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SimplIQ Command Reference Manual

1. Product grade Elmo drives come in Standard and Advanced grade model When no product grade restriction is cited the command is relevant for both grades Default values Default value and storage type Volatile variables are reset to their defaults with each power on Non volatile variables can be stored using the SV command Stored non volatile values are read from storage upon power on and can be reset to their defaults using the RS command Range Range definition For example the position command may be specified in the range 1 073 741 824 1 073 741 823 Unit mode UM Defines the function of the drive The unit modes are UM 1 Torque control UM 2 Speed control UM 3 Micro stepping UM 4 Dual feedback position control UM 5 Single feedback position control Activation Specifies when the entered parameter value should be used Activation may be Immediate As soon as the command is processed Triggered By another command For example the AC acceleration parameter should only affect the next motion triggered by the BG command Examples Simple examples of the command usage All examples are given in RS 232 syntax See also Related commands Reference chapter Chapter or section that contains relevant details pertinent to the in the SimplIQ command Software Manual SimplIQ Command Reference Manual Alphabetical Listing 2 3 MAN SIMCR Ver 3 0 Limit Ranges The following table
2. For UM 2 DV 2 reports the speed command DV 1 reports the torque command derived by the speed controller The speed command may differ from the desired speed as specified by the JV command and the analog input because the filters and the profiler smooth the edges before transferring the desired speed as a speed command to the speed controller DV 3 returns zero The speed command reported by DV 2 is generated by the sum of an external analog reference and a software reference This sum is further processed for acceleration and speed limiting as well as the switch response DV 4 and DV 5 retrieve the external and software components of DV 2 For UM 3 4 5 DV 1 reports the torque command derived by the speed controller DV 3 reports the command to the position controller and DV 2 reports the speed command which is the rate of change of DV 3 The position command may differ from the desired position as specified by software commands and by superimposed analog input because the stop manager may affect the position command to the controller The position command reported by DV 3 is generated by the sum of an external follower reference and a software reference This sum is further processed for acceleration speed limits as well as the switch response DV 6 and DV 7 retrieve the external and the software components of DV 3 In summary DV 1 reports the current command value DV 2 reports the velocity command valu
3. Refer to LL N Low Feedback Limit SimplIQ Command Reference Manual Alphabetical Listing 2 54 MAN SIMCR Ver 3 0 HM N Homing Capture and Flag Purpose Sets the parameters of the main homing and capture process by which the drive sets a trap for a user defined event When the event occurs the SimplIQ can Modify a position counter homing Log the exact position of the event capture Flag a digital output flag An event is a change in a digital input signal The polarity of the change is defined by the IL N command Values in HM 3 are duplicated for compatibility reasons HM N Index Value Description 1 0 Disarm homing process HM 1 is automatically reset to 0 Activation mode when homing is complete 1 Arm homing process The sequence is activated according to the last HM 2 to HM 6 values HM 7 and HM 8 are cleared 2 Value to load according to method of HM 5 Absolute Absolute value value is limited to position counter range 3 0 Immediate Trigger is the receipt of HM 1 1 Event definition 1 2 Event according to Main Home switch capture 3 High transition of Index pulse capture 4 Low transition of Index pulse capture 5 6 Event according to defined FLS switch 7 8 Event according to defined RLS switch 9 10 Event according to defined DIN1 switch 11 12 Event according to defined DIN2 switch 13 14 Event according to defined DIN3 switch 15 16 Event according to defined DIN4
4. Bit field The integer should be understood not as a number but rather as a combination of binary fields For example the IP Digital Input command reads many On Off switches to the same integer allocating one bit for each Option A selector that may accept one of several options For example the motor direction may be set to forward or reverse symbolized by the numbers 0 and 1 respectively Source Defines the agents that may use the command as follows RS 232 communication CANopen communication User program The command access rights are not equal for all sources For example CANopen binary interpreter cannot use the string commands listed in this manual Another example is the LS List Program command that of course cannot be performed from within a program SimplIQ Command Reference Manual Alphabetical Listing 2 2 MAN SIMCR Ver 3 0 Restrictions The use of certain commands is illegal in certain contexts The reasons for this may be Safety For example it is not safe to change the direction of the feedback while the motor is running Relevance For example a torque command cannot be specified in speed control mode UM 2 in speed mode the drive automatically sets the torque Consistency A parameter may be inconsistent with the specification of other parameters For example in point to point mode the position absolute value PA may be no higher than the maximum allowed position reference VH 3
5. PT MP N QP N QV N OT N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 116 MAN SIMCR Ver 3 0 PW N PWM signal parameters Purpose PW 1 defines the offset value for PWM signals in fractions of the Duty cycle PW 2 defines the dead band zone of the PWM signal in the fractions of the Duty cycle At times the application requires the Duty cycle value to be different from the source of the PWM signals i e offset The PW 1 parameter is intended for this purpose The Actual Duty Cycle is Estimated Duty Cycle Offset A very low Duty cycle values may cause a motor to crawl when a complete stop is desired The dead band zone parameter PW 2 forces the Actual Duty Cycle to zero when it is less than PW 2 Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values PW 1 0 PW 2 0 RS Non volatile Range PW 1 1 0 1 0 PW 2 0 0 1 0 Index range 1 2 Unit modes All Activation Immediate A SimplIQ drive may receive the PWM signals in two formats 50 and 100 Duty cycle For more details please refer to YA command See also AN N FR N RM YA N Reference chapter in the Simpl Q Software Manual SimplIQ Command Reference Manual Alphabetical Listing 5 117 MAN SIMCR Ver 3 0 PX Main Position Purpose Re
6. Purpose Sets the parameters of the auxiliary homing and capture process by which the SimplI1Q sets a trap for a user defined event When the event occurs the SimplIQ can Modify the auxiliary position counter homing Log the exact position of the event capture Flag a digital output flag An event is a change in a digital input signal The polarity of the change is defined by the IL N command Values in HY 3 are duplicated for compatibility reasons HY N Index Value Description 1 0 Disarm homing process HY 1 is automatically reset to 0 Activation mode when homing is complete 1 Arm homing process The sequence is activated according to the last HY 2 to HY 6 values HY 7 and HY 8 are cleared 2 Value to load according to method of HY 5 Absolute Absolute value value is limited to position counter range 3 0 Immediate Trigger is the receipt of HY 1 1 Event definition 1 2 Event according to Auxiliary Home switch capture 3 High transition of Index pulse capture 4 Low transition of Index pulse capture 5 6 Event according to defined FLS switch 7 8 Event according to defined RLS switch 9 10 Event according to defined DIN1 switch 11 12 Event according to defined DIN2 switch 13 14 Event according to defined DIN3 switch 15 16 Event according to defined DIN4 switch 17 18 Event according to defined DIN5 switch 19 20 Event according to defined DIN6 switch 21 22 Event according to defined DIN
7. TR Target Radius Purpose Provides the criterion for deciding that a motion is complete and the motor is stabilized in place with the required accuracy defined in terms of target radius and target time The target radius is the maximum positioning error allowed for static stabilization not to be confused with the ER N parameters which represent the dynamic stabilization error that is considered a fault The target time is the minimum time the absolute value of the error must be within the target radius in order to determine that the motor is stabilized in place after PTP point to point motion TR 1 defines the target radius in counts TR 2 defines the target time in milliseconds When a target position range is within the target radius TR 1 command for at least the target time TR 2 command the MS status is set to 0 The TR 1 value must be within limits of the modulo of the position feedback XM 1 XM 2 for UM 5 and YM 1 YM 2 for UM 4 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values TR 1 100 TR 2 20 RS Non volatile Range TR 1 0 32 000 TR 2 0 100 Unit modes UM 4 5 Activation Immediate Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 7 142 MAN SIMCR Ver 3 0 TS Sampling Time Purpose To define the sampling
8. Unit modes All Activation Trigger parameters RR 3 Upload parameters Immediate 5 Sif the drive has stored a previously recorded data vector setting RP N with N other than 8 or 9 will invalidate this data Invalidated data cannot be retrieved See also RC RG RL RR BH Reference chapter in the Simpl IQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing 5 126 MAN SIMCR Ver 3 0 RR Activate Recorder Get Recorder Status Purpose Launches the recorder kills an on going recording process or retrieves the recorder status The RR command has the following options RR Value Meaning 0 Kill the recorder do nothing if the recorder is not active 1 Start recording at the next BG command 2 Start recording immediately 3 Arm the recorder with the trigger settings of the RP N parameters Table 2 32 RR Command Options As a status report RR may return the following values RR Report Meaning 1 There is no valid data in the recorder 0 The recorder action is complete and it is loaded with valid data 1 3 Waiting for the completion of RR 1 RR 2 or RR 3 respectively The report value 3 does not indicate if the recorder is already recording or just waiting for a trigger If this differentiation is required use the SR command Table 2 33 RR Reports Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Def
9. When an analog encoder is used the basic signal before interpolation is filtered using the same method EF N sets the sample rate of the corresponding digital glitch filter EF 1 for the main encoder and EF 2 for the auxiliary encoder A counter increases or decreases to the value of EF N When the count reaches the specified value the counter is reset and the filter takes a new sample of the raw A B Index and Home input signals If EF N is zero the digital filter is bypassed If EF N is large the encoder reading noise immunity will be better but true fast transitions occurring by fast speed may be dismissed as false A number that is too small may cause the counting of noise pulses A good value for the required delay of the encoder filter is 1 4 of the minimum time expected between transitions Example Suppose that the maximum speed of a motor is 10 000 rpm and that the motor is equipped with an encoder with 1000 lines 4000 counts rev with resolution multiplication The expected minimum encoder transition time is 60 sec min Spates 4000 cpr 10 000 rpm The minimum required encoder signal stable time should be set to about es 400 nsec The ranges of encoder frequency filtering are as follows EF 1 EF 2 0 1 2 K 127 Filter time 25 nsec 200 nsec 300 nsec es 100 K 1 nsec 12 8 usec NS When the interpolator is used the time difference between consecutive signal changes may be shorter This
10. next BG is executed If PTP motion is already active PA will be increased by the PR value and become the new position target If PTP motion is not active and is now activated by PR PA will be set to the new value which is equal to the software position command plus the PR value PA Position command PR This PA value will become the new target position Setting the PA value always resets the PR value to zero Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 1 Default value 0 Volatile Cleared automatically at MO 1 Range See Notes below Unit modes UM 3 4 5 Activation BG amp Notes Ifa PA value was set but not activated by BG prior to activating this PR setting the PA value will be discarded The position target is calculated with modulo counting resulting in the following range XM 1 XM 2 for UM 3 5 YM 1 YM 2 for UM 4 and restricted by VL 3 and VH 3 For example in UM 5 if XM 1 0 and XM 2 1000 PR 2500 is similar to PR 500 PR is rejected if the results of PA PR exceed the VL 3 and VH 3 limits See also PA XM N YM N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 113 MAN SIMCR Ver 3 0 PS Program Status Purpose Returns the status of the user program If a user program is running PS returns the number of user program t
11. refer to the HY N command Attributes Type Parameter Status report Integer Source Program RS 232 CANopen Reset value 0 Volatile Restrictions MO 0 Range See Notes below Unit modes All gt amp Notes PY is limited to the position counter range If PY exceeds the modulo range it will be automatically set to a value within that range PY counts in the direction defined by YA 5 If YA 5 is modified PY will not change but position counting will be continued in the other direction In dual feedback mode UM 4 the motor direction must be changed accordingly See also HY N YM N YA N CA N SimplIQ Command Reference Manual Alphabetical Listing 5 119 MAN SIMCR Ver 3 0 QP N QT N QV IN Position Time Velocity Purpose Stores data for the PT and PVT motion modes The QP N QV N and QT N arrays define the position QP N and speed QV N at any single time instance QT N With CANopen communication the QP N QV N and QT N arrays can be programmed at high speed using specially designed communication objects Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions None Default value 0 Volatile Range QP N 234 291 1 QT N 1 255 in msec QV N 224 231 1 Index range QP N 1 1024 QT N 1 64 QV N 1 64 Unit modes 3 5 Activation Immediate 5 amp The values of QP N and QV N are unlimited
12. 500 DV 3 400 and PY 400 PE will read 200 If the absolute value of PE exceeds ER 3 motion is aborted and the motion fault code MF 256 0x100 is set If MO 0 or if the position controller is not used UM 1 2 or 3 PE returns 0 Attributes Type Status report Integer Source Program RS 232 CANopen Restrictions None Unit modes 4 5 See also XM N YM N ER N MF UM SimplIQ Command Reference Manual Alphabetical Listing 5 106 MAN SIMCR Ver 3 0 PK Peek Memory Purpose Returns the DSP memory dump for an address range Syntax PK N where N is a 32 bit number whose least significant 24 bits contain the starting DSP memory address and the most significant eight bits contain the data length The data length is limited to 128 words due to the limitation of the output buffer If the data length is 0 128 or greater the PK command returns 128 words by default When the data length equals 2 the Simp IQ drive regards the data as a long variable and copies it to the output buffer in the critical section in order to ensure its integrity The PK command is designed to be used by the Elmo Studio and to assist qualified technical personnel in isolating software problems PK reports in hexadecimal binary format Example PK 0x7f000200 returns the contents of the DSP memory starting at address 0x200 and continuing through word 0x280 Attributes Type Status report Integer Source Program RS 232 CANopen Restric
13. Auxiliary 2 60 Main 2 54 Floating Wizard parameters 2 140 FLS 2 67 2 68 2 71 Follower ratio 2 50 Forward limit switch 2 70 FR 2 50 Freewheel 2 10 2 69 2 91 Frequency Clock 2 153 Encoder filter 2 42 Sampling time 2 121 Signal 2 16 G Gain Analog signals 2 5 Scheduled controller 2 76 Scheduling 2 51 General purpose 2 68 2 69 2 101 2 102 2 103 GS 2 51 SimplIQ Command Reference Manual Index 1 3 MAN SIMCR Ver 3 0 H Halt program 2 57 Hard Forward 2 70 Reverse 2 69 Stop 2 69 2 71 Hardware BG 2 8 Hexadecimal 2 9 2 59 High Feedback limit 2 53 Reference limit 2 149 High order filter 2 79 HL 2 53 HM 2 54 Home 2 67 Home switch Auxiliary 2 60 2 67 2 73 Main 2 54 2 70 2 73 Homing and capture Auxiliary 2 60 Main 2 54 HP 2 57 HV 2 58 HX 2 59 HY 2 60 I IB 2 63 ID 2 64 IF 2 65 IL 2 66 Inhibit 2 69 2 71 2 102 Input Bits array 2 63 Filter 2 65 Logic 2 66 Port 2 73 Integer 2 1 Integer Wizard parameters 2 164 Interrupt 2 89 IP 2 73 IQ 2 64 J Jogging Motion 2 130 Velocity 2 75 JV 2 8 2 24 2 75 K KG 2 76 KI 2 76 2 77 Kill program 2 78 KL 2 78 KP 2 76 2 77 KV 2 79 L LC 2 80 LD 2 81 Limit Flag current 2 80 High feedback 2 53 Low feedback 2 82 Switch Auxiliary Home 2 71 Forward 2 70 Main Home 2 70 Reverse 2 69 Limits High
14. Previous text Index range 0 99 Activation MO 1 See also KI N KP N KG N GS N UM Reference chapter in The SimplIQ Software Manual Chapter 14 Filters SimplIQ Command Reference Manual Alphabetical Listing 2 80 MAN SIMCR Ver 3 0 LC Current Limit Flag Purpose Reports the status of the current limiting process You may select two different current limit specifications The peak limit PL 1 specifies how much current can be applied to the motor for short time periods PL 2 and the continuous limit CL 1 specifies how much current can be applied to the motor continuously LC returns values according to the following table Value Description 0 The motor current is limited to the limit PL 1 or the motor is off 1 The motor current is limited to the continuous limit CL 1 Attributes Type Status report Integer Scope Program RS 232 CANopen Restrictions None Unit modes All See also MC PL N CL N Reference chapter in The SimplIQ Software Manual Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 2 81 MAN SIMCR Ver 3 0 LD Load Parameters from Flash Purpose Loads all non volatile variables from the flash memory to the RAM and resets all volatile variables to their default values Before accepting the loaded parameters LD tests them as follows The variables written in the flash memory can be read The variables cannot be rea
15. XQ XC SimplIQ Command Reference Manual Alphabetical Listing 2 58 MAN SIMCR Ver 3 0 HV N Commutation Tables Purpose For internal use only Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 RR 1 Program not running Range 32 767 32 767 Index range 0 2303 Unit modes All Activation Upon setting the correct checksum at HV 2303 Reference chapter in the SimplIQ Software Manual Chapter 9 Commutation SimplIQ Command Reference Manual Alphabetical Listing 2 59 MAN SIMCR Ver 3 0 HX Hexadecimal Mode Purpose Sets or resets the hexadecimal mode for reporting integer parameter values With HX 0 integers are reported as decimal numbers With HX 1 integers are reported as hexadecimal numbers HX does not affect floating point reports The HX parameter allows easy reading of the digital inputs IP servo drive status SR motor faults MF recorder settings RC and other variables that have the bit field attribute The HX parameter is not required for setting values The commands BH 1024 and BH 0x400 are equivalent as 0x400 equals its decimal equivalent 1024 Attributes Type Parameter Integer Source RS 232 Restrictions None Default value 0 Volatile Range 0 1 Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 2 60 MAN SIMCR Ver 3 0 HY N Auxiliary Homing Capture and Flag
16. gt amp Notes The motor stuck protection is always applied to the main sensor In dual loop applications this protection does not pertain to failures in the auxiliary sensor The time constant of 3 seconds is taken because almost every motion system applies high torques for short acceleration periods while the speed is slow The minimum current limit is MC 128 If CL 1 lt MC 128 the CL 1 value will be accepted but the actual current value will be limited to MC 128 See also LC MC PL N TC MF Reference chapters in The SimplIQ Software Manual Chapter 10 The Current Controller Chapter 14 Limits Protection Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 2 23 MAN SIMCR Ver 3 0 CP Clear Program Purpose Clears the entire user area in the serial flash memory The CP instruction must be used before any attempt to write a new program to the drive Attributes Type Command No value Source RS 232 CANopen Restrictions MO 0 Program isn t running Unit modes All Activation Immediate Y amp Notes CP command execution may take a significant amount of time Writing to the same flash location without setting CP will cause a write failure and the flash contents will become undefined SimplIQ Command Reference Manual Alphabetical Listing 2 24 MAN SIMCR Ver 3 0 DC Deceleration Purpose Defines the maximum deceleration in counts seconds
17. is an error because the The right side of an equation is missing interpreter expects a numerical value to appear after the sign 19 Bad command format Refer to this manual for the An unresolved syntax error in the correct command syntax command has occurred 21 Operand out of range JV 100 000 000 returns this error Assignment of an illegal value to a because the required speed is parameter has been attempted beyond the limits of the drive 22 Zero division JV 0 PX 1000 JV returns this error 23 Command cannot be assigned BG 3000 returns this error because BG is an execution command that does not have a value 24 Bad operator IA 1 3 VX is an error because An unrecognized character has been found is not a recognized operator in an expression where an operator has been expected 25 Command not valid while moving PV n while in PVT motion is an error because the PV n command sets the read pointer of the PVT table manually this pointer is set automatically in PVT mode 26 Motion mode not valid PV n BG is an error if the first A Begin Motion was attempted but the parameters of the motion were not properly set valid line of the PVT table is smaller than the last valid line SimplIQ Command Reference Manual Alphabetical Listing 2 31 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 28 Out of limit range VH 2 1000 SP 2000 is an error A command was specified out of its because
18. 30 31 Table 2 34 Status Register Bits 5 The digital Hall sensor readings in SR are corrected according to CA 1 6 SimplIQ Command Reference Manual Alphabetical Listing 5 134 MAN SIMCR Ver 3 0 0x8 0x4 0x4 Meaning 0 0 0 OK 0 0 1 Under voltage The power supply is shut off or it has too high an impedance 0 1 0 Over voltage The power supply voltage is too large or the servo drive did not succeed in absorbing the kinetic energy while braking a load A shunt resistor may be needed 1 0 1 Short circuit The motor or its wiring may be defective 1 1 0 Temperature The drive is overheating Table 2 35 Servo Drive Status Indications Attributes Type Status report Integer Bit field Source Program RS 232 CANopen Restrictions None Unit modes All See also MF RR PM UM RM IP MS MO LC HM HY SimplIQ Command Reference Manual Alphabetical Listing 5 135 MAN SIMCR Ver 3 0 ST Stop Motion Purpose Stops the software motion The software commands decelerate to a complete stop using the SD deceleration ST does not affect the external position reference and has no effect for the following conditions MO 0 and UM 1 Attributes Type Command No value Source Program RS 232 CANopen Restrictions None Unit modes UM 2 3 4 5 Activation Immediate See also BG RM Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command R
19. 33 Reports the actual peak current saturation in amperes WS 55 The sampling time of the position controller Other Report specifically to the automatic controller tuning process indices Table 2 38 WS N Miscellaneous Reports SimplIQ Command Reference Manual Alphabetical Listing 5 1454 MAN SIMCR Ver 3 0 WS 30 is a bit field The bit descriptions of WS 30 are summarized in the following table Bits Meaning 0 4 Value Product 0 Saxophone Clarinet Reserved Harmonica Cello Bassoon Trumpet Tuba Banjo Cornet 10 31 Reserved 5 7 Value Main Position Sensor Reserved Incremental digital encoder Resolver Incremental digital or analog encoder Tachometer or Potentiometer Reserved Reserved Special treated main feedback look at bits 21 24 Auxiliary Position Sensor Reserved Incremental digital encoder Resolver Incremental digital or analog encoder Special treated auxiliary feedback look at bits 25 28 5 7 Reserved WO ONDE WNR ONaAAIFRWNF OO 8 10 Valu BwON FR 11 15 Value Grade 0 Standard 1 Advanced 12 15 Reserved 16 Value Current Controller 0 Analog 1 Digital 17 Value CAN Communication 0 Not present 1 Present 18 21 Value Special Main Feedback Configuration 0 None 1 Absolute Encoder Incremental digital analog interface 2 15 Reserved 22 25 Value Special Aux Feedback Configuration 0 None 1 15 Reserved 26 31 Reserved Table 2 39 WS 30 Drive Personality Descripto
20. 6 For Analog Encoders the resolution is multiplied by 2 4151 For example if the analog encoder has 2000 lines and CA 31 is 8 then CA 18 will be 512 000 For Resolver feedback CA 18 is calculated as 216 CA 84 Resolver pole pair For example if the Resolver resolution is 10 bits and has 1pole pair then CA 34 16 10 6 and CA 18 2166 1024 For Tachometer feedback the resolution is statically set to 65 536 For Potentiometer feedback the resolution is statically set to 28 000 Table 2 4 CA Vector Feedback Setup Parameters SimplIQ Command Reference Manual Alphabetical Listing 2 15 MAN SIMCR Ver 3 0 The parameters in the tables that follow are required for commutation setup Command Description CA 19 Number of motor pole pairs 1 50 The number of feedback counts per electrical revolution is CA 18 CA 19 For good commutation the number of feedback counts per electrical rotation should be at least 36 Practically there is no high limit to the number of encoder lines per pole pairs It is a long integer number that the drive ultimately modulates to 1024 CA 20 Digital Hall sensors present 0 No digital Hall sensors are connected If the commutation angle is not yet known then at motor on a commutation search will be made No digital Hall input consistency checks will be made 1 Digital Hall sensors are connected Upon motor on commutation will be performed according to the digital Hall s
21. Cannot load a new program compile a or use the HP command or KL program or start program execution command to stop the program 83 CMD not for program The next expression XQ START An attempt has been made to use a command such as XQ DL LS or DF that has a NotProgram flag inside a user program is an error because this command has a NotProgram flag SimplIQ Command Reference Manual Alphabetical Listing 2 35 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 84 The system is not in point to point mode A PR position relative cannot be set in non PTP mode because it has no reference position from which to start 90 CAN state machine is not ready object Set the drive to the Switched 0x6041 on DS402 on state machine by setting the relevant transitions to the control word object 0x6040 Refer to the description of NMT services in the Elmo CANopen Implemen tation manual 93 There is a wrong initiation value for this Reset queue length before command updating queries 95 Too large for modulo setting The modulo range is inconsistent with the ER 3 value Refer to the ER N command 96 User program time out Execution of a single user program line was more than expected more than 3 seconds The SimplIQ drives stops program execution 97 RS232 receive buffer overflow Characters arrived through RS 232 at too high a rate causing internal storage to exceed its capacity No more space i
22. LD SV SimplIQ Command Reference Manual Alphabetical Listing 5 128 MAN SIMCR Ver 3 0 RV N Recorded Variables Purpose Maps recorded variables to the recorder through the RC command By setting RV N X bit N 1 of RC is assigned the X variable in the variable static table The default mapping power on of RV 1 RV 16 behaves similarly to previous projects The full list of variables available to the recorder is stored in the serial flash memory of the SimplIQ drive and can be uploaded using the LS command Attributes Type Parameter Integer Bit field Source Program RS 232 CANopen Restrictions None Default values RV 1 1 RV 2 2 RV 16 16 RS Volatile Range According to static table variable index Index range 1 16 Unit modes All Activation Immediate See also RC BH RR Reference chapters in the Simpl IQ Software Manual Chapter 8 The Recorder Appendix A The SimplIQ Flash Memory Organization SimplIQ Command Reference Manual Alphabetical Listing 5 429 MAN SIMCR Ver 3 0 SD Stop Deceleration Purpose Defines the deceleration in counts second used to stop motions in case of emergency In addition SD defines the acceleration limit for the combination of software and external reference commands Position controlled motions cannot be stopped abruptly because The discontinuity in the reference speed may produce position errors in excess of ER 3 This cuts the mo
23. Listing 2 16 MAN SIMCR Ver 3 0 Table 2 5 CA Vector Commutation Setup Parameters Command Description CA 15 Signal frequency for No Hall commutation search process This signal is derived from the sampling time according to the following Time 128 TS 2CA 15 1e 6 The frequency is 1 Time Hz CA 24 The minimum motor movement to perform result analysis in counts When this variable is too low the commutation search process might fail MF 0x10 000 CA 26 Starting torque for motor on commutation search process in percentages Starting torque CA 26 100 CL 1 Table 2 6 CA Vector Automatic Commutation Search Parameters no Hall Sensors Command Description CA 27 Maximum acceptable number of iterations for auto phasing process If the process fails due to overload motion amplitude is less than CA 24 the auto phasing may be repeated CA 27 times with the current being doubled at every iteration If the peak current PL 1 is reached at any attempt the auto phasing process will stop even if CA 27 allows more iterations Table 2 7 CA Vector Auto phasing Parameters Command Description CA 23 Counts per meter any positive integer 0 Rotary motor 1 Counts per meter in a linear motor This parameter is not used directly by the drive but is rather stored there for the convenience of the host Table 2 8 CA Vector Miscellaneous Parameters CA 31 Resolution for one cycle of the a
24. N command as a brake For safety reasons a brake active output releases the brake so that the brake is activated when the drive is not powered on The brake output is always defined as active low When the brake is released at motor start MO 1 the drive allows the brake time to disengage before motion begins During this time the drive keeps the motor in its starting position When the motor is turned off MO 0 the drive first commands the brake to engage Then for a time it keeps the motor in place while the brake actually engages BP 1 Defines the delay for engaging the brake after the motor is disabled msec BP 2 Defines the delay required to disengage the brake after the motor is enabled msec gt amp Notes Ifthe motor is disabled by an emergency in real time the brake is activated at the instant the motor is disabled The motor freewheels until the brake is fully engaged Response time to interpreter commands from the user program or communication is extended during motor disable MO 0 and enable MO 1 in BP 1 and BP 2 milliseconds respectively Automatic phasing commutation search with no digital Hall sensor or other absolute position sensor is not recommended for a system that requires brake activation Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values BP 1 0 BP 2 0 Non volatile Range BP 1 0 500 BP 2 0 500 Index
25. Non volatile Range 1e20 1e20 Index range 1 24 Unit modes All Activation Immediate Typical applications General look up tables of real numbers and parameters for machine task definition Example See example of U See also UI SimplIQ Command Reference Manual Alphabetical Listing 5 145 MAN SIMCR Ver 3 0 UI N User Integer Purpose Provides an array of 24 integer numbers for general purpose use Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 0 RS Non volatile Range 230 1 230 1 Index range 1 24 Unit modes All Activation Immediate Typical applications General look up tables of real numbers and parameters for machine task definition Example MO 0 int MY_VAR MY_VAR 10 UI 2 MY_VAR for UI 1 1 10 UF UI 1 UI 2 SP UI 4 end In this example the UF array is dynamically indexed and valued by elements of the UI array See also UF SimplIQ Command Reference Manual Alphabetical Listing 5 146 MAN SIMCR Ver 3 0 UM Unit Mode Purpose Defines the motion controller drive configuration as follows UM Value Description Related Commands 1 Torque control mode In this mode the motor current command is set directly by the TC software command or by an analog reference signal This mode is useful for torque or force control when the servo drive is used only as an inner device within an
26. The term Hard and Soft indicates that the function applies both to the stop manager and to the position reference generator SimplIQ Command Reference Manual Alphabetical Listing 2 67 MAN SIMCR Ver 3 0 IL N Bits Meaning Values 0 Logic levels 0 Low level active The function attached to this switch is activated when no current flows through the input opto coupler 1 High level active The function attached to this switch is activated when current flows through the input opto coupler 1 4 Function 0 Inhibit INH shut servo driver freewheel behaviors next For RM 1 and UM 1 the SimplIQ drive will retry table starting the motor automatically when the inhibit function is released Stop immediately under control hard stop only Ignore General purpose Hard enable forward direction only RLS 1 2 3 4 5 Hard enable reverse direction only FLS 6 Begin 7 Stop immediately under control soft stop only 8 Home switch for IL 5 only 9 Auxiliary Home switch for IL 6 only 10 Simultaneous activation of the hard and soft stop functions functions 1 and 7 11 Abort 12 15 Reserved 5 Simulation mode 0 Read value from digital input pin 1 Read value from bit 6 regardless of pin state 6 Simulation value Value to set for pin if bit 5 is on 7 15 Reserved Table 2 17 IL N Functions SimplIQ Command Reference Manual Alphabetical Listing 2 68 MAN SIMCR Ver 3 0 Command V
27. ZX Initial Release HARCREN1102 Elmo Motion Control GmbH Steinbeisstrasse 41 p 4 D 78056 Villingen Schwenningen E l Germany m O Motion Control Tel 49 07720 8577 60 Fax 49 07720 8577 70 www elmomc com SimplIQ Command Reference Manual MAN SIMCR Ver 3 0 Contents Chapter 1 Introductio misisse asessori isinin nineties anaiai aaen senesta 1 1 11 Command Specifica tio sernsssini eruta ie e o a a 1 1 TZ SCOpa a T A EEEN E A E A 1 2 Chapter 2 Alphabetical Listing eeeseresseseseseseserereeresesesensesesesesererereeeesesesesseseseseseserereeeesesese 2 1 Liput RAN SES nk on e E E a A A E E N a a 2 3 ACH Acceleration ioin inen e EEEN E ATE E EET E 2 4 AGIN Analog Gains Arta Vy viscid o rann a a a a a e Mok ene 2 5 ANIN Analog Mputs Arraya sinihan T iaaea aE aS Aaa 2 6 AS N Analog Input Offsets Array s sssesesseieseseseserssesesrsesrererieretetsrsssesentnreretetnessseseseseetet 2 7 BS Besins Motoi annen ae n EA A ON ATEA a ONE EAEN 2 8 BH Get a Single Recorded Signal as Hexadecimal micicvisciscsesersnssseiess cariursrevessecsentivangneo sees 2 9 BPINJBrake Parameter 32 0 5 dccscteess ni ek A EE ti eveieelo Aah 2 10 BT Begin Motion at Defined Tinie sve veciiauiiueceatnuietas wakerern veaitasihaececndaarsaasetenso ved iaisenema 2 11 BV Maximum Motor DC VO lba ee ctclsc canst cecancasise west sous tone au laatleSasiconsi oa toutes eepbvlon suit soals 2 12 ALN Commutation Array scaosens oiiire san we
28. and low reference 2 149 Position 2 82 Speed velocity 2 82 Torque current 2 107 List Program 2 84 Properties 2 83 LL 2 82 Load from flash 2 81 Logic Input 2 66 Output 2 101 Low Feedback limit 2 82 Reference limit 2 149 LP 2 83 LS 2 84 M Main Encoder 2 14 2 42 Feedback 2 158 2 163 SimplIQ Command Reference Manual Index 1 4 MAN SIMCR Ver 3 0 Position 2 105 2 117 Velocity 2 151 Home Sequence 2 68 Switch 2 54 2 70 2 73 Homing and capture 2 54 Modulo 2 158 Mask interrupt 2 89 Maximum Motor peak current 2 107 Motor peak duration 2 107 Peak driver current 2 85 Position 2 149 Position error 2 47 Speed 2 149 Tracking error 2 47 velocity error 2 47 MC 2 85 MF 2 19 2 86 MI 2 89 Minimum Position 2 149 Speed 2 149 Miscellaneous reports 2 152 2 153 MO 2 91 Modulo 2 75 2 141 2 158 2 163 Auxiliary 2 163 Main 2 158 Motion mode JV 2 8 2 24 2 75 PA 2 8 2 24 PR 2 24 PT 2 8 2 93 2 114 2 119 PV 2 8 PVT 2 8 2 93 2 115 2 119 Motion status 2 95 Motor Continuous phase current 2 21 Disable 2 91 Enable 2 91 Failure 2 86 Maximum peak current 2 107 Read current 2 64 Stuck protection 2 21 2 22 Voltage 2 12 MP 2 93 MS 2 95 N Non volatile memory 2 48 O OB 2 96 OL 2 101 OP 2 103 Output Bits array 2 96 Logic 2 101 Port 2 103 Output configuration AOK
29. automatic routines When the program runs the conditions for calling these routines are checked continuously If the conditions for running a automatic routine are met it is called At certain times you may want to block some of the automatic routines For example An AUTO_RLS automatic routine may be deactivated in a homing process You may want a certain code sequence to be un interruptible Certain auto routines may be needed only when starting the program from certain labels MI is a bit field Each bit in MI masks its corresponding automatic routine preventing its execution The MI bits are detailed in the following table MI Value Masked Interrupt Relevant Routine 1 0x1 Not used 0 2 0x2 Abort AUTO_ER 4 0x4 Soft stop AUTO_STOP 8 0x8 Soft begin AUTO_BG 16 0x10 RLS AUTO_RLS 32 0x20 FLS AUTO_FLS 64 0x40 Switch enable AUTO_ENA 128 0x80 Digital input 1 AUTO_I1 256 0x100 Digital input 2 AUTO_12 512 0x200 Digital input 3 AUTO_I3 1024 0x400 Digital input 4 AUTO_I4 2048 0x800 Digital input 5 AUTO_I5 4096 0x1000 Digital input 6 AUTO_I6 8192 0x2000 Main Home event AUTO_HM 16 384 0x4000 Auxiliary Home event AUTO_HY 32 768 0x8000 User program error AUTO_PERR Table 2 24 MI Bits 3 These conditions include the requirements that no interrupt request of high priority is pending in which case the corresponding automatic routine enters the pending list and that the interrupt is not maske
30. contents of CANopen object 0x1018 LSS protocol as an integer The LSS protocol defines the behavior of the CAN node for ID setting and baud rate changing Object 0x1018 includes the identification of the specific CAN node in such a way that the identification is totally unique The identification number contains four entries represented in SN N as follows SN 1 returns the vendor ID SN 2 returns the product code SNJ 3 returns the revision number SN 4 returns the serial number Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default value 0 Volatile Range 32 bits Index range 1 4 Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 5 132 MAN SIMCR Ver 3 0 SP Speed for PTP Mode Purpose Sets the maximum speed for PTP point to point motion At the start of motion the speed of SP is reached with the acceleration of AC Then a constant speed of SP is maintained until the deceleration to final stop begins with the DC acceleration The speed of SP counts second is achieved only if the motion is long enough if AC and DC are large enough and if SF is small enough Otherwise the speed limit of SP remains inactive Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions VL 2 2SP and VH 2 SP Default value 25 000 RS Non volatile Range Velocity range Unit modes UM 3 4 5 Acti
31. failure The 3 second time constant is used because almost every motion system applies high torques for short acceleration periods at low speeds The minimum current limit is MC 128 If CL 1 lt MC 128 the CL 1 value will be accepted but the actual current value will be limited to MC 128 SimplIQ Command Reference Manual Alphabetical Listing 2 20 MAN SIMCR Ver 3 0 Example Null Address 0 Failure Address 0 Called Handler none Database Status CA 4 error code 37 This CD report indicates that the database is inconsistent because two of the parameters CA 4 CA 5 and CA 6 are equal See also MF SR MO EC SimplIQ Command Reference Manual Alphabetical Listing 2 21 MAN SIMCR Ver 3 0 CL N Current Continuous Limitations and Motor Stuck Protection Parameters Purpose Defines the continuous loading of the drive CL 1 defines the maximum allowed continuous motor phase current in amperes This parameter is used to protect the motor from over current and the load from excessive torques The motor current torque command is normally limited to its peak limit as defined by PL 1 After a short period of torque demands higher than CL 1 as defined by the PL 2 parameter and equations in the SimplIQ Software Manual the torque command limit is decreased to CL 1 The torque command remains limited to CL 1 until the average torque demand falls below 90 of CL 1 for a few seconds CL 1 has no effect if
32. gt 1432 MAN SIMCR Ver 3 0 RL Record Length Purpose Specifies the length of the recorded data as follows Number of Simultaneously Maximum Recorded Signals Record Length 1 4096 2 2048 3 1365 4 1024 RL can specify that the signal records will be shorter than the maximum If RL is set to a value higher than the maximum record length for example RC defines three recorded signals but RL 2048 the recorder will still work The length of the records however will be shorter than RL The actual size of the recorded data is returned by WI 21 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions Recorder inactive RR 0 or RR 1 Default value 256 RS Volatile Range 1 4096 Unit modes All Activation Next initiation of the recorder RR gt Sif the drive has stored a previously recorded data vector setting RL will invalidate this data Invalidated data cannot be retrieved See also RC RG RP N RR BH Reference chapter in the SimplIQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing 5 123 MAN SIMCR Ver 3 0 RM Reference Mode Purpose Specifies the use of an external reference signal In all unit modes the Simpl1Q drive sums the reference command to the drive from two sources A software command generated internally either by a communicated command or by a user program An auxiliary referen
33. low and the main speed is too high more than one full revolution of the auxiliary counter may elapse within a single sampling time This will cause the auxiliary position counter to behave unpredictably YM N cannot be modified while the homing sequence is active HM 1 gt 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 MO 1 and SV cannot be used before YM 2 and YM 1 are activated see Activation below Default values YM 1 10 YM 2 10 RS Non volatile Range 109 109 Unit modes All Activation YM 2 gt YM 1 and YM 2 YM 1 is an even number See also XM NI PY SimplIQ Command Reference Manual Alphabetical Listing 5 164 MAN SIMCR Ver 3 0 ZP N Integer Wizard Parameters Purpose Contains parameters for internal use only Attributes Type Report Integer Source Program RS 232 CANopen Restrictions None Range Not applicable Index range 1 30 Unit modes All SimplIQ Command Reference Manual Alphabetical Listing 5 165 MAN SIMCR Ver 3 0 ZX N User Program and Auto tuning Temporary Storage Purpose Serves as temporary storage of reference waveforms for the controller in automatic tuning experiments Out of the scope of auto tuning experiments the ZX N vector can be used as a large temporary storage for user programs gt amp Notes The elements of ZX N are short 16 bit integers The ZX N command doe
34. motor rotates at all and so that the feedback direction is correct The CA array is typically programmed by the Elmo Composer during system configuration by the wizard It is not recommended to modify these parameters manually Setting of any of the following parameters causes the commutation sequence to be searched again in systems with no digital halls The parameters in the following tables define the location and polarity of the Hall sensors and encoder Command Description CA 1 Digital Hall sensor A polarity 1 for active high 0 for active low CA 2 Digital Hall sensor B polarity 1 for active high 0 for active low CAB Digital Hall sensor C polarity 1 for active high 0 for active low CA 4 Actual Hall sensor connector to Hall A connector pin 1 for A 2 for B and 3 for C CA 5 Actual Hall sensor connector to Hall B connector pin 1 for A 2 for B and 3 for C CA 6 Actual Hall sensor connector to Hall C connector pin 1 for A 2 for B and 3 for C CA 7 Offset of digital Hall sensors This parameter compensates for Hall sensor location inaccuracies Table 2 2 CA Vector Digital Hall Sensor Parameters The parameters in the table that follow are required for Analog Encoder and Resolver signal scaling Command Description CA 9 Relative phase of the analog encoder sinusoidal signals in 65 536 units per cycle In most systems CA 9 will fall in the range of 2048 2048 CA 11 Offset for the A sin
35. not clear Internal error during download of boot identity parameters 142 Checksum of data is not correct Internal error during download of boot identity parameters 143 Missing boot identity parameters Internal error during download of boot identity parameters 144 Numeric stack underflow An attempt has been made to retrieve an entry from an empty stack 145 Numeric stack overflow User program contains very An attempt has been made to push a value complex code requiring more to the numeric stack when it is full stack space than is available It may also be that there are too many called subroutines An expression in the command line of the interpreter is too complex it calls too many functions so that the numeric stack has overflowed 146 Expression stack overflow An expression in the command An attempt has been made to push a value line of the interpreter is too to the expression stack when it is full complex it calls too many functions so that the expressions tack has overflowed 147 Executable command within math BG 3 is wrong because BG is an expression An attempt has been made to assign an executable command executable command and cannot be assigned SimplIQ Command Reference Manual Alphabetical Listing 2 39 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 148 Nothing in the expression AC is wrong because the assign An attempt has been made to evaluate an va
36. omitted from the table are not used Index Report WS 3 CPU clock frequency in Hz WS 4 Width of the PWM frame in CPU clocks WS 5 A D bits per one ampere of phase motor current The A D resolution is 1 WS 5 ampere WS 8 State of the peak continuous filter WS 10 Applicable torque limit in torque command units see WS 22 WS 11 Returns 1 for drives that support position control and 0 for drives that support speed control only WS 12 Shoot through delay in CPU clocks WS 15 Motor oscillation actual amplitude for an auto phasing process WS 16 Reports 1 if previous auto phasing process failed due to an excessive transfer function phase WS 17 Reports RMS of reference waveform for automatic current controller tuning WS 18 Reports mean power supply voltage for automatic current controller tuning WS 19 Reports current following error for automatic current controller tuning WS 20 Reports the stator field angle 1024 counts per electrical revolution WS 21 Reports the commutation counter WS 22 Reports the scale between torque commands in amperes and their internal representation WS 28 The sampling time of the speed controller WS 29 The basic time quanta for the recorder in microseconds WS 30 Product capabilities and hardware configuration string See the following table The WS 30 report helps the setup program to identify the product WS 30 has the same format for all Simpl IQ products WS
37. the fly generating an infinite online updated motion The MP N array defines how the QP N QV N and QT N tables are used for PVT and PT motions as detailed in the following table Parameter Description MP 1 First index in the QP N QV N and QT N arrays to be used for the motion MP 2 Last index in the QP N QV N and QT N arrays to be used for the motion MP 3 0 The motion is to terminate after the last MP 2 element of the QP N so QV N and QT N arrays are used A PT or a PVT motion terminates by decelerating the motor to a complete stop using the SD deceleration When using CAN an emergency object is transmitted 1 The motion is to be cyclical so after using the last MP 2 element of the OPIN QV N and QT N arrays the first MP 1 element is used again 2 Reserved 3 CAN is being used and the motion is to be terminated without an emergency object MP 4 Used for PT motions only The number of drive sampling times between consecutive specifications of position reference points Note that MP 4 counts sampling times for the position controller This sampling time is given by WS 28 MP 5 If CANopen communication is used allows the drive to send an emergency object to the host when only a predefined number of valid reference points has been left in the QP N QV N and QT N motion arrays This way the host is released from polling the status continuously for the motion queue MP 5 programs the n
38. the function with the name FOO exists in the user program SimplIQ Command Reference Manual Alphabetical Listing 2 32 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 43 CAN state machine fault object 0x6040 on Reset the fault by sending the DS402 control word through CAN communication the value of CAN object 0x6040 must be set to 0x80 Refer to the description of the 0x6040 and 0x6041 objects in the Elmo CANopen Implemen tation Manual 45 Returned error from subroutine Occurs when a return op code has no valid address to return to 46 May not use multicapture homing mode The following cannot be set with stop event HM 4 0 HM 1 3 Occurs when trying to set multiple capture events with a STOP between events 47 User program does not exist XQ or XC returns this error if a program has not been loaded to and successfully verified by the drive 50 Stack overflow Use the CD command to A CPU exception was detected determine the details of what has This error reflects either a hardware occurred If Called handler is problem or a faulty power supply none and Failure address is non zero then TS is too short and there was a real time overflow Record the entire string of the CD command and call your service center for technical support 53 Only for current TC 2 Set torque to 2A is an Command is applicable only in torque error in UM 2 because in this control modes UM
39. user programs These as well as other issues of developing running and debugging user programs are covered in the SimplIQ Software Manual Interpreter functions and operators The Simp IQ interpreter allows complex arithmetic expressions and supports many arithmetic trigonometric and logical operators The syntax for interpreter commands is explained in the Interpreter Language chapter of the Simp IQ Software Manual SimplIQ Command Reference Manual MAN SIMCR Ver 3 0 Chapter 2 Alphabetical Listing This chapter lists all the commands in alphabetical order along with detailed definitions and examples of each command The description of each command includes the following items Purpose The operation or task of the command Attributes The characteristics of the command Type One of the following A command An instruction to do something For example the BG Begin Motion command starts a new motion profile A parameter A data item that may be used later For example the AC Acceleration parameter is required for calculating subsequent motions A status report Get a value such as the motor speed a digital input or the reason for the last motor failure The parameters and certain commands have numerical values as follows Integer A 32 bit long integer Real A 32 bit floating point number IEEE style String A set of printable ASCII characters Integer variables may have the following attributes
40. value cannot exceed the modulo limit in the same direction of motion i e OC 2 PX or OC 2 PY must be positive 3 The position interval between subsequent pulses in encoder counts The positive negative value of OC 3 should be set according to the direction of the encoder motion When the direction is positive increasing PX value OC 3 should be positive otherwise it should be negative 4 N Pulse duration in 25 N 1 nSec 5 N Number of pulses to generate 0 Infinite Output Compare mode train of pulses will end only with the OC 1 0 command 6 Output Compare Source Signal 0 Output Compare on Main feedback 1 Output Compare on Auxiliary feedback SimplIQ Command Reference Manual Alphabetical Listing 2 99 MAN SIMCR Ver 3 0 OC 1 returns the following values 1 No more pulses are being generated because the number of pulses specified in OC 5 has been reached 0 Output Compare function is disabled 1 Output Compare function has started but absolute position has not yet been reached therefore the train of pulses has not begun 2 The train of pulses is being generated now Notes 1 When performing Output Compare on Main Feedback except incremental encoder or on the Auxiliary Feedback the Auxiliary Feedback entry should be configured as output YA 4 4 before Output Compare is initialized Activation this function without setting the Auxiliary Feedback as output causes a Bad auxiliary sen
41. volatile Range PL 1 0 MC PL 2 1 3 Index range 1 2 Unit modes All Activation Immediate 5 amp Notes Always specify a PL 1 value that can be reached Do not specify PL 1 gt Vp Ry where Vp is the DC motor supply voltage and R is the motor resistance You should choose a PL 1 value small enough so that at peak current there is enough voltage to drive current changes Otherwise at large currents the drive speed of response will be limited by voltage saturation and the controller performance will decrease Allowed peak current may be saturated at a level lower than the PL 1 value when the PWM frequency is increased with the XP 2 command The actual peak saturated value in amperes can be retrieved with the WS 33 command The definition used here for an ampere of three phased motor current is explained in the Units section of the SimplIQ Software Manual The peak duration PL 2 specifies the time it takes to switch from the peak limit to the continuous limit when the current PL 1 and PL 1 MC The actual time period for which the peak current may be applied can however vary significantly from PL 2 If PL 1 lt MC a longer time may be allowed for the peak current in order to protect the drive itself SimplIQ Command Reference Manual Alphabetical Listing 5 198 MAN SIMCR Ver 3 0 If prior to the high current demand the current demand was very close to CL 1 the switch will oc
42. 0 TC Torque Command Purpose Sets the torque motor current command in amperes for the torque control software reference modes UM 1 and UM 3 TC commands are accepted in the range permitted by the present torque command limits refer to the PL N and CL N commands If TC is set greater than CL 1 after a few seconds the current limit of the servo drive will drop to CL 1 TC defines the reference value IQ the ID command is always zero When RM 1 TC is summed with the external analog commands Attributes Type Command Parameter Real Source Program RS 232 CANopen Restrictions MO 1 UM 1 or UM 3 Default value 0 Volatile Cleared automatically at MO 1 Range Torque limits Unit modes UM 1 3 Activation Immediate See also MO UM IQ ID CLIN PLIN MC Reference chapters in the Simp IQ Software Manual Chapter 11 Unit Modes Chapter 14 Limits Protections Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 5 139 MAN SIMCR Ver 3 0 TM System Time Purpose Reads and writes the system time in microseconds SimplIQ drives have a 32 bit microsecond counter In the absence of CAN SYNC and TSTAMP signals the microsecond counter runs freely completing a cycle approximately once per 71 5 minutes The CAN SYNC and TSTAMP sequence synchronize this counter to the microsecond counter of the network master refer to the Simp IQ CAN Implementation Manual The BT com
43. 1 CA 4 3 CA 5 2 CA 6 1 CA 13 32768 CA 15 4 CA 16 1 CA 17 1 CA 18 4096 CA 19 2 CA 20 1 CA 21 1 CA 22 2 CA 24 5 CA 25 1 CA 26 20 All other CA parameters are 0 RS Non volatile Range As defined in the previous tables Unit modes All Activation Immediate gt amp Notes The CA parameters are usually set automatically by the Composer program Avoid setting the CA N parameters manually unless you are sure of what you are doing Unused indices are reserved for compatibility with other drive models CA 7 CA 35 and CA 36 are floated See also Reference chapter in the SimplIQ Software Manual MO UM Chapter 9 Commutation SimplIQ Command Reference Manual Alphabetical Listing 2 18 MAN SIMCR Ver 3 0 CC Compiled Program Ready Purpose Serves as the last stage of the user program downloading process verifying a downloaded user program and marking it ready for use The CC N command specifies the program checksum If this value coincides with the actual program checksum the Program ready internal flag is set on Otherwise an error is returned The CC query returns 0 if no active program is present and 1 if the Program ready internal flag is set on Attributes Type Parameter Integer Source RS 232 CANopen Restrictions MO 0 Program not running Range 0 292 Unit modes All Activation Immediate gt The execution of a CC N command may take a si
44. 1 or 3 mode the torque command is set automatically by the controller so as to achieve the desired speed 54 Bad database If CA 4 CA 5 two physical Cannot start the motor because the setup Hall sensors are defined as the data is not consistent same logical sensor thereby preventing powering the motor 55 Bad context This error is caused by privileged A command that is not applicable in the present context has been attempted commands used in auto setup sessions SimplIQ Command Reference Manual Alphabetical Listing 2 33 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 56 The product grade does not support this User may have attempted to set command or activate features that are available only for the Advanced SimplIQ models 57 Motor must be off CA 25 1 sets the order of firing This command cannot be used when the the motor phases thereby motor is on controlling the motor direction This parameter cannot be set while the motor is on because it will immediately destabilize the feedback loop 58 Motor must be on PA 1000 is an error if MO 0 This command cannot be used when the The absolute position reference is motor is off automatically set to the present position at MO 1 so that setting PA at MO 0 is pointless 60 Bad unit mode PT 5 is an error in UM 1 Something not supported in this unit mode because PT motion requires has been attempted position control 61 Data bas
45. 2 This parameter is used in profiled speed control mode UM 2 PM 1 and in position point to point PA PR and jogging JV motions UM 3 UM 4 and UM 5 The DC parameter does not affect the present motion It is used to plan the next motion initiated by a BG command Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 20 000 000 RS Non volatile Range Deceleration range Unit modes UM 2 3 4 5 Activation BG for RM 0 MO 1 for RM 1 See also AC SP PA PR BG Reference chapter the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 25 MAN SIMCR Ver 3 0 DD CAN Controller Status Purpose Returns the status of the CAN controller as a string in hexadecimal form without a 0x prefix DD is valid only for drives that support CAN controllers Call DD if you Suspect that the CAN controller is in Bus Off no communication mode Suspect that there are many error frames on the CAN bus Wish to monitor the CAN controller error activities amp The DD command reflects object 0x2082 refer to the Elmo CANopen Implementation Guide for more information DD value reports CAN receiver flag indicating the following states Overrun Bus off Transmitter error Receiver error Transmitter warning Receiver warning CAN receive error counter reflecting the stat
46. 2 124 Reference Commands 2 28 Mode 2 123 Relative position 2 112 Reset Counter 2 42 Database 2 33 Echo mode 2 46 Hexadecimal mode 2 59 Queue length 2 35 Restrictions 2 2 Reverse limit switch 2 69 RG 2 121 RL 2 122 RLS 2 67 2 68 2 69 2 71 RM 2 123 RP 2 124 RR 2 126 RS 2 127 RS 232 1 1 2 110 RV 2 128 S Sampling time 2 142 Save to flash 2 136 Say something 2 137 SD 2 129 Serial number 2 131 SF 2 130 Smooth factor 2 130 SN 2 131 Soft Reset 2 127 Stop 2 71 Software Speed mode 2 8 Stop 2 70 Source 2 1 SP 2 132 Speed Command 2 28 Control mode 2 146 Controller 2 79 Limits 2 82 Mode 2 95 PTP 2 132 Speed command 2 69 2 70 SR 2 19 2 133 ST 2 135 SimplIQ Command Reference Manual Index 1 6 MAN SIMCR Ver 3 0 Status Register 2 133 Report 2 1 Stepper mode 2 8 2 75 2 146 Stop 2 63 2 89 Deceleration 2 129 Motion 2 135 Stop manager 2 28 2 66 2 130 String 2 1 SV 2 136 Switch Auxiliary Home 2 71 Forward 2 70 General purpose 2 69 Main Home 2 70 Reverse 2 69 SY 2 137 System time 2 139 T Target radius 2 141 TC 2 138 Temporary storage 2 165 TM 2 139 Torque Command 2 28 2 69 2 70 2 138 Control mode 2 146 Limit 2 107 TP 2 140 TR 2 141 Trigger 2 124 TS 2 142 TW 2 143 Type 2 1 U UM 2 146 Unit mode 2 2 2 146 Dual loop 2 2 2 1
47. 2 96 2 101 2 102 Brake 2 96 2 101 2 102 General purpose 2 101 2 102 2 103 Over speed limit 2 53 P PA 2 8 2 24 2 104 Parameter 2 1 PE 2 105 Peak duration and limit 2 107 Peek Memory 2 106 PI 2 77 PK 2 106 PL 2 107 PM 2 109 Position Absolute 2 33 2 104 Command 2 28 Controller 2 77 2 79 Error 2 105 Limits 2 82 Mode 2 146 Relative 2 112 Position mode 2 8 2 75 2 95 Position Time command 2 114 Position Velocity Time command 2 115 PP 2 110 PR 2 24 2 112 Profiled speed control mode 2 24 Profiler 2 109 Program Compile 2 18 Continue 2 157 Download 2 27 SimplIQ Command Reference Manual Index i5 MAN SIMCR Ver 3 0 Execute 2 157 Interrupt 2 57 2 78 2 89 Status 2 113 Upload 2 84 Protection Error limit 2 47 Torque limit 2 107 Protocol parameters 2 110 PS 2 113 PT 2 8 2 93 2 114 2 119 PTP 2 104 2 112 2 130 2 132 Pulse and direction mode 2 161 PV 2 115 PVT 2 8 2 93 2 119 2 130 PX 2 117 PY 2 118 Q QP 2 119 QP array 2 93 2 114 2 115 QT 2 119 QT array 2 93 2 115 Quadrature 2 42 2 161 Quit Abort 2 89 Stop 2 89 QV 2 119 QV array 2 93 2 115 R Range 2 2 RC 2 120 Reactive current 2 64 Read current 2 64 Real 2 1 Record length 2 122 Recorded variables 2 128 Recorder Activate 2 126 Gap 2 121 Get status 2 126 Parameters 2 124 Signals 2 120 Triggers
48. 2000 lines is used as feedback for the outer loop 2000 To prevent a steady state error at constant speed set FF 2 _ 0 1000 5 See also UM Reference chapter in the SimplIQ Software Manual Chapter 11 Unit Modes SimplIQ Command Reference Manual Alphabetical Listing 2 50 MAN SIMCR Ver 3 0 FR N Follower Ratio Purpose FR 1 defines the follower ratio for current UM 1 FR 2 defines the follower ratio for velocity UM 2 FR 3 defines the follower ratio for position UM 3 5 When UM 1 the auxiliary reference is composed of the analog input and external PWM signals The FR 1 parameter scales the ratio between the Duty Cycle of the PWM signal and the reference to the current loop UM 1 RM 1 FR 1 may be changed on the fly at any time When UM 2 the auxiliary reference is composed of the analog input and the auxiliary feedback readout or external PWM signal FR 2 can be used as a follower ratio of the master motor s quadrature encoder or as a follower ratio of the PWM Duty When UM 3 or UM 5 the auxiliary reference is composed of the auxiliary feedback readout The FR 3 parameter scales the ratio between the auxiliary feedback position and the reference to the position loop UM 3 4 5 RM 1 EM 1 0 or the input to the ECAM table UM 3 4 5 RM 1 EM 1 1 2 FR 3 may be changed on the fly at any time For EM 1 0 follower and EM 1 2 cyclical ECAM changing FR 3
49. 46 Position 2 2 2 146 Speed velocity 2 2 2 146 Stepper 2 2 2 146 Torque current 2 2 2 146 Upload program 2 84 User program 1 1 yV VE 2 148 Vector 2 14 2 121 2 152 Velocity Command 2 28 Control filter 2 77 Error 2 148 Feedback 2 151 VH 2 149 VL 2 149 VR 2 150 VX 2 151 VY 2 151 Ww WI 2 152 Wizard Command 2 143 Parameters Floating 2 140 Integer 2 164 WS 2 153 X X modulo 2 158 XC 2 157 XM 2 158 XP 2 156 2 159 XQ 2 157 Y Y modulo 2 163 YA 2 98 YM 2 163 Z ZP 2 164 ZX 2 165
50. 7switch 23 24 Event according to defined DIN8 switch 25 26 Event according to defined DIN9 switch 27 28 Event according to defined DIN10 switch 4 0 In UM 2 3 4 5 stop immediately using SD deceleration After event value In torque mode UM 1 do nothing behavior Defined 1 Set digital output equivalent to OP HY 6 as the time in Do nothing which HY 1 decreases to 0 SimplIQ Command Reference Manual Alphabetical Listing 2 61 MAN SIMCR Ver 3 0 HY N Index Value Description 5 0 Absolute setting of position counter PY HY 2 What to set for PY 4 Relative setting of position counter during event PY PY at event HY 2 2 Do nothing 6 Digital output value if HY 4 1 Output value Only outputs defined as general output are affected 7 Captured value of PY before any modification by the PY captured HY N command read only value 8 Captured value of PX read only PX captured value Table 2 16 HY N Command Values gt amp Notes HY 2 HY 6 can be changed during the home search procedure The activation of the parameters is considered upon reception of the next HY 1 1 or higher If HY 2 is set to a value beyond YM 1 and YM 2 the actual auxiliary position will not be updated when homing is complete Each homing event is attached to a predefined functionality FLS General Purpose Home and so on If the corresponding input is not defined first the homing procedure may
51. Alphabetical Listing 2 77 MAN SIMCR Ver 3 0 KI N KP N PI Parameters Purpose KI 1 KP 1 defines the PI current control filter KI 2 KP 2 defines the PI velocity control filter KP 3 defines the gain of the position controller The parameters KP 2 KI 2 and KP 3 apply only if the controller gains are fixed gain scheduling is not used GS 2 0 Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values RS 0 Range KI N gt 0 KP N gt 0 Index range 1 3 See also KV N GS N Reference chapters in The SimplIQ Software Manual Chapter 10 The Current Controller Chapter 15 The Controller SimplIQ Command Reference Manual Alphabetical Listing 2 78 MAN SIMCR Ver 3 0 KL Kill Motion and Program Purpose Halts program execution and stops the motor The KL command stops the execution of the user program threads and automatic routines It also issues the MO 0 motor disable command KL freezes the status of the program and does not reset it A later XC command will resume the program from the instruction at which the program was halted Pending interrupts will remain pending A KL command issued when no program is running does nothing and sets no error code Attributes Type Command No value Source RS 232 CANopen Restrictions None Unit modes All Activation Immediate gt WS If the motor is on when KL is used using XC to cont
52. Auxiliary 2 60 Main 2 54 CC 2 18 CD 2 19 CL 2 21 Clear program 2 23 Command sources 1 1 Communication parameters 2 110 Commutation Array 2 13 Setup 2 15 Tables 2 58 Compiled program 2 18 Composer 2 27 Continue program 2 157 CP 2 23 CPU Computing power 2 142 Dump 2 19 SimplIQ Command Reference Manual Index 1 3 MAN SIMCR Ver 3 0 Current Continuous 2 21 Control filter 2 77 Limit flag 2 80 Maximum peak 2 107 Mode 2 146 D DC 2 24 DD 2 25 Deceleration 2 24 2 129 Default values 2 2 Define recorded variables 2 120 DF 2 26 Digital Hall sensors 2 13 2 15 Input filter 2 65 Input logic 2 66 Output 2 96 Flag 2 54 Logic 2 101 Uncommitted 2 103 DL 2 27 Download Firmware 2 26 Program 2 27 Dual loop 2 146 DV 2 28 E EC 2 29 ECAM Parameters 2 44 Table 2 48 Echo mode 2 46 EF 2 42 EM 2 44 Encoder 2 14 2 161 Auxiliary 2 42 2 123 2 161 Filter frequency 2 42 Glitch 2 42 Main 2 14 2 42 Quadrature 2 161 EO 2 46 ER 2 47 Error Code 2 29 Limit 2 47 Errors Motor failure 2 86 Position 2 105 Processing 2 29 Velocity 2 148 ET 2 48 Execute program 2 157 Extra parameters 2 156 2 159 F Feed forward 2 49 FF 2 49 Filter Current control 2 77 Digital input 2 65 Encoder 2 42 High order 2 79 Velocity control 2 77 Firmware Download 2 26 Version 2 150 Flag
53. CL 1 gt PL 1 CL 2 and CL 3 define how the motor stuck protection is handled A stuck motor is a motor that does not respond to the applied current command due to failure of the motor the drive system or the motion sensor CL 2 defines the tested torque level as a percentage of continuous current limit CL 1 CL 3 states the absolute threshold main sensor speed under which the motor is considered not moving If the motor is stuck motion fault MF 2 097 152 0x200 000 is set If CL 2 lt 2 the motor stuck protection is not applied For other values of CL 2 the motor is disabled and MF is set to 0x200000 if the motor current command level exceeds a selected level for more than 3 seconds without the result of a significant motor speed as defined by CL 3 Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values CL 1 0 RS Non volatile CL 2 0 RS Non volatile CL 3 60 RS Non volatile Range CL 1 0 MC 2 CL 2 0 100 CL 3 0 16 000 Index range 1 3 Unit modes All Activation Immediate Example If CL 2 50 and CL 3 500 the drive will abort reset to MO 0 with motion fault MF 0x200000 if the torque level is kept at least 50 of the continuous current while the absolute value of the shaft speed does not exceed 500 counts sec for a continuous 3 seconds SimplIQ Command Reference Manual Alphabetical Listing 2 22 MAN SIMCR Ver 3 0
54. D the maximum possible acceleration will be limited to SD and the value of AC will be ineffective Attributes Type Parameters Integer Source Program RS 232 CANopen Restrictions None Default values 20 000 000 RS Non volatile Range Acceleration range Unit modes UM 2 3 4 5 Activation BG for RM 0 MO 1 for RM 1 Typical applications 1 Define acceleration limits for the motion UM 2 2 Plan a profiled motion UM 3 4 5 See also DC SP SV PA PR BG Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 5 MAN SIMCR Ver 3 0 AG N Analog Gains Array Purpose Sets the gains for preconditioning analog signals when RM 1 AG 1 sets the gain of analog input 1 when used as a torque command UM 1 3 AG 2 sets the gain of analog input 1 when used as a speed command UM 2 When RM 0 the AG N parameters are ignored The meaning of the analog gains depends on the unit mode as shown in the following table Value Description Units UM 1 3 One volt at the analog reference input Ampere volt command controls the motor phase current of AG 1 amperes UM 2 One volt at the analog reference input Count second volt command controls a speed of AG 2 counts second Table 2 1 Analog Gains Analog Input 1 gt amp Notes AG 1 defines motor phase amperes and not RMS amperes Instepp
55. Description Values GS 0 No encoder count over which speed 0 500 loop is opened GS 1 Minimum speed command for speed 0 16 62 256 internal speed units and dual gain scheduling counts sec 1 speed unit counts Ts 2 16 GS 2 Use scheduled gains 0 64 0 No 64 Yes GS 4 Upward gain of gain scheduling filter 0 32 767 GS 5 Downward gain of gain scheduling 0 32 767 filter GS 9 NL factor for position controller 0 60 000 000 GS 10 Position error coefficient for position 0 1 200 gain scheduling to raise gains GS 14 Maximum speed error for which KP N _ 0 23 1 is cleared in speed controller if no encounter count exceeds GS 0 GS 15 Gain scheduling step 0 3 0 256 1 128 N 256 2N Table 2 14 Gain Scheduling Parameters D amp The GS N array is normally programmed by the Composer IDE Manipulate it only if you are sure of what you are doing SimplIQ Command Reference Manual Alphabetical Listing 2 52 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values GS 0 500 Non volatile GS 4 30 000 Non volatile GS 5 30 000 Non volatile GS 9 60 000 000 Non volatile GS14 32 000 Non volatile Other defaults 0 Non volatile Range According to previous table Unit modes UM 2 4 5 Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 2 53 MAN SIMCR Ver 3 0 HL N Over speed Limit and Position Range Limit
56. Ea ea 2 109 PPIN Protocol Parameters vscesisccccssdovsnisiaestvsss Auwscgavtecstenssvuseseettes a a as 2 110 PRe Relative Positions ennen n e a a a a a etae 2 112 PS Progra Stat Sara senin aen a E a E a aeiae 2 113 PT Position Time Command ecccecccesscssssseseeeseeesceeseecseecsaecaecaeceseseeeceseeeseeeaeecaeenaeenseens 2 114 PV Position Velocity Time Command s sssseseeseieseeresesesrstsestetererteretersrssssesesrsrerererrererstse 2 115 PW N PWM signal parameters sisi saciiisvneansobasaransdepecaninatesaneraustbauaaanidnenaetnucetterveautses 2 116 RX Main POSitiOn aeaa n aa a aa a a N a a ME ge 2 117 PY HOARY Posion nose a AE AE S E R AES S 2 118 OP N QT N QV N Position Time Velocity a siscsccisetscivess tavensetoeehelesinceteetousavedebeseses 2 119 RC Define Recorded Variables ccccecccecsseesseeceeseeececaecesecnseceseceseeseeeseeeeeseessecnaeenaeens 2 120 RG Recorder Gapiin ean EEEE E E TA TAANS 2 121 RE R cord Lenothess i ann aien a E AN pines Ea A S pies Wed ets 2 122 RM Reference Modenie ae a AE AA ARE T E E TE 2 123 RP N Recorder Parameters ccccccsscccssscesscecessceessececsceceneeecsseceesseceeseeceseeeesseceeseeceneeeess 2 124 RR Activate Recorder Get Recorder Status cccccccccccssecsssceessecesscecsseeeesseceeseeceseeeens 2 126 RS SOftdResetsicsscics ecseeeiacdexwed N AE A E eatue ial eraieaneive 2 127 RVIN Recorded Variables ccccccccccccssccesscecessceesseceesce
57. F 2 is an error because there is The interpreter has not understood the no XF command command MC 2 is an error because the MC cannot be changed by the interpreter 3 Bad index DV 6 is an error because the Attempt to access a vectored variable out index range is 1 3 of its boundaries Observe the index range for the used command 5 Has no interpreter meaning A 3 is an error because a An unrecognized character has been found command mnemonic consisting where a command was expected of two alphabetic characters was expected 6 Program is not running This command requires a running program Mode cannot be started bad initialization This error is returned when data preset values of a function are wrong For example there may be a conflict between the first index in the PVT table PV and the available write pointer MP 6 when PVT motion begins 11 Cannot write to flash memory Most probably a hardware An error interfacing the serial flash has occurred problem SimplIQ Command Reference Manual Alphabetical Listing 2 30 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 12 Command not available in this unit mode PA 1000 is an error if UM 2 because the position command cannot be given in this mode 13 Cannot reset communication UART is busy Modification of the parameters of the serial communication has been attempted while the communication line is busy 18 Empty assign ACs
58. LS List User Program Purpose Uploads data from the serial flash to the host according to the parameters of LP N The most common use of LS is to retrieve the user program and to retrieve the personality firmware partition data of the drive LS begins to send data from the byte address of LP 1 in the serial flash memory The length of the transmitted data is LP 2 bytes The format of the LS message is data payload esc checksum where The data payload is in the hex binary format escis the 0x1b 27 decimal character The checksum is calculated for 16 bits in 2 s complements gt amp Use the LS command with care because it is not entirely safe while the program listing uploads to the communication lines no program instructions are executed and no communicated commands are interpreted Attributes Type Command No value Source RS 232 Restrictions None Unit modes All Activation Immediate See also CC DL LP N Reference chapter in the SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 2 85 MAN SIMCR Ver 3 0 MC Maximum Peak Driver Current Purpose Reports the maximum phase current allowed for the drive in amperes This command informs the software about the type of servo drive used with the controller Attributes Type Report Real Source Program RS 232 CANopen Restrictions Read only Unit mo
59. N master using the DS402 standard control word object 0x6040 Setting MO 1 in the Switched on CAN state transfer the state of the state machine to Operation enabled Setting MO 0 in Operation Enabled or Quick stop active state will transfer the state machine to Switched on Refer to CAN object 0x6040 in the Elmo CANopen Implementation Manual Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 0 Volatile Range 0 1 Unit modes All Activation Immediate See also ME SR CD BP N SimplIQ Command Reference Manual Alphabetical Listing 2 93 MAN SIMCR Ver 3 0 MP N Motion PT PVT Parameters Purpose Programs the parameters of PVT or PT motions PT or PVT motion is programmed as a sequence of points that are visited at programmed times The QP N array stores the position reference points used for PT or PVT motion The QV N and QT N arrays store the speed and timing data that is additionally required for PVT motions The entries of the QP N QV N and QT N arrays used for a certain motion may be programmed in order to enable part of an array to be used for running the motion while another part of the array is programmed for subsequent motions The QP N QV N and Q N T arrays may be referred to as cyclical buffers In cyclical mode periodic motions can be set to run forever In addition the host may program the table on
60. Purpose Output a signal when the present position is compared to a user defined position The OC command generates a train of pulses according to the encoder position values The OC 1 command operates in two modes 1 OC 1 1 Absolute position mode The first pulse is generated by the initialized absolute position defined by OC 2 i e PX OC 2 or PY OC 2 depending on the OC 6 setting and continues at position intervals specified by the OC 3 value That is PX or PY OC 2 k OC 3 where k is the number of successful compared occurrences k 1 2 2 OC 1 2 Immediate mode The first pulse is generated immediately after the command is received by the drive no initialized absolute position value is required and continues at position intervals specified by OC 3 counts The number of occurrences in which the pulses are generated can be limited by OC 5 The duration of a pulse can be set by OC 4 Index Description 1 0 Disable Output Compare 1 Accept last changes in OC N and enable Output Compare beginning at Absolute Position OC 2 Note to get proper execution of the command the following condition should be met OC 3 OC 2 PX gt 0 when the source is the main feedback or OC 3 OC 2 PY gt 0 when the source is the auxiliary feedback 2 Accept last changes in OC N and enable Output Compare immediately 2 The absolute position for first pulse PX or PY value Applicable only in absolute position mode This
61. RS 232 CANopen Restrictions None Unit modes All Typical applications 1 Reading external sensors that provides 10V 2 Reading analog or PWM references for either velocity or current 3 Reading phase currents and line voltage Analog input 1 serves as reference input for analog torque or analog velocity command while in auxiliary reference mode RM 1 AN 7 is available after the first MO 1 Each of Elmo s SimplIQ drives support a different number of analog inputs For specific details consult the drive s Installation Guide See also AG N AS N PW N SimplIQ Command Reference Manual Alphabetical Listing 2 7 MAN SIMCR Ver 3 0 AS N Analog Input Offsets Array Purpose Compensates for offsets of the analog signals which may be caused by the limited precision of the SimplIQ electronics At times the signals at the A D converter may be offset that is the A D reading may be non zero when a zero reading is desired This offset may disturb normal operation An offset reference or feedback signal may cause a motor to crawl when a complete stop is desired The analog offset subtracts from the analog input as follows Corrected signal A D reading Analog offset AS 1 Analog input offset command for analog input 1 in volts AS 2 Analog input offset command for analog input 2 in volts Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default val
62. SF for the actual sampling time in milliseconds is given by WI 22 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values 0 RS Non volatile Range 0 100 See Notes below Unit modes UM 2 3 4 5 Activation BG S amp Notes WI 22 reports the maximum permitted value for SF Setting SF greater than W 22 is not reported as an error but the smoothing factor that is applied may be less than the actual setting WI 22 depends on the sampling time TS command The smoothing action applies for PTP and jogging motions only SF does not affect tabulated motions such as PT and PVT Ifa PT PVT motion command is given while a smoothed motion is on a jump in the software reference may occur due to the removal of the smoothing filter The stop manager will limit the rate in which the position command catches up with the software command that has jumped Ifa PTP or jog motion command is given while PT PVT motion is on the smoothing effect will gradually build up until complete smoothing is reached after SF milliseconds SF does not affect the external velocity or position reference See also AC DC JV SP Reference chapters in the SimplIQ Software Manual Chapter 11 Unit Modes Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 3 134 MAN SIMCR Ver 3 0 SN Serial Number Purpose Returns the
63. SimplIQ Command Reference Manual September 2004 a Elmo Motion Control Important Notice This guide is delivered subject to the following conditions and restrictions This guide contains proprietary information belonging to Elmo Motion Control Ltd Such information is supplied solely for the purpose of assisting users of SimplIQ servo drives The text and graphics included in this manual are for the purpose of illustration and reference only The specifications on which they are based are subject to change without notice Information in this document is subject to change without notice Revision History Ver 3 0 Sept 2004 Ver 2 1 Sept 2003 Ver 2 0 May 2003 Ver 1 0 Nov 2002 Elmo Motion Control Inc 1 Park Drive Suite 12 Westford MA 01886 USA Tel 1 978 399 0034 Fax 1 978 399 0035 Doc No MAN SIMCR Copyright 2003 2004 Elmo Motion Control All rights reserved document name changed from Harmonica C R to SimplIQ C R changed commands AN AS CA EC EM GS HM HY IB IF IL IP OB OL OP PS RM SN UM VH WS XP added commands OC Functional Listing chapter removed changed commands AC DC LL MF PP QP RM SD UM VH XP added command SN other changes limit ranges changed commands AC AG BP BT DC DV EC EM EO ET FR GS HX IF HV IL KV LL LP OL PK PP PR QP RC RG RL RM RV SP SR SV TC TM TS TW VH VR WI WS XP YA ZP
64. Source Program RS 232 CANopen Restrictions MO 0 Default value 1 Non volatile Range 0 1 Unit modes UM 2 Activation MO 1 See also UM AC DC SD SF Reference chapters in the SimplIQ Software Manual Chapter 11 Unit Modes Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 110 MAN SIMCR Ver 3 0 PP N Protocol Parameters Purpose Programs all communication parameters The PP N command has independent fields for the parameters of all supported communication methods These parameters are tabulated in the tables that follow Parameter Description Range PP 1 Type of communication 1 RS 232 PP 1 serves as Enter Communication 2 Reserved for Parameters for RS 232 PP 2 and PP 4 come compatibility with into effect only when PP 1 is written The previous drives response to PP 1 x is not the same as the response to all other commands because the communication type switches while processing the command PP 2 RS 232 baud rate This parameter has no immediate effect 115 200 not in use 57 600 38 400 19 200 9 600 4 800 PP 3 Spare PP 4 RS 232 parity 0 None Even 2 Odd m Table 2 29 RS 232 Communication Parameters Parameter Description Range PP 13 CANopen device ID 1 127 PP 14 CAN baud rate 1 000 000 500 000 250 000 125 000 100 000 50 000 50 000 50 000 800 000 128 fa
65. Y Velocity of Main and Auxiliary Feed back wccsisdvicssstnveibrsvoanedboenentasoveetebwosvenes 2 151 WI N Miscellaneous Reports Integer x isticssstisavissijitvnenticedenev snp ateleatstetisectecinsarssetoaters 2 152 WS N Miscellaneous Reports o seasivesivedsauioysns derasnodndisbids diss budge divntquitas stabeisswids ay santuddsveledes 2 153 XA IN Extra Parameters MOLE si snvcies sacnsstivctteetnes tanks onal buosseslanel nisatane peak olinvinccaatowedys 2 156 XC XQ Execute or Continue Program ees eeccsecseeeeseescseeseseescssensesaeseesssesseeeeeea 2 157 XM Nil X Modulo isenta ena e a N O e E E EKE ES 2 158 XPINJ Extr Parametersinarmmi unei e e a E a E a aie 2 159 YA N Auxiliary Position Sensor Parameters vcstiss cis Wadecssvidsav aa scens sendess peony de ot eOvotedad 2 161 YMINI Modulo ruraa seiss spars ces facili a coggacs a E A E E E 2 163 ZP N Integer Wizard Parameters atts wi toousicecan easesae nu ngtas con ubaduduaetan toa odin oupaasocsantss tiene 2 164 ZX N User Program and Auto tuning Temporary Storage cece eects cneeeeees 2 165 MAN SIMCR Ver 3 0 SimplIQ Command Reference Manual Introduction Chapter 1 Introduction This manual describes in detail each software command used to manipulate the Simpl1Q line of digital servo drives It is an integral part of the SimplIQ documentation set which includes The Harmonica Cello and Bassoon Installation Guides which provides full instruct
66. ads the position of the main feedback Upon power on the main position is set to zero The variable PX accumulates the main feedback pulses PX can count cyclically refer to the XM N command When the motor is off PX may be used to set a value for the position counter by typing PX n To program the position while the motor is on refer to the HM N command Attributes Type Parameter Status report Integer Source Program RS 232 CANopen Reset value 0 Volatile Restrictions MO 0 Range See Notes below Unit modes All gt amp Notes PX is limited to the position counter range If PX exceeds the modulo range it will be automatically set to a value within that range PX counts in the direction defined by CA 16 If CA 16 is modified PX will not change but position counting will be continued in the other direction To ensure proper commutation CA 16 must be modified in conjunction with the motor direction CA 25 See also HM N XM N CA N SimplIQ Command Reference Manual Alphabetical Listing 5 118 MAN SIMCR Ver 3 0 PY Auxiliary Position Purpose Reads the position of the auxiliary feedback Upon power on the auxiliary position is set to zero The variable PY accumulates the auxiliary feedback pulses PY can count cyclically refer to the YM N command When the motor is off PY may be used to set a value for the auxiliary position counter by typing PY n To program PY while the motor is on MO 1
67. al captures PX the digital output of HM 6 is set only at the next position controller sampling time 4 TS period Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 0 Volatile Range HM 1 0 1 HM 2 According to PX command HM 3 0 24 see the first note above HM 4 0 2 HM 5 0 2 HM 6 According to OP command HM 7 8 Read only according to PX PY Index range 1 8 Unit modes All Activation Immediate See also HY N XM N ILIN OL N PX PY EF N IF N SD Reference chapter in the SimplIQ Software Manual Chapter 13 Sensors I O and Events SimplIQ Command Reference Manual Alphabetical Listing 2 57 MAN SIMCR Ver 3 0 HP Halt Program Execution Purpose Stops the execution of the user program and the automatic routines The HP command freezes the status of the program and does not reset it A later XC command will resume the program from the instruction at which the program was halted Pending interrupts will remain pending An HP command issued when no program is running does nothing and sets no error code Attributes Type Command No value Source RS 232 CANopen Restrictions None Unit modes All Activation Immediate S amp The HP command together with a later XC command may be used if a communicated command sequence must be executed consecutively without program interference See also KL
68. al inputs refer to the IL N command Attributes Type Command No value Source Program RS 232 CANopen Restrictions MO 1 Unit modes UM 2 3 4 5 Activation Immediate gt amp Notes In position mode UM 3 4 5 BG does nothing if a motion mode JV PA PV PT was not previously submitted In Quick stop mode refer to the Elmo CANopen Implementation Guide BG is blocked and returns an error Quick stop mode can be command controlled by a CAN master using the DS402 standard control word object 0x6040 See also IL N BT SimplIQ Command Reference Manual Alphabetical Listing 2 9 MAN SIMCR Ver 3 0 BH Get a Single Recorded Signal as Hexadecimal Purpose Uploads the values recorded by the recorder to a host The BH command is designed to optimize data transfer from the drive to the host assuming that the host has the computing power to analyze the drive message Attributes Type Command Integer Bit field Source RS 232 Restrictions RR 0 valid recorder data is ready Not while executing a previously requested BH n command Unit modes All Activation Immediate Reference chapter in the SimplIQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing 2 10 MAN SIMCR Ver 3 0 BP N Brake Parameter Purpose Defines the timing of the brake system in the motor when at least one of the digital outputs has been defined by the OL
69. alue Active Level When Active IL N 0 Low Shut servo drive freewheel IL N 1 High Shut servo drive freewheel Note It is high recommended not to use this state The motor may spin when the input wire is cut or disconnected IL N 2 Low Stop immediately under control soft and auxiliary stop IL N 3 High Stop immediately under control soft and auxiliary stop IL N 4 Low No function is attached Ignore the switch IL N 5 High No function is attached Ignore the switch IL N 6 Low General purpose IL N 7 High General purpose IL N 8 Low Hard enable forward direction only RLS IL N 9 High Hard enable forward direction only RLS IL N 10 Low Hard enable reverse direction only FLS IL N 11 High Hard enable reverse direction only FLS IL N 12 Low Begin activates BG command IL N 13 High Begin activates BG command IL N 14 Low Stop immediately under control soft stop only Activates the ST command IL N 15 High Stop immediately under control soft stop only Activates the ST command IL 5 16 Low Enable the Main Home sequence IL 5 17 High Enable the Main Home sequence IL 6 18 Low Enable the Auxiliary Home sequence IL 6 19 High Enable the Auxiliary Home sequence IL N 20 Low Stop immediately under control stop both software trajectory and auxiliary reference IL N 21 High Stop immediately under control stop both software trajectory and auxiliary reference IL N 22 Low Abo
70. and is gradually changed to JV according to the AC DC and SF parameters In the position control modes UM 4 5 the JV setting defines a constant speed software command The value of JV defines the speed of the motion The parameters AC DC and SF determine the acceleration limits for reaching final speed In position jogging mode JV and if the position feedback sensor is set to modulo counting refer to XM N and YM N a position controlled motor can rotate forever The position reading will jump each modulo count according to the last modulo setting but the speed will remain steady gt amp Notes Jog mode is recommended for homing procedures because it does not require information about starting position or destination In position mode UM 4 5 a jogging command is under position control The JV parameter determines the rate at which the position command changes In stepper mode UM 3 JV determines the rate at which the electric angle command changes In position control mode UM 3 4 5 JV not only sets the speed of motion but it also states that the next motion will be a constant speed jog For all relevant modes UM 2 4 5 the value of JV must be set between VL 2 and VH 2 Setting JV out of this range will invoke an Out of limit error code Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions UM 2 None UM 3 4 5 MO 1 Default values 0 RS Non volati
71. ault value 1 Non volatile Range 0 3 Unit modes All Activation Immediate See also BH RP N RC RG RL RR Reference chapter in the SimplIQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing 5 427 MAN SIMCR Ver 3 0 RS Soft Reset Purpose Initializes the drive parameters to their factory default and resets all volatile variables to their power on default Attributes Type Command No value Source RS 232 CANopen Restrictions MO 0 Program not running Unit modes All Activation Immediate amp Notes RS does not change the communication settings therefore after executing RS it is still possible to communicate with the drive The communication parameters however are reset For example if the baud rate is 9600 setting PP 1 1 immediately after RS will switch the baud rate to the default of 19 200 The RS command disables the communication routines for a few milliseconds If an RS is executed by an RS 232 command a CAN message may be lost in the execution interval The RS command modifies only the RAM contents it does not affect the flash memory Use the SV command to make the effect of RS permanent After an RS command the current limits are set to zero so it is impossible to start the motor immediately After an RS it is recommended to go through the steps of the Composer Wizard before attempting to work with the motor See also
72. ce may be the sum of analog input 1 and the external signals that are derived by the auxiliary encoder possibly using the ECAM table or PWM signals In position mode UM 5 the analog input is not used as a reference n stepper mode UM 3 an auxiliary reference is sets the torque value to the stepper generator The RM values are as follows RM Value Meaning 0 The reference command is generated internally either by the interpreter command or by the user program 1 The reference command is summed from the internal software reference command and the auxiliary reference command Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions Defined in following notes Default value 0 RS Non volatile Range 0 1 Unit modes All Activation MO 1 gt amp Notes If you are not using the auxiliary referencing option set RM 0 to prevent A D noise from falsely driving the drive In dual loop mode UM 4 switching to auxiliary reference mode RM 1 is not allowed In position mode UM 5 RM may be changed only when the software reference is stationary MS lt 1 In speed mode UM 2 RM may be changed at any time See also UM FR N AG N AS N PW N Reference chapter in the SimplIQ Software Manual Chapter 11 Unit Modes SimplIQ Command Reference Manual Alphabetical Listing 7 124 MAN SIMCR Ver 3 0 RP N Recorder Parameters Purpose Enables the comple
73. cesececsseceesseceeseecsssesesseceeseeceeeeeens 2 128 SD Stop DECELEnAtl Olin inc cavactasiaceta aire aa a Ucn iareiauatisiaustiuapacende Aan S Naas 2 129 SE SmiO0th Factor iors cori a ea issih e dia heed ada aaa lee ates a ead aa eee heeded 2 130 SN Serial Number arrori peie g e AE R vhs conden A PU a A aetna eal 2 131 SP Speed fot PTP MO de suc visu nri Ee E E E A E aia 2 132 DOR Status Registera son rr i e E E E E KE O e E 2 133 STA StOp MOON n a aa EE A E a A a EE tee 2 135 SV Save Parameters to Flash cnni ioten a A a a ia e iain 2 136 SY Say SOMmethih nenene irar E ep AEE AA RO ers E ES 2 137 TC Torque Commando esiin en aee EE ANE EEE AAEE ENRE 2 138 EM System En e E A EE E TE N e eosdews 2 139 TP N Floating Wizard Parameters sseseseeeesesesereeesesesrsrsrerererreretsrsrsessestnrseerererrererstst 2 140 TBs gt AR OGL Radiuso Anosa aaeei E a r a a a E E E a a NaS 2 141 Ee Samplne FME Adasu na a a a a E Eia a Oaa 2 142 TWIN Wizard Command Meee EA E A wis alge Seabee 2 143 SimplIQ Command Reference Manual Contents iii URIN User Float array ogon arsaa aA EE A temas E R O 2 144 UNI User tee ienn na E A A E E E E ES 2 145 UM Umt Moderen E E T E E EE NEE 2 146 VE Velocity Errotorea iara oieee i E a bul T EE E antietedec 2 148 VH N VLN High and Low Reference Limit seeeeeeeesesesesseeeesrsrsrereerrrrerersreesseseses 2 149 VR Firmware Version rres iga ea i E EE ETE A E a E A dikes 2 150 VX V
74. cur almost instantaneously Ifthe current demand is marginally greater than CL 1 and significantly less than PL 1 the switch may take a very long time The exact time required may be calculated from the previous formulas If CL 1 gt PL 1 PL 1 will be the torque limit in effect at all times and PL 2 will be ignored The minimum current limit is MC 128 If PL 1 lt MC 128 the PL 1 value will be accepted but the actual current value will be limited to MC 128 PL 1 is used to determine the maximum and minimum limits for the PWM generator used for current reference in 50 and 100 PWM mode See also CLINI LC MC TC XP N Reference chapter in the SimplIQ Software Manual Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 5 199 MAN SIMCR Ver 3 0 PM Profiler Mode Purpose Specifies in UM 2 if the software speed command generator applies acceleration deceleration and smoothing limits The values of PM are outlined in the following table PM Value Description 0 For UM 2 AC DC and SF are not used 1 For UM 2 AC DC and SF are used normally Table 2 28 PM Values PM 0 is set by the Composer program to test the step response of the speed controller Even with PM 0 the speed command acceleration and deceleration is limited by the SD parameter PM 1 is the recommended value for all applications Attributes Type Command Parameter Integer
75. d Failing to do so will not generate an error Not all drives have the same digital input entries Nevertheless no error indication would be given in case a none existing digital input is programmed For example the Harmonica drive has 6 physical digital inputs An attempt to set IL 10 8 would not generate an error but the RLS function would be programmed to the drive Use the Inhibit freewheel function with care When the drive is shut the motor applies no torque Turning off a drive might leave the motor spinning until it stops by friction In some situations this may be dangerous When a switch is released the attached function terminates Functions 2 3 and 4 Full Stop RLS and FLS do not change the drive reference command When the switch is released the reference command speed or position is recovered In order to ensure that reference recoveries do not generate discontinuities the SD VL 2 and VH 2 limits are used IP and IB N can be used to detect a logically active switch of all defined functions excluding function 2 No function is attached SimplIQ Command Reference Manual Alphabetical Listing 2 72 MAN SIMCR Ver 3 0 Attributes Type Parameter Bit field Assignment Yes Source Program RS 232 CANopen Restrictions None Default value IL 1 0 IL 2 10 7 RS Non volatile Range According to previous description Index range 1 10 Unit modes All Activation Immediate Reference cha
76. d in which case the interrupt is ignored SimplIQ Command Reference Manual Alphabetical Listing 2 90 MAN SIMCR Ver 3 0 S Notes ML is not affected by the XQ command You should set MI to the desired value in the first lines of your user program in order to ensure that the correct automatic routines can run Several interrupts may be blocked by the MI command MI 65 535 or MI Oxffff will block all interrupts of the table MI 48 will block only the AUTO_FLS and the AUTO_RLS interrupts MI MI 2 will block AUTO_ER and leave all other interrupt mask bits as is If AUTO_PERR is activated all other interrupts will be masked MI 0x7fff Attributes Type Parameter Integer Bit field Scope Program RS 232 CANopen Restrictions None Default values 0 Volatile Range 0 65 535 Unit modes All Activation Immediate See also XQ XC Reference chapter in the SimplIQ Software Manual Chapter 5 The SimplI1Q User Programming Language SimplIQ Command Reference Manual Alphabetical Listing 2 91 MAN SIMCR Ver 3 0 MO Motor Enable Disable Purpose Enables and disables freewheels the motor power Disabling the motor MO 0 disables the motor This is the idle state of the drive The power stage is disabled and no current flow sin the motor In this mode the servo drive can perform various tasks that are impossible when the motor is on Boot on power up Calculate and check the integrity of th
77. d if the flash memory is brand new and no parameters have ever been saved in it or after a major firmware update The variables in the flash memory are all in their permitted range This test should not fail as the legality of all variables is tested prior to saving If any of these tests fail the contents of the flash are ignored and all non volatile variables are set to their factory default RS states Certain exceptional variables are not reset by the LD command The communication PP N parameters are retrieved from the flash memory but are not set into action The parameter PP 1 retains its old values in order to ensure communication continuity The newly loaded RS 232 communication parameters may be activated by PP 1 1 and the new CAN parameters are activated by a Communication Reset NMT message gt amp The LD command may take a few milliseconds to perform because it completely recalculates the drive database At this time the communication routines are disabled If an LD command is executed by an RS 232 command a CAN message may be lost in the meanwhile and vice versa Attributes Type Command No value Source RS 232 CANopen Restrictions MO 0 Program not running Unit modes All Activation Immediate ES amp Ifan LD command fails CD will report the reason for the failure by adding the string Couldn t load from serial flash followed by the reason for the failure gt The save functio
78. d its target or a completed PT or PVT motion For position control modes UM 3 4 5 MS reports as follows Value Description 0 Motor position stabilized The feedback position is steady within the ranges defined by TR Note that value 0 is applicable only when there is a defined position target as in PTP 1 The reference for the position controller is stationary or the motor is off MO 0 2 The reference to the position controller is dynamically controlled by one of the optional motion profilers PTP Jog PT or PVT 3 Reserved MS reflects only the software motions It does not indicate anything about the behavior of the external reference command For speed control modes UM 2 MS reports as follows Value Description 0 Not applicable for this mode 1 The reference to the speed controller equals the speed target This is always the case if no profiler mode is used PM 0 The motor is off MO 0 2 The software reference to the speed controller differs from the speed target In software profiled reference mode PM 1 RM 0 this is the case while accelerating decelerating or smoothing to target speed JV 3 Reserved Attributes Type Status report Integer Scope Program RS 232 CANopen Restrictions None Unit modes All See also PM RM DV N AC DC TR SimplIQ Command Reference Manual Alphabetical Listing 2 96 MAN SIMCR Ver 3 0 OB N Output Bits Array Purpose Sets and re
79. ddition general purpose inputs can activate AUTO_DIN automatic routines in the user program Function 4 Hard reverse limit switch The function activates the AUTO_RLS routine in the user program In addition it has the following unit mode dependent actions UM Action Torque UM 1 Allow only positive torque commands Negative torque demands yield zero motor current Speed UM 2 Allow only positive speed command external or internal If at the time of switch sensing the speed command was negative the speed command will converge to zero using the stop deceleration SD Position UM 3 4 5 Allow only positive position command increments external and internal If at the time of switch sensing the speed was negative the position command will decelerate to complete stop using the deceleration of the SD parameter SimplIQ Command Reference Manual Alphabetical Listing 2 70 MAN SIMCR Ver 3 0 Function 5 Hard forward limit switch The function activates the AUTO_FLS routine in the user program In addition it has the following unit mode dependent actions UM Action Torque UM 1 Allow only negative torque commands Positive torque demands yield zero motor current Speed UM 2 Allow only negative speed command internal or external If at the time of switch sensing the total speed command was positive the speed command will converge to zero using the stop deceleration SD Position UM 3 4 5 Allow
80. des All amp You may limit the current for a specific application using the PL 1 and CL 1 commands See also IQ ID CLIN PLIN SimplIQ Command Reference Manual Alphabetical Listing 2 86 MAN SIMCR Ver 3 0 MF Motor Failure Purpose Reports the reason why the motor has been automatically shut down set to MO 0 MF normally reports zero as default The fact that the motor has been automatically shut down is reflected as a bit in the status register SR report and MF provides the detailed information After a fault the MF value remains fixed even if the reason for the fault no longer exists MF is automatically set to zero on the next motor enable MO 1 Fatal faults CPU exceptions are permanent and can be resent only be power reset The following table lists the type of faults reported by the MF value Reported Fault Value Bit The motor is on or the last motor shutdown was the normal 0 result of a software command 1 Resolver feedback is not ready Resolver angle was not Ox1 0 found yet 2 Analog encoder or Resolver feedback is either lost or with too low amplitude Reserved 0x1 0 Reserved 0x2 Feedback loss no match between encoder and Hall location 0x4 2 Available in encoder Hall feedback systems The peak current has been exceeded Possible reasons are drive 0x8 3 malfunction or bad tuning of the current controller Inhibit 0x10 4 Reserved 0x20 Two digital Hall sensors w
81. does not imply an abrupt change to the external position controller reference For EM 1 1 linear ECAM changing FR 3 does imply an abrupt change in the external position controller reference FR 3 can be modified while the motor is enabled if the software reference is not active MS lt 1 In such cases the software position reference is corrected to avoid a possible motor jump Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions MO 0 none MO 1 RM 1 and MS lt 2 Default value 1 RS Non volatile Range 32 000 32 000 Index range 1 2 3 Unit modes UM 1 2 3 5 Activation Immediate See also PY RM YM N YA N PW N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 51 MAN SIMCR Ver 3 0 GS N Gain Scheduling Purpose Defines the gain scheduling process SimplIQ drives are scheduled according to the controller and the command states This may be necessary due to either the difference between the low speed behavior and the high speed behavior of the plant or because the inertia changes with position dependence The process of assessing the situation and varying the controller parameters online accordingly is called gain scheduling The following table lists the gain scheduling parameters Unused indices are reserved for compatibility with older drives Parameter
82. dual outputs However it is not appropriate for the synchronized setting of several output bits OB N will not affect digital outputs defined as AOK and or Brake If OB N is applied to an output that is defined for a specific function no error indication will be sent but the command will do nothing OB N sets and reads the logical values of the outputs The voltage values at the digital output connector pins are active high or active low with respect to OB N according to the OL N setting At boot all OB N values not defined for the Amplifier OK function are set so that the output opto couplers do not conduct This way no transition will occur at the digital outputs when the drive boots If another value is required immediately after boot use an AUTOEXEC routine Since Output Compare is hard wired to digital output 1 any setting or reading of digital output 1 will be false when Output Compare is active because the pins are shared and Output Compare signals take precedence SimplIQ Command Reference Manual Alphabetical Listing 2 97 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default value 0 RS Volatile Range 0 1 Index range 1 6 Set 1 15 Get Unit modes All Activation Immediate See also OP OLIN BP N SimplIQ Command Reference Manual Alphabetical Listing 2 98 MAN SIMCR Ver 3 0 OC N Output Compare
83. e DV 3 reports the position command value DV 4 reports the external speed command 0 for RM 0 DV 5 reports the software speed command DV 6 reports the external position command 0 for RM 0 DV 7 reports the software position command b i a l l a When the motor is disabled MO 0 DV N returns zero Attributes Type Status report Real Source Program RS 232 CANopen Restrictions None Index range 1 7 Unit modes All Reference chapter in the SimplIQ Software Manual Chapter 11 Unit Modes SimplIQ Command Reference Manual Alphabetical Listing 2 29 MAN SIMCR Ver 3 0 EC Error Code Purpose Reports the processing status of the last accepted command that returned an error Notes When the processing of a command fails the error code is returned immediately with a question mark in the response to that command The error code returned with the command response is binary so it may not be easily seen The EC command returns a printable ASCII value of the error code The EC command cannot be used reliably from the Composer Smart Terminal because the Composer generates continuous communication with the servo drive The returned EC value probably reflects the status of the latest Composer command not the status of the last Smart Terminal command The follow table lists the error codes reflected by the EC command Error Code Error String Description Example Remedy 2 Bad command X
84. e 0x4000 14 Servo drive fault detail bit 3 Refer to following table 0x8000 15 Failed to find the electrical zero of the motor in an attempt to 0x10 000 16 start it with an incremental encoder and no digital Hall sensors The reason may be that the applied motor current did not suffice for moving the motor from its position Speed limit exceeded VX lt LL 2 or VX gt HL 2 0x20 000 17 Stack overflow fatal exception This may occur if the CPU was 0x40 000 18 subject to a load that it could not handle Such a situation can arise only due to a software bug in the drive Use the CD command to get the CPU dump and report to your service center CPU exception fatal exception Something such as an attempt 0x80 000 19 to divide in zero or another fatal firmware error has occurred Use the CD command to get the CPU dump and report to your service center Reserved 0x100 000 20 Motor stuck the motor is powered but is not moving according 0x200 000 21 to the definition of CL 2 and CL 3 Position limit exceeded PX lt LL 3 or PX gt HL 3 UM 5 or 0x400 000 22 PY lt LL 3 or PY gt HL 3 UM 4 Reserved 0x10 000 000 28 Cannot start motor 0x20 000 000 29 Reserved 0x80 000 000 31 Table 2 22 Reasons for Automatic Motor Shutdown SimplIQ Command Reference Manual Alphabetical Listing 2 88 MAN SIMCR Ver 3 0 0x8000 0x4000 0x2000 Meaning 0 0 0 OK 0 0 1 Under voltage The power supply is shut down or it has too high a
85. e channel of the analog encoder resolver The offset is given in ADC units in the range of 4500 4500 CA 12 Offset for the B cosine channel of the analog encoder resolver The offset is given in ADC units in the range of 4500 4500 CA 13 Relative gain of the A sine channel of the analog encoder resolver with respect to the B cosine channel in the range of 20000 40000 Table 2 3 Analog Encoder and Resolver Scaling SimplIQ Command Reference Manual Alphabetical Listing 2 14 MAN SIMCR Ver 3 0 CA 15 See below Command Description CA 16 Feedback direction 0 Use feedback reading as is 1 Invert the direction of the feedback reading Changing CA 16 does not affect the present position count Direction changes only when counting future feedback pulses CA 17 Commutation sensor 1 Commutation derives from main feedback 0 commutation derives from the motor DHall sensors CA 18 Feedback bits counts per revolution after resolution is multiplied by 4 in the range 6 530 000 000 For Standard Incremental Encoders with 1000 lines CA 18 is 4000 If the motor is linear CA 18 reflects the electrical cycle For example if the encoder has 1000 lines m 4000 counts m and the distance between pole sets is 0 1 m then CA 18 is 400 In this example CA 18 could be set as any multiple of 400 such as CA 18 800 or CA 18 1200 For systems with Halls only CA 18 is calculated as CA 19
86. e Gitta vatican ba A a aS 2 80 LD Load Parameters from Flash cccccccessessseesseesseeeceeeseeeseecacecsaecaecaecsecnseseeeseaeeneeeaees 2 81 ELIN Low Feedback LiMitsieneie ninenin aie aea aia 2 82 EPIN List PROPER MES ti an aene a E A aE A AEE EDA 2 83 LS Bist User Program ieai a E R EEE L EE E A L Cosh a e ENEE E 2 84 MC Maximum Peak Driver Current cccccccesseesseesceeseecseecaecesecesecnaeceseseneseaeenaeeeseessaees 2 85 MF Motor Failure eenen E AEE E EE E ENA TEE 2 86 MI Mask Interrupt eerie eiae A band ELE E A E 2 89 MO Motor Enable Disable ccccccccccecssccessceesseceesseceescecessecesseceesseceseecessesesseeeesseceeeeeenaes 2 91 MP N Motion PT PVT Parameter siisista ugscnsnsattvestevnous covesvan sugiaancennaercarsareneccontneceas 2 93 MS Motom Statu Sron ieron E E E R E E a N ENE NNS 2 95 OBEN SOUL U EBSA RAY joss tiie acti eo e e ese a a aged i ao a aae 2 96 OCIN QO tp t Compares rresia en i ene a i 2 98 OLIN Output Logie si nennen a i a i e n a aiis 2 101 OP Output Porty tec sscsreed mi Tia ai E EE R ETEA E E E ens vensetieneys 2 103 PAs Absolute Positioner ein e E E E E E a Shabwanseses 2 104 PES Position Error Kenan eae e a a a a a a e e a 2 105 PK Peek MEMOry yiad costes iis sundg sasha e neea nie ae i e a a 2 106 PE N Peak Duration and Limit ccccccccccccsssceesceceeccecsseceesseceeseeceeeeesseseeseeceneseneeeeess 2 107 BM o Profiler Modeen ecteahiercedoieet A E A EE E A
87. e drive database Download new firmware and user programs Save parameters in the flash memory Modify setup data that cannot be modified on the fly such as commutation parameters CA N and unit mode UM The servo driver is automatically disabled when a motor fault is captured MF An attempt to enable the motor may fail if the conditions of the fault still exist S amp If the brake function is activated the MO 0 command duration is extended according to the BP N command specification Enabling the motor MO 1 is the operative state of the servo drive driving the motor and activating and executing the programmed motion The software runs a set of tests to ensure that all conditions for running the motor are met If MO is set to 1 and the motor is already on nothing happens When the motor is enabled the drive reinitializes the internal parameters and motion drivers The drive may fail to start if the setup data is found to be inconsistent for example CA 4 CA 5 In this case CD commands indicate the reason for the failure The last captured motor fault MF is reset to zero In the position control modes UM 4 5 the motor is always started so that it does not jump The total position control command which consists of the internal position command and the external position command is set to the actual present position of the motor in order to prevent the motor from jumping Notes When RM 1 the servo dri
88. e present position command is 490 and the next PA is set to 490 the PTP motion will be planned in the positive direction and the resulting motion length will be 20 counts A PTP motion will continue until completion even if the position counter value has been reset on the fly refer to the HM N HY N commands However the position target does not change so that in the case of PA n the BG sequence may result in a different motion length than initially programmed Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions MO 1 Range Position counter range Unit modes UMS 3 4 5 Activation BG See also PR BG MO XM N YM N MS VH N VLIN SP AC DC SD SF HL N LL N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator In dual loop mode UM 4 position feedback is PY It can be manipulated on the fly by HY SimplIQ Command Reference Manual Alphabetical Listing 5 195 MAN SIMCR Ver 3 0 PE Position Error Purpose Returns the present position tracking error in counts In main feedback position mode UM 5 PE reads PE DV 3 PX PE is read modulo XM N taken the shorter way For example if XM 1 500 XM 2 500 DV 3 400 and PX 400 PE will read 200 In auxiliary feedback position mode UM 4 PE reads PE DV 3 PY PE is read modulo YM N taken the shorter way For example if YM 1 500 YM 2
89. e reset This error may occur after The database has been restored to factory upgrading the drive version if defaults after the parameters loaded from the the newer version uses a flash memory failed a consistency check different database structure 64 Cannot set the index of an active table When the ECAM table is active an index cannot be changed Only a location beyond the active table limits may be changed 65 Disabled by SW Check the IL N switch definition Motion could not begin because a switch settings and compare them to the programmed to abort motion was active actual switch reading use the IP when MO 1 was tried command 66 Drive not ready Check the servo drive status SR The motor could not be powered due to command or MF command Over or under voltage Over temperature Short circuit a shorted motor or a hardware problem Hall sensor problem 67 Recorder is busy Let the recorder complete its job A recording process is in progress and the recorder settings cannot be changed Recorded data cannot be fetched or use the RR 0 command to kill the recording process SimplIQ Command Reference Manual Alphabetical Listing 2 34 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 69 Recorder usage error RC 2 RR 2 and later BH 1 is an Something illegal was attempted with the error because an attempt is made recorder to bring a vector that was not recorded 70 Recorder data in
90. ed the status of the Amplifier OK Brake and Motor enable disable functions are reflected in bits 7 8 and 9 respectively gt amp Notes The number of outputs in each type of Simpl IQ drive differs Accordingly the outcome of this command may differ between drives Please consult the drive s Installation Guide for more details about the amount of its digital When any of the uncommitted digital outputs are defined as general purpose the physical state of the output depends on the previous OP command setting and its logic level defined by OL command The OB N syntax may be more convenient than OP for setting individual outputs However it is not appropriate for the synchronized setting of several output bits If a synchronized setting of several digital outputs is desired use the OP command Since Output Compare hard wired to physical digital output 1 any setting or reading of this output will be false when the feature is active Attributes Type Parameter Status Integer Bit field Source Program RS 232 CANopen Restrictions None Default values 0 Volatile Range 0 63 for write For querying as described above Unit modes All Activation Immediate See also OB N OL N BP N OC SimplIQ Command Reference Manual Alphabetical Listing 5 104 MAN SIMCR Ver 3 0 PA Absolute Position Purpose Specifies that the next software position command will be a PTP point to
91. eference Manual Alphabetical Listing 5 136 MAN SIMCR Ver 3 0 SV Save Parameters to Flash Purpose Saves the entire set of non volatile variables from the RAM to the flash memory Before saving the parameter integrity is tested If the test fails the SV command exits with an error and the flash contents remain as is The CD command details the reason for the failure Attributes Type Command No value Source Program RS 232 CANopen Restrictions MO 0 User program not running Unit modes All Activation Immediate 5 amp Notes The SV command may take a few hundreds of milliseconds to execute during which the communication drivers are disabled If an SV command is executed by an RS 232 command a CAN message may be lost in the interim and vice versa The SV command does not store the commutation tables refer to the HV N command Be aware that the flash memory is limited by the number of times data may be saved to it about 100 000 saves Therefore be very careful when defining the use of SV in a user program See also CD HV N LD SimplIQ Command Reference Manual Alphabetical Listing 5 137 MAN SIMCR Ver 3 0 SY Say Something Purpose Enables the drive to respond with a printed comment Attributes Type Command No value Source RS 232 CANopen Restrictions None Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 5 138 MAN SIMCR Ver 3
92. elocity range 231 lt LL 3 lt 231 1 231 lt HL 3 lt 231 1 Index range 2 3 Unit modes HL 2 LL 2 UM 2 3 4 5 HLJ 3 LL 3 UM 3 4 5 Activation Immediate Y amp Note The position counter is subject to a modulo count refer to position counter range See also VL N VH N MF SR MO XM N Reference chapter in The SimplIQ Software Manual Chapter 14 Limits Protections Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 2 83 MAN SIMCR Ver 3 0 LP N List Properties Purpose Sets the properties of the serial flash data upload and download by the next LS and DL commands LP 1 sets the start byte address of the next LS transmission or the byte address for starting the storage of the next DL transmission LP 2 sets the size in bytes to be transmitted at the next LS LP 3 returns the start byte address of the user program read only LP 4 returns the size of the user program storage read only Attributes Type Parameter Integer Scope RS 232 CANopen Restrictions None Default values LP 1 and LP 2 set to 0 on power on Range LP 1 0 262 144 LP 2 0 247 Index range 1 4 Unit modes All Activation Immediate See also CC DL LS Reference chapter in The SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 2 84 MAN SIMCR Ver 3 0
93. ensors Continuous encoder based commutation will begin when the first Hall edge is identified The drive performs commutation checks by continuously comparing the encoder derived commutation angle with the Hall sensor recorded status CA 21 Position sensor present 0 Ignore the position sensor inputs Commutation will be based on the digital Hall sensors only 1 The position sensor will be used for commutation CA 22 Main feedback type 0 Reserved 1 Main feedback entry used as input from a Resolver 2 Main feedback entry used as input for the quadrature incremental encoder signals 3 Main feedback entry used as input for analog sine cosine signal 4 Main feedback entry used as input for Tachometer signal Maximum Tachometer signal is 20V 5 Main feedback entry used as input for Tachometer signal Maximum Tachometer signal is 50V 6 Main feedback entry used as input for digital halls signals 7 Reserved 8 Main feedback entry used as input for Potentiometer feedback CA 25 Motor direction 0 Reverse phase driving so that the motor direction with positive torque command is reversed 1 Keep the original motor direction as connected by user CA 28 DC motor 0 Standard brushless motor 1 DC motor do not perform commutation Current will flow continuously from the A motor connector pin of the servo drive to the B terminal The C terminal conducts no current SimplIQ Command Reference Manual Alphabetical
94. er mode UM 3 the two external inputs play different roles The analog input voltage sets the motor power while the follow pulse direction or quadrature input determines the position The polarity of the analog reference signal may be reversed by setting the sign of the AG N parameter accordingly Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values AG 1 0 1 AG 2 1 Non volatile Range 10 000 000 10 000 000 Index range 1 2 Unit modes All Activation Immediate See also AN N AS N UM RM VH N VL N Reference chapters in the SimplIQ Software Manual Chapter 11 Unit Modes Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 2 6 MAN SIMCR Ver 3 0 AN N Analog Inputs Array Purpose AN 1 reports the analog input 1 value after offset correction AS 1 in volts 2 reports the analog input 2 value after offset correction AS 2 in volts 3 N N N 4 N N reports the measured current in the motor A phase in amperes reports the measured current in the motor B phase in amperes 5 reports the measured current in the motor C phase in amperes 6 reports the line voltage value in volts gt gt gt ppp p N 7 reports the duty cycle value of the PWM signal after offset correction in fractional units Attributes Type Status report Real Source Program
95. ere changed at the same time Error 0x40 occurs because digital Hall sensors must be changed one at a time Speed tracking error DV 2 VX for UM 2 or UM 4 5 0x80 7 exceeded speed error limit ER 2 This may occur due to Bad tuning of the speed controller Too tight a speed error tolerance Inability of motor to accelerate to the required speed due to too low a line voltage or not a powerful enough motor Position tracking error DV 3 PX UM 5 or DV 3 PY 0x100 8 UM 4 exceeded position error limit ER 3 This may occur due to Bad tuning of the position or speed controller Too tight a position error tolerance SimplIQ Command Reference Manual Alphabetical Listing 2 87 MAN SIMCR Ver 3 0 Reported Fault Value Bit Abnormal motor load or reaching a mechanical limit Cannot start because of inconsistent database The type of 0x200 9 database inconsistency is reflected in the status SR report and in the CD CPU dump report Too large a difference in ECAM table 0x400 10 Heartbeat failure Error occurs only if drive is set to abort under 0x800 11 heartbeat failure in a CANopen network object 0x6007 in CAN object dictionary is set to 2 Servo drive fault Error described according to the servo drive 0x1000 12 fault detail bits 13 15 in the MF report Refer to following table Servo drive fault detail bit 1 Refer to following table 0x2000 13 Servo drive fault detail bit 2 Refer to following tabl
96. es Position control UM 3 4 5 Activation Next BG See also PV MP N QP N QV N OT N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 115 MAN SIMCR Ver 3 0 PV Position Velocity Time Command Purpose Specifies that the next BG will start a PVT Position Velocity Time tabulated motion and defines the starting index for the QP N QV N and QT N arrays In a PVT motion new position and speed reference values are picked from the QP N and QV N arrays at the time specified by the elements of the QT N array The motion is interpolated between the entries of QP N and QV N The MP N parameters specify which indices of QP N QV N and QT N are used for the motion After BG the PVT motion starts from the QP PV position A PVT motion terminates when in non cyclical mode MP 3 0 the index of MP 2 is reached or if the PVT buffer underflows CANopen only When a PVT motion terminates the motor is brought to a complete stop using the SD deceleration When a PVT motion is executing PV reads the presently executing index of the PVT table Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions MO 1 PVT motion executing Advanced model only Default value None Volatile Range 1 64 Unit modes Position control UM 3 4 5 Activation Next BG See also
97. es in the positive direction the main position count will proceed from 0 1 2 3 4 to 5 4 3 2 1 0 1 and so on If XM N is nonzero with UM 5 the controlled motor position will count cyclically All motion trajectories will go the short way For example If XM 1 512 XM 2 512 the initial position is PX 500 and the target absolute position is PA 500 the PTP trajectory will travel through 500 512 511 500 to a total distance of 23 counts The cycle length must be positive XM 2 gt XM 1 and XM 2 XM 1 must be an even number XM N values violating the above conditions will be accepted but not activated Until XM N can be activated the motor cannot be started and the parameters cannot be saved in the flash memory the SV command will not work gt amp Notes If XM 1 or XM 2 is set so that XM 2 gt XM 1 but PX is out of the range XM 1 XM 2 PX will be set to range by taking modulo PX PX XM 1 mod XM 2 XM 1 XM 1 Ifa homing process requests a PX value setting out of the range XM 1 XM 2 the request will be ignored and PX will not change If the XM N value is selected low and the main speed is too high more than one full revolution of the main counter may elapse within a single sampling time This will cause the main position counter to behave unpredictably XM N cannot be modified while the homing sequence is active HM 1 gt 0 Attributes Type Parameter I
98. es not function when Output Compare works on the same Main or Auxiliary feedback source SimplIQ Command Reference Manual Alphabetical Listing 5 190 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values OC 1 OC 2 OC 5 OC 6 0 OC 3 100 RS volatile OC 4 200 RS volatile Range OC 1 0 2 OC 2 109 10 OC 3 65 535 65 535 excluding 0 1 1 OC 4 1 65 535 OC 5 0 65 535 OC 6 0 1 Index range 1 6 Unit modes All Activation After OC 1 1 or OC 1 2 See also YA SimplIQ Command Reference Manual Alphabetical Listing 5 104 MAN SIMCR Ver 3 0 OL N Output Logic Purpose Defines the logic level and function behavior of the digital outputs The drive has several non committed digital outputs 2 in the Harmonica and Bassoon 5 in the Cello 6 in the Cornet Each of these outputs can be programmed to a specific function and logic level Each OL N entry is dedicated to a certain output OL 1 for the DOUT1 connector pin and OL 2 for the DOUT2 connector pin OL N for the N connector pin The following table summarizes the functions that can be attached to the digital output pin OL N Bits Meaning Values 0 Logic levels 0 Low level active 1 High level active 1 4 0 General purpose Serves as a simple digital output function subject to the OB N or OP setting 1 AOK drive ready for u
99. external feedback loop 2 Speed control mode In this mode the motor speed command is set directly by the JV software jogging command or by an analog reference signal 3 Micro stepper mode In this mode no commutation is made The user controls the electrical field angle using the position commands and the motor current holding torque by the TC command or by an analog signal All position mode commands PA JV or tabulate motion are applicable This mode cannot be used with DC motors 4 Dual feedback position control In this mode the position controller stabilizes the position of the auxiliary feedback input The position controller issues a motor speed command to an inner speed control loop The inner speed control loop derives its speed feedback from the main feedback input In this case auxiliary reference mode RM 1 is not allowed The position command is generated similarly to UM 5 except that the auxiliary feedback is not available for reference generation 5 Single loop position control In this mode the position controller stabilizes the position of the main feedback input The position command is summed by a software command point point PA jogging JV or tabulated motion PT PVT and from an external command The external command is derived from the auxiliary feedback reference FR N ET N EM N Table 2 36 UM Values S amp The unit mode is reflected in the SR report SimplIQ Command Reference Manua
100. fer according to that Please consult the drive s Installation Guide for details HM 2 HM 6 can be changed during the home search procedure The activation of the parameters is considered upon reception of the next HM 1 1 or higher If HM 2 is set to a value beyond XM 1 and XM 2 the actual main position will not be updated when homing is complete Each homing event is attached to a predefined functionality FLS General Purpose Home and so on If the corresponding input is not defined first the homing procedure may never end Refer to the IL N command The homing and capture procedures can be carried out in any unit mode UM 1 2 3 4 5 and reference mode RM 0 1 In external reference mode RM 1 when HM 4 0 the software portion of the reference is stopped while the external portion is not In such cases the motor continues to move according to the analog reference Homing can be safely carried out in PTP and jog position motion modes With PT and PVT modes the online reloading of the position counter can lead to an immediate automatic MO 0 due to excessive position error SimplIQ Command Reference Manual Alphabetical Listing 2 56 MAN SIMCR Ver 3 0 When the Index or Home signal captures PX the PY captured value is taken at the next position controller sampling time 4 TS period It may differ from the PY value at the capture time by up to 4 TS 10 VY counts When the Index or Home sign
101. g for sensor filter See KV command section of this Invalid setting for KV 76 KV 87 manual 118 Bad KV vector This can happen when KV parameters are not set according to the correct feedback with either length or value restriction 119 Bad Resolver Filter When the filter KV set for resolver feedback is beyond its legal range 120 Bad number of blocks for Resolver filter When the Resolver filter contains a wrong number of blocks 121 Resolver is not ready When the initiation procedure of the Reslover was not completed and the motor is being enabled 127 Modulo range must be positive XM 2 is less or equal to XM 1 or YM 2 is less or equal to YM 1 SimplIQ Command Reference Manual Alphabetical Listing 2 37 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 128 Bad variable index in database internal An internal compiler error occurs compiler error due to a corrupted database In Index of the variable in the database is not such a case email Technical correct Support for assistance Attach the Composer date and version found in the Help menu and the program you attempted to compile 129 Variable is not an array Assume that a scalar variable has Cannot access a scalar variable defined been defined in the user program according to its index in square brackets as as a an array in the user program long a The expression a 0 1 is wrong because a is defined as scalar and not an ar
102. gnificant amount of time approximately 1 second Reference chapter in the SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 2 19 MAN SIMCR Ver 3 0 CD CPU Dump Purpose Returns the status of the CPU and the database Call CD if The SR report indicates a CPU exception The MF report indicates a CPU exception An attempt to start the motor returns a Bad database error code The CD report returns a string similar to the following Null Address 0 Failure Address 0 Called Handler none Database Status Database OK where Null Address is the code address at which a CPU exception occurred A 0 indicates a normal condition Failure Address is the code address at which a stack overflow has occurred A 0 indicates a normal condition Called Handler is the type of CPU exception that occurred A none indicates a normal condition Database Status indicates if the recent database check at MO 1 at power up or during a save SV revealed a consistent database Database OK indicates the normal condition Attributes Type Status report String Source RS 232 Restrictions None Unit modes All gt D amp Notes Ifan LD command fails CD reports the reason for the failure by adding the string Couldn t load from serial flash followed by the reason for the
103. he motor phases create a rotating magnetic field which can be projected in two directions The first magnetic field component is aligned with the magnetic direction of the rotor it produces no mechanical torque The other magnetic field component is perpendicular to the magnetic direction of the rotor and produces all the mechanical torque IQ Amp is the component of the motor phase current that creates effective torque The current controller attempts to make IQ equal to the current command ID is the component of the motor phase current that does not create torque The current controller tries to null ID gt amp When the motor is off MO 0 IQ and ID are not calculated and return zero Attributes Type Status report Real Source Program RS 232 CANopen Restrictions None Unit modes All See also AN N MC PL N CL N Reference chapter in the SimplIQ Software Manual Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 2 65 MAN SIMCR Ver 3 0 IF N Digital Input Filter Purpose Filters the drive digital inputs in order to overcome switch bounding IF N defines a time period in milliseconds Input pulses of shorter duration than IF N are rejected Pulses longer than IF N in milliseconds are sensed Each index entry 1 10 refers to a digital input 1 10 respectively The input filtering is accomplished by the software For this reason in order to ensure that a
104. he trigger variable does not need to be one of the recorded variables RP 2 Pre trigger 0 100 The percentage of the recorded signal taken before storage in percent the trigger event RP 3 Trigger type 0 5 0 Immediate 1 BG 2 Positive slope 3 Negative slope 4 Window 5 Digital inputs SimplIQ Command Reference Manual Alphabetical Listing 5 125 MAN SIMCR Ver 3 0 RP N Range Definition RP 4 Level 1 Unlimited Level for positive slope trigger or high side for window trigger RP 5 Level 2 Unlimited Level for negative slope trigger or low side for window trigger RP 6 Polarity 0 63 Defines the polarity for the digital input trigger of the recorder 1 Positive polarity RP 7 Digital 0 63 Defines which digital inputs trigger the recorder input mask Table 2 31 Trigger related RP N Parameters The following parameters enable the BH command to fetch only the required part of the recorder results RP N Range Definition RP 8 Index low 0 1024 Lower buffer index for recorded data transmission RP 9 Index high 0 1024 Higher buffer index for recorded data trans mission When RP 9 RP 8 0 all of the buffer is transmitted Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values RP 1 is set by the UM command The other RP N values are defaulted to 0 at power on Range Defined in previous tables Index range 1 9
105. hreads Oif the user program is halted 1ifno user program thread is running 2 if no user program is ready to run For detailed information about the status of the user program threads use the DB command Attributes Type Status report Integer Source RS 232 CANopen Restrictions None Unit modes All See also Ce SimplIQ Command Reference Manual Alphabetical Listing 7 144 MAN SIMCR Ver 3 0 PT Position Time Command Purpose Specifies that the next BG will start a PT Position Time tabulated motion and defines the starting index in the QP N array Ina PT motion a new position reference value is picked from the QP N array once per MP 4 position controller sampling times The motion is interpolated between the points specified by the QP N array The MP N parameters specify which indices of the QP N array are used for the motion After BG the PT motion starts from position QP PT A PT motion terminates when in non cyclical mode MP 3 0 the index of MP 2 is reached or if the PT buffer underflows CANopen only When a PT motion terminates the motor is brought to a complete stop using the SD deceleration When a PT motion is executing PT reads the presently executing index of the QP N array Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions MO 1 PT motion executing Advanced model only Default value None Volatile Range 1 1024 Unit mod
106. input 9 logical pin state 25 Digital input 10 logical pin state 26 31 Reserved always 0 Table 2 19 IP Input Port SimplIQ Command Reference Manual Alphabetical Listing 2 74 MAN SIMCR Ver 3 0 gt amp Notes Each type of Elmo drive supports a different number of digital inputs Please consult the drive s Installation Guide for more information about its inputs For compatibility reason inputs 7 10 do not have an indication for the General Purpose function and cannot be used for user program AUTO routine as well Bits 22 25 will still be set regardless to the above The logical state of digital input pins 1 to 10 as indicated in bits 16 to 25 is reflected in the logic level required in the relevant IL 1 to 10 respectively IB N may be more convenient than IP for user program decisions and branching However it is not recommended for the synchronized reading of several input bits If such a reading is needed use the IP command Attributes Type Status report Integer Source Program RS 232 CANopen Restrictions None Unit modes All See also IB N ILIN SimplIQ Command Reference Manual Alphabetical Listing 2 75 MAN SIMCR Ver 3 0 JV Jogging Velocity Purpose Sets the motor speed In speed control mode UM 2 the JV parameter specifies the software speed command In un profiled mode PM 0 the speed command is set to JV immediately In profiled mode PM 1 the speed comm
107. inue the program may fail because the interrupted program expects the motor to be on and it may use commands that are restricted to the MO 1 state See also HP XQ XC SimplIQ Command Reference Manual Alphabetical Listing 2 79 MAN SIMCR Ver 3 0 KV N High order Controller Filter Parameters Purpose Specifies the parameters of the following filters Filter Parameters Maximum Order Speed controller high order filter KV 0 KV 47 Position controller high order filter KV 48 KV 75 Analog position sensor filter KV 76 KV 87 Order 4 2 blocks Analog reference to speed controller KV 88 KV 99 Order 4 2 blocks Table 2 21 KV N Filter Partitions The KV 0 parameter defines whether or not the speed controller high order filter is used If KV 0 0 the high order filter is not used If KV 0 100 the high order filter is defined by the rest of the KV N parameters Similarly KV 48 0 deactivates the position controller high order filter KV 76 0 deactivates the analog position sensor filter and KV 88 0 deactivates the filtering of the analog reference to the speed controller The KV N array specifies almost arbitrary linear filters To learn how the KV N parameters specify a filter and to see a programming example refer to the Filters chapter of the The SimplIQ Software Manual Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values RS 0 Range
108. ions for installing a drive The Composer User Manual which includes explanations of all the software tools that are a part of Elmo s Composer software environment The Simpl1Q Software Manual which describes the comprehensive software used with the SimplIQ line of digital servo drives The following diagram illustrates the hierarchy of SimplIQ documentation CANopen Implementation Guide SimplIQ Software Manual SimplIQ Command Reference Manual Composer User Manual SimplIQ Product Line Installation Guides 1 1 Command Specification Commands for SimplIQ drives may be specified from the following sources User program A program loaded to the servo drive via one of the communication options After program execution begins the program is managed by the drive RS 232 Serial point to point short range communication Although this method is rather slow RS 232 is very easy to use and requirements are minimal a standard PC with serial port and ASCII terminal software SimplIQ Command Reference Manual Introduction 4 5 MAN SIMCR Ver 3 0 CANopen Serial multi drop medium speed and medium range communication This type of communication requires special purpose host hardware and software This manual describes the Simpl IQ commands that can be specified from each of these sources Most of the commands are equally available for all three sources Certain commands however are limited in scope according to type
109. is convenient for testing and debugging user programs A digital input serves only one dedicated function which can be reflected in the following commands features User program auto routine H AUTO_ Homing procedure HM N HY N IP command IB N command gt amp Notes The response to a digital input is made only according to the definition of IL N For example if digital input 2 is defined by IL 2 as RLS Reverse Limit switch changes in the connector pin of digital input 1 will not be reflected in IB 1 commands IB 1 will read continuously zero In this case IB 11 will reflect this input status When a digital input is activated the relevant bit in IP IB N is set Refer to the IP and IB N commands for more details Inputs 5 and 6 also serve as high speed home capture inputs used independently by the HM N and HY N commands The logic level for the home inputs is also defined by the IL N command If inputs 5 or 6 are used as home inputs the corresponding parameters IF 5 and IF 6 do not apply The parameters EF 1 and EF 2 are used instead The following table summarizes the functions that may be attached to each digital input pin The function details are given in the next table The prefix Hard indicates that the function applies to the stop manager not to the motion reference generator The term Soft indicates that the function applies to the motion reference generator
110. is dictated by the interpolator s specifications and not from the motor speed SimplIQ Command Reference Manual Alphabetical Listing 2 43 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 0 RS Non volatile Range 0 127 Index range 1 2 Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 2 44 MAN SIMCR Ver 3 0 EM N ECAM Parameters Purpose Determines the behavior of ECAM Electronic CAM motions With ECAM the position reference to the drive is not directly proportional to the summed external inputs but is rather a function of them The ECAM parameters apply only to position modes UM 3 and 5 and when the position reference is derived from the auxiliary encoder input RM 1 FR 3 non zero Parameter Description EM 1 Asserts whether the ECAM function is active 0 Direct eternal follower referencing 1 Active linear ECAM 2 Active cyclical ECAM Set EM 1 to enter a change in the EM 2 EM 3 EM 4 EM 5 and EM 7 parameters EM 2 Last valid index of the ECAM table Maximum value is 1024 EM 3 Starting position the value of the input to the ECAM function for which the output of the ECAM function will be ET EM 5 ET of EM 5 EM 4 Auxiliary input APY distance between consecutive points in the ECAM table ET N EM 5 First valid index of the ECAM table EM 6 Index fo
111. l Alphabetical Listing 5 147 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 For UM 4 Advanced model only For UM 4 RM 1 For UM 2 4 5 for Banjo and Trumpet Default value 3 RS Non volatile Range 1 5 Activation Immediate See also RM SR TS WI N Reference chapter in the SimplIQ Software Manual Chapter 11 Unit Modes SimplIQ Command Reference Manual Alphabetical Listing 5 148 MAN SIMCR Ver 3 0 VE Velocity Error Purpose Reports the present velocity tracking error VE DV 2 VX If the absolute value of VE exceeds ER 2 motion is aborted and motion fault code MF 128 0x80 is set If MO 0 or if the speed controller is not used UM 1 3 VE returns 0 Attributes Type Status report Integer Source Program RS 232 CANopen Restrictions None Unit modes UM 2 4 5 SimplIQ Command Reference Manual Alphabetical Listing 5 149 MAN SIMCR Ver 3 0 VH N VL N High and Low Reference Limit Purpose Define the drive s minimum and maximum speed and position reference limits Software commands beyond these values are not accepted and are truncated to VL N and VHI N Speed limits are restricted by the TS value according to the following For analog encoders resolvers tachometers potentiometers and digital halls SpeedLimit minimum between 80 000 000 and 8e9 TS For quadrature encoder SpeedLimit mini
112. le Range Velocity range Unit modes UM 2 3 4 5 Activation BG See also AC BG DC PX XM N YM N SE SP VH N VL N MS Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 76 MAN SIMCR Ver 3 0 KG N Gain Scheduled Controller Parameters Purpose Specifies the parameters of the gain scheduled speed or position controller The KG N parameters apply only if the controller gains are scheduled GS 2 64 The following table details the use of the KV N parameters array Index KGJ N Value Length 0 Reserved 1 1 63 KI for inner loop 63 64 126 KP for inner loop 63 127 189 KP for outer loop 63 190 252 GSIndexTable table 63 253 315 Parameter 1 for scheduled advanced filter 63 316 378 Parameter 2 for scheduled advanced filter 63 379 441 Parameter 3 for scheduled advanced filter 63 442 504 Parameter 4 for scheduled advanced filter 63 Table 2 20 KG N Gain Scheduled Controller Parameters Attributes Type Parameter 1 189 Real 190 504 Integer Source Program RS 232 CANopen Restrictions None Default values RS 0 Range See section 15 4 The Gain Scheduling Algorithm in the SimplIQ Software Manual Index range 0 504 Activation Immediate Reference chapter in the SimplIQ Software Manual Chapter 15 The Controller SimplIQ Command Reference Manual
113. lists the value ranges for defining the limits of the system Subject Values Position counter ranges Main position counter is subjected to a modulo counting with the following ranges XM 1 Lowest value XM 2 Highest value Range 10 10 counts Auxiliary position counter is limited to YM 1 Lowest value YM 2 Highest value Range 10 10 counts Velocity range Range for Quadrature Encoder 20 000 000 20 000 000 counts sec Range for other feedbacks 80 000 000 80 000 000 counts sec EF 1 Filter for main velocity sensor EF 2 Filter for auxiliary velocity sensor Acceleration Deceleration ranges Range 100 1 000 000 000 Stop deceleration range Range 400 1 000 000 000 Torque limits Range of torque command is subjected to the following limits CL 1 PL 1 Range MC MC Note The torque in RM 1 is taken as a summary of the external and software reference The multiplication of the PWM frequency reduces the torque limit SimplIQ Command Reference Manual Alphabetical Listing 2 4 MAN SIMCR Ver 3 0 AC Acceleration Purpose Defines the maximum acceleration in counts second2 This parameter is used in speed mode UM 2 and position control modes UM 3 4 5 in PTP PA PR and jogging JV reference modes The AC parameter does not affect the present motion It is used for planning the next motion which is initiated by a BG command 5 amp If AC is smaller than S
114. lue is missing empty expression 149 Unexpected sentence termination 5 3 An expression terminator appears in the middle of the expression 150 Sentence terminator not found Try to shorten the expression The expression is too long to be evaluated exceeding the maximum length 151 Parentheses mismatch sin 2 is wrong because a closing There is a mismatch between opening and parenthesis is absent closing parentheses Pertains to both parentheses and brackets 152 Bad operand type The DB command syntax is There is a mismatch between the actual wrong this command value type and the expected value type requires strict syntax trying to set an unexpected floating point value causes this error An internal compiler error has occurred due to a mismatch between operand type and its addressing mode Contact Technical Support 154 Address is out of data memory segment This is internal compiler error is Variable address in the data segment caused by corrupted compiled exceeds the data segment size code In such a case email Technical Support for assistance Attach the Composer date and version in the Help menu and the program you attempted to compile 155 Beyond stack range This internal compiler error is Compiled code contains a pointer to the stack entry exceeding the actual stack range STACK IMMEDIATELY addressing method caused by corrupted compiled code In such a case email Technical Support for assistance Attach
115. mand uses the TM variable to coordinate the start of motion The tdif function uses TM to calculate time differences Notes When CAN communication is used setting or updating the system counter by the user may upset the synchronization with the CAN network master The tick system function also reads the system time of the SimplIQ but its value differs from the TM command value Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions None Default value None Volatile Unit modes All Activation Immediate Examples QP 1023 TM Read TM into a software variable here QP 1023 is used as general storage not as motion reference tdif QP 1023 Return the time elapsed since TM was sampled into QP 1023 TM 0 Reset system time to zero ES WS The time returned by this command may jump due to a CAN master update refer to the Elmo CANopen Implementation Guide See also BT Reference chapter in the SimplIQ Software Manual Chapter 4 The Interpreter Language tdif function SimplIQ Command Reference Manual Alphabetical Listing 5 140 MAN SIMCR Ver 3 0 TP N Floating Wizard Parameters Purpose Contains parameters for internal use only Attributes Type Report Floating Source Program RS 232 CANopen Restrictions None Range Not applicable Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 2141 MAN SIMCR Ver 3 0
116. mum between 20 000 000 and 8e9 TS The reference to the speed controller is limited to the VL 2 VH 2 range The reference to the position controller is limited to the VL 3 VH 3 range Attributes Type Command Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 VH N gt VL N for all entries Default values VH 2 15 000 000 VH 3 999 999 990 VL 2 15 000 000 VL 3 999 999 990 RS Non volatile Range VH 2 Velocity range VL 2 Velocity range 231 lt VH 3 lt 231 1 231 lt VL 3 lt 231 1 Unit modes VH 2 VL 2 UM 2 3 4 5 VH 8 VL 3 UM 3 4 5 Activation Immediate gt amp In position modes UM 4 5 motor movement is enabled in both directions within the defined position reference range If feedback has been extended beyond those limits the motor can be enabled by the user MO 1 but the motion can only be in the direction towards the reference limit range 7 gt S VH 2 is used to determine the maximum and minimum allowed speed for PWM reference generator in 50 and 100 PWM modes See also XM N LLIN HL N RM Reference chapter in the Simpl Q Software Manual Chapter 14 Limits Protections Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 5 150 MAN SIMCR Ver 3 0 VR Firmware Version Purpose Reports the version of the firmware as a string which includes The product name The software version The
117. n PP 15 CAN group ID Table 2 30 CAN Communication Parameters SimplIQ Command Reference Manual Alphabetical Listing gt 2 111 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source RS 232 CANopen Restrictions MO 0 for PP 1 Default values PP 1 1 PP 2 2 PP 13 127 PP 14 1 PP 15 128 All others default to zero RS Non volatile Range As shown in previous tables Index range 1 15 Unit modes All Activation RS 232 parameters activated by setting PP 1 CANopen parameters activated upon restarting network through NMT service refer to Elmo CANopen Implementation Manual gt amp Notes The number of R 232 stop bits is fixed to 1 The group ID number for CAN PP 15 defines the received message object ID The response is transmitted by each node with its own ID PP 13 Setting PP 15 128 allows the user to cancel the CAN group ID Unused PP N parameters are reserved for compatibility with other Elmo drives Reference chapter in the SimplIQ Software Manual Chapter 3 Communication with the Host SimplIQ Command Reference Manual Alphabetical Listing 1412 MAN SIMCR Ver 3 0 PR Relative Position Purpose Specifies that the next software position command will be a PTP point to point motion and defines its target position refer to the PA command PR may be applied in any active motion mode it is activated and applies changes to the PA setting only after the
118. n activates the AUTO_HY routine in the user program When the function is selected digital input connector pin 6 serves as the Home Capture switch for the feedback defined as auxiliary Only IL 6 can be programmed to this function Refer to the HY N command for more information Function 10 Hard and soft stop The function activates the AUTO_ST routine in the user program It stops the motor under control stopping the response to external reference and applying the software ST command simultaneously This function actually activates function 1 and function 7 simultaneously UM Action Torque UM 1 Set the torque command to zero Speed UM 2 Reduce the software speed command to zero using the stop deceleration SD Reduce the controller speed command to zero using the deceleration SD Position UM 3 4 5 Set the software position command to a complete stop using the stop deceleration SD Bring the controller reference command to a complete stop using the deceleration SD Function 11 Abort motion The behavior is similar to the Inhibit function with the exception that the Abort input release will not start the motor automatically After the Abort is activated MO 1 must be set either by communication or by the internal User Program The function activates the AUTO_ER routine if it exists in the user program T amp Notes Make sure that the drive you use has the actual digital input that is programme
119. n input pulse is sensed its length must be IF N 2 TS where TS is the sampling time Example If the speed sampling time is 210 microseconds and IF 1 1 the minimum stable time for an input change to be sensed is 1050 microseconds 210 5 A pulse must be at least 1 millisecond 2 210 microseconds 1 42 millisecond long in order to ensure that it is captured by the digital input Attributes Type Parameter Float Source Program RS 232 CANopen Restrictions None Default values 0 RS Non volatile Range 0 1000 msec Index range 1 10 refer to the first note Unit modes All Activation Immediate 5 amp Notes Elmo drives supports a different number of digital inputs Accordingly the index range may differ between drives Please consult the drive s Installation Guide for information about its digital inputs Ifinput 5 or 6 is used as Home input the corresponding parameter IF 5 or IF 6 does not apply Parameter EF 1 or EF 2 is used instead The IF N commands can also be applied in simulation mode SimplIQ Command Reference Manual Alphabetical Listing 2 66 MAN SIMCR Ver 3 0 IL N Input Logic Purpose Defines the logic level and functional behavior of the digital inputs The drive has several non committed digital inputs Each of these inputs can be programmed to a specific function and logic level In addition the IL N function enables the simulation of a digital input This option
120. n output impedance 0 1 0 Over voltage The voltage of the power supply is too high or the servo drive did not succeed in absorbing the kinetic energy while braking a load A shunt resistor may be required 0 1 1 Reserved 0 0 Reserved 1 0 1 Short circuit The motor or its wiring may be defective or the drive is faulty 1 1 0 Temperature Drive overheating The environment is too hot or lacks heat removal There may be a large thermal resistance between the drive and its mounting 1 1 1 Reserved Table 2 23 Bits 13 15 of MF Report Attributes Type Status report Integer Bit field Scope Program RS 232 CANopen Restrictions None Unit modes All Example The MF report of 0x3000 indicates that the motor has been shut down due to under voltage The under voltage condition did not necessarily exist at the time the MF was reported It may possibly be the result of high power consumption and a high output impedance of the power supply In such a case when the motor was shut down the power consumption stopped and the power supply returned to its normal voltage See also SR MO TS LL N HL N CD PE VE Reference chapter in the SimplIQ Software Manual Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 2 89 MAN SIMCR Ver 3 0 MI Mask Interrupt Purpose Selects which interrupts automatic routines are active A user program may include a main code and some
121. n used within a User Program does not check the integrity of the data before saving it to the flash memory See also SV RS CD SimplIQ Command Reference Manual Alphabetical Listing 2 82 MAN SIMCR Ver 3 0 LL N Low Feedback Limit Purpose Speed limits The parameters LL 2 and HL 2 define the limits of the allowed motor speed If the motor speed exceeds HL 2 or is lower than LL 2 the drive is automatically disabled and the Speed High Limit fault MF 0x20 000 is activated Speed limits are restricted by the TS value according to the following For analog encoder resolver tachometer potentiometer and digital halls SpeedLimit minimum between 80 000 000 and 8e9 TS For quadrature encoder SpeedLimit minimum between 20 000 000 and 8e9 TS Position limits LL 3 and HL 3 define the allowed motor position range for UM 3 4 and 5 If the motor position is smaller than LL 3 or larger than HL 3 the motor is automatically disabled and the Position High Limit fault MF 0x400000 is activated In order to re enable the motor modify the current position PX within the ranges of HL 3 and LL 3 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 and For LL 2 and HL 2 HL 2 gt LL 2 For LL 3 and HL 3 HL 3 gt LL 3 Default values LL 2 1 000 000 HL 2 1 000 000 LL 3 15 000 000 000 HL 3 15 000 000 000 RS Non volatile Range LL 2 Velocity range HL 2 V
122. nalog signal Analog encoder cycles at one revolution x 2 44 counts rev CA 31 is in the range 2 12 Changing CA 31 resets the position counter For linear motors the resolution is per meter Table 2 9 Resolution of the Analog Encoder SimplIQ Command Reference Manual Alphabetical Listing 2 17 MAN SIMCR Ver 3 0 The following parameters are required for Resolver operation CA 32 Time delay between reference output and the sampling of the signals Delay TS 2 CA 32 40 in us This value is used to produce the reference signal to the Resolver CA 33 Resolver filter frequency in Hz must correspond to KV 76 KV 84 setting Range 300 1300 Hz CA 34 Configure resolver bits in the range 10 16 The resolver readout resolution is 216 CA 84 bits resolver cycle For example if CA 34 4 the Resolver reads 4096 bits per cycle If the Resolver has one pole pair this will also be the bit count per mechanical revolution If the Resolver has 2 pole pairs there will be 8092 counts mechanical revolution and so on Table 2 10 Resolver Parameters The following parameters are require for Tachometer operation CA 35 The value of the Tachometer offset in Volts CA 36 The value of the Tachometer gain from the Tachometer s data sheet in Volts kRPM Table 2 11 Tachometer Parameters Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values CA 1 CA 2 CA 3
123. nce chapter in the SimplIQ Software Manual Chapter 13 Sensors I O and Events SimplIQ Command Reference Manual Alphabetical Listing 2 63 MAN SIMCR Ver 3 0 IB N Input Bits Array Purpose Provides read access to digital input bits IB N reports the status of the corresponding input bits according to the definition in IP If IB N is 1 the corresponding Nth bit in IP is logically active Use the IB N command to reference general purpose inputs limit switches and other indications such as Stop Begin or Enable individually IB N may be more convenient than IP for program decisions and branching However it is not appropriate for the synchronized reading of several input bits If a synchronized reading of several digital inputs is desired use the IP command Refer to the IP command for more details about the role of each bit Attributes Type Status report Integer Source Program RS 232 CANopen Restrictions None Index range 0 31 Unit modes All gt amp IB N reports according to the polarity programmed for the relevant digital input by the IL N command See also IP IL N SimplIQ Command Reference Manual Alphabetical Listing 2 64 MAN SIMCR Ver 3 0 ID IQ Read Active Current and Reactive Current Purpose Gets the active and the reactive components of the motor current in amperes A brushless motor carries alternating currents in its phases The alternating currents in t
124. never end Refer to the IL N command The homing and capture procedures can be carried out in any unit mode UM 1 2 3 4 5 and reference mode RM 0 1 In external reference mode RM 1 when HY 4 0 the software portion of the reference is stopped while the external portion is not In such cases the motor continues to move according to the analog reference Homing can be safely carried out in the PTP and jog position motion modes With PT and PVT modes the online reloading of the position counter can lead to an immediate automatic MO 0 due to excessive position error When the Index or Home signal captures PY the PX captured value is taken at the next position controller sampling time 4 TS period It may differ from the PX value at the capture time by up to 4 TS 10 VY counts When the Index or Home signal captures PY the digital output of HY 6 is set only at the next position controller sampling time 4 TS period SimplIQ Command Reference Manual Alphabetical Listing 2 62 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default values 0 Volatile Range HY 1 0 1 HY 2 According to set PY command HY 3 0 24 HY 4 0 2 HY 5 0 2 HY 6 According to OP command HY 7 8 Read only according to PX PY Index range 1 8 Unit modes All Activation Immediate See also HX XM N ILIN OLIN PX PY EF N IF N Refere
125. nteger Source Program RS 232 CANopen Restrictions MO 0 MO 1 and SV cannot be used before XM 2 and XM 1 are activated see Activation below Default values XM 1 10 XM 2 10 RS Non volatile Range 109 109 Unit modes All Activation XM 2 gt XM 1 and XM 2 XM 1 is an even number See also YM N PX SimplIQ Command Reference Manual Alphabetical Listing 5 159 MAN SIMCR Ver 3 0 XP N Extra Parameters Purpose Includes system parameters not commonly changed by the user which enable the drive to be adapted to special situations Index Value Range Meaning 0 Reserved 1 BV 16 BV XP 1 defines over under voltage threshold Over voltage is activated at XP 1 volts Under voltage is activated at XP 1 8 volts 2 0 4 PWM Fast Medium Slow mode 0 Medium switching frequency PWM switch once per sampling time TS 1 Slow switching frequency PWM switches every two sampling time 2 4 Fast switching frequency PWM switches XP 2 times per sampling time 3 Reserved 4 10 32 760 Filter constant of bus voltage measurements 5 0 12 000 Limiter for input filter of current loop 6 0 2 147 483 647 Low pass constant for input filter of current loop 7 0 8000 Maximum counter value for Hall encoder mismatch If value is 0 no Hall encoder mismatch check occurs 8 9 Reserved Table 2 41 XP N Entries and Values gt amp Notes Changing XP 1 or XP 2 req
126. number of signals recorded simultaneously the more signals recorded the fewer points available for each signal See also RG RL RP N RR BH Reference chapter in the SimplIQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing 121 MAN SIMCR Ver 3 0 RG Recorder Gap Purpose Defines the frequency per sampling times that the recorder is activated Because the recorder has a limited storage capacity if it operates at the sampling time of the drive the recorder will operate for a very short time For longer recording times the time interval between consecutive data recordings must be increased The RG parameter trades recording resolution against recording time With RG 1 the sampling time of the recorder is WS 29 Be aware that recorder sampling time depends on the TS value and the specific unit mode UM Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions Recorder inactive RR 0 or RR 1 Default value 1 RS Non volatile Range 1 4096 Unit modes All Activation Next initiation of the recorder RR 5 If the drive has stored a previously recorded data vector setting RG will invalidate this data Invalidated data cannot be retrieved See also RC RL RP N RR BH TS WS 29 UM Reference chapter in the SimplIQ Software Manual Chapter 7 4 The Recorder SimplIQ Command Reference Manual Alphabetical Listing
127. of program or communication All the commands are available to CAN communication in text form through the OS service objects 0x1023 and 0x1024 In addition the numerical set get commands are available to CAN users in short PDO form called the binary interpreter The binary and the OS SCAN interpreters are described fully in the CAN manual CANopen may also be used to manipulate the drive using the object dictionary OD method which is the native CAN method This manual does not cover OD manipulations with CANopen refer to the Object Dictionary section of the CANopen manual for full explanations The SimplIQ drive responds to many privileged commands such as those used by the Composer setup wizard that are not documented in this manual 1 2 Scope This manual includes the complete list of commands used by SimplIQ servo drives It specifies how to use each command along with added remarks and examples The commands are presented in two ways A task related listing Alphabetically In the task related reference the commands are sorted into groups of related commands Each group is presented in a table listing the commands with basic descriptions The alphabetical command listing provides a detailed explanation of each command with examples and references to the SimplIQ Software Manual when necessary This Command Reference Manual does not cover the following topics User program keywords used for writing
128. only negative position command increments external and internal If at the time of switch sensing the speed was positive the position command will decelerate to a complete stop using the deceleration of the SD parameter Function 6 Begin The function behaves like a software BG command activating the AUTO_BG routine in the user program In addition it has the following unit mode dependent actions UM Action Torque UM 1 Nothing Speed UM 2 Set software speed command to JV Position UM 3 4 5 Set software position command to the activated motion mode PA JV PT PV Function 7 Software Stop The function behaves like a software ST command activating the AUTO_ST routine in the user program In addition it has the following unit mode dependent actions UM Action Torque UM 1 Nothing Speed UM 2 Reduce the software speed command to zero using the deceleration SD Position UM 3 4 5 Set software position command to complete stop using the deceleration SD Function 8 Main Home switch This function activates the AUTO_HM routine in the user program When the function is selected digital input connector pin 5 serves as the Home Capture switch for the feedback defined as main Only IL 5 can be programmed to this function Refer to the HM N command for more information SimplIQ Command Reference Manual Alphabetical Listing 2 71 MAN SIMCR Ver 3 0 Function 9 Auxiliary Home switch This functio
129. ous Notes See also RM FRIN Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 46 MAN SIMCR Ver 3 0 EO Echo Mode Purpose Sets or resets the communication echo mode which is used for communication checks EO 1 enables echo mode EO 0 disables it With RS 232 communication the EO command sends an immediate echo character for every terminal character The echo transmission is deferred to the command response string Attributes Type Parameter Integer Source RS 232 Restrictions None Default value 1 Volatile Range 0 1 Unit modes All Activation Immediate SimplIQ Command Reference Manual Alphabetical Listing 2 47 MAN SIMCR Ver 3 0 ER N Maximum Tracking Error The Tracking Error is the difference between the command and its feedback Purpose ER 2 defines the maximum allowed velocity error abs DV 2 VX in counts second If the error exceeds this value the motor is automatically disabled and the Error Limit fault is activated ER 3 defines the maximum allowed position error in counts for UM 5 abs DV 3 PX for UM 4 abs DV 3 PY If the error exceeds this value the motor is automatically disabled and the Error Limit fault is activated Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions ER 2 None ER 3 Refer to note below Defaul
130. performance WI 8 First amplitude for the auto phasing process WI 9 Second amplitude for the auto phasing process WI 10 First oscillation phase for the auto phasing process WI 11 Second oscillation phase for the auto phasing process WI 12 Oscillation phase average for the auto phasing process WI 13 Integer that shows entire estimated sampling time in microseconds WI 14 Integer unsigned short that shows a fraction of estimated sampling time in microseconds The value of the estimated sampling time is calculated according to the following formula WI 13 WI 14 2 16 WI 21 Actual length of each recorded vector WI 22 Maximum valid value of SF for current TS value WI 23 Returns 1 if the Harmonica is running from the RAM and 0 if it is running from the flash Table 2 37 WI N Report Details Attributes Type Command Status report Integer Source Program RS 232 CANopen Restrictions None Unit modes All See also WS N Reference chapters in the SimplIQ Software Manual Chapter 8 The Recorder Chapter 9 Commutation SimplIQ Command Reference Manual Alphabetical Listing 5 153 MAN SIMCR Ver 3 0 WS N Miscellaneous Reports Purpose Provides certain conversion constants and internal states of the drive WS N gives service personnel a fairly comprehensive report but these details are not normally required for defining an application The following summarizes WS N reports Indices
131. phabetical Listing 2 27 MAN SIMCR Ver 3 0 DL Download Program Purpose Downloads data to the serial flash memory of the drive The DL command is used primarily to download compiled user programs to the drive The format of a DL command is DL hex binary data esc checksum gt amp Notes The DL command is normally activated and used by the Composer software The command should not be used manually The start memory address for downloading is defined by the LP 1 command Each data payload is terminated by the 16 bit checksum for the send message The DL command automatically clears the Program Ready internal flag The DL command takes time to execute because it needs to burn and verify Attributes Type Command String Source RS 232 Restrictions MO 0 Program not running Unit modes All Activation Immediate See also LS CC LP N Reference chapter in the SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 2 28 MAN SIMCR Ver 3 0 DV N Reference Desired Value Purpose Reports the reference commands to the position speed and current controllers of the drive DV N reports the final value of the controller references as synthesized by all their sources software reference generators external reference inputs and external control loops For UM 1 DV 1 reports the torque command DV 2 and DV 3 report zero
132. point and defines the target position for the next PTP motion The position reference to the drive is composed of an internal software command and an external command calculated from the analog inputs and the auxiliary feedback input In PTP motion the drive calculates the software position reference so that a desired target position will be reached as fast as possible subject to the speed SP and the acceleration limits AC DC SD with possible smoothing SF A PTP command can be given any time at any speed regardless of the present executing motion The drive calculates the acceleration speed and minimum time path to the target position starting from the present position and speed A PTP motion like any other software motion is initiated by a BG command For example a PA 1000 command specifies that the next BG command will activate a PTP motion overriding any previous motion specification and that the target position will be 1000 The new PA value causes PR to become 0 In order to make sequential PTP movements of the same size use the PR command Subsequent PR settings may cause the PA value to be changed amp Notes The PA value must be within the modulo range XM 1 XM 2 1 for UM 3 5 or YM 1 YM 2 1 for UM4 and restricted by the VL 3 and VH 3 settings Modulo calculation is always active therefore PTP motions are planned using the shorter way For example if XM 1 500 XM 2 500 UM 5 th
133. pt to access serial flash while busy Contact Technical Support Failure on reading serial flash memory possible due to hardware problem 166 Out of modulo range XM 1 1000 XM 2 1000 and PA 2000 is an error because the modulo range is 1000 999 Therefore the position of PA 2000 can never be reached 167 Infinite loop in for loop zero step k 1 0 10 causes this error 168 Speed too large to start motor Starting a running motor may MO 1 or motor started with Enable switch while motor was rotating too quickly Table 2 12 Processing Error Codes fail if the back EMF is too high and induces an immediate excessive motor current SimplIQ Command Reference Manual Alphabetical Listing 2 41 MAN SIMCR Ver 3 0 Attributes Type Status report Integer Source RS 232 CANopen Restrictions None Unit modes All See also MF SR SimplIQ Command Reference Manual Alphabetical Listing 2 42 MAN SIMCR Ver 3 0 EF N Encoder Filter Frequency Purpose Filters encoder signal in order to improve its noise immunity Because the logic of the quadrature decoder must sense transitions the inputs are first run through a glitch filter This filter has a digital delay line that samples four time points on the signal and verifies that a majority of the samples are at a new state before outputting the new state to the internal logic The sample rate of this delay line is programmable to adapt to a variety of signal bandwidths
134. pter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator See also UM RM JV PX BG IP IB N HM N HY N SimplIQ Command Reference Manual Alphabetical Listing 2 73 MAN SIMCR Ver 3 0 IP Input Port Purpose Reports an active or non active state of a digital input A digital input is considered to be active when the associated function is logically active The functionality and logic levels are defined in the IL N command IP logic is always positive When the digital input is active the relevant IP bit is set The report is a bit field defined in the following table Associated Function Bit Description in ILIN Command 0 General purpose input 1 is active 3 1 General purpose input 2 is active 3 2 General purpose input 3 is active 3 3 General purpose input 4 is active 3 4 General purpose input 5 is active 3 5 General purpose input 6 is active 3 6 Main home switch 8 7 Auxiliary home switch 9 8 Soft stop 7 10 9 Hard stop 1 10 10 Forward Limit FLS 9 11 Reverse Limit RLS 4 12 INH Enable switch 0 13 Hardware BG 6 14 Abort function 11 15 Not used always 0 16 Digital input 1 logical pin state 17 Digital input 2 logical pin state 18 Digital input 3 logical pin state 19 Digital input 4 logical pin state 20 Digital input 5 logical pin state 21 Digital input 6 logical pin state 22 Digital input 7 logical pin state 23 Digital input 8 logical pin state 24 Digital
135. r SimplIQ Command Reference Manual Alphabetical Listing 5 455 MAN SIMCR Ver 3 0 Attributes Type Report Floating Source RS 232 CANopen Restriction None Range Not applicable Unit modes All Reference chapters in the Simp IQ Software Manual Chapter 8 The Recorder Chapter 9 Commutation Chapter 10 The Current Controller SimplIQ Command Reference Manual Alphabetical Listing 5 156 MAN SIMCR Ver 3 0 XA N Extra Parameters more Purpose Extra filters parameters This command is used internally to allow more filtering capabilities in the current loop Index Value Range Meaning 0 Not used 1 1 32767 Proportional value to the relative closed loop overshoot due to step input command 2 1 32767 Proportional value to the relative closed loop overshoot due to ramp input command 0 100 Approximately the level of relative overshoot over MC 4 Reserved Table 2 40 XA N Entries and Values amp Notes Do not modify the XA values These values are automatically programmed into the drive during current loop tuning Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values 0 Range Previous table Unit modes All Activation Immediate Reference chapter in the SimplIQ Software Manual SimplIQ Command Reference Manual Alphabetical Listing 5 157 MAN SIMCR Ver 3 0 XC XQ Execute or Continue Program Purpose Execu
136. r the next head pointer when using CAN for fast ECAM table loading EM 7 Last segment shortening Used to generate an ECAM table with an input range that is not an integer multiple of EM 4 EM 8 Read only report of position in the ECAM table When ECAM motion is not active EM 8 reports 0 Table 2 13 ECAM Parameters gt amp Notes When EM 1 1 or EM 1 2 the active ECAM table entries ET EM 5 ET EM 2 cannot be changed Other members of the ET N array may be changed Parameter EM 6 takes effect immediately Parameters EM 2 EM 3 EM 4 EM 5 and EM 7 are activated only when EM 1 is set In this manner the next work segment can be programmed while the present work segment is executing Setting EM 1 to 1 or 2 will fail if EM 2 is less or equal to EM 5 or if EM 4 is less or equal to EM 7 Changing the last segment with EM 7 may cause a reference jump SimplIQ Command Reference Manual Alphabetical Listing 2 45 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions Advanced model only Default values EM 1 0 EM 2 2 EM 3 0 EM 4 1000 EM 5 1 EM 6 1 EM 7 0 EM 8 0 RS Non volatile Range EM 1 0 2 EM 2 2 1024 EM 3 Position counter range EM 4 1 32 000 EM 5 1 1023 EM 6 1 1024 EM 7 1 32 000 Index range Write 1 7 Read 1 8 Unit modes UM 3 4 5 Activation See previ
137. range 1 2 Unit modes All Activation Immediate See also OLIN OP Reference chapter in the SimplIQ Software Manual Chapter 14 Limits Protections Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 2 11 MAN SIMCR Ver 3 0 BT Begin Motion at Defined Time Purpose Starts motion at the defined time This command is designed to start the simultaneous motion of several axes It is similar to the BG command with the following difference BG starts motion immediately whereas BT begins at the defined time Syntax BI N where N is the absolute time in microseconds Attributes Type Command Integer Source Program RS 232 CANopen Restrictions MO 1 Unit modes UM 2 3 4 5 See also BG TM SimplIQ Command Reference Manual Alphabetical Listing 2 12 MAN SIMCR Ver 3 0 BV Maximum Motor DC Voltage Purpose Reports the scale factor for the drive bus voltage in volts This command indicates the type of power amplifier hardware Attributes Type Status report Integer Scope Program RS 232 CANopen Restrictions None Unit modes All Activation Immediate See also XP N SimplIQ Command Reference Manual Alphabetical Listing 2 13 MAN SIMCR Ver 3 0 CA N Commutation Array Purpose Defines motor and commutation parameters The CA N array includes the parameters of the initial motor setup The CA parameters need to be clearly defined in order to ensure that the
138. ray 130 Variable name does not exist For SimplIQ internal use 131 Cannot record local variables For SimplIQ drive internal use 132 Variable is not an array For SimplIQ drive internal use 133 Mismatched number of user system e rnd 4 6 7 7 This expression function input arguments is wrong since system An attempt was made to call user system fineag met ie ony function with the number of input one NpULarSument arguments not as defined e Calling user function by XQ command with number of input arguments not as defined in user program 134 Cannot run local label with XQ command XQ START when START is defined in the user program inside a user function it is consider to be a local label and therefore it is illegal to use it with the XQ command 137 Program already compiled Use the CP command before An attempt was made to download a user downloading a new user program before previous one was erased program 139 The number of breakpoints exceeds the maximum number SimplIQ Command Reference Manual Alphabetical Listing 2 38 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 140 An attempt to set clear breakpoint at the For every line of the text non relevant line program there is a Internal IDE error corresponding lien of compiled code This error appears during an attempt to set a breakpoint at a non corresponding line of compiled code 141 Boot identity parameters section is
139. rt motion Shut servo drive freewheel IL N 23 High Abort motion Shut servo drive freewheel Table 2 18 Possible Values for IL N SimplIQ Command Reference Manual Alphabetical Listing 2 69 MAN SIMCR Ver 3 0 Function 0 Inhibit freewheel Servo is off MO 0 The motor is not under control No current is applied through the motor phases If the motor was previously running it will continue to coast on its own inertia The motor fault code see the MF command is 0x10 If the unit mode is UM 1 torque control or UM 2 velocity control and an external command is active RM 1 a motor restart will be attempted when the switch is not active This attempt is made within a few no less than 10 milliseconds In addition when restarting the motor the AUTO_ENA automatic routine can be activated Function 1 Hard stop immediately under control The function behavior depends on the unit mode UM Action Torque UM 1 Set torque command to zero Speed UM 2 Set speed command to zero immediately at the deceleration of the SD parameter Position UM 3 4 5 Slow down to complete stop using the deceleration of the SD parameter Function 2 Input is ignored This serves no function in the system and always reads zero in the IP IB N indications Function 3 General purpose GPI No special function Serves as an uncommitted input The input may be used in the user program and homing sequences as simple digital input In a
140. s left to store new characters 99 The auxiliary feedback entry does not configure as output during the activation of Output Compare 100 The requested PWM value is not supported The PWM frequency that was requested cannot be used with the drive 105 Speed loop KP out of range Value of KP 2 or one of KG 64 KG 126 is out of numeric range 106 Position loop KP out of range Value of KP 3 or one of KG 127 KG 189 is out of numeric range SimplIQ Command Reference Manual Alphabetical Listing 2 36 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 111 KV N vector is invalid Refer to the Advanced Filter Invalid values in KV N parameters chapter in the SimplIQ Software Manual If the vector was configured by the Composer auto tuning wizard email Technical Support for assistance 112 KV N defines scheduled block but See the syntax of KV N scheduling is off parameters in the Advanced Invalid values in KV N parameters Filter chapter of the SimplIQ Software Manual If the vector was configured by the Composer auto tuning wizard email Technical Support for assistance 113 Exp task queue is full Internal error during auto tuning process 114 Exp task queue is empty Internal error during auto tuning process 115 Exp output queue is full Internal error during auto tuning process 116 Exp output queue is empty Internal error during auto tuning process 117 Bad KV settin
141. s not check input ranges Assigning out of range values to ZX N can result in unpredictable results Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None Default value 0 Range 32 768 32 767 Index range 0 1023 Unit modes All Activation Immediate SimplIQ Command Reference Manual l 1 a E E Index A Abort 2 89 Abort switch 2 129 Absolute position 2 33 2 104 AC 2 4 Acceleration 2 4 Activate recorder 2 126 Activation 2 2 Active current 2 64 AG 2 5 AN 2 6 Analog Gains 2 5 Gains array 2 5 Input offsets array 2 7 Inputs array 2 6 AOK 2 96 2 101 2 102 Array Analog gains 2 5 Analog input offsets 2 7 Analog inputs 2 6 Commutation 2 13 GS N 2 51 Input bits 2 63 MP N 2 93 Output bits 2 96 QP 2 93 2 115 QT 2 93 2 115 QV 2 93 2 115 AS 2 7 Attributes 2 1 Auxiliary Encoder 2 42 2 123 2 161 Feedback Position 2 105 2 118 Velocity 2 151 Home Sequence 2 68 Switch 2 67 2 71 2 73 Homing and capture 2 60 Modulo 2 163 Position sensor 2 98 B Begin motion 2 8 2 11 BG 2 8 Software speed mode 2 8 Stepper or position mode 2 8 BH 2 9 Bit field 2 1 BP 2 10 Brake 2 96 2 101 2 102 Brake parameter 2 10 BT 2 11 Burn User program 2 27 BV 2 12 C CA 2 13 CAN Communication 2 110 Controller status 2 25 CANopen Communication 1 2 Parameters 2 110 Capture
142. s used to enable other drives to follow without electrically overloading the main position sensor YA 4 can also specify that the encoder pins serve as input following the pulses of the external position incremental sensor or PWM source signals This mode is used to enable the drive to follow any source of encoder or PWM signals Index Description 1 Emulation scale factor 2N N 0 4 The amount of emulated encoder pulses and velocity value will be divided by 2N Reserved Reserved Auxiliary encoder type 0 Auxiliary encoder entry used as input for external pulse and direction signals 1 Not used 2 Auxiliary encoder entry used as input for external quadrature incremental encoder signals 3 Reserved 4 No auxiliary encoder inputs the auxiliary encoder pin output repeats the main encoder input or produces an emulated encoder signal for drives with analog encoder or resolver feedback options 5 50 duty cycle command format 0 and 100 duty cycle is interpreted as either maximum positive or negative PWM command depending upon the YA 5 setting 6 100 duty cycle command format Depending upon command polarity signal level 100 duty cycle is interpreted as either maximum negative or positive PWM command 5 Auxiliary count direction 0 Count forward for encoders or P amp D inputs For PWM inputs forward direction increasing the duty cycle causes an increase of the controller output command 1 Count in reverse direc
143. se 2 Brake Responds according to definition in BP N 3 Motor enable disable indication 4 Reserved 5 15 Reserved Table 2 26 OL N Functions Terms Logic level low When the function is active the opto coupler is conducting Logic level high When the function is active the opto coupler is open circuit AOK Indicates that the drive is ready The AOK signals that the physical conditions needed to run the motor are available If AOK is flagged the motor DC voltage is within range the drive temperature is good and no over current or short circuit has been captured during the previous 10 milliseconds When programming this option OB N and OP have no influence on the relevant output Brake The output is mapped to brake functionality as defined in BP N When programming this option OB N and OP have no influence on the relevant output The brake function works only in positive logic Motor Enable disable The output is mapped to this function as defined in the MO command When programming this option OB N and OP have no influence on the relevant output The possible values of OL N are outlined in the following table SimplIQ Command Reference Manual Alphabetical Listing 5 192 MAN SIMCR Ver 3 0 Command Value Active Level When Active OL N 0 Low Output serves as general purpose OL N 1 High Output serves as general purpose OL N 2 Low AOK drive ready for use OL N 3 High AOK dri
144. sets an output bit The OB N command only sets a digital output that is defined by OL N as a general purpose output OB N for N 1 6 returns the value of digital output N if digital output N is defined as general purpose output Otherwise it returns 0 OB 10 15 are reserved If at least one of the digital outputs is mapped to the Amplifier OK function OB 7 returns 1 if the drive is ready MO 1 or MO 0 and no exception such as under voltage prevents MO 1 or 0 if the drive is not ready If none of the digital outputs is mapped to the Amplifier OK function OB 7 returns 0 If at least one of the digital outputs is mapped to the Brake function OB 8 returns 1 if the brake is engaged or 0 if the brake is released If none of the digital outputs is mapped to the Brake function OB 8 returns 0 If at least one of the digital outputs is mapped to the Motor enable disable function OB 9 returns 1 if the MO 1 or 0 if the MO 0 If none of the digital outputs is mapped to the Motor enable disable function OB 9 returns 0 For unused bits N 10 15 OB N returns 0 amp Notes Each of Elmo s SimplIQ drives supports a different number of digital outputs The number of digital outputs is specified in the drive s Installation Guide The value of OB N varies according to the logic state of the output even if the output does not exists The OB N syntax may be more convenient than OP for setting indivi
145. software release date This command is intended for use only by RS 232 communication or CAN OS Attributes Type Status report String Source RS 232 Restrictions None Unit modes All Examples VR Harmonica 1 01 02 03 1Jan2002 where The product name is Harmonica The software version is 1 01 02 03 The software release date is 1 January 2002 SimplIQ Command Reference Manual Alphabetical Listing 5 454 MAN SIMCR Ver 3 0 VX VY Velocity of Main and Auxiliary Feedback Purpose The VX status report returns the speed of the main feedback in counts second The VY status report returns the speed of the auxiliary feedback in counts second The VX and VY signals are calculated using the time difference measured between consecutive feedback pulses Attributes Type Status report Integer Source Program RS 232 CANopen Restrictions None Unit modes All SimplIQ Command Reference Manual Alphabetical Listing 5 152 MAN SIMCR Ver 3 0 WI N Miscellaneous Reports Integer Purpose Reports integer constants and variables of the system usually used by the Composer program rather than directly by the users Index Description wI 1 Minimum sampling time for torque control mode WI 2 Reserved WI 3 Reserved WI 4 Maximum sampling time for torque control mode WI 5 Reserved WI 6 Reserved WI 7 Available CPU time for background tasks remaining after real time control algorithm
146. sor configuration error 2 NEVER LET the frequency of Output Compare pulses become greater than 20 kHz while working on EMULATED FEEDBACK The feedback is emulated with all feedbacks modes excluding quadrature encoder or digital halls Output Compare on Emulated Encoders works on interrupts and uses software resources so there is limited Output Compare signal frequency If it becomes too high there will be a problem with amplifier operation without any indication of error or fault Nonetheless Output Compare on quadrature Incremental Encoder Feedback not emulation is a hardware based feature and has no such limitation 3 Be aware that long duration pulses cause a number of pulses to connect and produce one overlapping pulse The drive gives no warning on such occasions 4 When going in the direction opposite the specified direction with the same OC 3 value the compare will occur every 65 535 OC 3 counts 5 When Output Compare is active Digital Input 1 is used to produce the train of pulses In such a case any configuration of this output set by OL 1 OB 1 or OP is ignored 6 In Output Compare at Absolute Position mode OC 1 1 the first produced pulse is longer OC 4 50nsec than other pulses 7 When working in Absolute Position mode OC 1 1 the absolute position which specified by OC 2 must be at least 10uSec away from the point in which the feature was activated 8 The Main or Auxiliary Home capture do
147. switch 17 18 Event according to defined DIN5 switch 19 20 Event according to defined DIN6 switch 21 22 Event according to defined DIN7 switch 23 24 Event according to defined DIN8 switch 25 26 Event according to defined DIN9 switch 27 28 Event according to defined DIN10 switch 1 Index input level changes from low to high 2 Index input level changes from high to low SimplIQ Command Reference Manual Alphabetical Listing 2 55 MAN SIMCR Ver 3 0 HM N Index Value Description 4 0 In UM 2 3 4 5 Stop immediately using SD deceleration After event value In torque mode UM 1 do nothing behavior Defined as the time in which HM 1 2 Do nothing decreases to 0 Set digital output equivalent to OP HM 6 5 0 Absolute setting of position counter PX HM 2 What to set for PX 1 Relative setting of position counter during event PX PX at event HM 2 2 Do nothing 6 Digital output value if HM 4 1 Output value Only outputs defined as general output are affected 7 The captured value of PX read only The position value is PX captured captured before PX is changed according to HM 5 value 8 The captured value of PY read only The position value is PY captured captured at the next controller sampling time and value therefore may be inaccurate to 4 VX TS 10 6 counts Table 2 15 HM N Command Values amp Notes Elmo drives have a different number of digital inputs The value of HM 3 may dif
148. t values ER 2 400 000 ER 3 400 000 RS Non volatile Range 0 20 000 000 Index range 2 3 Unit modes UM 2 for ER 2 UM 4 5 for ER 3 Activation Immediate Y amp The ER 3 value is restricted to modulo settings The values ranges are For UM 5 0 XM 2 XM 1 4 1 For UM 4 0 YM 2 YM 1 4 1 In case of failure an error is set during the next motor enabling MO 1 Typical applications Decrease ER N as much as possible in order to use it as a protection mechanism in case of control failure as when the feedback signal is lost See also MF MO SR Reference chapter in the SimplIQ Software Manual Chapter 14 Limits Protections Faults and Diagnosis SimplIQ Command Reference Manual Alphabetical Listing 2 48 MAN SIMCR Ver 3 0 ET N Entries for ECAM Table Purpose In the ECAM process the position reference is set to a tabulated function called the ECAM function of the external inputs The ET N vector stores the tabulated values of the ECAM function Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions None see Notes below Default values 0 RS Non volatile Range 230 1 230 1 Index range 1 1024 Unit modes UM 3 4 5 Activation Immediate gt amp Notes When the motor is enabled MO 1 and the ECAM table is running EM 1 1 you may manipulate entries that are not in an active part of the table This provides an on the fl
149. te specification of how the recorder is triggered and how the recorded data is transferred to the host Trigger definitions The recorder is started by a trigger event which may be one of the following Immediate The recorder starts immediately after the recording request has been issued Triggered by an analog signal The recorder starts upon one of the following events Positive slope The signal crosses a prescribed level with a positive slope Negative slope The signal crosses a prescribed level with a negative slope Window The signal exits a window of two prescribed signal levels Digital inputs Digital inputs are switched to their active logic state as defined by the IL N command Motion begins A BG command or the activation of a hardware BG command refer to the IL N command Trigger delay The trigger defines when the recorder is to start The recorder can be programmed to start before the trigger event so that the trigger event can be caught in the middle of the action This is possible because the recorder starts to record at the instant it is launched by the RR command so that when the trigger event occurs the pre trigger information is already recorded The trigger parameters are listed in the following table RP N Range Definition RP 0 0 1 0 Time quantum is 4 TS 1 Time quantum is TS RP 1 Trigger 1 65 536 Defined similarly to RC but only 1 bit may be variable non zero T
150. tes the user program from a specified label or runs a specified function XQ MYFUNCTION a b c runs the function MYFUNCTION a b c XQ LABEL runs from LABEL XQ runs from the start of the user program code The XQ command without a parameter is illegal XQ does not return a value The XQ command clears the error status of the program along with run time error flags It does not reset program variables and does not clear the interrupt mask XC continues a halted program refer to the HP command Attributes Type Command String Source RS 232 CANopen Restrictions Program loaded compiled and not running XC requires a running program to be halted Unit modes All Activation Immediate Reference chapters in the SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 5 158 MAN SIMCR Ver 3 0 XM N X Modulo Purpose Specifies the counting range for the main feedback which is XM 1 XM 2 1 The position of the main feedback is always counted cyclically This means that after the position is counted to its maximum value the next position count will reset the position counter back to its minimum value The speed reading is not affected by the position jump For example If XM 1 5 and XM 2 5 the main position is counted in a cycle length of 10 The main position will always be in the range 5 4 If the main feedback rotat
151. the Composer date and version in the Help menu and the program you tried to compile SimplIQ Command Reference Manual Alphabetical Listing 2 40 MAN SIMCR Ver 3 0 Error Code Error String Description Example Remedy 156 Bad opcode Internal compiler error caused by Compiled code contains mismatched corrupted compiled code In this addressing mode case email Technical Support for assistance Attach Composer date and version in Help menu and program you tried to compile 157 No available program stack For future use An attempt was made to run too many user programs simultaneously 158 Out of flash memory range Try to use IDE tools for down Failure in download and upload process loading or uploading For more an attempt to access flash memory because details about the internal and its size serial flash memory mapping 159 Flash verify error Possible hardware problem Failure in download and upload process Contact Technical Support checksum does not match 160 Program aborted by another threat For future use Failure while running one virtual machine aborts all other virtual machines 161 Program is not halted Activation of XC command while Execution of a command that requires user the virtual machine is not in program to be halted halted state 162 Badly formatted number Floating point number exceeds the valid range supported by the SimplIQ 164 EC command not an error For internal use 165 An attem
152. the latter command permitted limits specifies that point to point motions should reach the speed of 2000 counts sec whereas the first command limits the maxi mum speed command to 1000 30 No program to continue An XC command has been issued but there is no halted program to continue 32 Communication overrun parity noise or Ensure that communication lines framing error are well connected with adequate ground and that the baud rate and other communication parameters are set consistently for master and slave Also reports loss of characters in buffer when hardware storage is exceeded 36 Bad commutation table This error normally occurs while The data points in the back EMF table attempting MO 1 At MO 0 the HV N do not form a valid back EMF HV N table can be updated so function its consistency is not required 37 Two or more Hall sensors are defined for One of the following the same location CA 4 CA 5 CA 4 CA 6 or CA 5 CA 6 39 Motion start specified for the past The time requested for synchronized motion has elapsed 41 Command not supported by this product YA 4 3 attempts to set a type of An attempt has been made to assign an auxiliary encoder as analog It illegal value to the command causes this error because SimplIQ drives do not work with analog encoders 42 No such label XQ FOO will return this error The program does not contain a label with the specified name if neither the label FOO nor
153. time of the drive in microseconds TS is the sampling time of the current loop The sampling time of the velocity controller is two times TS and the sampling time of the position controllers UM 4 5 is four times TS For example if TS 80 the torque commutation controller runs once every 80 microseconds the speed controller executes every 160 microseconds and the position controller executes every 320 microseconds The selection of TS is a compromise between high servo performance and the scan loop background operations such as user program and interpreter responses A low TS enables the drive to achieve more control bandwidth but at the same time it increases the computational burden on the CPU so that less computing power remains for executing interpreter and user program commands The drive does not allow an excessively low value for TS to prevent an overflow of the required CPU computing power For all unit modes WS 28 gives the actual sampling time of the speed controller and WS 55 gives the actual sampling time of the position controller amp Notes When TS is modified the current loop gains must be retuned in order to prevent instability of the current loop which may damage the drive and or the motor Too short a TS value will cause a CPU stack overflow If a stack overflow occurs change TS in order to start the motor and reset the CPU stack overflow errors Setting a new value for TS removes all stack overflo
154. tion for encoders or P amp D inputs For PWM inputs reverse direction increasing duty cycle causes a decrease of the controller output command YA 5 has no effect if YA 4 specifies that the auxiliary encoder pins repeat outputs YA 4 4 SimplIQ Command Reference Manual Alphabetical Listing 5 162 MAN SIMCR Ver 3 0 amp Notes Changing YA 4 resets the position sensor thus resetting the homing position Changing YA 5 does not change PY It only defines in which direction future encoder pulses will be counted Changing the auxiliary sensor configuration while Output Compare is active may cause unpredictable drive behavior No warning or error is given For some Output Compare signal sources the auxiliary sensor must be configured as output Setting auxiliary sensor as input is illegal Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values YA 1 YA 3 0 RS Non volatile YA 4 2 YA 5 0 RS Non volatile Range As in previous table Index range 1 5 Unit modes All Activation Immediate See also OC SimplIQ Command Reference Manual Alphabetical Listing 5 163 MAN SIMCR Ver 3 0 YM N Y Modulo Purpose Specifies the counting range for the auxiliary feedback which is YM 1 YM 2 1 The position of the auxiliary feedback is always counted cyclically This means that after the position is counted to its maximum value the next position count
155. tions None Range 0 0x80FFFFFF Unit modes All 5 amp The contents of a memory location may differ according to SimplIQ version refer to WI 23 See also CD WI Reference chapter in the SimplIQ Software Manual Chapter 6 Program Development and Execution SimplIQ Command Reference Manual Alphabetical Listing 5 197 MAN SIMCR Ver 3 0 PL N Peak Duration and Limit Purpose PL 1 defines the motor maximum peak current in amperes PL 2 defines the motor maximum peak duration in seconds This parameter is used to protect the motor or the drive from over current and to protect the load from excessive torque The motor current torque command is normally limited to its peak limit as defined by PL 1 After a short period of torque demand higher than C 1 the torque command limit is decreased to CL 1 If the current command has been raised to PL 1 from zero after the time specified for peak duration PL 2 in seconds the motor current command will be limited to CL 1 The motor current command remains limited to CL 1 until enough time has passed for the average requested torque command to fall below 90 of CL 1 The LC flag indicates that the current is limited to its continuous limit Torque limits PL N and CL N may be changed dynamically while the motor is on Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values PL 1 0 PL 2 3 RS Non
156. to enable their use as general purpose storage when PVT PT is not used However for PVT PT the QP N and QV N values should be confined to the position and velocity ranges See also PT PV MP N Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 120 MAN SIMCR Ver 3 0 RC Define Recorded Variables Purpose Defines which signals are to be recorded The drive can record a range of signals for performance verification and debugging The first step of the recording process is the definition of the recorded variable by assigning a value to RC a bit field Each on bit in the binary representation of RC defines a signal to be recorded The host can map many optional variables to any bit of RC from bit 0 to bit 15 A valid RC defines at least one recorded variable Up to eight variables can be selected Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions Recorder inactive RR 0 or RR 1 Default value 0 RS Non volatile Range See previous description Unit modes All Activation Next initiation of recorder RR gt amp Notes If the drive has stored a previously recorded data setting RC will invalidate this data Invalidated data cannot be retrieved The total number of data points that may be recorded is fixed Therefore the number of points per signal depends on the
157. tor drive to freewheeling which may be a safety problem with high inertia or fast moving loads Ifthe maximum allowed acceleration value GS 9 is not correctly set generating a large position error can destabilize the position controller The SD parameter must be defined as the largest deceleration in which the motor can accelerate decelerate to the load The SD acceleration is applied in the following cases AnST command or hardware stop command refer to the IL N command Data underflow ina PT or PVT motion Detection of a limit switch or an abort switch Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default value 1 000 000 000 RS Non volatile Range Stop deceleration range Unit modes UM 2 3 4 5 Activation MO 1 See also AC LS Reference chapter in the SimplIQ Software Manual Chapter 11 Unit Modes SimplIQ Command Reference Manual Alphabetical Listing 5 130 MAN SIMCR Ver 3 0 SF Smooth Factor Purpose Defines the motion smoothing factor for PTP and jogging motions Smoothing means that the motion speed profile has no sharp corners The price for smoothing is that the total time required for completing the motion increases For SF gt 0 the acceleration to the required speed is not set immediately to its final value but takes SF milliseconds to build The total time required to complete the motion is increased by SF milliseconds The maximum
158. tysungsentuet ins tahaicesubncieaemenas 2 54 HP Halt Program Executionissa san tenees E A 2 57 HV N Commutation Tables ccccccccccccscccessceesseceesceceseeecssececsseceeceeceseesessesseseeceeeeeenaes 2 58 HX Hexadecimal Modemer ich Sind sated cesta feos stndedasbnny onien ene eelis 2 59 HY N Auxiliary Homing Capture and Flag si t ccssas sesicwsiucssealanchvadecokotursncstellensavcuibevestede 2 60 IBIN Inp t Bits Aira yinneteanuco niian i e o EE AEEA AE ai 2 63 ID IQ Read Active Current and Reactive Current ccccccccccssccceesssceceessseeceessseeeeesseeeens 2 64 LIN ec Digita Tnput FIUter stat ai an a ndaed lap lareaant eal nib de aos 2 65 TESTS gt Lica tlt 1s 1 ces sds saecitacineazpabyacotas ay ivan afialtavetaven estou vacohas alco aga stawatesarwateanienssavoienessdjvucee tay 2 66 TPM put Portes ctetscvevcishoineedssnteteevansaeeds E A a E E A sengeednsaetpseds 2 73 JV J gging Velocity rei enc enina eio e Aea EETA EAE EET 2 75 KG N Gain Scheduled Controller Parameters ccccccccccccssscesssecesececsseceeseeceeseecseeeensees 2 76 KI N KPIN PI Parameters iaoea e o eeii n enara inat 2 77 IRE Kill Motion atd PrograMiisere iesiri seoanei ivan aiaiovederaaueagasiecends sium ioeienedalys 2 78 SimplIQ Command Reference Manual Contents ii MAN SIMCR Ver 3 0 KV N High order Controller Filter Parameters 00 0 0 ccececeecseeecsseseseeeaeeeceeeeecseeseeaees 2 79 EC Current Limit Flao einer na a cue nean Ducane
159. ues 0 RS Non volatile Range 10 0 10 0 5 mV resolution Unit modes All Activation Immediate Y amp Note To null the input offsets of the drive short the analog inputs to ground Then set AS 1 AN 1 and AS 2 AN 2 for analog input 1 and 2 respectively Each of Elmo s SimplIQ drives support a different number of analog inputs For specific details consult the drive s Installation Guide See also AG N AN N SimplIQ Command Reference Manual Alphabetical Listing 2 8 MAN SIMCR Ver 3 0 BG Begin Motion Purpose Immediately starts the next programmed motion In software speed mode UM 2 BG activates the latest JV and also the new smooth factor SF acceleration AC and deceleration DC In stepper or position mode UM 3 4 or 5 BG starts the latest position mode programmed a point to point motion PA a jogging motion JV or any type of tabulated motion PVT or PT Each motion mode starts with its entire set of parameters For example starting a point to point motion activates the present of acceleration AC deceleration DC smooth factor SF and speed SP The BG command may be used to modify the parameters of the present mode and not only to program new modes For example a BG command in point to point mode modifies the active AC parameters and all other active motion parameters with its last programmed value A hardware BG can be accepted via one of the digit
160. uires a retuning of the current controller parameters For the Cello and Trumpet under voltage is activated at 0 18 BV When XP 2 is higher than 1 excessive PWM switching frequency occurs In this case the drive s maximum allowed current saturation PL 1 is reduced The amount of reduction depend upon the XP 2 value the maximum bus voltage threshold setting XP 1 the type of drive and the maximum allowed current MC To find out what the actual maximum stall current threshold is use WS 33 Use WS 34 to find out what the actual peak current saturation is SimplIQ Command Reference Manual Alphabetical Listing 5 160 MAN SIMCR Ver 3 0 Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions MO 0 Default values XP 1 BV XP 2 0 XP 4 30720 XP 5 1000 XP 6 12000 XP 7 0 Range Previous table Unit modes All Activation Immediate Reference chapter in the SimplIQ Software Manual Chapter 10 The Current Controller See also BV SimplIQ Command Reference Manual Alphabetical Listing 5 164 MAN SIMCR Ver 3 0 YA N Auxiliary Position Sensor Parameters Purpose Defines the behavior and direction of the auxiliary position sensor signals YA 4 can specify that the auxiliary encoder pins will be outputs repeating the pulses of the main position incremental or analog sensors When a main position feedback is by analog sensor encoder emulation signals are produced This mode i
161. umber of valid motion points remaining when an emergency object is sent to the host If MP 5 0 no emergency object is sent MP 6 Reports the next entry index write pointer for the following point in the PVT PT table This report is required for running PVT and PT motions using CANopen and special high speed motion referencing methods that are available only for CANopen Table 2 25 MP N Parameters SimplIQ Command Reference Manual Alphabetical Listing 2 94 MAN SIMCR Ver 3 0 S amp MP 1 and MP 2 cannot be changed during a PT or PVT motion Attributes Type Parameter Integer Source Program RS 232 CANopen Restrictions PVT 1 lt MP 1 lt MP 2 lt 64 PT 1 lt MP 1 lt MP 2 lt 1024 General MP 2 MP 1 gt 1 Default values MP 1 1 MP 2 64 MP 3 1 MP 4 4 MP 5 50 MP 6 1 Volatile Range PVT 1 64 1 64 0 3 MP 4 1 256 0 62 5 64 1 1024 1 1024 0 3 MP 4 1 256 0 62 1 1024 Index range 1 6 Unit modes UM 3 4 5 Activation Immediate See also PT PV Reference chapter in The SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 95 MAN SIMCR Ver 3 0 MS Motion Status Purpose Reports the status of the motion profiling process MS can be used for detecting the end of motions a PTP motion that has reache
162. us of the MSCAN receive error counter CAN transmit error counter reflecting the status of the MSCAN receive error counter Network status which may be one of the following values e 1 Disconnected Connected 2 e 3 Preparing 4 Stopped 5 Operational 127 Pre operational All data is received from the hardware Attributes Type Status report String Overloaded No Source RS 232 CANopen Restrictions None Unit modes All SimplIQ Command Reference Manual Alphabetical Listing 2 26 MAN SIMCR Ver 3 0 DF Download Firmware Purpose Downloads a new firmware version This command is designed as part of a sequence that is normally controlled by the Composer program which reads the firmware update file provided by Elmo and performs a sequence of actions that includes the DF command The DF command is password protected in order to avoid accidental calls S Notes After new firmware is downloaded the drive reboots All data stored in temporary variables in the RAM is lost Loading new firmware does not normally affect the non volatile application variables in the data flash memory Downloading a major software revision may however destroy the non volatile data The Composer program will warn you of risks of non volatile data losses Attributes Type Command Source RS 232 only Restrictions MO 0 Program not running Unit modes All Activation Immediate SimplIQ Command Reference Manual Al
163. valid Recorder settings such as RC n Cannot upload recorded data because the have been changed since the last recorder contains no valid data records were made or the recorder has not been operated at all since power up 71 Homing is busy Terminate homing processes Cannot change the modulo count XM or using HM 1 0 HY 1 0 YM while homing is in progress 72 Must be even XM 2 XM 1 5 is an error because the difference is an odd number 73 Please set position PX 2000 XM 1 500 An attempt to set the position counts XM 2 500 is an error because modulo to a smaller number than the the PX value is out of range present position was made 77 Buffer too large Check the command syntax A string command that is too long more than 255 characters in a single command has been sent 78 Out of program range The amount of allocated memory An attempt to load a program larger than the for the user program is stated in drive storage capabilities has been made the drive User Manual 80 ECAM data inconsistent The jumps between consecutive ECAM table points are greater than 32 767 counts and therefore cannot be interpolated 81 In Quick stop mode In Quick stop mode it is Occurs only if a CAN master used the impossible to begin a software DS402 standard control word to block motion Use CAN 0x6040 object motor movements to release the Quick stop state 82 Program is running Wait until the program finishes
164. vation BG See also HL N LLIN AC DC SE PA PR Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 5 133 MAN SIMCR Ver 3 0 SR Status Register Purpose Returns a bit field reporting the status of the system in a concise format Most of the information in SR may be recovered using other commands The primary purpose of the SR command is to enable a remote host such as the Composer program to geta snapshot of the system status without overloading the communications system Reported Status Bits Drive read 0 0 Conditions OK 1 Problem as reported by bits 1 3 Servo drive status indication details refer to the following table 1 3 Motor on MO 4 Reference mode RM 5 Motor failure latched see MF for details 6 Unit mode UM 7 9 Gain scheduling on 10 Either Main or Auxiliary Homing being processed 11 Program running 12 Current limit on LC 13 Motion status reflection MS 14 15 Recorder status 16 17 0 Recorder inactive no valid recorded data 1 Recorder waiting for a trigger event 2 Recorder finished valid data ready for use 3 Recording now Not used 18 23 Digital Hall sensors A B and C5 24 26 CPU status 27 0 CPU OK 1 Stack overflow or CPU exception Stopped by a limit RLS FLS Stop switch or by a VH 3 VL 3 28 position command limit Error in user program 29 Unused
165. ve ready for use OL N 4 Low Brake feature is active OL N 5 High Reserved OL N 6 Low Motor enable disable indication OL N 7 High Motor enable disable indication Table 2 27 Possible Values for OL N 5 amp Notes The number of outputs in each type of SimplIQ drive differs Nevertheless there will be no error indication when setting an output that does not physically exists in the drive For example the Harmonica drive will receive the command OL 6 3 with no error As output 6 does not exist in the Harmonica no AOK indication can be retrieved from the drive Since the Output Compare output is hard wired to physical digital output 1 any configurations of this output OL 1 are ignored when the feature is active Attributes Type Parameter Integer Bit field Process Yes Assignment Yes Scope Program RS 232 CANopen Restrictions None Default values 0 Non volatile Range According to basic logic table Index range 1 6 Unit modes All Activation Immediate See also OB N OP BP N MO OC SimplIQ Command Reference Manual Alphabetical Listing 5 103 MAN SIMCR Ver 3 0 OP Output Port Purpose Sets values for all uncommitted digital outputs defined as general purpose by the OL N command OP does not affect the digital output pins otherwise defined The bits of OP N can be individually accessed by OB N For more information refer to the OB N and OL N commands When OP is queri
166. ve will attempt to start set MO 1 automatically after power on A servo drive that has been shut down for any reason will attempt an automatic restart every few milliseconds Automatic restart will occur only if the Enable switch INH is active refer to the IL N command In all other modes the MO 0 state is maintained until MO is explicitly changed by a software command SimplIQ Command Reference Manual Alphabetical Listing 2 92 MAN SIMCR Ver 3 0 In encoder only systems in which no digital Hall sensors are present the commutation is calculated only once after power up upon the first MO 1 command The motor moves a few encoder counts during the automatic commutation search When the brake function is enabled the dedicated output is released after the duration defined in BP N During this time all motion reference commands are ignored After a motor fault MF gt 0 the motor can be re enabled only when the cause of the fault is no longer present If MO 1 fails with the Amplifier not ready error code EC 66 the exact reason for the fault can be found by querying the MF command MO 0 disables the motor for 200 sampling time about 10 milliseconds until a new MO 1 can restart the motor In the Ready to switch on Switch on disabled and Fault states refer to the Elmo CANopen Implementation Manual MO 1 is blocked and returns an error These states can be command controlled only by a CA
167. w history This should be avoided Speed limit values VH 2 VL 2 HL 2 LL 2 depend on TS value refer to the LL command for mor info Use WI 7 to measure the CPU load WI 7 returns the CPU percentage remaining for interpreting user commands and running the user program Use W 7 in true working conditions because the CPU load changes with the order of the control filter and other working conditions like the motion mode does The smooth factor range SF command depends on the range of TS The actual SF can be retrieved by W 22 Attributes Type Parameter Integer Source RS 232 CANopen Restrictions MO 0 User program not running Default value 90 RS Non volatile Range 70 120 Unit modes All Activation Immediate See also WIIN WS N SimplIQ Command Reference Manual Alphabetical Listing 5 143 MAN SIMCR Ver 3 0 TW N Wizard Command Purpose Contains parameters for internal use only For example the command is used for auto tuning or debugging Attributes Type Report Integer Source Program RS 232 CANopen Restrictions None Range Not applicable Index range 1 32 Unit modes All SimplIQ Command Reference Manual Alphabetical Listing 144 MAN SIMCR Ver 3 0 UF N User Float array Purpose Provides an array of 24 floating numbers for general purpose use Attributes Type Parameter Float Source Program RS 232 CANopen Restrictions None Default values 0 RS
168. will reset the position counter back to its minimum value The speed reading is not affected by the position jump For example If YM 1 5 and YM 2 5 the auxiliary position is counted in a cycle length of 10 The auxiliary position will always be in the range 5 4 If the auxiliary feedback rotates in the positive direction the auxiliary position count will proceed from 0 1 2 3 4 to 5 4 3 2 1 0 1 and so on If YM N is nonzero with UM 4 the controlled motor position will count cyclically All motion trajectories will go the short way For example If YM 1 512 YM 2 512 the initial position is PY 500 and the target absolute position is PA 500 the PTP trajectory will travel through 500 512 511 500 to a total distance of 23 counts The cycle length must be positive YM 2 gt YM 1 and YM 2 YM 1 must be an even number YM N values violating the above conditions will be accepted but not activated Until YM N can be activated the motor cannot be started and the parameters cannot be saved in the flash memory the SV command will not work gt amp Notes If YM 1 or YM 2 is set so that YM 2 gt YM 1 but PY is out of the range YM 1 YM 2 PY will be set to range by taking modulo PY PY YM 1 mod YM 2 YM 1 YM 1 Ifa homing process requests a PY value setting out of the range YM 1 YM 2 the request will be ignored and PY will not change If the YM N value is selected
169. y oN EE En E N ai Sei 2 13 CC Compiled Program REA sssini sitnine a E ENEA EE 2 18 CDF CRU DUNDA ene u cask ERE E EAE ETER EVEA a EES 2 19 CLIN Current Continuous Limitations and Motor Stuck Protection Parameters 2 21 RP ATA PI Bie is a oia naa Stet A a rE ed Gat A a bound A A lal banca a EAEE 2 23 DD CAN Controller Statuss nro nn eE EEE A E A E 2 25 DF Download Firmware ssi icsnsssiscctsoscscciuwsssnepieieventstvidncnsoutisei vines tonpsbiedearsivteroduenrigeavesnseanenaes 2 26 PITS SOG WIA Programi eeir i ieir tech sanded sin AETR EEE A 2 27 DV N Reference Desired Value cccccccccccscccesscecsseceescecesececssecessseceeeeeceseesesseceesseceeseeenaes 2 28 EG Error Gode siai a E ints e e AEEA TE E a aTe E E 2 29 EF N Encoder Filter Freg ene sniene a a E 2 42 EMIN SECAM P trametet Seneta e N E E a e T 2 44 PI Echo Mode ennhon seana e du e a ies 2 46 ER N Maximum Tracking Error sisisc csiissccsscdseskoties nos nee legnivees tonepsadecokotursnent loaravedebaegteds 2 47 ET N Entries for ECAM Table ccccccccccccccessceessscesscecesececsssseesseceeseecesseeesseceessecesseecnaes 2 48 EFINI Feed FOnwar dl Serre E A E E E a N TNE Na 2 49 FRINJ Follower Ratio yi a Ama a a a con donee a a e a aa 2 50 GSIN Gain SC Ce AN atts cress ai nienn ennie a vehediony 2 51 HL N Over speed Limit and Position Range Limit eee eeeeeseeeeee crete eeees 2 53 HM N Homing Capture and Flo nia cisas yest cecsseutieaintgrenpesnedei
170. y programming of the next motion Refer to the EM N command for active table descriptions With CAN communication you may program the ECAM table with a fast Auto increment mode When the ECAM table is not used ET N can be used as a general purpose non volatile memory See also EM N UM RM Reference chapter in the SimplIQ Software Manual Chapter 12 The Position Reference Generator SimplIQ Command Reference Manual Alphabetical Listing 2 49 MAN SIMCR Ver 3 0 FF N Feed Forward Purpose Defines how much of the position reference derivative is fed as reference to the speed controller For most UM 5 applications FF 2 1 For most UM 4 applications FF 2 is the number of counts traveled by the main speed feedback while the position auxiliary feedback travels one count The FF 1 parameter defines the factor with which the second derivative of the position reference is injected to the torque controller as a direct torque command Attributes Type Parameter Real Source Program RS 232 CANopen Restrictions None Default values FF 1 0 RS Non volatile FF 2 1 RS Non volatile Range 0 0 4 194 303 5 Index range 1 2 Unit modes UM 4 5 Activation Immediate Examples Suppose that a gear motor with a reduction ratio of 5 drives a load The motor has an encoder with 1000 lines The motor speed is used for the inner feedback loop The load position measured by an encoder with

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