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1. Example After motor shutdown load and run Fault Recovery program which is stored at 542 NOTE In QuickControl the user only needs to specify the program name The address is calculated automatically 16 181 542 CR SilverMax Response ACK only SlverMax Command Reference 48 QuickControl Example Edit KHIR Fall Motor Recovery Cancel Description A Select Action to Take for Recovery Fault Recovery a Load and Run Program at Absolute Address Load and Run Program at Nv Memory Address 0 Do Nothing Revision 4 01 Initialization Commands Low Voltage Processor Trip LVP See Also Power Low Recovery PLR Low Voltage Trip LVT Description This command is only usable with SilverMax units that provide separate power supply inputs for the processor and for the driver sections such as the HC series This command allows the monitoring of the processor power supply for low voltages in the same way that a Low Voltage Trip LVT command monitors the driver or for single supply motors the main power supply This command sets the input voltage that will trigger a Low Voltage status Bit 14 in the Internal Status Word ISW and subsequently the Power Low Recovery PLR routine if configured When a Low Voltage Processor Trip occurs the low voltage trip values both driver and processor are overwritten to zero to prevent multiple triggering Command Info Command Comma
2. Example Clear the Internal Status Word 016 163 CR SilverMax Response ACK only SlverMax Command Reference 169 NONE NONE NONE QuickControl Example Edit Command Command Name MISC CIS Clear Internal Status Test Cancel i Revision 4 01 Misc Commands Clear Max Error CME Description The Maximum Error absolute value of the Position Error is updated and latched each servo cycle The value is limited to a single word saturating at 32767 Ox FFF as a maximum value This command allows the Maximum Error value to be reset to zero so that the Maximum Error for a new motion profile may be determined The Maximum Error value is stored in a Dedicated Data Register and may be read using the Read Register command Command Info Command Command Parameters Param Parameter Name Type Num Type Range Clear Max Program NONE NONE NONE Program NONE NONE NONE Error CME Class D 147 0x93 1 word Example QuickControl Example Clear the Maximum Error value Edit Command Command Marne 16 147 CR MISC CME Clear Max Error Description Test Cancel SilverMax Response ACK only SlverMax Command Reference 170 Revision 4 01 Misc Commands Target To Position TTP Description This command copies the current Position value into the Target register This is useful for removing errors when an obstruction is encountered without losing track of positi
3. _ _ gt CTC 148 0x94 Kv2 Velocity 2 Feedback Gain 0 to 32767 8 words Kvff Velocity Feedfoward Gain O to 32767 Example QuickControl Example 16 148 0 10 10 10 10 200 1000 Edit CTC Control Constants CR a SilverMax Response o a Cancel Pe gon Description ACK onl iq y Test Evz hoo za Eset fro Me ka ro E Default For E Siver ax foo SlverMax Command Reference 28 Revision 4 01 Initialization Commands g See Also Enable Done High EDH Disable Done Bit DDB Description Disables the Done bit I O 1 on the servo The Done bit indicates when the servo is running or idle See Enable Done Bit for more details By default the Done bit is disabled Command Info Command Command Parameters Param Parameter Name Type Num Type Range Disable Done Program NONE NONE NONE Bit DDB Class D 171 OxAB 1 word Example QuickControl Example Disable usage of the Done bit Edit Command Command Hame 16 171 CR INIT DDB Disable Done Bit SilverMax Response Description Test Cancel ACK only SlverMax Command Reference 29 Revision 4 01 Initialization Commands Digital Input Filter DIF Description Sets up a filter time constant for any of the seven digital inputs A 0 in the I O line parameter causes all of the input filter constants to be changed at the same time Selecting 1 2 3 4 5 6 or 7 for the I O line changes only the se
4. Description Selects the desired input format for an external encoder or step direction input External encoders can be used by the Step and Direction commands as well as the Dual Loop mode If an external encoder is not being used the inputs are ignored The count since cleared or powered up is available in the register 200 External Encoder A sensing of the designated index source causes the external encoder counter contents to be copied to register 201 external encoder index SEE does not tri state the selected inputs If an I O is already set LOW or HIGH it will remain that way after the SEE command Command Info Command Command Parameters Param Parameter Range Name Type Num Type Select External Encoder SEE Program Class D 192 0xC3 4 words Example Set up the External encoder inputs for Falling edge Index on input 6 and Step amp Dir on 2 amp 8 16 192 00 3 CR SilverMax Response ACK only SlverMax Command Reference Index Source S16 O I O 6 1 I O 3 Encoder Style hee 0 Falling PE RSINQS S OE 0 A B Quad on 1 0 4 amp 5 1 Step Up Dn on 1 0 4 4 5 2 Step Dir on l O 4 8 5 3 Step Dir on 1 0 2 amp 3 QuickControl Example Edit SEE Select External Encoder Cancel eae Index Source Select which 10 channel the Encoder s Index State Description Select how the Encoders Index is triggered Index i on Fal
5. Description This command initializes the driver stage to produce appropriate drive signals to the motor dependant on both the motor type and the supply voltage These constants are factory supplied for the selected motor at the requested power supply voltage Normally these are set using QuickControl s SilverMax Initialization Wizard Executing this command also causes the motor driver to be Enabled This will over ride a disabled driver condition whether it was commanded by a Disable Motor Driver DMD or Kill Motor Condition KMO The Edit MCT dialog box gives the user the following 3 options Auto QuickControl will read the servo s voltage at download time and set the parameters accordingly This is the recommended default setting Manual The user selects the voltage This option is useful when the voltage in the field is different than the voltage at time of download Native An advanced mode that should only be used at the direction of QuickSilver Controls The MCT and PAC commands are tightly coupled When either of these commands is edited in a QuickControl QCP file the other command is automatically updated Command Info Command Command Parameters Param Parameter Range Name Type Num Type Motor Program 0 to 32767 oa O 0 to 32767 MCT 168 OxA8 9 Ke 9 Words Example QuickControl Example Set up a 23 5 for 24 volt operation Edit MCT Motor Constants ON Or 16 168 1631 14843 31816 2057
6. Description Indirect Edit Hegeten Ale Addressing ACK only Mode Select the Starting Register SilverMax Response Note hen usg ndirectaddiessho the accumulator must l l Gelcaded tit Aomber o Eater nana menman fi address Secar l l Mode Non Yolatile Memory Location sl her i H Native ii SlverMax Command Reference 161 Revision 4 01 Data Register Commands Write Cmd Long Word WCL Description This command allows program space starting at the selected program buffer location to be overwritten with the 32 bit data in the selected register This allows for self modification of the command parameters within the program buffer Any of the command parameters can be dynamically modified within the program This command specifically is intended to modify 32 bit parameters Extreme care should be used when writing any self modifying code to prevent unwanted outcomes The QuickControl tool has support for this command which simplifies its application and enforces consistency checks However values being transferred are dynamic based on the contents of the selected register the range of the data is not verified at transfer so undesired results may be obtained if out of range parameters are assembled into the program buffer including Sequence Error shutdowns This command does allow for great flexibility by allowing any of the parameters to be made register based Command Info Command Command Parame
7. Turn off modulo output 16 190 CR SilverMax Response ACK only SlverMax Command Reference 149 QuickControl Example Edit Command Command Marne a Description Test Cancel ale Revision 4 01 Modulo Set MDS Description I O Commands The Modulo Set command is used to enable select the source divisor and format of the modulo outputs These outputs make use Digital I O bits 6 7 See I O Configuration Chart and require that these bits to be configured as Inputs before issuing this command Either the internal or an external encoder may be selected as the source for modulo output This allows the modulo counter to be used with external sources The output can be configured in three different ways 1 A B quadrature which is the normal output mode for an encoder 2 Step up amp Step Down which gives a square wave output on I O bit 6 when the encoder is counting positive or on I O bit 7 when the encoder is counting negative and 3 Step and Direction which gives a square wave output on I O bit 6 and a Direction output on I O bit 7 The Count sets up a divider that is the Modulo Count In Step output modes the square wave rate equals the encoder rate divided by the count To exit this mode use the Modulo Clear MDC command See Using SilverMax I O in the SilverMax User Manual for more information on modulo usage Command Info Command Command Parameters Param Type Parameter Range Name
8. ie Description H User Register 20 Position SilverMax Response User Register 21 Acceleration User Register 22 Welocity Advanced User Register 23 Deceleration ACK only User Register 24 Offset Test Use Descriptive Mames for Profle Move stop PETE SlverMax Command Reference 105 Revision 4 01 Motion amp Profile Move Commands Profile Move Exit PMX Continuous PMC Description Exits the current Profile Move allowing the move to stop using the Deceleration parameter stored in Data Register 23 This command will work to stop any Motion Profile Move or Mode as long as register 23 has been initialized The deceleration begins immediately and the profile destination will not be reached Command Info Command Command Parameters Param Parameter Name Type Num Type Range Profile Move Program NONE NONE NONE Exit PMX Class D 242 0xF2 1 word Example QuickControl Example Exit the current move Edit Command Command Hame 16 242 CR MOVE PMX Profile Move Exit SilverMax Response Description Test Cancel ACK only SlverMax Command Reference 106 Revision 4 01 Motion amp Profile Move Commands Register Move Absolute Time Based RAT Description The Register Move Absolute performs an absolute move using a position value contained in the indicated User Data Register This command works like the basic Move Absolute Time Based MAT command in all other ways Stop Enable an
9. 16 10 CR SilverMax Response ACK only SlverMax Command Reference 135 Revision 4 01 Program Flow Commands Start Download SDL Description This command puts SilverMax into a program download mode Program Mode commands that are sent after a Start Download command are automatically appended to the Program Buffer rather than being executed Once in the Program Buffer they can be executed as a program or stored to nonvolatile memory The program download mode is terminated by a Store Program SPR a Run Program RUN or a Clear Program CLP command Immediate Mode commands sent to the SilverMax when in download mode are not appended to the buffer Depending on the command it will be immediately executed or it will cause an error See SilverMax Memory Model in User Manual for details on downloading programs Command Info Command Command Parameters Param Parameter Name Type Num Type Range Start Immediate NONE NONE NONE Download Class B SDL 9 0x9 1 word Example QuickControl Example Put SilverMax into the program Immediate Host Command Only download mode 016 9 CR SilverMax Response ACK only SlverMax Command Reference 136 Revision 4 01 Program Flow Commands Store Program SPR Description The Store Program command stores a program into Nonvolatile Memory onboard the SilverMax unit The currently loaded program will be stored at the address number indicated in the address par
10. Cancel faon tick Delay aid Description Load Counter Only 118 Revision 4 01 Program Flow Commands End Program END Description SilverMax programs typically end when the last line of the program is completed If the program needs to end based on a Conditional Jump the End Program command can be inserted in the program at the desired point When this command is executed the currently running program will stop executing and the motor will be placed in a Host Mode Programs can also be stopped by issuing any of the Override Commands NOTE An END command is automatically inserted at the end of programs loaded in the Program Buffer This command does nothing if sent to the motor when it is in Host Mode Command Info Command Command Parameters Param Parameter Name Type Num Type Range End Program Program End Program Program NONE NONE NONE END Class D 128 0x80 1 word Example QuickControl Example As part of a program end program Edit Command x execution Command Mame FLOw END End Program 116 128 CR Description Test Cancel SilverMax Response ACK only SlverMax Command Reference 119 Revision 4 01 Program Flow Commands Jump JMP Description The Jump command allows looping and other conditional branching inside a program based on the condition of the Internal Status Word ISW see User Manual for bit definitions The Condition Enable word selects wh
11. Normally the Move Continuous will not end until explicitly stopped by a Stop Condition or another command The Override provides a graceful way to end the move so that the entire motion is completed with the motor stopping at the defined position PMO will also override all other motions including Step and Direction if multitasking is enabled PMO operates exactly like the Profile Move command except that it does not wait for the previous motion to complete Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent l Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of O in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual Command Info Command Command Parameters Param Type Parameter Range Name Type Num Profile Move Program Stop Enable S16 U16 See Above Override PMO Class D 249 0xP9 _ Example QuickControl Example End the current Profile move when Edit PMO Profile Move Override at Position Stop if Input 1 is The following registers store the parambers high 1 for this move Make sure they have been initialized before executing Cancel HI 16 249 1 1 CR E User Register 20 Position in E User Register 21 Acceleration SilverMax Response User Register 22 Velocity Advanc
12. cren e Ass ie se 16 236 20 0 0 CR Starting Register Description SilverMax Respon se User Profile Move Pos 20 ES Test ACK only atop SlverMax Command Reference 81 Revision 4 01 Motion amp Profile Move Commands Extended Register Move Absolute Velocity Based XAV Description The Extended Register Move Absolute performs an absolute position move using move parameters contained in the indicated User Data Registers This command works like the basic Move Absolute Velocity Based MAV command in all other ways The move parameters are retrieved from the User Data Registers in the following order If Starting Data Register N N Position N 1 Acceleration N 2 Velocity The move parameters must be written into the User Data Registers prior to executing the move command The range of the move parameters stored in the User Data Registers must be the same as those used in the basic Move Absolute Velocity Based MAV command The Write Register commands can be used to write the move parameters into the Data Registers The Write Register commands do not type check the parameters when written therefore errors may occur at time of execution Changing the move parameters during an actual move will have no affect on the move in progress Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent l Os 1 7 while Stop State values O and 1 which whether
13. Address Enter the non volatile memory address of the program you want to load and run for the PLR Load and Run Program at NV Memory Address O Load and run the program stored at 0 By default this is the initialization program Do Nothing This default state indicates that no recovery program has been designated The SilverMax drops out of any motion or program that is currently executing and goes into an idle state The drivers are disabled At this point SilverMax will sit with no current to the motor waiting for host intervention using the Serial Interface Command Info Command Command Parameters Param Parameter Range Name Type Num Type Power Low Program Process 0 Do Nothing Recovery Class D 1 Load and Run Program PLR 208 OxDO NV Mem adr 0 2 Words HHHHR LRP O NV Mem adr Example QuickControl Example If power low condition exists load Edit PLA Power Low Recovery and run Program Low Recovery program which is stored at 568 i Cancel 016 208 568 CR Select Action to Take for Recovery AAA Description SilverMax Response Program Low Recovery a ACK only Load and Run Program at Absolute Address KES Load and Run Program at NW Memory Address O l Do Nothing SlverMax Command Reference 56 Revision 4 01 Initialization Commands Protocol PRO Description Allows the user to select the desired communications protocol Two different protocols are availabl
14. Command Info Command Command Parameters Param Type Parameter Range Name Type Num Modulo Program Trigger Mode S16 0 Disable until I O Trigger Class D 1 is High MDT 191 OxBF 1 Enable 2 words 2 Gate modulo using I O 1 Example Enable continuous modulo output 16 191 1 CR SilverMax Response ACK only SlverMax Command Reference 151 QuickControl Example Edit HDT Modulo Trigger i Cancel Modulo Output Trigger Mode Disable Modulo Output Until 140 1 is HIGH Description Gate Modulo Output Using 10 1 Revision 4 01 I O Commands Position Compare PCP Description Causes l O 1 to toggle its state when the motor position is equal to or greater than absolute value the Position value contained in the first of two User Data Registers The I O 1 state will toggle again when the motor position is greater than the Modulo second Data Register of the Position value On a compare if I O 1 is a logic Low 0 it will be set to a High 1 If I O 1 is a logic High 1 it will be set to a Low 0 I O 1 must be set to Output mode using the Set Output Bit Clear Output Bit or the Configure I O commands The First Data Register Position The Second Data Register Modulo The first Data Register contains the Position value that starts the compare process and executes the first toggle The second Data Register contains the
15. Da AA A a 35 ENABLE DONE IG EDEN Sa 36 ENABLE DONE LOWED rante id 37 ENABLE MOTOR DRIVER EM D f a A AA T AT 38 NABI ENCE TITAS KIN Gal EVIE AS DEA A A AA 39 ERROR UIA lee ad ta 40 PULTE COINS TAIN FSG ease retake deci as 42 GRAVITYOFRESET CONSTANTS GOC id A 43 DENTE DT oaaae A a a a E E anne Teter 44 KLEDISABLE DRIVER KDD heene a a a 45 KLL ENABLE DRIVER KE Diccionaris ld 46 KIEE MOTOR CONDITIONS RM is A SA A A 47 KIEELMOTOR RECOVERY KMR a EA bi 48 LOW VOLTAGE PROCESSOR TRIP LVP cin as 49 LOW VOLTAGE TRIPS Vil A A SA AA AA 50 MOTOR CONSTANTS MO eae aes a nse Is 51 MAXIMUM TEMPERATURE TRIP MTT ococcoccccoconoccncoconononcncononononcnnononencnnononencncnnononenenannorenennono 52 OPEN LOOP PHASE OP ooo icadas 53 OVER VOLTAGE TRIP OV a ras tio 54 PHASE ADVANCE CONSTANTS PAG sia tias io its 55 POWER LOW RECOVERY PIER ula c lics 56 SlverMax Command Reference 2 Revision 4 01 PROTOC OI PRO aas A E 57 S GURVE FACTOR SCE de 58 SELECT EXTERNAL ENCODER OEE isa A is 60 SELECTIE NCODER FILTER SE e 61 GERAL INTERFACE Ola a 62 SINGLE COP CONTROL SEC ekiri deri daa 63 SOFT OTOP LMES SS os e Rene eM gee nen a reins oe ane en re enn 64 TORQUE LIMITS OE ets cress cute atascos ricerca 65 TORQUE RAMP UP CRW aii 67 MODE COMMANDS unas 68 GO CLOSED LOOP GOE erea a id 69 CO OPEN OOR CO ia 70 POSITION INPUT MODEP Misas A Ai 71 REGISTERED S TER amp DIRECTION A RSD ni ONE 72 SCALED S TEP amp DIRECTION SSD is iin
16. Danae Normal C Native fi All msec m ACK only SlverMax Command Reference 41 Revision 4 01 Initialization Commands Filter Constants FLC Description Filter Constants selects the cutoff frequency for the velocity and acceleration filters see Tuning SilverMax in the SilverMax User Manual for more details on using this command See Scaling in the SilverMax User Manual for details on converting filter values Hz to native SilverMax units QuickControl stores a default set of parameters for each SilverMax type i e 23 3 23H 1 If Use Default For SilverMax is checked QuickControl will use the default parameters both now and at download time Command Info Command Command Parameters Param Parameter Name Type Num Type Range Filter Program Fv1 Velocity 1 S16 4096 to Constants Class D Feedback Filter 32767 Feedback Filter 32767 Feedback Filter 32767 3 Test Pye 1473 Hz Unita SilverMax Response Normal Native Example QuickControl Example ate to roll of at 469 413 and Edit FLC Filter Constants Ls 23000 32768 e emos ok 24000 32768 e CAS a Cancel 30000 32768 e enzo TS E Fel HES Hz Description 16 169 23000 24000 30000 CR i Fa 117 Hz ACK only Use Default ee T For Silver ax SlverMax Command Reference 42 Revision 4 01 Initialization Commands Gravity Offset Constants GOC Description Establishes a value that compensates
17. High Select which condition to wait on 16 204 1 1 CR T e E H Description m State Low FALSE f High TRUE SilverMax Response ACK only SlverMax Command Reference 139 Revision 4 01 Wait On Bit State WBS Description Program Flow Commands During program execution the Wait on Bit State command causes SilverMax to wait until a condition is true This is a very fast check that done every servo cycle 120microseconds Placing this command in a program will cause the program to wait on the current line until the input condition is met There is no wait limit therefore this can put SilverMax into an endless wait state The I O bit condition is state triggered if the condition is true when the command is encountered no waiting will occur See Wait On Bit Edge WBE for definition of Enable Code See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Wait On Bit Program Enable S16 1 to 14 State WBS Class D Code ts il Enable S16 0 Low hill State 1 High Example Cause program to wait until I O 1 is Low 16 194 1 0 CR SilverMax Response ACK only SlverMax Command Reference 140 QuickControl Example Edit WBS Wait On Bit State Select which condition to w
18. Location 2500 1 QuickControl Example OR Cancel dll Description Indirect Addressing Mode Hotes When uenig nonect addressing the accumulator madet Ge loaded with Roney ol stile menman address See WR Mode Normal i Native ii Revision 4 01 Data Register Commands Register Store Nonvolatile RSN Description Stores data from a Data Register to the selected Nonvolatile Memory address A Checksum value is calculated from the data and stored with the data The storing process is the same as used by the Register Store Multiple with only one register being stored The data selected may be loaded using the Register Load Nonvolatile or the Register Load Multiple using 1 for the Number of Registers See command Register Store Multiple RSM for more details NOTE If this command is used in QuickControl s Normal Mode many of the complexities go away See Register File System in SilverMax User Manual for details Command Info Command Command Parameters Param Parameter Range Name Type Num Type Register Store Program Data S16 Standard Register Range Nonvolatile Class D Register O for indirect addressing RSN 198 0xC6 3 words NV Memory U16 Max Size at NV Memory Address Example QuickControl Example Store data register 1 to NV Edit RSN Register Store Non olatile memory address 1612 OF sl O tert SNE CR Regeter Ale Hame _ Cancel Enter Name Here
19. Num Type Velocity Program Mode Class D Acceleration S32 1 to 1 073 741 823 or Program 159 Ox9F 1 to 1 073 741 823 Type VMP 7 words Velocity 32 2 147 483 647 to 2 147 483 647 Stop Enable S16 U16 SEE Example Put SilverMax into velocity mode running at See Scaling Vel 32000 cps Acc 666666 67 1016 159 64425 257698038 0 0 CR SilverMax Response ACK only SlverMax Command Reference Revision 4 01 QuickControl Example Edit VMP Velocity Mode Program Mode Cancel E Acceleration Descripti BE666 67 cpers esCcmnplor Advanced Velocity ia OG en de A 19 Motion amp Profile Move Commands MOTION amp PROFILE MOVE COMMANDS Motion amp Profile Move commands make up the set of commands that use the SilverMax Trajectory Generator to perform simple or complex motions SlverMax Command Reference 80 Revision 4 01 Motion amp Profile Move Commands Extended Register Move Absolute Time Based XAT Description The Extended Register Move Absolute performs an absolute position move using move parameters contained in the indicated User Data Registers This command works like the basic Move Absolute Time Based MAT command in all other ways The move parameters are retrieved from the User Data Registers in the following order If Starting Data Register N N Position N 1 Acceleration Time N 2 Total Time The move parameters must be written i
20. On NAND I O State command allows looping and other conditional branching inside a program based on the condition of the I O State Word IOS see User Manual for bit definitions The IOS Condition Enable selects which inputs will be used in the NAND ed Negative AND ed evaluation The IOS Condition State allows the user to specify the states High 1 or Low 0 of the selected inputs that will cause a TRUE condition for each of the inputs Setting both parameters to zero forces an unconditional jump to the specified Program Buffer location The condition TRUE evaluation is done by NAND ing the enabled inputs together If all the enabled inputs are TRUE a jump will NOT occur This means that a jump will always occur when any of the conditions are FALSE See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num IOS Condition Enable 0 to 65535 Program Class E 238 OxEE IOS Condition State 0 to 65535 4 words Program Buffer Address O to 199 Example Don t jump to Program Buffer location 10 if digital inputs 4 5 6 and 7 are High 1 See I O State Word IOS in User Manual for bit definitions 16 238 61440 61440 10 CR SilverMax Response ACK only SlverMax Command Reference QuickControl Example Edit JNA Jump On HAND 1 70 Sta
21. Reference 174 Revision 4 01 Command Three Letter Number 147 148 149 150 151 152 154 154 155 156 159 160 161 162 162 163 164 165 166 167 168 169 170 171 171 172 173 174 176 177 178 179 180 181 182 183 184 185 186 187 188 SlverMWax Command Reference Acronym TLA CME CTC TAL AHC ERL OLP WRP WRF IDT LRP VMP RAV RRV JMP JOI CIS CKS CLC CLM KMC MCT FLC EEM DDB DEM PAC ADL BRT MAT MRT RAT RRT SSD KMR KED KDD DIR PRO SIF EDL CIO Command Set Numeric List Command Name Program Mode Commands Clear Max Error Control Constants Torque Limits Anti Hunt Constants Error Limits Open Loop Phase Write Register Program Mode Write Register File Identity Load And Run Program Velocity Mode Program Mode Register Move Absolute Velocity Based Register Move Relative Velocity Based Jump Jump On Input Clear Internal Status Check Internal Status Calculation Control Loop Mode Kill Motor Conditions Motor Constants Filter Constants Enable Encoder Monitor Disable Done Bit Disable Encoder Monitor Phase Advance Constants Ack Delay Baud Rate Move Absolute Time Based Move Relative Time Based Register Move Absolute Time Based Register Move Relative Time Based Scaled Step And Direction Kill Motor Recovery Kill Enable Driver Kill Disable Driver Direction Protocol Serial Interface Enable Done Low Configure I O 175 Reference Page Number 168 28 6
22. Run Program NV Memory NV Memory Program Class D Address Range LRP 156 0x9C 2 words Example QuickControl Example Load and Run the Program stored Edit LAP Load and Run Program at NV Memory Address 150 7 16 156 150 CR Select Program To Load and Run Cancel ike Description Select From List of Programs SilverMax Response ACK only Enter Absolute Address SlverMax Command Reference 130 Revision 4 01 Program Flow Commands Program Call PCL Description If the conditions are met PCL jumps to the specified Program Buffer location program label in QuickControl and continues executing commands until a Program Return i e PRT or PRI command is encountered A Program Return command causes the execution to continue at the command after the PCL Only one PCL can be executed at one time no nested routines If a second PCL is executed before a Program Return the program will error Stop execution and Bit 12 in the Polling Status Word will be set The PCL and Program Return must both be in the Program Buffer Same QuickControl program See Jump JMP command for details on the Condition State and Condition Enable parameters See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num a oe ins PCL Class D Code Hex
23. Test PERE stop p SlverMax Command Reference 99 Revision 4 01 Motion amp Profile Move Commands Description After a Pre Calculate Move PCM command has been successfully executed the pre calculated move is in a ready state The PCG command initiates the move which will begin immediately within 120 usec If the pre calculation was bad parameters out of range or a second motion command precedes the PCG a program error will result and the motor will be shut down It is not required for the PCG command to immediately follow the Motion command Other commands that do not affect the Motion intermediate values can be executed before the PCG A second motion command or the velocity mode command before the PCG will cause a program error Command Info Command Command Parameters Param Parameter Name Type Num Type Range Pre Calculated Program NONE NONE NONE Program NONE NONE NONE Go PCG Class D 232 OxE8 1 word Example QuickControl Example Perform the Calculation Task on Edit Command following Motion command Command H ame MOVE PEG Pre Calculated Ga Description Teszt Cancel 16 232 CR SilverMax Response ACK only SlverMax Command Reference 100 Revision 4 01 Motion amp Profile Move Commands See Also Pre Calculated Go Pre Calculate Move PCM PCG Description The Pre Calculate Move command causes SilverMax to perform just the calculation task on a m
24. Type Num Modulo Set MDS Program Class D 189 OxBD 4 words to 32 evi Encoder Source S16 Internal ra pp External Output Format ute 0 A BQuad Format 0 A B Quad 1 Step Up Dn 2 Step 4 Dir Example Divide internal encoder counts by 50 and output in A B Quadrate format 1016 189 50 0 CR SilverMax Response ACK only SlverMax Command Reference 150 QuickControl Example Edit HDS Modulus Set Cancel Description Modulo Count Divide the encoder by this count before outputting Encoder Source Internal I External al AB Quadrature on a Step 1 01 6 0 6 and 7 Direction 1 0 7 C Step Up 1 0 6 Step Down 10 47 Output Format Revision 4 01 Modulo Trigger MDT Description I O Commands The Modulo Trigger allows digital I O 1 to act as a gating or triggering signal Trigger mode 0 disables modulo output until I O 1 goes from logic Low 0 to High 1 Mode 1 enables modulo output for continuous operation Mode 2 will gate the modulo output whenever I O 1 is high 1 Mode 0 is edge triggered and can be used to as a one shot trigger Mode 2 is used as a one shot reset for mode 0 Mode 0 is set up by first going into mode 2 If I O 1 is low this will disable modulo output which resets the one shot Mode 0 can now be set and will wait until l O 1 goes from Low to High before enabling modulo output
25. User s Manual Command Info Command Command Parameters Param Parameter Name Type Num Type Range Enable Program NONE NONE Multitasking Class D EMT 225 0xE1 1 word Example QuickControl Example Enable Multitasking operation Edit Command Command Name 16 225 CR INIT EMT Enable Multi Tasking Description Cancel SilverMax Response ACK only SlverMax Command Reference 39 Revision 4 01 Initialization Commands Error Limits ERL Description Error Limits sets the Moving Error limits the Holding Error limits and the Delay to Hold time following a motion before the servo uses the holding torque limit setting and the holding error limits At the completion of a motion the Trajectory Generator has completed the move calculation the Delay to Holding counter will begin counting down When the count reaches zero One count per 120 microseconds the servo changes to Hold Mode The Moving Error limit is always checked while the Holding Error limit is only checked while in the hold mode The Delay to Holding also controls when the SilverMax will switch from the moving torque limits to the holding torque limits Error conditions are set in both the Internal Status Word and in the Polling Status Word if the error limits are exceeded See Status Words in User Manual for details A special Drag mode may be implemented by setting the error limits to negative values The absolute value of the
26. Word Lower Word Carriage Return Return Data Address Recieved of Data of Data ACSII Code 10 000C 0005 O6A3 CR SlverMax Command Reference 158 Revision 4 01 Data Register Commands Register Store Multiple RSM Description Stores data from an array of Data Registers to the selected NV Memory address A Checksum value is calculated from the array and stored with the array Data from the selected Data Registers is stored sequentially to NV Memory Data is also copied from the Data Registers sequentially The Length of the array and a Checksum are combined and written to the first NV Memory Address followed by a 0 then the array of data The length is used by the Register Load Multiple command to know the size of the array to load from Nonvolatile Memory The Checksum is used by the Register Load Multiple command to determine the data integrity This prevents the loading of bad data that could cause erratic operation The O prevents an array of data from being executed as a program See Non Volatile Memory in User Manual for details on storing data INDIRECT ADDRESSING The Nonvolatile Memory may be indirectly addressed by putting the wanted address into Register 10 and then using a NV Memory Address of zero The zero address triggers the indirect addressing mode as location 0 is reserved as the start of the initialization program This may be used to recall a long series of numbers from NV memory via a loop
27. clear izo H Cancel 16 206 1 CR SilverMax Response Description ACK only SlverMax Command Reference 146 Revision 4 01 I O Commands Disable Encoder Monitor DEM Description Turns off the Enable Encode Monitor mode If the Enable Encode Monitor mode was set this command will take it out of the monitor mode and return the Digital I O to normal operation See Enable Encode Monitor below for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Disable Program NONE NONE NONE Encoder Class D Monitor 171 OxAB DEM 1 word Example QuickControl Example Turn off monitoring of the Internal Edit Command Encoder Command Marne fio DEM Disable Encoder Monitor Description Test 16 171 CR SilverMax Response ACK only SlverMax Command Reference 147 Revision 4 01 I O Commands Enable Encoder Monitor EEM Description The Enable Encoder Monitor command is used to output the SilverMax Internal Encoder signals to the Digital I O It causes a buffered copy of the raw encoder signals to be output to three digital lines for external viewing The Encoder A signal is output to I O line 1 the Encoder B signal to I O bit line 2 and the Encoder Index signal is output to I O line 3 These signals have the same output specifications as the generic digital outputs I O lines 1 2 and 3 are not available in Bit Output mode either set
28. clear the download mode set the program pointer to 0 and start the program The Program Buffer can be filled using the Start Download command from the Host controller see Start Download below lt can also be filled using the Load Program command that will move a program from the nonvolatile memory into the Program Buffer see Load Program above Any Command or Program remaining in the Program Buffer can be executed over again using this command A Stop command will stop the program but not clear the buffer When in Host Mode Program Mode commands sent to the SilverMax will remain in the buffer until another Program Mode command is sent or a Program is loaded The Run Program command can be used to repeat the previous Program Mode command Sending this command while a Program or Command is executing will give a SilverMax NAK Busy response NOTE Sending a Program Mode command while in Host mode actually loads that command into the start of the command buffer with an END command inserted behind it and then that short program is run See SilverMax Memory Model in User Manual for details on downloading and running programs Command Info Command Command Parameters Param Parameter Name Type Num Type Range Run Program Immediate NONE NONE RUN Class C 10 0x0A 1 word Example QuickControl Example Run the Program or Command that Immediate Host Command Only was previously loaded into the Program Buffer
29. condition will always disable the drivers regardless of the of Kill Enable Drivers state See Shutdown and Recovery in User Manual for details Default has only Over Temperature enabled Command Info Command Command Parameters Param Parameter Name Type Num Type Range Kill Motor Program Condition U16 O to 65535 Conditions Class D Enable KMC 167 OxA7 State Example Shut down servo if any of the following conditions are met O 1 LOW bit 4 Over Temp bit 7 Moving Error bit 8 NOTE Over Temp TRUE 0 Enable 2 2 2 400 State 2 0 2 0 2 1 256 16 167 400 256 CR SilverMax Response ACK only SlverMax Command Reference QuickControl Example Edit KMC Kill Motor Conditions Select which conditions will Kill the motor Press the buttons to OK change state or here for more help _ Cancel Index Found Disable Moving Error From Error Limit TRUE Last Calculation Was Zero Disable Holding Error From Error Limit Disable Last Calculation Was Positive Disable Halt Command Was Sent Disable Last Calculation Was Negative Disable Input Found On Last Move Disable 120 1 LOW Wait Delay Count Exhausted Disable 0 2 Disable Over Voltage Disable O 3 Disable Low Voltage Disable Over Temperature 47 Revision 4 01 Kill Motor Recovery KMR Description Initialization Commands See Also Kill Motor Conditions KMC The Kill Motor Recove
30. control cycle into the associated registers used by the profiled move command It then waits the designated number of cycles 120 microseconds each before loading the next set of data At the same time a Profiled Move operation is running in the background using the given data Each set of data represents a timed slice of the total motion consisting of a constant acceleration period ramping to the new velocity followed by a constant velocity period until the next set of data is loaded If the given destination is reachable in the time slice given the other parameters the target position will come to rest there until the next set of data is loaded that requires the motion to begin again Complex moves involving multiple axis may be generated that may run from either internal Non volatile memory or from the Serial interface These two distinct modes of operation are selected by the value of the data in Register 17 A non zero value indicates the address of the first of the four registers that will hold the data Once this command is executed the contents of the first of these registers will be copied to Register 18 to be used as a time countdown The continuing operation of this command will decrement Register 18 each cycle No external modification of Register 18 should be made while this mode is active The second register in this bank of four contains the target position for this time segment If the segment is intended to end with the vel
31. for the effects of gravity on the load that the servo is driving This servo control parameter is designed to neutralize the effect of gravity on mechanisms that operate in other than horizontal orientation It enables the servo control to operate consistently in both directions of servo rotation by creating a Torque offset that counters the torque required to hold the load in position The offset value is in torque units the same as the Torque Limits TQC command If for example it requires of the servos torque capability to hold the load in position the value may be set to approximately 1 4 of the 100 torque value If the full torque value were 20000 the 1 4 value would be 5000 Depending on the direction of the Torque applied to the servo shaft the value can be set to a negative or positive value Command Info Command Command Parameters Param Parameter Range Name Type Num Type S16 Gravity Offset Program Gravity Offset 32767 to 32767 Constant Class D Default 0 GOC 237 OxED 2 words Example QuickControl Example Set the Gravity Offset to 35 Edit GOC Gravity Offset Constant xJ Torque for a S 23 3 servo T 16 237 7000 CR Cancel Gravity Offset Torque Denon SilverMax Response ma 3 Units ACK only Normal Native SlverMax Command Reference 43 Revision 4 01 Identity IDT Description Initialization Commands The Identity command is used to set the Unit ID and Group ID addre
32. limit is used to generate the status conditions while the target is not allowed to get farther than the respective error limit from the servo position This can be used to set up a clutch mode where the output shaft can be dragged around to a desired position and the system will then maintain that position This is useful for some mechanical alignment procedures as well as for implementing drag clutch operations The defaults for SilverMax and QuickControl s Initialization Wizard are different as described below Command Info Command Command Parameters Param Parameter Range Name Type Num Type Error Limits Program Moving Limit S16 32768 to 32767 ERL Class D SilverMax Default 0 151 0x97 AA jj QuickControl Default 500 4 words Holding Limit S16 32768 to 32767 SilverMax Default O pf QuickControl Default 200 Default 200 Delay to Holding S16 0to65535 to Holding 0 to 65535 1 tick 120usec SilverMax Default 100 QuickControl Default 120 SlverMax Command Reference 40 Revision 4 01 Initialization Commands QuickControl Example Example Edit ERL Error Limits Allow 500 counts of error while moving and 100 counts of error when holding position Allow 120 Cancel milliseconds before going into Hold eg iii a mode with its tighter error limit 800 counts Description Holding Error Limit Miss black 16 151 500 100 1000 CR g foo counts ke ioe SilverMax Response
33. memory at address 1000 016 13 1000 CR SilverMax Response ACK only SlverMax Command Reference 137 Revision 4 01 Program Flow Commands Wait Delay WDL Description The Wait Delay command waits until the Delay Counter Register 5 has decremented all the way to zero Once it has reached zero this command is exited and the next command in the Program Buffer is executed The Delay Counter is initialized using the Delay DLY command with a negative value parameter or by directly writing to register 5 This causes the counter to begin the count down to zero When the count has expired the Wait Delay exits and allows the program to continue See Delay command above for more details The Delay counter may also be written with any of the register manipulation commands either from the Serial Interface or from the program This command is useful when a timer needs to be set before a series of other commands are executed with a wait at the end This allows a program or sub routine to execute with precise timing see Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Wait Delay Immediate NONE NONE NONE WDL Class D 141 0x8D 1 word Example QuickControl Example Cause program to wait until Delay E dit Command Count is expired Command Name
34. on the first E series servos rev 21 and older Command Type Number e Command Type Program or Immediate See below for details e Command Class A through F See below for details e Command numbers range from 0 to 255 e Commands with numbers less than 64 are Host level Immediate Mode only commands See Command Types below for more details e Command numbers 64 or greater are commands that can be contained in a program e Commands with numbers 64 or greater will generate a Busy NAK code if sent to the motor while it is executing a command or a program e Commands numbers are given in decimal and hexadecimal format In the above example the command number is 215 0xD7 215 decimal and D7 hex Parameters e List of parameters for this command e Parameters must always be included in the command even if the value is 0 Parameter Type e 82 indicates a signed 32 bit parameter which can range in value from 2147483648 to 2147483647 e U32 indicates an unsigned 32 bit parameter which can range in value from 0 to 4294967295 e 16 indicates a signed 16 bit parameter which can range in value from 32768 to 32767 e U16 indicates an unsigned 16 bit parameter which can range in value from O to 65535 Parameter Range e Typical parameter range Command Types The SilverMax command structure is divided into two major classifications Immediate Mode Commands and Program Mode Commands The Immediate Mode Comman
35. range The Total Time is a time value in ticks Ticks are based on the time of a servo cycle which defines each tick as 120 microseconds long The Acceleration Time is also represented by ticks This time value defines the time needed to accelerate up to the calculated velocity The Total Time and Distance must be consistent with the maximum velocity constraints of the motor 4000 RPM to prevent the generation of an error Acceleration Time can be no greater than 1 2 the Total Time value and not greater than 7 864 seconds in time 65534 ticks To convert Total Time and Acceleration Time to seconds multiply by 0 00012 Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values 0 and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details SlverMax Command Reference 96 Revision 4 01 Motion amp Profile Move Commands Command Info Command Command Parameters Param Type Parameter Range Name Type Num Move Program Distance 32 2 147 483 648 to Relative Class D 2 147 483 647 Coe e a eure Example QuickControl Example Move SilverMax 4000 counts from its Edit MAT Move Relative Time Based current position Do the move i
36. transferred up to the size indicated in the Length During the load process the data is used to calculate a checksum value When the load is complete the calculated checksum is compared to the stored checksum If the checksums do not agree Bit 14 in the Polling Status Word is set 1 to indicate a program load failure This command only transfers the program into the Program Buffer it does not cause execution to begin Once loaded into the Program Buffer a Run Program command must be issued to begin program execution The program will remain in the buffer until removed by the Clear Buffer command or over loaded by another Load Program command See SilverMax Memory Model in User Manual for details on downloading programs Command Info Name Type Num Load Immediate NV Memory Valid NV Memory LPR 14 Ox0E Word Count use count stored at 3 words The Count is ee address location typically set to O 1 to 199 read the literal word count Example QuickControl Example Load the program stored at NV Immediate Host Mode Command Only Memory Address 110 16 14 1100 CR SilverMax Response ACK only SlverMax Command Reference 129 Revision 4 01 Program Flow Commands Load And Run Program LRP Description The Load and Run Program transfers a program from nonvolatile memory to the Program Buffer and executes it This command combines the function of the Load Program and the Run Program together in
37. values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Move Program Data Register S32 Standard Register Relative Class D Ranae Velocity Based 161 0xA1 RRV di Example QuickControl Example Move SilverMax to position indicated by Edit RA Register Move Relative Velocity Based User Data Register 11 at vel 1000cps and acc 4000cps s E ata Register Cancel 16 161 11 3865 8053064 0 0 CR User 11 i Accelerati SilverMax Response ae Advanced 4000 ETES ACK only Velocity stop foao O _ SlverMax Command Reference 110 Revision 4 01 Program Flow Commands PROGRAM FLOW COMMANDS SlverMax Command Reference 111 Revision 4 01 Program Flow Commands CTW Calculation CLC Description The Calculation command provides basic math logic and other function using Data Registers The command uses two parameters combined into a single word Operation and Data Register to perform all of its defined operations Several of the operations have two Operands to perform the calculation When two Operands are required Data R
38. windings to reduce regenerated power flowing into the power supply input which boosts the supply voltage NOTE The Kill Enable Driver KED command does not allow the motor driver to stay enabled when an Over Voltage Trip occurs This condition always disables the motor driver The motor driver is disabled when this condition occurs and must be re enabled using the Enable Motor Driver EMD command or by re writing the Motor Constants MCT The factory default is set at 52 volts A power supply voltage that exceeds 52 volts may cause the motor to shutdown at power up Unregulated power supplies with excessive voltage ripple can cause an over voltage trip even though an average reading meter may report the voltage as within specification The over voltage trip may also activate when doing rapid decelerations with large inertias or using the SilverMax as a clutch without using a Clamp Module between the SilverMax and the power supply Command Info Command Command Parameters Param Parameter Name Type Num bie Range Over Voltage Program Voltage 1 to 53 Trip Class D 52 Default OVT 213 0xD5 2 words Example QuickControl Example Shut down the Motor if the input Edit O VT Over Voltage Trip voltage exceeds 52 volts 16 212 52 CR Over Voltage Trip Cancel 52 wolt Description SilverMax Response ACK only SlverMax Command Reference 54 Revision 4 01 Initialization Commands Phase Advance Constant
39. 1758 2329 32767 8213 CR Current Voltage 48 Update Cancel n i Mode SilverMax Response Auto default Quick Control will read voltage fram Silver as a ACK only Select ch Y lk C Manual eee on i Advanced l Edit Native C Native Silvera Edit Parameters e SlverMax Command Reference 51 Revision 4 01 Initialization Commands Maximum Temperature Trip MTT Description Sets the temperature at which SilverMax will shut down the servo This is used to prevent internal over heating of the servo electronics The value is entered in degrees Celsius integer units Example 70 for 70 degrees Celsius The maximum temperature error condition is OR ed with the motor driver over temperature condition Either active will cause an Over Temperature status condition in the Internal Status Word The temperature can be read using the ANALOG READ INPUT command Command Info Command Command Parameters Param Parameter Range Name Type Num Type Maximum Program oo al 0 Don t Check Temperature Class D 1 to 80 Trip 214 OxD6 Default 0 MTT 2 words Example QuickControl Example Set Servo to give an error at 70 Edit MT T Maximum Temperature Trip degrees C T 1 6 214 70 CR Maximum Temperature Trip _ Cancel fro ra Description SilverMax Response ACK only SlverMax Command Reference 52 Revision 4 01 Initialization Commands Open Loop Phase OLP Description The Open Loop Pha
40. 2 1000 CR Indirect Addressing Mode SilverMax Response Select the Starting Register ACK only User Input Source Data 12 gee ao HE EIA INCL Number of Register Sanaa nc ney Daue up fo addre See WR Mode Non Volatile Memory Location Normal fioo Native Hote When usma SlverMax Command Reference 157 Revision 4 01 Data Register Commands Read Register RRG Description The Read Register command reads back data from a selected 32 Bit Data Register using the Serial Interface Since it is an Immediate Mode this command can be used at any time even during program execution Any Data Register can be read back using this command including registers 0 through 40 amp 200 through 232 Command Info Command Command Parameters Param Type Parameter Range Name Type Num Read Immediate Data Register S16 Standard Register Register Class A Range RRG 12 0x0C 2 words Example QuickControl Example Read back the motor s current Immediate Host Command Only position 16 12 1 CR SilverMax Response Data Register data Response Example Example Read Register command that requests the Current Position from SilverMax 16 which is 10 in Hexadecimal the last 8 digits represent the 32 bits of position data The current position 329 379 in decimal 10 000C 0005 06A3 CR The return data breaks down as follows Indicates SilverMax Command Upper
41. 2 the Total Time value and not greater than 7 864 seconds in time 65534 ticks Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details SlverMax Command Reference 93 Revision 4 01 Motion amp Profile Move Commands Command Info Command Name Command Parameters Param Type Parameter Range Type Num Move Absolute Program Position S32 2 147 483 648 to Time Based Class D 2 147 483 647 ol 176 0xB0 Acceleration U32 0 to 65534 9 words Tinie Total Time 2 to 2 147 483 647 Stop Enable S16 U16 S16 U16 Example QuickControl Example Move SilverMax to position 200 in Edit MAT Move Absolute Time Based 1 0 seconds with a 0 1 second acceleration Cancel Absolute Location Comcel 16 176 200 83 8333 0 O CR 200 con Description SilverMax Response Advanced Ramp Time 100 moec o lo ACK only Stop Total Time i 00d rm ec SlverMax Command Reference 94 Revision 4 01 Motion amp Profile Move Commands Move Absolute Velocity Based MAV Description Move Absolute initiates a move to an absolut
42. 32 is greater or equal to 1200 Operation Register 256 32 288 OR Select from existing labels or enter a new one Cancel looP i OO Description 16 137 288 1200 10 CR Register User 32 SilverMax Response Data A A ACK only 1200 Hex Acceleration Long Velocity ULong Time Position SlverMax Command Reference 125 Revision 4 01 Program Flow Commands Jump On Register Less Than JLT Description The Jump On Register Less Than command allows looping and other conditional branching inside a program based on the comparison of the contents of the given register with the value of the compare parameter Note Internally JRE JGE JNE JLT all share the same Command Code with the difference indicated in the high byte of the Operation Register parameter see JRE command for details For this command the Operation Register parameter is equal to the register number 512 See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Jump On Register Less Than JLT Rev 29 Program Class E 137 0x89 5 words Example Jump to Program Buffer location 10 if Register 32 is less than to 1200 Operation Register 512 32 544 16 137 544 1200 10 CR SilverMax Respo
43. 5 23 40 53 166 166 44 130 78 108 110 124 121 169 168 115 27 47 91 42 148 29 147 55 21 26 93 96 107 109 73 48 46 45 31 57 62 37 145 Revision 4 01 Command Set Numeric List Command Three Letter Command Name ee Number Acronym TLA N mber Program Mode Commands 189 MDS Modulo Set 150 190 MDC Modulo Clear 149 191 MDT Modulo Trigger 151 192 SEE Select External Encoder 60 193 ARI Analog Read Input 144 194 WBS Wait On Bit State 140 195 SCF S Curve Factor 58 196 RSM Register Store Multiple 159 197 RLM Register Load Multiple 156 198 RSN Register Store To Nonvolatile 161 199 RLN Register Load From Nonvolatile 157 201 PCL Program Call 131 201 PCI Program Call On Input 132 202 PRT Program Return 133 202 PRI Program Return On Input 134 204 WBE Wait On Bit Edge 138 205 SOB Set Output Bit 153 206 COB Clear Output Bit 146 207 ACR Analog Continuous Read 142 208 PLR Power Low Recovery 56 211 CAI Calibrate Analog Input From Nonvolatile 176 212 LVT Low Voltage Trip 49 213 OVT Over Voltage Trip 54 214 MTT Maximum Temperature Trip 52 215 CTP Calculation Two Parameters 112 216 PIM Position Input Mode 71 217 VIM Velocity Input Mode 76 218 TIM Torque Input Mode 75 219 AHM Anti Hunt Mode 25 221 SSL Soft Stop Limits 64 222 TRU Torque Ramp Up 67 223 RSD Registered Step amp Direction 72 225 EMT Enable Multitasking 39 226 DMT Disable Multitasking 35 227 EMD Enable Motor Driver 38 228 DMD Disable Motor
44. 67 295 2 147 483 648 to 2 147 483 647 Example QuickControl Example Write the number 1 to data Edit Write Register File register 10 Ok 1016 154 10 1 CR Cancel Register File Mame Description ik SilverMax Response ACK only Register File Property to Write Star Address SlverMax Command Reference 164 Revision 4 01 Data Register Commands Write Register Immediate Mode WRI Description This command writes the given data into the selected 32 bit Data Register Using the Serial Interface this command can be used at any time even during program execution Command Info Command Command Parameters Param Type Parameter Range Name Type Num Write Immediate Data Register U16 Standard Register Register Class A Range Immediate 11 0x0B Mode WRI 4 words Data S32 U32 to 4 294 967 295 294 967 295 or 2 147 483 648 to 2 147 483 647 Example QuickControl Example Write the number 8000 to data Immediate Host Command Only register 12 16 11 12 8000 CR SilverMax Response ACK only SlverMax Command Reference 165 Revision 4 01 Data Register Commands Write Register Program Mode WRP Description The Write Register command writes the included data into the selected 32 bit Data Register This command is similar to Write Register Immediate Mode except it is designed to be embedded in a program and cannot be use through the serial interface while
45. 8 pd dd Example QuickControl Example Move SilverMax to position O at 56000 cps Edit MAY Move Absolute Velocity Based see Scaling 16 134 0 96637 450971566 0 O CR m Cancel Absolute Location SilverMax Response T count Description Adwanced ACK only Acceleration 1 00000 E cps A Test Response Example Velocity 10 CR SlverMax Command Reference 95 Revision 4 01 Motion amp Profile Move Commands Move Relative Time Based MRT Description Move Relative initiates a distance move relative to the current target position Relative Distances are based on the incremental encoder resident in SilverMax The move profile uses time as the constraint for the acceleration period and for the total move The Distance units are in encoder counts For a SilverMax with an encoder that provides 4000 counts per revolution one revolution of the motor is 4000 counts Time based moves will attempt to make the desired move within the times given The acceleration and velocity are calculated to accommodate the time requirements If the acceleration or velocity values needed to make the move exceed the maximum permissible limit the move will not be executed and an error code will be set in the Polling Status Word The Polling Status Word bit 14 Foreground Command Error will be set Foreground command errors are generated when a command cannot be executed due to parameters that are out of
46. 800ns 61 SEF Select Encoder Filter Cancel Revision 4 01 Initialization Commands Serial Interface SIF Description Allows the user to select between RS 232 and RS 485 serial communications hardware interface This command is usually used at power up as part of the initialization program Care should be taken when using this command as communications may be lost if the Host Controller is not compatible with the new hardware setting QuickControl will automatically set this parameter at download if the box Set to SIF currently being used by SilverMax is checked At download QuickControl asks the SilverMax whether is in RS 232 or RS 485 and then sets the SIF command accordingly If this command is sent in Immediate Mode the response will be in the new interface Command Info Command Command Parameters Param Parameter Range Name Type Num Type Serial Program Mode S16 0 RS 232 Interface Class D Default SIF 186 OxBA 2 words Example QuickControl Example Set up SilverMax to use RS 232 for Edit SIF Serial Interface the serial interface 1016 186 0 CR Serial Interface ease f AS 232 iw Currently being D fused b escriphon SilverMax Response C AS 485 SiveMar eso ACK only SlverMax Command Reference 62 Revision 4 01 Initialization Commands See Also Select External Encoder SEE Dual Loop Control DLC Single Loop Control SLC Description Config
47. Condition Enable 0 to 65535 201 0x09 OO a MMMM 4 words Program Butter O to 199 Location Example QuickControl Example Call Program Buffer location 50 if e digital input 1 is High 1 E a 16 201 50 16 16 CR Cancel Select from existing labels or enter a new one Description SilverMax Response LOOF El psu Select conditions for Program Call Conditions ACK only SlverMax Command Reference 131 Revision 4 01 Program Flow Commands Program Call On Input PCI Description The Program Call on Input command PCI works the same as Program Call PCL except the format of the call conditions See Program Call PCL for details See Jump on Input JO command for details on using the Enable Code and Enable State parameters See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Program Call Program Enable Code On Input PC Class D Enable State 201 0xC9 Bai AA AAA Program Buffer 4 words Example QuickControl Example Call Program Buffer location 50 if Edit PCI Program Call On Input x digital input 2 is High 1 1 16 AUT OURE CR Select from existing labels or enter a new one Cancel p Description SilverMax Response CHECK 10 EA ACK only Select conditions for Program Call On Input Conditio
48. Description SilverMax Response a ie Normal ACK only Mie le i SlverMax Command Reference 24 Revision 4 01 Initialization Commands l See Also Anti Hunt Constants AHC Description The default mode of Anti Hunt automatically switches from open loop to closed loop as soon as a motion begins and then remains in closed loop for Anti Hunt Delay time counts after the position error is less than the Closed to Open parameter Anti Hunt Mode with Mode 1 bypasses the in motion check allowing the servo to remain in open loop even while moving as long as the error is sufficiently low A value of Mode 0 switches the Anti Hunt function back to its default mode of operation With Mode 1 some Anti Hunt Delay AHD is useful to keep from switching between moving and stopped while moving at low speeds Command Info Command Command Parameters Param Parameter Range Name Type Num Type Description Anti Hunt Program O or 1 Mode AHM Class D 0 only when stopped Rev 29 Code Hex Default 219 OxDB 1 moving or stopped 2 words Example QuickControl Example Allow Anti Hunt Mode only while AHM Anti Hunt Mode stopped Determine whether or not AnteHunt is active while in motion 16 219 0 CR Cancel _Descinten SilverMax Response Anti Hunt Mode f only when stopped ACK only default c when moving ar stopped SlverMax Command Reference 25 Revision 4 01 Initialization Command
49. Driver 34 229 HSM Hard Stop Move 81 230 AHD Anti Hunt Delay 24 231 PCM Pre Calculate Move 101 232 PCG Pre Calculated Go 100 233 XRV Extended Register Move Relative Velocity Based 84 GilverMax Command Reference 176 Revision 4 01 Command Set Numeric List Command Three Letter Command Name dea Number Acronym TLA ias Program Mode Commands 234 XAV Extended Register Move Absolute Velocity Based 82 Extended Register Move Relative SE AS Time Based ee 036 XAT Extended di Absolute 87 237 GOC Gravity Offset Constant 43 238 JNA JUMP ON INPUTS NAND Ed 123 239 JOR JUMP ON INPUTS OR Ed 124 240 PMC Profile Move Continuous 102 241 PMV Profile Move 105 242 PMX Profile Move Exit 106 243 DLC Dual Loop Control 32 244 SLC Single Loop Control 63 245 PCP Position Compare 152 248 ATR Add To Register 155 249 PMO Profile Move Override 104 250 JAN Jump On Inputs Anded 120 251 EDH Enable Done High 36 252 DIF Digital Input Filter 30 253 IMS Interpolated Mode Start 87 254 IMQ INTERPOLATED MODE QUEUE CLEAR 90 GilverMax Command Reference 177 Revision 4 01 Index 66 clutch 41 Done 37 38 Drag 41 8 8 Bit ASCII 58 9 9 Bit Binary 58 A A B Quad 61 Absolute position 93 95 Absolute Value 113 Acceleration 95 99 108 Acceleration Time 94 97 107 109 ACK 22 ACK Delay ADL 22 Acknowledgement ACK 22 Add 113 Add To Register ATR 156 Analog Continuous Read ACR 143 ANALOG CONTINUOUS R
50. EAD ACR 144 ANALOG READ INPUT ARI 145 And 113 Anti Hunt Constants AHC 24 Anti Hunt Delay AHD 25 Anti hunt mode 24 Anti Hunt Mode AHM 26 B Baud Rate BRT 27 Bits per second 27 C Calculation CLC 112 Calculation Two Word CTW 115 Call 133 134 135 Check Internal Status CKS 170 Class A Commands 9 Class B Commands 9 Class C Commands 9 Class D Commands 9 Class E Commands 9 Class F Commands 9 GilverMax Command Reference Command Name Cross Reference Clear 113 Clear Internal Status CIS 171 Clear Max Error CME 172 CLEAR OUTPUT BIT COB 147 Clear Poll CPL 11 Clear Program CLP 116 Clockwise 32 Closed Loop 70 Closed Loop Holding 67 Closed Loop Moving 67 Command Classifications 9 Command Numbers 7 Command Parameters 7 Command Structure 6 Command Types 7 CONFIGURE I O CIO 146 Control Constants CTC 29 Control Loop Mode CLM 28 Copy 113 counter 118 counter clockwise 32 D Data Register Commands 155 Day 16 Decrement 113 Delay 139 Delay DLY 117 118 Digital Input Filter DIF 31 Direction DIR 32 Disable Done Bit DDB 30 Disable Driver 46 DISABLE ENCODER MONITOR DEM 148 Disable Motor Driver DMD 35 Disable Multitasking DMT 36 Div 113 download 137 Dual Loop Control DLC 33 E Enable Done High EDH 37 Enable Done Low EDL 38 Enable Driver 47 ENABLE ENCODE
51. External Encoder SEE command to set up the external encoder usage NOTE The Control Constants CTC typically need to be configured differently for single loop operation than for dual loop operation The Velocity and Acceleration parameters for motions become related to external encoder counts rather than internal encoder units The feedforward acceleration and velocity terms are relative to full soeed in external encoder units while the feedback terms are relative to the internal encoder units thus the feedback terms may need to be different from the feedfoward terms in order to minimize following error If the external encoder has three times the resolution of the internal encoder then the feedback terms need to be three times as large as the feedforward terms to balance their gains Command Info Command Command Parameters Param Parameter Name Type Num Type Range Dual Loop Program NONE NONE NONE Control DLC Class D 243 OxF3 1 word SlverMax Command Reference 32 Revision 4 01 Example Configure SilverMax for Dual Loop Control 016 243 CR SilverMax Response ACK only SlverMax Command Reference 33 Initialization Commands QuickControl Example Edit Command Command Name INIT DLC Dual Loop Control i i Description Test Cancel Revision 4 01 Initialization Commands Disable Motor Driver DMD Description Disables the motor driver and shorts the windings together The SilverMax wi
52. FLOW wD Lawat Delay Description Test Cancel 016 141 CR SilverMax Response ACK only GlverMax Command Reference 138 Revision 4 01 Program Flow Commands Wait On Bit Edge WBE Description During program execution the Wait on Bit Edge command causes SilverMax to wait until a condition is true This is a very fast check that is done every servo cycle 120microseconds Placing this command in a program will cause the program to wait on the current line until the input condition is met There is no wait limit therefore this can put SilverMax into an endless wait state The l O bit condition is edge triggered The input must transition from High to Low for the Falling and Low to High for the Rising condition to be true See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples See SE en 2 O VOR 3 pp pros io o ps _ a a posts 7 vow e __ Current Index Sensor ST Internal Index Sensor 0 External Index Sensor 2 e Holding Error Status s Trajectory Generator a4 Delay Counter Active Command Info Command Name Command Parameters Param Type Parameter Range ee a a UA PP WBE Class D A A A 204 OxCC Enable State S16 0 falling High to Low 3 words 1 rising Low to High Example QuickControl Example Cause program to wait until I O 1 Edit WBE Wait On Bit Edge goes from Low to
53. GilverMax Command Reference Revision 401 January 2003 SilverMax and QuickControl are registered trademarks of QuickSilver Controls Inc Anti Hunt and PVIA are trademarks of QuickSilver Controls Inc The SilverMax embedded software SilverMax electronic circuit board designs and the embedded logic in the contained CPLDs as well as this SilverMax Command Reference are Copyright 1996 2002 by QuickSilver Controls Inc SilverMax is covered under US Patent 5 977 737 SlverMax Command Reference i Revision 4 01 QuickSilver Controls Inc 580 E Arrow Hwy Suite E San Dimas CA 91773 888 660 3801 fax 909 447 7410 www QuickSilverControls com Notice of Court Order Dated 01 26 04 2 January 2004 In December Animatics submitted a motion requesting the Court to declare the S Series infringes based on new disassembly techniques and that the production units were not like the prototypes Although we disagree with the Court s finding and are submitting an emergency appeal with the Federal Court Appeal s Court the Court has found the S Series infringes and has barred the sale manufacture and use of the product Please see the 1 26 04 Order on the Legal Page of our website entitled Order Barring Sale and Manufacturing of S Series Product Line Units 01 26 04 Anticipating our emergency appeal the Court is allowing us to sell the S Series until February 13 The Court has ordered us to notify all distributors an
54. Go Closed Loop GCL Description Mode Commands Puts SilverMax into closed loop operation This is typically only done one time during initialization This command is used to put SilverMax into closed loop mode if the unit has been placed into open loop mode This command sets the phase relationship between the servo rotor and the encoder for closed loop operation See SilverMax Initialization in the SilverMax User Manual for more information Command Info Command Command Parameters Param Parameter Name Type Num Type Range Go Closed Program Class D 142 0x8E 1 word Loop GCL Example Put SilverMax into closed loop mode 16 142 CR SilverMax Response ACK only SlverMax Command Reference 69 NONE NONE NONE QuickControl Example Edit Command Command Name MODE GCL Go Closed Loop Cancel Description Test Revision 4 01 Mode Commands Go Open Loop GOL Description Puts SilverMax into open loop operation This is the default servo power up mode This command is used during servo initialization to aid in aligning the servo rotor to the encoder See SilverMax Initialization in the SilverMax User Manual for more information The command can also be used to force the servo into open loop mode This is not recommended for normal operation as the servo performance is severely degraded If the servo is in Dual Loop Control DLC operation when this command is encountered it is forc
55. ITION COMPARE PCP cccceeeeeeeeseseeeeeeeseecceeeceeeeeeeceensssssneeeeeseeeeeeeeeeeeeeeseeeesnensseees 152 SETOUPUT BM SOB herna RSR 153 DATA REGISTER COMMANDS conocio 154 ADD TO REGISTER ATR oaea ote cea us 155 REGISTER LOAD MULTIPLE RLM e a a a a mie A E a eae aaa alae area E A E EEE 156 REGISTER LOAD NONVOLATILE RLN aa Ee a E a eS 157 READRECISTER ARG praen a a a a a 158 REGISTER S TORE MULTIPLE RSM A O R ale mae eee man 159 REGISTER S TORE NONVOLATILE RSN EET EA P es ares Gaede Ln at aa eS 161 WRITE CMD LONG WORD WE ata 162 EUA A GVW seed T 163 WRITE REGISTER FILE WRF A E Te ere a a ea al e 164 WRITE REGISTER IMMEDIATE MODE WRI O E ec PAE TE de Rance E Reel E Dat 165 WRITE REGISTER PROGRAM MODE WRP 2 c eccececeesecceccerescececcceecescaeeccarerearereuseetereateres 166 MISC COMMANDS estaria ati 167 CHECK INTERNAL STATUS OKS ing 168 CLEAR INTERNAL STATUS CIS a e deb 169 CLEAR MAX ERROR EME aaa 170 TARGET TO POSITION TTP dla E anann 171 ZERO AR E T a E A A 172 ZERO TARGET amp POSITION ZTP ooooocccccccccccccnnccnnnnonononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnononcninininines 173 SlverMax Command Reference 4 Revision 4 01 How TO USE THIS MANUAL The Command Reference contains a detailed description of every SilverMax command It should be used as a reference not as a tutorial For general information on SilverMax and QuickControl please refer to the SilverMax User Manual The manual is broke
56. Inout Mode uses a set of Data Registers and processing to allow sophisticated manipulation of the input data This allows the input signal to be calibrated to give the desired velocity control See Input Mode Usage in SilverMax User Manual for more details on using this mode Command Info Command Command Parameters Param Parameter Name Type Num Type Range Velocity Input Program Filter S16 O to 32767 Mode VIM Class D Constant At RDR Stop Enable S16 U16 See Above 4 words Stop State S16 U16 See Above Example QuickControl Example Edit YIM Yelocity Input Hode Velocity Input Mode using a 117 Hz filter 7 117 27 120uS 30000 32768 e Input Data Filter Cancel 16 217 30000 1 1 CR 117 Hz _ Descipton Exit Conditions SilverMax Response Use Descriptive Names for Input Mode Registers 12 19 ACK only SlverMax Command Reference 76 Revision 4 01 Mode Commands Velocity Mode Immediate Mode VMI Description Accelerates the servo from the present velocity to the indicated velocity using the given acceleration If the servo has an active move operation in progress that motion is taken over from its current velocity and servo ramps to the new velocity at the given acceleration rate Any program operating is stopped and the contents of the command buffer are modified This command is used when the velocity mode needs to be controlled from a Host controller This command can only be used through the serial in
57. Input Mode Usage in SilverMax User Manual for more details on using this mode Command Info Command Command Parameters Param Type Parameter Name Type Num Range Position Input Program Filter Constant S16 0 to 32767 Mode PIM Class D Code Hex 5 216 0xD8 Stop Enable S16 U16 Example QuickControl Example Position Input mode using a 117 HZ filter 30000 32768 e a Edit PIM Position Input Mode 1016 216 30000 0 0 CR Sil M R Input Data Filter _ Cancel ilverMax Response Hz Description ACK only Exit Conditions Use Descriptive Hames for Input Mode Registers 12 15 SlverMax Command Reference 71 Revision 4 01 Mode Commands See Also Scaled Step 8 Registered Step Direction RSD ld ASS Description This command works the same as the Scaled Step and Direction SSD command below except that the scaling value is found in a User Data Register specified in the parameter The scaling value should be stored in the register prior to executing this command but it may be modified at any time after the Step and Direction mode is initiated All commands able to modify register contents can be used to set the scaling value This includes the Calculation command CLC which can be used to dynamically adjust the scaling value when in Multitasking operation See High Speed Signals in User Manual and for more details Command Info Command Command Parameters Param Parameter Name T
58. Memory may be indirectly addressed by putting the wanted address into Register 10 and then using a NV Memory Address of zero The zero address triggers the indirect addressing mode as location 0 is reserved as the start of the initialization program This may be used to recall a long series of numbers from NV memory via a loop operation NOTE If this command is used in QuickControl s Normal Mode many of the complexities go away See Register File System in SilverMax User Manual for details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Program Number of S16 1 to 10 Load Multiple Class D Registers RLM dl na Starting Data S16 Standard Data Range gt 10 wae Register O for indirect addressing NV Memory U16 Max Size at NV memory Address Example QuickControl Example Sequentially Load 5 data registers Edit RLM Register Load Multiple starting at 16 with the data from NV memory address 1000 Cancel Begeter Ale Hame 16 197 5 16 1000 CR EneNaneHee E an SilverMax Response di Indirect Addressing Mode Edit Hegeter Eile ACK only Select the Starting Register a Uzer Maximum Output Scale 16 mdiect addressa the accumulator must Ge loaded vath Number of Registers hone oleate menan F m address See WEE Mode Non olatile Memon Location ome f 00d 5 i Native ii SlverMax Command Reference 156 Revision 4 01 Data
59. Modulo value used for creating a continuous toggle of the output After the first position compare the Modulo value is added to the Position value to set up for the next compare This will continue until the Position Compare is disabled Setting values to O or the motion completes If the Modulo value is O only a single compare takes place Position Compare can be done in both positive and negative position moves The Modulo is added as an absolute value to the Position This command is accomplished using a software compare updated every 120 usec and therefore may have a small delay of 120 microseconds from a compare to the actual I O 1 change of state Command Info Command Command Parameters Param Type Parameter Range Name Type Num Position Program Data Register 0 Disable Usage Compare Class D Standard Register PCP 245 OxBF Range 2 words Example QuickControl Example Enable Position Compare using Data Register 28 for the Position compare value and 29 forthe OK Modulo value Register Cancel 16 245 28 CR Description SilverMax Response ACK only SlverMax Command Reference 152 Revision 4 01 I O Commands See Also COB Set Output Bit SOB Description Sets the selected Digital I O bit to a logic High 1 condition Output 5 volts If the I O was configured as an input this will reconfigure the bit as an output and set it to lo
60. Move Queue Clear Description SilverMax Response ACK only SlverMax Command Reference 90 Revision 4 01 Motion amp Profile Move Commands s See Also Profiled Move PMV Interpolated Move Write Queue IMW interpolated Move Start ms Interpolated Move Clear IMC Description This Command writes data to the Interpolated Move Queue through the Serial Interface This queue is a software FIFO First in first out buffer capable of holding data for up to four interpolated motion segments the data for each segment consisting of four long words 32 bits each of data If the data is able to fit within the queue it is accepted and the communication is acknowledged If the queue is full the request is answered with a NAK Full response This NAK is to be expected it just indicates that the host is successfully keeping the queue filled The same data should be sent again until it is positively Acknowledged The four long words of data associated with each Interpolated Move segment are Time ticks Indicating the number to 120 microseconds time slices the segment is to last A 0 indicates it is the last segment of the move Position Unless the segment is intended to come to a halt at a given location this should be full scale positive if the final velocity of the segment is positive or full scale negative if the final velocity of the segment is to be negative Acceleration Indicates the acceleration or decelera
61. NONE NONE NONE QuickControl Example Edit Command Ed Command Hame ES TPizZero Target and Position Test Cancel Revision 4 01 Command Set Numeric List SilverMax Command Set Numeric TLA List Some commands share the same command number This occurs when a SilverMax command accepts alternate parameters or has multiple uses Command Three Letter Command Name o Number Acronym TLA Number Immediate Mode Commands 0 POL Poll 11 1 CPL Clear Poll 10 2 HLT Halt 17 3 STP Stop 19 4 RST Restart 18 5 RVN Revision 15 6 RPB Read Program Buffer 14 8 CLP Clear Program 115 9 SDL Start Download 136 10 RUN Run Program 135 11 WRI Write Register Immediate Type 165 12 RRG Read Register 158 13 SPR Store Program 137 14 LPR Load Program 129 15 VMI Velocity Mode Immediate Type 17 20 RIS Read Internal Status Word 13 21 RIO Read I O States 12 25 IMW Interpolated Mode Write Queue 91 131 LVP Low Voltage Processor Threshold 49 134 MAV Move Absolute Velocity Based 95 135 MRV Move Relative Velocity Based 98 137 JRE Jump On Register Equal 174 137 JGE Jump On Register Greater Or Equal 123 137 JLT Jump On Register Less Than 126 137 JNE Jump On Register Not Equal 127 138 WCL Write Command Long Word 162 139 WCW Write Command Word 163 140 DLY Delay 117 140 WDL Wait Delay 174 142 GCL Go Closed Loop 69 143 GOP Go Open Loop 70 144 ZTG Zero Target 172 145 ZIP Zero Target And Position 27 146 Ms Set Target To Position 171 SlverMax Command
62. OR EQUAL JGE 125 Jump On Register Less Than JLT 126 Jump On Register Not Equal JNE 127 K Kill Motor Condition 46 47 Kill Motor Conditions 49 Kill Motor Conditions KMC 48 Kill Motor Recovery KMR 49 L Load And Run Program LRP 131 Load High Word 113 Load Indirect 113 Load Low Word 113 Load Program LPR 130 logic 112 Low Voltage Processor Trip LVP 50 Low Voltage Trip 57 Low Voltage Trip LVT 51 math 112 Maximum Temperature Trip MTT 53 Misc Commands 169 Mode Commands 69 Modulo 114 MODULO CLEAR MDC 150 MODULO SET MDS 151 MODULO TRIGGER MDT 152 Month 16 Motion amp Profile Move Commands 81 Motor Constants MCT 52 Move Absolute 82 83 107 108 Move Absolute Velocity Based MAV 95 Move Relative 84 85 109 110 Move Relative Time Based MRT 96 Move Relative Velocity Based MRV 98 Mult 113 Multitasking 36 N Nonvolatile Memory 157 159 161 163 O open loop 71 Open Loop Phase OLP 54 Options Number 16 Or 113 Output 146 154 Revision 4 01 OUTPUT 147 Over Temperature 53 Over Voltage Trip OVT 55 Override Commands 17 P Pack 113 Phase Advance Constants PAC 56 Poll POL 12 POSITION COMPARE PCP 153 Position Error 172 Position Input Mode PIM 72 Power Low Recovery 50 51 Power Low Recovery PLR 57 PRE CALCULATE MOVE PCM 101 Pre Calculated Go PCG 100 Profile Move PMV 105 Profi
63. Only one ACR is active As soon as another ACR is issued any previous ACR is cancelled To read multiple analog inputs the Analog Read Input ARI Command must be issued repeatedly See Using Analog Inputs in the SilverMax User Manual for more information Command Info Command Command Parameters Param Type Parameter Range Name Type Num Analog Program Analog Channel Disable Continuous Class D ree a ere 1 Read ACR Code Hex 2 Analog 2 207 OxCF 3 Analog 3 3 words 4 Analog 4 5 Analog 1 and Analog 2 6 Analog 3 and Analog 4 7 V non calibrated 8 Temperature ADC counts Data Register S16 Standard Register Range SlverMax Command Reference 142 Revision 4 01 I O Commands Example QuickControl Example Configure Analog input 4 to do a Edit ACR Analog Continuous Read continuous read to Data Register Aer ee ontinuouel read analog input into selected DE H26 register NOTE Only the last ACR is active o at any given time Cancel 16 207 4 26 CR Channel Analog Channel 4 El Description SilverMax Response Register ACK only SlverMax Command Reference 143 Revision 4 01 I O Commands Analog Read Input ARI Description The Analog Read Input does a single read of a selected Analog Channel into a User Data Register A reading is taken only once and transferred into the selected Data Register Reading and filtering of all channels into dedica
64. R MONITOR EEM 149 Enable Motor Driver EMD 39 Enable Multitasking EMT 40 Encode Monitor 148 encoder 61 Encoder Monitor 149 End Program END 119 Error 172 178 Revision 4 01 Error Limits ERL 41 Extended Register Move Absolute Time Based XAT 82 Extended Register Move Absolute Velocity Based XAV 83 Extended Register Move Relative Time Based XRT 84 Extended Register Move Relative Velocity Based XRV 85 external encoder 61 External Encoder 33 F Fa Acceleration Feedback Filter 43 filter 31 Filter Constants FLC 43 Fv1 Velocity 1 Feedback Filter 43 Fv2 Velocity 2 Feedback Filter 43 G Go Closed Loop GCL 70 Go Open Loop GOL 71 Gravity Offset CONSTANTS GOC 44 Group ID 45 H Halt HLT 18 Hard stop 18 Hard Stop Move HSM 86 Hold 20 Hold Mode 41 I O Commands 142 Identity IDT 45 Immediate Type Commands Increment 113 INDIRECT ADDRESSING 157 159 161 Initialization Commands 21 Input 146 input filter 31 Internal Status Word 48 170 171 Interpolated Move Queue Clear IMQ 90 Interpolated Move Start IMS 87 Interpolated Move Write Queue IMW 91 J Jump JMP 120 Jump On Input JOI 121 Jump On Inputs And ed JAN 122 Jump On Nand I O State JNA 123 Jump On Or I O State JOR 124 SlverMax Command Reference Page 179 Command Name Cross Reference Jump On Register Equal JRE 128 JUMP ON REGISTER GREATER
65. Register Commands Register Load Nonvolatile RLN Description Loads data from the selected Nonvolatile Memory address into the selected Data Register A Checksum value is verified to insure good data see Nonvolatile Memory in User Manual for details on loading and storing data The loading process is the same as used by the Register Load Multiple with only one register being loaded The data selected must be stored using the Register Load Nonvolatile or the Register Load Multiple using 1 for the Number of Registers INDIRECT ADDRESSING The Nonvolatile Memory may be indirectly addressed by putting the wanted address into Register 10 and then using a NV Memory Address of zero The zero address triggers the indirect addressing mode as location 0 is reserved as the start of the initialization program This may be used to recall a long series of numbers from NV memory via a loop operation NOTE If this command is used in QuickControl s Normal Mode many of the complexities go away See Register File System in SilverMax User Manual for details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Load Program Data Register S16 Standard Reg Range gt 10 Nonvolatile Class D O for indirect addressing RLN 199 0xC7 Address Example QuickControl Example Load data register 12 with data Edit RLN Register Load Non Volatile from NV memory address 1000 o 16 199 1
66. a command or program is being executed Command Info Command Name Command Parameters Param Type Parameter Range Type Num Write Register Program Data Register U16 Standard Register Program Mode Class D Range WRP 154 ox9a Data Data s32uu32 0to4 294 967 295 294 967 295 Ones 2 147 483 648 to 2 147 483 647 Example QuickControl Example Write the number 1 to data WAP Write Register Program Mode register 10 16 154 10 1 CR Register Accumulator 10 Description Data Format SilverMax Response ACK only Hex C Acceleration Hk fi 2 Long C Velocity J ULong Time Position SlverMax Command Reference 166 Revision 4 01 Misc Commands Misc COMMANDS SlverMax Command Reference 167 Revision 4 01 Misc Commands Check Internal Status CKS Description This command checks the conditions of the Internal Status Word in the same manner as does the Jump command If the condition enabled is true bit 6 of the Polling Status is set to 1 A zero in the Condition Enable parameter unconditionally sets bit 6 of the Polling Status Word This command may be used to convey information from a program executing back to the host processor that is polling the SilverMax Command Info Command Command Parameters Param Parameter Name Type Num Type Range Check Program Condition Enable U16 0 to 65535 Internal Class D Status 164 OxA4 Example QuickC
67. ait on Cancel Condition Cancel E 1 Description pais Low FALSE High TRUE ie ESA Revision 4 01 I O Commands I O COMMANDS SlverMax Command Reference 141 Revision 4 01 I O Commands Analog Continuous Read ACR Description The Analog Continuous Read does continuous read of a selected analog channel into a User Data Register Readings are taken every servo cycle 120 usec and transferred into the selected Data Register A number of different analog channels are available with this command Reading and filtering of all channels into dedicated registers occur continuously in the background see Data Register Appendix in User Manual for register numbers This command only copies the current filtered register to the given register The internal Analog to Digital Converter ADC is a 10 bit version which yields approximately 0 005 volts per ADC count SilverMax filters 5 millisecond the inputs and scales them up to a 15 bit value 32 counts 0 005 volts but the resolution remains the same Note that the maximum reading corresponds to 32 1023 32736 Other types of data can be collected using the Analog Continuous Read The Input Power Supply voltage and Internal Temperature can both be read into a Data Register This information can be used for program conditional control or for direct read out to a Host controller selecting Analog Channel 0 disables the Analog Continuous Read
68. ameter of the command A program must be downloaded in the Program Buffer before the Store Program is used The program download mode is terminated by this command The length of the program in words and a Checksum are written to the indicated memory address followed by the program The length is used by the Load Program LPR or Load amp Run Program LRP command to know the size of the program to load from nonvolatile memory Because the length is written to the first address location add 1 word to overall length for keeping track of memory usage The Checksum is used by the Load Program or Load amp Run Program command to determine the data integrity This prevents corrupted or partially overlapping programs from attempting execution This command leaves a background routine running until the programming of the nonvolatile memory has completed Once completed Bit 15 in the Polling Status Word is set Bit 14 is set if the command attempts to write beyond the allowed memory space Execution time of this command varies depending on the number of words written See SilverMax Memory Model in User Manual for details on downloading programs Command Info Command Command Parameters Param Type Parameter Range Name Type Num Store Immediate NV Memory Valid NV Memory Program Class C Address Range SPR 13 0x0D 2 words QuickControl Example Example Immediate Host Command Only Store the currently loaded program into NV
69. ampled every 120uS The counts detected are scaled and summed to any remaining fractional count left from the prior period with the whole count being applied to the Target Position value The fractional remainder is saved for the following period Counts in excess of the maximum 31 32 counts per sample period are accumulated for use in the following sample period to handle sample period to sample period variations The command velocity should not exceed 4000RPM to prevent count loss For SilverMax Revision 29 and higher the counter is also double low pass filtered to generate an estimate of the Target Velocity for the Velocity Feedforward term The filter time constants used are the same as is used for the Velocity 1 and Velociy 2 Filters in the feedback loop All of the filter time constants in the system are set by the Filter Constants command The system switches to Moving Torque and Error Limits checking upon the first Step pulse being received and remains with these settings until the Hold Delay time has passed since the last Step pulse has been received and since the Target Velocity filter has been allowed to decay to zero Once these time limits have elapsed the system reverts to Holding Torque limits and Holding Error limits Some Anti Hunt Delay AHD may be needed to avoid switching between moving and holding modes at low step rates As with other moves the Scaled Step and Direction move may be exited via the Stop command or by th
70. ands Program Return On Input PRI Description The Program Return command is used as a complement to the Program Call command Program execution continues at the command immediately following the Program Call See Program Call PCL for details If a Program Return on Input is executed without a previous program called the program will error Stop execution and set Bit 12 in the Polling Status Word Program Return on Input can be set up to conditionally execute using the Digital Inputs This works identical to the Program Call on Input and Jump on Input commands Placing a O in both parameters will cause an unconditional return See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Program Program Enable Code S16 0 to 14 Return On Class D pula eee en Example QuickControl Example Return from Call if the Input 1 is Edit PRI Program Return On Input Low 0 Select which condition to Return on Condition _ Cancel E Hi Description State t Low FALSE High TRUE 016 202 7 0 CR SilverMax Response ACK only SlverMax Command Reference 134 Revision 4 01 Program Flow Commands Run Program RUN Description Executes the program that has been previously loaded into the Program Buffer This command will
71. associated with this command Each of the parameters is dedicated to a specified User Data Register Modifying the contents of the Data Register modifies the parameter see Scaling in User Manual for more details on SilverMax acceleration and velocity units The following table shows the list of the parameters and their associated Data Register a 2 147 483 648 to This is an Absolute destination Sets the acceleration rate that is Acceleration 2 to 1 073 741 823 used when increasing the move speed Velocity 0 to 2 147 483 647 The maximum speed that is allowed during a move Sets the deceleration rate that is Deceleration 2 to 1 073 741 823 used when decreasing the move speed 2 147 483 648 to A distance value to move that is 0 147 483 647 added to the current position when E EA a Stop Condition is encountered Data Registers must be pre loaded with the move parameters prior to issuing the Profile Move Continuous command Profiles Moves begin immediately after executing the command within 120 usec The motor is accelerated using the Acceleration parameter until the maximum Velocity is reached Deceleration begins when the distance of the move is such that the Absolute Position is achieved at the same time the motor has decelerated to 0 velocity Depending on the parameters the maximum velocity may never be reached Triangle Move During a Profile Move SilverMax is constantly recalculating its intermedi
72. ate move values every 120 usec This is done by taking the given move parameters the current position and current velocity and adjusting what is required to hit the absolute position This means that SilverMax can even go from a Velocity Mode into a Profile Move without needing to stop first Multitasking operation is required Remember that the move calculations are being done continually Therefore the parameters can be changed at any time and affect the motion in process SlverMax Command Reference 102 Revision 4 01 Motion amp Profile Move Commands The Acceleration and Deceleration parameters should typically be no greater than a ratio of 100 1 of each other one value is no greater than 100 times the other for numerical stability For higher ratios user must verify proper operation The Position parameter can act as a Relative Distance value by using the Add To Register command to increase or decrease the Position value See Add To Register for more details The Offset parameter is used to extend a move by the Offset Distance after a Stop Condition is encountered In cases where a move needs to continue a prescribed distance past the point where a sensor triggers a stop this parameter can be used to precisely control that offset distance to be moved Note that the offset is automatically negative if the direction of motion is negative when the input is found The Offset parameter allows trailing edge registration operations Sto
73. ations The Interpolated Start Move command may then be issued The motion will not start until the first data set has been written to the software FIFO circular queue The queue may be kept full by the host via the Serial Interface The buffering makes it easier to keep one or multiple axis fed with data It also eliminates an extra register read to determine when data is required See Interpolated Move Write Queue IMW command for details The Interpolated move continues until either the Segment Time read is a zero which terminates as detailed above or until the queue is found empty when data is required which uses the deceleration data in Register 19 to bring the motion to an end setting error bits as described above See Interpolated Motion Control in the User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Interpolated Program NONE NONE NONE Move Start Class D IMS 253 OxFD Rev 29 1 word Register usage Register 17 Points to Register containing Segment Data or 0 for Queued operation Register 18 Used internally to hold segment time countdown Register 19 Holds data loss deceleration value Registers 20 to 24 as defined in the Profiled Move command PMV Note Register 17 is modified following each non queued data transfer at the start of each segment See notes above SlverMax Command Reference 88 Revision 4 01 Example Start Inter
74. change of acceleration or jerk for a trapezoidal motion In a full s curve time based move the actual acceleration used is double that of a pure trapezoidal zero s curve motion In a velocity based move the time to complete the move increases proportionally to the amount of s curve specified In order to have the full s curve move complete in the same time as the trapezoidal move the acceleration parameter must be doubled The following chart shows a velocity based move with zero s curve trapezoidal full s curve and full s curve with the specified acceleration doubled Velocity Based Motion and S Curve 1200 o e ESE p E Full S Curve x Acceleration As Linear Ramp 3000 SOO gt Full S Curve Same Acceleration A as Linear Ramp AVAL NOK 000 goso 0100 0 150 0200 0250 0300 0350 0400 Time seconds Velocity RPM EE Linear SlverMax Command Reference 58 Revision 4 01 Initialization Commands Command Info Command Command Parameters Param Parameter Range Name Type Num Type Program O Trapezoidal Class D 1 to 32766 s curve 195 0xC3 32767 Full s curve 2 words Default 0 Example QuickControl Example Use some S Curve on next Motion Edit SCF S Curve Factor Profile 016 195 10813 CR si Cancel Description SilverMax Response ACK only SlverMax Command Reference 59 Revision 4 01 Initialization Commands Select External Encoder SEE
75. cononccononnnnnnnonnnnonnonnnnnnnonnnnnnnnononnnnnonons 102 PROFILE MOVE OVERRIDE PMO a vencecdusuneaaaheacungsedaneias iaa 104 ROBIE MOVE CPI case cee gegen cetacean i n 105 PROFILE MOVE EXIT PMX da 106 REGISTER MOVE ABSOLUTE TIME BASED RAT occoccccoccnccococcncnoconnocnnccononnnnonnnnnonnnnonnnnnnnonnns 107 REGISTER MOVE ABSOLUTE VELOCITY BASED RAV ccccecceeceeeceeceeeeeeeceeseeeeeeeseeeeeeneees 108 REGISTER MOVE RELATIVE TIME BASED RRT ccceccecsececeeceeeeeeeceeeeeeeseeaeeeeeeeeeeeeeneneees 109 REGISTER MOVE RELATIVE VELOCITY BASED RRV cccseceeceeceeeeeeeseeeeeeeseeeeeseceeaeeeeeeaes 110 PROGRAM FLOW COMMANDS escitas ci n 111 CALCULA TONE A 112 CALCULATION TWO WORD CTW ocoococcnccnccccococccccnconnccnononnonnncnnnonnnnnnnonnnnnnnnnnonnnnnnnnnnnononenos 115 GELEAR PROGRAM OLE Plis AAA ie ire nave 116 DELAS 117 DELAY INTER DE T einernie ibiic 118 END PROGRAM EN Di AAA A 119 JUMP A ea e E E A AE 120 JUMP ON INPUT JO esea ee It 121 JUMP ONAND VOSTATE AN o 122 JUMP ON NAND POSTA EIN A a N E T A ers A 123 JUMP ONOR MO STATE JOR russer Aa E 124 JUMP ON REGISTER GREATER OR EQUAL YGE coccoccccocconcccocooncnccncononccacononncacononnnanononnnanos 125 SlverMax Command Reference 3 Revision 4 01 JUMP ON REGISTER LESS THAN JLT oooooooccccccccccononcoooonnnnnnnnnnnnnncnnnccnonnnnnnnnnnn nn non nnnnnnnnnnnon 126 JUMP ON REGISTER NOT EQUAL JNE ooooocccccccccccocococonnnonononnn
76. cuted at any time including while SilverMax is in motion Executing this command will cause the addressed SilverMax unit to return either an ACK if no bits of the status are set or the Polling Status Word PSW The PSW contains information about the current state of the SilverMax See Polling Status Word PSW Section in the SilverMax User Manual The Poll command can be used when checking to see if a motion has completed This is useful when a system must wait for a SilverMax to complete its operation before performing the next operation lt may be used to verify that the last motion completed without any motion or position errors when the ERROR LIMIT command has been used to set up motion error conditions The Polling Status Word bits are Set when the particular condition takes place The bits are re set using a Clear Poll command See Clear Poll command above Note Additional conditions that occur after a Poll will show up in the following Poll even if those bits have been cleared in an intervening Clear Poll command i e they cannot be cleared until they have been read the data is double buffered See Polling and SilverMax Status Words in User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Poll Immediate NONE NONE NONE Class A O 0x0 No command will also trigger the poll routine Example QuickControl Example Poll without comman
77. d Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Move Program Absolute Class D Data Register S32 Standard Register Ranae Time Based 178 0xB2 RAT 9 words Total Time 2 to 2 147 483 647 Stop Enable S16 U16 S16 U16 Example Move SilverMax to position indicated by User Data Register 11 in 1000 mSec with a 100 mSec acceleration see Scaling in User Manual 16 178 11 833 8333 0 0 CR SilverMax Response ACK only SlverMax Command Reference Edit RAT Register Move Absolute Time Based QuickControl Example Data Register User 11 AD Advanced 100 msec if Test Total Time Stop i O00 msec 7 x Cancel Revision 4 01 Motion amp Profile Move Commands Register Move Absolute Velocity Based RAV Description The Register Move Absolute performs an absolute move using a position value contained in the indicated User Data Register This command works like the basic Move Absolute Velocity Based MAV co
78. d customers who have purchased the S Series units of this latest order The Court has ruled that the product line units do not conform to the prototypes in violation of the prototype approval order and the permanent injunction The Court also ordered us to warn the distributors and customers that any further use or sale by them is at their own peril Last year we appealed the Court s original December 2002 infringement decision The ruling of this main appeal is due any week now We still expect the Appeal s Court to rule that we do not infringe which would put an end to this case In addition to appealing the 1 26 04 order our emergency appeal will request that the main appeal be expedited and that the 1 26 04 Order be stayed pending the outcome of the main appeal As stated we disagree with the 1 26 04 Order and in particular with its assertion that we secretly changed the design For the last year Animatics has had the right to obtain servos from us or our customers to insure they were being assembled correctly and their attorneys always had the right to review our manufacturing procedures We did nothing in secret and the above measures insured nothing could be done in secret We documented our procedure knowing full well that it could be seen by the Court We understood that the Court approved the production units as long as they were as hard to disassemble as the prototypes We understood this to mean that the Court was relying on us to
79. d number Immediate Host Mode Command Only 16 CR Poll with command number 16 0 CR SilverMax Response ACK only or Pulling Status Word Response Example Response with status 10 0000 2000 CR Response without status 10 CR SlverMax Command Reference 11 Revision 4 01 Status Commands Read I O States RIO Description The I O State Word IOS is available for reading back the states of miscellaneous I O conditions This word is dynamic and may change every servo cycle 120 usec See I O State Word IOS in User Manual for bit definitions Command Info Command Command Parameters Param Parameter Name Type Num Type Range Read I O Immediate NONE NONE NONE States RIO Class A 21 0x15 1 word Example QuickControl Example Read back the I O State Word Immediate Host Mode Command Only 016 21 CR SilverMax Response I O State Code Response Example Indicates lines 4 5 6 amp 7 are High and lines 1 2 4 3 are also High 10 0015 FOFO CR SlverMax Command Reference 12 Revision 4 01 Status Commands Read Internal Status Word RIS Description The Internal Status Word ISW is used in SilverMax to keep track of different conditions that are present in the motor The Internal Status Word ISW can be cleared using the Clear Internal Status CIS command See Internal Status Word ISW in User Manual for bit definitions Command Info Command Command Parame
80. driver enabled if continuing operation is required In order for this command to function SilverMax must be set up for Multitasking operation Without Multitasking the driver will be disabled when a Kill Motor Condition occurs See Shutdown and Recovery in User Manual for details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Kill Enable Program NONE NONE NONE Driver KED Class D 182 OxB6 1 word Example QuickControl Example Leave the SilverMax motor driver Edit Command enabled Command Name INIT KED Kil Enable Orivers Description Test Cancel 16 182 CR SilverMax Response ACK only SlverMax Command Reference 46 Revision 4 01 Initialization Commands Kill Motor Conditions KMC Description The Kill Motor Conditions allows the user to select what conditions will allow a controlled shutdown of the SilverMax unit The Condition Enable word selects which bits in the Internal Status Word ISW will be evaluated See Internal Status Word ISW in User Manual for bit definitions Conditions are enabled by setting a 1 in the desired bit position of the Condition Enable binary word The Condition State word allows the user to specify the state of the selected conditions that will cause the servo to do a controlled shutdown Note Over voltage is always enabled whenever the driver is enabled to protect the drivers from over voltage An over voltage
81. ds may only be executed via the serial link while Program Mode Commands may be executed via the serial link or from the nonvolatile memory Program Mode Commands are temporarily stored in the Program Buffer prior to execution Before executing a Program the Program Buffer is filled with the given Program from either the serial communications or the nonvolatile memory Immediate Mode Immediate Mode Commands typically give an immediate result or return data when executed Most of these commands can be executed at any time even during SilverMax operation Some Immediate Mode Commands cannot be executed simultaneous to Program Buffer operations These commands and the conditions for execution are noted in the command description If command execution is attempted when not appropriate SilverMax will produce a NAK Device Busy response Immediate Mode commands do not use the Program Buffer They are executed as soon as they are received Exception Stop and change velocity immediate Overwrite the buffer and take over motion and command processing SlverMax Command Reference 6 Revision 4 01 Immediate Mode commands can only be used via the serial communications interface they cannot be used within a Program that is downloaded to SilverMax for Program execution A Host controller may use Immediate Mode Commands to set up control or determine status of a SilverMax Program Mode Program Mode Commands can be executed either from the se
82. e N 1 Acceleration Time N 2 Total Time The move parameters must be written into the User Data Registers prior to executing the move command The range of the move parameters stored in the User Data Registers must be the same as those used in the basic Move Relative Time Based MRT command The Write Register commands can be used to write the move parameters into the Data Registers The Write Register commands do not type check the parameters when written therefore errors may occur at time of execution Changing the move parameters during an actual move will have no affect on the move in progress Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Extended Program Starting Data S16 Standard Register Move Class D Register Register Range Time Ba 2 woras StopEnable S16 U16 See Above Time Based hie de Stop Enable S16 U16 See Above oT SETE Example QuickControl Example Move SilverMax using parameters from User Data Select the first of 3 consecutive regi
83. e the 8 Bit ASCII and the 9 Bit Binary See SilverMax User Manual for more information on Protocols When PRO is sent while the servo is in download mode see Start Download SDL command the servo will respond with an ACK If this command is sent in Immediate Mode the response will be in the new protocol Command Info Command Command Parameters Param Parameter Range Name Type Num Type Protocol Program Mode S16 O 9 Bit PRO Class D 1 8 Bit Default 185 0xB9 2 words Example QuickControl Example Select the 8 Bit ASCII Protocol Edit PRO Protocol x 16 185 1 CR m Fratocol ae SilverMax Response E FBi Binary Description f S Bit ASCII See above SlverMax Command Reference 57 Revision 4 01 Initialization Commands S Curve Factor SCF Description Using this command the shape of motion profile acceleration can be set from linear to full s curve This command can be set at any time except for during a motion allowing each motion profile to be tailored for the best shape SCF only affects the following basic motion commands and their register based deviations Move Relative Time Based MRT Move Relative Velocity Based MRV Move Absolute Time Based MAT Move Absolute Velocity Based MAV SCF is not available in the Step amp Direction i e SSD Profiled Move i e PMC Input Mode i e PIM or the Velocity modes i e VMP A full s curve will minimize the rate of
84. e Change Velocity Program and the Profiled Move Exit command if multitasking is enabled See High Speed Signals in User Manual and for more details SlverMax Command Reference 73 Revision 4 01 Command Info Command Command Parameters Param Parameter Name Type Num Type Range Scaled Step Program 8 Direction Class D SSD 180 0xB4 2 words Example Put SilverMax into a Step Direction mode with a 1 1 Scale Factor assuming a 4000 CPR encoder 16 180 1024 CR SilverMax Response ACK only SlverMax Command Reference 74 Edit 55D Scaled Step Direction Mode Commands Scale Factor S16 32767to 32767 QuickControl Example 1 to 1 ratio dependent on encoder Counts Rev EPA 4D00CPF 1024 _ Cancel SUOULPR glz 16000CPR 256 De amo Scale Factor flog A Revision 4 01 Mode Commands Torque Input Mode TIM Description Puts the SilverMax into a torque control mode Uses the contents of data registers 12 18 for torque control processing while the servo is moving Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual Torque Input Mode uses a set of Data Re
85. e I O inputs 4 5 6 or 7 are being used as analog inputs 1 2 3 or 4 setting these I O bits to output mode will override analog input See Using SilverMax I O in the SilverMax User Manual for more information on I O usage and conflicts Command Info Command Name Command Parameters Param Type Parameter Range Type Num Configure I O Program VO Line CIO Class D Moe S6 1 Input 188 OxBC o Clear Low 3 words 1 Set High Example QuickControl Example Set I O bit 43 as output Low Edit CIO Configure 120 016 188 3 0 CR OK MEA LO Channel Cancel SilverMax Response CE ACK only Eontiguration i Input f Output Cleared LO C Output Set HIGH SlverMax Command Reference 145 Revision 4 01 I O Commands Clear Output Bit COB Description Clears the selected Digital I O bit to a logic Low 0 condition Output O volts If the I O was configured as an input this will reconfigure the bit as an output and clear it to logic Low 0 See Using SilverMax I O in the SilverMax User Manual for more information on I O usage and conflicts Command Info Command Command Parameters Param Type Parameter Name Type Num Range Clear Output Program I O Line S16 1 to 7 Bit COB Class D 206 OxCE 2 words Example QuickControl Example Clear I O bit 1 to a low 0 state Edit COB Clear Output Bit Select which output to
86. e Word IOS in User Manual or Oc Mons Select from existing labels or enter a new one MES Description 016 162 112 112 0 CR BACK Ej ER Select conditions for Jump On DR 140 State Conditions SilverMax Response ACK only SlverMax Command Reference 124 Revision 4 01 Program Flow Commands Jump On Register Greater Or Equal JGE Description The Jump On Register Greater or Equal command allows looping and other conditional branching inside a program based on the comparison of the contents of the given register with the value of the compare parameter Note Internally JRE JGE JNE JLT all share the same Command number with the difference indicated in the high byte of the Operation Register parameter see JRE command for details For this command the Operation Register parameter is equal to the register number 256 See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Jump On Program Operation Register Class E Operation High 1 Greater or 137 0x89 Byte Equal 5 words Register JGE Register Standard Register Rev 29 Low Byte Range Value S32 2 147 483 648 to 2 147 483 647 Program Buffer U16 O to 199 Address Example QuickControl Example Jump to Program Buffer location 10 JGE Jump On Register Greater Or Equal if Register
87. e position Absolute positions are based on the incremental encoder resident in SilverMax The move profile uses acceleration and velocity as the constraints Velocity based moves use an acceleration and velocity parameter to accomplish the motion profile If the Velocity value needed to make the move exceeds the maximum permissible limit the move will not be executed and an error code will be set in the Polling Status Word The Polling Status Word bit 14 Foreground Command Error will be set Foreground command errors are generated when a command cannot be executed due to parameters that are out of range If the Acceleration value exceeds the maximum permissible value the Acceleration is limited to the maximum Acceleration parameter can be no greater than 1 2 the Velocity parameter Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent l Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Move Program Position 32 2 147 483 648 to Absolute Class D 2 147 483 647 Velocity Based 134 0x86 Acceleration US2 1to1 073 741 82
88. ed User Register 23 Deceleration User Register 24 Offset Test ACK only Use Descriptive Names for Profile Mowe Stop Pell SlverMax Command Reference 104 Revision 4 01 Motion amp Profile Move Commands Profile Move PMV PAAR Description The Profile Move command works identical to the Profile Move Continuous except that when the Position is achieved the move ends and the trajectory generator goes inactive All of the parameters including the position can be changed while the move is executing Once the move has ended changing the parameters will have no effect Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent l Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of O in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual Command Info Command Command Parameters Param Type Parameter Range Name Type Num Profile Move Program Stop Enable S16 U16 See Above PMV Class D 241 0xF1 d 3 Ata Stop State Seung 6 U16 Above Example QuickControl Example Start a SilverMax Profile move Edit PHW Profile Move Stop if Input 1 is high 1 The following registers store the paramters for this move Make sure they have been 1 6 241 1 1 CR initialized before executing ee
89. ed back into Single Loop Control Command Info Command Command Parameters Param Parameter Name Type Num Type Range Go Open Program NONE NONE Loop GOL Class D 143 0x8F 1 word Example QuickControl Example Put SilverMax into open loop mode Edit Command Command Mame 1016 143 CR MODE GOL Go Open Loop Description Test Cancel SilverMax Response ACK only SlverMax Command Reference 70 Revision 4 01 Mode Commands Position Input Mode PIM Description Puts the SilverMax into a position control mode Uses the contents of registers 12 18 for position control processing The Position Input Mode may be exited via I O by configuring the I O Exit State and enable As with other motions the Position Input Mode may also be exited via the Stop command the Change Velocity Program and the Profiled Move Exit command Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual Position Input Mode uses a set of Data Registers and processing to allow sophisticated manipulation of the input data This allows the input signal to be calibrated to give the desired position control see
90. ed into the program buffer including Sequence Error shutdowns This command does allow for great flexibility by allowing any of the parameters to be made register based Command Info Command Command Parameters Param Type Parameter Range Name Type Num Write Cmd Program Data Register S16 Standard Register Long Word Class D Range WCL 1 X8B _ _ dit po Program Buffer S16 Valid NV Memory Location Range Example QuickControl Example Overwrites the program buffer contents at locations 122 with the T contents of the lower word of Register 10 Register Cancel Accumulator 10 Descrict 16 138 10 122 CR _Deseimton Command to Write To Label PRV ACK only Command ARW Reaister Move Relative Velocity Based Parameter Data Register Acceleration SilverMax Response SlverMax Command Reference 163 Revision 4 01 Data Register Commands Write Register File WRF Description WRF has the same command number as Write Register Program Mode WRP WRF allows QuickControl to provide properties of Register Files and Register File Arrays For details on these data structures refer to Register File System in SilverMax User Manual Command Info Type Num Write Register Program Data Register U16 Standard Register File Class D Range WRF 154 0x9A 4 words Data l S32 U32 0to4 294 967 295 4 ee 9
91. egister 10 is used as one of the operands while the selected Data Register is used for the second operand Typically Data Register 10 Accumulator is used as the destination for a two operand operation For single Operand operations the selected Data Register is used as the source and or destination Data Register 10 is typically used as an accumulator but may also be the Selected Data Register The Multiply operations operate on the entire 32 bit word but only return the 32LSB of the result The Divide command takes a 32 signed Dividend and a 16 bit positive divisor up to 32767 and produces a signed 32 bit quotient MOD takes the same parameters but returns the standard positive modulo value When performing math functions the read only data registers can be used as the selected data register Data cannot be saved or written to these registers due to their read only nature User data registers can be used for any purpose as they are designed for both read and write operations See Data Register Commands in User Manual for details and definitions of Data Registers Calculations affect the conditions of the Internal Status Word Depending on the result of an operation one of three different conditions will occur zero positive negative See Internal Status Word in the SilverMax User Manual for more details NOTE There are two related Calculation Commands Calculation CLC and Calculation Two Word CTW CLC requires byte co
92. ers are cleared but nonvolatile memory is not affected Command Info Command Command Parameters Param Parameter Name Type Num Type Range Stop STP Immediate NONE NONE NONE Class A 4 0x4 1 word Example QuickControl Example Reset the SilverMax processor Immediate Host Mode Command Only This is done immediately 16 4 CR SilverMax Response There is no response due to the resetting of the processor SlverMax Command Reference 18 Revision 4 01 Override Commands Stop STP Description The Stop command exits the executing program or motion and goes into Hold If a motion is running the Deceleration parameter sets the deceleration as follows If 0 it uses the executing command s acceleration value for deceleration If this value is positive it uses the given deceleration value If the deceleration parameter is negative the servo does an immediate stop directly to Hold The Target value is set to the present position If the servo is not executing a motion any Program Mode command executing is terminated and the servo returns to idle When the Stop command is sent the Program Buffer is over written similar to a Clear Buffer The Program Buffer must be loaded again Load Program or Load and Run Program for Program execution Command Info Command Command Parameters Param Parameter Range Name Type Num Type Stop STP Immediate Deceleration 32 1 Stop Immediate STP Immed
93. evision 4 01 Program Flow Commands MARE Ve Description This command is the same as the Delay In Ticks DLT command It has the same command number and parameters The only difference is how QuickControl scales them To SilverMax they are exactly the same QuickControl takes the parameter entered and multiplies it by 8 3333 to convert milliseconds to servo ticks 120uSec tick See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Same as Delay In Ticks DLT Example QuickControl Example Cause SilverMax to delay program Edit DLY Delay execution by 1 2 seconds A 1200mSec 8 3333 10000 ticks Cancel Delay 1200 ss enn 16 140 10000 CR ee E ea SilverMax Response Only ACK only SlverMax Command Reference 117 Revision 4 01 Delay In Ticks DLT Description Program Flow Commands See also Delay DLY The Delay In Ticks command sets a Delay Counter Register 5 with the supplied parameter The counter is decremented every servo cycle 120 microseconds If the Tick Count is positive the given value is used for the counter and a WAIT DELAY command is automatically executed If the value is negative the absolute value of the parameter is loaded into the counter and the execution continues on to the next command in the Program Buffer The Delay Counter Register 5 is Read Write for code version REV321 and hig
94. f travel positions must be stored in the specified registers using a Write Register command i e WRP or WRI The register selection sets aside two registers in succession Any motion affecting the Target is limited so as to keep the target more than the first register value and less than the second register value If the target is beyond a limit only motion in the direction toward that limit is allowed The motion exceeding a given limit is hard stopped at the point that the limit is encountered no ramping occurs Internally the motion calculations continue but their effect is not directed to the Target value The registers can be set with limit values ranging from 2 147 483 647 to 2 147 483 647 This is the full positional range of the SilverMax The limits consider the position as Linear rather than Cyclic If the position attempts to wrap around going past the full range values the Soft Stop Limits will prevent this movement The first register is used for the lower limit which is checked when the direction of a motion is negative The second register is used for the upper limit which is checked when the direction is positive If the Lower Limit is set more positive than the Upper Limit this will create a Dead Zone If the servo s position is in the Dead Zone it will not be able to move No error checking is done on the Data Register values to prevent this condition If the limits are set so that the Target is outside
95. falling behind the consumption rate of the SilverMax and data not being available when needed SlverMax Command Reference 92 Revision 4 01 Motion amp Profile Move Commands Move Absolute Time Based MAT Description Move Absolute initiates a move to an absolute position Absolute positions are based on the incremental encoder resident in SilverMax The move profile uses time as the constraint for the Acceleration period and for the total move Position is in encoder counts For a SilverMax with an encoder that provides 4000 counts per revolution one revolution of the motor equals 4000 counts Time based moves make the desired move within the times given The acceleration and velocity are calculated to accommodate the time requirements If the acceleration or velocity values needed to make the move exceed the maximum permissible limit or the ramp times exceed 65534 ticks 120uS each the move will not be executed and an error code will be set in the Polling Status Word The Polling Status Word bit 14 The Total Time is a time value in ticks Ticks are based on update rate of the servo cycle which is 120 microseconds long The Acceleration Time is also represented by ticks This time value defines the time needed to accelerate up to the calculated velocity The Total Time and distance must be consistent with the maximum velocity constraints of the motor to prevent the generation of an error Acceleration Time can be no greater the 1
96. ft Right 114 Shift Right Sign Extended 113 Shuts down 18 SilverMax Command Information 7 SilverMax Command Set Numeric TLA List 176 Single Loop Control SLC 64 Soft Stop Limits SSL 65 Start Download SDL 137 Status Commands 10 Step amp Dir 61 Step and Direction 74 Step Up Dn 61 Stop 20 Stop STP 20 Stops 18 Store Program SPR 138 Subtract 113 Subtract Target Position 113 T Target To Position TTP 173 temperature 53 Time Based 93 TORQUE INPUT MODE TIM 76 Torque Limits TQL 66 Torque Ramp Up TRU 68 Total Time 94 97 107 109 tuning 29 U Umult 113 Unit ID 45 V Velocity 95 99 108 110 Page 180 Revision 4 01 VELOCITY INPUT MODE VIM 77 Velocity Mode Immediate Type VMI 78 Velocity Mode Program Type VMP 79 voltage 55 W Wait Delay WDL 139 Wait On Bit Edge WBE 140 Wait On Bit State WBS 141 Write Cmd Long Word WCL 164 Write Cmd Word WCW 165 Write Register File WRF 166 Write Register Immediate Type WRI 167 Write Register Program Mode WRP 168 SlverMax Command Reference Command Name Cross Reference X Xor 113 Y Year 16 Z Zero Target 4 Position ZTP 175 Zero Target ZTG 174 Page 181 Revision 4 01
97. gic High 1 See Using SilverMax I O in the SilverMax User Manual for more information on I O usage and conflicts Command Info Command Command Parameters Param Parameter Name Type Num Type Range Set Output Bit Program VOLine S16 1to7 Output Bit Program I O Line S16 1to7 SOB Class D 205 0xCD 2 words Example QuickControl Example Set l O bit 1 to a logic High Edit SOB Set Output Bit 1 state 16 205 1 CR Select which output to set jo 1 Cancel SilverMax Response Description ACK only GlverMax Command Reference 153 Revision 4 01 Data Register Commands DATA REGISTER COMMANDS A number of 32 bit Data Registers have been allocated for special purposes Data Registers are used as data storage locations that may be used and modified by a Host controller or by SilverMax internal functions They provide data storage for the distance and position parameters for Register motion profile commands They can also be used by the Calculation command as data variables for more complex calculations such as shortest paths for rotary motions The Input Modes use data registers for Offset and Scaling factors See User Manual appendix for Data Register definitions SlverMax Command Reference 154 Revision 4 01 Data Register Commands Add To Register ATR Description The Add to Register command adds the included data into the selected 32 bit Data Register This com
98. gisters and processing to allow sophisticated manipulation of the input data This allows the input signal to be calibrated to give the desired torque control See Input Mode Usage in SilverMax User Manual for more details on using this mode Command Info Command Command Parameters Param Parameter Name Type Num Type Range Torque Input Program Filter constant S16 0 to 32767 Mode TIM Class D 218 OxDA Stop Enable 16 U16 See Above 4 words Stop State 16 U16 See Above Example QuickControl Example Torque Input mode using a 515 Hz filter Exit if Input 1 is high 1 TIM Torque Input Mode 30000 32768 e 17 2x 20us AS 16 216 2222 1 1 CR E Input Data Filter _ Cancel SilverMax Response 515 He _Descrition Exit Conditions ACK only Use Descriptive Hames for Input Mode Registers 12 15 SlverMax Command Reference 75 Revision 4 01 Mode Commands Velocity Input Mode VIM Description Puts the SilverMax into a Velocity control mode Uses the contents of registers 12 18 for velocity control processing Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual Velocity
99. her The Delay Counter if not being used for program delays may be used in a watch dog configuration The counter would be kept refreshed by writing to Register 5 through the serial interface The Delay Counter Bit in the Kill Motor Mask would be enabled As long as the counter is not allowed to reach zero the Delay Counter Bit in the Internal Status Word stays low If the host were to shutdown or lose communications the counter would reach zero causing a Kill Motor operation running a recovery routine if one were enabled A Tick Count equals 120 microseconds in time To convert to seconds multiply the Tick Count by 0 00012 A one second delay rounded off is 8333 Tick Counts See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples NOTE DLT has the same command number as Delay DLY To SilverMax there is no difference between these two commands Only QuickControl distinguishes between DLT and DLY with DLT have units of ticks and DLY having units of milliseconds Command Info Command Command Parameters Param Type Parameter Range Name Type Num Program Class D 140 0x8C uSec 3 words Delay Count 1 tick 120 2 147 483 647 to 2 147 483 647 Example Cause SilverMax to delay program execution by 500 ticks 16 140 500 CR SilverMax Response ACK only SlverMax Command Reference QuickControl Example Edit DLY Delay
100. i o 73 TORQUE INPUTMODE M a aa A a A EDANE 75 VELOCITY INPUT MODE VM Jonnie A OTA 76 VELOCITY MODE IMMEDIATE MODE VMI occoccccnccccoccoccnccononnccnononnononncnnonnnnnnnonnnnnnnnnnnnonononons 77 VELOCITY MODE PROGRAM MODE VMP ocooccccoccoccoccccononccccocoononconcononnccnononncacononncanonnonennnos 78 MOTION 8 PROFILE MOVE COMMANDS 00ococcoccocccconcnncncnncononcnaroncnnnnroncnnnnrnnrnnnnnnnrnnrannnrnnnns 80 EXTENDED REGISTER MOVE ABSOLUTE TIME BASED XAT oocoococcccoococonccocononconconnnconcnnnnnoncnnnos 81 EXTENDED REGISTER MOVE ABSOLUTE VELOCITY BASED XAV c ccceccecceeeeeeeeeeeeeeeeeeeeeeeenees 82 EXTENDED REGISTER MOVE RELATIVE TIME BASED XRT cceccecscceececeeceeceeseeeeeeeeeeeeeseseees 83 EXTENDED REGISTER MOVE RELATIVE VELOCITY BASED Sn 84 HARD STOP MOVE OSMA AAA AAA A 86 INTERPOLATED MOVE S TART IMSS 87 INTERPOLATED MOVE QUEUE CLEAR IMQ cccscssccecceseseccecsetescecsrserseccenstsascecsrsansecersantacs 90 INTERPOLATED MOVE WRITE QUEUE IMW ccccceccecceceeceeeeceeceeseeeeeeeeeeeeeeeseeeeeeeseeaeeeeeneaess 91 MOVEABSOUUTE TIMEBASED MA Tic a 93 MOVE ABSOLUTE VELOCITY BASED MAV oooccocccccccocccccccnccononnncnononnononnonnonnnnnnnonnnnnononnnnnnnennns 95 MOVE RELATIVE TIME BASED Mea a eds 96 MOVE RELATIVE VELOCITY BASED MANWE a a A E O 98 PRE CALCULATED GO PEO la a a E N 100 PRE CALCULATE MOVE PCM ccie o 101 PROFILE MOVE CONTINUOUS PMC coococcocccccccocconoccocon
101. iate Deceleration 1 Stop Immediate Class A or 3 0x3 0 Stop using previous 3 words Acceleration or 1 to 536 870 911 Example QuickControl Example Stop the SilverMax using Immediate Host Mode Command Only the previous command Acceleration parameter 16 3 0 CR SilverMax Response ACK only SlverMax Command Reference 19 Revision 4 01 Initialization Commands INITIALIZATION COMMANDS SlverMax Command Reference 20 Revision 4 01 Initialization Commands ACK Delay ADL Description The ACK Delay sets a time delay for SilverMax to wait before sending an Acknowledgement ACK or DATA after a command has been received In some cases the host computer or PLC may not have enough time to set up for reception after having transmitted a command The ACK Delay configures SilverMax to wait a predetermined length of time to allow for these delays In the case where an RS 485 network in used there is often a delay when going from transmit to receive for the RS 485 driver Setting the delay makes the SilverMax to wait for the line to be free before attempting a transmission When the Serial interface is set to RS 232 a value of 0 causes SilverMax to run in standard RS 232 mode the Tx line is always driven With a number of 1 or greater SilverMax will run in RS 232 multi drop mode the Tx line is tri stated when not transmitting The delay parameter is a count that equates to the servo cycle tick One cycle
102. iate Host Mode Command Only 16 6 70 CR SilverMax Response Requested number of words read from Program Buffer Response Example 10 0006 0007 0000 9040 0002 7524 2000 0058 CR SlverMax Command Reference 14 Revision 4 01 Status Commands Revision RVN Description This command returns the revision date firmware and the buffer sizes The code revision date and buffer sizes of a SilverMax can be read back so that future upgrades can be dealt with through a software interface This enables dynamic changes in SilverMax usage when different versions are used Command Info Command Command Parameters Param Parameter Name Type Num Type Range Revision Immediate NONE NONE NONE RVN Class A 5 0x05 1 word Example QuickControl Example Read the revision code from Immediate Host Mode Command Only SilverMax 016 5 CR SilverMax Response Revision Code 8 Bytes Response Example SilverMax Revision code 10 0005 1116 1998 0108 0A34 CR The following Revision information is available Data Type Data Format Example Shown above A Month 1 Byte 11 November SlverMax Command Reference 15 Revision 4 01 Override Commands OVERRIDE COMMANDS SlverMax Command Reference 16 Revision 4 01 Override Commands Halt HLT Description This command immediately shuts down any motion in progress hard stop disables the single step mode and then causes the motor to load and run the Kil
103. ich bits in the Internal Status Word will be evaluated A 1 in the bit position enables looking at that bit The Condition State word allows the user to specify the state High 1 or Low 0 of the selected bits that will cause the jump to occur Setting the Condition Enable word to zero forces an unconditional jump to the specified Program Buffer location A match on any of the selected bits caused the jump to occur See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Parameter Name Type Num Type Range Jump JMP Program Condition Enable U16 0 to 32767 4 words 2 en Program Buffer Address 0 to 199 Example QuickControl Example Jump to Program Buffer location 0 last calculation was zero See Edit JMP Jump x Internal Status Word ISW in User Manual for bit definitions C 1 6 162220 CR Select from existing labels or enter a new one EE EN H Description SilverMax Response Select conditions for Jump Conditions ACK only SlverMax Command Reference 120 Revision 4 01 Program Flow Commands Jump On Input JOI Description The Jump On Input command allows looping and other conditional branching inside a program based on the condition of an External Digital Input or an Internal Input This command is actually the same number as the Jump command JMP however b
104. imits When the servo is idle No pending commands and no active motions and within the error limits I O 1 will be low 0 and the Green LED will be lighted otherwise I O 1 will be high 1 and the Green LED will be dark Note if multiple commands are in the Program Buffer all of them must complete and the error within limits before the unit is Done Thus if a PLC were to send a Load and Run command the entire sequence would have to be completed and any motions completed and the error within limits before a Done would be reported PLCs or Host Controllers can use the Done indication for monitoring SilverMax motions to check for completion Command Info Command Command Parameters Param Parameter Name Type Num Type Range Enable Done Program Enable Done Program NONE NONE NONE Low EDL Class D 187 OxBB 1 word Rev 22 Example QuickControl Example Enable usage of the Done Edit Command indication by setting I O line 1 Low Command Name INIT EDE Enable Done Low i Description Ok Cancel 016 187 CR SilverMax Response ACK only SlverMax Command Reference 37 Revision 4 01 Initialization Commands Enable Motor Driver EMD DMD Description Enables the SilverMax motor driver The driver is by default enabled this command is only required if the driver has been disabled using the Disable Motor Driver DMD command or disabled by the Kil
105. ing Status Word PSW bits See Polling Status Word PSW in User Manual for bit definitions When a status bit is set 1 it will remain set until a Clear Poll CPL command is sent with the same bit set in its Clear Status Word parameter For example if a POL command gets back a Polling Status Word PSW of 0x2000 bit 13 set Program completed of the PSW is set To reset bit 13 the Clear Status Word parameter must be set to 0x2000 This will cause bit 13 to be re set 0 All other bits in the PSW will be left unchanged if the corresponding clear bit is not set New occurrences since the last poll will NOT be cleared the PSW is double buffered That is the information must be read before it is cleared See Polling and SilverMax Status Words in User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Clear Poll Immediate Clear Status Word U16 O to 65535 CPL Class A 1 0x1 2 words Example QuickControl Example Clear only Bit 13 set in the Polling Immediate Host Mode Command Only Status Word Decimal 8192 0x2000 in Hexadecimal 16 1 8192 CR Clear all the bits set in the Polling Status Word 16 1 65535 CR SilverMax Response ACK only SlverMax Command Reference 10 Revision 4 01 Status Commands Poll POL Description This command is used to determine the condition of a SilverMax unit A Poll command can be exe
106. ing TQL in QuickControl s Normal units the conversion to native SilverMax torque units is done automatically for the user at time of download NOTE The actual continuous torque levels are application dependent based many variables 1 e motor type speed voltage ambient temperature heat sinking air motion See Torque Control in SilverMax User Manual for more details SlverMax Command Reference 65 Revision 4 01 Initialization Commands Command Info Command Command Parameters Param Parameter Name Type Num Type Range Program Closed Loop Class D Holding 0 to 32767 149 0x95 Closed Loop Open Loop Torque parameter range changes depending on motor type Use the following table to determine the range for your SilverMax SilverMax P N 100 Torque Max Torque Any 17 or 23 34N 1 34H 1 34H 2 34H 3 34H 4 Any 34HC Example QuickControl Example Set torque to Edit TQL Torque Limits Closed Loop Holding 75 Closed Loop Moving 100 Closed Loop Holding 30 ok OY Cancel Maximum ARER op moving ave Closed Loop Holding 7 o o E Description 16 149 15000 20000 6000 NS Default COOUR Closed Loop Moving 100 E SilverMax Response Open Loop Holding fo Ff nti Hunt Torque ee ACK only Normal Open Loop Moving 50 a E C Native SlverMax Command Reference 66 Revision 4 01 Torque Ramp Up TRU Description Initialization Com
107. ion Enable selects which inputs will be used in the AND ed evaluation The lOS Condition State allows the user to specify the states High 1 or Low 0 of the selected inputs that will cause a TRUE condition for each of the inputs Setting both parameters to zero forces an unconditional jump to the specified Program Buffer location The condition TRUE evaluation is done by AND ing the enabled inputs together If all the enabled inputs are TRUE a jump will occur See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Name Type Num Range Jump On Program IOS Condition Enable 0 to 65535 Inputs And Class E pf a Ed 250 OxEE IOS Condition State 0 to 65535 JAN 4 words Rey 22 Program Buffer Address 0 to 199 Example Quick Control Example Jump to Program Buffer location 10 Edit JAN Jump On AND 140 State if digital inouts 4 5 6 and 7 are High 1 See I O State Word IOS in User Manual for bit Cancel definiti Select from existing labels or enter a new one NAO LOOP Description 16 250 61440 61440 10 CR Select conditions for Jump On AND 10 State Conditions SilverMax Response ACK only SlverMax Command Reference 122 Revision 4 01 Program Flow Commands Jump On NAND I O State JNA Description The Jump
108. is running but not when a Program is running Most commands will execute immediately while the Motion or Profile Move commands will be buffered until the current Motion is complete Class E Commands These commands are executed as part of a Program They may be executed from the serial communications interface but should only be used within a Program or the motor operation may not be what is expected They rely on what has been previously loaded to the Program buffer for operation They can only be executed when the motor is idle They will be stored to the buffer when in download Program Download mode All of these commands have a command code of 64 hex 0x40 or higher Multitasking Allows these commands to be executed while a Motion is running but care must be taken to avoid unexpected results Class F Commands These are serial communications interface only They may not be contained within a Program but their execution affects the Program Buffer They may be executed while the motor is running or idle SlverMax Command Reference 8 Revision 4 01 Status Commands STATUS COMMANDS Status commands are used to retrieve information from SilverMax These commands can all be used while SilverMax is executing a motion or a Program SlverMax Command Reference 9 Revision 4 01 Status Commands Clear Poll CPL Description This is a complement to the Poll POL command This command is used to clear the Poll
109. ishes at initialization the direction in which the servo will turn given a motion in a positive direction Normally the SilverMax will turn Clockwise when viewed from the shaft end of servo when a positive distance or velocity number is used A negative number will cause the servo to turn counter clockwise Using the Direction command this default operation can be reversed WARNING DIR can only be used when SilverMax is being initialized and before the Go Closed Loop GCL command is issued If DIR is used after GCL is can cause the servo to become unstable Typically this command is only edited within the SilverMax Initialization Wizard while editing the initialization file SilverMax Factory Default Initialization qcp Command Info Command Command Parameters Param Parameter Range Name Type Num iia 0 Normal CW Default 1 Reverse CLW Direction Program DIR Class D 184 0xB8 2 words Example Clockwise 16 184 0 CR SilverMax Response ACK only SlverMax Command Reference 31 Select default direction for all move commands Direction is in QuickControl Example El reference to viewing shaft end of SiverMax WARNING Only use Lancel DIR in initialization program see Command Reference for details Description Default Direction f Clockwise Counter Clockwise Revision 4 01 Initialization Commands See Also Select External Encoder SEE Dual Loop Contro
110. l DLC Single Loop Control SLC Description Configures SilverMax to run in a Dual Loop control mode In Dual Loop Control the SilverMax servos its position based on an External Encoder signal SilverMax commutation velocity and acceleration feedback information is derived from the internal encoder Moving and holding error limits also use the external encoder for the Kill Motor Conditions The Anti Hunt mode uses the Position Error derived from the external encoder to establish when to move in and out of Anti Hunt mode When position control of the driven device is needed this command along with an external encoder connected to the device will enable direct position control of the device When using a linear slider a linear encoder can be used for the external encoder signal When entering dual loop control SilverMax sets the current Target to the Current position external position to prevent a sudden motion SilverMax must be in Closed Loop Mode for this command to take effect By default SilverMax starts up in Single Loop Control mode The Dual Loop Control command can be placed within a User Program to place the servo properly into Dual Loop Control Use of a single loop move prior to entering dual loop move may be used to verify that the external encoder is connected and operational The external encoder settings should be initialized prior to using this command or unpredictable results may occur Use the Select
111. l Motor Recovery program see Kill Motor Recovery KMR command for details This command stops the execution of all commands programs and motions When executed it will stop any command or program in process Unless the Kill Motor Recovery Program has been designated and the Kill Enable Driver KED has been enabled the motor driver will be disabled This shorts the drive to the motor and allows the motor shaft to spin freely Bit 10 of the Internal Status Word ISW is set to indicate that a Halt command was sent This is useful for determining the cause of the motor shut down when using an internal Kill Motor Recovery Program Command Info Command Command Parameters Param Parameter Name Type Num Type Range Halt HLT Immediate NONE NONE Class A 2 0x2 1 word Example QuickControl Example Halt any Command Program or Immediate Host Mode Command Only Motion in process 16 2 CR SilverMax Response ACK only SlverMax Command Reference 1 Revision 4 01 Override Commands Restart RST Description The Restart command is provided to cause the servo to do a Soft reset of the processor and logic circuits This causes the processor to jump to memory address zero as if the power were just cycled on If this command does not function then the SilverMax servo will require a full power down and up to reset the processor All configurations and settings are returned to power up defaults All regist
112. l Motor operation or by an over voltage condition Command Info Command Command Parameters Param Parameter Name Type Num Type Range Enable Motor Program NONE NONE NONE Driver EMD Class D 227 0xE3 1 word Example QuickControl Example Enable the SilverMax motor driver Edit Command ES Command Hame 1016 227 CR INIT EMD Enable Motor Driver Description ox SilverMax Response po Cancel ACK only SlverMax Command Reference 38 Revision 4 01 Initialization Commands ask Enable Multitasking EMT Description Enables SilverMax Multitasking operation which allows motion while executing a program By default SilverMax does not continue internal program execution when performing a motion command or while executing in a Velocity Mode Step and Direction Mode or Input Mode Enable Multitasking causes SilverMax to continue program execution after a motion command or mode has been started Multitasking is useful for conditions where the SilverMax is acting as a Master controller and must initiate other tasks while performing motions An example of this is performing I O operations for controlling other machine functions SilverMax will be able to Set or Clear the I O lines at any time Many other things can be done including modifying motion profiles on the fly when executing a Profile Move command or the Register Step and Direction command For more details refer to multi tasking in SilverMax
113. le Move Continuous PMC 102 Profile Move Exit PMX 106 Profile Move Override PMO 104 Program 131 Program Buffer Size 16 Program Call PCL 132 Program Call On Input PCI 133 Program Flow Commands 111 Program Return PRT 134 Program Return On Input PRI 135 Program Type Commands 8 Protocol PRO 58 R Read I O States RIO 13 Read Internal Status Word RIS 14 Read Program Buffer RPB 15 Read Register RRG 160 recovery 49 Register 166 168 Register Load Multiple RLM 157 Register Load Nonvolatile RLN 159 Register Move Absolute Time Based RAT 107 Register Move Absolute Velocity Based RAV 108 Register Move Relative Time Based RRT 109 Register Move Relative Velocity Based RRV 110 Register Store Multiple RSM 161 Register Store Nonvolatile RSN 163 REGISTERED STEP amp DIRECTION RSD 73 Relative Distances 96 98 Reset 19 Restart RST 19 Return 134 135 Revision RVN 16 RS 232 63 RS 485 63 SlverMax Command Reference Command Name Cross Reference Run Program RUN 136 S Save 113 Save High 113 Save Indirect 113 Save Low 113 SCALED STEP DIRECTION SSD 74 Scaled Step and Direction 73 S Curve Factor SCF 59 Select Encoder Filter SEF 62 Select External Encoder SEE 61 Serial Communications Buffer Size 16 Serial Interface SIF 63 servo 29 Set amp Direction 73 SET OUTPUT BIT SOB 154 Shift Left 113 Shi
114. lected line The Filter constant is in Ticks 120 usec tick Setting the filter constant affects how long a digital state must be held for the SilverMax to see the given state The filter does not require that the input be exclusively in the new state for the entire period but just that it is in that state sufficiently long for the counter to expire For example with the filter set to 8 Ticks approximately 1 mS and transitioning from low to high 5 high states followed by 2 low states such as switch bounce noise require another 8 5 2 5 ticks of high before a high would be reported 8 consecutive high levels are not required This minimizes the effects of noise contact bounce on the system Command Info Command Command Parameters Param Parameter Range Name Type Num Type Digital Input Program I O Line U16 0 All Lines Filter DIF Class D 1 to 7 Rev 22 Code Hex Filter Constant U16 0 to 32767 252 OxFC Default 83 ticks 10ms 3 Words Example QuickControl Example Filter Input 1 so that it must be Edit DIF Digital Input Filter either low or high for as least 10 milliseconds before the low or high state is accepted Cancel ID Line A Oeon 16 252 1 83 CR ak ik Units Filter Constant e Normal SilverMax Response fio mSec Native i ACK only SlverMax Command Reference 30 Revision 4 01 Direction DIR Description Initialization Commands Establ
115. ling Edge 1 0 6 O Rising Edge C 120 3 Encoder Style C AB Quadrature on b Step and Direction on LO 4 and 5 LO 4 and 5 e Step Up Step Down 9 Step and Direction on on 0 4 and 5 1 0 2 and 3 60 Revision 4 01 Select Encoder Filter SEF Description Initialization Commands Selects the desired digital filter for the external encoder signals The default is a 150 nS The other option is an 800nS filter The increased filter time may help applications using the external encoder or step direction inputs in a noisy environment The filter is applied to each external encoder interface line all 3 I O usable at same time This filter only affects the external encoder count not any I O that may also be looking at these same lines Command Info Command Command Parameters Param Parameter Range Name Type Num Type Select Encoder Proaram Filter Enable S16 0 150nS Default Filter SEF Rev 29 Example Set up the External Encoder filter for 800nS 16 130 1 CR SilverMax Response ACK only SlverMax Command Reference Program Class D 130 0x82 2 words Filter Enable 0 150nS Default 1 800nS QuickControl Example Selects the desired digital filter for the external encoder signals The A increased filter time may help applications using the external encoder or step direction inputs in ae Description a nosy environment r Filter Length e 150n5
116. ll be unable to move when attempting any motion command This is a software disable that can be overcome by the Enable Motor Driver EMD command or by setting the Motor Constants MCT Command Info Command Command Parameters Param Parameter Name Type Num Type Range Disable Motor Program NONE NONE NONE Driver DMD Class D 228 0xE4 1 word QuickControl Example Example Edit Command Disable the Motor Driver E ommand Hame electronics INIT DMD Disable Motor Driver 1 6 228 CR Description Test Cancel SilverMax Response ACK only SlverMax Command Reference 34 Revision 4 01 Disable Multitasking DMT Description Initialization Commands see Also Enable Multitasking EMT Disables SilverMax Multitasking operation See Enable Multitasking for more information on multitasking operation Command Info Command Command Parameters Param Parameter Name Type Num Type Range Disable Program Multitasking Class D DMT 226 OxE2 Example Disable the Multitasking operation 16 226 CR SilverMax Response ACK only SlverMax Command Reference 35 Edit Command Command Name INIT DM T Disable Multi Tasking Description Test NONE NONE NONE 1 word QuickControl Example Cancel Revision 4 01 Enable Done High EDH Description Initialization Commands See Also Disable Done Bit DDB Enable Done Low EDL Enables a Done indication on
117. lows a higher moving torque limit to persist up to seven seconds after the last motion or motion step of the Step and Direction command Following this period which power up defaults to zero the holding torque levels are used The Open Loop torque holding or moving is used by the Anti Hunt mode for the torque level that will be used to prevent hunting Typically servos have a 100 torque level corresponding to 20 000 see the table below In QuickControl the TQL command automatically scales percentage values to numeric values for all servo types Peak torque above 100 is permitted but at a reduced duty cycle and duration The setting for the Closed Loop parameters establishes the maximum torque limit within the control loop but the servo current and thus heat will only be what is needed to generate the required torque The Open Loop parameters on the other hand will cause the respective servo current and heat regardless of load For most operations the open loop parameters should be set to 50 or less to minimize servo heating these are only used if the Anti Hunt is enabled To determine the actual maximum torque that may be applied to the load refer to the torque curve charts in found in the QuickSilver Controls Product Catalog The 100 torque applied to the load depends on the speed of operation 100 torque at stall may be 100 oz in while the 100 torque at 2000 RPM may be 50 oz in data from 23H 3 Torque Curve When us
118. make good engineering manufacturing decisions that results in a unit that was as hard to disassemble as the prototype We believe their new technique is unreasonable with respect to their patent It requires hitting the electronics with a chisel and the discharge of toxic fumes See the Court s notice Notice Re Future Demonstrations 1 14 04 We are still fighting this aggressively as well as investigating design solutions We will keep you up to date Table of Contents HOW TOUSE THS MANUA Locnoiriioia ir a e 5 EN Pr tens ace deuce r E E ar EEA 5 Command Information Enri ii did 6 Command TV PES ld 6 Command Clas SiC INONS 0000 A A ds 8 STATUS COMMANDS ita a o do ue o LO 9 CEEAR POLL TOP sara A A ener N 10 SP re re Orne ner moe ee ODS OT ne eo Nee ace 11 READ I O STATES CAO luneta 12 READ INTERNAL STATUS WORD RIS cuina 13 READ ROGRAM BUFFER RPB ir AA 14 REVISION AN ss lora O Rita pois 15 OVERRIDE COMMANDS siii das 16 SA A ack tne NE 17 RESTAR TA Ao a 18 A A A A A ee 19 INITIALIZATION COMMANDS ui os 20 AI DELAY AD tidad o 21 ANTEAUNT CONSTANTS ARO a a 23 ANTFAUNT DELAY AHD nod dla 24 ANT HUNTMODE AHM aeaniee e a eE 25 BAUD RATE DAD ee ad 26 CONTROL LOOP MODE CEM saca iaa 27 CONTROLE SONSTANTS CTO ns 28 DISABLE DONE Bill OD Dia od 29 DIGITAL INPUT FIETERI Dil a a E AE 30 DIREC HONOR teste Bris sui db a E a a a dectaneee 31 DUALLEGOP CONTROL DEG ii a E 32 DISABLE MOTOR DRIVER DMD ns a ia 34 DISABLE MULTITASKING DM
119. mand is similar to the Write Register commands except it is designed to add to the existing value instead of overwriting it The data parameter is signed so that a negative value can be added which works as subtraction for decrementing Command Info Command Command Parameters Param Type Parameter Range Name Type Num Add To Program Data Register U16 Standard Register Register Class D Range BN NOA Data S32 2 147 483 648 to 2 147 483 647 Example QuickControl Example Add the number 1 5 SEC to data AAA register 10 1016 248 10 12500 CR Cancel Register Accumulator 10 Description SilverMax Response r Data Format ACK only le Hex C Acceleration bate iso meee Long Velocity o C ULong i Time Te Fosition SlverMax Command Reference 155 Revision 4 01 Data Register Commands Register Load Multiple RLM Description Loads an array of data from the selected nonvolatile memory address to an array of data registers A checksum value is verified to insure good data During the load process the data is used to calculate a checksum value When the load is complete the calculated checksum is compared to the stored checksum If the checksums do not agree bits 14 amp 12 in the Polling Status Word are set 1 to indicate a register load failure see Nonvolatile Memory in User Manual for details on loading and soring data INDIRECT ADDRESSING The Nonvolatile
120. mands Ramps up the torque limit values by the increment given up to the final value This is used mainly during servo initialization Only Ramps up Open Loop Torque Limits This command slowly brings up the Open Loop motor current to avoid a harsh or sudden movement during servo power up This is done just prior to the algorithmic alignment of the motor rotor to the encoder The increment sets how much current will be added each servo cycle 120usec The ramp up time is calculated by taking the final value divided by the increment times 120usec Example 20000 5 4000 4000 0 00012 480 milliseconds Command Info Command Command Parameters Param Parameter Name Type Num Type Range Final Torque 0 to 32767 Torque Ramp Up TRU Program Class D ae Increment S16 1 to 32767 vane per 120usec Example Set open loop current to 20000 100 in 4000 servo cycles 480 milliseconds 16 222 20000 5 CR SilverMax Response ACK only SlverMax Command Reference QuickControl Example Edit TRU Torque Ramp Up Cancel Maximum Final Torque 100 a E Meseta S J Default Increment per E m Units SUS f Normal C Native 67 Revision 4 01 Mode Commands MODE COMMANDS Mode Commands put SilverMax into required and special modes of operation Some modes give SilverMax the ability to input analog or Step and Direction signals for motion control SlverMax Command Reference 68 Revision 4 01
121. mbination of the Operation and Register parameters whereas CTW breaks these into separate parameters CLC only uses 2 words in the Program Buffer while CTW uses 3 words As CLC requires the combination of two bytes into a word it may be too difficult to use in applications programmed without QuickControl i e host programming SlverMax Command Reference 112 Revision 4 01 Program Flow Commands Calculation Code Table C Esr 0 Glear Clears out the indicated register ESeries 1 Add Adds the selected register to register 10 with the result remaining in register 10 E Garas Subtracts the selected register from register 10 with the result remaining in register 10 ESeres 3 Copy Copies the selected register to register 10 BSeries 6 Absolute Value Takes the absolute value of the selected register saves it back into selected register Subtract Target Subtracts the selected register from both the Target and Position registers This E Series 7 ee l Position allows for doing modulo calculations ESeies 8 Save Copies Register 10 to the selected Register E Series Load High Loads the high word of the selected register upper 16 bits with sign extend Word into register 10 Loads the low word of the selected register lower 16 bits with sign extend E Senee 41 Bitwise AND the selected register with register 10 with the result in placed in register 10 Bitwise OR the selected register with register 10
122. mmand in all other ways Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Program Data Register 32 Standard Register Move Class D Ranae Absolute 160 OxA0 a RAV Example QuickControl Example Move SilverMax to position indicated by Edit RAY Register Move Absolute Velocity Based User Data Register 11 at vel 1000 T cps and acc 4000cps s an ala NEgiter Cancel 1016 160 11 3865 8053064 0 0 CR User 11 Accelerati _ SilverMax Response pica Advanced 4000 cps s Test ACK only cil cps SlverMax Command Reference 108 Revision 4 01 Motion amp Profile Move Commands Register Move Relative Time Based RRT Description The Register Move Relative performs a relative move using a distance value contained in the indicated User Data Register This command works like the basic Move Relative Time Based MRT command in all other ways Stop Enable and Stop State parameters are used to stop
123. msec SlverMax Command Reference 22 Revision 4 01 Initialization Commands Hunt Delay AHD Description Anti Hunt Constants sets the thresholds used to determine if the position is sufficiently close to the target to allow the motor to go into and to stay in Anti Hunt mode The first parameter is the maximum error in counts allowed in the Anti Hunt mode before the unit will revert to normal closed loop operation The second parameter is the maximum error allowed to enter the Anti Hunt mode Setting the second parameter to a negative number will cause a slightly different operation when going from no Anti Hunt into Anti Hunt Closed gt Open Normally SilverMax will not go into Anti Hunt until the error is within the limit and the current torque current is less than the Open Loop Holding torque current When the error parameter is negative the torque is not checked If the Torque Limits TQZ Open Loop Holding and Open Loop Moving parameters have been set to zero then the parameters in this command set the limits of a conventional dead band QuickControl will automatically set this parameter at download if the box Use Default for SilverMax is checked default for QuickControl s initialization wizard The defaults are Encoder AHC Parameters Max Counts Rev CPR Open to Close Close Recommended to Open 4000 10 4 8000 20 8 69 16000 40 16 Command Info Command Command Parameters Param Parameter Name Type Num Ty
124. n 1 oo second with a 0 1 second acceleration Cancel f 16 177 4000 833 8333 0 0 CR aE l aooo catli a ja Description SilverMax Response Advanced Ramp Time ACK only 100 msec N stop Total Time fioo ca SlverMax Command Reference 97 Revision 4 01 Motion amp Profile Move Commands Move Relative Velocity Based MRV Description Move Relative initiates a distance move relative to the current target position Relative distances are based on the incremental encoder resident in SilverMax The move profile uses acceleration and velocity as the constraints Relative Distance is an encoder count value that the motor will move from its current position Providing a positive value will cause the motor to move in a positive count direction Giving a negative value will cause the motor to move in negative count direction The polarity of the distance number always determines the direction that the motor will spin This is not true for the Absolute Position commands which will move the motor in the required direction to go to the requested Position The Distance units are in encoder counts For a SilverMax with an encoder that provides 4000 counts per revolution one revolution of the motor is 4000 counts Velocity based moves use an acceleration and velocity parameter to accomplish the motion profile If the Velocity value needed to make the move exceeds the maximum permissible limi
125. n up into several chapters with each chapter detailing a category of commands For example there are chapters for Initialization Mode and Motion commands Within these chapters each command is described in one or more pages Page Anatomy Command Category Chapter Command Name and Abbreviation Other Commands to Look at Detailed Description CALCULATION TWO WORD CTW See Also Calculation CLC Description This is the same as the Calculation CLC command except the parameters are split up into two words instead of being combined See the CLC command for details Command Information see below Command Info Command Command Parameters Param Type Parameter Range Name Type Num Calculation Program See Previous Table Two Word Class D Standard Register Range 215 0xD7 Example QuickControl Example CTW Calculation Two Word Example QuickControl Edit Screen CTW Rey 34 Example in QCI 8 Bit ASC11 Protocol Clear Accumulator 16 215 0 10 CR Regeler fo target Pomar AAA SilverMax Response Operation Clear fie Reg 0 ACK only Type of Response received from SilverMax SlverMax Command Reference 5 Revision 4 01 Command Information Command Name e Name of command and its three letter acronym e First SilverMax firmware revision this command appeared Blank implies the command was available
126. nd Parameters Param Parameter Name Type Num Type Range Low Voltage Program Voltage U16 0 Don t Check Processor Trip Class D 10 to 48 LVP 131 0x83 Default 0 Rev 29 2 Words Example QuickControl Example Set LVP to 10 volts Edit L P Low Voltage Processor Trip 16 131 10 CR ok Low Yoltage Processor Trip _ Cancel SilverMax Response ook Description H ACK only SlverMax Command Reference A9 Revision 4 01 Initialization Commands Low Voltage Trip LVT Description This command sets the input voltage or driver Input voltage for units that have dual input power supplies that will trigger a Low Voltage status Bit 14 in the Internal Status Word ISW and subsequently the Power Low Recovery PLR routine if configured When a Low Voltage Trip occurs the low voltage trip values associated with the Low Voltage Trip and Low Voltage Processor Trip commands are overwritten to zero to prevent multiple triggering Command Info Command Command Parameters Param Parameter Range Name Type Num Type Low Voltage Program Voltage U16 0 Don t Check Trip Class D 10 to 48 LVT 212 0xD4 Default 10V 2 Words Example QuickControl Example Set Motor to shut down at 10 volts Edit L T Low Voltage Trip 16 212 10 CR Low Voltage Trip SilverMax Response fio volts Description ACK only SlverMax Command Reference 50 Revision 4 01 Initialization Commands Motor Constants MCT
127. nd does not remove any windup whatever Position Error exists before this command will remain To zero the Target and clear the Position Error use the Zero Target amp Position command Command Info Command Name Command Parameters Param Parameter Type Num Type Range Zero Target ZTG Program Class D 144 0x90 1 word Example Sets the Target to zero 0 does not clear the position error 16 144 CR SilverMax Response ACK only SlverMax Command Reference 172 Zero Target Program NONE NONE NONE QuickControl Example Edit Command Command Name MISC ZT G Zero Target Test Cancel Revision 4 01 Zero Target amp Position ZTP Description Misc Commands This command zeros the Target register and the Position register This command zeros out both registers and removes any Position Error that may exist This is useful for homing routines to denote the current location as Zero so that all other locations can be defined as an offset from Zero This command removes any Windup that may exist from a previous motion Command Info Command Command Parameters Param Parameter Name Type Num Type Range Zero Target amp Program Class D 145 0x91 1 word Position ZTP Example Sets the Target amp Position to zero 0 16 145 CR SilverMax Response ACK only GlverMax Command Reference 173 Zero Target amp Program
128. nd their execution does not incidentally affect the Program Buffer contents They may be executed at any time Class B Commands These are serial communications interface only They may not be contained within a Program but their execution affects the Program Buffer They may be executed only while the motor is idle No Motion or Program is running Multitasking allows these commands to be executed at any time providing the conditions are appropriate For example the Start Download command should not be executed when a Program is running or when already in Download mode Class C Commands These are serial communications interface only They may not be contained within a Program but their execution affects the Program Buffer They may be executed only while the motor is idle No Motion or Program is running The Program Buffer must also be loaded prior to execution Multitasking Allows these commands to be executed when a Motion is running but not when a Program is running Class D Commands These commands can be executed from the serial communications interface or as part of a Program Their execution from the Host affects the Program Buffer They may only be executed when the motor is idle They are then stored to the buffer when in download Program Download mode All of these commands have a command code of 64 hex 0x40 or higher Multitasking Allows these commands can be executed when a Motion
129. ns SlverMax Command Reference 132 Revision 4 01 Program Flow Commands Program Return PRT Description The Program Return command is used as a complement to the Program Call command Program execution continues at the command immediately following the Program Call See Program Call PCL for details If a Program Return is executed without a previous Program Call the program will error stop execution and set Bit 12 in the Polling Status Word Program Return can be set up to conditionally execute using the Internal Status Word This works identical to the Program Call and Jump commands Placing a 0 in both parameters will cause an unconditional return See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Program Program Condition Enable U16 O to 65535 Return PRT Class D AQA baal Condition State U16 0 to 69535 3 words Example QuickControl Example Return from Call if the last I O 1 is eee eee High dt coco de o o 1016 202 16 16 CR E lvigimy Pom talon Cathe Leiden am Zinc Didie HddrgEro raime aki Lat Caobos Pee Didi Halmen Cutie SilverMax Response ARA A re A wary tiae De ACK only LO Dike Daig Diki ME Catia brwi Orble dea Tep a SlverMax Command Reference 133 Revision 4 01 Program Flow Comm
130. nse ACK only SlverMax Command Reference Operation 2 Operation High Byte Register Standard Register Range Register Low Byte Value 2 147 483 648 to 2 147 483 647 Program Buffer O to 199 Address QuickControl Example JLT Jump On Register Less Than Cancel Description Select from St labels or enter a new one Register User 32 Data Data Format 1200 Hex C Acceleration Long Velocity Ulong f Time Position 126 Revision 4 01 Program Flow Commands Jump On Register Not Equal JNE Description The Jump On Register Not Equal command allows looping and other conditional branching inside a program based on the comparison of the contents of the given register with the value of the compare parameter Note Internally JRE JGE JNE JLT all share the same Command Code with the difference indicated in the high byte of the Operation Register parameter see JRE command for details For this command the Operation Register parameter is equal to the register number 768 See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Jump On Register Not Equal JNE Rev 29 Program Class E 137 0x89 5 words Example Jump to Program Buffer location 10 if Regi
131. nto the User Data Registers prior to executing the move command The range of the move parameters stored in the User Data Registers must be the same as those used in the basic Move Absolute Time Based MAT command The Write Register commands can be used to write the move parameters into the Data Registers The Write Register commands do not type check the parameters when written therefore errors may occur at time of execution Changing the move parameters during an actual move will have no affect on the move in progress Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent l Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Name Command Parameters Param Type Parameter Range Type Num Extended Program Starting Data S16 Standard Register Register Move Class D Reaister Ranae Treba gd ora Stop Enable S16 U16 See Above AT STE Example QuickControl Example Edit XAT Extended Register Move Absolute Time Based Move SilverMax using parameters l or Select the first of 3 consecutive registers from User Data Registers 20 22 that hold the the data for this command Cancel
132. ocity non zero the value should be the approximate actual position or 1 2 full scale This indicates the desired direction of travel If the final velocity of this segment is zero then the position should be the desired stopping position This value is automatically copied to Register 20 for use by the profiled move operation Note that the velocity for the last segment should not be set to zero but left as the initial value for the segment The third register in this bank of four contains the acceleration or deceleration magnitude positive values only for this segment of the move It is copied to Register 21 and 23 for use by the profiled move operation The fourth register in this bank of four contains the speed absolute value of the velocity for this segment of the move It is automatically copied to Register 22 for use by the profiled move operation SlverMax Command Reference 87 Revision 4 01 Motion amp Profile Move Commands After the four values have been copied The upper word of Register 17 is set to 1 to indicate the data has been transferred and is now stale If updating from internal memory a multitasking program should be looping until this register has been modified Next it needs to either point to the next set of data Register 34 for example if the data representing the next segment has already been loaded or it needs to load the data representing the next segment of the move into the same set of Regis
133. of the permitted range only motions toward the permitted range are effective Drag mode may allow the Target to be forced outside the permitted range if manually moved Again only motions that move toward or within the permitted range will have effect Command Info Command Name Command Parameters Param Parameter Type Num Type Range Soft Stop Limits Program Data Register 0 Not Used SSL Class D 10 to 39 221 OxDD First of two 2 words Example QuickControl Example SilverMax uses Data Registers 39 Edit SSL Soft Stop Limits amp 40 for end a travel position limits 16 991 39 CR Register Cancel User 39 ae Description SilverMax Response ACK only SlverMax Command Reference 64 Revision 4 01 Initialization Commands Constants AHC Torque Limits TQL Description This command sets the torque limits for the different operating modes of the SilverMax unit The unit may be in either Open Loop or Closed Loop mode and in either moving or holding position The four parameters supplied set the limits on the output torque for all four combinations Closed Loop Holding Closed Loop Moving Open Loop Holding and Open Loop Moving SilverMax operates in moving mode whenever the target velocity or motion i e SSD is non zero The unit will continue to use the moving torque limits until Delay to Holding time ticks 120uS each see Error Limits command after the last non zero target velocity This al
134. ome to an abrupt stop In many situations this may cause the motor to overshoot the stop position and oscillate until settled More controlled stops can be accomplished by using the Velocity Mode which allows a user selectable deceleration to O velocity stopped The Profile Move Exit PMX command may similarly be used to halt an existing motion with a controlled deceleration Command Info Command Command Parameters Param Parameter Name Type Num Type Range Hard Hard Stop Program NONE NONE NONE Program NONE NONE NONE Move HSM Class D 229 OxE5 1 word Example QuickControl Example Stop the SilverMax immediately Edit Command Command N ame 16 229 CR MOVE HSM Hard Stop Move i Description SilverMax Response E Cancel ACK only SlverMax Command Reference 86 Revision 4 01 Motion amp Profile Move Commands See Also Profiled Move PMV Interpolated Move Queue Clear IMQ Interpolated Move Start IMS Interpolated Move Write IMW Description This command provides a means generating an arbitrary motion from either nonvolatile memory or from a host via the serial interface Before issuing this command Register 17 should be written to point to the source of the profile data while Register 19 should contain a deceleration value to use if the data stream were to become interrupted This command takes succeeding sets of 4 data values and copies them within a single normal
135. on This allows the next motion to move and ramp as expected rather than having to unwind the accumulated error This is useful for homing against a hard stop where error is intentionally introduced and for removing error before enabling the motor drivers after they have been disabled The Target value is updated by the Trajectory Generator the Step amp Direction mode or one of the Input Modes The SilverMax servo loop uses the Target value as the input position parameter lf the motor is unable to achieve the Target position windup will occur This command removes the windup error Command Info Command Command Parameters Param Parameter Name Type Num Type Range Set Target To Program NONE NONE NONE Target To Program NONE NONE NONE Position Class D TTP 146 0x92 1 word Example QuickControl Example Sets the Target to the current Edit Command x position Command Mame MISC TTP Target to Position Uk Cancel 016 146 CR Description SilverMax Response ACK only SlverMax Command Reference 171 Revision 4 01 Zero Target ZTG Description Misc Commands This command zeros the Target register Before doing this the current Position Error Target Position is copied into the Position Register This is useful for homing routines to denote the current location as Zero so that all other locations can be defined as an offset from Zero This comma
136. one command The Load and Run Program is designed to be placed inside of programs to enable branching off to other programs stored in NV memory The content in the first NV Memory Address of the program is the length in words of the program size and the checksum of the program The first command is read from the address following the Length amp Checksum word with subsequent words transferred up to the size indicated in the length During the load process the data is used to calculate a checksum value When the load is complete the calculated checksum is compared to the stored checksum If the checksums do not agree Bit 14 in the Polling Status Word is set 1 to indicate a program load failure This may occur if data and or programs overlap their usage in nonvolatile memory After a load is complete and no errors were encountered a Run Program will be initiated starting the program and dropping SilverMax into the Program Mode Programs that contain errors will shut down the motor and exit execution when an error is encountered Bit 12 Program errors of the Polling Status Word will be set indicating program execution error The program will remain in the buffer until removed by the Clear Buffer command or over loaded by another Load Program command See SilverMax Memory Model in User Manual for details on downloading programs Command Info Command Command Parameters Param Type Parameter Name Type Num Range Load And
137. onnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnccnccnnn 127 JUMP ON REGISTER EQUAL JRE coccccnnccnncnnnnnnnnnnnononononononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnninin s 128 DAT OG ANA A a ig hs le on Ate ead eee leon tas eines 129 LOAD AND RUN PROGRAM LRP ccccececcecescecesseccececcececceceececeacaccaseccateecateevateavareasereatereaeen 130 PROGRAM CALE PCO E AAA A AAE aa K Ii ia 131 PROGRAM CALE ON INPUT POD iiei a oa 132 PROGRAM RETURN PRT conocen 133 PROGRAM RETURN ON INPUT PRI seat Wash edited A ters euch cette on ue leash na nee ta AR eased hacen ea ats 134 PUN PROG RAIN RUN A A 135 START DOWNLOAD cD Ey ans ER 136 STORE PROGRAMS PR ita ass 137 O E REO 138 WAIT ON BIT EDGE WBE ceccececcececcececceccscecceceececcevecceceesateevaceavsesetaucaceuvatestrertuseateneatenes 139 WAMONBIESTATE WBS ariadna ida 140 VO COMMANDS usaste rd cd teca tide 141 ANALOG CONTINUOUS READ ACR ococccccccccccccoconononononononnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnononenenininines 142 ANALOG READ INPUT AR Doors 144 CONFIGURE NO A 145 CLEAR OUTPUT BIT COB usan erase elas ea 146 DISABLE ENCODER MONITOR DEM ooccccccccncncnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 147 ENABLE ENCODER MONITOR EEM E eS ee eee a me ae tee ee 148 MODULO CLEAR MDC o00 eceeeeccceeceeseeeeceeceeseeeceeseeeaeeecessenseeeeeeesuseaeeeseseessneeeeeeeeennnneeeeess 149 MODULO SET MDS diarias 150 MODULO TRIGGER MDT iriri nE E E ean EOE 151 POS
138. ontrol Example Check for a Last Calculation Was Gita eens tn Positive and report to Host using Polling Status Word Select which conditions to check co Press the buttons bo change state or here for more help Cancel 016 164 4 4 CR Index Found Disable Moving Error From Error Limit Disable S i Ive r M ax Res p onse Last Calculation Was Zero Disable Holding Error From Error Limit Disable Halt Command Was Sent Disable ACK onl 3 gt y Last Calculation Was Negative Disable Input Found On Last Move Disable VOH Dizable Wal Delay Count Exhausted Disable iO 2 Disable Over Voltage Disable O S Disable Low Voltage Disable Over Temperature Disable EEE ass Ee SlverMax Command Reference 168 Revision 4 01 Clear Internal Status CIS Description Misc Commands The Internal Status Word ISW is used to indicate different conditions or states in SilverMax see Internal Status Word ISW in User Manual for details Several of the conditions are latched and therefore are persistent even after the condition has changed The CIS command is used to clear the latched conditions in the ISW This command should be used after a Kill Motor condition has occurred before normal operation can be restored Command Info Command Command Parameters Param Parameter Name Type Num Type Range Clear Internal Program NONE NONE NONE Program Class D 163 0xA3 1 word Status CIS
139. operation NOTE If a rapidly changing data register is stored to NV Memory the data has the possibility of being inaccurate This is due to the write cycle of the SilverMax DSP The cycle performs two 16 bit writes from the 32 bit data register to NV Memory If the data in the register changes before the second 16 bit write cycle then it will be incorrect A NV Checksum error will also occur when the data is read back via the RLM command It is advisable to copy the data from the changing register to a user register and then storing the user register to NV Memory SlverMax Command Reference 159 Revision 4 01 NOTE Data Register Commands If this command is used in QuickControl s Normal Mode many of the complexities go away See Register File System in SilverMax User Manual for details Command Info Command Command Parameters Param Parameter Range Name Type Num Type Register Program Store Multiple Class D RSM 196 0xC4 4 words Example Store 5 data registers starting at 20 to NV memory starting at address 2500 016 196 5 20 2500 CR SilverMax Response ACK only SlverMax Command Reference Starting Data S16 Register Range 160 11010 Standard Register O for indirect addressing NV Memory U16 Max Size at NV Memory Address Edit RSHM Register Store Multiple Register Ale Hame Enter Hame Here Edit Begieten Hile Number of Registers 5 NonWolatile Memory
140. or clear while the encoder outputs are enabled Similarly the Encoder outputs may not be enables while any of the three I O lines are in output mode Either of these conflicts will cause a Sequence error and will terminate the program See Using SilverMax I O in the SilverMax User Manual for more information on I O usage and conflicts To exit this mode use the Disable Encoder Monitor command For using the encoder output for controlling or sending signals to other external devices see the modulo commands below These commands are designed to be more flexible in outputting encoder signals Command Info Command Command Parameters Param Parameter Name Type Num Type Range Enable Program Enable Progam NONE NONE NONE Encoder Class D Monitor 170 OxAA EEM 1 word Example QuickControl Example Turn on monitoring of the Internal Edit Command Encoder o Command Name fio EEM Enable Encoder Monitor Description Test Cancel 16 170 CR SilverMax Response ACK only SlverMax Command Reference 148 Revision 4 01 Modulo Clear MDC Description I O Commands The Modulo Clear takes SilverMax out of modulo output mode and frees up Digital I O bits 6 amp 7 for normal usage Command Info Command Command Parameters Param Parameter Name Type Num Type Range Modulo Clear Program NONE NONE NONE Program MDC Class D 190 OxBE 1 word NONE NONE NONE Example
141. ord of the selected register 9 Used to write to half of a combined word register Saves the Low word of Register 10 to the Low word of the selected register Used to write to half of a combined word register Shift Left Performs a 32 bit Left Shift of the selected Register Shift Right Sign Performs a 32 bit sign extended right shift of the selected Register Implements 27 23 gt Extended a signed divide by 2 SlverMax Command Reference 113 Revision 4 01 Program Flow Commands Performs a 32 bit right shift of the selected Register Implements an unsigned divide by 2 Performs a modulo remainder calculation using the signed 32 bits of Register 10 with the positive only divisor being the lower word of the selected Data Register Note the remainder will always be positive following the standard Modulo format Calculation Program Operation Operation CLC Class D Upper Byte See Previous Table 165 A5 2 words Data Register Data Register Lower Byte Standard Register Range Example QuickControl Example Decrement Accumulator Edit CLC Calculation Operation Register 5 2 10 a 1290 Cancel 016 165 1290 CR Register Accumulator 10 Description Operation Decrement lie Reg Reg 1 SilverMax Response ACK only SlverMax Command Reference 114 Revision 4 01 Program Flow Commands Calculation Two Word CTW Description This is the same as the Calculation CLC command except the parame
142. ortional gain term is disabled zeroed out and the Integrator acts on the difference in velocities between the Target velocity and the Measured Velocity The anti windup on the integrator is configured to smoothly recover from a motion stoppage without over running the desired velocity Command Info Command Command Parameters Param Parameter Range Name Type Num Type Control Loop Program Mode U16 O Position mode Mode CLM Class D Default Rev 31 166 OxA6 1 Velocity mode 2 Words Example QuickControl Example 16 166 0 CR CLM Control Loop Mode EA Close th d SilverMax Response Teen Stan E ACK only Description Mode f Position f Velocity SlverMax Command Reference 27 Revision 4 01 Initialization Commands Control Constants CTC Description This command sets the various servo loop gain control constants These are used in tuning the servo QuickControl stores a default set of parameters for each SilverMax type i e 23 3 23H 1 If Use Default For SilverMax is checked QuickControl will use the default parameters See Tuning SilverMax in the SilverMax User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Control Program Kv1 Velocity 1 Feedback Gain 0 to 32767 Constants Class D q _ _ _a _ ___ _ __aJ _ _ J JJJJJJJJJz
143. otion command The motion command to be precalculated must immediately follow the Pre Calculate Move command or no action is taken When this command has been successfully executed the pre calculated move will be in a ready state waiting for the Pre Calculated Go command Command Info Command Command Parameters Param Parameter Name Type Num Type Range Pre Program Pre Program NONE NONE NOE Calculated Class D Move PCM 231 OxE7 1 word Example QuickControl Example Start the pre calculated move Edit Command Command Name 1 6 231 CR MOVE PCM Pre Calculate Move Description Test Cancel SilverMax Response ACK only SlverMax Command Reference 101 Revision 4 01 Motion amp Profile Move Commands Profile Move Continuous PMC Description The Profile Move commands are distinct from the Motion commands in that the move parameters can be modified while the motion is in progress A change in a move parameter updates the move immediately and can alter the move profile real time The Profile Move Continuous puts SilverMax into a move that does not end unless explicitly commanded During the move any move parameter can be updated either by a Host controller using the serial interface or by an internal program Multitasking operation is required With this feature any motion profile shape can be accomplished by changing the appropriate parameter at the desired time Five parameters are
144. p 0ptions menu ikl I All SilverMlas on the network will accept commands addressed to their Group ID Do not set to Uit ID Group ID 2 l Revision 4 01 Kill Disable Driver KDD Description Initialization Commands see Also Kill Enable Driver KED Disables the motor driver shorting across the windings passive braking when a Kill Motor Condition is met If the SilverMax is moving it will stop immediately in a rapid manner The motor will be unable to move until re enabled using the Enable Motor Driver command This is the default setting for the servo See Shutdown and Recovery in User Manual for details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Kill Disable Program Driver KDD Class D 183 0XB7 1 word Example Disable the Motor Driver electronics when Kill Motor Conditions are met 016 183 CR SilverMax Response ACK only SlverMax Command Reference 45 NONE NONE NONE QuickControl Example Edit Command Command Name INIT KDD Kill Disable Drivers Description Cancel Revision 4 01 Initialization Commands see Also Kill Disable Driver KDD Kill Enable Driver KED Enable Multi Tasking EMT Description Causes SilverMax to leave the motor drivers enabled when a Kill Motor Condition is met Normally the motor driver is disabled with a Kill Motor Condition this command can be used to leave the
145. p Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Profile Move in User Manual for details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Profile Move Program Stop Enable S16 U16 See above Continuous Class D PMC 240 OxFO SSS Sess Example QuickControl Example Put SilverMax into a continuous Edit PHC Profile Move Continuous EJ Profile move Stop if Input 1 is ees The following registers store the paramters high 1 for this move Make sure they have been initialized before executing Cancel Corea own nes ie se 16 240 1 1 CR User Register 20 Position Description User Register 21 Acceleration Si IverMax Res po nse User Register 22 Velocity Advanced User Register 23 Deceleration User Register 24 Offset Test ACK only Use Descriptive Names for Profile Moye stop SlverMax Command Reference 103 Revision 4 01 Motion amp Profile Move Commands Profile Move Override PMO Ono usan Description The Profile Move Override command allows a Profile Move Continuous to end when the Position is achieved
146. pe Range Anti Hunt Program Open to Closed 0 to 140 a eee 3 0x96 Closed to Open 2 warde Example QuickControl Example Go into Anti Hunt when within 4 EE counts of target Go out of Anti Ae Hun esti entrete Hunt when 10 counts away Ei err Sntrtun 16 150 10 4 CR SilverMax Response pena ACK only apa SlverMax Command Reference 23 Revision 4 01 Initialization Commands A Anti Hunt Mode AHM Anti Hunt Delay AHD Description After the conditions are met for Anti Hunt as specified by the Anti Hunt Constants AHC command this Anti Hunt Delay AHD specifies the amount of delay before going into Anti Hunt This is useful for allowing a system time to settle prior to going into Anti Hunt See Anti Hunt Constants AHC for more details Settling time is a system parameter which must be analyzed under real working conditions Using the SilverMax Tuning tool in QuickControl allows viewing of motion profiles for analyzing settling times Command Info Command Command Parameters Param Parameter Range Name Type Num Type U16 Anti Hunt Delay Program Delay Count in O to 65535 AHD Class D Ticks Default 1250 ticks 230 OxE6 1 Tick 150ms 2 words 120usec Example QuickControl Example Allow Anti Hunt 10 milliseconds Edit AHD AntrHunt Delay after a motion is completed ae Delay before moving into Anti Hunt made 16 230 83 CR Cancel fi q msec
147. polated Move 1016 253 CR SilverMax Response ACK only SlverMax Command Reference 89 Motion amp Profile Move Commands QuickContol Example Edit Command Command N ame MOVE IMS Interpolated Move Start Description x Ai Test Cancel Revision 4 01 Motion amp Profile Move Commands SeeAlso Profiled Move PMV Interpolated Move Queue Clear IMQ Interpolated Move Start ms Interpolated Move Write IMW Description This Command clears any data that may have been left in the Interpolated Move Queue This queue is a software FIFO First in first out buffer capable of holding data for up to four interpolated motion segments the data for each segment consisting of four long words 32 bits each of data If the data is able to fit within the queue it is accepted and the communication is acknowledged If the queue is full the request is answered with a NAK Full response This just indicates that the host is successfully keeping the queue filled The same data should be sent again until it is positively Acknowledged See Interpolated Move in User Manual for details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Interpolated Program NONE NONE NONE Move Queue Class D Clear IMQ 254 OxFE Rev 29 1 word Example QuickContol Example Stop the SilverMax immediately Edit Command Command Name 1 6 254 CR MOVE IMG Interpolated
148. ral program flow control information and examples Command Info Command Name Command Parameters Param Parameter Range Type Num Type Jump On Program Operation Register Operation Register Equal Class E 0 JRE 137 0x89 Operation High Byte Rev 29 4 words Register Register Low Byte Standard Register Range Value S32 2 147 483 648 to 2 147 483 647 Program Buffer Address 0 to 199 Example QuickControl Example JRE Jump on Register Equal Jump to Program Buffer location 10 if Register 32 is equal to 1200 OK Select from existing labels or enter a new one Cancel E A O es a 16 137 32 1200 10 CR SilverMax Response ACK only m Data Format Hex Acceleration Long Velocity C ULong Time 7 Position SlverMax Command Reference 128 Revision 4 01 Program Flow Commands Load Program LPR Description The Load Program transfers a program from the nonvolatile memory to the Program Buffer The number of words to be transferred is read from the location given in the NV Memory Address parameter This count is automatically stored in the first word along with a checksum when the program is written into nonvolatile memory The content in the first NV Memory Address of the program is the length in words of the program size and the checksum of the program The first command is read from the address following the Length amp Checksum word with subsequent words
149. rial communications interface or from nonvolatile memory Program Mode Commands as the name implies can be part of a Program When these commands are sent they are first loaded into the Program Buffer and then executed This requires that the buffer not be in use at the time the command is sent For example they cannot be executed while the Load Program or Store Program commands are active If a Program Mode Command is sent while the motor is active a NAK Device Busy response is returned Program Mode Commands can also be downloaded to the Program Buffer without being executed Once a Program has been assembled it can either be executed immediately or it can be written to the non volatile Memory Programs can also be loaded from the Nonvolatile Memory and executed In fact the SilverMax factory initialization is a Program which starts at location 0 in the non volatile Memory and is automatically executed at the application of power SlverMax Command Reference 7 Revision 4 01 Command Classifications The SilverMax command set has been broken into the following classifications Each class of command has a set of rules that define how or when a command can be used NOTE executed for this section means to Send a command real time from a Host controller to SilverMax using the serial communications interface Class A Commands These are serial communications interface only They may not be contained within a Program a
150. ry sets up options for recovery from a motor shut down The Kill Motor Conditions KMC establishes conditions that will cause the motor to shut down Using the Kill Motor Recovery the motor can perform a standard or user defined process for re initializing the motor User Programs can be executed that have been previously stored in the motor nonvolatile memory See Kill Motor Conditions for more detail See Shutdown and Recovery in User Manual for details Three Options available 0 This default state indicates that no recovery program has been designated The SilverMax drops out of any motion or program that is currently executing and goes into an idle state The drivers are disabled At this point SilverMax will sit with no current to the motor waiting for host intervention using the Serial Interface 1 Normal operation 1 is a special parameter value indicating to run the initialization program from non volatile memory location 0 HEHE Normal operation The routine located at is loaded and executed See Kill Motor Mask for actions taken before the loading of the Kill Motor Recovery routine Command Info Command Command Parameters Param Parameter Range Name Type Num il KillMotor Program Process S16 0 DoNothng Program Process 0 Do Nothing Recovery Class D 1 Load and Run KMR 181 OxB5 Program NV Mem 2 words adr 0 Load and Run Program at indicated NV Mem adr
151. s Baud Rate BRT Description If a Baud Rate different than the default rate is required such as with a PLC limited to 9600 baud the Baud Rate command can be used to change the baud rate to a range of other values The baud rate is limited to a maximum value of 230400 bits per second 57600 is the default baud at power up Other baud rates can be set using values from the table below Command Info Command Command Parameters Param Parameter Range Name Type Num Type Baud Rate Program 3 300 baud BRT Class D 12 1200 174 OxAE 24 2400 2 words 48 4800 96 9600 192 19200 288 28800 384 38400 576 57600 Default 1000 100000 1152 115200 2304 230400 Example QuickControl Example Set the baud rate for 57 6K Edit BRT Baud Rate This command will change the Silverkd ax s 1 6 174 576 CR baud rate but not the PC s Cancel Baud Rate 57 6K Description ACK only y i Normal Saud Bate Driza fo Native SilverMax Response Dessisi n ode NOTE The baud rate changes immediately so the Acknowledge may not be intelligible if SlverMax Command Reference 26 Revision 4 01 Initialization Commands Control Loop Mode CLM Description This command sets the control loop of the servo to operate around either Position default at power up or Velocity In velocity mode the servo is closed around the servo velocity rather than servo position The Prop
152. s PAC Description Sets the motor phase advance constants These are motor type and power supply voltage dependent to optimize motor torque at high speed Factory set for optimal performance PAC uses the same QuickControl dialog box as MCT For more details see MCT Command Info Command Command Parameters Param Parameter Name Type Num Type Range Phase Program PACT 0 to 60 Advance Class D tt S Constants Code Hex PAC2 0 to 2400 PAC 172 0xAG ASA TA PAC3 0 to 200 Example QuickControl Example Phase advance for a 23 5 Edit PAC Phase Advance Constants SilverMax 16 172 5 160 37 CR Current Yoltage 47 Update Mode Auto default QuickContral will read voltage from Silver ax SilverMax Response ACK only lar 7 Select Volk Manual teens std i Advanced l Edit Native C Native Silvera Edit Parameters SlverMax Command Reference 55 Revision 4 01 Initialization Commands Power Low Recovery PLR Description This command designates which routine from nonvolatile memory to run if the power supply voltage drops below that specified by see Low Voltage Trip A value of zero indicates to shut down the motion and then to do nothing See Shutdown and Recovery in User Manual for details Four Options are available Load and Run Program QuickControl Only Press this button to select which program you want to load and ran for the PLR Load and Run Absolute
153. se is used to set initial motor phase prior to doing motor encoder alignment It is primarily used as an element in the algorithmic motor to encoder alignment routine For positive values this represents the micro step position of the motor Negative values are used to select half step positions i e 2 sets the motor at 1 full step away from a value of 0 Please see the SilverMax Initialization section in the SilverMax User Manual for a more detailed description of the initialization process This command is normally used only in the initialization procedure The use of negative values makes the operation independent of encoder resolution Command Info Command Command Parameters Param Parameter Name Type Num Type Range Open Loop Program Phase Angle S16 7 to 79 Phase Class D Count OLP 152 0x98 2 words Example QuickControl Example Set the open loop phase to 0 Edit Command 16 152 0 CR Maina Sse SilverMax Response ACK only Data Label Phase Angle Count SlverMax Command Reference 53 Revision 4 01 Initialization Commands Over Voltage Trip OVT Description sets the voltage at which SilverMax will cause a motor shutdown This command is mainly used to prevent over voltage from the power regenerated during deceleration The voltage value is entered in integer units example 48 for 48 volts If an over voltage condition is detected a motor shutdown is executed that shorts the motor phase
154. sses to which the SilverMax will respond The SilverMax will accept and respond to any command addressed with the Unit ID The SilverMax will accept commands sent to either the Group ID or to the Global ID 255 but no response will be sent as multiple units cannot respond at the same instant No two units should have the same Unit IO when connected on the same network Multiple units may share a common Group IO when they are on the same network Do not set Unit ID and Group ID to the same value Identities need to be in the range of 1 to 254 Upon issuing this command the SilverMax will respond with the new identifier See Communication Protocols in User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num ad Range Identity IDT Program 155 0x9B 2 words Group Unit ID Group ID Upper Byte Unit ID Lower Byte Example To Calculate number Multiply the Group Identity times 256 then add the Unit Identity Group 20 Unit 16 Identity 20 256 16 5136 Group Identity of 20 Unit Identity of 16 16 155 5136 CR SilverMax Response ACK only SlverMax Command Reference 44 257 to 65278 Default Unit ID 16 Group ID 20 QuickControl Example Edit IDT Identity Select the Unit ID and Group ID to Uk which the Siverhdas will respond Cancel Unit ID 71 l Unique address for this Silver ax Description Change Min Ma ir Setu
155. ster 32 is not equal to 1200 Operation Register 768 32 800 16 137 800 1200 10 CR SilverMax Response ACK only SlverMax Command Reference Operation Operation High Byte Register Standard Register Range Register Low Byte Value 2 147 483 648 to 2 147 483 647 Program Buffer U16 O to 199 Address QuickControl Example JNE Jump On Register Not Equal Cancel Select from existing labels or enter a new one Loof Description Register User 32 Data i 200 gt Data Format Hex Acceleration e Long velocity a C ULong f Time Position MES 127 Revision 4 01 Program Flow Commands Jump On Register Equal JRE Description The Jump On Register Equal command allows looping and other conditional branching inside a program based on the comparison of the contents of the given register with the value of the compare parameter Note Internally JRE JGE JNE JLT all share the same Command Code with the difference indicated in the high byte of the Operation Register Parameter The Operation is automatically handled for you by QuickControl The following is provided for those not using QuickControl Operation Equivalent Operaion Register Command Param Value O0 JRE Register Register 256 Register 512 Register 768 See Program Flow Control Using Inputs and Data Registers in User Manual for gene
156. sters OK Registers 30 32 that hold the the data for this command MK Cancel 16 235 30 0 0 CR Starting Register Description Advanced SilverMax Response Test ACK only Stop dll SlverMax Command Reference 83 Revision 4 01 Motion Profile Move Commands Extended Register Move Relative Velocity Based XRV Description The Extended Register Move Relative performs a relative distance move using move parameters contained in the indicated User Data Registers This command works like the Move Relative Velocity Based MRV command in all other ways The move parameters are retrieved from the User Data Registers in the following order If Starting Data Register N N Distance N 1 Acceleration N 2 Velocity The move parameters must be written into the User Data Registers prior to executing the move command The range of the move parameters stored in the User Data Registers must be the same as those used in the basic Move Relative Velocity Based MRV command The Write Register commands can be used to write the move parameters into the Data Registers The Write Register commands do not type check the parameters when written therefore errors may occur at time of execution Changing the move parameters during an actual move will have no affect on the move in progress Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while S
157. t the move will not be executed and an error code will be set in the Polling Status Word The Polling Status Word bit 14 Foreground Command Error will be set Foreground command errors are generated when a command cannot be executed due to parameters that are out of range If the acceleration value exceeds the maximum permissible value the acceleration is limited to the maximum Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details SlverMax Command Reference 98 Revision 4 01 Motion amp Profile Move Commands Command Info Command Command Parameters Param Type Parameter Range Name Type Num Move Program Distance S32 2 147 483 648 to Relative Class D 2 147 483 647 Velocity 135 0x87 Acceleration Us2 tto1 073 741 823 a i Example QuickControl Example Move SilverMax 4000 counts from its Edit MAY Move Relative Velocity Based current position at 1000cps D 1016 135 4000 3865 8053064 0 0 CR Cancel Distance SilverMax Response f a000 counts Description Advanced ACK only Acceleration 4000 cps Velocity 1000 cps
158. te Cancel Description Select from existing labels or enter a new one UA Select conditions for Jump On NAND 1 0 State Conditions 123 Revision 4 01 Program Flow Commands Jump On OR I O State JOR Description The Jump On Inputs OR ed command allows looping and other conditional branching inside a program based on the condition of the I O State Word IOS see User Manual for bit definitions The IOS Condition Enable selects which inputs will be used in the OR ed evaluation The lOS Condition State allows the user to specify the states High 1 or Low 0 of the selected inputs that will cause a TRUE condition for each of the inputs Setting both parameters to zero forces an unconditional jump to the specified Program Buffer location The condition TRUE evaluation is done by OR ing the enabled inputs together If any of the enabled inputs are TRUE a jump will occur See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Program IOS Condition Enable 0 to 65535 Class E AA A A 239 OxEF IOS Condition State 0 to 65535 4 words Program Buffer Address O to 199 Example QuickControl Example Jump to Program Buffer location O Edit JOR Jump On OR 140 State if input 1 or 2 or 3 is High 1 See I O Stat
159. ted registers occur continuously in the background see Data Register Appendix in User Manual for register numbers This command only copies the current filtered register to the given register See Analog Continuous Read ACR for details See Using Analog Inputs in the SilverMax User Manual for more information Command Info Command Command Parameters Param Type Parameter Range Name Type Num Analog Read Program Analog 1 Analog 1 Input ARI Class D Channel 2 Analog 2 193 0xC1 3 Analog 3 3 words 4 Analog 4 5 Analog 1 and Analog 2 6 Analog 3 and Analog 4 7 V non calibrated 8 Temperature ADC counts 9 V Scale Factor 10 Processor V 11 Driver Temperature 12 Processor V Scale Factor Data Register Standard Register Range Example QuickControl Example Read into data register 10 the V Edit ARI Analog Read Input x input voltage eit 1 6 193 7 10 CR Cancel E Channel v Main Buss Voltage Description Register Accumulator 10 SilverMax Response ACK only SlverMax Command Reference 144 Revision 4 01 I O Commands Configure I O CIO Description Configures the selected digital I O bit for input or output When setting as an output the logic level state is also set Each I O bit is individually set using this command the power up default is all I O bits are inputs This prevents I O conflicts Care must be taken when configuring I O If th
160. terface See the Velocity Mode Program Mode VMP command for embedding this type of command in a program NOTE If the acceleration is negative any accumulated position error is removed and the absolute value of the acceleration is then used Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values 0 and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual see Scaling in User Manual for more details on SilverMax acceleration and velocity units Command Info Command Command Parameters Param Parameter Range Name Type Num Type Velocity Immediate Acceleration 1 to 1 073 741 823 Mode Class A or Immediate 15 OxF 1 to 1 073 741 823 Mode VMI a Velocity S32 2 147 483 647to 2 147 483 647 Stop Enable S16 U16 Example QuickControl Example Put SilverMax into velocity mode Immediate Host Mode Command Only running at 200 RPM 16 15 200000 107374200 0 O CR SilverMax Response ACK only SlverMax Command Reference 77 Revision 4 01 Mode Commands Velocity Mode Program Mode VMP Description Accelerates the servo to the indicated velocity using the given acceleration This command may be run from within a program When this command is exec
161. ters Param Parameter Name Type Num Type Range Read Immediate NONE NONE NONE Internal Class A Status 20 0x14 Word RIS 1 word Example QuickControl Example Read back the Internal Status Immediate Host Mode Command Only Word 16 20 CR SilverMax Response Internal Status Word ISW Response Example Indicates Input 1 2 3 High Last Calculation was Zero and Index Sensor was found 10 0014 00F3 CR SlverMax Command Reference 13 Revision 4 01 Status Commands Read Program Buffer RPB Description Reads the Data that is currently contained in the Program Buffer The specified number of Words is read from the Program Buffer starting with the given address Up to 8 words can be read at one time This limit is due to the size restriction of the Serial Communications Buffer To read the entire contents of the Program Buffer multiple reads are required For details on SilverMax memory management see the User Manual section Programming SilverMax NOTE When reading command codes from Program Buffer the MSB Most Significant Bit will be stripped off For example if an MRV command is read from the Program Buffer it will be read as a 0x07 instead of a 0x87 Command Info Command Command Parameters Param Parameter Name Type Num Type Range Read Program Immediate Length 6 0x6 3 words Address 0 to 199 QuickControl Example Example Read the first 7 words from Program Buffer Immed
162. ters then re write Register 17 with the starting Register address If the current movement segment ends while the upper half of Register 17 is non zero then the deceleration data in Register 19 is used to decelerate the motion to a stop An error flag is set in bit 12 of the Status word to indicate a timeout in the data stream The motion is stopped but the program continues in operation The final motion segment of a move is denoted by setting the segment time counter the data in the first word of the four data words to zero The final four words of segment information are copied into the respective profiled move operation registers and the move continues as a profiled move This move may also be driven from the Serial Interface The first method is to initialize the registers as was explained above but using the serial interface to write the registers and monitor Register 17 to determine when the next data needs to be supplied The preferred method is to use the Interpolated Move Queue Clear and Interpolated Move Write commands In this mode the Interpolated Move Clear a program mode command is used to clear our any existing data from the a four deep by four long word software FIFO specifically provided for this use Next Register 17 is set to zero 0 to indicate data will be drawn from the circular queue Register 19 should be initialized with an appropriate deceleration value to use to stop the motion in the case of loss of communic
163. ters Param Type Parameter Range Name Type Num Write Cmd Program Data Register S16 Standard Register Long Word Class D Range WCL 1 X8A N Me cra Program Buffer S16 Valid NV Memory Address Range Example QuickControl Example Overwrites the Command Buffer Edit WCLWrite Command Buffer Longword contents at locations 122 and 123 with the contents of Register e 10 Register Cancel Accumulator 10 Desctint 16 138 10 122 CR Desc SilverMax Response ACK only Parameter Acceleration Velocity SlverMax Command Reference 162 Revision 4 01 Data Register Commands Write Cmd Word WCW Description This command allows program space starting at the selected program buffer location to be overwritten with the lower word 16 bit data in the selected register This allows for self modification of the command parameters within the program buffer Any of the command parameters can be dynamically modified within the program This command specifically is intended to modify 16 bit parameters Extreme care should be used when writing any self modifying code to prevent unwanted outcomes The QuickControl tool has support for this command which simplifies its application and enforces consistency checks However values being transferred are dynamic based on the contents of the selected register the range of the data is not verified at transfer so undesired results may be obtained if out of range parameters are assembl
164. ters are split up into two words instead of being combined See the CLC command for details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Calculation Program See Previous Table Two Word Class D Data Register U16 Standard Register CTW 215 0xD7 Range Rev 34 3 Words Example QuickControl Example Clear Accumulator CTW Calculation Two Word a a 016 215 0 10 CR aa Cancel SilverMax Response Register Description ACK only Operation Clear ie Re OO EY SlverMax Command Reference 115 Revision 4 01 Program Flow Commands Clear Program CLP Description The Clear Program prepares the SilverMax unit for downloading into the Program Buffer First the Program Buffer is cleared Then the buffer pointer is set to the beginning of the buffer This command is used prior to a Start Download command It sets up the buffer to properly receive a program This command may also be used to end the program download initiated by a Start Download SDL command See SilverMax Memory Model in User Manual for details on downloading programs Command Info Command Command Parameters Param Parameter Name Type Num Type Range Clear Immediate NONE NONE NONE Program Class B CLP 8 0x8 1 word Example QuickControl Example Clear the SilverMax Program Immediate Host Mode Command Only Buffer 16 8 CR SilverMax Response AKC only SlverMax Command Reference 116 R
165. the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of O in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Type Parameter Range Name Type Num Register Move Program Data Register 32 Standard Register Relative Class D Ranae eee E co se di Example QuickControl Example Move SilverMax to position Edit RAT Register Move Relative Time Based indicated by User Data Register 11 Do the move in 8 seconds with a 0 400 second acceleration Eagan Cancel User 11 016 179 11 3333 66664 0 O CR a Bestia Ben Advanced SilverMax Response 400 we dlo Tet Total Time Sta ACK only feo me H o 3r SlverMax Command Reference 109 Revision 4 01 Motion amp Profile Move Commands Register Move Relative Velocity Based RRV Description The Register Move Relative performs a relative move using a distance value contained in the indicated User Data Register This command works like the basic Move Relative Velocity Based MRV command in all other ways Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State
166. the servo I O Line 1 The Done indicates when the servo is idle and within the Error Limits When the servo is idle No pending commands and no active motions and within the error limits I O 1 will be high 1 and the Green LED will be lighted otherwise I O 1 will be low 0 and the Green LED will be dark Note if multiple commands are in the Program Buffer all of them must complete and the error within limits before the unit is Done Thus if a PLC were to send a Load and Run command the entire sequence would have to be completed and any motions completed and the error within limits before a Done would be reported PLCs or Host Controllers can use the Done indication for monitoring SilverMax motions to check for completion Command Info Command Command Parameters Param Parameter Name Type Num Type Range Enable Done Program High EDH Class D Rev 22 251 OxFB 1 word NONE NONE NONE Example Enable usage of the Done indication by setting l O line 1 High 16 251 CR SilverMax Response ACK only SlverMax Command Reference 36 QuickControl Example Command Name INIT EDH Enable Done High Description OOK o Cancel Revision 4 01 Initialization Commands See Also Disable Done Bit DDB Description Enables a Done indication on the servo I O Line 1 The Done indicates when the servo is idle and within the Error L
167. tick is 120 microseconds The largest count that can be set is 21845 this will give a delay of 2 6214 seconds When sending this command the delay takes effect before the Acknowledge is sent QuickControl will automatically set this parameter at download if the box Automatically Set ADL depending on the current SIF is checked default for QuickControl s initialization wizard At download QuickControl asks the SilverMax whether is in RS 232 or RS 485 SIF and with baud rate sets ADL accordingly Recommended settings RS 232 ADL 0 RS 485 and RS 232 Multi Drop ADL ms Baud Rate 115200 57600 28800 19200 9600 SlverMax Command Reference 21 Revision 4 01 Initialization Commands Command Info Command Command Parameters Param Parameter Name Type Num Type Range Ack Delay Program Delay Count U16 O to 21845 ADL Class D 1 tick 120 uSec Rev 23 173 OxAD 2 words Example QuickControl Example Delay ACK for 2 52 milliseconds Edit ADL ACK Delay 21 x 120 uSec 2 52 ms ACE Delay is the amount of time DK the Silverkd as will wait before 1 6 173 21 C R responding to a command Cancel Values vary depending on SilverMax Response Sa Cen ce Description for details ACK only Select the Auto option to allow Automatically QuickControl to automatically set j set ADL ADL depending on the SIF depending on recommended the current SIF Units f Normal Native Delay 2 52
168. tion to be used in reaching the requested velocity or position Velocity Indicating the desired ending velocity magnitude speed of the segment or maximum velocity to use if coming to a stop within this segment Will only be reached if it is consistent with the starting velocity the acceleration and the segment time See Scaling in User Manual for details on scaling the parameters to engineering units See Interpolated Move in User Manual for details Command Info Command Command Parameters Param Parameter Range Name Type Num Type Interpolated Immediate Move Write Class A Time S32 O to 2 147 483 647 Queue IMW 25 0x19 R SS SSS Rev 29 9 words ne 2 147 483 648 to SlverMax Command Reference 91 Revision 4 01 Motion amp Profile Move Commands Example QuickContol Example Move to position 456 at acceleration 7890 at velocity 1234 Immediate Host Mode Command Only and wait for 123 ticks before getting the next command 16 25 123 456 7890 1234 CR SilverMax Response ACK NAK FULL Response Example 10 CR Negative Acknowledge NAK Command 25 0x19 Reason Queue Full 10 0019 0006 CR The NAK indicates that the data was rejected This should commonly happen if the Host is keeping ahead of the SilverMax unit It means that the queue has been kept full and to send the data again Periodic polling should also be done to see that the move has not improperly ended due to the Host
169. to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Name Command Parameters Param Type Parameter Range Type Num Starting Data S16 Standard Register Register Range Extended Register Program Move Class D Absolute Velocity Based XAV Example Move SilverMax using parameters from User Data Registers 1125 27 016 234 25 0 0 CR SilverMax Response ACK only SlverMax Command Reference 234 0xEA Stop Enable S16 U16 4 words eee ee eee ee QuickControl Example Edit SAV Extended Register Move Absolute Velocity Based Select the first of 3 consecutive registers that hold the the data for this command Cancel Starting Register Description Advanced Test Stop EE 82 Revision 4 01 Motion Profile Move Commands Extended Register Move Relative Time Based XRT Description The Extended Register Move Relative performs a relative distance move using move parameters contained in the indicated User Data Registers This command works like the basic Move Relative Time Based MRT command in all other ways The move parameters are retrieved from the User Data Registers in the following order If Starting Data Register N N Distanc
170. top State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Basic Motion in User Manual for more details Command Info Command Command Parameters Param Parameter Name Type Num Type Range Extended Program Starting Data S16 Standard Register Move Class D Register Register Range Relative 233 OxE9 Velocity Based 4 words SOP ENANE E Example Move SilverMax using parameters from User Data Registers 20 22 16 233 20 0 0 CR SilverMax Response ACK only SlverMax Command Reference 84 Revision 4 01 Motion amp Profile Move Commands Qu ickCo ntrol Edit ARY Extended Register Move Relative Velocity Based Ea Exa m p le i Select the first of 3 consecutive registers that hold the the data for this command Cancel ere gest Ezz er sue Starting Register Description User Profile Move Pos 20 Advanced Test stop SlverMax Command Reference 85 Revision 4 01 Motion amp Profile Move Commands we Description This command provides a way while in multitasking operation to execute a hard stop of any move or mode from within a program A hard stop immediately halts the trajectory generator motion commands or stops the current mode in either case the motor will c
171. ures SilverMax to run in the standard Single Loop control mode All SilverMax encoder information for commutation position velocity and acceleration control is derived from the Internal Encoder If a motion is running the servo Trajectory Generator must be shut down prior to executing this command or a sequence error will result When entering Single loop control SilverMax sets the current Target to the Current position Internal Position from the Internal Encoder By default SilverMax starts up in Single Loop Control mode See the Dual Control Loop DLC command for cases where external encoder position control is required Switching between Single Loop and Dual Loop modes usually requires changing the control loop tuning Command Info Command Command Parameters Param Parameter Name Type Num Type Range Single Loop Program NONE NONE Control SLC Class D 244 0xF4 1 word Example QuickControl Example Configure SilverMax for Single Edit Command Loop Control Command Marne IN T SLC Single Loop Control Description Cancel 16 244 CR SilverMax Response ACK only SlverMax Command Reference 63 Revision 4 01 Initialization Commands See Also Write Register Program Type Soft Stop Limits SSL WRP amp Write Register Immediate Type WRI Description Sets position limits for End of Travel control Two registers are used to store the end limits End o
172. uted in a program the motion will continue until the velocity reaches zero Issuing the command with a non zero velocity and stop on I O enabled will allow the servo to run at velocity until the selected stop configuration is met the velocity then ramps down to zero and the motion ends This command can also be used through the serial interface however a Nak Busy will be reported when a Program or a motion command is executing See the Velocity Mode Immediate Mode VMI command above for velocity mode using the serial interface If multitasking is enabled this command will take over any executing motion with out the completion of that motion and may be used to shutdown a motion if the new velocity is zero NOTE If the acceleration is negative the accumulated position error is removed and the absolute value of the acceleration is used Stop Enable and Stop State parameters are used to stop the move Stop Enable values 1 through 7 represent I Os 1 7 while Stop State values O and 1 which whether to stop on specified I O going LOW or HIGH respectively Values of 0 in both parameters indicates no stop condition For advanced uses of these parameters see Using Inputs to Stop Motions in the SilverMax User Manual See Scaling in User Manual for more details on SilverMax acceleration and velocity units SlverMax Command Reference 78 Revision 4 01 Command Info Mode Commands Command Command Parameters Param Parameter Range Name Type
173. with the result in placed in Bitwise Exclusive OR the selected register with register 10 with the result Divide signed 32 bit long word of Register 10 by the positive valued of low F Series 14 Div word of selected Data Register 32 bit result is placed Register 10 NOTE Prior to Rev x33 divide was only 16 16 bit with a 32 bit result Unsigned multiply of register 10 32 bit long word and 32 bit long word of selected register 32 LSB of result is placed in Register 10 User must keep E Series within the Selected Register selected register is a pointer to the data location terms appropriate such that the result fit in a 32 bit result field 19 Save indirect Saves Register 10 contents to the Register addressed by the data within the Selected Register selected register is a pointer to the data save location ol O N EN NOTE Prior to Rev x33 multiply was only 16x16 bit with a 32 bit result Signed multiply of Register 10 32 bit long word of and the signed 32 bit long word of selected register 32 bit LSB of result is placed in Register 10 User must select values that limit the signed product to fit in 32 bits NOTE Prior to Rev x33 multiply was only 16x16 bit with a 32 bit result Replace the upper word of Register 10 with the low word of the selected register Load Indirect Loads Register 10 with the contents of the Register addressed by the data 97 Save Hiah Saves the Low word of Register 10 to the High w
174. y using a negative number for the first parameter the usage of the command changes see Internal Status Word ISW Enable Code definition in User Manual for details The Jump Enable Code selects which input will be evaluated The Input State allows the user to specify the state High 1 or Low 0 of the selected input that will cause the jump to occur Setting both parameters to zero forces an unconditional jump to the specified Program Buffer location See Program Flow Control Using Inputs and Data Registers in User Manual for general program flow control information and examples Command Info Command Command Parameters Param Type Parameter Range Name Type Num Jump On Program Enable Code Input JO Class E 162 OxA2 1 High NOTAS Example QuickControl Example Jump to Program Buffer location 10 if digital input 5 is High 1 Edit JOI Jump On Input 016 162 5 1 10 CR 7 Cancel Si lverMax Response a Select trom existing labels or enter a new one Description CHECK2 _Desctiption ACK only Select conditions for Jump On Input Conditions SlverMax Command Reference 121 Revision 4 01 Program Flow Commands Jump On AND I O State JAN Description The Jump on AND I O State command allows looping and other conditional branching inside a program based on the condition of the I O State Word IOS see User Manual for bit definitions The lOS Condit
175. ype Num Type Range Registered Program Data Register U16 10to40 Program Data Register U16 10 to 40 Step amp Class D Direction 223 0xDF RSD 2 words Example QuickControl Example Put SilverMax into a Set amp Edit RSD Registered Step amp Direction Direction mode using User Data Register 11 for the scaling value Register Cancel 016 223 11 CR a e e Desc SilverMax Response ACK only SlverMax Command Reference 72 Revision 4 01 Mode Commands i i S S Scaled Step amp Direction SSD Description The Scaled Step and Direction SSD command causes the system to exit the hold mode of operation and follow a counter as a target position The target position and target velocity are controlled by the step and direction input The Select External Encoder SEE command must be issued prior to SSD to configure the external input encoder See Select External Encoder for details Scale Factor The maximum positive value of 32767 is approximately 2 88 per step clock 1 to 1 Ration dependent on encoder Counts Rev CPR Encoder 1 to 1 Counts Rev Scale CPR Factor 4000 1024 8000 16000 A negative value for the scaling factor reverses the state of the Direction Input this is so that no external logic is required to invert the Direction input The SEE command causes the external inputs encoder to be counted and stored in 200 The Step and Direction inputs drive a counter which is s

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