen Resistor Peak Time aero enr aa i a doii EE Ehe Nr PERRA 208 Data Registers Read Only Data Registers Read Wtite Data Flegisters iic n tese td bebe E CER dele br Pe a e Pet Ep be Federal b lima edu bep eredi 209 User Defined Data Hegisters s ssa da abuti aa Ra da dado M ode Rn latus SR repre xeu Ead neget Pak E ERE 209 Storage Data Registers Using Data Registers Loading RIL AX sirge M WIDE Us RW PEE Writing Storage Registers RW Q drives only aa rct tt theta cte n pub dha cena id Re esca a e ditis Reading Storage Registers RR Q drives only Moving Data Registers RM Q drives Only uice citri entier egestate yaa prete t eese rd Ree Ead Yee IR er a ES Incrementing Decrementing Rl RID Q drives Only drain idee ne dr pec e mech cp deed Counting RC I register Q drives Only 2 2 0 2r ct ber rrt etnia a Pr tete eb EE ede ye ee Pa nde es Math and Logic R R R R R amp RI Q drives only Conditional Testing OR TR Q drives Only uec reor rtr tpe t ed rre p erbe e ete Ye E E Eb et ERE FEX ede EENE Data Register Assignmberits u uiiic i ik re aio Ee aana Read Only Data Registers div nudes serena ru Reyes nr SE uem bu IRR xta She Sape suu EE EER R AEEA EATA EAS EERE Eara Read Write Data Registers A Z User Defined Data Registers 0 9 other e
87. 25 milliseconds range 1 32000 Examples Command Notes Z11250 Regen resistor peak time set to 0 3125 seconds ZT 208 IQ Programmer Reference Manual 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 75 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 as
88. 3 192 168 1 30 Settings 1 through E can be changed using the IQ Stepper software use 4 192 168 0 40 IQ Servo for servo drives Setting O is always 10 10 10 10 the universal 9 192 168 0 50 recovery address If someone were to change the other settings and not 6 192 168 0 60 write it down or tell anyone I m not naming names here but you know who 7 192 168 0 70 I m talking about then you will not be able to communicate with your drive ED The only way to recover it is to use the universal recovery address A 192468 0 100 Setting F is DHCP which commands the drive to get an IP address from B 492 468 0 110 a DHCP server on the network The IP address automatically assigned C 192 168 0 120 by the DHCP server may be dynamic or static depending on how the D 192 168 0 130 administrator has configured DHCP The DHCP setting is reserved for E 192 168 0 140 advanced users F DHCP 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 s
89. 3Q 2 5 E NEMA 23 Integrated Stepper 2 stack motor RS 485 Encoder ITM 23Q 3 2 N NEMA 23 Integrated Stepper 3 stack motor RS 232 ITM 23Q 3 2 E NEMA 23 Integrated Stepper 3 stack motor RS 232 Encoder ITM 23Q 3 5 N NEMA 23 Integrated Stepper 3 stack motor RS 485 ITM 23Q 3 5 E NEMA 23 Integrated Stepper 3 stack motor RS 485 Encoder ITM 23Q 2 EIP E M12 NEMA 23 Integrated Stepper 2 stack motor Ethernet IP Encoder M12 Connector ITM 23Q 2 EIP N M12 NEMA 23 Integrated Stepper 2 stack motor Ethernet IP Encoder M12 Connector ITM 23Q 3 EIP E M12 ITM 23Q 3 EIP N M12 NEMA 23 Integrated Stepper 3 stack motor Ethernet IP Encoder M12 Connector NEMA 23 Integrated Stepper 3 stack motor Ethernet IP Encoder M12 Connector STP 10 Drives STP 10 2 N Q 10A DC Stepper Drive Q Programming RS 232 STP 10 2 E Q 10A DC Stepper Drive Q Programming RS 232 Encoder STP 10 5 N Q 10A DC Stepper Drive Q Programming RS 485 STP 10 5 E Q 10A DC Stepper Drive Q Programming RS 485 Encoder STP 10 EIP N Q 10A DC Stepper Drive Q Programming EtherNet IP STP 10 EIP E Q 10A DC Stepper Drive Q Programming EtherNet IP Encoder SRV DC7 Drives SRV DC7 2 F 7A DC Servo Drive RS 232 Encoder MCF Encoder Feedback Board SRV DC7 2 Q 7A DC Servo Drive Q Programming RS 232 Encoder SRV DC7 5 Q 7A DC Servo Drive Q Programming RS 485 Encoder SRV DC7 EIP Q 7A DC Servo Drive Q Programming E
90. 5 Status Code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used Example 2 parameter read AC read back the acceleration rate opcode 0x84 parameter read from Table 2 operand 0x1E from Table 3 return value 0x258 units are 10 rom sec so 6000 sec is represented by 600 decimal 258 hex Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 84 opcode byte 2 84 opcode byte 3 1E operand byte 3 1E operand byte 4 0 not used byte 4 2 read data MSB byte 5 0 not used byte 5 58 read data LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used 268 IQ Programmer Reference Manual Example 3 read absolute position opcode operand 0x88 1 return value 0x87654321 from Table 2 indicates abs posn read 32 bit abs posn enc posn from Table 2 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 88 opcode byte 2 88 opcode byte 3 1 operand byte 3 1 operand byte 4 0 not used byte 4 87 read data MSB byte 5 0 not used byte 5 65 read data 2nd MSB byte 6 0 not used byte 6 43 read data 2nd LSB byte 7 0 not used byte 7 21 read data L
91. 5 drives as speed change input 18 Velocity mode JS for speed with input X1 as run stop input and input X5 X4 for STP AC5 drives as speed change input 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 and A B Quadrature Use the appropriate IQ Programmer or IQ Servo 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 Set to 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
92. AD ONLY Non Volatile NO Register Access None Units Empty command spaces in buffer Examples Command Drive sends Notes BS BS 20 There is room in the buffer for 20 more commands 41 IQ Programmer Reference Manual CA Change Acceleration Current Compatibility ITM 23Q Integrated Stepper 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 Structure CA Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES 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 units amps resolution is 0 01 amps range ITM 23Q 0 5 0 Configurator software may also be used to set all current levels Example STM17 STM23 Command Drive Sends Notes CA1 75 Set accel decel current to 1 75 amps peak of sine CA CA 1 75 42 IQ Programmer Reference Manual CC Change Current Compatibility All drives Affects Motor current and torque See also CA Cl CP PC commands SRV AC5 SRV DC7 Sets or requests the continuous
93. Appendix F Bit assignments for the 8 bit word are shown in the Response Details table below Command Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Response Details Response Communication error code units 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 46 IQ Programmer Reference Manual CF Anti resonance Filter 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 IQ Stepper software application to set this value by entering as accurate a load inertia value as possible in the motor settings window Command Details Structure CF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Filter frequency units Hz range 1 2000 Examples Command Drive sends Notes CF1400
94. 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 error unless the following statement in included in the form load event this must be so for callbacks which operate in a different thread CheckForlllegalCrossThreadCalls false Further Reading The following materials can be downloaded from www bimba com e The eSCL Utility will help you get familiar with the SCL language e Bimba IQ Stepper Ethernet is needed to configure the STP 10 QE step motor drives This application also includes extensive help screens e Bimba IQ Servo is used to configure and tune SRV AC7 servo drives IQ Servo 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 257 IQ Programmer Reference Manual Appendix H EtherNet IP EtherNet IP products designated by the letters EIP 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 as
95. 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 Structure AX Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes 34 In segment 1 of a Q program OF9 In segment 9 of the same Q program WTO 1 z AX ME QX1 When a drive fault occurs load and execute program segment 9 Short delay to allow the system to settle Alarm reset Motor enable Load and execute segment 1 which will also reset the OF function IQ Programmer Reference Manual 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 defin
96. EIP 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 units Optional Y integer letter range integer for IN OUT1 connector Y1 Y2 integer for OPT2 connector 1 4 letter L Low H High STP AC5 E SRV AC3 S Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command units Optional Y integer letter range integer 1 2 letter L Low H High STP AC5 EIP SRV AC3 Q 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 units Optional Y integer letter range integer for IN OUT1 connector Y1 Y2 integer for OPT2 connector 1 4 letter L Low H High STP 10 SRV DC7 Q SRV DC7 S SRV DC7 EIP Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command units Optional Y integer letter 245 IQ Programmer Reference Manual range
97. G ENABLE A2 0 direction 1 cw enable 2 ccw enable 3 both MO MOVE OUTPUT 49 0 state 1 3 0l ON INPUT B9 0 cond io STP 10 X0 X8 L H F R see IO encoding table STP AC5 X0 X4 1 8 L H F R SI ENABLE INPUT 45 0 state 1 3 SO Set Output 8B 0 cond io STP 10 Y1 Y4 L or H see IO Encoding Table STP AC5 1 4 Y1 Y2 L or H Tl Test Input A8 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R WI Wait for Input 70 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R Register Commands CR Compare Registers BE 0 regi reg2 ja zorA Zor0 9 see register code table R Register add B2 2B reg1 reg2 a zorA Zor0 9 see register code table R Register subtract B2 2D regi reg2 j a zorA Zor0 9 see register code table R Register multiply B2 2A regi reg2 ja zorA Zor0 9 see register code table R Register divide B2 2F reg1 reg2 ja zorA Zor0 9 see register code table R amp Register and B2 26 reg1 reg2 a zorA Zor0 9 see register code table R Register or B2 7C regi reg2 ja zorA Zor0 9 see register code table RC Register Counter BB 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R RD Register Decrement AF 0 reg code A Z or 0 9 see register code table Rl Register Increment BO 0 reg code A Z or 0 9 see register code table RM REGISTER MOVE B1 0 dest src reg source a z or A Z or 0 9 see register co
98. IQ Programmer Reference Manual 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 Structure BE Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Delay time units seconds range O 32 767 Examples Command Drive sends Notes BEO 25 Sets brake engage delay to 250 ms BE BE 0 25 37 IQ Programmer Reference Manual 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 Bimba 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 SRV AC5 SRV DC7 STP 10 Defines usage of digital output Y1 as the Brake Output which can be used to automatically activ
99. LSB byte 7 0 not used VE5 Set velocity to 5 rev sec 300 rpm opcode OxOO1D from Table 1 operand Ox4BO units are 0 25 rpm so 300 rpm is represented by 1200 decimal 4BO hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1D opcode byte 3 1D opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 4 operand MSB byte 6 0 not used byte 7 BO operand LSB byte 7 o not used 263 DI100000 set move distance to 100 000 steps IQ Programmer Reference Manual opcode OxOOB6 from Table 1 operand X Ox186A0units are steps so 100000 is represented by 186A0 hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 not used byte 2 0 not used byte 3 B6 opcode byte 3 B6 opcode byte 4 0 not used byte 4 Status Code MSB byte 5 1 operand MSB byte 5 Status Code LSB byte 6 86 operand 2nd LSB byte 6 0 not used byte 7 AO operand LSB byte 7 0 not used FL start the feed to length move opcode OxOO66 from Table 1 o
100. NLY Non Volatile Yes Register Access None Parameter Details Parameter 1 4 digit alphanumeric key code units upper and lower case letters and numbers range A Z a z 0 9 default Default key code is 1234 Examples Command Drive sends Notes PWak99 Password key code set to ak99 SA New key code saved in drive PWak99 Access to stored program unlocked at next power up of drive 147 IQ Programmer Reference Manual 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 Structure QC Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile
101. NO Register Access None 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 148 IQ Programmer Reference Manual 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 Structure QD Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Segment number units integer number range 1 12 Examples Command Drive sends Notes QD5 Delete program segment 5 from the drive s non volatile memory 149 IQ Programmer Reference Manual 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 Structure QE Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes QE Begin execution of loaded segment 150 IQ Programmer Reference Manual QG Queue Goto
102. NOTE It is recommended to use the Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KK Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Inertia feedforward gain value units integer range O 32767 0 0 32767 100 Examples Command Drive sends Notes KK500 Set inertia feedforward gain to 500 KK KK 500 121 IQ Programmer Reference Manual 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 O meaning no gain 32767 meaning full gain KP is part of the Stiffness servo parameters in Bimba IQ Servo This parameter is the primary gain term for minimizing the position error NOTE It is recommended to use the Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Proportional gain value units integer range O 32767 0 096 32767 100 Examples Command Drive sends Notes KP5000 Set proportional gain to 5000 KP KP 5000 122 IQ Programmer Reference Manual KV Velocity Feedback Constant Compatibilit
103. O Register Access None Examples Command Drive sends Notes NO No operation takes place at this program line 133 IQ Programmer Reference Manual Compatibility Affects See also OF On Fault Q drives only Stored program flow 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 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 O disables the On Fault function See the AL Alarm code command for details of drive faults Command De
104. Output Status reads back outputs 95 IQ actual current 89 q IS IN OUT 2 input status STP AC5 only read as F on ST 8D y ISX IN OUT 1 input status 82 i IT drive temp 87 t IU supply voltage 86 u IV actual speed 8B V V1 target speed 8C w IX position error 8A X OP 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 SRV DC7 only Bit 6 Ethernet SC status word 80 S 278 IO Encoding Table Useful ASCII values for IO commands On STP ACS5 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 Character hex code Signifies STP 10 STP AC5 X0 0xBO encoder index signal encoder index signal X1 or Y1 OxB1 input X1 or output Y1 input X1 or output Y1 X2 or Y2 0xB2 input X2 or output Y2 input X2 or output Y2 X3 or Y3 0xB3 input X3 or output Y3 input X3 X4 or Y4 OxB4 input X4 or output Y4 input X4 X5 0xB5 input X5 n a X6 0xB6 input X6 n a XT 0xB7 input X7 n a X8 0xB8 input X8 n a 1 0x31 n a input 1 or output 1 2 0x32 n a input 2 or output 2 3 0x33 n a input 3 or output 3 4 0x34 n a input 4 or output 4 5 0x35 n a input 5 6 0x36 n a input 6 7 0x37 n a input 7 8 0x38 n a input 8 L
105. 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 O and 2 set to one With only bit O 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 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 1DI 1DI 8000 Drive with address 1 responds with distance Bit 1 Address Character always send address character With this option set Bit 121 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 velocity request 1VE 1VE 50 Drive responds with address 1 and velocity to specific velocity request from drive at address 1 231 IQ Programmer Reference Manual Bit 2 Ack Nack al
106. Q Program Segment 1 FPartitiona inca ee dies Segment 2 Partition 9 sic eterna Segment 3 Partition Missionis Segment 4 FE aEHIOTI Drsni Segment 5 Partition uec et its Segment 6 F artitionr Testi tees Segment 7 Partition acie tex Segment 8 Partition 9 est Segment 9 Partition TO assis eoe sass Segment 10 Partition 13 51 ems Segment 11 Partition 2 nne tee Segment 12 Partition To nines Drive Parameters Partition 14 arts Alarm History Partition T9 ett n NV Data Register Storage Locations 1 100 Partition 16 erts 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
107. Q Register RL see Reg Encoding table write a 16 or 32 bit parameter to a Q register A Z or 0 9 etc 9F Read Q Register RL see Reg Encoding table read a 16 or 32 bit Q register a z A Z or 0 9 etc A Queue Load QL 0 load incoming Type 1 commands into Q buffer A2 Queue Save QS segment number 1 12 saves Q buffer as a Q segment A3 Stop Motion ST decel rate stops a move O use quick decel AM 1 use normal decel DE or JL FE IEEE 1588 Control 0 Enables IEEE 1588 protocol preventing Class 1 connection 1 Disable IEEE 1588 protocol allowing Class 1 connection FF UDP port reset 0 Opens UDP port 7775 and listens for a new connection 1 Closes and resets UDP port 7775 Type 2 Set Output Immediate opcode 8B operand table Operand 00 01 02 03 04 05 80 81 82 83 84 85 STP 5 10 OUT OUT2 OUT3 OUT4 OUT1 OUT2 OUT3 OUT4 high high high high low low low low STP AC5 Yihigh Y2high OUTI OUT2 OUT3 OUT4 Yt low Y2low OUTI OUT2 OUT3 OUT4 high high high high low low low low Q register writes are not range checked so be careful before you write 276 IQ Programmer Reference Manual Table 3 Parameter read write operands All values are HEX Command Description Index Q Register Char Read write MISC_FLAGS 5B F ENCODER_ATTEMPTS
108. 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 Structure PR Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Protocol code units decimal integer value of binary word range 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 RS 485 Adaptor bit 5 3 digit numeric register addressing Bit O is only required when all other bits are set to O If any other bit in the word is set to 1 Bit O is ignored For example PRA and PR5 provide the same protocol settings Examples Command Drive sends Notes PR1 Set to standard SCL protocol PRA Turn Ack Nack on PR PR 4 145 IQ Programmer Reference Manual PS Pause Compatibility All drives See also BS CT com
109. Reference Manual IQ Programmer Reference Manual Commands for Bimba Servo and Stepper Drives E 3 yp No Status Available Click Start Polling if not polling Includes RS 232 RS 485 Ethernet UDP Ethernet TCP IP and EtherNet IP communication Getting Started ene ee ee PE er en oe eee rere 7 DEMO DIVES H PRA 7 sed 7 GOINIMANGS fece T 8 Buffered COMIMAMNS qe 8 Stored Progratrms In Q IrVes sues ixi da spore da Ep tk eR a cin dct Qa e Re dci uat apes de Sere Sv dob dra n aded 8 Dulce rs siae anon Diis HERE 8 Immediate Command Saaai beet var UD 8 Using COmmIalds ioter tede te ise acetic esti A re MM ce Mi EAM E E EM ences S E ME RE EE 8 COMMAS in Q DIVES P 9 SEL Utility SONWANE oec sos rire tn netu ase e NAE a EES AAE AEA E Pa EEA S EE EEE SAA AEA rE ES IEA EAEE EERS EASA 10 Command SUMMARY 22 5 daz tha iss ranked sez so Ec LER Re Iac ORELL ERU RR GEI cesesnostenateieusetasetennarsaneuiseanestinaceusiuesiezios 11 Motion COMMANGS RE 12 SOA onene E 13 Configuration GOMMANAS PEE 13 VO COMMANOS c
110. Registers User Def O 000 User Def 1 001 User Def 2 002 RW User Def 3 003 n Long Data 1 Long Data 2 Long Data 3 Phase Error z 074 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 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 data 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 com
111. Registers section for details of A register Parameter Details Parameter 1 Acceleration rate units rev sec sec rps s range 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 19 IQ Programmer Reference Manual AD Analog Deadband Compatibility All stepper drives and SRV 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 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 Structure AD Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Acce
112. SB Example 4 read encoder position opcode operand 0x88 0 return value 0x12345678 from Table 2 indicates enc posn read 32 bit abs posn enc posn from Table 2 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 88 opcode byte 2 88 opcode byte 3 0 operand byte 3 0 operand byte 4 0 not used byte 4 12 read data MSB byte 5 0 not used byte 5 34 read data 2nd MSB byte 6 0 not used byte 6 56 read data 2nd LSB byte 7 0 not used byte 7 78 read data LSB Example 5 read Q user register 3 opcode operand Ox9F 0x33 return value 0x12345678 read 32 bit Q register from Table 2 from Reg Code Table indicates register 3 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 9F opcode byte 2 9F opcode byte 3 33 operand byte 3 33 operand byte 4 0 not used byte 4 12 read data MSB byte 5 0 not used byte 5 34 read data 2nd MSB byte 6 0 not used byte 6 56 read data 2nd LSB byte 7 0 not used byte 7 78 read data LSB 269 IQ Programmer Reference Manual Example 6 read Q register D opcode Ox9F read 32 bit Q register from Table 2
113. SFFFFA0000FOF00 Grouped OFOO E003 2800A8CO 1900 0000 E901 0000 8802 BAFCFFFF C 72A0600 CSFF FF40 DOOF 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 Note that Encoder Position Absolute Position and Velocity are signed integers and negative values will be represented in 2 s complement form Sequence Number IP Address Status see SC command 0001 1001 Alarm see AL command Voltage Current see IC command Temp see ITO command Encoder Position see EP command Absolute Position see SP command Velocity see IV command Extended Inputs see IS command Main Board Inputs see ISX command Outputs see IO command OxE003 0x2800A8CO 0xCOA80028 192 168 0 40 0x1900 0x0019 0000 0000 0x0000 OxE901 OxO1bE9 489 48 9 V 0x0000 Ox3802 0x238 568 56 8 degrees C OxBAFCFFFF OxFFFFFCBA 838 OxC72A0600 0x00062AC7 404167 OXC3FF OxFFC3 67 OxFF40 Ox40FF OxOOOF OxOFO0 OxOFOO0 0x000F 259 IQ Programmer Reference Manual 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
114. Set anti resonance filter frequency to 1400 Hz CF CF 1400 47 IQ Programmer Reference Manual 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 IQ Stepper 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 Structure CG Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Filter gain units integer number range 0 32767 Examples Command Drive sends Notes CG800 Set anti resonance filter gain to 800 CG CG 800 48 IQ Programmer Reference Manual Cl Change Idle Current Compatibility Stepper drives only Affects Motor current at standstill holding torque See also CC Pl 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
115. 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 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 224 IQ Programmer Reference Manual 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 PR command controls a number of other protocol settings See Appendix D for details o
116. V 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 Q drives will accept parameter values of 1 5 Command Details Structure BR Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Baud rate see above units integer code range 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 40 IQ Programmer Reference Manual 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 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 Structure BS Type IMMEDIATE Usage RE
117. 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 114 IQ Programmer Reference Manual 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 Structure JL Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Jog deceleration rate units rev sec sec rps s range 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 25 112 IQ Programmer Reference Manual JM Jog Mode Compatibility All drives see below Affects CJ command and jogging during a WI command See also CJ JE WI commands 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 a
118. a Aa aa a a E Aaa E AA AEREE ENO secre E nM 112 JM sog MOCle as socie eut rana E ERE RN EF pa epa ET RYE EFE din coum ccv ME ca dria apa dr xo ctr abe ua dada et TN ub ea E d 113 OO SCC Me ME nc 114 Xezsev riksaveMice RP 115 IKD Differential COTIStall susurro tate tre rh ba iaa rupta eu eR EPan sez agenazenspaceuae PEERAA EAIA EIA ede AEREA MASKE APER KRAMER IE 116 KE Differential Filter KF Velocity Feedforward Constant eee trt seri er rr ee eni d in ee reds d red ee aa Cre rk nesters 118 Ki mise rsodere dirige M 119 KJ Jerk Filter FreQUENGCY M T M 120 KK Inertia Feedforward Constatit core nni i enn eren daucnabead sage densvacecabteteceasveanyecrcseeetveanszanuinees 121 KP Proportional Constant IS Velocity Feedback GOFiStelib s usen aeaa hago Ek cRE asa b en TNES FR Pu ERE EA E ARERIA REE ENET A 123 EV bow Voltage MeSholgds niacin eR tpa mat bius ehe hae crane aN ears das SN pre dd sd Rte EN eade 124 MOMON DISA DEn aea aAa AE AEAEE EARE A AEE E E E ME Mot f ENADE sesiis sae eaea E aaa aE aA AA Aaaa E aAa E iadan MN Model Number MO Motion OUT DUI der EE MR Microstep Resolutio E a aaa aaa iaa ada 130 MT Multi TaS ao ieser oona i a e R NEENA E aE EE DENEA Aa 131 MV Model amp REVISION m 132 NO No Operation OR S
119. 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 If your PC s subnet mask is set to 255 255 255 0 a common setting known as a Class C subnet mask then your machine can Windows IP Configuration Ethernet adapter Local Area Connection Connection specific DNS Suffix IP Address 192 168 6 22 Subnet Mask 255 255 255 0 Default Gateway 192 168 090 254 only talk to another network device whose IP address matches yours in the first three octets The numbers between the dots in an IP address are called octets For example if your PC is on a Class C subnet and has an IP address of 192 168 0 20 it can talk to a device at 192 168 0 40 but not one at 192 168 1 40 If you change your subnet mask to 255 255 0 0 Class B you can 247 IQ Programmer Reference Manual talk to any device whose first two octets match yours Be sure to ask your system administrator before doing this You network may be segmented l P Ad d ress for a reason O 10 10 10 10 Your drive includes a 16 position rotary switch for setting its IP address 1 192 168 1 10 The factory default address for each switch setting is shown in the tableto 2 192 168 1 20 the right
120. 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 Structure FP Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Absolute position units counts or steps range 2 147 483 647 to 2 147 483 647 Examples Example After homing the motor you want to zero the home position and move to an absolute position 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 80 IQ Programmer Reference Manual 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
121. ade Vires S 2 o 8 d o O O o o E 5 Bis je IE JE E oe T Ar Ple s B S P fig f l 9 cr la E d co 5 JD JOG DISABLE A3 0 JE JOG ENABLE A2 0 direction 1 cw enable 2 ccw enable 3 both JL VM DECEL 1C 0 jog decel rate 1 32000 10 rpm sec JS VM_VELOCITY 1A 0 jog speed 0 32000 25 rpm MD MOTOR DISABLE 9E 0 ME MOTOR ENABLE 9F 0 MT Multi Tasking A9 0 0 Oort 0or1 1 on O off SH SEEK HOME ionum cond 6E 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R SM STOP MOVING B5 0 decel code D DE rate or M AM rate D or M SP SET ABS POSITION A5 0 32 bit abs position 2 147 483 647 steps VC CHANGE_VELOCITY 4A 0 speed 1 32000 25 rpm VE P_TO_P_VELOCITY 1D 0 Speed 1 32000 25 rpm WI Wait for Input 70 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R WM WAIT ON MOVE BC 0 WP WAIT ON POSITION DO 0 Configuration Commands RESTORE_DEFAULTS A6 AD Analog Deadband D2 0 dead band 0 255 millivolts AS Analog Scaling D1 0 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 BD BRAKE RELEASE DELAY 40 10 brake release 1 32000 msec delay BE BRAKE ENGAGE DELAY 41 0 brake engage 1 32000 msec delay CA ACCEL CURRENT
122. 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 Structure EF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Encoder function setting units decimal equivalent of 3 bit binary word range 0 Encoder function off 1 Stall Detection 2 Stall Prevention 6 Stall Prevention with time out 65 IQ Programmer Reference Manual Examples Command Drive sends Notes EF1 Turn ON Stall Detection function EF EF 1 EF6 Enable Stall Prevention with time out EF EF 6 Example encoder alignment sequence ITM 23 CC6 Raise current to 6A Cl5 4 Raise idle current to 5 4A EF1 Enable Stall Detection feature CC3 Lower current to normal running level application dependent Cl2 4 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 Raise current to 6A Cl5 4 Raise idle current to 5 4A WT1 Short delay EF1 Enable Stall Detection feature CC3 Lower current to normal running level application dependent Cl2 4 Lower idle current to normal running level application
123. alue 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 The labels are 60 000 steps apart Therefore if you move the roll more than 60 000 steps without detecting a new label you must be at the end of the roll 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 Type BUFFERED Usage WRITE ONLY Non Volatile NO 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 dist
124. alue to O 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 Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KJ Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Jerk Filter Frequency Hz units integer range O 5000 0 disabled Examples Command Drive sends Notes KJ500 Set jerk filter frequency to 500Hz KJ KJ 500 120 IQ Programmer Reference Manual 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 82767 meaning full gain KK is an Inertia servo parameter in Bimba IQ Servo KK improves acceleration control by compensating for the load inertia
125. ameter 1 O 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 103 IQ Programmer Reference Manual SRV AC3 STP AC5 Parameter 1 O 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 Examples Command Drive sends Notes IT IT 275 Drive temperature is 27590 ITO T2310 Drive temperature is 31 gu IT1 IT2412 Drive temperature is 41 bue 104 IQ Programmer Reference Manual 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 Structure IU Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access u 069 Units 0 1 Volts DC 5 Examples Command Drive sends Notes If the IF command is set with Parameter 1 H IU IU 01E2 DC supply voltage is 48 2 Volts IU IU 067E DC bus voltage is 166 2 Volts If the IF command is set with Parameter 1 D IU U 482 DC supply voltage is
126. ameters of commands that affect inputs outputs For example WISL means wait for input 3 low and SO1L means set output 1 low A high state is represented by the H character 102 IQ Programmer Reference Manual IT Immediate Temperature Compatibility All drives Requests drive temperature as measured by either an on chip or board mounted sensor A parameter of O or 1 is used to specify which temperature reading is desired depending on drive type see 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 Structure IT Parameter 1 Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access t 068 Range 0 1 Units 0 1 deg C Parameter Details SRV AC5 Parameter 1 Optional IT or ITO returns the termperature as measured by an external board mounted sensor Overtemp occurs at 85 degrees C STP Parameter 1 Optional IT or ITO returns the termperature as measured by the internal on chip sensor Overtemp occurs at 85 degrees C SRV DC7 Parameter 1 ITM 23 Optional IT or ITO returns the termperature as measured by the internal on chip sensor Overtemp occurs at 100 degrees C Par
127. an alarm the AL command allows the host to find out what alarm or alarms has been set Similarly the SC command allows a host to find out what the status code of a drive is at any time during drive operation A status code provides information as to whether the drive is running in position disabled homing and other conditions Both alarm and status codes can be very useful when initially setting up and integrating a servo system into your machine The Alarm and Status codes are hexadecimal equivalents of 16 bit binary words Each bit in each binary word is assigned a meaning and therefore 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 Hex Value SRV AC5 SRV DC7 STP 10 ITM 23Q 0001 Position Limit 0002 CCW Limit 0004 CW Limit 0008 Over Temp 0010 Excess Regen Internal Voltage Internal Voltage Internal Voltage 0020 Over Voltage 0040 Under Voltage Under Voltage Under Voltage Under Voltage 0080 Over Current 0100 Bad Hall Sensor Open Motor Winding 0200 Bad Encoder not used 0400 Comm Error 0800 Bad Flash 1000 Wizard Failed No Move
128. analog offset AV 0x5A short 281 IQ Programmer Reference Manual EtherNet IP And Q Programs To provide additional functionality and autonomy Q programs can be stored in EtherNet IP drives These programs can be started and stopped on demand using explicit messaging The IQ Programmer application is used to compose download and test Q programs Please avoid sending EtherNet IP messages to the drive while the IQ 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 Ox0078 from Table 1 operand Oxl segment 1 up to 12 segments are allowed in a Q program Once a Q segment has begun Type 1 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 78 opcode byte 2 78 opcode byte 3 1 operand byte 3 1 operand byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 0 unused byte 6 0 not used byte 7 1 Segment number byte 7 0 not used messages ar
129. ance 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 i 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 83 IQ Programmer Reference Manual GC Current Command Compatibility Servo drives 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 Structure GC Parameter 1 Type IMMEDIATE Usage READ WRITE Non Volatile Yes Register Access G 023 Command Details Parameter 1 RMS Current units 0 01 amps rms range 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 84 IQ Programmer Reference Manual HG 4th Harmonic Filter Gain Compatibility Stepper drives only Affects Low speed performa
130. and Axis Number OxO Command Message Type 0x2 B2 Opcode see Table 2 B3 Operand see Table 2 B4 Data MSB B5 Data LSB Data 2nd MSB for opcode Ox9F B6 Unused 0 Data 2nd LSB for opcode Ox9E B7 Unused 0 Data LSB for opcode Ox9E Response Message Format Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O BO Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 B1 Response Axis Number OxO Response Message Type 0x2 B2 Opcode see Table 2 B3 Operand see Table 2 B4 Status MSB Data MSB for opcodes 0x84 0x88 0x89 Ox9F B5 Status LSB Data LSB for opcodes 0x84 0x88 0x89 Data 2nd MSB for opcode Ox9F B6 Unused 0 Data 2nd LSB for opcode Ox9F B7 Unused 0 Data LSB for opcode Ox9F 267 IQ Programmer Reference Manual Type 2 Message Examples Example 1 parameter write AC100 set acceleration rate to 100 rev sec sec 6000 rpm sec opcode Ox83 parameter write from Table 2 operand Ox1E from Table 3 data Ox258 units are 10 rpm sec so 6000 sec is represented by 600 decimal 258 hex Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 83 opcode byte 2 83 opcode byte 3 1E operand byte 3 1E operand byte 4 2 data MSB byte 4 Status Code MSB byte 5 58 data LSB byte
131. and Details Structure SA Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes SA Save all Non Volatile designated data registers 178 IQ Programmer Reference Manual 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 Structure SC Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units Hexadecimal equivalent of the binary status code word see bit assignments below Response Details Hex Value Status Code bit definition 0001 Motor Enabled Motor Disabled if this bit O 0002 Sampling for Quick Tuner 0004 Drive Fault check Alarm Code 0008 In Position motor is in position 0010 Moving motor is moving 0020 Jogging currently in jog mode 0040 Stopping in the process of stopping from a stop commano 0080 Waiting for an input 0100 Saving parameter data is being saved
132. ands 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 Structure SS Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 String of characters units any printable characters range up to 4 characters Examples Command Drive sends Notes SSdone done String done sent when SS command is executed 190 IQ Programmer Reference Manual 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 Structure ST Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Deceleration rate units letter rang
133. are 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 The power up packet is always sent at 9600 baud regardless of the bit rate set by the BR or PB command If a Bimba software application is present it will respond to the power up packet and communications will continue at 9600 baud If a Bimba 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 PMS it will be unable to respond to standard SCL commands In these modes the drive is using a proprietary communication protocol as well as the IQ Servo and IQ Stepper 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 Bimba 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 res
134. ate and deactivate a holding brake Output Y1 can also be configured as 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 BOS Output is not used as a Brake Output and can be used as a general purpose output ITM 23Q 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 Bimba IQ Stepper 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 BOS Output is not used as a Brake Output and can be used for another automatic output function or as a general purpose output STP AC5 SRV AC3 Defines usage of digital output Y2 as the Brake Output which can be used to automatically activate and deactiovate a holding brake Output Y2 can also be configured as a M
135. ate status of the designated outputs The status is displayed as an 8 bit binary number with output 1 in the far right position bit O 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 Structure IO Parameter 1 Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs Examples STP AC5 E SRV AC3 S Command lOY lOY lOYO IOY3 Drive sends IO 00000000 IO 00000011 STP AC5 EIP SRV AC3 EIP Command IOY IOY lOYO IOY7 SRV STP 10 Command ITM 23Q Command Drive sends IO 00000000 O200001 1 11 O200001 111 O200000000 IO 0000001 1 Drive sends O200000000 O200001 1 11 Drive Sends O200000000 IO200000001 Notes DB 15 Both outputs of IN OUT1 are low closed Both outputs of IN OUT1 are high open Sets both outputs of IN OUT1 low closed Sets both outputs of IN OUT1 high open Notes DB25 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 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
136. ayer 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 O 4 To set the IP address of the second NIC l Local Area Connection Properties a On Windows XP right click on My Network Places and select General Advanced properties medi Connect using IB Intel R PRO 100 VE Network Cone Configure b On Windows 7 click Computer Scroll down the left pane until you see Network Right click and select properties Select Change adapter settings This connection uses the following items V S NWLink NetBIOS gt 5 You should see an icon for your newly instated NIC Right click again V NW Link IPX SPX NetBIOS Compatible Transport Prot and select properties z w a Scroll down until you see Internet Properties TCP IP Select this K2 m a item and click the Properties button U 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 You can get IP settings assigned automatically if your network supports the drive s IP address to this interface car
137. ba com www bimba com Form RM IQPROG 002H BIMBA BRANDS ACRO MEAD MFD PNEUMADYNE TRD PNEUMATIC ACTUATORS e ELECTRIC ACTUATORS e HYDRAULIC ACTUATORS e VALVES e AIR PREPARATION e SAFETY amp PRODUCTION
138. ble the drive Use ME Motor Enable command to re enable drive Command Details Structure AR Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes AR Reset Drive Fault and clear Alarm Code if possible 30 IQ Programmer Reference Manual AS Analog Scaling Compatibility All stepper drives and SRV 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 Structure AS Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Code units integer number range O single ended 10 volts 1 single ended O 10 volts 2 single ended 5 volts 3 single ended 0 5 volts 4 differential 10 volts 5 differential O 10 volts 6 differential 5 volts 7 differential O 5 volts Examples Command Drive sends Notes AS2 Analog input scaling set to single ended 5 volts AS AS 2 31 IQ Programmer Reference Manual 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 i
139. can handle The entire message was discarded 24 Message Format Error The format of the received message is not supported by the server 25 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 26 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 27 Unexpected attribute in list An attempt was made to set an attribute that is not able to be set at this time 28 Invalide Member ID The Member ID specified in the request does not exist in the specified Class Instance Attribute 29 ember not settable A request to modify a non modifiable member was received 2A Group 2 only server general This error code may only be reported by DeviceNet Group 2 Only servers with 4K or less code ailure space and only in place of Service not supported Attribute not supported and Attribute not settable 2B Unknown Modbus Error A CIP to Modbus translator received an unknown Modbus Exception Code 2C Attribute not gettable A request to read a non readable attribute was received 2D CF Reserved by CIP for future extensions DO FF Reserved for Object Class and This range of error codes is to be used to indicate Object Class specific errors Use of tihs range Service errors should only be performed
140. ccurs when the input is opened inactive high 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 and then opened to reset the alarm After the alarm is cleared the drive will be enabled when the input is closed again 23 IQ Programmer Reference Manual Al3 The EN Input is not used for Alarm All Reset and may be used as a high Kk high general purpose input Al will be f automatically set to 3 if CM is set flow ow ime to 13 14 17 or 18 or if Sl is set to Al B C D AB O D E either 1 or 2 after the Al command is Al Input is open normal operation A Input is closed Set B Alarm occurs B Alarm occurs C Input closed alarm is reset C Input opened no reset occurs D Input opened drive is re enabled D Input closed alarm is reset E Input opened drive is re enabled AI2 high i high low low i 1 T H time 3 gt time Al B C D AB O D E A Input is closed normal operation B Alarm occurs C Input opened alarm is reset D Input closed drive is re enabled Input is open Alarm occurs Input closed no reset occurs Input opened alarm is reset In
141. ce Change value RUD 8000 020 The Distance value RUE 0 021 The Encoder value V will be returned as 0 25 rpm instead of rps raw value of 2400 10 rps 168 IQ Programmer Reference Manual 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 firmware version s sub letter as well if applicable use the MV command Command Details Structure RV Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units Drive firmware version Examples Command Drive sends Notes RV RV 150 Drive is running firmware version 1 50 169 IQ Programmer Reference Manual Compatibility Affects See also Writes the data val RW Register Write Q drives only All data registers RI RD RL RM RW commands ue of a given data register into non volatile memory The data value is written as a Long word See Appendix B for more details on this command including its limitations Command Details Structure RV Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment units character range all Read Write and User Defined data registers Parameter 2 Non volatile memory locati
142. ces 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 3 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 Local Area Connection Properties General Advanced Connect using E9 Intel R PRO 100 VE Network Conne ln Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports This connection uses the following items this capability Otherwise you need to ask your network administrator for ra ee the appropriate IP settings MFNWLnk NetBIOS WM S NWLink IPX SPX NetBIOS Compatible Transport Prot Obtain an IP address automatically Intemet Protocol TCP IP 3 Y Use the following IP address gt IP address 12168 0 22 Uninsta Properties Subnet mask 255 255 0 0 4 Ifthe option Obtain an IP address automatically is selected your PC is getting an IP address and a subnet mask from the DHCP server Please cancel this dialog and proceed to the next section of this manual Using DHCP 5 Ifthe option Use the following IP address is selected life is
143. ch 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 Bimba 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 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 COM port o
144. cket 1 7 second byte of SCL opcode myPacket 2 R R myPacket 3 V V myPacket 4 voCR carriage return Winsock1 SendData myPacket 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 SCL response from the UDP payload and displays it in a message box Private Sub Winsock1 DataArrival ByVal bytesTotal As Long Dim udpData As Byte n As Integer Dim hexbyte As String packetID As Long SCLrx As String Winsock1 GetData udpData remotehost gets clobbered when packet rec d next line fixes it Winsock1 RemoteHost Winsock1 RemoteHostIP first 16 bits of packet are the ID opcode If UBound udpData gt 1 Then packetlD 256 udpData 0 udpData 1 If packetID 7 then SCL response SCLrx For n 2 To UBound udpData SCLrx SCLrx amp Chr udpData n Next n MsgBox SCLrx End If End If End Sub 254 IQ Programmer Reference Manual C NET The NET languages are Microsoft s 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 UdpCli
145. 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 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 WISL 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 FI command The Fl command works in processor cycles and we re using a STP AC5 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 FI command would then be 2 msec divided by 100 usec or 20 The correct syntax for the FI 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 t
146. computer connects to a Bimba EtherNet IP drive with Bimba software such as IQ Stepper or IQ 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 O This will instruct the drive to accept a new connection from the next computer that tries to connect using Bimba 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 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 FF opcode byte 2 FF opcode byte 3 1 operand byte 3 1 operand byte 4 0 unused byte 4 Status Co
147. currently in process QU 3 Password Protected Protection must be unlocked using PW command Command Details Structure QU Parameter 1 Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Program segment location units integer range 1 12 or O to upload queue Examples Command Drive sends Notes QUO queue contents Uploads contents of queue to the serial port QUS segment 3 contents Uploads contents of segment from non volatile memory location 3 157 IQ Programmer Reference Manual 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 Structure QXx Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Program segment location units integer range 1 12 Examples Command Notes QX2 Loads segment 2 and begins execution 158 IQ Programmer Reference Manual RC Register Counter Compatibility
148. d 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 Examples Drive sends Command DI20000 DI DI 20000 DI 8000 FL 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 the 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 IQ Programmer Reference Manual 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 Structure AC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access A 017 Note Units of AC command and A register are different See Data
149. d this capability Otherwise you need to ask your network administrator for the appropriate IP settings Internet Protocol TCP IP Properties EI 7 Next enter the subnet mask as 255 255 255 0 Be sure to leave Obtain an IP address automatically Default gateway blank This will prevent your PC from looking for a Use the following IP address router on this subnet IP address 0 0 0 0 i i XC 8 Because you are connected directly to the drive anytime the drive is l TPI i not powered on your PC will annoy you with a small message bubble in Berau vay the corner of your screen saying The network cable is unplugged 251 IQ Programmer Reference Manual 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 addr
150. d 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 Structure QR Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 units Data register register character range A Z and all user defined registers listed in the Data Registers section Parameter 2 Segment line number units integer range 1 62 Examples Command Drive sends Notes RX120 E 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 155 IQ Programmer Reference Manual 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 Appendix B for more details on this command including its limitations Command Details Structure QS Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Program segment location units integer range 1 12 Examples Command Notes QS
151. d attribute value list The service is returning the list of attributes supplied with status information for those attributes that were invalid 1E Embedded service error An embedded service resulted in an error 1F Vendor specific error 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 285 IQ Programmer Reference Manual General Status Status Name Description of Status Code in hex 20 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 made to write to a write once medium e g WORM drive PROM that has already already written been written or to modify a value that cannot be changed once established 22 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 23 Buffer Overflow The message received is larger than the receiving buffer
152. d programs and for sending commands to your drive IQ Programmer Reference Manual Commands There are two types of host commands available buffered and immediate Buffered commands are loaded 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 Bimba IQ 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 mo
153. de and cannot be changed Flex I O drives only I O point configured for incorrect use i e input vs output Flex I O drives only 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 2 An acknowledge character is sent when the received command has an address character at the beginning An acknowledge character is NOT sent when global commands commands without addresses that do not request data from the drive are used 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 232 Good command Example Command Drive Sends Notes DI8000 96 Drive sends normal Ack over RS 232 port only in response to global set distance to 8000 1DI8000 196 Drive at address 1 sends normal Ack over both ports in response to address specific set distance to 8000 IQ Programmer Reference Manual Bad command Example Command Drive Sends Notes VE200 25 D
154. de CM 0x6D shor yes n velocity mode state 0x6E shor yes 0 point to point state Ox6F shor yes p Q segment 0x70 shor yes q actual current iQ 0x71 shori yes r average regen power 0x72 shor yes S status code SC 0x73 shor yes t drive temperature IT 0x74 shor yes ine co i IQ Programmer Reference Manual Register Use equivalent SCL command Code Size Read Only Name u bus voltage IU 0x75 short yes V actual velocity IVO 0x76 short yes W target velocity V1 0x77 short yes X position error IX 0x78 long yes y IN OUT 2 inputs IS 0x79 short yes Z phase error 0x7A short yes A accel rate AC 0x41 short B decel rate DE 0x42 short C change distance DC 0x43 long D distance DI 0x44 long E position offset 0x45 long F other misc flags 0x46 long G current command GC 0x47 short H analog velocity gain 0x48 shor input counter 0x49 long J jog speed Ox4A short K jog accel rate Ox4B short L jog decel rate 0x4C shor M max velocity JS 0x4D short N continuous current CC Ox4E short 0 idle current Cl Ox4F shor P absolute position command 0x50 long Q reserved 0x51 R steps rev EG 0x52 short pulse count 0x53 long T total count 0x54 long U change speed VC 0x55 shor V velocity VE 0x56 short W time stamp 0x57 short X analog position gain AP 0x58 shor Y analog threshold AT 0x59 short Z
155. de MSB byte 5 0 unused byte 5 Status Code LSB byte 6 0 unused byte 6 0 not used byte 7 0 unused byte 7 0 not used 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 sending opcode FF again but this time with an operand of O 284 IQ Programmer Reference Manual 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 General Status Status Name Description of Status Code in hex 00 Success Service was successfully performed by the object specified 01 Connection failure A connection related service failed along the connection path 02 Resource unavailable Resources needed for the object to perform the requested service were unavailable 03 Invalid parameter value See Status Code 0x20 which is the preferred value to use for this condition 04 Path segment error The path segment identifier or the segment s
156. de table reg dest A Z or 0 9 RR REGISTER_READ from mem B3 reg NV mem reg A Z or 0 9 see register code table location memory location 1 100 RW REGISTER_WRITE to mem B4 reg 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 depending on reg A Z or 0 9 see register code table register type value 2147483647 274 IQ Programmer Reference Manual T m E OA x lt 1 gt EIS Ee dee lets 2 lS ze uie es d S 2 o 8 d o O 3 o g ro o E 5 VIS JE E JE JE Jee T Ar es jf B fig g 9 cr la E co 5 TR Test Register Immediate AC reg value 16 or 32 bits depending on reg a z or A Z or 0 9 see register code table register type value 2147483647 long data registers 32767 short data registers TS TIME_STAMP C3 0 Q Program Commands AX ALARM RESET BA 0 MT Multi Tasking A9 0 0 Oort 0or1 1 on O off OF ON_FAULT B8 0 segment 0 12 ol ON_INPUT B9 0 cond io STP 10 X0 X8 L H F R see IO encoding table STP AC5 X0 X4 1 8 L H F R QC Queue Call 74 0 segment 1 12 QG Queue Goto TE 0 line 1 62 QJ Queue Jump TF cc 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 QR Qu
157. 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 ITM 23Q 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 Bimba IQ Stepper 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 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 t1 Parameter 2 Flex I O only Type BUFFERED
158. e 125 to 125 Examples Command Drive sends Notes HG105 i Set 4th harmonic filter gain to 105 HG HG 105 86 IQ Programmer Reference Manual 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 SRV AC5 SRV DC7 STP 10 Q STP AC5 SRV AC3 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 ITM 23Q 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 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs Examples
159. e 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 191 IQ Programmer Reference Manual TD Transmit Delay Compatibility All drives Affects RS 232 amp RS 485 Serial Communications See Also BR PB amp PR commands Sets or requests 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 Structure TD Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Time value units milliseconds range O 32767 default 10 Examples Command Drive sends Notes TD10 Set Tx time delay to 10 milliseconds TD TD 10 192 IQ Programmer Reference Manual 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 t
160. e For Ethernet enabled drives see Appendix G of this document and your drive s Hardware Manual for information regarding Ethernet communications e Use Bimba IQ Servo software to tune and configure your drive See the Bimba IQ Servo Software Manual for details on tuning servo drives e For SCL applications choose the SCL Operating Mode for Q applications choose either the SCL or Q Program Operating Mode e For SCL applications the SCLB 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 e For Q applications use Bimba IQ Servo both for creating stored programs and for sending commands to your drive Stepper Drives e This series includes all STP 10 ITM 23Q and STP AC5 drives e For Ethernet enabled drives see Appendix G of this document and your drive s Hardware Manual for information regarding Ethernet communications e Use Bimba IQ Stepper software to define your motor configure the operating mode and encoder if applicable as well as any application specific I O requirements e For SCL applications choose the SCL Operating Mode for Q applications choose either the SCL or Q Program Operating Mode e For SCL applications the SCL 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 e For Q applications use Bimba IQ9 Programmer both for creating store
161. e Manual 266 VE3 set velocity to 3 rev sec 180 rpm opcode OxOO1D from Table 1 operand Ox2DO units are 0 25 rpm so 180 rpm is represented by 720 decimal 2DO hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1D opcode byte 3 1D opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 2 operand MSB byte 6 0 not used byte 7 DO operand LSB byte 7 0 not used DI5000 set move distance to 5 000 steps this is the distance beyond the sensor where motor will stop opcode OxOOB6 from Table 1 operand 0x1388 units are steps so 5000 is represented by 1388 hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 B6 opcode byte 3 B6 opcode byte 4 0 operand MSB byte 4 Status Code MSB byte 5 0 operand 2nd MSB byte 5 Status Code LSB byte 6 13 operand 2nd LSB byte 6 0 not used byte 7 88 operand LSB byte 7 0 not used FS2R start the feed to sensor move stop 5000 steps after input 2 rising edge opcode OxOO6B from Table 1 operand Ox52B2 LSB is 2 OxB2
162. e 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 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 Bimba IQ Servo software is used to create stored Q programs and can be downloaded for free from www bimba 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
163. e 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 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 AC 40 VG 4 DC Distance a Dr FC used without optional parameter Velocity SWITCH EVENT VE VC Distance DC Di FC used with optional parameter Ti IQ Programmer Reference Manual Command Details Structure FC Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 VCO 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 VCO 5 Set change velocity to 0 5 rps FCAL Initiate m
164. e 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 a Bimba 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 Bimba 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 Bimba software applications such as IQ Servo and IQ Stepper 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 binary characters with the first character being a binary 255 255 is not a printable ASCII character This character designates to the softw
165. e 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 O Zero the I register RC X8F Setup the I register for input X3 WI X8F Wait for input X3 WT 5 00 Wait 5 seconds gt gt gt trigger inpuxt X3 a few times TS Throw away first time stamp LABEL2 RD Decrement I register FL 5000 Feed 5000 steps TR 1 Test I against 1 QJ L LABEL1 Jump to endi 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 195 IQ Programmer Reference Manual VC Velocity Change Compatibility All drives Affects FC FD commands Sets or requests the change speed for FC and FD moves Command Details Structure VC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access U 037 Pa
166. e 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 Example Stopping a Q Program SKstop 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 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 98 opcode byte 2 98 opcode byte 3 0 operand byte 3 0 operand byte 4 0 not used byte 4 status code MSB byte 5 0 not used byte 5 status code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used 282 IQ Programmer Reference Manual Communicating with a Q Program While It 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 O 9 can be polled using the Type 2 User Register Read command opcode 94 The host can make changes to the Q program operation by writing to parameters that the program uses For example you could change the m
167. ed in the response buffer is larger than the allocated response buffer 12 Fragmentation of a primitive The service specified an operation that is going to fragment a primitive data value i e half a REAL value data type 13 Not enough data The service did not supply enough data to perform the specified operation 14 Attribute not supported The attribute specified in the request is not supported 15 Too much data The service supplied more data than was expected 16 Object does not exist The object specified does not exist in the device 17 Service fragmentation sequence The fragmentation sequence for this service is not currently active for this data not in progress 18 No stored attribute data The attribute data of this object was not saved prior to the requested service 19 Store operation failure The attribute data of this object was not saved due to a failure during the attempt 1A Routing failure request packet The service request packet was too large for transmission on a network in the path to the 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 from the packet too large destination The routing device was forced to abort the service 1C Missing attribute list entry data The service did not supply an attribute in a list of attributes that was needed by the service to perform the requested behavior 1D Invali
168. ed results For this reason it is suggested that the appropriate IQ Stepper or IQ Servo software application be used to test specific Command Modes first before changing them in the application using the CM command Command Details Structure CM Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES 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 Command mode units integer code range 1 Commanded Torque servo only 2 Analog Torque servo 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 51 IQ Programmer Reference Manual Command Modes 12 to 18 are for stepper drives and SRV servo drives only 12 Analog velocity mode with input X1 as run stop input 13 Analog velocity mode with input X5 X4 for STP AC5 drives as speed change input 14 Analog velocity mode with input X1 as run stop input and input X5 X4 for STP AC5 drives as speed change input 15 Velocity mode JS for speed 16 Velocity mode JS for speed with input X1 as run stop input 17 Velocity mode JS for speed with input X5 X4 for STP AC
169. ed to control and configure the inputs and outputs of the drive e Communications commands have to do with the configuration of the drive s serial ports e Q Program commands deal with programming functions when creating stored programs for your Q drive e Register commands deal with data registers Many of these commands are only compatible with Q drives 11 IQ Programmer Reference Manual Motion Commands Command Description NV write read Immediate Compatibility only only AC Accel Rate All drives AM Accel Max All drives CJ Commence Jogging All drives DC Distance for FC FM FO FY All drives DE Decel Rate e All drives DI Distance or Position All drives ED Encoder Direction Servos and steppers with encoder feedback EF Encoder Function Servos and steppers with encoder feedback EG Electronic Gearing e All drives El Input Noise Filter All drives EP Encoder Position Servos and steppers with encoder feedback FC Feed to Length with Speed Change All drives FD Feed to Double Sensor All drives FE Follow Encoder All drives FL Feed to Length e All drives FM Feed to Sensor with Mask Dist All drives FO Feed to Length amp Set Output All drives FP Feed to Position All drives FS Feed to Sensor All drives FY Feed to Sensor with Safety
170. ed while disabled 2 1 COW limit 2 2 OW limit 3 1 over temp 3 2 internal voltage out of range 4 1 over voltage 4 2 under voltage 5 1 over current short circuit 6 1 open motor winding 7 1 serial communication error 240 IQ Programmer Reference Manual Appendix F Working with Inputs and Outputs This Appendix covers I O usage on drives from Bimba 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 the
171. ee Data Registers section for details Parameter Details Parameter 1 Power up accel decel current units Amps resolution is 0 01 amps range ITM 23Q 0 5 0 Configurator software may also be used to set all current levels 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 Example ITM 23Q Command Drive sends Notes PA1 2 Set power up accel decel current to 1 2 amps peak of sine PA PA 1 2 137 IQ Programmer Reference Manual 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 a Bimba 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 Structure PB Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes see note below Register Access None Parameter Details Parameter 1 Baud rate code units integer code m range 1 9600 2 19200 3
172. ee 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 Structure JA Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Jog acceleration value units rev sec sec rps s range 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 100 108 IQ Programmer Reference Manual JC Velocity Oscillator Mode Second Speed Compatibility Stepper drives and SRV 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 18 14 17 and 18 SRV STP 10 Q Input X5 is used to select the speed set by the JC command while in Command Mode 18 14 17 or 18 ITM 23Q 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 Structure JC Parameter 1
173. eference 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 IPEndPoint e IPEndPoint UdpState 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 MessageBoxlcon Informa tion 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 256 IQ Programmer Reference Manual 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
174. egister V 163 IQ Programmer Reference Manual 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 value only the lower word of the Long value is used Command Details Structure RL Paramter 1 Parameter 2 Type IMMEDIATE Usage READ WRITE Non Volatile NO Register Access All data registers Parameter Details Parameter 1 Data register assignment units character range All Read Write and User Defined data registers Read Only data registers can be read back when Parameter 2 is not included Parameter 2 Data register value units integer 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 RLO17 RLA 100 Set Acceleration register to 1000 rpm s 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 beginni
175. end 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 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 Option 1 Connect a Drive to Your Local Area Network 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 SWITCH or ROUTER 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
176. ent check Alarm Code 0400 Homing executing an SH command 0800 Wait Time executing a WT command 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 236 IQ Programmer Reference Manual 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 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 1111111111111111 Bit 0 Motor Enabled Bit 1 Sampling Bit 2 Drive Fault Bit 3 In Po
177. ent 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 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 SCL string 0 sendBytes 2 SCLstring Length insert terminator sendBytes sendBytes L ength 1 13 CR 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 tec
178. es rex d erede ded kg ci Dd eti eure dp deeds RC Register Counter Iis Register Decrement da aeree de aka und senha dpa dibattito e exeun a Rasa aures ISESSTROSLOEUOL OSCR fs sanca spaces indira ada IA TRIN Rise nM ANRIA SR RE ERRERA RR DIA AANEEN ER A SAna Re PM NP RS PEE ARR DARE NE Fi sdRegisterilberemmelib ss e As theca an Pasa dave ERE e aa ea daa pu ERU tou EN E dad as RETIE AREE enu ERR aiaa IQ Programmer Reference Manual RES IREGISterbOae SiN MECC ERE ETE TT TID DELL ETIN 164 RM Register MOWVE n iiie tut corn iter eaaa a aaea b dpt Mere env zr UY aua ERN EXE dut cea E lalis SIREGISISE RGA PE EEUU PS REQUEST STARS EP RU Register Upload RV Revision LEVE si tices M RW SREGISTED diri ss RX Register Load B ffered ci tran mr rer re ar rh a EXER SED rH ERR RR TI FED re Fee Hbro eros 171 R Register Add Re Register SUDAC M 173 RE Register MUP cicicsicesssnesecanivsecsvasseedshassndeascadenevssdtuce ocenccsseusedsnscnesvecwadeyddegeuorunds eesoceoeauabsaincs novedebeandsticeyesaactadsberss 174 R Register Divide R amp Register AND ledio dolce TTE EE SA Save Paratmelers s d serpens e ERU Essa Ru EYED I dE pu Bla sa dE RAEE ke di bad a dep RE epe PENE 178 SC Status Code SD Set Direction SF Step Filter FreQuenCy M
179. es 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 Bimba 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 connection 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 Bimba 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 227 IQ Programmer Reference Manual Connecting to your Q drive s serial port s Ea
180. espectively 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 Dedicated output functions alarm output brake output motion output must be configured as general purpose before the FO command can be used with the drive s output See AO BO and MO commands Command Details Structured FO Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 FO1L Initiate move and set output low at 15000 steps 79 IQ Programmer Reference Manual 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
181. ess 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 A2 FB 3D 21 7A 01 MAC ID 03 C8 11 2B DE 02 IP 192 168 1 101 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 d
182. eter Details Parameter 1 Servo Position fault limit Stepper Percentage of torque units Servo encoder counts Stepper percentage of torque range Servo 1 32767 Stepper O 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 encoder and with the Stall Prevention function turned on PF PF 50 140 IQ Programmer Reference Manual 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 Structure Pl Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes see note below
183. eue Repeat T9 reg segment reg code 0 9 or A Z see register code table Segment 1 12 QX Queue Load Execute 78 0 segment 1 12 NO NO_OP CE 0 TI TEST INPUT A8 0 cond io STP 10 X0 X8 L H F R see 10 Encoding Table STP AC5 X0 X4 1 8 L H F R WD WAIT DELAY REGISTER BF reg a z or A Z or 0 9 see register code table WI WAIT_ON_INPUT ionum cond 70 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R WM WAIT ON MOVE BC 0 WP WAIT ON POSITION DO 0 WT Wait Time 6F 0 delay time 1 32000 01 seconds 275 IQ Programmer Reference Manual Table 2 Message Type 2 Commands Opcode Definition Operand Action 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 87 Read alarm code 0 Returns alarm history value indicated by operand 88 Read Encoder Abs Posn 0 Returns the 32 bit encoder position 1 Returns the 32 bit absolute position 8B Set Output immediate bit 7 state bits 0 6 output Set the given output to given state 8E Clear Fault AR 0 Clear the drive fault A motor enable must be sent to re enable the motor 98 Stop Motion Kill Buffer SK decel rate stops a move purge all commands from buffer 0 use quick decel AM 1 use normal decel DE or JL 9E Write
184. f your PC On some PCs COM 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 Bimba software Also if you are having troubles with your adapter contact Bimba for help with recommended adapters e Now 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 RJ1 1 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 a Bimba 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 A Bimba 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
185. for Alarm Reset and B Alarm ore Urs B Alarm occurs can be used as a general purpose C Input opened alarm is reset C Input closed no reset occurs D Input opened alarm is reset input ITM 23Q STP 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 Bimba IQ Stepper 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 Reset Input states that can be defined with the Al command Ah 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 AI2 For normal operation the EN input must be closed active low Alarm reset o
186. ge 2 Q SCL drive enabled 3 IQ Servo servos or IQ Stepper steppers 4 IQ 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 execution It is 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 2 143 IQ Programmer Reference Manual 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 current of the drive PP also immediately saves the setting to NV memory In other words PP CP SA Command Details Structure PP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Power up peak current limit units amps RMS resolution is 0 01 amps range SRV AC5 0 15 0 SRV DC7 0 7 0 SRV AC3 120V 0 7 5 SRV AC3 220V 0 3 75 Examples Command Drive sends Notes PP6 Set power up peak current to 6 0 amps RMS PP PP 6 144 IQ Programmer Reference Manual PR Protocol Compatibility All drives Affects
187. ge Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 FE opcode byte 2 FE opcode byte 3 1 operand byte 3 0 operand byte 4 0 not used byte 4 status code MSB byte 5 0 not used byte 5 status code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used 270 IQ Programmer Reference Manual 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 gt E OA za Pu beet RE E pts 2 g eum m mom S I2 o e o o o o o RB ro o E t SSE EC E E e E I w le S S S caw 2 o o Qo G G GHO o a o jf ja a A A cnc gt Motion Commands AC P TO P ACCEL 1E 0 accel rate 1 32000 10 rpm sec AM MAX ACCEL 16 0 accel rate 1 32000 10 rpm sec AX ALARM_RESET BA 0 CJ START JOGGING 96 0 DC SET CHNG DISTANCE B7 0 32 bit distance or position 2 147 483 647 steps DE P_TO_P_DECEL 1F 0 decel rate 1 32000 10 rpm sec DI SET REL DISTANCE B6 0 32 bit distance or position 2 147 483 647 Steps EF ENCODER FUNCTION D6 0 function 0 1 2 or 4 0 Encode
188. ging this setting will affect motor commutation with servo drives Use the IQ Servo setup utility to change this setting then run the Timing Wizard in Quick IQ Servo to properly set up the motor commutation Command Details Structure ER Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Encoder resolution units encoder counts rev range 200 128000 Examples Command Drive sends Notes ER8000 Set encoder resolution to 8000 counts rev ER ER 8000 70 IQ Programmer Reference Manual 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 distanc
189. gister Access q 052 Units encoder counts servo steps stepper Examples Command Drive sends Notes ID ID 00002710 10000 10000 counts into CW move ID ID FFFFD8FO 10000 10000 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 92 IQ Programmer Reference Manual IE Immediate Encoder Compatibility Servo drives and stepper drives with encoder feedback Requests present encoder position Command Details Structure IE Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access e 053 Units encoder counts 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 93 IQ Programmer Reference Manual IF Immediate Format Compatibility All drives Affects Immediate Commands IA IC ID IE IP IT IU IV and IX 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 dela
190. gister Access All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment units character range all Read Write and User Defined data registers Examples Command Drive sends Notes RDV Decrements the value of the velocity data register V 161 IQ Programmer Reference Manual 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 Structure RE Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes RE Resets drive condition and parameters 162 IQ Programmer Reference Manual 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 Structure Ri Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All Read Write and User Defined data registers Parameter Details Parameter 1 Data register assignment units character range all Read Write and User Defined data registers Examples Command Drive sends Notes RIV Increments the value of the velocity data r
191. 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 the Drive menu 249 IQ Programmer Reference Manual You will see a dialog such as this Network Interface Dialog Lot P k Select the host interface you want to search and hit OK 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 a 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 will notify you as soon as it has detected a drive 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 dr
192. grammer Reference Manual 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 Internet Protocol TCP IP Properties General is onthe same subnet as the drive Windows will know to direct ae A 3 Allg Ye IP ically f vi any traffic intended for the drive s IP address to this interface ieee Dicer oe naive aera caren card the appropriate IP settings 6 Next enter the subnet mask as 255 255 255 0 Obtain an IP address automatically Use the following IP address Be sure to leave Default gateway blank This will prevent your IP address 10 10 10 11 PC from looking for a router on this subnet l l 8 Because you are connected directly to the drive anytime the Default gateway 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 Option 3 Use Two Network Interface Cards NICs LAN 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 CATS cable You don t need a special crossover cable the drive will automatically detect the direct connection and make the necessary physical l
193. h 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 159 IQ Programmer Reference Manual 160 Sample Q program for illustrating RC and TS interaction LABEL2 LABEL1 MT EG AC DE VE FI RX RC WI WT TS RD FL TR QJ TS RM WD QG NO 1 20000 250 250 o 3 200 X3F X3F 5 00 5000 1 E LABEL1 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 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 IQ Programmer Reference Manual RD Register Decrement Compatibility Q drives only Affects All data registers See also RI RM Decrements by 1 the value of the designated data register Command Details Structure RD Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Re
194. he average RMS current being asked of the driver Typically with a well tuned current loop the RMS current 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 ITM 23Q only or CC value If the motor is not moving this value will equal the Cl value Command Details Structure IC Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access c 051 Units 0 01 amps 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 91 IQ Programmer Reference Manual ID Immediate Distance Compatibility All drives SRV AC5 Requests the total relative distance moved in the last completed move SRV DC7 STP 10 Q ITM 23Q 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 ID Type IMMEDIATE Usage READ ONLY Non Volatile NO Re
195. he 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 to a pulse train from a signal generator with a duty cycle of 5196 high and 4996 low The input state would eventually be set to a high state depending on the time value used in the pulse train Filter values are non volatile for all but the SRV AC5 series of servo drives if followed by an SA command With a SRV AC5 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 76 IQ Programmer Reference Manual 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
196. he 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 QU commands The input is tested and the jump is performed only if that input is in a specific state Command Details Structure Tl Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 193 IQ Programmer Reference Manual Compatibility Affects See also TR Test Register Q drives only All data registers CR TI RI RD RM RL QU 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 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All data registers Parameter Details Parameter 1 Data register units data register assignment range All data registers Parameter 2 Test value units integer range 2
197. her to run automatically at power up or to be triggered by commands sent from a host 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 programming languages interface to the network UDP Packet Format eSCL is based on Bimba s Serial Command Language SCL an ASCII based language with roots in RS 232 and RS 485 com munication 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 For details on the features and capabilities of SCL and Q please refer to the Bimba IQ Programmer Reference Manual Sending Commands to a Drive An eSCL UDP packet consists of three parts the header binary 07 the SCL string a sequence of ASCII encoded characters and the SCL terminator ASCII carriage return 13 header SCL string lt cr gt Example Sending RV e SCL Header 07 two bytes e R ASCII 82 e V ASCII 86 e cr ASCII carriage return 13 header Ry lt cr gt O 7 82 86 13 Receiving Responses from a Drive A typical response to RV would be RV 103 lt cr gt which would be formatted as
198. hese 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 209 IQ Programmer Reference Manual 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 ee eS Read Write Registers Non Volatile Storage Acceleration A 017 data registers Deceleration B 018 Chng Dist C 019 Distance D 020 Analog Offset Z 042 Read Only Registers Analog Input a 049 Queue Line b 050 Current Cmd c 051 Dist Moved d 052 User Defined
199. hniques 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 private void UDPpoll you can call this from a timer event or a loop if udpClient Available gt 0 is there a packet ready IPEndPoint RemotelpEndPoint 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 25b IQ Programmer Reference Manual Byte receiveBytes udpClient Receive ref RemotelpEndPoint strip opcode Byte SCLstring new byte receiveBytes Length 2 for int i 0 i SCLstring Length i SCLstring i receiveBytes i 2 string returnData Encoding ASCIl GetString SCLstring AddToHistory returnData catch Exception ex put your error handler here Console WriteLine ex ToString 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 lAsyncResult object that contains a r
200. ications 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 power adapter that comes with the unit Connecting to a host using 2 wire RS 485 A Bimba 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 to Host Tx A to Host Tx B Rx Tx GND Rx
201. ight delay in processing the command Real time usage of the data must be carefully analyzed 88 IQ Programmer Reference Manual IA Immediate Analog Compatibility All drives See Also AD AV AZ and IF commands SRV AC5 SRV DC7 STP 10 Q 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 IQ Servo or IQ Stepper or via the AD AV and or AZ commands When a parameter is given raw unscaled analog input values are returned ITM 23Q 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 Bimba IQ Stepper 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 Structure IA Parameter 1 Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access All drives a 049 Analog Command SRV AC5 SRV DC7 STP 10 Q j 058 Analog input 1 unscaleo k 059 Analog input 2 unscaleo STP ITM j 058 AIN unscaled Pa
202. ilter Phase 86 FW E ur inoRuie e n 87 Immediate Status Commands icc ine pepe etit rb er od tini ua pice pde ec ad ando eu ud aad Dou Deep ra Pe RR eco pt nda N 88 IA Immediats ANAO g M 89 IC Immediate Current Commanded a91 ID Immediate DistanCe raisni anaa a e a E AE N Ea ANE R nE aia Raines 92 IE angolo ui maioo pe 93 STAM SCAT OMA NIETO TEE TTE TE mk IH Immediate High Output LES notas sre lez Low Ae UG ET Q IO Output SEIS utere coenae da bust ba en are Back crar ue a bcd at Reese trad reu a e Le UE au aneduany ets Ps IMEC aS POSING Mares s uasa erts ix tcu sudatuacidvancsdpessscetuessaapusd tech LR RAS Qua SE FER EORR RR RE pao Rx oo Rose Pasa ss RE AE AEA RAPERE ERR SR IQ Immediate Current Actual T IS put Status CT IT Immediate Temperature TR M ES Immediate Voltage sussie Q IV Immediate Velocity X Immediate ndo silio plzi gro RM JA JOG ACCCISPALION Me JG Velocity Oscillator Mode Second Speed iirrainn a aaa a denne ud op RnB naked anus 109 JD Jog Disable JE OG IEMADIC eM I M aa a
203. ing the current voltage present at the analog input as the zero reference point or offset Command Details Structure AZ Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None 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 IA command and the response will be very close to IA 3 00 or 4 1 VDC 35 IQ Programmer Reference Manual 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 Structure BD Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Delay time units seconds range O 32 767 Examples Command Drive sends Notes BDO 2 Sets brake disengage delay to 200 ms BD BD 0 2 36
204. integer 1 4 letter L Low H High ITM 23Q ITM 23S STP 10 S STP 10 PLUS Parameter 1 Optional Y output number output condition NOTE Including omitting the optional Y has no effect on the execution of the command units Optional Y integer letter range integer 1 letter L Low H High 246 IQ Programmer Reference Manual Appendix G eSCL SCL over Ethernet Reference Introduction eSCL is Bimba s language for commanding and querying motion control products over Ethernet It is supported by several motion control devices including the STP 10 Q and SRV DC7 In addition to sending commands to a drive from a host in real time you can also use our IQ Programmer software to embed sequences of commands called 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 Bimba motor driver separate section of this manual Each of these is explained in a 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 propertie
205. inuous wattage induced into an external regeneration resistor and must know the value of the regen resistor to do this effectively Command Details Structure ZR Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Value of regen resistor units Ohms range 25 100 Examples Command Drive sends Notes ZR50 50 ohm external regen resistor connected to drive 207 IQ Programmer Reference Manual ZT Regen Resistor Peak Time Compatibility SRV AC5 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 constant used to create the filter for calculating average wattage in the regen resistor Command Details Structure ZT Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Maximum time for peak regen units 0
206. ion of jog inputs Command Details Structure WI Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs Examples Command Drive sends Notes WI3R Wait for input 3 to go high rising edge before proceeding to the next command in the queue 202 IQ Programmer Reference Manual 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 move such as Feeds Jogging or the Hand Wheel encoder following Command Details Structure WM Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes WM Causes queue execution to wait until any move in progress is complete 203 IQ Programmer Reference Manual 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 contin
207. ion 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 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 cr 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 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 96 percent sign and for a buffered command is asterisk IQ Programmer Reference Manual 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 Th
208. irectly 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 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 Configuring Your Drive Three Windows programs are available from Bimba for use with our Ethernet IP drives These programs are the most recent version is always available at www bimba com Bimba IQ Stepper is used to configure your stepper drive and motor It can also be used to change the selection of drive IP addresses IQ Stepper includes extensive built in help screens and manuals 252 IQ Programmer Reference Manual Bimba IQ Servo is used to configure and tune servo drives The IQ Servo Manual is automatically installed in the Bimba program menu when you install IQ Servo Bimba IQ Programmer will be needed if you want to embed programs in the non volatile memory of your drive eit
209. ister assignment range 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 O 175 IQ Programmer Reference Manual Compatibility Affects See also R amp Register AND Q drives only All data registers R R R R RD RI QU 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 Structure R amp Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O 000 Accumulator Parameter Details Parameter 1 First data register units data register assignment range All data registers Parameter 2 Second data register units data register assignment range All data registers Examples Command Drive sends Notes R amp s1 E AND the contents of status register s and user defined register 1 176 and place the result in accumulator register O IQ Programmer Refere
210. ity 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 FR 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 Segment Number 064 Short Segment 1 12 Q drives only Actual Motor Current IQ 065 Short 0 01 Amps Servo drives only f Average Clamp Power 066 Short Watts SRV AC5 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 O 1 Volts All drives Servo drives and V Actual Velocity
211. ive is yours it will automatically enter that drive s IP address in the IP address text box so that you are ready to communicate B Drive discovery found this drive Upload from Drive IP ADDRESS 10 10 10 10 MAC ID 0 4 43 20 CD 75 ARM BUILD NUMBER 7798786 Download to Drive Do you want to connect to this drive No Not Sure 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 Setthe IP address on the drive to 10 10 10 10 by setting the rotary switch at O 3 Tosetthe 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 l Local Area Connection Properties General Advanced a A Connect using 4 You should see an icon for your network interface card NIC Right click E9 Intel R PRO 100 VE Network Conne and select properties i C cortigue _ T I i i This connection uses the following items E a Scroll down until you see Internet Properties TCP IP Select this pM E item and click the Properties button V Y NW Link IPX SPX NetBIOS Compatible Transport Prot E b On Windows 7 and Vista look for TCP IPv4 Se e o 250 IQ Pro
212. l Otherwise the absolute position of the motor is zeroed at every power up of the drive decimal equivalent of binary h Condition Code 056 Short word see below Q drives only 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 Example Command Drive Sends Notes RLh RLh 149 Bits 7 UNEQUAL TO 4 GREATER THAN 2 POSITIVE and O 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 Bimba IQ Servo is represented by bit O O opposite of TRUE decimal equivalent of binary bit Driver Board Inputs IS 057 Short pattern see below All drives Details when executing the RLi command SRV AC5 The bit pattern of the i register breaks down as follows bit O 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 O 7 inputs XO X7 a state of 1 means the optically isolated
213. l with servo drives SRV AC5 SRV DC7 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 SRV AC5 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 SRV DC7 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 Ox0001 1 SENSOR FOUND FLAG 0x0002 2 LOWSIDE OVERCURRENT 0x0004 4 HIGHSIDE OVERCURRENT Ox0008 8 OVER CURRENT READING Ox0010 16 BAD CURRENT OFFSET Phase A Ox0020 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 2f IQ Programmer Reference Manual STP 10 Q STP 10 S ITM 23Q 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 Ox0001 1 SENSOR FOUND FLAG 0x0002 2 LOWSIDE OVERCURRENT 0x0004 4 HIGHSIDE OVERCURRENT Ox0
214. laces which allow for more user friendly units var 4 Data Ch Description 3 digit 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 216 IQ Programmer Reference Manual 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 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 DI 020 Long counts All drives x Drives with encoder E Position Offset 021 Long counts feedback option The E register contains the difference between the encoder count and the motor position This value is most usefu
215. latile Yes Register Access None Parameter Details Parameter 1 Velocity integrator gain value units integer no specific units range O 32767 0 100 Examples Command Drive sends Notes VI5000 Set velocity integrator gain to 5000 VI VI 5000 198 IQ Programmer Reference Manual VM Maximum 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 Structure VM Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details SRV AC5 SRV DC7 Parameter 1 Move velocity units rev sec rps range 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 50 199 IQ Programmer Reference Manual 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 O no gain 32767 full gain VP minimizes velocity error when in velocity mode 2 see JM command Command Details Structure VP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register
216. le YES Register Access None Parameter Details Parameter 1 units Output Usage see above integer code range 1 20r3 Parameter 2 Flex I O only I O Point if applicable see note below units integer code range 1 4 NOTES e 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 Parameter 2 is not defined for drives equipped with standard I O Examples All drives with standard I O Command MO1 MO Drive sends MO 1 Drives with Flex I O only Command SD40 MO14 MO Drive sends not moving MO 14 Notes Motion Output will close when the motor is not moing Notes Configures I O 4 as output see SD command for details Motion Output is mapped to output 4 and will close when the motor is 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 WISL means wait for input 3 low a
217. 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 260 IQ Programmer Reference Manual The Class 3 connection Point of Interest The Class 3 connection allows for Explicit Messaging The service code of this To check the drive s profile code and ARM firmware custom profile is OX3C and the class code is 0x64 version use the standard Get Attribute Single In addition to the custom profile the following standard objects and services service with the following parameters are implemented Service OxOE e Message Router Object Volume 1 Section 5 3 Class 0x64 e Connection Manager Volume 1 Section 5 7 Instance 0x00 e Connection Configuration Volume 1 Section 5 50 Attribute 0x01 e Port Volume 1 Section 3 7 e Ethernet Link Object Volume 2 Chapter 5 e TCP IP Object Volume 2 Chapter 5 e Assembly Volume 1 Section 5 37 To communicate with the drive via Explicit Messages use the Vendor Specific profile service with the following parameters e
218. les Command Drive sends Notes DA1 Set drive address to 1 DA DA 1 57 IQ Programmer Reference Manual 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 Structure DC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access C 019 Parameter Details Parameter 1 distance units encoder counts 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 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 58 IQ
219. lla rab lef Sia esa casi opina traen rtp ateshadespecanaacesadeanctespsaavas secas io ra E32 FRE RET cus PADD ENOIC SS so M Appendix A NonsVolatile Memory IMQ QNES masanin a ao apa FE raptu ra led pete tb tpa eae SEU rape so SAAE EAEE Appendix B Host Serial Communications Appendix C Host Serial Conriections 2 ioter rt rh erronea rtr det tn ee nica ca RT ad ois eo bea arb abonos Appendix D The daro npe Appendix E Alarm and Status Codes rte err rrr ttr rhe n in eed dig nere ci rad oe e ER LXE Cr HS RR ee ERE s Ga a9h Appendix F Working with Inputs and Outputs Appendix G eSOL SCL over Ethernet Refe rence ne re eti p etd ER e ese SER ear ELE a Appendix H EtherNet ApPendix I MOUDlSSMOOUING PTT LPLPTT Appendix J List of Supported Drives IQ Programmer Reference Manual Getting Started The basic procedures for integrating a Bimba drive into your application are the same for every drive offered The first step is to configure and or tune the drive using either Bimba IQ Stepper or Bimba IQ Servo Depending on the specific drive the user may now use SCL Utility or Bimba IQ Programmer software for testing and advanced programming Servo Drives e This series includes all SRV DC7 SRV AC3 and SRV AC5 drives
220. log input bandwidth 114 585 Hz AF AF 5000 21 IQ Programmer Reference Manual AG Analog Velocity Gain Compatibility All stepper drives and SRV 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 O 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 Structure AG Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Analog velocity gain value units 0 25 rom range 32767 to 32767 Examples Command Notes AG3000 Set top speed of analog velocity mode to 12 5 rps AG 22 IQ Programmer Reference Manual Al Alarm Reset Input Compatibility All drives see below Affects Alarm Reset input usage See also AL CM DL SI SD commands SRV AC3 SRV AC5 SRV DC7 STP 10 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 in
221. ly 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 User defined 010 Long integer Q drives only 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 z V RESERVED O44 i RESERVED 045 RESERVED 046 RESERVED 047 RESERVED 048 220 IQ Programmer Reference Manual Appendices The following appendices detail various special topics in working with Bimba 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 221 IQ Programmer Reference Manual 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 Partition 1 eee
222. main driver board output 1 low closed SOY2H Set main driver board output 2 high open 188 IQ Programmer Reference Manual SP Set Position Compatibility All drives Affects FP commands See Also 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 Structure SP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile NO Register Access None Parameter Details Parameter 1 Absolute position units encoder counts range 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 189 IQ Programmer Reference Manual 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 comm
223. mand 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 PS Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes PS Pause execution of buffered commands 146 IQ Programmer Reference Manual 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
224. mand 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 210 IQ Programmer Reference Manual 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 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
225. me Q drives only Register Commands Command Description NV write read Immediate Compatibility only only CR Compare Register Q drives only DR Data Register for Capture Q drives only RC Register Counter Q drives only RD Register Decrement Q drives only RI Register Increment Q drives only RL Register Load Q drives only RM Register Move Q drives only RR Register Read Q drives only RU Register Upload RW Register Write Q drives only RX Register Load Q drives only R Register Addition Q drives only R Register Subtraction Q drives only R Register Multiplication e Q drives only R Register Division Q drives only R amp Register Logical AND Q drives only RI Register Logical OR Q drives only TR Test Register Q drives only TS Time Stamp read Q drives only 17 IQ Programmer Reference Manual 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 Positio Affects a summary of parameters or other compelli Manes ee ono the command affects Affects All move commands
226. mically adjust the following resolution while following Note that in stepper drives the R register is equal to 1 2 the EG command When the FE command is initiated the acceleration rate AC is used to ramp the motor up to the following speed Doing this prevents extreme accelerations when the master encoder signal is already at its target velocity 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 Bimba IQ Servo for servos Bimba IQ Stepper 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 theref
227. 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 adaressed before normal operation 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 1 287 IQ Programmer Reference Manual Error Message Indication Explanation Solution An alarm or fault condition exists The display Fault codes are drive dependent Consult Drive s LED blinks red and consists ofa specific number of red and Appendix E and your drive s hardware manual green green blinks and will repeat continuously until ien i resolved for specific information A firmware download was interrupted and the Cycle power on the drive and repeat the Dives LED snows Solid Ted drive is unable to boot properly firmware download process 288 IQ Programmer Reference Manual Appendix J List of Supported Drives Drive Description Integrated Steppers ITM 23Q 2 2 N NEMA 23 Integrated Stepper 2 stack motor RS 232 ITM 23Q 2 2 E NEMA 23 Integrated Stepper 2 stack motor RS 232 Encoder ITM 23Q 2 5 N NEMA 23 Integrated Stepper 2 stack motor RS 485 ITM 2
228. mple 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 use the Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KE Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Filter Value units integer range O 32767 Examples Command Drive sends Notes KE7836 Set differential filter to 200 Hz TI IQ Programmer Reference Manual 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 O meaning no gain 32767 meaning full gain KF is part of the Damping servo parameters in Bimba IQ Servo 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 Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Paramete
229. n 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 1 4 8 968 amp 0123456789 Q To find out which address is already in your 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 96 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 230 IQ Programmer Reference Manual 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 comm
230. n 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 the network to dwell some time while the slower devices open their transmitters Bimba drives d
231. nce Manual 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 O This is a 32 bit operation All math operations affect the condition code used by the QU Queue Jump command Can set condition codes T F N P and Z Command Details Structure Ri Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O 000 Accumulator Parameter Details Parameter 1 units First data register data register assignment range All data registers Parameter 2 Second data register units data register assignment range All data registers Examples Command Drive sends Notes RJi1 OR the contents of inputs register i with user defined register 1 and place the results in accumulator register 0 177 IQ Programmer Reference Manual 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 Command Summary section Comm
232. nce 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 Bimba IQ Stepper software application only Command Details Structure HG Parameter 1 Type IMMEDIATE Usage READ WRITE Non Volatile YES only when set in IQ Stepper software otherwise NO Register Access None Parameter Details Parameter 1 Filter gain units integer number range O 32767 Examples Command Drive sends Notes HG8000 Set filter gain value to 8000 HG HG 8000 85 IQ Programmer Reference Manual 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 Bimba IQ Stepper software application only Command Details Structure HP Parameter 1 Type IMMEDIATE Usage READ WRITE Non Volatile YES only when set in IQ Stepper software otherwise NO Register Access None Parameter Details Parameter 1 Filter phase units integer number rang
233. nd SO1L means set output 1 low A high state is represented by the H character 129 IQ Programmer Reference Manual Compatibility Affects See also MR Microstep Resolution All Stepper Drives Microstep Resolution 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 Structure MR Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Microstep Resolution code units Integer range 0 15 Code steps rev 0 200 12400 3 2000 4 5000 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 8 130 IQ Programmer Reference Manual MT Multi Tasking Compatibility Q drives only Affects All move commands See also CJ Ol QJ TI 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 subsequent commands in the queue or
234. nd 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 STP and ITM 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 61 IQ Programmer Reference Manual Command Details Parameter Details Structure DL Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter 1 Limit input state see above units integer number range 1 20r3 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 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
235. nd 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 Structure JM Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Jog mode units integer range 1 position type 2 velocity type Examples Command Drive sends Notes JM1 E Put drive into position type servo control when jogging JM2 e Put drive into velocity type servo control when jogging
236. ng 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 164 IQ Programmer Reference Manual Compatibility Affects See also RM Register Move Q drives only All data registers RI RD RL TR RX commands Move the contents of a first data register into a second data register Command Details Structure RM Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All Read Write and User Defined data registers Parameter Details Parameter 1 Source data register units character range all data register assignments Parameter 2 Destination data register units character range 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 165 IQ Programmer Reference Manual Compatibility Affects See also RR Register Read Q drives only All data registers 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
237. nputs 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 28 IQ Programmer Reference Manual 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 Bimba IQ Servo SRV AC5 SRV DC7 or Bimba IQ Stepper STP 10 ITM 23Q can be used to configure the analog inputs for the desired input type scaling and offsetting Command Details Structure AP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access X 040 Parameter Details Parameter 1 Analog position gain value units encoder counts range O 32767 Examples Command Drive sends Notes AP8000 Position range over full scale of analog input is 8000 steps AP AP 8000 29 IQ Programmer Reference Manual 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 ena
238. nted 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 RUO174 RUA 100 Drive responds to register upload command by sending RUB 150 contents of 4 sequential data registers starting with RUC 140 register 017 A RUD 210 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 PR36 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 234 IQ Programmer Reference Manual 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
239. nterrupt 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 Structure Ol Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile No Register Access None 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 135 IQ Programmer Reference Manual OP Option Board All drives IF MV commands Compatibility See also Requests the decimal or hexadecimal equivalent see IF command of the option board s 7 bit binary word Since some drives like the SRV DC7 STP 10 Q and ITM 23Q drives are available with different option boards it is useful for the host t
240. o be able to request this information from the drive The 7 bits in the option board s binary word are shown below Bit Value Hex SRV DC7 SRV AC3 STP 10 STP AC5 0 1 Encoder Board Encoder Board Encoder Board Encoder Board 1 2 RS 485 reserved RS 485 reserved 2 4 CANOpen reserved CANOpen reserved 3 8 reserved reserved reserved reserved 4 10 reserved reserved reserved reserved 5 20 MCF Board reserved MCF Board Expanded I O 6 40 Ethernet Ethernet Ethernet 0 7 80 reserved Expanded O reserved reserved This board includes encoder output so drives with this option will also have bit O set Command Details Structure OP Type IMMEDIATE Usage READ ONLY Non Volatile Yes Register Access None Examples IF command set for decimal IFD Command Drive sends Notes OP OPS3 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 O and 5 are set IF command set for hexadecimal IFH Command Drive sends Notes OP OPO0003 Drive has both encoder and RS 485 option boards installed OP OP0004 Drive has CANOpen board installed OP OP0021 Drive has MCF board installed 136 IQ Programmer Reference Manual PA Power up Acceleration Current Compatibility ITM 23Q Integrated Step Motors Affects Motor accel decel current and torque See also PC CC CA SA commands Sets or
241. oard IN3 through IN7 inputs This can only be done on SE and QE drives with firmware 1 53U or later Command Details Structure FX Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile NO Register Access None Parameter Details Parameter 1 Digital inputs selector units integer range O top board inputs of SE and QE drives 1 2 main board inputs of all drives Examples Command Drive sends Notes FXO Cause digital input filters set by Fl command to affect top board inputs IN3 through IN7 of SE and QE drives FX FX 1 Digital filters are set to be applied to main driver board inputs 82 X3 through X7 IQ Programmer Reference Manual 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 v
242. oder Directoris airean 64 EF Encoder FUNCUON seriernas iser aag a a aaan aaa de aeaiaioii a 65 EG Electronic Gealillg aeset EA AAE EE as erue eo EE aE aa E EA ANAA AE EEE A AARTE 67 EI Input Noise Filter EP2EMCOGESR POSIIOM NND ES PRETERITO RUTRUM 69 ER Encoder ResolutlOn s a eds ee pocta verna en deua Rete b cba dc Reve based sr Ru exse diras EE dor isa ER ETE 70 FC Feed to Length with Speed Changge sese nne enne nne nnne e erret 71 FD Feed to Double Sensor FE FoOlOW Mznooo qM le El Filter IMU e M 75 FL Feed then Gttniss cccissessstantandancvasievsistedshadbndsaceadiucs scteudasdsvecodeesundaaacsndenssadenvneeeed ena cesadssudhyasedinds adidadis 77 FM Feed to Sensor with Mask Distance 8 FO Feed to lenigth and Set OUIDUlt 5 1 at trn rhetor ner pi rrr eoat Y eadi ani pe e ERE R Ve ERR FR ERR R ERE 79 FP Feed to POSiON P 80 FS Feed to SMSO RC i FX Filter Select Inputs FY Feed to Sensor with Safety DISTarICe scout ene hc ecrit ue p bci ea E Nene char ran A rea ia e A 83 GS Current Command snra a TIERE E 84 FG 4th Harmonic Filter Gain ssepe tp reni e RR a cba d ERE eR YR c ERR epe pir n RR 85 HP 4th Harmonic F
243. of torque set by CC and CP commands is required to move the shaft OM11 E 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 g 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 52 IQ Programmer Reference Manual CP Change Peak Current Compatibility Servo drives only Affects Motor current 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 T which integrates current values for more accurate modeling of drive and motor heating The servo drive will allow peak current for not 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 Structure CP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access O 031 Note The CP command uses different units than the O register see Data Regis
244. ogress 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 167 IQ Programmer Reference Manual 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 Structure RU Parameter 1 Parameter 2 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access All data registers Parameter Details Parameter 1 units Data register assignment character range all data registers Parameter 2 Number of consecutive data registers to upload units integer range 1 16 Examples Command Drive sends Notes RUAS5 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 When PR command Bit 5 is set RU0175 RUA 400 NOTE All Data values are raw meaning the data is not scaled to the drive user units For example the velocity value RUE 0 E The Encoder value 017 The Acceleration value RUB 400 018 The Deceleration value RUC 16000 019 The Distan
245. oltage 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 Structure V Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Low voltage threshold units All drives except SRV AC5 0 1 volts DC SRV AC5 1 volt DC range STP 10 12 to 75 SRV DC7 12 to 75 ITM 23Q 10 to 75 SRV AC5 90 to 300 Examples Command Drive sends Notes LV LV 90 Low voltage threshold of SRV AC5 set at 90 VDC bus voltage 124 IQ Programmer Reference Manual 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 Situs Type BUFFERED WRITE ONLY Non Volatie Register Access Examples Command Drive sends Notes MD Drive turns off current to the motor 125 IQ Programmer Reference Manual ME Motor Enable Compatibility All drives See also BD BO MD commands Restores drive current to m
246. ommand Drive sends Notes SF500 Set step filter frequency to 500 Hz SF SF 500 181 IQ Programmer Reference Manual SH Seek Home Compatibility All drives See Also DL FD FS FY 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 OW The SH command performs a number of operations all combined into one command The basic operation acts like a combination of the FS Feed to Sensor and FP Feed to Position commands First an FS like move is made that runs the motor until the 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
247. on units integer range 1 100 Examples Command Drive sends Notes RWV10 5 Write data from data register V into non volatile memory location 10 170 IQ Programmer Reference Manual 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 data 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 Structure RX Parameter 1 Parameter 2 Type BUFFERED Usage READ WRITE Non Volatile NO Register Access All data registers Parameter Details Parameter 1 Data register assignment units character range 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 100 171 IQ Programmer Reference Manual Compatibility Affects See also
248. on Volatile NO Register Access None Units 0 01 Amps Examples Command Drive sends Notes IQ I Q 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 99 IQ Programmer Reference Manual IS Input Status Compatibility All drives Requests immediate status of all drive inputs A closed input is represented by a O zero and an open input is represented by a 1 one Unused positions in the response are represented by O zero SRV AC5 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 DB 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 SRV DC7 STP 10 Q The IS command requests the status of inputs X1 through X8 plus the encoder index channel if present ITM 23Q The IS command requests the status of all three digital inputs STEP DIR and EN plus the encoder index channel ITM only if present Command Details Structure IS Parameter 1 Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Parameter Details SRV AC5 Parameter 1 Optional X charac
249. ontrolled 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 Structure SK Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Deceleration rate units letter range D deceleration rate set by DE or JA command no parameter deceleration rate set by AM command Examples Command Drive sends Notes 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 186 IQ Programmer Reference Manual 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 2 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
250. operand 0x44 from Reg Code Table indicates register D return value 0x12345678 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 9F opcode byte 2 9F opcode byte 3 44 operand byte 3 44 operand byte 4 0 not used byte 4 12 read data MSB byte 5 0 not used byte 5 34 read data 2nd MSB byte 6 0 not used byte 6 56 read data 2nd LSB byte 7 0 not used byte 7 78 read data LSB Example 7 write Q register D opcode Ox9E read 32 bit Q register from Table 2 operand 0x44 from Reg Code Table indicates register D data 0x12345678 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 9E opcode byte 2 9E opcode byte 3 44 operand byte 3 44 operand byte 4 12 data MSB byte 4 status code MSB byte 5 34 data 2nd MSB byte 5 status code LSB byte 6 56 data 2nd LSB byte 6 0 not used byte 7 78 data LSB byte 7 0 not used Example 8 Disable IEEE 1588 protocol for Class 1 connections opcode OxFE IEEE 1588 control from Table 2 operand Ox1 Disable IEEE 1588 protocol 0xO will enable IEEE 1588 data OxO Type 2 Command Message Payload Type 2 Response Messa
251. or this reason there may be a need to filter an input to eliminate the effects of these noise conditions Digital filtering gives the greatest flexibility by allowing the user to select the amount of filtering required to eliminate the effects of noise or bounce Increment counter Decrement counter Update Input State to Low 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 STP AC5 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 FI command The flow chart to the right shows how a digital filter works Update Input State to High For example if we apply a digital filter of 2 milliseconds to input 3 on a STP AC5 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 WI3L
252. ore the move may change unexpectedly Command Details Structure FE Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details See Appendix F Working With Inputs and Outputs 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 5 Run in encoder following mode until input 4 is low 74 IQ Programmer Reference Manual FI Filter Input Compatibility All drives except STP AC5 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 STP AC5 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 STP AC5 stepper drive and 100usec for all other drives A value of O disables the filter SRV AC5 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 and QE drives Reassigning the filters to top board inputs of SE and QE drive
253. otion 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 BOS Output is not used as a Brake Output and can be used as a general purpose output 38 IQ Programmer Reference Manual STP AC5 SRV AC3 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 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 BOS 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 Structure BO Parameter t1 Parameter 2 Flex I O only Type BUFFERED Usage READ
254. otor If the drive cannot be enabled due to the Enable Input SI state the drive will respond with a amp which indicates that the drive could not be enabled Enabling the 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 Structure ME Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes ME Drive is enabled ME amp Drive is NOT enabled check Servo Enable input SI for proper state 126 IQ Programmer Reference Manual MN Model Number Compatibility All drives Requests the drive s Model Number Drive returns a single character that is a code for the model number NOTE 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 MN Type IMMEDIATE Usage READ ONLY Non Volatile NO Register Access None Units character code see below
255. otor 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 YE 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 Type 2 Command Message Payload Type 2 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 2 message type byte 1 2 message type byte 2 84 opcode byte 2 84 opcode byte 3 80 operand byte 3 80 operand byte 4 0 not used byte 4 status code MSB byte 5 0 not used byte 5 status code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not
256. ove 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 distance to 20000 steps VC1 Set 2nd change velocity to 1 rps WP Wait position DC30000 Set 3rd change distance to 30000 steps VCO 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 T2 IQ Programmer Reference Manual 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
257. perand no operand Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 66 opcode byte 3 66 opcode byte 4 0 not used byte 4 Status Code MSB byte 5 0 not used byte 5 Status Code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used Example 2 setting an output SO2L set output 2 low closed opcode OxOO8B from Table 1 operand Ox4CB2 LSB is 2 OxB2 MSB is L Ox4C see IO Encoding Table Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 not used byte 2 0 not used byte 3 8B opcode byte 3 8B opcode byte 4 0 not used byte 4 Status Code MSB byte 5 0 not used byte 5 Status Code LSB byte 6 4C operand MSB byte 6 0 not used byte 7 B2 operand LSB byte 7 0 not used 264 IQ Programmer Reference Manual Example 3 enabling the motor ME motor enable opcode OxOO9F from Table 1 operand O no operand Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 9F opcode by
258. pond 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 225 IQ Programmer Reference Manual 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 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 2 226 IQ Programmer Reference Manual Appendix C Host Serial Connections Introduction When communicating
259. program segment This allows executing other type of operations such as setting outputs SO while a move is taking place Command Details Structure MT Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile No Register Access None Parameter Details Parameter 1 Multi tasking switch units integer range O multi tasking disabled 1 multi tasking enabled Examples Command Drive sends Notes MT1 z Enables multi tasking MT MT 1 131 IQ Programmer Reference Manual MV Model amp Revision Compatibility All drives except SRV AC5 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 8 numbers and 1 letter model number code 3 numbers sub model number code 1 letter See Response Details below Command Details Structure MV Type IMMEDIATE Usage READ ONLY Non Volatile No Register Access None 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 after
260. put 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 Ali For normal operation the X4 input must AI be open inactive high Alarm reset m e occurs when the input is closed active i j f low This is an edge triggered event low E ow If the switch is closed when an alarm is A IB ad D AB E activated no reset will occur The input must be opened inactive high and then closed to reset the alarm time Input is open normal operation Al Input is closed Alarm occurs B Alarm occurs Input closed alarm is reset C Input opened no reset occurs D Input closed alarm is reset ABs Al2 For normal operation the X4 input must be closed active low Alarm reset occurs when the input is opened AI2 inactive high This is an edge nae di triggered event If the switch is open i f i f when an alarm is activated no reset will ow i T tow occur The input must be closed and AB n ABODE then opened to reset the alarm gt time Al Input is closed normal operation Al Input is open Al3 Input is not used
261. put closed drive is re enabled mO C 93 P 24 IQ Programmer Reference Manual AL Alarm Code Compatibility All drives See also Al AR AX commands Appendix Reads back an equivalent hexadecimal value of the Alarm Code s 16 bit binary word Command Details Structure AL Command Type IMMEDIATE Usage READ ONLY Non Volatile NO 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 Units Hexadecimal value of 16 bit binary word see below Response Details Hex Value SRV AC5 SRV DC7 STP 10 ITM 23Q 0001 Position Limit 0002 CCW Limit 0004 CW Limit 0008 Over Temp 0010 Excess Regen Internal Voltage Internal Voltage Internal Voltage 0020 Over Voltage 0040 Under Voltage Under Voltage Under Voltage Under Voltage 0080 Over Current 0100 Bad Hall Sensor Open Motor Winding loo BadEncoder notus 0400 Comm Error 0800 Bad Flash 1000 Wizard Failed No Move 2000 Current Foldback not used not used 4000 Blank Q Segment 8000 No Move not used 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 NOTE See Appendix for more detailed information on Alarm Codes Examples Command Dri
262. r range integer O 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 O encoder index if present 1 4 8 AIN letter L Low H High F Falling Edge R Rising Edge 242 IQ Programmer Reference Manual STP AC5 EIP SRV AC3 EIP Q Parameter 1 Optional X input number input condition NOTE Including the optional X indicates that the input s resides on the IN OUT1 connector DB 15 Omitting the X indicates that the input s resides on the OPT2 connector DB 25 units Optional X integer letter 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 units integer letter range integer for IN OUT1 connector O 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 SRV DC7 Q SRV DC7 EIP STP 10 EIP STP 10 Q Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command units integer letter
263. r 1 QJG5 If E register is greater than 1 register jump to line 5 of Q segment 54 otherwise proceed to next line IQ Programmer Reference Manual CS Change Speed Compatibility All drives Affects Jog speed while jogging See also CJ JS JA JL commands 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 commands Setting CS does not change JS or DI Command Details Structure CS Parameter 1 Type IMMEDIATE Usage READ AWRITE Non Volatile YES Register Access J 026 Note The CS command uses different units than the J register see Data Registers section for more details Parameter Details Parameter 1 Jog Speed units rev sec range SRV AC5 SRV DC7 STP 10 STP AC5 SRV AC3 133 3333 to 133 3333 resolution is 0 0042 ITM 23Q 80 0000 to 80 0000 resolution is 0 0042 Sign determines direction for CCW no sign for CW Examples Command Drive sends Notes JS1 Set base jog speed to 1 rev sec CJ Commence jogging CS2 5 Set jog speed to CW at 2 5 rev sec CS CS 2 5 Displays current Jog speed CS 5 Set jog speed to CCW at 5 rev sec SJ Stop jogging 95 IQ P
264. r 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 IQ Servo 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 SER 2 ata 3 m Ch Description 3 digit Type Units Compatibility SRV AC5 SRV DC7 STP 10 Q 32760 10V 32760 a Analog Command value IA 049 Short 10V All drives ITM 23Q 16383 5V 0 2 OV Note that the a register is affected by the AV Analog Offset command so the range may vary beyond 0 to 16383 D Queue Line Number 050 Short Line 1 62 Q drives only Servo 0 01 amps RMS C Current Command IC 051 Short Stepper 0 01 amps peak of All drives sine d
265. r 1 Velocity feedforward gain value units integer range O 32767 0 0 32767 100 Examples Command Drive sends Notes KF4000 Set velocity feedforward gain to 4000 KF KF 4000 118 IQ Programmer Reference Manual 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 O meaning no gain 82767 meaning full gain KI is part of the Stiffness servo parameters in Bimba IQ Servo It minimizes or may even eliminate position errors especially when holding position NOTE It is recommended to use the Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure Kl Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Integrator gain value units integer range O 32767 0 096 32767 100 Examples Command Drive sends Notes KI5000 Set integrator gain to 500 Kl Kl 500 119 IQ Programmer Reference Manual KJ Jerk Filter Frequency Compatibility SRV DC7 Servo drives only Affects S Curve Sets or requests the Jerk Filter frequency in Hz The parameter is set within Bimba IQ9 Servo and can also be set with the SCL command KJ The lower the frequency value the more pronounced the S curve profile will be Setting the v
266. r 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 FI58 Filter input X5 for 8 processor ticks 2 msec WIXSL 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 50 IQ Programmer Reference Manual 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 Bimba IQ Stepper or Bimba IQ Servo 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 unexpect
267. r function off 1 Stall Detection 2 Stall Prevention 4 Stall prevention w time out EG Steps rev 2 26 0 steps rev 100 25600 steps rev divided by 2 EP ENCODER_POSITION 98 0 32 bit encoder position 2 147 483 647 counts FC P TO P CHANGE 6D 0 FD feedto double sensor 69 0 cond 2 i02 cond 1 iot STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R FE FOLLOW ENCODER CC 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R FL feed to length relative move 66 0 FM Feed to Sensor with mask 6A 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table distance STP AC5 X0 X4 1 8 L H F R FO feed and set output 68 0 cond io STP 10 Y1 Y4 Lor H see IO Encoding Table STP AC5 1 4 Y Y2 L or H FP feed to position absolute move 67 0 FS Feed to Sensor 6B 0 cond io STP 10 X0 X8 L H F R see lO Encoding Table STP AC5 X0 X4 1 8 L H F R FY Feed to Sensor with safety 6C 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table distance STP AC5 X0 X4 1 8 L H F R HW Hand wheel AB 0 cond io STP 10 X0 X8 L H F R see IO Encoding Table STP AC5 X0 X4 1 8 L H F R JA VM_ACCEL 1B 0 jog accel rate 1 32000 10 rpm sec 2 IQ Programmer Reference Manual T om E OA ME cd ien SE E ole 2 lS ze eui
268. ram segment to be loaded into the queue QL will cause an overwrite of any commands in the queue starting at line 1 Command Details Structure QL Parameter 1 Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Program segment number units integer range 1 12 Examples Command Notes QL Initiates loading queue from serial port QL3 Loads segment from non volatile memory into the queue 154 IQ Programmer Reference Manual 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 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 comman
269. rameter Details Parameter 1 Move velocity units rev sec range SRV AC5 SRV DC7 STP 10 Q STP 10 S resolution is 0 0042 ITM 23Q 0 0042 80 0000 resolution is 0 0042 Examples Command Drive sends Notes VC5 Set change velocity to 5 rev sec VC VC 5 196 IQ Programmer Reference Manual 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 Structure VE Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access v 038 Parameter Details Parameter 1 Move velocity units rev sec range SRV AC5 0 0042 133 3333 resolution is 0 0042 SRV DC5 0 0042 136 resolution is 0 0042 STP 10 Q ITM 23Q STP AC5 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 2 525 197 IQ Programmer Reference Manual 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 O no gain 32767 full gain VI minimizes steady state velocity errors Command Details Structure Vi Parameter 1 Type BUFFERED Usage READ WRITE Non Vo
270. rameter Details BLu SV STAC6 ST Q Si STP AC5 SRV AC3 Parameter 1 Analog input units integer range No parameter or O Analog command 1 Analog input 1 unscaleo 2 Analog input 2 unscaled 3 Expanded analog input SE and QE models ST S STM17 S Q C STM23 Q Parameter 1 Analog input units integer range No parameter or O Analog command 1 AIN unscaled 89 IQ Programmer Reference Manual Examples 90 Command IFD IA IFH Drive sends IA 2 5 IA 1FEE 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 IQ Programmer Reference Manual 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 t
271. re 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 SRV AC5 S SRV AC5 Q Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command units Optional X integer letter range integer O 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 units integer letter range integer O encoder index if present 1 7 8 Analog Command 9 AIN1 AIN2 letter L Low H High F Falling Edge R Rising Edge 241 IQ Programmer Reference Manual SRV AC5 QE 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
272. rive 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 125 Drive at address 1 sends Nack over both ports and error code in response to address specific set velocity to 200 rps Buffered command Example Command Drive Sends Notes AC10 i Drive sends Exception Ack over RS 232 port only in res ponse to global set acceleration to 10 rps s 1AC10 1 Drive at address 1 sends Exception Ack and address over both ports in response to address specific set acceleration Bit 3 Checksum use 8 bit checksum Not implemented at this time Call Bimba 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 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 i
273. rogrammer Reference Manual 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 Structure CT Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Register Access None 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 56 IQ Programmer Reference Manual DA Define Address Compatibility All drives Affects Drive address 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 Structure DA Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 RS 485 network address units character range Valid address characters are 1 96 amp x 0123456789 Q Examp
274. ruction SRV DC7 ST 10 Q Inputs X5 and X6 are the designated jog inputs during a WI instruction ITM 23Q 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 To enable jogging with the STEP and DIR inputs simply execute the JE command with CM 21 or CM 22 Command Details Structure JE Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Examples Command Drive sends Notes JE Enable jog inputs while executing the WI command WIX4L Wait for input X4 to close
275. s SRV Command Drive sends Notes CC4 50 Set continuous current to 4 5 amps rms CC CC 4 5 STP AC5 ITM 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 CH Set idle current to 1 0 amps 44 IQ Programmer Reference Manual 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 CC to idle current CI This transition is made after a step motor takes the final step of a move Operating in any form of pulse amp direction mode the drive will reset the idle current delay timer each time a step pulse is received by the drive Command Details Structure CD Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Delay time units seconds range 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 45 IQ Programmer Reference Manual 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
276. s is done with the FX command STP 10 Q SRV DC7 This command can be used to apply filters to low speed inputs X3 through X8 ITM 23Q This command can be used to apply filters to inputs STEP DIR and EN STP AC5 EIP This command can be used to apply filters to inputs IN5 IN8 Command Details Structure Fl Parameter 1 Parameter 2 Type BUFFERED Usage READ WRITE Non Volatile YES except SRV AC5 servos Register Access None 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 IQ Programmer Reference Manual 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 F
277. s Current CC Servo 0 01 amps RMS Servo 030 Short Stepper 0 01 amps peak of All drives Running Current CC stepper sine Peak Current CP servo erue 0 011 Amps AMS Idle Current Cl stepper 031 Short LE 0 01 amps peak of All drives Absolute Position Command 032 Long counts All drives RESERVED 033 218 IQ Programmer Reference Manual R Steps per Rev 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 rom All drives The U register units are 0 25 rom 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 rom All drives The V register units are 0 25 rom which means
278. s 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 second drive is addressed 2 Here is what you will see Send data Example Command Drive Sends Notes 2DI8000 2DI8000 Drive at address 1 echoes original command over both serial ports 296 Drive at address 2 responds with ack Request data Example Command Drive Sends Notes 2DI 2DI Drive at address 1 echoes original command over both serial ports 2DI8000 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 usage for the RL Register Load and RU Register Upload commands 233 IQ Programmer Reference Manual NOTE When data is returned from a drive whether Bit 5 is set or not set the data register is always represe
279. s 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 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O BO Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 B1 Command Axis Number OxO Command Message Type Ox1 B2 Register I O or other code here for some commands see Table 1 page 275 O for all others B3 Opcode B4 Parameter1 B5 Parameter2 B6 Parameter3 B7 Parameter4 Response Message Format Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O BO Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 0 0 0 0 0 0 0 B1 Response Axis Number OxO Response Message Type Ox1 B2 Register code for commands QR RR RW and RX 0
280. s 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 IQ9 Stepper software For servos use IQ Servo 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 Setthe 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 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 Point of Interest Bimba recommends performing all Ethernet configuration of the drive while connected directly to
281. s 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 command e Command shows the command s two letter Command Code e Description shows the name of each command e 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 e Write only or Read only is checked when a command is not both Read Write compatible e Immediate designates an immediate command all other commands are buffered e 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 e Motion commands have to do with the actual shaft rotation of the step or servo motor e Servo commands cover servo tuning parameters enabling disabling the motor and filter setup e 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 e I O commands are us
282. s 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 Structure AT Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access Y 041 Parameter Details Parameter 1 Analog threshold value units volts range STP AC5 SRV AC3 10 000 to 10 000 STP S ITM 0 000 to 5 000 Examples Command Drive sends Notes AT4 5 x Analog input threshold set to 4 5 volts AT AT 4 5 32 IQ Programmer Reference Manual AV Analog Offset Value Compatibility All drives Affects All Analog input functions See also AF AP AZ CM amp Feed commands Sets or requests the analog offset value in volts Command Details Structure AV Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access Z 042 Note Units of AV command are different than units of Z register see Data Registers section for more details Parameter Details Parameter 1 Analog offset value units Volts range SRV AC5 SRV DC7 STP 10 STP AC5 SRV AC3 10 000 to 10 000 TM 23Q 5 000 to 5 000 Examples Command Drive sends Notes ANO 25 Set analog offset to 0 25 Volts AV AV 0 25 33 IQ Programmer Reference Manual AX Alarm Reset Buffered Compatibility All drives Affects Alarm Code See also AR ME OF WT Commands
283. ses a time delay in seconds The resolution is 0 01 seconds with the largest value being 320 00 seconds Command Details Structure WT Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access None Parameter Details Parameter 1 Time units seconds range 0 00 320 00 resolution is 0 01 seconds Examples Command Drive sends Notes WT2 25 Causes time delay of 2 25 seconds 205 IQ Programmer Reference Manual ZC Regen Resistor Continuous Wattage Compatibility SRV AC5 drives only Sets or requests the regeneration resistor wattage value SRV AC5 and STP AC3 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 Structure ZC Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Continuous wattage value of regen resistor units Watts range 1 1000 Examples Command Drive sends Notes ZC250 External regen resistor with value of 250 continuous watts is 206 connected to the drive IQ Programmer Reference Manual ZR Regen Resistor Value Compatibility SRV AC5 drives only Sets or requests the regeneration resistor value SRV AC5 and STP AC5 drives dynamically calculate the cont
284. 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 Proceed as follows using the figure below 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 228 IQ Programmer Reference Manual 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 commun
285. sition Bit 4 Moving Bit 5 Jogging Bit 6 Stopping Bit 7 Waiting Bit 8 Saving Bit 9 Alarm Bit 10 Homing Bit 11 Wait on Timer Bit 12 Wizard running Bit 13 Checking Encoder Bit 14 Q Program is running Bit 15 Initializing Status Code 16 bit word 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 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 LED and 7 Segment Di
286. sociated 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 information 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
287. splay 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 Bimba drives 237 IQ Programmer Reference Manual SRV AC5 7 Segment codes tems in bold italic are Drive Faults Position Mode Over Temp Comm Error Velocity Mode Over Voltage Move attempted while disabled Torque Mode Under Voltage Drive Start up Step Mode Over Current Bad Flash Si Mode Current Limit Comm Time out Drive Disabled Hall Bad Stack Overflow Position Limit Bad Encoder Stack Underflow CCW Limit Memory Failed Q Program Running CW Limit Excess Regen Drive enabled when flashing SRV DC7 LED codes tems in bold italic are Drive Faults O Q DESCRIPTION solid Motor disabled Motor enabled Q program running Q drives only flashing slowly flashing quickly 1 1 position limit 1 2 move attempted while disabled 2 1 CCW limit 2 2 CW limit 3 1 over temp 3 2 internal voltage out of range 3 3 attempt to load blank Q segment 4 1 over voltage 4 2 under voltage 5 1 over current short circuit 238 5 2 current limit 6 1 bad hall 6 2 bad encoder 7 1 serial communication error 7 2 bad flash STP
288. ss Setting the AD command will affect the contents of the a Analog Command register Parameter Details Parameter 1 Analog deadband value units millivolts Examples Command Drive sends Notes AD100 Set analog deadband to 0 1 volts AD AD 100 20 IQ Programmer Reference Manual 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 22 where x desired value of the analog filter in Hz Command Details Structure AF Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access Setting the AF command will affect the responsiveness of the a j and k registers to changes in analog voltage Parameter Details Parameter 1 Filter value units integer see formula above range O 32767 0 disables the filter 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 ana
289. sumed 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 Bimba offers both Class 1 and Class 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 a Bimba drive using a Class 1 connection the following connection points are available Object ID Function Notes Hex Decimal 0x64 100 Input Assembly Static Assembly Object for monitoring drive status amp behavior see below for details Ox66 102 Configuration Assembly Specifies parameters such as packet interval data length Ox67 103 Heartbeat Input Only Assembly Zero length message that tells the controller the drive is still active 0x68 104 Heartbeat Listen Only Assembly Zero leng
290. tails Structure OF Parameter 1 Type BUFFERED Usage WRITE ONLY Non Volatile No Register Access None Parameter Details Parameter 1 units program segment integer range 1 12 segment 1 12 O disable On Fault function Examples 134 Command OF9 In segment 9 of the same Q program WTO 1 AX ME QX1 OFO Drive sends In segment 1 of a Q program Notes When a drive fault occurs load and execute program segment 9 Short delay to allow the system to settle Alarm reset Motor enable Load and execute segment 1 which will also reset the OF function Disable the On Fault function IQ Programmer Reference Manual 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 function 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 i
291. tance units encoder counts servo or steps stepper range 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 Dl 20000 DI 8000 Set distance to 8000 counts in the CCW direction FL Initiate FL move 60 IQ Programmer Reference Manual 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 SRV AC5 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 STP AC5 E SRV AC3 E 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 STP AC5 EIP SRV AC3 EIP Q SRV AC3 E Q Defines usage of inputs IN7 and IN8 as dedica
292. te 3 9F opcode byte 4 0 not used byte 4 Status Code MSB byte 5 0 not used byte 5 Status Code LSB byte 6 0 not used byte 6 0 not used byte 7 0 not used byte 7 0 not used Example 4 SCL commands required for Feed to Sensor move AC200 set acceleration rate to 200 rev sec sec 12000 rpm sec opcode OxOO1E from Table 1 operand X Ox4BO units are 10 rpm sec so 12000 rpm sec is represented by 1200 decimal 4BO hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1E opcode byte 3 1E opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 4 operand MSB byte 6 0 not used byte 7 BO operand LSB byte 7 0 not used DE150 Set deceleration rate to 150 rev sec sec 9000 rpm sec opcode OxOO1F from Table 1 operand 0x384 units are 10 rpm sec so 9000 sec is represented by 900 decimal 384 hex Type 1 Command Message Payload Type 1 Response Message Payload byte O 0 reserved byte O 0 reserved byte 1 1 message type byte 1 1 message type byte 2 0 unused byte 2 0 unused byte 3 1F opcode byte 3 1F opcode byte 4 0 unused byte 4 Status Code MSB byte 5 0 unused byte 5 Status Code LSB byte 6 3 operand MSB byte 6 0 not used byte 7 84 operand LSB byte 7 0 not used 265 IQ Programmer Referenc
293. ted 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 STP 10 SRV DC7 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 ITM 23Q 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 Bimba IQ Stepper software or with the DL command DL takes no effect if the drive is set in Command Mode CM 7 11 12 13 14 15 16 17 or 18 because these modes predefine these inputs and take precedence over the DL command Also setting the JE command after setting the DL command reassigns the STEP and DIR inputs as jog inputs and turns off any limit input usage DL3 In other words the DL and JE commands as well as Command Modes CM 7 11 12 13 14 15 16 17 and 18 each assign a usage to the STEP and DIR inputs Each of these must exclusively use the STEP and DIR inputs Command Modes are most dominant and will continually prevent DL and JE from using the inputs DL and JE exclude each other by overwriting the usage of the STEP and DIR inputs There are three e
294. ter used to access driver board inputs with SE and QE drives SRV DC7 STP 10 Q ITM 23Q Parameter 1 X character ignored if used SRV AC3 STP AC5 Parameter 1 Optional X character used to access driver board inputs with Q and IP drives 100 IQ Programmer Reference Manual Response Details SRV AC5 S and Q drives QE EIP drives X character is not required to X character is required to designate designate main board inputs main board inputs ISz 1 1 1 1 1 1 1 1 IS 1 13 11 11 1 iIsx 11111 1 8 t x STEP iN 1 x1 STEP X2 DIR IN 2 X2 DIR X3 Enable IN 3 X3 Enable X4 Alarm Reset IN 4 X4 Alarm Reset X5 IN 5 X5 X6 CCW Limit IN 6 X6 CCW Limit X7 CW Limit LM N 7 X7 CW Limit X0 Encoder Z IN 8 X0 Encoder Z SRV DC7 STP 10 Q ITM 23Q is 1111 L X1 STEP IS X2 DIR STEP IN1 X3 Enable DIR IN2 E X4 Alarm Reset EN IN3 X5 CW Jog X6 CCW Jog XT I CW Limit X8 CCW Limit X0 Encoder index if present Encoder Index STM only if present SRV AC3 STP AC5 ISX s L X1 L IN1 e x2 e IN2 X3 IN3 X4 IN4 IN5 IN6 Encoder Index n if present 101 Examples SRV AC5 Command SRV AC5 Command IS ISX Drive sends 8200000000 IS 11111111 IS 11101100 IS 10000101 Drive sends IS 11010011 IS 1
295. ters section for more details Parameter Details Parameter 1 Peak current limit units amps RMS range SRV AC5 0 15 0 A SRV DC7 0 14 0 A SRV AC3 120V 0 7 5 SRV AC3 220V 0 3 75 Examples Command Drive sends Notes CP9 0 Peak current is set to 9 0 amps RMS CP CP 9 0 53 IQ Programmer Reference Manual 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 in the second data register Parameter 2 The result is a condition code that can be used for program conditional processing see QU command For Example if the first data register is greater than the second the greater than flag is set and the QUGx command can be used to create a conditional jump Command Details Structure CR Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access All data registers Parameter Details Parameter 1 units First data register assignment character range All data register assignments Parameter 2 Second data register assignment units character range All data register assignments Examples Command Drive sends Notes CRE1 Compare data register E to data registe
296. th message that tells the drive the controller is still active Input Assembly 0x64 This connection point is used to monitor the drive s behavior The 32 bytes of data sent by the drive are as follows Field Descriptor Length bytes Sequence 2 IP Address Encoded in Internet Format Status Word Alarm Word Supply Voltage Actual Current Drive Temperature Encoder Position 32 bit signed Absolute Position 32 bit signed Actual Velocity Input Status extended Input Status main board Output Status MIM NIH S PO IO ID IO wy sR 258 IQ Programmer Reference Manual 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 Convert to Hexadecimal Rearrange into Little Endian Format Converted IP address 192 168 0 40 192 OxCO 168 OxA8 0 0x00 40 0x28 CO A8 00 28 gt 28 00 A8 CO 192 168 0 40 gt 0x2800A8CO Note that all numbers are sent in Little Endian format so the process for converting is the same for each piece of data Thus an example message might be organized as follows Haw E0032800A8CO0 9000000E90100003802BAFCFFFFC 72A0600C
297. the X indicates that the input s resides on the IN OUT2 or top board connector units Optional X integer letter range 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 O 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 STP AC5 S SRV AC3 S Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command units integer letter range integer O 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 O encoder index if present 1 4 8 AIN letter L Low H High F Falling Edge R Rising Edge SRV AC3 S STP AC5 E Parameter 1 Optional X input number input condition NOTE Including omitting the optional X has no effect on the execution of the command units integer lette
298. 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 command Segment Location Segment 12 HS 232 0 7 u s IIe RS 485 The Queue Segment 2 Segment 1 il Ethernet RAM BUFFER Communications Line 1 nen Loading Queue QL Serial QL QX Ethernet Line 2 Loading Queue Port Saving Queue QS Uploading Queue QU _ Line 62 Queue Execution QE Immediate QX Buffered The Bimba IQ Programmer software automates many of the functions shown in the diagram above IQ Programmer Reference Manual 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 bimba 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 ENTER means press the ENTER key on your keyboard which is the same as terminating the command with a carriage return IMPORTANT We recommend practicing
299. therNet IP Encoder SRV AC5 Stepper Drives SRV AC5 25 12 S 5A AC Servo Drive RS 232 95 260 VAC SRV AC5 25 12 Q 5A AC Servo Drive RS 232 Q Programming 95 260 VAC SRV AC5 25 12 QE 5A AC Servo Drive RS 232 Q Programming Expanded 1 0 95 260 VAC STP AC5 Stepper Drives STP AC5 E 1 N S 5A 120VAC Stepper Drive Ethernet STP AC5 E 2 N S 5A 220VAC Stepper Drive Ethernet STP AC5 E 1 N S STP AC5 E 2 E S 5A 120VAC Stepper Drive Ethernet Encoder 5A 220VAC Stepper Drive Ethernet Encoder STP AC5 EIP 1 N Q 5A 120VAC Stepper Drive EtherNet IP STP AC5 EIP 2 N Q 5A 220VAC Stepper Drive EtherNet IP STP AC5 EIP 1 E Q 5A 120VAC Stepper Drive EtherNet IP Encoder STP AC5 EIP 2 E Q 5A 220VAC Stepper Drive EtherNet IP Encoder 289 IQ Programmer Reference Manual Drive Description SRV AC3 Servo Drives SRV AC3 E 1 S 3A 120VAC Servo Drive Ethernet SRV AC3 E 2 S 3A 220VAC Servo Drive Ethernet SRV AC3 E 1 Q 3A 120VAC Servo Drive Ethernet Q Programming SRV AC3 E 2 Q 3A 220VAC Servo Drive Ethernet Q Programming SRV AC3 EIP 1 Q 3A 120VAC Servo Drive Ethernet Q Programming EtherNet IP SRV AC3 EIP 2 Q 3A 220VAC Servo Drive Ethernet Q Programming EtherNet IP 290 Bimba Manufacturing Company P O Box 68 Monee Illinois 60449 0068 Phone 708 534 8544 Toll Free 800 44 BIMBA Fax 708 235 2014 Email cs bim
300. tions 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 will 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 nod
301. trial PC running a custom built or other proprietary software application e APLC with an ASCII module 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 a Bimba 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 a Bimba 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 Bimba 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
302. ts 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 Bimba 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 packets are terminated by a Carriage Return ASCII 13 Response
303. u want to use the X3 input as an Enable input you can define it as such in two ways with the Bimba IQ Stepper 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 SI8 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 X3 input Each of these must exclusively use the X3 input 183 IQ Programmer Reference Manual 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 SI2 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 Structure Sl Parameter 1 Parameter 2 Flex I O only Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Input Usage units integer code range 1 30r1 5 see above Parameter 2 Flex I O only I O Point if applicable see note below
304. ues 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 SRV AC5 servo drive firmware revisions 1 53C or later This command is available in all firmware revisions of STP AC stepper drives Command Details Structure WP Type BUFFERED Usage WRITE ONLY Non Volatile No Register Access None 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 VC9 2nd change speed set to 9 rps WP DC40000 8rd 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 204 IQ Programmer Reference Manual WT Wait Time Compatibility All drives Cau
305. 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 Structure R Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O 000 Accumulator Parameter Details Parameter 1 First data register assignment units character range all data registers Parameter 2 Second data register assignment units character range 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 O 173 IQ Programmer Reference Manual Compatibility Affects See also R Register Multiply Q drives only All data registers R R R R amp RD RI QU 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 O 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 QU Queue Jump command Can set condition codes T F N P and Z Command Details Structure R Parameter 1 Parameter 2 Type BUFFERED Usage WRITE ONLY Non Volatile NO Register Access O
306. unications 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 when you set a bit to 1 or turn it on you are adding the functionality of that setting to the serial protocol Think of this 6 bit word as a bank of 6 dip switches You can turn each dip switch on or off and in doing so add or subtract a particular setting from the overall protocol The PR command in detail The diagram to the right shows the assignments of each of the 6 11111 bits in the protocol word Remember that when you use the PR command the parameter that you send along with the command code PR is the decimal equivalent of this binary word Below are Bit 0 Default Standard SCL the details of each of the bits and the settings they are assigned to Bit 1 Address Character Bit 2 Ack Nack Bit 0 Default Standard SCL Bit 3 Checksum Bit 4 RS 485 Adapter Bit 5 3 digit numeric register addressing PR cannot be set to O so if no other bits in the
307. used Typical return values 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 283 IQ Programmer Reference Manual Can You Download a Q Program over EtherNet IP The preferred method for creating downloading and testing Q programs is to use the IQ Programmer software If you are absolutely convinced that you want to encode and download one or more Q segments over EtherNet IP it can be done 1s a 50m D Develop and test your program using IQ 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 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 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 IQ Programmer to make sure that there were no mistakes EtherNet IP on large networks Once a
308. ut Q drives only OP Option Board All drives PA Power up Acceleration Current PC Power up Current All drives PF Position Fault Servo drives drives with encoder feedback PI Power up Idle Current e Stepper drives only PL In Position Limit Servo drives only 14 IQ Programmer Reference Manual Configuration Commands continued Command Description NV write read Immediate Compatibility only only PM Power up Mode e All drives PP Power up peak current Servo drives only PW Pass Word Q drives only RE Restart Reset All drives RL Register Load e All drives RS Request Status All drives RV Revision Level e All drives SA Save all NV Parameters All drives SC Status Code SD Set Direction ITM stepper drives with Flex I O only SF Step Filter Frequency e Stepper drives only SI Enable Input usage All drives SK Stop amp kill All drives ZC Regen Resistor Continuous Wattage SRV AC5 drives only ZR Regen Resistor Value SRV AC5 drives only ZT Regen Resistor Peak Time e SRV AC5 drives only 1 0 Commands Command Description NV write read Immediate Compatibility only only AD Analog Deadband All stepper drives and SRV DC7 servo drives AF Analog Filter e All drives AG Analog Velocity Gain
309. ut Noise Filter Compatibility STP 10 ITM 23Q SRV DC7 SRV AC3 STP AC5 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 STP AC5 S and SRV AC3 E S drives this parameter setting affects inputs X1 X4 and is an alternative to the Fl command if input noise filtering is required STP 10 ITM 23Q SRV DC7 SRV AC3 STP AC5 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 Structure El Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access none Parameter Details Parameter 1 Encoder Noise Filter Constant units Examples Command Drive sends Notes E1128 ITM 23Q Set encoder noise filter to 117 2 kHz 15 000 000 128 El EG 128 68 IQ Programmer Reference Manual 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 immediatel
310. ve 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 parallel 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 Bimba 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 transmiss
311. ve sends Notes AL AL 0000 No alarms AL AL 0001 Position limit alarm AL AL 0201 Position limit and bad encoder signal alarms 29 IQ Programmer Reference Manual 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 Structure AM Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Maximum acceleration deceleration units rev sec sec rps s range 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 26 IQ Programmer Reference Manual AO Alarm Output Compatibility All drives Affects Alarm Output usage See also Al BO MO SD SI commands SRV AC5 SRV DC7 STP 10 SRV AC3 STP AC5 Defines usage of digital output Y3 Normally this output is used to indicate an Alarm caused by a Drive Fault This output can being reconfigured as a general purpose output for use with other types of output commands There are three states that can be
312. ves only IE Immediate Encoder Position Servo drives only IQ Immediate Actual Current Servo drives only IX Immediate Position Error Servo drives only KC Overall Servo Filter Servo drives only KD Differential Constant Servo drives only KE Differential Filter Servo drives only KF Velocity Feedforward Constant Servo drives only KI Integrator Constant Servo drives only KJ Jerk Filter Frequency SRV DC7 Servo drives only KK Inertia Feedforward Constant Servo drives only KP Proportional Constant Servo drives only KV Velocity Feedback Constant Servo drives only PF Position Fault Servo drives drives with encoder feedback PL Position Limit Servo drives only PP Power Up Peak Current Servo drives only VI Velocity Integrator Constant Servo drives only VP Velocity Mode Proportional Constant Servo drives only Configuration Commands Command Description NV write read Immediate Compatibility only only AL Alarm Code e All drives AR Alarm Reset e All drives BD Brake Disengage Delay time e All drives BE Brake Engage Delay time e All drives BS Buffer Status All drives CA Change Acceleration Current ITM stepper drives only CC Change Current All drives 13 IQ Programmer Reference Manual Configuration Commands continued
313. ward Drive Firmware Model No Code Sub Model No Code SRV DC7 S 011 SRV DC7 Q i 012 STP 10 Q 024 STP 10 Plus m 027 ITM 23Q 2 2 N 050 A ITM 23Q 2 2 E 050 E TM 23Q 2 5 N i 050 C ITM 23Q 2 5 E i 050 G ITM 23Q 3 2 N s 050 B ITM 23Q 3 2 E 050 F TM 23Q 3 5 N 050 D TM 23Q 3 5 E u 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 SRV DC7 Q 132 IQ Programmer Reference Manual 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 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 Structure NO Type BUFFERED Usage WRITE ONLY Non Volatile N
314. ways 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 96 The percent character is a Normal Acknowledge Ack character that means the drive accepted the command and executed it 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 o 00 0n Command timed out Parameter is too long Too few parameters Too many parameters Parameter out of range Command buffer queue full Cannot process command Program running Bad password Comm port error Bad character I O point already used by current Command Mo
315. wered 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 Bimba 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 Bimba software will display the drive s firmware revision along with the model number If this box is empty communications have not been established 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 drive This will allow the Software to intercept the drive s power up packet as detailed in Appendix B and initiate communications 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
316. y Servo drives only Affects Servo tuning and performance Sets or requests the servo control velocity feedback gain term Gain value is relative O meaning no gain 32767 meaning full gain KV is part of the Damping servo parameters in Bimba IQ Servo 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 Bimba IQ Servo software for tuning and configuring your servo system Command Details Structure KV Paramter 1 Type BUFFERED Usage READ WRITE Non Volatile Yes Register Access None Parameter Details Parameter 1 Velocity feedback gain value units integer range O 32767 0 0 32767 100 Examples Command Drive sends Notes KV4000 Set velocity feedback gain to 4000 KV KV 4000 123 IQ Programmer Reference Manual LV Low Voltage Threshold Compatibility All drives Affects Under voltage alarm and fault Sets or requests the low voltage threshold for under voltage alarm fault conditions In AC drives e g SRV AC5 an under voltage condition causes a Drive Fault which disables the motor outputs of the drive In DC drives SRV DC7 STP 10 ITM 23Q an under v
317. y 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 Bimba 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 CI 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 Structure EP Parameter 1 Type BUFFERED Usage READ WRITE Non Volatile NO Register Access e 053 read only Parameter Details Parameter 1 Encoder position value units Counts range 2 147 483 647 to 2 147 483 647 Examples Command Drive sends Notes EPO Step 1 reset internal position counter SPO Step 2 reset internal position counter 69 IQ Programmer Reference Manual 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 Chan
318. y that varies in length Hexadecimal minimizes the overhead required to convert the internal binary data to ascii form This speeds up the process of sending out the requested data thus giving the most recent value Typically applications written on more powerful host computers can easily convert a hexadecimal value into a decimal value All I commands can be used at any time and at the fastest rate possible limited only by the given baud rate see BR and PB commands Immediate commands are executed as they are received regardless of what is in the drive s command buffer Regardless of format hex or dec there will be a slight delay in processing the response to an I command Real time usage of the data must be carefully analyzed Command Details Structure IF Parameter 1 Type IMMEDIATE Usage READ WRITE Non Volatile YES Register Access None Parameter Details Parameter 1 Return format units letter range 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 94 IQ Programmer Reference Manual 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
319. yntax was not understood by the processing node Path processing shall stop when a path segment error is encountered 05 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 06 Partial transfer Only part of the expected data was transferred 07 Connection lost The messaging connection was lost 08 Service not supported The requested service was not implemented or was not defined for this Object Class Instance 09 Invalid attribute value Invalid attribute data detected 0A Attribute list error An attribute in the Get Attribute List or Set Attribute List response has a non zero status 0B Already in requested mode The object is already in the mode state being requested by the service State 0C Object state conflict The object cannot perform the requested service in its current mode state 0D Object already existst The requested instance of object to be created already exists 0E Attribute not settable A request to modify a non modifiable attribute was received 0F Privilege violation A permission privilege check failed 10 Device state conflict The device s current mode state prohibits the execution of the requested service 11 Reply data too large The data to be transmitt

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