Home

SCL User Manual for STP-DRV Drives

1. Alarm Description Bit Hex Value Position Limit 0 0001 aaa CCW Limit 1 0002 CW Limit 2 0004 Bit 0 Position Limit Bit 1 CCW Limit Over Temperature 3 0008 Bit 2 CW Limit Internal Voltage 4 0010 Bit 3 Over Temperature Over Voltage 5 0020 Bit 4 Internal Voltage Bit 5 Over Voltage Under Voltage 6 0040 Bit 6 Under Voltage Over Current 7 0080 LL Bit7 Over Current Open Winding 8 0100 Bit 8 Open Winding NOT USED 9 0200 Bit 9 NOT USED Bit 10 Comm Error Comm Error 10 0400 Bit 11 Data Save Failed Data Save Failed 11 0800 Bit 12 No Move No Move 12 1000 al de ie nee I Resistance Out of Range 13 2000 Bit 15 Motor Disconnected NOT USED 14 4000 Motor Disconnected 15 8000 The only alarm conditions that are categorized as faults are These are the only alarm conditions that set the drive Status Code Fault bit 2 Position Limit bit 0 Over Temperature bit 3 Internal Voltage bit 4 Over Voltage bit 5 Over Current bit 7 Open Winding bit 8 Examples Command Drive sends Notes AL AL 0000 No alarms 0000000000000000 AL AL 0002 CCW end of travel Limit alarm 0000000000000010 AL AL 2002 CW end of travel Limit and Resistance Out of Range 0010000000000010 Second Edition 09 02 2014 SCL Manual for STP DRV Drives AR Alarm Reset Resets th
2. Usage WRITE ONLY Non Volatile NO Parameter 1 Relative distance units steps Sange 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE150 Set decel rate to 150 rev sec sec VE8 Set velocity to 8 rev sec DI20000 Set distance to 20000 steps in the CW direction FL Initiate Feed to Length move FL10000 Initiate Feed to Length move of 10000 steps in the CW direction without affecting the last DI command FL 400 Initiate Feed to Length move of 400 steps in the CCW direction without affecting the last DI command Second Edition 09 02 2014 SCL Manual for STP DRV Drives FM Feed to Sensor with Mask Distance Executes a Feed to Sensor command but sensor is ignored for the first DC counts of the move Useful for masking a switch or clearing a part before sensing the correct stop input DI sets the distance to move after the stop input is triggered AC sets accel rate VE sets velocity and DE sets decel rate See also DC and FS commands see AT command for using AIN as sensor input Command Structure FM Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Input Input condition units integer letter integer 1 STEP 2 DIR 3 EN 4 AIN tooo letter L low H high F falling edge R rising edge Examples
3. Usage READ WRITE Non Volatile YES Parameter 1 Step filter frequency units Hz range 0 2500 default 2500 Examples Command Drive sends Notes SF500 Set step filter frequency to 500Hz SF SF 500 Second Edition 09 02 2014 SCL Manual for STP DRV Drives SH Seek Home Executes the Seek Home command Requires input number and condition for the home sensor Speed is set by the last VE command Accel and decel are set by AC and DE Direction comes from the sign of the last DI command is CCW no sign is CW The SH command performs a number of operations all combined into one command The basic operation acts like a combination of the FS Feed to Sensor and FP Feed to Position commands First an FS like move is made that runs the motor until the motor reaches the home sensor When the drive sees this home sensor it does two things it records the absolute position of the home sensor and it immediately starts decelerating the motor to a stop After the motor has come to a stop the drive then does an FP like move to move the motor back to the absolute position recorded for the home sensor Another function of the SH command is that if an end of travel limit switch or sensor 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
4. Example The drive has hit the CW limit Bit 2 and there is an under voltage condition Bit 6 The resulting 16 bit word is 0000 0000 0100 0100 and the equivalent hexadecimal value is 0044 Therefore when the host sends AL the drive will respond with AL 44 Second Edition A 09 02 2014 SCL Manual for STP DRV Drives Status Code Definitions Below is a diagram showing the meaning assigned to each of the 16 bits in the Status Code s binary word For example when Bit 1 1 the drive is disabled Similarly when Bit 10 1 the drive is seeking the home sensor defined by the SH command A drive will set any and all bits that pertain to its immediate status condition at the moment of receiving the SC command from the host When a host sends the SC command the response from the drive will be the Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Status Code and the equivalent hexadecimal value for each of the bits is given below Bit Assignment Hex Value Bit Drive On Enabled drive is Off disabled if this bit 0 0001 0 NOT USED 0002 1 Drive Fault check Alarm code AL o0o04 2 Prepara In Motion from any kind of input 0008 3 In Motion using a Feed command 0010 4 Bit 0 Drive On Enabled Bit 1 NOT USED Jogging currently i
5. Example Parts are feeding on a conveyor which is being driven by the step motor A sensor detects the leading edge of the part and stops If the part has a hole in it which is common when you attempt to feed the next part into position you may in fact stop after feeding the previous part only a short distance because the sensor will register the hole in the part rather than the leading edge of the next part The solution is to use the FM command instead of the FS command and to set the DC command for the size of the part or greater Example continued The parts on the conveyor are 6 inches long Your mechanical linkage provides 2000 steps per inch You want the leading edge of the part to stop moving 1 inch past the sensor and therefore 5 inches of the part will not have gone past the sensor yet To avoid holes in the part and see the next part properly we need to mask 5 inches or more of the move Here are the commands you could use Command Drive sends Notes DI2000 Set distance to stop past sensor at 1 inch 2000 steps DC10200 Set distance over 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 NOTE When working with inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output i e the
6. Drive Sends are the responses from the drive no response from the drive is denoted by although if Ack Nack is turned on there will always be a response to every command sent Comments gives additional information about the results of the command string Second Edition 09 02 2014 SCL Manual for STP DRV Drives AC Acceleration Rate Sets or requests the acceleration rate used in all F point to point moves in rev sec sec Affects FC FL FM FP FS FY SH Commands See also DE DI DC VE Commands Command Structure AC Parameter 1 Details Command Type BUFFERED Usage READ WRITE g Direct Logic PLCs are write only Non Volatile YES 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 rate to 100 rev sec sec AC AC 100 AC25 Set Acceleration rate to 25 rev sec sec DE25 Set Acceleration rate to 25 rev sec sec VE1 5 Set Velocity to 1 5 rev sec FL20000 Execute Feed to Length move of 20000 steps in CW direction Second Edition EN 09 02 2014 SCL Manual for STP DRV Drives AD Analog Deadband Sets or requests the analog deadband value in millivolts The deadband value is the zone around the zeroed value of the analog input This deadband defines the area of the analog input range that the drive should interpret as the zero vel
7. SCL User Manual for STP DRV Drives SCL Commands for STP DRV 4850 and STP DRV 80100 Step Motor Drives WAUTOMATIONDIRECT Second Edition 09 02 2014 SCL Manual for STP DRV Drives Second Edition mem 09 02 2014 SCL Manual for STP DRV Drives SureStep Advanced tomation Microstepping Drives Directs Serial Command Language W User Manual Please include the Manual Number and the Manual Issue both shown below when communicating with Technical Support regarding this publication y Manual Number STP DRV SCL M WO Issue Second Edition Issue Date 09 02 2014 Publication History issue Dae Description of Changes First Edition 10 03 2008 Original Issue 920 0019 Rev B1 Second Edition 09 02 2014 Completely rewritten Second Edition 09 02 2014 SCL Manual for STP DRV Drives TABLE OF CONTENTS Introduction What is SCL SCL Details Getting Started id Step 1 Install software te te Step 2 Configure your STP DRV drive using SureStep Pro Step 3 Get familiar with SCL commands Step 4 Develop your application Commands a ck Buffered Commands Immediate Commands Command Listing AC Acceleration Rate ww aa a AD Analog Deadband s o mo eoo a a a a e a e e a a a a a a AF Analog Filt r s ooo ear e a a e e e a A AG Analog Velocity Gain n aoa oaa aa e AL Alarm Code aoaaa aaa aa e AR Alarm Reset a oa aaa a AT Analo
8. FC command Command Structure VC Parameter 1 Details Command Type BUFFERED Usage READ WRITE Direct Logic PLCs are write only Non Volatile YES Parameter 1 Change speed value units rev sec rps range 0 0042 to 133 3333 resolution is 0 0042 rev sec default Examples Command VC5 VC AC100 DE100 DI100000 DC75000 VE5 VC1 FC 5 Drive sends Notes Set change velocity to 5 rev sec VC 5 Set accel rate to 100 rev sec sec Set decel rate to 100 rev sec sec Set overall move distance to 100000 steps Set change distance to 75000 steps Set initial velocity to 5 rev sec Set change velocity to 1 rev sec Initiate Feed to Length with Speed Change command Second Edition 09 02 2014 SCL Manual for STP DRV Drives VE Velocity Sets or requests move speed for moves like FL FP FS FD SH etc Affects All move commands except jogging Command Structure VE Parameter 1 Details Command Type BUFFERED Usage eae elo y Direct Logic PLCs are write only Non Volatile YES Parameter 1 Move velocity units rev sec rps range 0 0042 to 133 3333 resolution is 0 0042 rev sec Examples Command Drive sends Notes VE2 525 Set move velocity to 2 525 rev sec VE VE 2 525 DI 20000 Set move distance to 20000 steps in CCW direction VE2 5 Set move velocity to 2 5 rev sec FL Initiate Feed to Length command Se
9. JL JS and CS values to see how the motion of the motor shaft is affected Step 4 Develop your application This step will involve different things for different users You ll probably want to spend sufficient time getting familiar with SCL commands using the Host Terminal window before getting to this step but once you have consider the following If your host is a PC you ve already done a lot of the hardware configuration necessary for your application The rest of your application will involve developing your PC applications to properly send SCL commands to your drive Which application or language you use whether it be VisualBasic C LabView a proprietary vision system application or something else is up to you If your host is a PLC you ll have to connect and configure the ASCII module RS 232 port or Aux serial port on your PLC according to the pin assignments and COM port settings listed in the Introduction section From there you ll have to be able to send text strings followed by carriage returns from the PLC If your host is an HMI you ll have to connect and configure the serial port of the HMI in the same way as with a PLC as well as be able to send commands in the proper syntax to the drive EA Second Edition 09 02 2014 SCL Manual for STP DRV Drives COMMANDS There are two basic types of SCL commands buffered and immediate Buffered commands are loaded into and executed out of your drive s command buffer Imme
10. SPO Set current motor position to absolute zero DI20000 Set position to 20000 steps CW FP Initiate absolute move to 20000 step position DI10000 Set position to 10000 steps CW FP Initiate absolute move to 10000 step position motor will move CCW 23 Second Edition 09 02 2014 SCL Manual for STP DRV Drives DL Define Limits Defines the STEP and DIR inputs as CW end of travel and CCW end of travel limit inputs respectively Both inputs are assigned together as end of travel limits and for the same connection type see definition of states below If one of these inputs is activated while defined as an end of travel limit motor rotation will stop in that direction and an alarm code will show at the drive s status LEDs The alarm code will be 2 Green 2 Red for a CW end of travel and 1 Green 2 Red for a CCW end of travel The STEP and DIR inputs can each be assigned to only one function in an application If you want to use the STEP and DIR inputs as end of travel limit inputs you can define them as such in two ways with the SureStep Pro software or with the DL command DL takes no effect if the drive is set in Command Mode CM 7 14 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 C
11. Status Code bit assignments Bit 0 Drive On Enabled drive is Off disabled if this bit 0 Bit 1 NOT USED Bit 2 Drive Fault check Alarm Code AL Bit 3 In Motion from any kind of input Bit 4 In Motion using Feed command Bit 5 Jogging currently in Jog mode Bit 6 Stopping stop command in progress SK or ST Bit 7 Waiting for an Input WI Bit 8 Saving parameter data is being saved SA Bit 9 Alarm Alarm Code is present AL Bit 10 Homing SH command in progress SH Bit 11 Wait on Timer Wait time is in progress WT Bit 12 NOT USED Bit 13 NOT USED Bit 14 NOT USED Bit 15 Initializing happens at power up Second Edition ro 09 02 2014 SCL Manual for STP DRV Drives SF Step Filter Frequenc Sets or requests the step filter frequency which affects motor smoothness in Step amp Direction mode CM7 The primary use of this filter is to introduce microstep emulation into the motion of the step motor which smooths motion when the drive s microstep resolution EG command is set to a low value This command is exceptionally useful when using a low resolution indexer or encoder to send pulses to the stepper drive and smooth motor shaft rotation is required Note The step filter frequency is labeled Step Smoothing Filter in the Pulse amp Direction Control I dialog of SureStep Pro Command Structure SF Parameter 1 Details Command Type BUFFERED
12. applying your STP DRV drive including hardware configuration I O and software settings view the Help file contained in the SureStep Pro software This software can be downloaded for free from www automationdirect com WHAT IS SCL SCL was developed to give users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or indexers to supply Pulse amp Direction signals to your stepper drive It also provides an easy way to interface to a variety of other industrial devices like PLCs and HMls which most often have standard or optional serial ports for communicating to other devices STP DRV drives come with one RS 232 serial port This port is an RJ 11 jack 6P4C as shown in the picture below To use SCL in an application means you will have a host device such as a PC a PLC or an HMI connected to the drive s serial port and using that connection to send commands to the drive The set of commands defined by SCL includes commands for motion of the step motor commands for using the three digital inputs one analog input and one digital output of the drive as well as commands for configuring different aspects of the drive like motor current and microstep resolution When in SCL mode an STP DRV drive receives commands from the host into a command buffer and then executes the received commands directly out of that buffer One thing you cannot do with an STP DRV drive is create a
13. choosing it from the View menu of Calculator This view provides some radio buttons for switching between Hex and Bin as well as Dec and Oct To figure out what your Alarm or Status Code is telling you check the Hex radio button and enter the hexadecimal code sent by the drive Then check the Bin radio button and your code will automatically be converted to a binary word Note that Calculator does not allow leading zeros in entries so you may see less than 16 bits That s OK just start counting from the right with Bit 0 and you will be able to determine the conditions set in the codes MES Second Edition 09 02 2014 SCL Manual for STP DRV Drives LED Display Codes In addition to the AL and SC commands some alarm and status codes are physically displayed at the red and green LEDs of STP DRV drives DESCRIPTION NOT USED No Move attempted move while drive disabled CCW limit CW limit Drive Overheating Internal Voltage Out of Range Corrective action 1 Insure there is nothing connected to the 5V terminal 2 Cycle power to the drive 3 If the error is still present issue the AR Alarm Reset Command using the SCL Host Terminal in SureStep Pro software 4 If the error does not clear the drive is faulty and should be replaced Contact ADC for warranty status and replacement Power Supply Overvoltage Power Supply Undervoltage Overcurrent Short Circuit Motor Resistance O
14. cr gt You want the motor shaft to spin freely during startup to avoid damaging mechanical components in WARNING We recommend practicing with SCL commands with no load attached to the motor shaft your system AC25 lt ENTER gt Set accel rate to 25 rev sec sec DE25 lt ENTER gt Set decel rate to 25 rev sec sec VE5 lt ENTER gt Set velocity to 5 rev sec sec FL20000 lt ENTER gt Move the motor 20000 steps in the CW direction If your motor didn t move after sending the FL20000 check the LEDs on your drive to see if there is an error present If so send the AR command AR lt ENTER gt to clear the alarm If after clearing the alarm you see a solid green LED it means the drive is disabled Enable the drive by sending the ME command ME lt ENTER gt and verify that the you see a steady flashing green LED You might also want to review your settings in SureStep Pro to make sure the motor current is set properly Then try the above sequence again Here is another sample sequence you can try JA10 lt ENTER gt Set jog accel rate to 10 rev sec sec JL10 lt ENTER gt Set jog decel rate to 10 rev sec sec JS1 lt ENTER gt Set jog speed to 1 rev sec CJ lt ENTER gt Commence jogging CS 1 lt ENTER gt Change jog speed to 1 rev sec in CCW direction SJ lt ENTER gt Stop jogging In the above 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
15. ea a Gade dee 56 WI Wait for Input cs s soe ee aa Pe a a a a Oe a 57 WT WOE THING goe oo ee Oe Be at et Se a de ee be ek Ge be eae 58 Appendix A Host Serial Communications 1 ee ee ee ee es 59 General structure of host serial communications ee ee ee ee ee es 59 Hardware Be ies CE GE ae nay hp O Oe ee EA Ge ee es SOD COM Port Settings Be ie a ee Be dee Ge Oe CR Se Ee a eee ie es DD Communications Protocol a aoao ee ee a a a a a a ee es 60 Communication Details aoao a a a a a a a a ee eee es 61 Communication Errors O JOT Appendix B Aea ano stos codes pe oe e a Ba a 2 62 Alarm Code Definitions be et ee 62 Status Code Definitions A ay teh A ty OO es oe OD A useful tool for converting alarm ang atatu codes lo D a AE BOR ee O LED Display Codes iok a a ee et 64 EE Second Edition 09 02 2014 SCL Manual for STP DRV Drives Second Edition oe 09 02 2014 INTRODUCTION Thank you for purchasing an Automation Direct stepper drive We hope you will find that performance price and ease of use make our products the best value for your application The Serial Command Language SCL can be used with Automation Direct STP DRV 4850 and STP DRV 80100 stepper drives and this manual focuses on using SCL with these drives only NOTE This manual only covers details related to using SCL with the STP DRV drives For all other aspects of
16. example an STP DRV drive with f w version 1 53 will send out a power up packet that looks like this 255 53 38 To an ASCII terminal this packet may look like y5 amp The 255 is the power up packet designator the 53 actually stands for f w version 1 53 the 1 is implied and the 38 is an internal model number The power up packet is always sent at 9600 baud If an Automation Direct software application is present it will respond to the power up packet and communications will continue at 9600 baud If an Automation Direct 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 9600 Communication Errors During the process of sending communication packets between the host and drive s two different types of communication errors can occur Hardware errors Hardware errors are displayed physically by an STP DRV drive via the red and green LEDs on the drive see Appendix B but no response packet is automatically generated from the drive to the host Therefore it is the responsibility of the host to check for hardware comm errors using the AL RS and or SC commands See Appendix B 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
17. 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 Affects FC FM FO and FY commands See also VC command Command Structure DC Parameter 1 Details Command Type BUFFERED Usage oe Direct Logic PLCs are write only Non Volatile YES Parameter 1 Distance units steps range 0 to 2 147 483 647 default 0 Examples Command Drive sends Notes DC80000 Set change distance to 80000 counts DC DC 80000 DI 100000 Set overall distance to 100000 counts in CCW direction DC50000 Set change distance to 50000 counts VE5 Set velocity to 5 rev sec VC2 Set change velocity to 2 rev sec FC Initiate FC command Second Edition 09 02 2014 SCL Manual for STP DRV Drives DE Deceleration Rate Sets or requests the deceleration rate used in all F point to point moves in rev sec sec Affects FC FL FM FP FS FY SH commands See also AC DE DI VE commands Command Structure DE Parameter 1 Details Command Type BUFFERED Usage READ WRITE g Direct Logic PLCs are write only Non V
18. of reception of a command packet communication networks Because the STP DRV drives only have RS 232 ports for serial NOTE The Transmit Delay TD command is intended for use in 2 wire RS 485 serial communications setting the TD command to a non zero value is unnecessary Communications Packet A Communications Packet or packet for short includes all the characters required to complete a command or response transmission Drive Startup At power up all Automation Direct 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 Automation Direct software applications such as SureStep Pro 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 software application that the packet is a power up packet The following two characters are the firmware version number and the model number of the drive respectively Power Up Packet 255 F W Version Model No As an
19. to find the home sensor This always ensures that the motor is moving in the desired direction when the drive sees the home sensor This command is designed to use three physical sensors or switches tied to three digital inputs of the stepper drive a home sensor a CW end of travel limit switch and a CCW end of travel limit switch With STP DRV drives tie the home sensor to the EN input the CW end of travel limit switch to the STEP input and the CCW end of travel limit switch to the DIR input Use the DL command to define the usage of STEP and DIR as end of travel limits If end of travel limits are not used in the application tie the home sensor to any one of the three digital inputs and use the DL command to define the STEP and DIR inputs as general purpose inputs DL3 See also DL command Command Structure SH Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Input number Input condition units integer letter integer 1 STEP 2 DIR 3 EN OS letter L low H high F falling edge R rising edge Examples Command Drive sends Notes SH3L Seek home to EN input low STEP and DIR inputs wired to end of travel limit switches NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output nn i e the circuit is energized the logi
20. to an I command Real time usage of the data must be carefully analyzed Affects IA ID and IP commands Command Structure IF Parameter 1 Details Command Type IMMEDIATE VA READ WRITE g Direct Logic PLCs are write only Non Volatile NO 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 Second Edition Ea 09 02 2014 IH Immediate High Output Sets the output high open immediately Use SO if you don t want the output to change until a buffered command like a move is complete See also IL SO commands Command Structure IH Parameter 1 Details Command Type IMMEDIATE SCL Manual for STP DRV Drives Usage WRITE ONLY Non Volatile NO Parameter 1 Output number units integer range 1 Examples Command Drive sends Notes 1H1 Output set high immediately regardless of what commands are in the command buffer NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output current is flowing i e the circuit is de energized or the input output is not connected the logic
21. 3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character Second Edition 09 02 2014 SCL Manual for STP DRV Drives IO Output Status With no parameter this command requests the immediate status of the designated outputs The status is displayed as an 8 bit binary number with input 1 in the far right position bit 0 With a parameter this command sets the outputs high or low using the decimal equivalent of the same binary pattern Logic zero 0 turns an output on by closing it NOTE Since the STP DRV drives only have one digital output this command will only return I values of o or 1 See also IS command Command Structure 10 Parameter 1 Details Command Type IMMEDIATE READ WRITE Hage Direct Logic PLCs are write only Non Volatile NO Parameter 1 Decimal equivalent of binary output pattern units integer range 0 1 Examples Command Drive sends Notes 10 10 00000000 Output is low closed 10 10 00000001 Output is high open 100 Set output low closed 101 Set output high open NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output 1 i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flow
22. Point to point Positioning See details on the Command Mode CM command for more information Choose a Function for EN Input allows you to define how the digital EN input will be used in your application The options available here are to use EN as a drive enable input an alarm reset input or a general purpose input not used Choose a Function for the Output allows you to define how the drive s single digital Output will be used The options available here are fault output brake output motion output tach output or general purpose output not used Once you ve set up the motor in SureStep Pro and have chosen SCL mode for the drive click the Download to Drive button on the main screen Download to Drive Second Edition 09 02 2014 Step 3 Get familiar with SCL commands After downloading click the Drive menu then SCL Terminal This opens the Host Terminal window To send commands to your drive simply type a command in the Command Line of the Host Terminal 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 the Host Terminal does two things it terminates the command with a lt cr gt and automatically sends the entire string Try the example sequence below In this example note that lt ENTER gt means press the ENTER key on your keyboard which is the same as terminating the command with a lt
23. The benefit of this filter decreases as the EG value increases Pulse and Direction Accepts a high speed pulse train output signal from a PLC motion controller etc With this mode the frequency of the pulses fed into one input determines the speed the direction of rotation is determined by a signal fed into another input You can configure whether an ON or OFF signal represents clockwise motion CW and CCW Pulse The motor will move CW or CCW depending on which input the pulse is fed into The drive has two inputs allocated to this feature pulses fed into one input will generate CW motion and pulses fed into the other input will generate CCW motion A B Quadrature Sometimes called Encoder Follower Mode or Slave Mode The motor will move according to signals that are fed to the drive from a master encoder This encoder can be mounted ona shaft on the machine or it can be another motor in the system Using quadrature input mode it is possible for a number of motors to be daisy chained together with the encoder output signal from each drive being fed into the next 14 Analog velocity mode Analog velocity mode has the speed controlled by analog input signal on terminal AIN The STEP input is used for run stop control and the EN input is used for speed change The drive will turn the motor at a velocity determined by the analog input and the AG command or at a predetermined velocity dete
24. YES Distance Usage Non Volatile Parameter 1 steps 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW Details shows the Command Type es be Nees buffered or immediate the command s D120000 Set distance to 20000 steps in the CW direction Usage Read Only Read Write or i p w Write Only and whether the command DI 8000 et distance to 8000 steps in the CCW direction is No n Volati le or not Non Volati le FL Inite a Feed to Length relative move in the CCW direction commands are saved when the Save SA ie s n pa ta A oo ea command is sent Also the details of FP Initiate absolute move g 20000 step position the command s parameter s are shown DI10000 Set position to 10000 step W A FP Initiate absolute move to 10000 step position motor will move CCW Parameter 1 or 2 gives a brief description of the parameter units shows how the parameter is interpreted by the drive range gives the acceptable range of values for the parameter and default shows the default value of the parameter Examples shows what to expect when you use this command Under Command are the command strings you would send from a host controller Note that lt cr gt is not shown after each command string in these examples but is still necessary to terminate the string Under
25. abels and you want to stop each label 2000 steps after the sensor detects the leading edge The labels are 60 000 steps apart Therefore if you move the roll more than 60 000 steps without detecting a new label you must be at the end of the roll See also DC DE FM and FS commands see AT command for using AIN as sensor input Command Structure FY Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Input number Input condition units integer letter range integer 1 STEP 2 DIR 3 EN 7 condition L low H high F falling edge R rising edge Examples Command Drive sends Notes AC50 Set accel rate to 50 rev sec DE50 Set decel rate to 50 rev sec VE2 5 Set velocity to 2 5 rev sec DI2000 Set distance to stop beyond sensor to 2000 steps and set move direction to CW DC60000 Set safety distance to 60000 steps FY2L Launch Feed to Sensor motor will stop when input 2 is low or when 60000 steps are reached whichever event comes first NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output rn 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
26. age WRITE ONLY Non Volatile NO Examples Command Drive sends Notes MD Drive turns off current to the motor ME Motor Enable Restores drive current to motor If the drive cannot be enabled due to the Enable Input SI state the drive will respond with a amp which indicates that the drive could not be enabled IMPORTANT This command restores the previous mode of operation If for example the drive is operating in velocity oscillator mode the motor may immediately start moving after sending I the ME command External inputs to the drive must be sequenced properly to avoid unpredicted operation Affects All move commands See also MD commands Command Structure ME Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes ME Motor current is restored ME amp Motor current is NOT restored check Enable Input SI for proper state 43 Second Edition 09 02 2014 SCL Manual for STP DRV Drives PS Pause Suspends execution of buffered commands until the next Continue CT command is executed This can be useful for holding a sequence of commands in the drive s command buffer to time with an external event Use the PS command to pause the command buffer 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 b
27. alog input bandwidth 114 585 Hz AF AF 5000 Second Edition 09 02 2014 SCL Manual for STP DRV Drives AG Analog Velocity Gain Sets or requests the gain value used in analog velocity mode CM14 The gain value is used to establish the relationship between the analog input and the motor speed The units are 0 25 rpm For example if the gain is set to 2400 when 5 Volts is read at the analog input the motor will spin at 10 rps TIP To set the analog velocity gain to the desired value multiply the desired motor speed in rps by 240 or the desired motor speed in rpm by 4 Affects Analog velocity mode See also CM command Command Structure AG Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Parameter 1 Analog velocity gain value units 0 25 rpm range 32767 to 32767 Examples Command Drive sends Notes AG3000 Set top speed of analog velocity mode to 12 5 rps AG AG 3000 Second Edition 09 02 2014 SCL Manual for STP DRV Drives AL Alarm Code Reads back an equivalent hexadecimal value of the Alarm Code s 16 bit binary word This command is useful for viewing over the serial port any alarms present at the drive See also AR command Appendix B Command Structure AL Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Units Hexadecimal value of 16 bit binary word see below
28. always set JL after setting JA See Also SK command Command Structure ST Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Parameter 1 Deceleration rate units letter D deceleration rate set by DE or JL command no parameter deceleration rate set by AM command range Examples Command Drive sends Notes ST Stop current command immediately and use the deceleration rate set by the AM command if motion is in progress STD Stop current command immediately and use the deceleration rate set by the DE or JL command if motion is in progress EJ Second Edition 09 02 2014 SCL Manual for STP DRV Drives TD Transmit Delay Sets or requests the time delay used by the drive when responding to a command that requests a response Most RS 232 hosts will not require a non zero TD value because separate Rx and Tx lines are used Affects RS 232 Serial Communications Command Structure TD Parameter 1 Details Command Type BUFFERED Usage oan adopt y Direct Logic PLCs are write only Non Volatile YES Parameter 1 Time value units milliseconds range 0 32767 default 0 Examples Command Drive sends Notes TD10 Set drive Tx time delay to 10 milliseconds TD TD 10 Second Edition NN 09 02 2014 SCL Manual for STP DRV Drives VC Change Velocity Sets or requests the change speed for FC moves Affects
29. ands continued Command Listings continued JA JOG ACCEIEration s aos Ok oe RO ee a a be a a eae a ae e a 40 JC Velocity Oscillator Mode Second Speed 1 1 ww ee a 40 JID Jog Disables sa z s o soa aE aE ea ae n E ald EE ee 41 JE J0G Enable bk kb hd od a aR e a e e a AA 41 Jk2JOgG Decel sortoa Boe Oe RR ee bee babe be ee be ee oa 42 JS Jog SPCCd ss sardor DEEDES EPP Re Ee OE PS Pe a ee aw 42 MD Motor DISADIE s en ee a ee a ee a ha do dads dada dacs 43 ME Motor Enable lt e a s soes so RR a a a a a we a Eod 43 PS PASC a ae ee ae a ee el a et ee See ie ef ee Me eat e Me ee at Ge Se ee 44 RS Request Status s e PoP PP PE PP EP RS PP RY RA BS A es 45 SA Save Parameters x s xo ah AA a a a A we A e ee a PP ae Ge ee Se ee 45 SE Status Code gt c iia Ble aE le bb DR DDD ee AAA 46 SF Step Filt f FrEQUENCY s s koe koe ke eR ae a a a A 47 SH Seek HOME e cras o GPE PEG Rae PE PEE DE PEE EE Oe OG 48 SI StOp JOGGING ve se a He a Re a oe eae do wa deca ae 49 SK Stop amp Kill Buffel s s c s hoe cor a AAA 49 SO Set QUIDUE z cr OR ON OA OR ae OR OR Ae IR ek ge ak Se ke ak ee A eG 50 SP SOE POSITION sopi op Pon EE PE PO DP ESE EE BR PEARSE SEAS ROY 51 SS SENO SENG s o coa a a ce OR Oe EO a a Ow aa bY ae bow ace a 52 STO la A Bebe ee ODO OD DIA AR aa a Ble oe 53 TD TFINSAUVEDE OY o so a koe RR RR ORR Oe Rw ae be eG 54 VC Chang VElOCIEY a hE EPP RO RR PG Da a Re 55 VE VElOCIEY sa 3 a fh a ae a eee ae oe
30. c state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character an analog value lower than the value set by the AT command Similarly H designtates an NOTE When working with the analog input of an STP DRV drive AIN terminal L designates analog value greater than the value set by the AT command Second Edition 48 09 02 2014 SJ Stop Jogging SCL Manual for STP DRV Drives Stops the motor when jogging CJ starts jogging Jog decel rate is defined by the JA command Affects CJ command See Also JA JL SK and ST commands Command Structure SJ Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes SJ Stops jogging immediately using the deceleration rate set by the JA command SK Stop amp Kill Buffer Halts any buffered command in progress and erases all buffered commands in the command buffer When used to stop a move deceleration rate is controlled by the AM Max Acceleration parameter If the D parameter is used deceleration rate is controlled by eit
31. cond Edition MEN 09 02 2014 SCL Manual for STP DRV Drives WI Wait for Input Waits for an input to reach the given condition Allows very precise triggering of moves if a WI command is followed by a move command When JE Jog Enable has been executed and the drive is in CM21 the STEP and DIR inputs act as jog inputs during WI commands JD Jog Disable disables jogging using these inputs during WI commands Affects Use of STEP and DIR inputs as jog inputs See Also JD and JE commands Command Structure WI Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Input number Input condition units integer letter integer 1 STEP 2 DIR 3 EN nOs letter L low H high F falling edge R rising edge Examples Command Drive sends Notes WI3R Wait for EN input to go high rising edge before proceeding to the next command in the command buffer NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output ans 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 output
32. d Edition 09 02 2014 SCL Manual for STP DRV Drives F C Feed to Length with Speed Change Executes a Feed to Length relative move with a speed change Overall move distance and direction come from the last DI command Accel and decel are from AC and DE commands Initial speed is VE After the motor has moved DC counts the speed is reduced to VC NOTE If DC is greater than DI minus the distance required to decelerate the motor affected by I DE and VE no speed change will result See also DC and VC commands Command Structure FC Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes DI50000 Set overall distance to 50000 steps VE5 Set initial velocity to 5 rev sec DC40000 Set change distance to 40000 steps VCO 5 Set change velocity to 0 5 rev sec FC Initiate move Second Edition 26 09 02 2014 SCL Manual for STP DRV Drives FL Feed to Length Executes a Feed to Length relative move command Move distance and direction come from the last DI command Speed accel and decel are from VE AC and DE commands respectively Optional parameter allows using a local distance for the FL command rather than the last DI value NOTE The last DI command can be ignored unaltered if a parameter is used with the FL I command See also AC DE DI VE commands Command Structure FL Parameter 1 Details Command Type BUFFERED
33. de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character an analog value lower than the value set by the AT command Similarly H designtates an NOTE When working with the analog input of an STP DRV drive AIN terminal L designates l analog value greater than the value set by the AT command Second Edition 09 02 2014 SCL Manual for STP DRV Drives FY Feed to Sensor with Safety Distance Executes a Feed to Sensor move while monitoring a predefined safety distance DC If sensor is not found before DC is reached the motor is stopped and the drive sends the host an exclamation point and adds a value of 1 to the Other Flags register F DI defines the direction of rotation and the stop distance to move after the sensor triggers the stop input Accel rate decel rate and velocity are set by the AC DE and VE commands respectively Note that the final motor position if the sensor is not found will be the safety distance plus the distance requied to decelerate the load which is dependent on the decel rate DE This command is useful for avoiding machine jams or detecting the end of a roll of labels For example you are feeding l
34. diate commands are not buffered when received by the drive they are executed immediately Buffered Commands After being loaded into the command buffer buffered commands are executed one at a time If you send two buffered commands to the drive in succession like a Feed to Length FL command followed by a Send String SS command the SS command sits in the command buffer and waits to execute until the FL command is completed The command buffer can be filled up with commands for sequential execution without the host controller needing to wait for a specific command to execute before sending the next command Special buffer commands like Pause PS and Continue CT enable the buffer to be loaded and to pause execution until the desired time Immediate Commands Immediate commands are executed right away running in parallel with a buffered command if necessary For example this allows you to check the remaining space in the buffer using the Buffer Status BS command or the immediate status of digital inputs using the Input Status IS command while the drive is processing other commands Immediate commands are designed to access the drive at any time and can be sent as often as needed This allows a host controller to get information from the drive at a high rate most often for checking drive status or motor position Second Edition MON 09 02 2014 SCL Manual for STP DRV Drives Command Listing This section is an alphabetical l
35. e At power up the drive sends what we call the power up packet which is simply an identifier that is used by Automation Direct software applications This identifier tells our software which drive is connected and what its firmware version is Other than that all communications are initiated by the host The basic structure of acommand packet from the host to the drive is always a text string followed by a carriage return no line feed required The text string is always composed of the command itself followed by any parameters used by the command The carriage return denotes the end of transmission to the drive Here is the basic syntax XXAB lt cr gt In the syntax above XX designates the SCL command which is always composed of two capital letters A designates the first of two possible parameters and B designates the second Parameters 1 and 2 vary in length can be letters or numbers and are often optional Once a drive receives the lt cr gt it will determine whether or not it understood the command If it did understand the command the drive will either execute or buffer the command The drive will also send an Acknowledge character Ack back to the host The Ack for an executed command is percent sign and for a buffered command is asterisk If the drive did not understand the command it will do nothing and a Nack will be sent which is signified by a question mark The Nack is usually accompani
36. e alarm and clears the fault if faulted If fault or alarm condition still persists the alarm is not cleared Affects Alarm Code See also AL ME and MD commands Command Structure AR Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes AR Alarm code is cleared if possible AT Analog Threshold Sets or requests the analog input threshold at the AIN input that is used by the Feed to Sensor FS command The threshold value sets the analog voltage that determines a sensor state or a trigger value Affects All Feed to Sensor type commands See also FM FS and FY commands Command Structure AT Parameter 1 Details Command Type BUFFERED Usage READ WRITE 3 Direct Logic PLCs are write only Non Volatile YES Parameter 1 Analog threshold value units volts range 5 000 to 5 000 Examples Command Drive sends Notes AT5 Analog input threshold set to 5 volts AT AT 5 13 Second Edition 09 02 2014 SCL Manual for STP DRV Drives AV Analog Offset Value Sets or requests the analog offset value of the analog input The analog offset value can be set manually using the AV command or automatically using the AZ command which automatically sets the offset value to the current analog input value Affects See also Analog input AZ CM commands Command Structure AV Parameter 1 D
37. ects Jogging during WI command velocity oscillator mode and CJ command See also CS JA JE JS and SJ commands Command Structure JL Parameter 1 Details Command Type BUFFERED Usage READ WRITE g Direct Logic PLCs are write only Non Volatile YES Parameter 1 Jog deceleration rate units rev sec sec rps s range 0 167 to 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 IS Jog Speed Sets or requests the speed for Jog moves in rev sec Sending JS with no number causes drive to respond with present jog speed Affects Jogging during WI command oscillator velocity mode and CJ command See also CJ CS and JE commands Command Structure JS Parameter 1 Details Command Type BUFFERED U READ WRITE S395 Direct Logic PLCs are write only Non Volatile Yes Parameter 1 Jog speed units rev sec rps range 0 0042 to 133 3333 resolution is 0 0042 rps Examples Command Drive sends Notes JS10 35 Set jog speed to 10 35 rps JS JS 10 35 Second Edition NN 09 02 2014 SCL Manual for STP DRV Drives MD Motor Disable Disables motor outputs reduces motor current to zero Disabling the motor also activates the output when set to function as a Brake Output BO command Affects All move commands See also ME command Command Structure MD Details Command Type BUFFERED Us
38. ed executing Multiple SS commands can be placed into the command buffer at any time though care should be taken when using this command to avoid serial data collisions For example the host system should avoid sending commands to the drive while expecting a character string from a previously buffered SS commana Command Structure SS Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 String of characters units any printable characters range up to 4 characters Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decel rate to 100 rev sec sec VE1 Set velocity to 1 rev sec EG10000 Set microstep resolution to 10000 steps rev DI100000 Set move distance to 100000 steps FL Initiate Feed to Length move SSdone done String done sent to host after FL command is completed Second Edition MEN 09 02 2014 SCL Manual for STP DRV Drives ST Stop 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
39. ed by a numerical code that indicates a particular error Second Edition MEM 09 02 2014 SCL Manual for STP DRV Drives GETTING STARTED To get up an running with your STP DRV drive and SCL as quickly as possible follow the basic steps below Step 1 Install software Your STP DRV stepper drive was shipped with a Software Manuals and More CD ROM containing all of the software applications available from Automation Direct If you don t have a copy of this CD ROM you can also visit www automationdirect com to download software applications for free From the CD ROM or from a download install SureStep Pro on your Windows based PC SureStep Pro will be used to configure your drive and put it into SCL mode Serial adapter Automation Direct offers a USB to serial adapter part number USB RS232 that NOTE Laptop computers without a serial port will require a USB Serial adapter or PCMCIA is suitable for use in these applications Step 2 Configure your STP DRV drive using SureStep Pro If you haven t already done so unpack your STP DRV drive and step motor and collect them together near your PC You re going to need the following items to begin developing your application An STP DRV 4850 or STP DRV 80100 stepper drive A 2 phase step motor Automation Direct offers a number of step motors specifically chosen for use with the ST series drives A drop down list of these motors is contained in the Motor window of SureStep Pro If
40. eed while jogging See also CJ and JS commands Command Structure CS Parameter 1 Details Command Type IMMEDIATE Usage RENNES Direct Logic PLCs are write only Non Volatile NO Parameter 1 Jog Speed units rev sec range 133 3333 to 133 3333 7 l sign determines direction for CCW no sign for CW Examples Command Drive sends Notes CS2 5 Set jog speed to CW at 2 5 rev sec CS CS 2 5 Displays current Jog speed CS 5 Set jog speed to CCW at 5 rev sec CT Continue Resume execution of buffered commands after a PS command has been sent The Pause PS command allows you to pause execution of commands in the command buffer After sending the PS command subsequent commands are buffered in the command buffer until either a CT command is sent at which time the buffered commands will execute in the order they were received or until the command buffer is full See also PS SK and ST commands Command Structure CT Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes CT Resumes execution of a paused command buffer Second Edition NN 09 02 2014 SCL Manual for STP DRV Drives DC Change Distance Sets or requests the change distance or offset distance in steps The change distance is used by various move commands to define more than one distance parameter All move commands use the DI command at some level and
41. es selected command parameters to non volatile memory All commands in this manual that show Non Volatile YES are saved when the SA command is sent This command is useful for saving the desired defaults for subsequent power ups Command Structure SA Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes SA Save all Non Volatile data registers and commands 45 Second Edition 09 02 2014 SCL Manual for STP DRV Drives SC Status Code This command is similar to the RS command except SC requests the current drive status as the Hexadecimal equivalent of a binary word Each bit in the binary word relates to a status condition see assignments below The representation of this binary word as a hexadecimal value is called the Status Code Drives can have multiple status conditions at one time and host systems can typically interpret a Hexadecimal code very quickly See Appendix B for more details on the Status Code See also RS command Command Structure SC Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO units Hexadecimal equivalent of the binary status code word see bit assignments below Examples Command Drive sends Notes SC SC 0009 Drive is in motion and enabled Bits 3 and 0 SC SC 0004 Drive is faulted and disabled Bit 2 SC SC 0209 Drive has an alarm is in motion and is enabled Bits 9 3 and 0
42. etails Command Type BUFFERED Usage READ WRITE Non Volatile YES Parameter 1 Analog offset value units volts range 5 000 to 5 000 Examples Command Drive sends Notes AVO 25 Set analog offset to 0 25 Volts AV AV 0 25 AZ Analog Zero Activates the analog input auto offset algorithm This algorithm can also be accessed in SureStep Pro in the Advanced Settings button of the Velocity Control Mode dialog It is useful in defining the current voltage present at the analog input as the zero point or offset AZ directly affects the AV command which can be used to manually adjust the analog input offset value Affects See also Analog input AV command Command Structure AZ Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes AZ Start analog auto offset algorithm e 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 lA command and the response should be very close to lA 3 00 Second Edition 09 02 2014 SCL Manual for STP DRV Drives BS Buffer Status Requests from the drive the number of available command locations in the command buffer This technique simplifies sending commands by eliminating the need to calculate if there is enough space in the buffer for additional commands If the drive responds with at least a 1 a co
43. g Threshold ss s s c e a e AV Analog Offset Value e ba Eo a a e E e e e E e e e G AZ Analog ZEFO s wcw w e e a a ia a Ge G a a a a a e e e e e e a e a a BS Buffer Status ne CE Communication Error CJ Commence Jogging c a i t rooe rosca ao d dreta doa pa i a a E a a a a a CM Command Mode CS C ange Speed ma u e e e e RO OO a A ma a CT CONNUE s s w mica a ec a a a EA O A RAS e RG O a DCG Change Distanc 222 aoro di A A RARE ERS Ee DE Deceleration Rate aooaa aaa aa a a e DI Distance Position ao aoao aoa aa a a a a a a a DL Define Limits oaaao a aa aa a a EG Electronic Gearing s ok 8k a A AA A FC Feed to Length with Speed Change e FL Feed to Length s a eaea ee ee me a FM Feed to Sensor with Mask Distance 1 ww et FO Feed to Length and Set Output ee FP Feed to Position 1 ce hs FS Feed to Sensor FY Feed to Sensor with Safety Distance e IA Immediate Analog su ge ic AR RR ID Immediate Distance aaa IF Immediate Format ee nn IH Immediate High Output aaa iL JImmediate Low Output s s s e roe ra opo Pa A Ee eG IO Qutpul Status s ma w w w e a a a e e a e a a a IP Immediate Position aaa IS Input StatUS o s s e e e m koa a e kd o be odie A e oa d Second Edition a 09 02 2014 SCL Manual for STP DRV Drives TABLE OF INTENT NTINUED Comm
44. he Motion amp I O button in SureStep Pro then select SCL This will bring up the SCL Configuration window SGL Totion E I i Serial Command Language SCL EE Second Edition 09 02 2014 SCL Manual for STP DRV Drives Getting Started Step 2 continued In the SCL Configuration window there are a number of settings you can make that affect how the drive operates while in SCL mode View the graphic below to understand these settings Communication Protocol contains settings to turn on Ack Nack and to turn on 3 digit numeric register addressing Ack Nack is a useful setting because the drive will respond to each command it receives with an Ack or sign or Nack sign 3 digit numeric register addressing is a common setting for HMI hosts because many HMls work with numerical register addresses rather than alphabetical register addresses Power Up Command Mode sets which mode the drive will power up in There are a number of different modes the drive can operate in and still communicate with SCL commands Most applications will at least start out in Command Mode 21 SCL Configuration Bit Rate 9600 y Communication Protocol 4 Respond to all commands with ack or nak Use 3 digit HMI compatible register addressing Command Mode 21 Paint to Point Positioning Cancel Res Help Choose a Function for EN Input Not used v Choose a Function for the Output Not Used Se
45. he Command Mode without proper care may cause the motor to spin at a high rate of speed or give other unexpected results Command Structure CM Parameter 1 Details Command Type BUFFERED READ WRITE Direct Logic PLCs are write only Usage Non Volatile YES Parameter 1 Control mode units integer code 7 Step amp Direction Pulse amp Direction 14 Analog velocity oscillator mode with STEP input as run stop input 18 Fixed velocity oscillator mode with STEP input as run stop input EN input as speed change input and JS for base speed setting 21 Point to Point Refer to the next page for more detailed information about these Command Mode settings Examples Command Drive sends Notes CM7 Sets the drive to Step Pulse amp Direction mode CM CM 7 CM Command Mode continued next page Second Edition 09 02 2014 SCL Manual for STP DRV Drives CM Command Mode continued Detail explanations of Command Mode selections 7 14 18 and 21 7 Step amp Direction aka Pulse Direction mode Step amp Direction mode configuration does not require accel decel and velocity settings The behavior of the drive and motor is a function of the EG parameter which determines the ratio of output pulses to input pulses The SCL filter command SF can smooth the operation of the motor at low speed by introducing micro step emulation
46. hen working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output en i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character Second Edition 50 09 02 2014 SCL Manual for STP DRV Drives SP Set Position Sets or requests the motor s absolute position in steps See Also FP command Command Structure SP Parameter 1 Details Command Type BUFFERED les READ WRITE g Direct Logic PLCs are write only Non Volatile NO Parameter 1 Absolute position units steps range 2 147 483 647 Examples Command Drive sends Notes SP100 Set absolute position offset to 100 steps SP SP 100 Second Edition 09 02 2014 SCL Manual for STP DRV Drives SS Send String Instructs drive to respond with the desired character string up to 4 characters This command is useful for letting the host system know via the serial port when a sequence of commands has finish
47. her DE with Feed moves like FL FP SH or JA when jogging Affects Motion and command buffer contents See Also ST command Command Structure SK Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO 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 ofthe command buffer SKD Stop motion immediately using the deceleration rate set by the DE command or JA if jogging and erase the contents of the command buffer 49 Second Edition 09 02 2014 SCL Manual for STP DRV Drives SO Set Output Sets drive s digital output to the given condition low or high This can only be done if the digital output is not being used for a dedicated function such as Alarm Output AO Brake Output BO or Motion Output MO See Also IH IL IO commands Command Structure SO Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Output number Output state units integer letter integer 1 Output Rpts letter L Low H High Examples Command Drive sends Notes SO1L Set Output low closed SO1H Set Output high open NOTE W
48. i e the circuit is energized the logic state for that input output is defined as low or closed If no state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character Second Edition 09 02 2014 SCL Manual for STP DRV Drives IL Immediate Low Output Sets the output low closed immediately Use SO if you don t want the output to change until a buffered command like a move is complete See also IH SO commands Command Structure IL Parameter 1 Details Command Type IMMEDIATE Usage WRITE ONLY Non Volatile NO Parameter 1 Output number units integer range 1 Examples Command Drive sends Notes IL1 Output set low immediately NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output nn 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 WI
49. ing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character Second Edition 09 02 2014 SCL Manual for STP DRV Drives IP Immediate Position Requests present absolute position The position data is assigned a 32 bit value When sent out in Hexadecimal it will be 8 characters long When sent out in decimal it will range from 2147483647 to 2147483648 Comand Structure IP Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO units steps Examples Command Drive sends Notes With IF H IP IP 00002710 Absolute position is 10 000 steps IP IP FFFFD8F0 Absolute position is 10 000 steps With IF D IP IP 10000 Absolute position is 10000 steps IP IP 10000 Absolute position is 10000 steps Second Edition E 09 02 2014 SCL Manual for STP DRV Drives IS Input Status Requests immediate status of all three digital inputs STEP DIR and EN Command Structure IS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Examples Command Drive sends Notes IS IS 00000000 All 3 inputs are closed IS IS 00000111 All3 inputs are open IS IS 00000001 STEP input is ope
50. isting of all the commands available with your drive Each page in this section contains the details of one available command Below is a sample of what these pages look like with an explanation of the information you will find on each page Title shows the command s two letter command code followed by the command s name Description an explanation of what the command does and how it works Affects a summary of parameters or other commands the command affects SCL Manual for STP DRV Drives See Also related commands DI Distance Position Sets or requests the move distance in steps The sign of DI indicates e direction for CCW n for CW Dl is used for both relative moves and absolute mov example of a relativ is the FL Command Stru cture shows the command FP is an absolute move and with the FP c position rather than 1 A 2 the relative distance command s syntax The format for this line is always the two letter command code Goedsnissd Stvacciaves followed by the number of parameters it DI Parameter 1 uses Not all commands have parameters Details some commands have optional parameters and other commands always have a parameter Optional parameters are designated by and required parameters are designated by Affects All move commands See also AC DC DE and VE comman Command Type READ WRITE Direct Logic PLCs ar weite
51. latile NO Parameter 1 Output Output condition units integer letter integer 1 TENE letter L low closed H high open Examples Example You re feeding parts to be cut to length For maximum throughput you want to trigger the cut off knife as the part is nearing the final position Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decel rate to 100 rev sec sec VE2 5 Set velocity to 2 5 rev sec DI20000 Overall move distance set to 20000 steps DC15000 Set output distance set to 15000 steps FO1L Initiate move and set output low at 15000 steps NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output Le 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 I state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character NN Second Edition 09 02 2014 SCL Manual for STP DRV Drives FP Feed to Position Executes a Feed to Position absolute move Move posi
52. lication is a PC you can consider using this cable as well For applications where the host device is a PLC or HMI you will need to make your own communications cable The pinouts of the RS 232 connector RJ 11 6P4C on STP DRV drives are shown in the diagram to the right Pin 2 of the connector should be connected to your host s 2 GND 5 Drive RX signal ground pin Pin 3 of the connector should be connected to your host s Rx pin And Pin 5 of the connector should be connected to 3 Drive TX your host s Tx pin 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 59 Second Edition 09 02 2014 SCL Manual for STP DRV Drives Communications Protocol In general the protocol for communications between a host device and a drive is quite simple STP DRV drives do not initiate communications on their own so drives are normally in a state to receive packets from the host A communications packet or 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 by sending a response packet back to the host Command Transmission host to drive The philosophy of sending characters to the drive requires the host to send all the required characters
53. mmand can be sent If a drive responds to the BS command with 63 the buffer is empty If a O is returned the buffer is full and no more buffered commands can be accepted Command Structure BS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO units empty command spaces in buffer Examples Command Drive sends Notes BS BS 20 There is room in the buffer for 20 more commands Second Edition 09 02 2014 SCL Manual for STP DRV Drives CE Communication Error Reads back the communication error code This can be read back when the status code indicates a communication error is present The value sent from the drive is the hexadecimal equivalent of the binary code Bit assignments are shown in the Details table below Command Structure CE Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Parameter 1 Communication error code units hex code bit O parity error not used bit 1 framing error bit 2 noise error bit 3 overrun error too many characters in Rx buffer bit 4 Rx buffer full bit 5 Tx buffer full bit 6 bad SPI op code Examples Command Drive sends Notes CE CE 10 Rx buffer full Second Edition 09 02 2014 SCL Manual for STP DRV Drives CJ Commence Jogging Starts the motor jogging The motor accelerates up to the jog speed JS at a rate defined by the jog accel JA command then runs c
54. n DIR and EN inputs are closed IS IS 00000101 STEP and EN inputs are open DIR input is closed s ojojofojo 1 1 STEP DIR EN NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output eem 1 e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character EJ Second Edition 09 02 2014 SCL Manual for STP DRV Drives JA Jog Acceleration Sets or requests the accel decel rate for Jog moves in rev sec sec Sending JA with no number causes drive to respond with present jog accel decel rate Setting JA overwrites the both the last JA and JL values This means that to have different jog accel and jog decel values you should first send JA to set the jog accel and then send JL to set the jog decel The JA value cannot be changed while jogging To change jog speed while jogging use the CS command Affects CJ WI jogging commands See also CS JD JE JL JS and SJ command
55. n Jog mode 0020 5 Bit 2 Drive Fault Stopping Bit 3 In Motion any input stop command in progress SKorST 0040 6 Bit 4 In Motion Feed command Sat Bit 5 Joggin Waiting for an Input WI 0080 7 Bit6 PEERAA Saving Bit 7 Waiting for input parameter data is being saved SA 0100 8 E p Alarm Alarm Code is present AL 0200 9 Si 10 Homiag Homing SH command in progress SH 0400 10 Bit 11 Wait on Timer Wait Ti Bit 12 NOT USED ae Bit 13 NOT USED Wait time is in progress WT 0800 11 Bit 14 NOT USED NOT USED 1000 12 Bit 15 Initializing NOT USED 2000 13 NOT USED 4000 14 Initializing happens at power up 8000 15 Example The drive is executing an FL command Bit 4 and it s waiting for the input specified by the WI command Bit 7 The 16 bit word for this condition is 0000 0000 1001 0000 and the hexadecimal equivalent is 90 Therefore when the host sends SC the drive will respond with SC 90 A useful tool for converting alarm and status codes to binary If you re using a Windows based PC as a host with your STP DRV drive which you ll definitely be doing if you re using any of the Automation Direct software supplied with your drive you can use the Calculator utility that comes with Windows to convert hexadecimal values into binary values or words This utility is usually found in the Accessories folder of the Programs Folder in the Start menu Once open make sure the Scientific view is set by
56. nt of receiving the AL command from the host When a host sends the AL command the response from the drive will be the Hexadecimal equivalent of this 16 bit word This hexadecimal value is considered the Alarm Code and the equivalent hexadecimal value for each of the bits is given below Alarm Description Bit Hex Value Position Limit 0 0001 AMA lt A CCW Limit 1 0002 Bit 0 Position Limit CW Limit 2 0004 L Bit 1 CCW Limit Over Temperature 3 0008 Bit 2 CW Limit Internal Voltage 4 0010 Bit 3 Over Temperature Over Voltage 5 0020 Bit 4 Internal Voltage Under Voltage 6 0040 Bit 5 Over Voltage Over Current 7 0080 Bit 6 Under Voltage 0 Windi 8 0100 Bit 7 Over Current pen ene Bit 8 Open Winding NOT USED 9 0200 Bit 9 NOT USED Comm Error 10 0400 Bit 10 Comm Error Data Save Failed 11 0800 Bit 11 Data Save Failed No Move 12 1000 Bit 12 No Move Resistance Out of Range 13 2000 Bit 13 NOT USED NOT USED 14 4000 Bit 14 NOT USED Motor Disconnected 15 8000 Br blo Disconnected The only alarm conditions that are categorized as faults are Position Limit bit 0 Over Temperature bit 3 Internal Voltage bit 4 Over Voltage bit 5 Over Current bit 7 Open Winding bit 8 These are the only alarm conditions that set the drive Status Code Fault bit 2
57. ocity point in analog velocity mode CM14 The deadband is an absolute value that in usage is applied to either side of the zero point Affects Analog input See also CM command Command Structure AD Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Parameter 1 Analog deadband value units millivolts range 0 255 Examples Command Drive sends Notes AD100 Set analog deadband to 0 1 volts AD AD 100 EN Second Edition 09 02 2014 SCL Manual for STP DRV Drives AF Analog Filter Applies a digital filter to the analog input This is a simple single pole filter that rolls off the analog input The filter value of the AF command is related to the desired value of the analog filter in Hz by the following equation e Filter value 72090 1400 x 2 2 where x desired value of the analog filter in Hz Affects Analog input See also IA CM commands Command Structure AF Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Parameter 1 Filter value units integer see formula above range 0 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 an
58. olatile YES 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 AC25 Set Acceleration rate to 25 rev sec sec DE10 Set Deceleration rate to 10 rev sec sec VE5 Set Velocity to 5 rev sec FL200000 Execute Feed to Length move of 200000 steps in CW direction Second Edition NE 09 02 2014 SCL Manual for STP DRV Drives DI Distance Position Sets or requests the move distance in steps The sign of DI indicates move direction for CCW no sign for CW Dl is used for both relative moves and absolute moves An example of a relative move is the FL command FP is an absolute move and with the FP command DI sets the absolute position rather than the relative distance Affects All move commands See also AC DC DE and VE commands Command Structure DI Parameter 1 Details Command Type BUFFERED READ WRITE Direct Logic PLCs are write only Usage Non Volatile YES Parameter 1 Distance units steps 2 147 483 647 to 2 147 483 647 sign determines direction for CCW no sign for CW range Examples Command Drive sends Notes DI20000 Set distance to 20000 steps in the CW direction DI DI 20000 DI 8000 Set distance to 8000 steps in the CCW direction FL Initiate a Feed to Length relative move in the CCW direction
59. ommand Modes CM 7 14 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 end of travel limit input states that can be defined with the DL command e DL1 End of travel limit occurs when an input is closed energized Motor automatically decelerates using the AM command DL1 End of travel limit occurs when an input is open de energized Motor automatically decelerates using the AM command DL3 The STEP and DIR inputs are not used as end of travel limit inputs and can be used as a general purpose inputs DL will be automatically set to 3 if CM is set to 7 14 or 18 or if JE is executed after the DL command is set Affects All F commands CJ SH WI when jogging commands See also AM command Command Structure DL Parameter 1 Details Command Type BUFFERED Usage READ WRITE Non Volatile YES Parameter 1 Limit input state see above units integer number range 1 20r3 default 3 Examples Command Drive sends Notes DL1 Set limit inputs to act as normally open DL DL 1 DL3 Set limit inputs to act as general purpose inputs NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designa
60. ontinuously until stopped To stop jogging use the Stop Jogging SJ command for a controlled decel rate decel rate set by JL command For a faster stop use the ST command decel rate set by AM command but beware that if the speed or load inertia is high the drive may miss steps or fault The jogging direction is set by the last DI command Use the CS command to change jog speed and direction while jogging CS does not affect JS CS DI JA JL JS SJ and ST commands See also Command Structure CJ Details Command Type BUFFERED Usage WRITE ONLY Non Volatile Examples Command NO Drive sends Notes Js5 CJ cs10 SJ Set jog speed to 5 rps Initiate jogging at 5 rps Change jog speed to 10 rps Stop jogging Second Edition 09 02 2014 SCL Manual for STP DRV Drives CM Command Mode Sets or requests the Command Mode that the drive operates in For more automated setup of command modes use SureStep Pro software 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 However move commands are either ignored or do not function properly when the command mode is set to a velocity mode 14 or 18 WARNING Changing t
61. properly interpret parse the command Parsing errors can automatically generate a response packet from the drive to the host Second Edition 09 02 2014 SCL Manual for STP DRV Drives APPENDIX B ALARM AND STATUS CODES One of a drive s diagnostic tools is its ability to send alarm and status codes back to a host The AL Alarm Code and SC Status Code commands can be used by a host to query a drive at any time If a drive faults or sets an alarm the AL command allows the host to find out what alarm or alarms has been set Similarly the SC command allows a host to find out what the status code of a drive is at any time during drive operation A status code provides information as to whether the drive is running in position disabled homing and other conditions Both alarm and status codes can be very useful when initially setting up and integrating a drive into your application The Alarm and Status codes are hexadecimal equivalents of 16 bit binary words Each bit in each binary word is assigned a meaning and therefore the responses to these two commands can actually show information about more than one alarm or status condition Alarm Code Definitions Here is a diagram showing the meaning assigned to each of the 16 bits in the Alarm Code s binary word For example if Bit 5 1 there is an Over Voltage condition at the drive A drive will set any and all bits that pertain to its immediate alarm fault status at the mome
62. represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character an analog value lower than the value set by the AT command Similarly H designtates an NOTE When working with the analog input of an STP DRV drive AIN terminal L designates analog value greater than the value set by the AT command Second Edition PEN 09 02 2014 SCL Manual for STP DRV Drives IA Immediate Analog Requests present analog input value The IA command returns the analog command value which is derived from the analog input with gain and offset applied in SureStep Pro Command Structure IA Parameter 1 Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO Parameter 1 Analog input units integer No parameter or O Analog command ran arge 1 Analog input raw AD counts Examples Command Drive sends Notes IA IA 2 5 Analog command value is at mid range IA1 IA 4 99 Analog input is near 5 volts Example Send the command AV1 to the drive to set the Analog Offset Value to 1 VDC Then apply 4 VDC across the AIN and GND terminals of the drive The response to the lA command will then be very close to A 3 00 ID Immediate Distance Requests present relative distance from the beginning of the las
63. rmined by the JC command and dependent on the position of the EN input 18 Fixed velocity mode Fixed velocity mode has the speed controlled by the JS command speed setting The STEP input is used for run stop control and the EN input is used for selecting between the two preset speeds The drive will turn the motor at a preset velocity determined by the JS or JC command which is selected by the position of the EN input The DIR input is unused 21 Point to Point mode Can also be referred to as position mode and is recommended for streaming command applications SCL mode 21 provides for configuration of the SureStep drive to accomplish trapezoidal moves that would normally require a motion controller or programmable pulse output device like a CTRIO or CTRINT Using SCL commands the SureStep drive can be configured to accomplish complex motion profiles Either relative or absolute moves can be commanded utilizing this mode 19 Second Edition 09 02 2014 SCL Manual for STP DRV Drives CS Change Speed Sets or requests the jog speed in rev sec while jogging When Jogging using the CJ command the jog speed can be changed dynamically by using this command The value of CS can be positive or negative allowing the direction of jogging to be changed also Ramping between speeds while jogging is controlled by the JA and JL commands Changing CS does not change either JS or DI Affects Jog sp
64. running Automation Direct software e An industrial 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 an Automation Direct STP DRV drive in host mode General structure of host serial communications host mode Hardware wiring and connecting a host device to the serial ports of an Automation Direct drive COM Port Settings UART settings Communications Protocol e Communication Details e Communication Errors General structure of host serial communications The STP DRV host serial communications are based on the common ASCII character set transmitted using standard UARTs over an RS 232 hardware interface The ASCII character set is used because it is common and well understood as well as easy to read UART Universal Asynchronous Receiver Transmitter serial transceivers are available on many types of equipment including most PCs and provide a common form of serial communications interface RS 232 hardware connections are commonly used with UARTs and also provide the easiest and most common form of connectivity Hardware Each STP DRV stepper drive ships with an RS 232 programming cable This cable should be used for configuring your drive with the SureStep 1 6 Pro software Furthermore if the host device in your app
65. s Command Structure JA Parameter 1 Details Command Type BUFFERED Usage READ WRITE 9 Direct Logic PLCs are write only Non Volatile YES 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 JA10 Set jog acceleration to 10 rev sec sec JA JA 10 C Veloci Oscillator Mode Second Speed Sets or requests the second speed used in velocity oscillator mode The EN input is used to select the speed set by the JC command This only applies to Command Mode CM 18 Affects Velocity oscillator mode See also CM command Command Structure JC Parameter 1 Details Command Type BUFFERED Usage DAN Direct Logic PLCs are write only Non Volatile YES Parameter 1 Analog velocity mode second speed units rev sec rps range 0 0042 to 133 0 rps default 5 Examples Command Drive sends Notes JC11 Set second speed in velocity mode to 11 rps JC JC 11 Second Edition NN 09 02 2014 SCL Manual for STP DRV Drives ID Jog Disable Disables the STEP and DIR inputs as jog inputs during a WI instruction Affects Jogging during WI command See also JE and WI commands Command Structure JD Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes JD Disable jogging while executing a WI command JE Jog Enable Enables
66. s For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character an analog value lower than the value set by the AT command Similarly H designtates an NOTE When working with the analog input of an STP DRV drive AIN terminal L designates analog value greater than the value set by the AT command Second Edition 09 02 2014 SCL Manual for STP DRV Drives WT Wait Time Causes a time delay in seconds The resolution is 0 01 seconds with the largest value being 320 00 seconds Command Structure WT Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Time units seconds range 0 00 to 320 00 resolution is 0 01 seconds Examples Command Drive sends Notes WT2 25 Causes time delay of 2 25 seconds PS Pause command buffer WT1 Time delay 1 second FL Initiate Feed to Length instruction CT Continue execution of commands in command buffer Second Edition ee 09 02 2014 SCL Manual for STP DRV Drives APPENDIX A HOST SERIAL COMMUNICATIONS When an STP DRV stepper drive from Automation Direct is operating in host mode AKA SCL mode it means that a host device sends commands to the drive or drives over a serial connection and the drive executes the incoming commands Here are some examples of typical host devices A Windows based PC
67. stored program that the drive can run stand alone Second Edition 09 02 2014 SCL Manual for STP DRV Drives SCL DETAILS There are two basic parts to the serial communications used in SCL the physical connection between the drive and the host and the communications protocol The physical connection between the drive and the host is based on standard RS 232 connections With PCs this is one of the COM ports on your computer With PLCs and HMls look for connections labeled RS 232 PLC port AUX port ASCII or something similar that would indicate a serial RS 232 connection There are only three connections to be made between the drive and the host transmit Tx receive Rx and signal ground GND The pin assignments of these connections on an STP DRV drive are shown in the following diagram WARNING Power down the SureStep drive before plugging a communication cable in to the comm port of the drive Failure to do so may result in damage to the drive comm port 1 6 2 GND 5 Drive RX 3 Drive TX To configure your host to properly communicate with the drive you ll need to configure your host s serial port as follows 9600 bps 8 data bits 1 stop bit no parity Not coincidentally these are the default COM port settings for a Windows based PC The communications protocol of SCL is simple in that all communications are initiated by the host The only communication the drive will ever initiate is at power up of the driv
68. sw Circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character an analog value lower than the value set by the AT command Similarly H designtates an NOTE When working with the analog input of an STP DRV drive AIN terminal L designates analog value greater than the value set by the AT command Second Edition EM 09 02 2014 SCL Manual for STP DRV Drives FO Feed to Length and Set Output Same as Feed to Length FL but changes the state of an output during the move Overall move distance is defined by the DI command Accel rate decel rate and velocity are set by the AC DE and VE commands respectively Distance within overall move at which output condition should be set is defined by the DC command NOTE Dedicated output functions alarm output brake output motion output must be I configured as general purpose before the FO command can be used with the drive s output See Also DC command Command Structure FO Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Vo
69. t move Command Structure ID Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO units steps Examples Command Drive sends Notes With IF H ID ID 00002710 10000 10000 counts into CW move ID ID FFFFD8FO 10000 10000 counts into CCW move With IF D ID ID 10000 10000 counts into CW move ID ID 10000 10000 counts into CCW move EJ Second Edition 09 02 2014 SCL Manual for STP DRV Drives IF Immediate Format Sets the data format hexadecimal or decimal for data returned using all I commands except IH IL IO and IS Data can be requested from the drive in two formats hexadecimal or decimal By default data is returned in hexadecimal because of its speed and efficiency Conversion to 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 into a decimal value All I commands can be used at any time and at the fastest rate possible limited only by the baud rate 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
70. that form a packet in a limited time frame At the start of receiving a packet the drive begins timing the space between characters Each time a character is received an internal timer is reset to 200 milliseconds If the timer reaches zero before the next character in the packet is received the drive will terminate its packet parsing characters will still go into the receive buffer and may send out an error response packet depending on the protocol setting The purpose of the timeout feature is to allow the drive to purge its buffers automatically when a bad transmission occurs HyperTerminal in which characters are sent as soon as they are typed For this reason NOTE This timeout feature limits the usage of host devices such as the Windows application HyperTerminal is not recommended for use with these drives Response Transmission drive to host In response to a command packet from the host a drive will usually send a response packet The drive sends out its entire response packet with very limited space between characters At 9600 baud rate the space between characters is less then 1 bit space 0 0001 seconds The host system must be able to handle this speed Second Edition NN 09 02 2014 SCL Manual for STP DRV Drives 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
71. the STEP and DIR inputs as jog inputs during a WI instruction Jog accel decel and velocity are set using the JA JL and JS commands respectively The STEP and DIR inputs can each be assigned to only one function in an application If you want to use the STEP and DIR inputs as jog inputs you can define them as such with the JE command JE takes no effect if the drive is set in Command Mode CM 7 14 or 18 because these modes predefine these inputs and take precedence over the JE command In other words the JE command as well as Command Modes CM 7 14 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 from using the inputs To enable jogging with the STEP and DIR inputs simply execute the JE command with CM 21 Affects Jogging during WI command See also JD and WI commands Command Structure JE Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes JE Enable jogging while executing the WI command Second Edition 09 02 2014 SCL Manual for STP DRV Drives JL Jog Decel Sets or requests the decel rate for Jog moves and velocity oscillator mode in rev sec sec The JL value cannot be changed while jogging JA sets both the JA and JL values so when a different JL value is required set JA first then set JL Aff
72. the last VE AC and DE commands respectively A motor moving at a given speed with a given decel rate needs a certain distance to stop If you specify too short a distance the drive may overshoot the target Use the following formula to compute the minimum decel distance given a velocity V in rev sec and decel rate D in rev sec sec R steps rev which in this equation equals the value set by the EG command in steps rev e minimum decel distance V R 2 D See also FM and FY commands see AT command for using AIN as sensor input Command structure FS Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Input number Input condition units integer letter range integer 1 STEP 2 DIR 3 EN 4 AIN o condition L low H high F falling edge R rising edge Examples Command Drive sends Notes AC100 Set accel rate to 100 rev sec sec DE100 Set decel rate to 100 rev sec sec DI1000 Set stop distance to 1000 steps VEO 5 Set velocity to 0 5 rev sec FS1L Initiate move and decel to stop when sensor tied to input 1 is low NOTE When working with digital inputs and outputs in STP DRV drives it is important to remember the designations low and high If current is flowing into or out of an input or output oe 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
73. tion comes from the last DI command Speed accel and decel are from VE AC and DE commands respectively Optional parameter allows using a local absolute position for the FP command rather than the last DI value NOTE The last DI command can be ignored unaltered if a parameter is used with the FP I command See also AC DE DI VE commands Command Structure FP Parameter 1 Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Parameter 1 Absolute position units steps range 2 147 483 647 to 2 147 483 647 Examples Example After homing the motor you want to zero the home position and move to an absolute position 80000 steps from the new home position Command Drive sends Notes SPO Set current motor position as absolute zero VE5 Set velocity to 5 rev sec DI80000 Set move position to 80000 steps FP Initiate Feed to Position move FP40000 Initiate Feed to Position move to 40000 steps without affecting the last DI command Second Edition EN 09 02 2014 SCL Manual for STP DRV Drives FS Feed to Sensor Executes a Feed to Sensor command Requires input number and condition The motor moves until a sensor triggers the stop input then stops a precise distance beyond the sensor The stop distance is defined by the DI command The direction of rotation is defined by the sign of the DI command for CCW no sign for CW Speed accel and decel are from
74. tions low and high If current is flowing into or out of an input or output i e the circuit is energized the logic state for that input output is defined as low or closed If no current is flowing i e the circuit is de energized or the input output is not connected the logic state is high or open A low state is represented by the L character in parameters of commands that affect inputs outputs For example WI3L means wait for input 3 EN input low and SO1L means set output 1 low A high state is represented by the H character Second Edition MN 09 02 2014 SCL Manual for STP DRV Drives EG Electronic Gearin Sets or requests the desired step resolution of the step motor Units of the EG command steps rev are based on 2 phase 1 8 degree step motors which provide 200 full steps per revolution Note Step resolution is always set in SureStep Pro during startup and configuration of the drive I If no further adjustment to the step resolution is required the EG command is not needed Affects Command Mode 7 See also CM command Command Structure EG Parameter 1 Details Command Type BUFFERED Usage READ WRITE g Direct Logic PLCs are write only Non Volatile YES Parameter 1 Step resolution units steps rev range 200 to 51 200 in increments of 2 Examples Command Drive sends Notes EG20000 Set step resolution to 20000 steps rev EG EG 20000 25 Secon
75. uffered sequence of commands See also CT command Command Structure PS Details Command Type BUFFERED Usage WRITE ONLY Non Volatile NO Examples Command Drive sends Notes PS Pause execution of commands in the command buffer Second Edition 44 09 02 2014 SCL Manual for STP DRV Drives RS Request Status Requests the immediate status of the drive This basically asks the drive to respond with what it s doing The drive has a number of different states of operation that are represented by character codes The drive can send more than one code at a time to define its current status See also SC command Command Structure RS Details Command Type IMMEDIATE Usage READ ONLY Non Volatile NO units character code A Alarm Code is present use AL command to view alarm code D Drive Disabled E Drive Faulted use AR command to clear fault H Homing SH in progress J Jogging CJ in progress F Motion in progress Feed amp Jog commands M Motion in progress from any kind of input R Ready drive is enabled and ready S Stopping a motion ST or SK command executing T Wait Time WT command executing W Wait Input WI command executing Examples Command Drive sends Notes RS RS R Drive is enabled and ready RS RS ADE Alarm code is present drive is faulted and disabled RS RS JR Motor is jogging drive is enabled SA Save Parameters Sav
76. ut of Range Open Motor Winding NOT USED Serial Communication Error Second Edition 09 02 2014 Flash Memory Error Could be caused by frequent command writes 10k of SA Save Parameters SCL Manual for STP DRV Drives 65 Second Edition 09 02 2014 SCL Manual for STP DRV Drives SCL User Manual for STP DRV Drives SCL Commands for the STP DRV 4850 and STP DRV 80100 Step Motor Drives WAUTOMATIONDIRECT Second Edition 66
77. you have a different step motor view the Help file in SureStep Pro for details on setting up a custom motor The programming cable supplied with your STP DRV drive 9 pin D sub at one end RJ 11 modular connector at the other Asmall flat blade screwdriver A correctly sized DC power supply WARNING Never connect a step motor to your STP DRV drive with power applied to the drive Always make sure your DC power supply is either off or disconnected from the STP DRV drive when connecting A or disconnecting your step motor WARNING Power down the SureStep drive before plugging a communication cable in to the comm port of the drive Failure to do so may result in damage to the drive comm port Connect the 2 phase step motor to your STP DRV drive Then connect your STP DRV drive to your PC using the programming cable Launch SureStep Pro Power your drive ON If power was ON to the drive when you launched SureStep Pro power the drive OFF then back ON Configure your motor by clicking the Motor button on the main screen of SureStep Pro Use the Help file contained in SureStep Pro for details on configuring your drive for the particular step motor you have If you have a recommended Automation Direct step motor you may simply find that part number in the drop down menu of the Motor window Each STP DRV drive can run in one of four Motion Control Modes Pulse amp Direction Analog Velocity Fixed Velocity or Point to Point SCL Click t

SCL User Manual for STP-DRV Drives

Contents

Download Pdf Manuals

Related Search

Related Contents